JP2009106387A - Gait improvement support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gait improvement support system for easily improving a gait. <P>SOLUTION: A three-axis acceleration sensor 11 and a controller 12 are attached to a hip of a user, and vibrating devices (vibrating device 13L for a left foot side, and vibrating device 13R for a right foot side) are provided on inner soles of right and left shoes worn by the user, respectively. The acceleration sensor 11 constitutes body movement data acquisition means for acquiring body movement data when the user walks. The controller 12 includes a gait determining part 121 that is gait determining means for determining the gait of the user based on the acquired body movement data. The vibrating devices 13 constitute stimulation outputting means for imparting a vibrating stimulation changing in the direction to make the gait of the user better to a sole of the foot of the user when the gait determining part 121 determines that the gait is bad. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a gait improvement support system for improving a user's gait.

Conventionally, an accelerometer is attached to the user's lumbar region, and the user's walking ability is detected based on the time change of each acceleration detected by the accelerometer by detecting longitudinal acceleration, lateral acceleration, and vertical acceleration at the user's lumbar region. There is a gait analysis device that estimates (for example, see Patent Document 1).
JP 2007-125368 A

  However, with the conventional technology, it is possible to estimate the user's walking ability and present the estimated content to the user, but the configuration for judging the gait and improving the gait based on this judgment result is In addition, the user had to think about how to improve himself, and the gait was not easy to improve.

  This invention is made | formed in view of the said reason, The objective is to provide the gait improvement assistance system which can improve a gait easily.

  The invention of claim 1 includes body motion data acquisition means for acquiring body motion data during walking of the user, gait determination means for determining the gait of the user based on the acquired body motion data, And a stimulus output means for providing a stimulus that changes in a direction in which the gait of the user is improved when the gait determination means determines that the gait is poor.

  According to the present invention, the peripheral nerve terminals of the entire body are gathered on the sole, and stimulating the sole stimulates the entire body, and the gait improving effect by the stimulation is great. Gait can be easily improved by stimulating the sole of the foot.

  The “walk” in the present invention includes running such as jogging and running in addition to walking and walking.

  The invention of claim 2 is characterized in that, in claim 1, the stimulus output means applies vibration stimulus to the sole of the user.

  According to the present invention, the sense of ground pressure on the sole caused by the walking motion becomes dull at the part of the sole that has been given the vibration stimulus, so the balance is maintained at the part of the sole that has not been given the vibration stimulus. Weight shift occurs in an attempt to feel ground pressure. Utilizing this, a gait can be easily improved by giving a vibration stimulus that causes weight shift in the direction of improving the gait to a predetermined part of the sole. Moreover, since the human reaction to the vibration stimulus is fast, the effect of improving the gait is high. Furthermore, since the contact pressure with the stimulus output means increases at the sole portion where the ground pressure is applied, vibration stimulation can be transmitted more effectively.

  According to a third aspect of the present invention, in the first aspect, the stimulus output means applies a temperature stimulus to the sole of the user.

  According to the present invention, the feeling of the ground pressure applied to the sole due to the walking motion becomes dull at the part of the sole that has been given the temperature stimulus (cooling stimulus or heating stimulus), and therefore the sole that has not been given the temperature stimulus. The body weight shift occurs in order to feel the ground pressure by balancing at the site. Utilizing this, the gait can be easily improved by giving a temperature stimulus that causes weight shift in the direction of improving the gait to a predetermined part of the sole. Further, the temperature stimulus is a stimulus that is gentle to the user, and this system is easy to use for children and the elderly. Furthermore, since the contact pressure with the stimulus output means increases at the sole portion where the ground pressure is applied, it becomes possible to transmit the temperature stimulus more effectively.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the body motion data acquisition means is an acceleration sensor attached to a user's waist.

  According to the present invention, it is possible to acquire body movement data when a user walks with a simple configuration.

  According to a fifth aspect of the present invention, in any one of the first to third aspects, the body motion data acquisition means is an acceleration sensor and a gyro sensor attached to a user's waist.

  According to this invention, the body movement data at the time of a user's walk can be acquired more accurately.

  As described above, the present invention has an effect that the gait can be easily improved by giving a stimulus to the sole of the user.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
As shown in FIG. 2, the gait improvement support system of the present embodiment includes a shoe S (left shoe S) on which a three-axis acceleration sensor 11 and a controller 12 are attached to the waist of the user H and the user H is wearing. _L , right shoe S _R ) is provided with a vibration device 13 (a left foot side vibration device 13 _L , a right foot side vibration device 13 _R ) on the inner sole S1.

  FIG. 1 shows a block configuration of this system, and an acceleration sensor 11 constitutes body motion data acquisition means for acquiring body motion data during walking of the user H. The acceleration around the waist of H is detected on each of the three axes, and the detected acceleration data is output to the controller 12 via wiring.

Based on the acceleration data from the acceleration sensor 11, the controller 12 includes a gait determination unit 121 configured by a microcomputer or the like as gait determination means for determining the gait of the user H, and a determination by the gait determination unit 121. Based on the result, the wireless communication unit 122 is configured to transmit a vibration command to the vibration device 13 (vibration device 13 _L , vibration device 13 _R ) using a wireless signal.

  The vibration device 13 constitutes a stimulus output unit that gives a stimulus that changes in a direction that improves the gait of the user H to the sole of the user H, and the wireless communication unit 131 embedded in the inner sole S1 of the shoe S. And the motor unit 132, the vibration part 133 disposed to face the heel part X1 of the sole of the user H, and the vibration part disposed to face the base part X2 of the sole of the foot of the user H. 134, the vibration part 135 arrange | positioned facing the outer side X3 of the user's H sole, and the vibration part 136 arrange | positioned facing the inner side X4 of the user H's sole. The wireless communication unit 131 receives a vibration command from the controller 12 and outputs it to the motor unit 132. FIG. 3 shows the positions of the heel portion X1 of the sole, the base portion X2 of the sole of the sole, the outside X3 of the sole, and the inside X4 of the sole.

  As shown in FIG. 4, the motor unit 132 includes four motors 132a, 132b, 132c, 132d, a motor driving battery 132e, and motors 132a, 132b, 132c, The motor drive part 132f which drives 132d each, and power transmission parts 132g, 132h, 132i, 132j, such as an arm which each transmit the drive force which a motor generate | occur | produces to the vibration parts 133, 134, 135, 136 are provided.

  The vibration unit 133 vibrates with the driving force transmitted from the motor 132a via the power transmission unit 132g, and this vibration stimulus is transmitted to the heel portion X1 of the sole of the user H. The vibration unit 134 is transmitted from the motor 132b. It vibrates with the driving force transmitted through the power transmission unit 132h, and this vibration stimulus is transmitted to the base portion X2 of the footpad of the foot of the user H. The vibration unit 135 is transmitted from the motor 132c through the power transmission unit 132i. The vibration force is transmitted to the outer portion X3 of the sole of the user H, and the vibration unit 136 vibrates with the drive force transmitted from the motor 132d via the power transmission unit 132j. The vibration stimulus is transmitted to the inner part X4 of the sole of the user H.

  Next, the gait improvement of the user H by the gait improvement support system will be described.

First, the gait determination unit 121 of the controller 12 determines the gait of the user H based on the triaxial acceleration data from the acceleration sensor 11, and FIG. FIG. 5B shows the acceleration waveform of the user H in the left-right direction. In the acceleration waveform in the vertical direction shown in FIG. 5A, after an upward peak P1 _R occurs at the timing when the heel of the right foot contacts the ground, a downward peak P2 occurs at the timing when the left foot kicks the ground with the toes. _{After the} occurrence of _{L and the} peak P2 _L due to the kicking of the left foot, after the landing time T1 _{R in} which the sole of the right foot is kept in contact with the ground (the right foot becomes the axial foot), the left foot after the heel peak P1 _L in the upward direction at the timing at which the ground has occurred, the right foot is generated peak P2 _R in the downward direction at the timing at which raised kicking the ground with toes, generated peak P2 _R by kick-up of the right foot Then, after the landing time T1 _L during which the sole of the left foot is kept in contact with the ground (the left foot becomes the axial foot), the peak P1 _R in the upward direction at the timing when the heel of the right foot is grounded again. Occurs and then walks It repeats the above cycle.

Further, FIG. In 5 (b) to indicate the lateral direction of the acceleration waveform, the amplitude of the implantation time T1 _R to the right gradually increases, the peak P3 _R in the right direction occurs in the vicinity of the timing of the heel of the left foot contacts the ground To do. Furthermore, the amplitude of the implantation time T1 _L to the left gradually increases, the peak P3 _L in the left direction is generated in the vicinity of the timing of the heel of the right foot contacts the ground, since, while walking repeats the cycle.

The gait determination unit 121 determines whether the currently grounded shaft foot is the right foot or the left foot based on the acceleration waveform in the left-right direction, and further combines the left foot with the acceleration waveform in the up-down direction. The timing of touching, kicking up, touching up the right foot, and kicking up is determined based on the shape and peak of each waveform, and the amplitudes of the peaks P1 _R , P1 _L , P2 _R , P2 _L , P3 _R , P3 _L The floor times T1 _R and T1 _L are detected.

The gait determination unit 121 determines the gait of the user H from the amplitudes of the peaks P1 _R , P1 _L , P2 _R , P2 _L , P3 _R , P3 _L and the landing times T1 _R , T1 _L. If it is determined that the condition is good, the vibration command is not transmitted to the vibration device 13. However, if it is determined that the gait is poor, a vibration command is transmitted to the vibration device 13 as a radio signal based on the determination result, and vibration stimulation is given to the sole of the user H. In addition, since the feeling of ground pressure on the sole caused by walking motion becomes dull at the part of the sole that is given vibration stimulation, feel the ground pressure by balancing at the part of the sole that is not given vibration stimulation. As a result, weight shift occurs. Utilizing this, a gait can be easily improved by giving a vibration stimulus that causes weight shift in the direction of improving the gait to a portion other than the portion where the sole of the foot is to be grounded. Moreover, since the human reaction to the vibration stimulus is fast, the effect of improving the gait is high. Furthermore, since the contact pressure with the vibration parts 133, 134, 135, and 136 increases in the part of the sole where the ground pressure is applied, vibration stimulation can be transmitted more effectively.

  Details of gait improvement will be described below.

First, when the absolute value of the upward peak P1 (P1 _R or P1 _L ) when the heel of either the left or right foot is in contact with the ground is greater than a predetermined value, the gait determination unit 121 is tilted backward too much. Wireless communication with the vibration device 13 (13 _L or 13 _R ) built in either the left or right shoe S (left shoe S _L or right shoe S _R ) that is grounded when the peak P1 occurs. The heel vibration command is transmitted from the unit 122 by a radio signal.

  Receiving the heel vibration command via the wireless communication unit 131, the motor drive unit 132f drives the motor 132a to vibrate the vibration unit 133 via the power transmission unit 132g, so that the heel portion X1 of the sole of the user H Vibrate. The timing of the vibration is from immediately before the heel of the foot is in contact with the heel of the foot, and this operation is repeated until the absolute value of the upward peak P1 becomes smaller than a predetermined value.

  The user H can walk with a reduced contact pressure on the heel by giving vibration stimulation to the heel portion X1, and can improve his gait. The user H can recognize that his / her gait has been improved by eliminating the vibration stimulus.

Then, when the absolute value of the peak P2 (P2 _R or P2 _L) downward when the left or right foot is raised kick the ground with the toes is greater than a predetermined value, the gait determining portion 121 posture before The vibration device 13 (13 _L ) incorporated in the shoe S (the left shoe S _L or the right shoe S _R ) of either the left or right foot that has been judged to be tilted too far and kicked the ground when the peak P2 occurs. Or 13 _R ), a toe vibration command is transmitted from the wireless communication unit 122 by a wireless signal.

  Upon receiving the footpad vibration command via the wireless communication unit 131, the motor drive unit 132 f drives the motor 132 b to vibrate the vibration unit 134 via the power transmission unit 132 h, so that the footpad on the sole of the user H The base portion X2 is vibrated. The timing of this vibration is from immediately before the footpad of one foot contacts the ground until the footpad contacts the ground, and this operation is continued until the absolute value of the downward peak P2 becomes smaller than a predetermined value. repeat.

  The user H can walk so that the kick-up force is reduced by giving vibration stimulation to the base portion X2 of the toe, and can improve his / her gait. The user H can recognize that his / her gait has been improved by eliminating the vibration stimulus.

Then built, when the absolute value of the peak P3 _R in the right direction is larger than a predetermined value, the gait determining portion 121 determines that the posture is too inclination to the right, from the wireless communication unit 122, the right shoe S _R vibration device 13 transmits the outer vibration command wirelessly signal to _R, wirelessly transmits a signal inside the vibration command to the Hidarikutsu 13 _L incorporated in the vibration device 13 _L.

Motor drive unit 132f of the right shoe S _R which receives the outer vibration command via the wireless communication unit 131 drives the motor 132c, via a power transmission unit 132i vibrates the vibration part 135, the user H right foot The back outer portion X3 is vibrated. The timing of the vibration is from immediately before the heel of the right foot touches down until the right toe kicks up the ground. Further, the motor drive unit 132f of the left shoe _{S L} having received the inner vibration command via the wireless communication unit 131 drives the motor 132d, the vibrating portion 136 is vibrated via the power transmission unit 132j, the user H The inner portion X4 of the left sole is vibrated. The timing of the vibration is from immediately before the heel of the left foot is grounded until the toe of the left foot kicks up the ground. This operation is repeated until the absolute value of the peak P3 _{R in} the right direction becomes smaller than a predetermined value.

  Since the user H is given a vibration stimulus to the outer part X1 of the right foot sole and the inner part X4 of the left foot sole, the user H comes to walk by moving the center of gravity to the left side, and can improve his gait. The user H can recognize that his / her gait has been improved by eliminating the vibration stimulus.

Similarly to the above, when the absolute value of the peak P3 _R in the right direction is larger than the predetermined value and the gait determination unit 121 determines that the posture is excessively tilted to the right, the vibration units 133 to 136 of the left shoe S _L does not vibrate, may be vibrated only the vibration section 133 to 136 of the right shoes _{S R.}

Next, when the absolute value of the peak P3 _{L in} the left direction is larger than the predetermined value, the gait determination unit 121 determines that the posture is tilted too far to the left, and is built in the left shoe S _L from the wireless communication unit 122. is transmitted the outer vibration instruction radio signal to the vibration device 13 _L was wirelessly transmits signals inside the vibration command to the right shoe 13 embedded in _R vibration device 13 _R.

Motor drive unit 132f of the left shoe S _L having received the toes vibration command via the wireless communication unit 131 drives the motor 132c, a vibration unit 135 is vibrated via the power transmission unit 132i, the user H The outer portion X3 of the left sole is vibrated. The timing of the vibration is from immediately before the heel of the left foot is grounded until the toe of the left foot kicks up the ground. Further, the motor drive unit 132f of the right shoe S _R which has received the toes vibration command via the wireless communication unit 131 drives the motor 132d, the vibrating portion 136 is vibrated via the power transmission section 132j, a user The inside portion X4 of the right foot sole of H is vibrated. The timing of the vibration is from immediately before the heel of the right foot touches down until the right toe kicks up the ground. This operation is repeated until the absolute value of the peak P3 _{L in} the left direction becomes smaller than a predetermined value.

  Since the user H is given a vibration stimulus to the outer part X1 of the left sole and the inner part X4 of the right sole, the user H moves by moving the center of gravity to the right side, and can improve his / her gait. The user H can recognize that his / her gait has been improved by eliminating the vibration stimulus.

The absolute value of the peak P3 _L of the similarly leftward is larger than a predetermined value, when the posture is determined to be too inclination to the left by the gait determination unit 121, the vibration of the right shoe S _R 133 to 136 does not vibrate, may be vibrated only the vibration part 133 to 136 of Hidarikutsu _{S L.}

Next, when the landing time T1 (T1 _R or T1 _L ) of either the left or right foot is longer than the predetermined time, the gait determination unit 121 determines that the contact time of the foot is too long, and the foot shoe All vibration commands are transmitted by radio signals from the radio communication unit 122 to the vibration device 13 (13 _L or 13 _R ) incorporated in S (the left shoe S _L or the right shoe S _R ).

  The leg motor drive unit 132f that has received the total vibration command via the wireless communication unit 131 drives the motors 132a to 132d to vibrate the vibration units 133 to 136 via the power transmission units 132g to 132j. The heel portion X1, the base portion X2, the outer portion X3, and the inner portion X4 of the sole of the person H are vibrated. The timing of this vibration is from immediately before the heel of the foot touches down until the foot toe kicks the ground, and this operation is repeated until the landing time T1 becomes shorter than a predetermined time.

  The user H is given vibration stimulation to the entire sole of the foot (the heel portion X1, the base portion X2, the outer portion X3, the inner portion X4) of the foot, and thereby the landing time T1 of the foot. You will be able to walk to shorten your gait and improve your gait. The user H can recognize that his / her gait has been improved by eliminating the vibration stimulus.

Further, when the landing time T1 (T1 _R or T1 _L ) of one foot is shorter than a predetermined time, the entire sole (the heel portion X1 of the sole, the base of the toe) is applied to the other foot in the same manner as described above. Vibration stimulus is applied to the portion X2, the outer portion X3, and the inner portion X4).

  As described above, in the present embodiment, the acceleration sensor 11 mounted on the waist of the user H causes the gait of the user H (for example, the load movement of the left and right feet, the right step time and the left step time). Gait can be improved by giving vibration stimulus to the part other than the part to be grounded based on the result of this judgment, such as time difference, difference between right and left stride, step distance, etc. it can.

  Also, the peripheral nerve ends of the entire body are gathered on the sole, and stimulating the sole stimulates the entire body, and the gait improving effect by the stimulation is increased.

  Contrary to the above, there is also a method for improving gait by giving a vibration stimulus to a portion of the sole desired to be grounded.

  Further, the inner sole S1 provided with the vibration device is configured to be attached to shoes, and the present system can be configured for a plurality of shoes and a plurality of users, so that versatility as a system is enhanced.

(Embodiment 2)
In the gait improvement support system of the present embodiment, the cooling device 14 shown in FIG. 6 is used instead of the vibration device 13 in the inner sole S1 of the shoe S (left shoe S _L , right shoe S _R ) worn by the user H. (Left foot side cooling device 14 _L , right foot side cooling device 14 _R ).

  The cooling device 14 constitutes a stimulus output unit that gives a stimulus that changes in a direction that improves the gait of the user H to the sole of the user H, and the wireless communication unit 141 embedded in the inner sole S1 of the shoe S. And the drive part 142, the Peltier element 143 arrange | positioned facing the heel X1 of the foot of the user H, and the Peltier element 144 arrange | positioned facing the base part X2 of the footpad of the user H The Peltier element 145 disposed opposite the outer side X3 of the sole of the user H, the Peltier element 146 disposed opposite the inner side X4 of the sole of the user H, and the battery 147 for driving the Peltier element With.

Then, similarly to the first embodiment, the gait determination unit 121 of the controller 12 is configured so that the amplitudes of the peaks P1 _R , P1 _L , P2 _R , P2 _L , P3 _R , P3 _L and the landing times T1 _R , T1 _L are as follows. Then, the gait of the user H is determined, and a cooling command is transmitted to the cooling device 14 by a radio signal based on the determination result.

  The wireless communication unit 141 of the cooling device 14 receives a cooling command from the controller 12 and outputs the cooling command to the driving unit 142. The driving unit 142 drives the Peltier elements 143 to 146, respectively. Cooling stimulation is given to the heel X1, the base portion X2 of the sole of the sole, the outer side X3 of the sole, and the inner side X4 of the sole.

  And since the feeling of touching the ground pressure on the sole due to walking motion becomes dull at the part of the sole that has been given a cooling stimulus, feel the ground pressure by balancing at the part of the sole that has not been given a cooling stimulus. As a result, weight shift occurs. By using this, a gait can be easily improved by giving a cooling stimulus that causes weight shift in the direction of improving the gait to a part other than the part where the sole is to be grounded. Further, the temperature stimulus is a stimulus that is gentle to the user, and this system is easy to use for children and the elderly. Furthermore, since the contact pressure with the Peltier elements 143 to 146 increases at the sole portion where the ground pressure is applied, it becomes possible to transmit the cooling stimulus more effectively.

  The relationship between the gait determination result by the gait determination unit 121 and the cooling of the Peltier elements 143 to 146 is the relationship between the gait determination result by the gait determination unit 121 and the vibrations of the vibration units 133 to 136 of the first embodiment. The description is omitted.

  Further, instead of the cooling stimulation by the Peltier elements 143 to 146, the heating stimulation by the Peltier elements 143 to 146 may be given.

  In the first and second embodiments, the acceleration sensor is used as the body motion data acquisition means for acquiring the body motion data when the user walks. However, if the acceleration sensor and the gyro sensor are combined, the body motion is more accurately performed. Data can be acquired.

  It should be noted that “walking” in the above-described embodiments includes running such as jogging and running in addition to walking and walking.

It is a figure which shows the block configuration of the gait improvement assistance system of Embodiment 1. FIG. It is a figure which shows the mounting state to the user same as the above. It is a figure which shows the sole of a user same as the above. It is a figure which shows the block configuration of a vibration apparatus same as the above. (A) (b) It is a figure which shows the acceleration waveform at the time of a walk same as the above. It is a figure which shows the block configuration of the cooling device of Embodiment 2.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Acceleration sensor 12 Controller 121 Gait judgment part 122 Wireless communication part 13 Vibration apparatus 131 Wireless communication part 132 Motor unit 133-136 Vibration part

Claims (5)

Body movement data acquisition means for acquiring body movement data during walking of the user;
Gait judging means for judging the gait of the user based on the acquired body movement data;
A gait improvement comprising: a stimulus output means for giving a stimulus to the user's sole that changes in a direction that improves the gait of the user when the gait determination means determines that the gait is poor. Support system.   The gait improvement support system according to claim 1, wherein the stimulus output means applies a vibration stimulus to a user's sole.   The gait improvement support system according to claim 1, wherein the stimulus output means gives a temperature stimulus to a user's sole.   4. The gait improvement support system according to claim 1, wherein the body motion data acquisition means is an acceleration sensor attached to a user's waist.   4. The gait improvement support system according to claim 1, wherein the body motion data acquisition means is an acceleration sensor and a gyro sensor attached to a user's waist.

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