JP2010099418A - Device, method and program for walking pattern generation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for walking pattern generation to perform a rehabilitation suitable for a gonarthrosis patient, for example, and confirming the effect, and to provide a method and a program for walking pattern generation. <P>SOLUTION: The walking pattern is extracted based on data indicating the time-series change of knee joint bending angles in both legs, which is obtained by analyzing the respective animations of right leg side surface and left leg side surface photographed by a camera when a person walks, and data indicating the time-series change of centroid positions in the both legs, based on the change of pressure in foot soles, which is detected by a foot sole sensor in the case of photographing the right and left leg side surfaces. The extracted walking pattern is displayed on a screen. When the displayed walking pattern is corrected in response to an operation indication from a user, the new walking pattern is generated and, then, transmitted to a walking assist device. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a walking assist system and the like for use in assisting walking motion, bending / extension motion, rehabilitation and the like in patients with knee osteoarthritis.

  With the aging of the population, a decrease in physical strength and a decline in muscle strength, particularly a decrease in the ability to exercise around the knee joint, remarkably appear, but osteoarthritis is known as a representative example of knee disease in the elderly. Osteoarthritis is a disease in which the cartilage of the knee joint wears down and the bones are directly burdened, so that the knees come off and the water accumulates and hurts. It falls into the care state. In order to treat this, a large-scale operation such as an artificial knee joint is required. However, when the symptoms are relatively mild, rehabilitation for strengthening muscles is very effective, and it leads to care prevention by suppressing the progression of the symptoms.

In recent years, a walking assist device has been proposed that can assist a user with reduced muscle strength in the lower limbs, such as walking, to promote the exercise to suppress muscle weakness and correct the gait form. (For example, refer to Patent Document 1).
JP 2002-301124 A

  However, the conventional walking assistance device is not suitable for performing rehabilitation suitable for the patient and confirming the effect after diagnosing the walking pattern of the patient with knee osteoarthritis, for example.

  Accordingly, the present invention provides a walking pattern generation device, a walking pattern generation method, and a walking pattern generation program capable of performing rehabilitation suitable for a patient with knee osteoarthritis and confirming the effect thereof. With the goal.

  In order to solve the above problems, the invention according to claim 1 is directed to a link mechanism portion for bending and extending a knee joint, a drive motor for operating the link mechanism portion, and a drive signal corresponding to a walking pattern. A walking pattern generation device that generates the walking pattern used by a walking assist device that controls driving of the drive motor based on the right foot side surface during walking of a person photographed by a camera Data showing the time-series changes in knee joint flexion angle obtained by analyzing moving images of the left and right foot sides, and detected by the sole sensor during imaging of the right and left foot sides. Walking pattern extraction means for extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on a change in pressure at the sole, and the extraction A walking pattern display unit that displays the walking pattern displayed on the screen, a walking pattern generation unit that generates a new walking pattern by correcting the displayed walking pattern according to an operation instruction from a user, and the generation Walking pattern transmitting means for transmitting the walking pattern transmitted to the walking assistance device.

  According to a second aspect of the present invention, in the walking pattern generation device according to the first aspect, the walking pattern generation means corrects the walking pattern step by step for each predetermined period.

  According to a third aspect of the present invention, there is provided a link mechanism portion for bending and extending the knee joint, a drive motor for operating the link mechanism portion, and a drive signal based on a drive signal corresponding to a walking pattern. A walking pattern generation method for generating the walking pattern used by a walking assist device comprising: a drive control means for controlling driving, wherein the computer captures a right foot side surface and a left foot side surface during walking of a person photographed by a camera. Data showing the time-series changes in knee joint flexion angles of both feet obtained by analyzing each moving image, and the sole pressure detected by the sole sensor during the imaging of the right and left foot sides A step of extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on the change of the foot, and the computer Displaying the displayed walking pattern on a screen, generating a new walking pattern by correcting the displayed walking pattern according to an operation instruction from a user, and the computer, Transmitting the generated walking pattern to the walking assistance device.

  The invention of the walking pattern generation program according to claim 4 is based on a link mechanism section for bending and extending the knee joint, a drive motor for operating the link mechanism section, and a drive signal corresponding to the walking pattern. A computer that generates the walking pattern used by a walking assist device that includes a drive control unit that controls driving of the drive motor, and a moving image of a right foot side and a left foot side during walking of a person photographed by a camera. Data showing the time-series changes in the knee joint flexion angle of both legs obtained by analyzing each of the legs, and changes in the pressure of the sole detected by the sole sensor during the photographing of the right and left foot sides. A gait pattern extracting means for extracting a gait pattern based on data indicating a time-series change in the center of gravity position of both legs based on the gait pattern, Gait pattern display means for displaying an image on the screen, gait pattern generation means for generating a new gait pattern by correcting the displayed gait pattern according to an operation instruction from the user, and the generated It is made to function as a walking pattern transmission means which transmits a walking pattern with respect to the said walking assistance apparatus.

  According to the present invention, data indicating changes in knee joint flexion angles in time series of both feet obtained by analyzing moving images of the right foot side and the left foot side during walking of a person photographed by a camera; Extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on a change in the pressure of the sole detected by the sole sensor during photographing of the right foot side and the left foot side, The extracted walking pattern is displayed on the screen, a new walking pattern is generated by correcting the displayed walking pattern according to an operation instruction from a user, and the generated walking pattern is used as the walking assist device. For example, it is possible to perform rehabilitation suitable for a patient with knee osteoarthritis and to confirm the effect thereof.

  The best mode for carrying out the present invention will be described below with reference to the drawings. In addition, embodiment described below is embodiment at the time of applying this invention with respect to a walk assist system.

[1. Configuration and functions of walking assist system]
First, with reference to FIG. 1, a structure, a function, etc. of the walk assist system S in this embodiment are demonstrated.

  FIG. 1 is a diagram illustrating a schematic configuration example of the walking assist system S. As illustrated in FIG.

  As shown in FIG. 1, the walking assist system S includes a walking state measuring device AP1, a motion planning device AP2 (an example of a walking pattern generation device), and a walking state integrated database DB. Are electrically connected by, for example, a LAN or the like.

  The walking state measuring device AP1 is composed of, for example, a general-purpose personal computer, and changes in the flexion angles of the knee joints of both feet during walking of the patient according to an operation instruction from the user by executing a preinstalled application program, and Changes in the center of gravity of both feet are measured.

  The knee joint flexion angle of both feet is calculated by analyzing a moving image obtained by photographing a foot portion (right foot side surface and left foot side surface) of a patient while walking.

  Specifically, first, markers (marks that can be extracted from an image in moving image analysis) are pasted at, for example, four positions shown in FIG. The four markers are attached to the right foot side and the left foot side, respectively.

  Next, when the patient is walking for a predetermined time (for example, 2 seconds specified by the user), the foot is photographed by the camera, and the captured moving image data is in the walking state from the camera via the communication cable K1. It is taken into the measuring device AP1. Note that the right foot side and the left foot side are separately photographed by the camera.

  Next, the walking state measuring device AP1 extracts four markers in the image in the analysis of the captured moving image, and, as shown in FIG. 2, the straight line connecting the marker Ma and the marker Mb and the horizontal line are extracted. And the angle θ2 between the straight line connecting the marker Mc and the marker Md and the horizontal line are calculated every 0.1 seconds, for example, and the knee joint flexion angle is calculated (flexion angle θ = θ1 + θ2). Then, it is stored as data indicating the change in the flexion angle of the knee joint in time series. The calculation of the bending angle by moving image analysis is performed separately for the right foot side and the left foot side. Further, data indicating changes in the knee joint flexion angle in time series are obtained for each of the right foot side and the left foot side, but these changes are not synchronized with each other at this time.

  On the other hand, the position of the center of gravity of both feet is calculated based on the pressure change of the sole detected by the sole sensor during the photographing of the right foot side and the left foot side.

  Specifically, shoes with pressure sensors that can detect, for example, the four pressures shown in FIG. 3 on the sole of the patient's sole (that is, the sole sensors are provided at the four soles of the shoe before the photographing). The patient wears on the right and left feet. The example of FIG. 3 shows the position of the sole sensor in the sole of the right foot. When the center coordinates (x, y) of the sole is (0, 0), each sole sensor Sa, Sb, Sc, and Sd are located at the illustrated coordinates.

  Next, when the patient is walking for the predetermined time, data of pressures detected by the sole sensors (four sole sensors for the left foot and four sole sensors for the left foot) are obtained from the sole sensors, for example. It is taken into the walking state measuring device AP1 via the communication cables K2, K3 every 0.1 second. Note that the pressure data from each sole sensor is divided into an X component value and a Y component value.

Next, the walking state measuring device AP1 substitutes the taken pressure data at each time point (for example, every 0.1 second) into a calculation formula (for example, the following formula (1)) for calculating the center of gravity position ( The pressure data from the right foot sole sensor and the pressure data from the left foot sole sensor are separately substituted into the calculation formula), and the center of gravity position of the right foot and the center of gravity of the left foot are respectively It is calculated every 0.1 seconds, and is stored as data indicating a time-series change in the center of gravity position of the right foot and data indicating a change in center-of-gravity position of the left foot.

  This equation (1) is a calculation formula for calculating the center of gravity position (X, Y) of the right foot at a certain point in time (the calculation formula for calculating the center of gravity position (X, Y) of the left foot also has different coefficients). Sxa indicates the value of the x component from the sole sensor Sa, and Sya indicates the value of the y component from the sole sensor Sa (the same applies to the sole sensors Sb, Sc, and Sd). . Xa represents the x coordinate of the position of the sole sensor Sa on the sole, and Ya represents the y coordinate of the position of the sole sensor Sa on the sole (the same applies to the sole sensors Sb, Sc, Sd).

  Note that the time series center of gravity position of the right foot and the time series center of gravity position of the left foot are measured at the same time, so they are synchronized with each other. Obtained for each shooting. In addition, the time-series change in the flexion angle of the right foot knee joint obtained by right foot side photographing and the time-series change in the center of gravity of the right foot and left foot obtained during the photographing are synchronized. Yes. In addition, the time-series change in the flexion angle of the left foot knee joint obtained by the left foot side photographing and the time-series change in the center of gravity of the right foot and the left foot obtained during the photographing are synchronized. Yes.

  When these synchronized data are plotted in a two-dimensional table, they are as shown in FIG.

  FIG. 4 (a) shows a time-series change in the flexion angle of the right foot knee joint obtained by right foot side photographing and a time-series change in the center of gravity position of the right foot and left foot obtained during the photographing. Yes. FIG. 4B shows a time-series change in the flexion angle of the left foot knee joint obtained by the left foot side photographing and a time-series change in the center-of-gravity position of the right foot and the left foot obtained during the photographing. Show.

  The data indicating the time-series change in the knee joint flexion angle and the data indicating the time-series change in the center-of-gravity position obtained as described above are sent and registered in the walking state integrated database DB.

  Next, the motion planning device AP2 is composed of, for example, a general-purpose personal computer, and is a preinstalled application program (including the walking pattern generation program of the present invention, the walking pattern extraction means, the walking pattern display means, the walking pattern in the present invention). Data indicating the time-series change in knee joint flexion angle and time-series center-of-gravity position in accordance with an operation instruction from the user by execution (by the CPU) of the generation means and the walking pattern transmission means) Extraction and correction of the patient's gait pattern is performed based on the data indicating the change of the patient.

  Specifically, the motion planning device AP2 acquires data indicating changes in the flexion angle of the knee joint in time series and data indicating changes in the center of gravity position in time series from the walking state integrated database DB. As shown in FIG. 5, a part of the curve indicating the time-series change in the center of gravity position of the right foot and the left foot obtained during right foot side photographing (for example, near the vertex P1 of the center of gravity position of the right foot), and during left foot side photographing. Change of the flexion angle of the right foot knee joint by matching a part of the curve showing the time-series change in the center of gravity position of the right foot and the left foot obtained in (for example, near the vertex P2 of the center of gravity position of the right foot). And the change in the flexion angle of the left leg knee joint, corresponding to one step (for example, between the vertices of the center of gravity of the right leg D) and the curve indicating the change in the flexion angle of the right leg knee joint and the left leg knee joint A curve showing the change in bending angle is Extracted as minute walking pattern (cut), and stores the data of the walking pattern. The extraction of the walking pattern may be performed by the walking state measuring device AP1.

  In the walking pattern shown in FIG. 5, the section K1 is the right leg standing phase (foot is in contact with the ground) and the left leg swing leg period, and the section K2 is the right leg swing leg period (the foot is away from the ground). And it is the stance phase of the left foot. Incidentally, the example shown in FIG. 5 shows a walking pattern of a patient with osteoarthritis of the knee, and the bending angle of the knee joint of the right foot is smaller than the bending angle of the knee joint of the left foot. That is, it can be seen that the knee of the right foot does not bend compared to the knee of the left foot.

  Then, the motion planning device AP2 displays the walking pattern extracted as described above on the display.

  FIG. 6 is a diagram illustrating an example of a user interface screen that displays the extracted walking pattern. On such a user interface screen, various operation buttons are displayed together with the extracted walking pattern. In this example, the walking pattern is displayed in separate areas for the right foot and the left foot. However, the walking pattern may be displayed so as to overlap the same area.

  A user (for example, a doctor) can diagnose a patient's gait pattern from a medical point of view while viewing such a user interface screen, and can operate the mouse, for example, to correct the patient's gait pattern for rehabilitation. . For example, the doctor operates the mouse to move the pointer P to a part of the curve of the walking pattern of the right foot shown in FIG. 6A and drag the pointer P as indicated by the black arrow in FIG. The walking pattern is corrected so that the walking pattern approaches a normal walking pattern (for example, to match a normal left foot walking pattern) as shown in FIG. 6B. . That is, a new walking pattern is generated by correcting the displayed walking pattern in accordance with an operation instruction from the user. The data of the walking pattern generated through such correction is transmitted to a walking assist device (described later) attached to the patient's leg and used for rehabilitation.

  However, suddenly matching the extracted walking pattern of the patient with the normal walking pattern may impose a burden on the patient. Therefore, for example, by extracting the walking pattern of the patient at regular intervals, the user While displaying on the interface screen, the doctor confirms the rehabilitation effect (degree of progress) and corrects the data step by step as shown in FIGS. It is desirable to let them be used.

  In the correction of the walking pattern, in addition to increasing the knee joint bending angle, for example, as shown in FIG. 7, the walking pattern curve may be extended in the time axis direction.

[2. Configuration and functions of walking assist devices]
Next, with reference to FIG. 8 thru | or FIG. 10, etc., a structure, a function, etc. of a walk assistance apparatus are demonstrated.

  FIG. 8 is a state diagram when the walking assist device is mounted on the patient, FIG. 9 is a state diagram when the drive unit is mounted on both feet of the patient, and FIG. 10 is a configuration diagram of the walking assist device.

  As shown in FIGS. 8 and 9, the walking assist device H according to the present embodiment includes a pair of drive units 10 that are respectively attached to both feet of a patient by a fixture 6 such as a magic tape (registered trademark) or a band. .

  As shown in FIG. 8, the drive unit 10 is attached with a link mechanism portion 3 that is attached to the joint portion of the patient's knee portion 5 and that flexes and extends the knee joint.

  As shown in FIG. 8, the link mechanism unit 3 includes, for example, a first link 3a attached to a side surface of the upper leg rest 4 wound around the patient's thigh and a lower leg wound around the patient's lower leg. A second link 3b attached to the side surface of the abutment 7, and a third link 3c that obtains power from the drive unit 10 and swings the second link 3b in the front-rear direction with respect to the first link 3a. Is done.

  The first link 3a is attached so as to extend from the patient's waist side to the knee 5 side, and the second link 3b is attached so as to extend from the patient's knee 5 side to the tip (ground) side of the foot, The 1st link 3a and the 2nd link 3b are connected so that rotation in the patient's knee part 5 vicinity is possible. Moreover, the edge part of the 3rd link 3c is connected with the center vicinity of the 2nd link 3b.

  Although not shown, each of the upper leg rest 4 and the lower leg rest 7 is configured to include a pair of leg rest members, and the leg rest members cover the thigh and lower leg portions of the patient. And is detachably attached by the fixture 6.

  The upper and lower leg rests 4 and 7 are formed by molding, for example, PP resin, and a stretchable sponge member or the like is attached to a portion in contact with the patient's thigh.

  Further, as shown in FIG. 9, a communication unit 20 for data communication between the drive units 11 and 12 can be attached to and detached from the drive unit 11 for the left foot and the drive unit 12 for the right foot respectively attached to both feet. It is attached. The communication unit 20 includes a cable 21 and a relay box 22 that accommodates a communication board or a battery disposed in the middle of the cable 21, and is attached to a patient's waist by a fixing tool such as a belt 23. It is done.

  In addition, the communication unit 20 includes a communication head 25 including communication terminals that can communicate data without contact at both ends of the cable 21. On the other hand, the housing 10a of the drive unit 10 has a hole 10b into which the communication head 25 can be inserted, and the communication head 25 can be attached to and detached from the hole 10b.

  On the other hand, as shown in FIG. 10, the drive unit 10 includes a communication head 14 capable of receiving power or communicating predetermined data inside the housing 10 a. And the communication head 14 is inserted in the hole 10b which the housing | casing 10a of the drive unit 10 has, is electrically connected without contact, and data communication is possible.

  As shown in FIG. 10, the drive unit 10 includes a drive unit 17 that drives the link mechanism unit 3 and a storage battery 18 that supplies electricity to the drive unit 17. Either one of the units 11 and 12 controls the storage unit 15 that stores the walking pattern data generated by the motion planning device AP2, the operation unit 16 that is operated by the patient, and each unit that needs to be electrically controlled. The control part 19 which controls automatically is provided. The operation unit 16 is operated by a patient and includes a start button and the like.

  Although not shown, the drive unit 17 includes a drive motor (DC motor) having a rotation mechanism and a drive control unit that drives and controls the drive motor at a predetermined rotation direction and speed. Although not shown, the drive motor is connected to the third link 3c via a gear box whose rotation shaft includes a predetermined gear group. Then, the rotational driving force obtained by rotating the rotating shaft of the driving motor is converted into a linear motion via the gear group and transmitted to the third link 3c, and the driving force is transmitted to the second link 3b. It is like that. And the 2nd link 3b is rock | fluctuated to the front-back direction with respect to the 1st link 3a with the rotation direction of DC motor, assists the movement of the joint in a patient's knee part 5, and assists a patient's walk.

  The control unit 19 includes a CPU (Central Processing Unit) having a calculation function, a working RAM, a ROM that stores various data and programs, and the CPU stores various programs stored in the ROM, for example. By executing this, both the plurality of drive units and each part are controlled, and the entire walking assist device H is controlled overall.

  More specifically, the control unit 19 can communicate with the motion planning device AP2 via a communication cable (not shown), and the walking pattern transmitted from the motion planning device AP2 via the communication cable is transmitted. Data is received and stored in the storage unit 15. And the control part 19 receives the starting request | requirement which starts a drive motor by operation (pressing a start button) of the operation part 16 by a patient, reads the data of the walking pattern memorize | stored in the memory | storage part 15, and reads the said walking pattern of the said walking pattern. Based on the data, a drive signal Sh for driving and controlling the drive motor such as a rotation direction and a rotation speed of the drive motor is generated, and the drive signal Sh is output to the drive unit 17 (note that the walking pattern data is one step). Since this is the minute, the driving signal for one step is repeatedly output). Specifically, the control unit 19 calculates the angular velocity of the knee joint by differentiating the bending angle at each time point in the walking pattern, and generates a drive signal Sh that rotates the drive motor at the angular velocity.

  Fig.11 (a) shows an example of the walking pattern (only the left foot) which makes a patient walk, FIG.11 (b) obtained by differentiating the bending angle of each time in the walking pattern shown in Fig.11 (a). An example of an angular velocity curve is shown, and FIG. 11C shows an example of a drive signal for driving the drive motor at the angular velocity and direction shown in FIG. Thus, the drive signal shown in FIG. 11C is associated with the walking pattern shown in FIG. The drive motor is driven and controlled by such a drive signal, and the link mechanism unit 3 operates.

  In addition, the structure of the link mechanism part 3 for bending and extending the knee joint described above may be another structure, and is attached to the upper thigh of the human body in consideration of the rotational sliding motion of the human knee joint. A configuration may be adopted in which the knee joint side end portion of the lower leg attachment portion slides in the front-rear direction when the lower leg attachment portion attached to the lower leg portion of the human body is rotated with respect to the upper leg attachment portion (for example, Japanese Patent Laid-Open No. 2007-2007). -Ref. No. -275482).

  As described above, according to the above-described embodiment, the motion planning device AP2 is a time series of both feet obtained by analyzing the moving images of the right foot side surface and the left foot side surface during walking of the patient taken by the camera, respectively. Data showing the change in the knee joint flexion angle and the time-series change in the center of gravity of both feet based on the change in the pressure of the sole detected by the sole sensor during the shooting of the right and left foot sides. The walking pattern for one step is extracted based on the data shown, and the extracted walking pattern is displayed on the user interface screen, for example, by correcting the walking pattern displayed in accordance with the operation instruction from the doctor. A simple walking pattern is generated, and the generated walking pattern is transmitted to the walking assist device H for use. Diagnoses the walking pattern of the patient on the user interface screen, corrects the walking pattern for rehabilitation suitable for the patient, causes the walking assist device H to use the walking pattern, and extracts the walking pattern extracted again after a predetermined period of time. Diagnosis on the user interface screen and confirmation of its effect (treatment progress confirmation) can be performed, and by repeating this, symptoms such as knee osteoarthritis can be appropriately improved. In particular, a high effect can be obtained by correcting the walking pattern step by step.

It is a figure which shows the example of a schematic structure of the walk assistance system S. FIG. It is a figure which shows an example of the position of the marker in a patient's right leg side surface. It is a figure which shows an example of the position of the sole sensor in a patient's sole. (A) is a figure which shows the time-sequential change of the bending angle of the right-foot knee joint obtained by the right foot | leg side imaging | photography, and the time-sequential change of the gravity center position of the right leg and the left foot obtained during the said imaging | photography. (B) is a figure which shows the time-sequential change of the bending angle of the left leg knee joint obtained by the left foot side photographing, and the time-sequential change of the gravity center position of the right foot and the left foot obtained during the photographing. is there. It is a figure which shows a mode that the walk pattern for one step is extracted. It is a figure which shows the example of a user interface screen which displays the extracted walking pattern. It is a figure which shows the example of the walking pattern corrected in steps. It is a state figure at the time of attaching a walk auxiliary device to a patient. It is a state figure at the time of mounting a drive unit on a patient's both legs. It is a block diagram of a walking assistance apparatus. (A) shows an example of a walking pattern that the patient walks, (b) shows an example of an angular velocity curve obtained by differentiating the bending angle at each time point in the walking pattern shown in (a), (c (A) is a figure which shows an example of the drive signal for driving a drive motor with the angular velocity and direction shown to (a).

Explanation of symbols

S walking assist system AP1 walking state measuring device AP2 motion planning device DB walking state integrated database H walking assist device 3 link mechanism unit 10 drive unit 19 control unit

Claims (4)

A link mechanism for bending and extending the knee joint, a drive motor for operating the link mechanism, and a drive control means for controlling the drive of the drive motor based on a drive signal corresponding to a walking pattern; A walking pattern generation device that generates the walking pattern used by a walking assistance device comprising:
Data showing the time-series changes in knee joint flexion angle of both feet, obtained by analyzing the moving images of the right and left foot sides during walking of the person photographed by the camera, and the right foot side and left foot Walking pattern extraction means for extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on a change in the pressure of the sole detected by the sole sensor during photographing of the side surface;
Walking pattern display means for displaying the extracted walking pattern on a screen;
A walking pattern generation means for generating a new walking pattern by correcting the displayed walking pattern according to an operation instruction from a user;
Walking pattern transmission means for transmitting the generated walking pattern to the walking assist device;
A walking pattern generation device comprising: The walking pattern generation device according to claim 1,
The gait pattern generation means corrects the gait pattern step by step at regular intervals. A link mechanism for bending and extending the knee joint, a drive motor for operating the link mechanism, and a drive control means for controlling the drive of the drive motor based on a drive signal corresponding to a walking pattern; A walking pattern generation method for generating the walking pattern used by a walking assistance device comprising:
Data indicating a time-series change in knee joint flexion angle of both feet, obtained by analyzing a moving image of a right foot side and a left foot side during walking of a person photographed by a camera, and the right foot Extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on a change in the pressure of the sole detected by the sole sensor during photographing of the side surface and the left foot side; and
The computer displaying the extracted walking pattern on a screen;
The computer generates a new walking pattern by correcting the displayed walking pattern according to an operation instruction from a user;
The computer transmitting the generated walking pattern to the walking assistance device;
A gait pattern generation method comprising: A link mechanism for bending and extending the knee joint, a drive motor for operating the link mechanism, and a drive control means for controlling the drive of the drive motor based on a drive signal corresponding to a walking pattern; A computer for generating the walking pattern used by the walking assistance device comprising:
Data showing the time-series changes in knee joint flexion angle of both feet, obtained by analyzing the moving images of the right and left foot sides during walking of the person photographed by the camera, and the right foot side and left foot Walking pattern extraction means for extracting a walking pattern based on data indicating a time-series change in the center of gravity position of both feet based on a change in the pressure of the sole detected by the sole sensor during photographing of the side surface;
Walking pattern display means for displaying the extracted walking pattern on a screen;
Walking pattern generation means for generating a new walking pattern by correcting the displayed walking pattern according to an operation instruction from a user, and walking for transmitting the generated walking pattern to the walking assist device A walking pattern generation program which functions as a pattern transmission means.

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