JP2011092274A - Detector - Google Patents

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Publication number
JP2011092274A
JP2011092274A JP2009246831A JP2009246831A JP2011092274A JP 2011092274 A JP2011092274 A JP 2011092274A JP 2009246831 A JP2009246831 A JP 2009246831A JP 2009246831 A JP2009246831 A JP 2009246831A JP 2011092274 A JP2011092274 A JP 2011092274A
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portion
human body
detection device
angular velocity
gyroscope
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JP2009246831A
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Japanese (ja)
Inventor
Atsushi Emae
厚史 江前
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Sumitomo Precision Prod Co Ltd
住友精密工業株式会社
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Priority to JP2009246831A priority Critical patent/JP2011092274A/en
Publication of JP2011092274A publication Critical patent/JP2011092274A/en
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Abstract

Provided is a detection device capable of detecting the movement and / or position of a human body even in a free movement of the human body.
An angle / angular velocity detection device 1 is provided with gyroscopes 2, 2,... For detecting angular velocities, gyroscopes 2, 2,. And a main body 4 for processing output results from the scopes 2, 2,. The mounting tool 3 is attached in a state where the gyroscopes 2, 2,... Are positioned with respect to the human body with reference to a specific part of the human body.
[Selection] Figure 1

Description

  The present invention relates to a detection device that detects the movement and / or position of a human body.

  Conventionally, the movement or position of a human body has been detected. One example of human body motion detection is joint angle detection. For example, in rehabilitation or the like, it is necessary to detect the range of motion of the joint in order to examine the recovery status. In addition, when performing a motion analysis of a human body, it is necessary to grasp how the joint moves.

  As an instrument for measuring an angle of a joint or the like, one disclosed in Patent Document 1 is known. An instrument according to Patent Document 1 includes a accessory plate fixed to a certain part of a human body with a joint interposed therebetween, an operation plate fixed to another part of the human body with the joint interposed therebetween, and a scale provided on the accessory plate. And a board. The accessory plate and the operation plate are each attached to the human body via a belt or the like. In this state, the rotation angle of the joint is detected by rotating the part of the human body to which the operation plate is attached and using the scale plate to read the rotation angle of the operation plate with respect to the accessory plate.

Japanese Utility Model Publication No. 50-144488

  However, in the measuring instrument according to Patent Document 1, a part of the measuring instrument (attachment plate) is attached to a certain part of the human body, and the other part (operating plate) of the measuring instrument is movable with respect to the certain part of the human body. When attaching to a portion to be measured, it is necessary to cause the human body to carefully perform a predetermined operation for measurement so that the attachment position of the measuring instrument does not shift.

  Moreover, in the measuring instrument which concerns on patent document 1, since only an attachment board and an operation board are attached to a human body via a belt, it is difficult to attach a measuring instrument in the same way every time. Furthermore, the mounting state varies depending on the person performing the mounting work. Furthermore, since the measuring instrument is simply fixed to the human body via a belt, the measuring instrument may be displaced during the measurement. That is, the reproducibility of mounting of the measuring instrument is poor. As a result, the measurement values also vary, and the reproducibility of the measurement values also deteriorates.

  The present invention has been made in view of the above points, and an object of the present invention is to detect the movement and / or position of a human body even in a free movement of the human body and to have high reproducibility of measurement values. It is to provide a detection device.

  A detection apparatus according to the present invention includes a sensor that detects a position and / or movement of a human body, a mounting device that attaches the sensor to a predetermined part of the human body, and a main body that processes an output result from the sensor, The wearing tool is attached in a state where the sensor is positioned with respect to the human body with reference to a specific part of the human body.

  According to the present invention, since the motion and / or position of the human body is detected by the sensor attached to the human body, it is possible to detect the motion and / or position of the human body that moves freely. In addition, since the sensor is attached to the human body in a state where the sensor is positioned with reference to a specific part of the human body, the sensor mounting reproducibility can be improved, and thus the sensor measurement value reproducibility can be improved. it can.

It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 1 of this invention. It is the schematic when an angle and angular velocity detection apparatus is mounted | worn with a human body. It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 2. FIG. FIG. 5 is a development view of an angle / angular velocity detection device according to a third embodiment. It is the schematic when an angle and angular velocity detection apparatus is mounted | worn with a human body. It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 4. FIG. 10 is a schematic diagram of an angle / angular velocity detection device according to a fifth embodiment. It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 6. FIG. It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 7. FIG. It is a perspective view of a reset plate. It is the schematic of the angle and angular velocity detection apparatus which concerns on Embodiment 8, Comprising: (A) is a rear view, (B) is a front view, (C) It is a right view. FIG. 10 is a schematic diagram of an angle / angular velocity detection device according to a ninth embodiment.

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

Embodiment 1 of the Invention
FIG. 1 is a schematic diagram of an angular / angular velocity detection device 1 according to an exemplary embodiment 1 of the present invention, and FIG. 2 is a schematic diagram when the angular / angular velocity detection device 1 is mounted on a human body.

  The angle / angular velocity detection device 1 includes gyroscopes 2, 2,... For measuring angular velocities, the gyroscopes 2, 2,. , 2,... Are provided.

  The gyroscope 2 detects angular velocities about two orthogonal axes. The gyroscope 2 is IP-40 or higher (for example, IP-67) and is dustproof / waterproof. A cable 21 extends from the gyroscope 2 and is connected to the main body 4.

  The wearing tool 3 is a clothing accessory sewn with a stretchable article. The mounting tool 3 is provided with gyroscopes 2, 2,. The mounting tool 3 is mounted on a human arm in a positioned state with reference to a specific part such as a finger or shoulder of the human body. For this reason, the gyroscopes 2, 2,... Are similarly mounted on the human arm with reference to a specific part of the human body. The detailed configuration of the mounting tool 3 will be described later.

  The main body 4 receives a detection signal from each gyroscope 2 via a cable 21. The main body unit 4 includes a CPU, a memory, a display unit, and an operation unit, and performs predetermined processing on the detection signal from the gyroscope 2. The memory is non-volatile and records primary data generated when the program is executed. The display unit and the operation unit are provided on the surface of the main body unit 4. The operation unit is operable by the user and accepts input from the user. The main body 4 turns on / off the power or switches the detection mode by a user operation via the operation unit. The display unit displays the current detection mode, angular velocity, or angle. For example, the main body 4 converts a detection signal from the gyroscope 2 into an angular velocity or converts it into an angle calculated from the angular velocity. The main body 4 is configured to be communicable with an external device such as a personal computer via a wired or wireless connection. That is, the main body 4 receives a control signal from an external device or outputs a detection result from the gyroscope 2 to the external device. The main body 4 is configured to be attached to a human body via a wearing tool (not shown) such as a belt. The main body 4 may be configured to be attached to the upper arm 33 or the shoulder 34 of the mounting tool 3. Further, in the configuration in which communication is possible between the gyroscope 2 and the main body unit 4 by radio, the main body unit 4 may not be attached to the human body but may be provided on the external device side.

  Here, an example of processing by the main body unit 4 will be described.

  The main body 4 performs processing for storing the angular velocity and / or the maximum value and / or the minimum value of the angle based on the detection signal from the gyroscope 2.

  Further, the main body 4 performs a process of outputting an ON signal when the angular velocity or angle detected by the gyroscope 2 exceeds the upper limit threshold and / or the lower limit threshold. If the detection signal from the gyroscope 2 exceeds the predetermined upper limit threshold (or falls below the lower limit threshold) and the detection signal falls below the upper limit threshold (or the main body 4 is in the normal mode) When the lower threshold is exceeded, the output of the on signal is stopped. The main body 4 may simply output an ON signal, or may turn on an LED lamp provided in the main body 4 in response to the ON signal, or sound a buzzer provided in the main body 4. Here, the main body 4 has three types of timer functions: a one-shot timer function, an on-delay timer function, and an off-delay timer function.

  When the one-shot timer function is in the on state, the main unit 4 continues to output the on signal for a predetermined time when the detection signal from the gyroscope 2 exceeds a predetermined upper threshold (or falls below the lower threshold). . These predetermined upper threshold, lower threshold and time can be set by the user. That is, according to the one-shot timer function, the main body 4 outputs an ON signal once the detection signal from the gyroscope 2 exceeds a predetermined upper limit threshold (or once lowers the lower limit threshold), and then outputs a predetermined signal therefrom. The ON signal continues to be output even if the detection signal falls below the predetermined upper limit threshold (or exceeds the lower limit threshold) during this time.

  When the on-delay function is in the on state, the main body 4 does not immediately output the on signal even if the detection signal from the gyroscope 2 exceeds the predetermined upper threshold (or falls below the lower threshold) The ON signal is output only when the detection signal exceeds the upper threshold (or falls below the lower threshold) for a predetermined time. These predetermined upper threshold, lower threshold and time can be set by the user. That is, according to the on-delay function, the main body unit 4 can ignore chattering across the upper limit threshold and / or the lower limit threshold, and can not output an on signal.

  When the off-delay function is in the on state, the main body unit 4 is in the state of outputting the on signal, even if the detection signal from the gyroscope 2 falls below a predetermined upper limit threshold (or exceeds the lower limit threshold), The ON signal is not stopped immediately, and the ON signal is stopped only when a state in which the detection signal falls below the upper threshold (or exceeds the lower threshold) continues for a predetermined time. These predetermined upper threshold, lower threshold and time can be set by the user. That is, according to the off-delay function, the main body 4 is turned on even if the detection signal exceeds the upper threshold (or falls below the lower threshold) and immediately falls below the upper threshold (or exceeds the lower threshold). Since the output of the signal continues, it is possible to prevent the on-signal from being overlooked on the external device side.

  Furthermore, the main body 4 has a zero sensitivity function that ignores minute changes in angular velocity. When the zero sensitivity function is in the on state, the main body 4 ignores the angular velocity calculated from the detection signal from the gyroscope 2 if it is equal to or lower than the predetermined angular velocity. That is, the gyroscope 2 has a drift phenomenon that its output signal changes with time even if the angular velocity does not actually change. For this reason, the detection signal of the gyroscope 2 fluctuates slightly even though the gyroscope 2 is not moving. On the other hand, when the zero sensitivity function is turned on, minute fluctuations in the detection signal of the gyroscope 2 due to drift are ignored, and the detection signal of the gyroscope 2 is kept constant. The main body 4 calculates the angle by adding up the angular velocities detected from the detection signals of the gyroscope 2, but the gyroscope 2 actually moves with the movement of the human body because the angular velocity fluctuates due to drift. Since it is smaller than the angular velocity at the time, even if the drift amount is ignored, the calculated angle is not greatly affected.

  Furthermore, the main body 4 has a function of recording the detection signal of the gyroscope 2 in a memory at a predetermined time interval.

  Note that an external device such as a personal computer that has received the detection signal output from the main body 4 may have a function of displaying the motion of the human body and / or its trajectory on the display.

  Next, a detailed configuration of the wearing tool 3 will be described. The wearing tool 3 is provided at the upper end of the upper arm 33, the hand 31 attached to the hand of the human body, the forearm 32 attached to the forearm, the upper arm 33 connected to the upper arm, and the wearer 3 has a shoulder portion 34 that is hung on the shoulder opposite to the arm on which 3 is mounted. In addition, it is preferable that the cloth of the mounting tool 3 is a cloth that is soft enough not to restrain the movement of the human body.

  The hand portion 31, the forearm portion 32 and the upper arm portion 33 are integrally formed. The hand portion 31 is provided with finger portions 36, 36,... Through which fingers of the hand are inserted. At the boundary between the hand portion 31 and the forearm portion 32, a first tightening portion 35a having a larger tightening force than the other portions is provided. Also, the upper and lower ends of the forearm 32 (that is, the vicinity of the boundary with the upper arm 33) and the upper end of the upper arm 33 have second and third tightening portions 35b having a larger tightening force than the other portions, respectively. 35c is provided.

  The first tightening portion 35a is provided over the entire circumference of the hand portion 31 and the forearm portion 32 in a portion corresponding to the wrist of the human body. Since the wrist is thinner than the upper and lower portions thereof, the first tightening portion 35a does not move up and down from the fitted state, that is, from the fitted state. That is, the first tightening portion 35a positions the upper end portion of the hand portion 31 and the lower end portion of the forearm portion 32 at the wrist position of the human body in the longitudinal direction of the arm.

  The second tightening portion 35b is provided over the entire circumference of the forearm portion 32 at a portion corresponding to the upper end portion of the arm flexor muscle of the human body, that is, at a portion where the muscle of the forearm becomes thinner toward the elbow. . The second tightening portion 35b that matches the portion is difficult to move to the tip side of the forearm due to the bulging of the arm flexor muscle, and is difficult to move to the upper arm side due to the protrusion of the elbow. That is, the second tightening portion 35b positions the upper end portion of the forearm portion 32 at a portion where the muscles of the forearm become thinner toward the elbow in the longitudinal direction of the arm.

  The third tightening portion 35c extends over the entire circumference of the upper arm 33 at a portion corresponding to the upper end of the biceps and triceps of the human body, that is, a portion where the muscle of the upper arm becomes narrower toward the shoulder. Is provided. The third tightening portion 35c that matches the portion does not easily move to the distal end side of the upper arm due to the bulging of the biceps and triceps, and also moves to the shoulder side due to the shoulder triangular muscle. hard. That is, the third tightening portion 35c positions the upper end portion of the upper arm portion 33 at a portion where the muscles of the upper arm become narrower toward the shoulder in the longitudinal direction of the arm.

  In addition, although the 1st-3rd fastening parts 35a-35c are provided over the perimeter of the hand part 31, the forearm part 32, and the upper arm part 33, it is not restricted to this, It provides partially in the circumferential direction It may be a configuration. Moreover, the 1st-3rd fastening parts 35a-35c may be comprised by another members, such as a belt.

  The shoulder portion 34 is a belt-like member having elasticity. Both end portions of the shoulder portion 34 are attached to opposing portions at the open end of the upper arm portion 33. Specifically, both end portions of the shoulder portion 34 are attached to a portion facing the front of the human body and a portion facing the back of the upper end portion of the upper arm portion 33. Both end portions of the shoulder portion 34 are rotatably attached to the upper arm portion 33.

  Gyroscopes 2, 2,... Are disposed on the hand portion 31, the forearm portion 32, and the upper arm portion 33, respectively. Specifically, a pocket shape is formed in the substantially central portion of the palm portion of the hand portion 31, inside the forearm portion 32 and in the longitudinal center portion, and inside the upper arm portion and in the longitudinal center portion. Are provided. The gyroscopes 2, 2,... Are held in the holding portions 37, 37,. Further, a clip-like or hook-and-loop fastener for partially fixing the cables 21, 21,... Extending from the gyroscopes 2, 2,. (Not shown) is provided. The gyroscope 2 may be configured to be accommodated in a casing having a flange. A through hole for passing a suture thread is formed in the flange. The gyroscope may be disposed on the hand portion 31, the forearm portion 32, and the upper arm portion 33 by directly stitching the flange to the hand portion 31, the forearm portion 32, and the upper arm portion 33.

  When the mounting tool 3 configured as described above is mounted on a human body, the gyroscopes 2, 2,... Are positioned at predetermined positions on the human body.

  That is, in the hand portion 31, the finger portions 36, 36,... Match the fingers, and the first tightening portion 35a matches the wrist. Therefore, movement of the hand portion 31 in the longitudinal direction of the arm is restricted by the finger portions 36, 36,... And the first fastening portion 35a, and an axis (in the longitudinal direction of the arm by the finger portions 36, 36,. The movement around (hereinafter referred to as the longitudinal axis) is restricted. That is, the finger part 36 and the first tightening part 35a constitute a matching part that matches a specific part of the human body. Here, the gyroscope 2 is provided at a substantially central portion of the palm portion of the hand portion 31. Therefore, by attaching the hand portion 31 to the hand, the gyroscope 2 is positioned at the approximate center of the palm of the hand with reference to the finger and wrist of the human body.

  Further, in the forearm portion 32, the first tightening portion 35a matches the wrist, and the second tightening portion 35b matches the portion where the muscles of the forearm become narrower toward the elbow. Therefore, the movement of the forearm portion 32 in the longitudinal direction of the arm is restricted by the first and second tightening portions 35a and 35b. Further, the lower end portion of the forearm portion 32 is connected to the hand portion 31 in which movement of the arm around the longitudinal axis is restricted. That is, the first and second tightening portions 35a and 35b and the hand portion 31 constitute a matching portion that matches a specific part of the human body. Therefore, the movement of the forearm 32 around the longitudinal axis of the arm is restricted by the hand 31. Here, the gyroscope 2 is provided on the inner side of the forearm of the human body of the forearm portion 32 and at a substantially central portion in the longitudinal direction. Therefore, by attaching the forearm portion 32 to the forearm, the gyroscope 2 is positioned at a substantially central portion in the longitudinal direction inside the forearm with reference to a portion where the muscles of the human hand, wrist and forearm become narrower toward the elbow. Positioned.

  Further, in the upper arm portion 33, the third tightening portion 35c matches the portion where the muscles of the upper arm become narrower toward the shoulder. Further, the shoulder hook portion 34 matches the shoulder portion on the opposite side of the arm to which the wearing tool 3 is to be worn (specifically, the base portion of the neck of the shoulder). Therefore, the movement of the upper arm portion 33 in the longitudinal direction of the arm is restricted by the third tightening portion 35 c and the shoulder portion 34, and the movement of the arm around the longitudinal axis is restricted by the shoulder portion 34. Further, the lower end portion of the upper arm portion 33 is connected to the forearm portion 32 that matches the forearm. Therefore, the upper arm portion 33 is restricted from moving in the longitudinal direction of the arm and about the longitudinal axis by the forearm portion 32. That is, the third tightening portion 35c, the shoulder portion 34, and the forearm portion 32 constitute a matching portion that matches a specific part of the human body. Here, the gyroscope 2 is provided inside the upper arm of the human body of the upper arm 33 and at a substantially central portion in the longitudinal direction. Therefore, by attaching the upper arm portion 33 to the forearm, the gyroscope 2 is positioned in the longitudinal direction of the inner side of the upper arm with respect to the human hand, wrist, forearm, a portion where the muscles of the upper arm are narrowed toward the shoulder, and the shoulder. Positioned at substantially the center.

  Therefore, according to the present embodiment, by attaching the gyroscopes 2, 2,... To the human body, it is possible to measure the angular velocity and angle of the human body part in the free movement of the human body. That is, when a part of the measuring instrument is attached to a reference part of the human body and the other part of the measuring instrument is attached to a movable part of the human body like the measuring instrument according to Patent Document 1, the mounting position of the measuring instrument It is necessary to cause the human body to carefully perform a predetermined operation for measurement so as not to shift. On the other hand, in the present embodiment, the gyroscope 2 can detect the angular velocity of the part if it is attached to a movable part of the human body. The angular velocity of the part can be measured. In addition, the measurement signal of the gyroscope 2 is processed by the main body unit 4 instead of using a scale plate or the like as in the measurement instrument of Patent Document 1, so that the angular velocity is continuously changed, the maximum value, and the minimum value. Etc. can be measured.

  In addition, by attaching the gyroscopes 2, 2,... To the human body via the wearing tool 3, the gyroscopes 2, 2,... Are positioned with reference to specific parts of the human body (finger, muscle bump, shoulder, etc.). Therefore, the reproducibility of attachment of the gyroscopes 2, 2,... Can be improved. That is, in the measuring instrument according to Patent Document 1, since the accessory plate and the operation plate are only attached to the human body via the belt, it is difficult to attach the measuring instrument in the same manner every time. Furthermore, the mounting state varies depending on the person performing the mounting work. As a result, the measured values also vary. Furthermore, there is a possibility that the measuring instrument may be displaced during the measurement only by fixing the measuring instrument to the human body via the belt. On the other hand, according to this embodiment, since the gyroscopes 2, 2,... Can be attached with high reproducibility, the reproducibility of the angles and / or angular velocities detected by the gyroscopes 2, 2,. be able to. Further, since the gyroscopes 2, 2,... Are positioned at specific parts of the human body, they can suppress a shift in use compared to a gyroscope that is attached without being positioned at a specific part. it can.

  Further, since the gyroscope 2 detects angular velocities around two axes, the gyroscope 2 can measure the angular velocities of the human body even when it moves complicatedly. That is, in the conventional measuring instrument as shown in Patent Document 1, only an angular velocity around one axis can be measured, and when two angular velocities around two axes are detected, it is necessary to attach two measuring instruments at the same location. Since the conventional measuring instrument is bulky, it requires not only a mounting space but also may hinder the movement of the human body. On the other hand, by using the gyroscope 2 that detects angular velocities around two axes as in this embodiment, the angular velocities around two axes can be measured in a small mounting space without hindering the movement of the human body. Can do.

  Further, by providing a plurality of gyroscopes 2, it is possible to measure the relative angular velocities and angles of the parts where the gyroscopes 2, 2,.

<< Embodiment 2 of the Invention >>
Next, the angle / angular velocity detection apparatus 201 according to the second embodiment will be described. FIG. 3 shows a schematic diagram of an angle / angular velocity detection apparatus 201 according to the second embodiment.

  The angle / angular velocity detection apparatus 201 according to the second embodiment is different from the wearing tool 3 according to the first embodiment in the configuration of the wearing tool 203. That is, the wearing tool 203 according to the second embodiment has a long T-shirt shape.

  Specifically, the angle / angular velocity detection device 201 includes gyroscopes 2, 2,... For measuring angular velocities, and a mounting device 203 on which the gyroscopes 2, 2,. And a main body 4 for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 203 has a body part 203B, a right arm part 203R, and a left arm part 203L. The right arm portion 203R and the left arm portion 203L are integrally connected to the body portion 203B. The right arm portion 203R and the left arm portion 203L have the same configuration except that the wearing tool 3 of Embodiment 1 does not have the shoulder portion 34 and that the upper end of the upper arm portion 233 is connected to the body portion 203B. ing. Therefore, in the right arm portion 203R and the left arm portion 203L, the same components as those of the wearing tool 3 are denoted by the same reference numerals and description thereof is omitted. Specifically, constituent elements having the same numeral after the tens place of the reference sign have the same configuration.

  The torso portion 203B is formed in a cylindrical shape so as to be attached to the human torso. An opening for passing the head is provided in the upper portion of the body portion 203B. An opening for passing the body is provided below the body portion 203B. The right arm portion 203R is connected to the right shoulder portion of the body portion 203B, while the left arm portion 203L is connected to the left shoulder portion of the body portion 203B. Further, a fourth tightening portion 235d having a tightening force larger than that of the other portions is provided over the entire circumference of the body portion 203B at the side height of the body portion 203B. Further, the gyroscope 2 is provided at a substantially central portion of the chest in the body portion 203B. Furthermore, the main body portion 4 is attached to the skirt portion of the body portion 203B.

  The body portion 203B has a shoulder portion that matches the shoulder of the human body. Therefore, movement of the trunk portion 203B in the longitudinal direction of the trunk is restricted by the shoulder portion. Further, a right arm portion 203R and a left arm portion 203L are connected to the body portion 203B. Therefore, the movement of the body part 203B around the longitudinal axis of the body is restricted by the right arm part 203R and the left arm part 203L. That is, the shoulder part of the body part 203B, the right arm part 203R, and the left arm part 203L constitute a matching part that matches a specific part of the human body. Here, the gyroscope 2 is provided at a substantially central portion of the chest of the body portion 203B.

  Further, as described in the first embodiment, the right arm portion 203R and the left arm portion 203L move in the longitudinal direction of the arm and move around the longitudinal axis by the bulging of the fingers, hands, wrists, forearms, shoulders, and muscles of the human body. Movement is restricted.

  Therefore, by mounting the mounting tool 203 on the upper body, the gyroscope 2 is positioned at the approximate center of the chest with reference to the bulges of human fingers, hands, wrists, arms, shoulders, and muscles. In this way, since the reproducibility of attachment of the gyroscopes 2, 2,... Can be improved, the reproducibility of the angles and / or angular velocities detected by the gyroscopes 2, 2,.

  Further, by providing the gyroscopes 2, 2,... At the paired parts on the left and right sides of the human body, the right and left balance of the parts can be detected.

<< Embodiment 3 of the Invention >>
Next, the angle / angular velocity detection device 301 according to the third embodiment will be described. FIG. 4 is a development view of the angle / angular velocity detection device 301 according to the third embodiment, and FIG. 5 is a schematic diagram when the angle / angular velocity detection device 301 is mounted on a human body.

  The angle / angular velocity detection device 301 according to the third embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that it detects the angle / angular velocity of the knee joint.

  Specifically, the angle / angular velocity detection device 301 includes gyroscopes 2, 2,... For measuring angular velocities, a gyroscope 2, 2,. And a main body (not shown) for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 303 has a supporter shape that can be wound around the knee. Specifically, the mounting tool 303 is mounted on the knee from the front, and has a substantially rectangular main body portion 331 and belt portions 332 extending laterally from two corners located on the diagonal of the main body portion 331. 332. The mounting tool 303 is sewn with a stretchable fabric. The main body portion 331 is provided with an opening 331a in which a knee patella (so-called dish) fits. Further, the gyroscopes 2 and 2 are provided in the upper and lower portions of the opening 331a in the main body 331. A hook-and-loop fastener 332a is provided at the tip of each belt portion 332.

  The mounting of the mounting tool 303 configured as described above will be described. First, the main body 331 is applied to the front surface of the knee so that the knee patella is positioned in the opening 331a. Next, each belt portion 332 is wound around a leg, and the surface fastener 332 a at the tip of each belt portion 332 is attached to the surface of the main body portion 331. That is, the opening 331a constitutes a matching portion that matches a specific part of the human body.

  By mounting the mounting tool 303 on the knee in this way, the gyroscopes 2 and 2 are positioned at the upper and lower positions of the patella with reference to the patella of the knee. Thereby, the reproducibility of attachment of gyroscope 2,2, ... can be improved. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2, 2,.

<< Embodiment 4 of the Invention >>
Next, the angle / angular velocity detection device 401 according to the fourth embodiment will be described. FIG. 6 shows a schematic diagram of an angle / angular velocity detector 401 according to the fourth embodiment.

  The angle / angular velocity detection device 401 according to the fourth embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that it detects angles and angular velocities of various joints of the lower body.

  Specifically, the angle / angular velocity detection device 401 includes gyroscopes 2, 2,... That measure angular velocities, and the mounting tools 403 on which the gyroscopes 2, 2,. And a main body 4 for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 403 includes right and left socks 403R and 403L worn on the left and right legs and lower legs of the human body, and pants 403P worn on the human body from the waist to the thigh.

  Since the right and left socks 403R and 403L have the same configuration, only the configuration of the right sock 403R will be described. The right sock 403R has a foot portion 431 attached to a human foot and a lower leg portion 432 attached to the lower leg of the human body. The foot 431 and the crus 432 are integrally formed.

  The foot portion 431 is formed in a bag shape, the front end side has a flat shape according to the shape of the foot tip, and the rear end side has a curved shape according to the shape of the heel. By forming the foot portion 431 in such a shape, the foot portion 431 is positioned in the longitudinal direction of the foot and positioned around the longitudinal axis. Further, the foot portion 431 is provided with a first tightening portion 435a having a tightening force larger than that of the other portion in a portion located on the arch of the foot over the entire circumference. Since the arch is recessed compared to the front and back portions, the first tightening portion 435a is difficult to move back and forth from a state in which it matches the arch. That is, the movement of the foot portion 431 in the longitudinal direction of the foot is restricted by the first tightening portion 435a. That is, the toe portion and the heel portion of the foot portion 431 and the first tightening portion 435a constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided at the approximate center of the instep portion of the foot portion 431. Therefore, by attaching the foot portion 431 to the foot of the human body, the gyroscope 2 is positioned at the approximate center of the instep of the foot with reference to the toe, arch and heel.

  The lower leg 432 is formed so as to cover a range from the ankle of the human body to the lower part of the knee. The lower and upper ends of the crus 432 are provided with second and third tightening portions 435b and 435c having a larger tightening force than the other portions over the entire circumference of the crus 432. The second tightening portion 435b is located at the ankle position of the human body. Since the ankle is thinner than the upper and lower portions thereof, the second tightening portion 435b is difficult to move up and down from the state where it matches the ankle. The third tightening portion 435c is located at the upper end of the human triceps surae and soleus, that is, the portion where the muscles of the lower leg become thinner toward the knee. Since this portion is thinner than the upper and lower portions thereof, the third tightening portion 435c is difficult to move up and down from a state that matches the portion. That is, the movement of the lower leg in the longitudinal direction of the lower leg 432 is restricted by the second and third tightening portions 435b and 435c. Moreover, the lower end part of the lower leg part 432 is connected to the foot part 431 that matches the foot of the human body. Therefore, the leg part 432 is restricted from moving around the longitudinal axis of the lower leg by the foot part 431. That is, the second and third tightening portions 435b and 435c and the foot portion 431 constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided on the front side of the lower leg part 432 and in the substantially central part in the longitudinal direction. Therefore, by attaching the lower leg part 432 to the lower leg of the human body, the gyroscope 2 is positioned approximately at the center in the longitudinal direction on the front side of the lower leg with reference to the bulge of the foot, ankle and muscle.

  The pants 403P includes right and left thighs 436R and 436L attached to the left and right thighs of the human body, and a waist part 437 attached to the circumference of the human body.

  The right and left thighs 436R and 436L are attached to the right and left thighs of the human body, respectively. The upper ends of the right and left thigh parts 436R and 436L are connected to the waist part 437. In addition, fourth tightening portions 435d and 435d having a larger tightening force than the other portions are provided at the lower ends of the right and left thigh portions 436R and 436L over the entire circumference of the thigh. Yes. Each of the fourth tightening portions 435d is located at a lower end portion of the quadriceps and biceps femoris of the human body, that is, a portion where the muscles of the thigh become thinner toward the knee. Since this portion is thinner than the upper and lower portions thereof, the fourth tightening portion 435d is difficult to move up and down from a state that matches the portion. That is, the right and left thigh portions 436R and 436L are restricted from moving in the longitudinal direction of the lower limbs by the fourth tightening portions 435d and 435d. The upper ends of the right and left thighs 436R and 436L are connected to a waist part 437 that matches the waist of the human body. Therefore, the right and left thighs 436R and 436L are restricted from movement of the lower limbs around the longitudinal direction and the longitudinal axis by the waist 437. That is, the fourth tightening portion 435d and the waist portion 437 constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided on the front side of the right and left thighs 436R and 436L and substantially in the center in the longitudinal direction. Therefore, by attaching the right and left thighs 436R and 436L to the left and right thighs of the human body, the gyroscope 2 is positioned at the approximate center in the longitudinal direction on the front side of the thigh with reference to the waist and muscle ridges. .

  The upper portion of the waist portion 437 is opened so that the waist portion 437 is attached to the waist of the human body, and the right and left thigh portions 436R and 436L are connected to the lower portion. In the upper opening of the waist portion 437, a fifth fastening portion 435e having a fastening force larger than that of the other portions is provided over the entire circumference of the waist portion 437. Further, the main body portion 4 is attached to the waist portion 437 below the fifth tightening portion 435e.

  Here, the fifth tightening portion 435e is located around the upper part of the hip bone. This position is a so-called waist position, and is thinner than the upper and lower portions. Therefore, the fifth tightening portion 435e is difficult to move up and down from the state matching the portion. That is, the movement of the waist portion 437 in the longitudinal direction of the trunk is restricted by the fifth tightening portion 435e. Further, the right and left thighs 436R and 436L are connected to the waist 437. Therefore, the movement of the trunk 437 around the longitudinal axis of the trunk is restricted by the right and left thighs 436R and 436L. That is, the fifth tightening portion 435e and the right and left thigh portions 436R and 436L constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided at a substantially central portion on the front side of the waist portion 437. Therefore, by attaching the waist part 437 to the waist of the human body, the gyroscope 2 is positioned at the approximate center of the front side of the waist with respect to the hip bone and the left and right thighs.

  By attaching the gyroscopes 2, 2, ... to the human body through the mounting tool 403 thus configured, the gyroscopes 2, 2, ... are attached to specific parts of the human body (eg, toes, arches, heels, ankles, thighs). , Waist, muscle bulge, etc.), so that the reproducibility of attachment of the gyroscopes 2, 2,... Can be improved. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2, 2,.

<< Embodiment 5 of the Invention >>
Next, an angle / angular velocity detection apparatus 501 according to the fifth embodiment will be described. FIG. 7 is a schematic diagram of an angle / angular velocity detection device 501 according to the fifth embodiment.

  The angle / angular velocity detection device 501 according to the fifth embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that it detects angles and angular velocities of various joints of the lower body.

  Specifically, the angle / angular velocity detection device 501 includes gyroscopes 2, 2,... For measuring angular velocities, a gyroscope 2, 2,. And a main body 4 for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 503 includes right and left long stockings 503R and 503L to be worn on the left and right legs of the human body, and pants 503P to be worn on the waist of the human body.

  Since the right and left long stockings 503R and 503L have the same configuration, only the configuration of the right long stocking 503R will be described. The right long stocking 503R includes a foot portion 531 attached to the human body leg, a lower leg portion 532 attached to the lower leg of the human body, and a thigh portion 533 attached to the thigh of the human body. The foot portion 531, the lower leg portion 532, and the thigh portion 533 are integrally formed. Except the thigh 533, the foot 531 and the lower leg 532 have the same configuration as the right sock 403R of the fourth embodiment. Therefore, the same reference numerals are given to the same configurations, and the description is omitted. Specifically, constituent elements having the same numeral after the tens place of the reference sign have the same configuration.

  The thigh 533 is connected to the upper end of the crus 532. The thigh 533 is formed so as to cover a range from the knee of the human body to the vicinity of the groin. The lower end of the thigh 533 is connected to the crus 532. In addition, the upper end portion of the thigh 533 is provided with a fourth tightening portion 535d having a larger tightening force than the other portions over the entire circumference of the thigh portion 533. The fourth tightening portion 535d is located at the upper end of the quadriceps and biceps femoris of the human body. Since this portion is thinner than the upper and lower portions thereof, the fourth tightening portion 535d is difficult to move up and down from a state that matches the portion. That is, the movement of the thigh 533 in the longitudinal direction of the lower limb is restricted by the fourth tightening portion 535d. Further, the lower end of the thigh 533 is connected to a lower leg 532 that matches the lower leg of the human body. Therefore, the movement of the thigh 533 around the longitudinal axis of the lower limb is restricted by the crus 532. That is, the fourth tightening portion 535d and the lower leg 532 constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided on the front side of the thigh 533 and substantially in the center in the longitudinal direction. Therefore, by attaching the thigh 533 to the thigh of the human body, the gyroscope 2 is positioned approximately at the center in the longitudinal direction on the front side of the thigh with reference to the foot, ankle, lower leg, and muscle protuberance.

  The pants 503P are open at the top so that the pants 503P are worn on the hips of the human body, and two openings are formed at the bottom through which the left and right lower limbs are inserted. The upper opening of the pants 503P is provided with a fifth tightening portion 535e having a larger tightening force than the other portions over the entire circumference of the pants 503P. Further, the main body 4 is attached to the pants 503P below the fifth tightening portion 535e.

  Here, the fifth tightening portion 535e is located around the upper part of the hip bone. This position is a so-called waist position, and is thinner than the upper and lower portions. Therefore, the fifth tightening portion 535e is difficult to move up and down from the state matching the portion. In other words, the movement of the trunk 503P in the longitudinal direction of the trunk is restricted by the fifth tightening portion 535e. In addition, an opening through which the left and right lower limbs are inserted is formed in the pants 503P. Therefore, the movement of the trunk 503P around the longitudinal axis of the trunk is restricted by the left and right lower limbs. That is, the fifth tightening portion 535e and the opening through which the left and right lower limbs are inserted constitute a matching portion that matches a specific part of the human body.

  Here, the gyroscope 2 is provided at a substantially central portion on the front side of the pants 503P. Therefore, by attaching the pants 503P to the waist of the human body, the gyroscope 2 is positioned at the approximate center on the front side of the waist with the hip bone and the left and right thighs as a reference.

  By attaching the gyroscopes 2, 2,... To the human body via the mounting tool 503 configured as described above, the gyroscopes 2, 2,... Are attached to specific parts of the human body (foottips, arches, heels, ankles, thighs). , Waist, muscle bulge, etc.), so that the reproducibility of attachment of the gyroscopes 2, 2,... Can be improved. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2, 2,.

Embodiment 6 of the Invention
Next, an angle / angular velocity detection apparatus 601 according to the sixth embodiment will be described. FIG. 8 shows a schematic diagram of an angle / angular velocity detection apparatus 601 according to the sixth embodiment.

  The angle / angular velocity detection device 601 according to the sixth embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that it detects angles and angular velocities of various joints of the lower body.

  More specifically, the angle / angular velocity detection device 601 includes gyroscopes 2, 2,... For measuring angular velocities, and the mounting device 603 on which the gyroscopes 2, 2,. And a main body 4 for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 603 has a so-called tights shape that is worn on the lower half of the human body. That is, the wearing tool 603 integrally forms the right and left long stockings 503R and 503L and the pants 503P constituting the wearing tool 503 according to the fifth embodiment. That is, the wearing tool 603 includes right and left leg stocks 603R and 603L corresponding to the right and left long stockings 503R and 503L according to the fifth embodiment, and a pants portion 603P corresponding to the pants 503P according to the fifth embodiment. ing.

  The right and left leg portions 603R and 603L are on the right and left sides except that the upper ends of the right and left leg portions 603R and 603L are connected to the pants portion 603P and the fourth fastening portions 535d and 535d are not provided accordingly. It has the same configuration as the long stockings 503R and 503L. The pants 603P has the same configuration as the pants 503P except that the right and left leg portions 603R and 603L are connected. Therefore, in the mounting tool 603, the same reference numerals are given to the same components as those of the mounting tool 503, and description thereof is omitted. Constituent elements having the same numeral after the tens place of the reference sign have the same configuration.

  By attaching the gyroscopes 2, 2,... To the human body via the mounting tool 603 configured as described above, as in the fifth embodiment, the gyroscopes 2, 2,. Can be positioned with reference to arches, heels, ankles, thighs, hips, muscle ridges, etc., so that the reproducibility of attachment of the gyroscopes 2, 2,. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2, 2,.

<< Embodiment 7 of the Invention >>
Next, an angle / angular velocity detection apparatus according to Embodiment 7 will be described. FIG. 9 is a schematic view of an angle / angular velocity detection device 701 according to the seventh embodiment, and FIG. 10 is a perspective view of the reset plate 705.

  The angle / angular velocity detection device 701 according to the seventh embodiment is different from the angle / angular velocity detection devices according to the first to sixth embodiments in that the origins of the gyroscopes 2, 2,.

  Specifically, the angle / angular velocity detection device 701 includes gyroscopes 2, 2,... For measuring angular velocities, and the mounting tool 703 on which the gyroscopes 2, 2,. A main body (not shown) for processing the detection results of the gyroscopes 2, 2,... And a reset plate 705 are provided.

  The mounting tool 703 includes right and left socks 703R and 703L having the same configuration as the right and left socks 403R and 403L according to the fourth embodiment. Therefore, the same components as those of the right and left socks 403R and 403L are denoted by the same reference numerals and description thereof is omitted. Specifically, the components having the same reference numerals in the tens place are the same in the mounting tool 703 and the mounting tool 403.

  However, two reset terminals 753 and 753 are provided in the right and left socks 703R and 703L. Specifically, reset terminals 753 and 753 are provided on the soles of the feet and the heels of the feet 731 of the socks 703R (703L). A cable 754 is connected to each reset terminal 753. This cable 754 is connected to a predetermined input terminal of the main body.

  The reset plate 705 is for resetting the outputs of the gyroscopes 2, 2,... To reset the origin. On the reset plate 705, left and right footprints 751R and 751L are drawn. Two reset terminals 752 and 752 are provided inside the foot shapes 751R and 751L at the tip of the foot and the heel, respectively. The two reset terminals 752 and 752 are electrically connected.

  On the reset plate 705 configured as described above, when the left and right feet are placed on the left and right foot shapes 751R and 751L, the two reset terminals 753 and 753 of the foot portions 731 of the wearing tool 703 are connected to the foot shapes 751. It contacts the reset terminals 752 and 752. As a result, the reset terminals 753 and 753 of the feet 731 of the wearing tool 703 are short-circuited. Since these reset terminals 753 and 753 are connected to predetermined input terminals of the main body via cables 754 and 754, the input terminals of the main body are short-circuited. As a result, the output from the gyroscopes 2, 2,... At that time is set to a zero point (or a predetermined initial value) in the main body.

  According to the present embodiment, the output of the gyroscopes 2, 2,... In the posture at that time can be set to the zero point only by standing on the reset plate 705.

  Here, the mounting device having the same configuration as that of the right and left socks 403R and 403L of the fourth embodiment has been described, but the reset structure of the present embodiment can be employed in other mounting devices.

<< Embodiment 8 of the Invention >>
Next, an angle / angular velocity detection device 801 according to Embodiment 8 will be described. FIG. 11 is a schematic diagram of an angle / angular velocity detection device 801 according to the eighth embodiment.

  The angle / angular velocity detection device 801 according to the eighth embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that it detects the angle / angular velocity of the head.

  Specifically, the angle / angular velocity detection device 801 includes gyroscopes 2, 2,... For measuring angular velocities, a gyroscope 2, 2,. And a main body (not shown) for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 803 is formed in a dome shape that opens downward and forward so as to cover the head. In the wearing tool 803, openings 831R and 831L are formed at positions corresponding to the ears of the human body. In addition, in the wearing tool 803, a dish-shaped pad 832 is provided at a position corresponding to the top of the human body. The pad 832 is made of a member having cushioning properties. Furthermore, the front end portion (portion corresponding to the forehead of the human body) and the rear portion (portion corresponding to the back of the human body) of the mounting tool 803 have first and second tightening portions 835a having a tightening force larger than those of other portions. , 835b. A gyroscope 2 is provided in a portion corresponding to the frontal portion of the human body in the wearing tool 803.

  The mounting tool 803 configured as described above is mounted on the head of the human body such that the pad 832 is placed on the top of the human body and the ears are emitted from the openings 831R and 831L. At this time, the mounting tool 803 is tightened from the front and back by the first and second tightening portions 835a and 835b. That is, the pad 832 matches the top of the head, the openings 831R and 831L match the ear, the first tightening portion 835a matches the forehead, and the second tightening portion 835b matches the occipital region. Thereby, the gyroscope 2 is positioned in the frontal part of a human body. That is, the pad 832, the openings 831R and 831L, and the first and second tightening portions 835a and 835b constitute a matching portion that matches a specific part of the human body.

  That is, by attaching the gyroscope 2 to the human body via the mounting tool 803, the gyroscope 2 can be positioned with reference to a specific part of the human body (the top of the head, ears, etc.). Reproducibility can be improved. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2 can be improved.

<< Ninth Embodiment of the Invention >>
Next, an angle / angular velocity detection apparatus 901 according to Embodiment 9 will be described. FIG. 12 is a schematic diagram of an angle / angular velocity detection device 901 according to the ninth embodiment.

  The angle / angular velocity detection device 901 according to the ninth embodiment is different from the angle / angular velocity detection device 1 according to the first embodiment in that the angle / angular velocity detection device 901 according to the ninth embodiment detects angles and angular velocities of various joints throughout the body.

  Specifically, the angle / angular velocity detection device 901 includes gyroscopes 2, 2,... For measuring angular velocities, and gyroscopes 2, 2,. And a main body 4 for processing the detection results of the gyroscopes 2, 2,.

  The wearing tool 903 has a so-called whole body tights shape that is worn on the whole body of the human body. That is, the mounting tool 903 has a configuration in which the mounting tool 203 according to the second embodiment, the mounting tool 603 according to the sixth embodiment, and the mounting tool 803 according to the eighth embodiment are integrally connected. Specifically, the wearing tool 903 includes a body part 903B, a right arm part 903AR, a left arm part 903AL, a pants part 903P, a right leg part 903LR, a left leg part 903LL, and a head part 903H. The wearing tool 903 is provided with a fastener on the back portion, and is configured to open and close the back portion. That is, the wearing tool can be easily attached and detached by opening the fastener on the back.

  The body part 903B, the right arm part 903AR, and the left arm part 903AL have the same configuration as the body part 203B, the right arm part 203R, and the left arm part 203L according to the second embodiment. That is, constituent elements having the same tens place and one place of the code have the same structure. However, the head portion 903H is connected to the upper opening of the body portion 903B. Moreover, the lower end part of the trunk | drum part 903B is connected with the pants part 903P. Further, the body portion 4 is not provided in the body portion 903B.

  The pants part 903P, the right leg part 903LR, and the left leg part 903LL have the same configuration as the pant part 603P, the right leg part 603R, and the left leg part 603L according to the sixth embodiment. That is, constituent elements having the same tens place and one place of the code have the same structure. However, the body part 903B is connected to the upper end part of the pants part 903P.

  The head 903H has the same configuration as that of the wearing tool 803 of the eighth embodiment. That is, constituent elements having the same tens place and one place of the code have the same structure. However, the lower end portion of the head portion 903H is connected to the body portion 903B and is open only forward. The head 903H is not provided with the pad 832 and the first and second tightening portions 835a and 835b. Thus, although the pad 832 is not provided in the head 903H, the openings 931h and 931h match the ears of the human body, and the forward opening matches the face. Therefore, the gyroscope 2 of the head 903H is positioned with reference to the human ear and face.

  By attaching the gyroscopes 2, 2,... To the human body through the mounting device 903 configured as described above, the gyroscopes 2, 2,... Are attached to specific parts of the human body (head, ear, finger, neck, shoulder, Can be positioned with reference to the toe, arch, heel, ankle, thigh, waist, muscular uplift, etc., so that the reproducibility of attachment of the gyroscopes 2, 2,. As a result, the reproducibility of the angle and / or angular velocity detected by the gyroscope 2, 2,.

<< Other Embodiments >>
The present invention may have the following configurations for the embodiments.

  For example, in the embodiment, a gyroscope is used as a sensor to be attached to a human body, but the present invention is not limited to this. An acceleration sensor or a GPS receiver may be used as the sensor.

  Moreover, in the said embodiment, although the gyroscope 2 which detects the angular velocity about 2 axes | shafts is employ | adopted, it is not restricted to this. For example, it may be a gyroscope that detects an angular velocity around one axis, or a gyroscope that detects an angular velocity around three axes. Further, the gyroscope 2 is dustproof and waterproof compatible, but is not limited thereto. When used in an environment where dustproof / waterproof performance is not required, the gyroscope may not be dustproof / waterproof.

  Moreover, in the said Embodiment 1, 2, 8, you may provide an opening in the part corresponded to the elbow of a human body. By doing so, the gyroscopes 2, 2,... Can be positioned with reference to the elbow.

  Further, in the fourth, fifth, sixth, and eighth embodiments, an opening for fitting a knee, such as the opening 331a of the wearing tool 303 according to the third embodiment, may be provided in a portion corresponding to the knee of the human body. By doing so, the gyroscopes 2, 2,... Can be positioned with reference to the knee.

  Furthermore, in the said Embodiment 4, 5, 6, 8, the finger | toe part may be formed in the foot | leg part. By doing so, the gyroscopes 2, 2,... Can be positioned with reference to the toes.

  In addition, the above embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, or its use.

  As described above, the present invention is useful for a detection device that detects the movement and / or position of a human body.

1,201,301,401,501,601,701,801 Angle / angular velocity detection device 2 Gyroscope 3,203,303,403,503,603,703,803

Claims (6)

  1. A sensor for detecting the position and / or movement of the human body;
    An attachment for attaching the sensor to a predetermined part of the human body;
    A main body for processing an output result from the sensor,
    The mounting device is a detection device to which the sensor is attached in a state where the sensor is positioned with respect to the human body with reference to a specific part of the human body.
  2. The detection device according to claim 1,
    The mounting device includes a matching portion that matches a specific part of a human body that serves as a positioning reference, and a holding portion that holds the sensor.
  3. The detection device according to claim 1 or 2,
    The specific part of the human body that serves as a reference for positioning the wearing device is a detection device that is a joint of the human body.
  4. The detection device according to claim 1 or 2,
    A detection device in which a specific part of a human body serving as a reference for positioning the wearing tool is at least one of a finger, an ear, an elbow, and a knee.
  5. In the detection device according to any one of claims 1 to 4,
    The sensor is a detection device that is a gyroscope that detects angular velocities around multiple axes.
  6. The detection device according to any one of claims 1 to 5,
    A plurality of the sensors are provided, and each of the sensors is provided at a part of a human body.
JP2009246831A 2009-10-27 2009-10-27 Detector Pending JP2011092274A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013078422A (en) * 2011-10-03 2013-05-02 Kobe Univ Apparatus for measuring ankle impedance
JP2015503393A (en) * 2011-12-30 2015-02-02 コーニンクレッカ フィリップス エヌ ヴェ Method and apparatus for tracking hand and / or wrist rotation of a user performing exercise
KR20160025416A (en) * 2014-08-27 2016-03-08 대한민국(국립재활원장) Apparatus for controlling of the upper limb rehabilitation equipment of hemiplegic patients using joint estimation and method thereof
JP2016083187A (en) * 2014-10-27 2016-05-19 日本電信電話株式会社 Bioelectric potential measurement device
WO2016088842A1 (en) * 2014-12-03 2016-06-09 国立大学法人北海道大学 Gait analysis method and gait analysis system
CN105815837A (en) * 2016-03-29 2016-08-03 宁波百慕品牌管理有限公司 Dress with rectification function
WO2017014294A1 (en) * 2015-07-23 2017-01-26 国立大学法人北海道大学 Gait analysis method and gait analysis system
JP2017070599A (en) * 2015-10-08 2017-04-13 日本電信電話株式会社 Wearable biological sensor

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013078422A (en) * 2011-10-03 2013-05-02 Kobe Univ Apparatus for measuring ankle impedance
JP2015503393A (en) * 2011-12-30 2015-02-02 コーニンクレッカ フィリップス エヌ ヴェ Method and apparatus for tracking hand and / or wrist rotation of a user performing exercise
US10542916B2 (en) 2011-12-30 2020-01-28 Koninklijke Philips N.V. Method and apparatus for tracking hand and/or wrist rotation of a user performing exercise
KR20160025416A (en) * 2014-08-27 2016-03-08 대한민국(국립재활원장) Apparatus for controlling of the upper limb rehabilitation equipment of hemiplegic patients using joint estimation and method thereof
KR101646914B1 (en) * 2014-08-27 2016-08-10 대한민국 Apparatus for controlling of the upper limb rehabilitation equipment of hemiplegic patients using joint estimation and method thereof
JP2016083187A (en) * 2014-10-27 2016-05-19 日本電信電話株式会社 Bioelectric potential measurement device
WO2016088842A1 (en) * 2014-12-03 2016-06-09 国立大学法人北海道大学 Gait analysis method and gait analysis system
WO2017014294A1 (en) * 2015-07-23 2017-01-26 国立大学法人北海道大学 Gait analysis method and gait analysis system
CN107920782A (en) * 2015-07-23 2018-04-17 国立大学法人北海道大学 walking analysis method and walking analysis system
JP2017070599A (en) * 2015-10-08 2017-04-13 日本電信電話株式会社 Wearable biological sensor
CN105815837A (en) * 2016-03-29 2016-08-03 宁波百慕品牌管理有限公司 Dress with rectification function

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