JP2012191962A - Position variation detection device, system including the same, and method for operating the position variation detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily measure an exercise state of a user.SOLUTION: A walking assist device 10 including multiple links and detection parts 11-14 is mounted on the leg of a user and based on detection values to be supplied from the detection device of the walking assist device 10, a measuring unit 20 detects the variation of a hip position of the user. A calculation part 22 included in the measuring unit 20 calculates the hip position in a predetermined direction to be crossed with a vertical axial line, based on the detection values (the detection values include: the value corresponding to an angle to be made by the multiple links; and the value corresponding to the inclination angle of the link with respect to the vertical direction) from the detection device. The calculation part 22 calculates the acceleration of the link in the predetermined direction, based on the detection values (the detection values include: the value corresponding to the rotation angle acceleration of the link; and the value corresponding to the acceleration of the link) from the detection device. The position of a predetermined region in the predetermined direction is calculated based on the integration of the acceleration.

Description

  The present invention relates to a position variation detection device, a system including the same, and a method for operating the position variation detection device.

  A patient who has suffered from a single leg paralysis due to a stroke or the like may be required to repeat a walking exercise or the like in order to recover its physical function. In order to expedite the recovery of the patient's physical function, the rehabilitation instructor looks at the patient's current situation / improvement and gives appropriate advice to the patient based on his / her own rule of thumb. The advice given to the patient by the rehabilitation instructor is often based on the personal rule of thumb of the rehabilitation instructor and largely depends on the ability of the rehabilitation instructor.

  Patent Document 1 discloses a walking sensation generating device. As shown in FIG. 1 of Patent Document 1, the walking sensation generating device has a belt mechanism 1, and a pedestrian walks on the belt mechanism 1. The belt mechanism 1 is installed on the triaxial walking surface holding mechanism 3 and is adjusted to an arbitrary inclination angle. The pedestrian's leg tip position is detected by the CCD camera 4, the waist position is detected by the thread position sensor 5, the head position is detected by the magnetic position / orientation measuring device 6, and each detected value is input to the computer 20. Is done. A large screen 7 is provided in front of the pedestrian, and an image of the space according to the walking motion is presented.

  Patent Document 2 discloses an apparatus for attaching a brace to a user's first leg and measuring the position of a second leg on which the brace is not worn. As shown in FIG. 1 of Patent Document 2, the leg device 12 is provided with a camera 42 that images the second leg. The controller 32 calculates the position of the second leg with respect to the camera position based on the image captured by the camera 42. The relative position of the foot of the second leg with respect to the foot position of the first leg is calculated by calculation processing by the controller 32.

Patent No. 2923493 JP 2010-259469 A

  In order to provide effective rehabilitation that leads to early recovery of the patient, it is desirable to accurately grasp the patient's current exercise state (such as walking state). Currently, a technique for measuring a patient's motion state by time-divisionally acquiring and analyzing images of the patient's motion is provided. There is also provided a technique for measuring a patient's motion state by embedding a pressure sensor in a structure such as a floor or a mat. However, in such a case, a relatively large apparatus is often required, and the patient's movement state cannot be easily measured in many cases.

  As is clear from the above description, it is strongly desired to simply measure the user's movement state.

  The position variation detection device according to the present invention is configured to attach a jig including a plurality of links and a detection device to a user's leg, and based on a detection value supplied from the detection device of the jig. A position variation detection device for detecting a position variation of a predetermined part, wherein the detection value supplied from the detection device (the detection value is at least a value corresponding to an angle formed by the plurality of links, and a vertical direction) The position of the predetermined portion in a predetermined direction intersecting the vertical axis is calculated based on the inclination angle of the link with respect to the link, and the detection value supplied from the detection device (the detection value is And calculating the acceleration of the link along the predetermined direction based on at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link). Based on the integration to calculate the position of the predetermined portion in the predetermined direction. By adopting this configuration, the user's exercise state can be easily measured.

  Based on a calculation result by a first position calculation unit that calculates the position of the predetermined part in the predetermined direction and the first position calculation unit that is determined according to information indicating whether or not the user's leg is in contact with the ground. And a second position calculation unit that calculates a position of the predetermined part in a predetermined space.

  The detected value further includes a value indicating whether or not the user's leg is in contact with the ground. The position variation detecting device according to any one of the above, wherein the first value for calculating the position of the predetermined portion in the predetermined direction is calculated. A position calculation unit; a determination unit that determines whether or not the user's leg is in contact with the ground based on the detection value supplied from the detection device; and the first value that is determined according to a determination result by the determination unit. And a second position calculating unit that calculates a position of the predetermined part in a predetermined space based on a calculation result by the one position calculating unit.

  The position variation detection apparatus according to any one of the above, further comprising a first position calculation unit that calculates a position of the predetermined part in the predetermined direction, wherein the first position calculation unit is configured to link the link around the predetermined part. It is preferable to calculate the acceleration of the link based on the angular acceleration detected when the lens rotates and the acceleration detected by the detection device according to the displacement of the link, and to integrate the calculated acceleration.

  The position variation detection device according to any one of the above, further comprising a first position calculation unit that calculates a position of the predetermined part in the predetermined direction, wherein the first position calculation unit is along the vertical axis of the predetermined part. The height may be calculated, and the position of the predetermined part in the predetermined direction may be calculated based on the calculated height.

  Any one of the above-described position fluctuation detection devices, comprising: a first position calculation unit that calculates a height of the predetermined part along the vertical axis, and calculates a position of the predetermined part in the predetermined direction based on the calculated height. The calculation processing of the height along the vertical axis of the predetermined part by the first position calculation unit and the calculation processing of the acceleration of the link along the predetermined direction by the first position calculation unit are temporally It is good to be executed in parallel.

  In any one of the above-described position variation detection apparatuses, the first position calculation unit including a first position calculation unit that calculates a height along the vertical axis of the predetermined part and calculates a position of the predetermined part in the predetermined direction based on the calculated height. The first position calculation unit is configured to determine a height along the vertical axis of the predetermined portion based on a plurality of set values corresponding to each length of the plurality of links and an angle formed by the plurality of links. It is good to calculate the length.

  The position variation detection according to any one of the above, further comprising: a first position calculation unit that calculates a height of the predetermined part along a vertical axis, and calculates a position of the predetermined part in the predetermined direction based on the calculated height. It is an apparatus, Comprising: The said 1st position calculation part follows the vertical axis line of the said predetermined | prescribed site | part based on the several link length value which shows each length of several said links, and the angle which these several links make The height may be calculated, and the position of the predetermined part in the predetermined direction may be calculated based on the height and an angle formed by the link with respect to the vertical direction.

  The jig may be a walking assistance device that assists the user's walking by applying torque to the knee of the user's leg. The plurality of links may include a first link disposed in association with the user's femur and a second link disposed in association with the user's tibia. The predetermined position may be the waist position of the user.

  The position variation detection system according to the present invention includes a plurality of links and a detection device, and a jig mounted on a user's leg, and a detection value supplied from the detection device of the jig. A position fluctuation detection system that detects a position fluctuation of a predetermined part of the user, wherein the position fluctuation detection apparatus is configured to detect the detection value (the detection value is supplied from the detection apparatus). The position of the predetermined portion in a predetermined direction intersecting the vertical axis based on at least a value corresponding to an angle formed by the plurality of links and a value corresponding to an inclination angle of the link with respect to the vertical direction). The detection value calculated and supplied from the detection device (the detection value is at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link) Calculating the acceleration of the links along the predetermined direction based on free), calculates the position of the predetermined portion in the predetermined direction based on the integral of the acceleration.

  In the operation method of the position variation detection device according to the present invention, a jig including a plurality of links and a detection device is attached to a user's leg, and the position variation detection device is based on a detection value supplied from the detection device of the jig. An operation method of a position variation detection device for detecting a position variation of a predetermined part of a user, wherein the detection value supplied from the detection device (the detection value corresponds to at least an angle formed by a plurality of links) And the detection value supplied from the detection device by calculating the position of the predetermined part in a predetermined direction intersecting the vertical axis based on the value and a value corresponding to the inclination angle of the link with respect to the vertical direction) (The detected value includes at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link), and the acceleration of the link along the predetermined direction. Calculated, to calculate the position of the predetermined portion in the predetermined direction based on the integral of the acceleration.

  According to the present invention, it is possible to easily measure a user's exercise state.

1 is a schematic diagram of a waist position measurement system according to a first embodiment. It is a schematic diagram which shows the structure of the walking assistance apparatus concerning Embodiment 1, and the mounting state with respect to a user. It is a figure which shows the link angle which the links concerning Embodiment 1 make. 1 is a schematic block diagram illustrating a configuration of a walking assist device according to a first embodiment. 1 is a schematic block diagram showing a configuration of a waist position measurement system according to a first exemplary embodiment. 3 is a timing chart illustrating an operation of the waist position measurement system according to the first exemplary embodiment. It is a schematic diagram which shows the fluctuation | variation of the waist position concerning Embodiment 1. FIG. It is a figure which shows the procedure which calculates the waist position at the time of standing concerning Embodiment 1. FIG. It is a figure which shows the procedure which calculates the waist position at the time of the free leg concerning Embodiment 1. FIG. 3 is a schematic flowchart showing an operation of the waist position measurement system according to the first exemplary embodiment. 6 is a timing chart illustrating an operation of the waist position measurement system according to the second exemplary embodiment. It is a figure for demonstrating the waist position measuring system concerning Embodiment 3. FIG. It is a figure which shows the difference in the walking state of a healthy person and a one leg paralysis patient.

Embodiment 1
The position variation detection apparatus according to the present embodiment attaches a jig including a plurality of links and a detection apparatus to a patient's leg, and determines the patient's waist position based on a detection value supplied from the detection apparatus of the jig. Detect position fluctuations. The position variation detection device calculates the waist position in a predetermined direction intersecting the vertical axis based on the detection value supplied from the detection device, and determines the position of the link along the predetermined direction based on the detection value supplied from the detection device. An acceleration is calculated, and a waist position in a predetermined direction is calculated based on the integration of the acceleration.

  According to this configuration, the waist position at the time of the standing leg and the swinging leg is calculated based on the calculation processing of different contents, and it becomes possible to easily measure the fluctuation of the patient's waist position. In particular, it is possible to observe a continuous displacement of the waist position by calculating the waist position at the time of the swing leg based on a calculation process utilizing acceleration. As a jig including a plurality of links and a detection device, for example, by utilizing a walking assist device, it is possible to detect the displacement of the waist position in a manner in which an existing device is diverted.

  As shown in FIG. 13, a hemiplegic patient walks in a swaying state as compared with a healthy person. Therefore, the degree of improvement in the walking state of the hemiplegic patient can be measured by observing the change in the waist position accompanying the walking of the hemiplegic patient. In addition, the left side of FIG. 13 shows the locus | trajectory of the waist position displaced with a healthy person's walk, and the right side of FIG. 13 shows the locus | trajectory of the waist position displaced with the walk of a hemiplegic patient.

  According to the above-described configuration, it is possible to present changes in the waist position of the patient to the instructor or the patient during the patient's rehabilitation. Therefore, it is possible to achieve a more effective rehabilitation exercise. For example, the instructor can present appropriate advice to the patient in real time in consideration of the fluctuation state of the waist position displayed on the display.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a waist position measurement system. FIG. 2 is a schematic diagram showing the configuration of the walking assistance device and the wearing state of the walking assistance device. FIG. 3 is a diagram illustrating a link angle formed by the links. FIG. 4 is a schematic block diagram illustrating the configuration of the walking assist device. FIG. 5 is a schematic block diagram showing the configuration of the waist position measurement system. FIG. 6 is a timing chart showing the operation of the waist position measurement system. FIG. 7 is a schematic diagram showing fluctuations in the waist position. FIG. 8 is a diagram showing a procedure for calculating the waist position when standing. FIG. 9 is a diagram showing a procedure for calculating the waist position during swinging. FIG. 10 is a schematic flowchart showing the operation of the waist position measurement system.

  As shown in FIG. 1, the waist position measurement system 100 includes a walking assist device (jig) 10, a measurement unit 20, and a computer 30. The output of the walking assist device 10 is connected to the measurement unit 20. The output of the measurement unit 20 is input to the computer 30. It should be noted that the function of the measurement unit 20 may be incorporated into the computer 30 and vice versa. That is, the specific configuration of the system 100 is arbitrary, and can be appropriately changed by those skilled in the art. The position variation detection device is configured by the measurement unit 20 alone or a combination of the measurement unit 20 and the computer 30.

  The waist position measurement system 100 shown in FIG. 1 measures the change in the waist position of a patient 200 whose right leg is paralyzed when FIG. 1 is viewed from the front. On the display screen of the computer 30, a change in the waist position of the patient 200 according to the walking of the patient 200 is simultaneously displayed. The rehabilitation instructor of the patient 200 can present appropriate advice to the patient 200 in consideration of the current walking motion of the patient 200. Since there is no large time lag between the rehabilitation exercise of the patient 200 and the advice from the instructor, the patient 200 can immediately correct the current posture and the like upon receiving the instructor's advice. In addition, by storing the waist position data of the patient 200, for example, it is possible to observe the transition of the walking state of the patient 200 over time. For example, it is possible to observe the transition of the walking state of the patient 200 on a weekly or monthly basis.

  As shown in FIGS. 1 and 2, the walking assist device (jig) 10 is a wearable jig / wearable robot that is worn along the legs of the patient 200 in a range from the waist of the patient 200 to its legs. It is. The walking assist device 10 is configured to give torque to the joint of the paralyzed leg of the patient 200 and assist the walking motion of the paralyzed leg of the patient 200. The walking assist device 10 supplies various sensing results to the measurement unit 20, whereby the waist position of the patient 200 is calculated by the measurement unit 20. The waist position calculated by the measurement unit 20 is displayed on the display screen of the computer 30, and the fluctuation state of the waist position is presented to the rehabilitation instructor. When evaluating the walking state of the patient 200, the waist position of the patient 200 is an important index. Therefore, the rehabilitation instructor can present appropriate advice to the patient 200 by simultaneously grasping the walking motion of the patient 200 and the variation state of the waist position of the patient 200. 200 can correct the current walking state.

  As shown in FIGS. 1 and 2, the walking assist device 10 includes a link (shaft member) 10a, a link 10b, a foot part (footrest part) 10c, a joint part (connection relay part) 10d, a joint part 10e, a belt ( It has an attachment portion 10f, a belt (attachment portion) 10g, and a controller portion (control portion) 10h. The link lengths of the links 10a and 10b can be appropriately adjusted according to the leg length of the patient 200.

  The link 10a is fixed to the leg of the patient 200 in association with the femur of the patient 200 by the belt 10f. The link 10b is fixed to the leg of the patient 200 by the belt 10g in association with the tibia of the patient 200. The joint portion 10d constitutes a connection portion between the link 10a and the link 10b, and is arranged in correspondence with the knee position of the patient 200's leg. The foot of the patient 200 is placed on the foot portion 10c. The joint portion 10e constitutes a connection portion between the link 10b and the foot portion 10c, and is arranged in correspondence with the ankle position of the patient 200. The controller unit 10h is arranged in association with the waist position of the patient 200.

  The joint portion 10d incorporates a measuring instrument (for example, an absolute encoder) that measures a link angle formed by the link 10a and the link 10b schematically shown in FIG. The joint portion 10d further incorporates a drive device (for example, an electric motor) that adjusts the link angle between the link 10a and the link 10b. The controller unit 10h includes a microcomputer and various sensors (gyro sensor, acceleration sensor, etc.). The foot 10c is provided with a detector (for example, a pressure sensor) that detects whether or not the paralyzed leg of the patient 200 is grounded. The joint portion 10e does not include a driving device such as a motor, and the foot portion 10c is swingably connected to the link 10b.

  The walking assisting device 10 appropriately adjusts the link angle (see FIG. 3) formed by the link 10a and the link 10b by driving the driving device provided in the joint portion 10d in a predetermined manner, thereby the patient 200. Assist the walking movement of the paralyzed leg.

  The walking assist device 10 is configured as shown in FIG. 4, for example. As illustrated in FIG. 4, the walking assist device 10 includes a target value pattern supply unit 91, a target angle generation unit 92, an addition unit 93, a driver 94, and a motor 95.

  The target value pattern supply unit 91 holds a target value pattern created in advance in consideration of the walking state of the patient 200 and supplies the target value pattern to the target angle generation unit 92. The target angle generation unit 92 generates a target angle at the current time based on the target value pattern supplied from the target value pattern supply unit 91, and supplies this to the addition unit 93.

  The adding unit 93 subtracts the link angle supplied from the measuring device provided in the joint unit 10 d from the target angle supplied from the target angle generating unit 92 and supplies the calculated value to the driver 94. The driver 94 generates a control signal for controlling the motor 95 based on the supply value from the adder 93 and supplies the control signal to the motor 95.

  The motor 95 rotates in accordance with a control signal supplied from the driver 94. The shaft rotational force generated by the motor 95 is transmitted to the link mechanism. In this way, the link angle between the link 10a and the link 10b is appropriately adjusted according to the walking pattern of the paralyzed leg of the patient 200.

  Note that the functional blocks shown in FIG. 4 are realized by a microcomputer built in the controller unit 10h driving an electric motor built in the joint unit 10d. The built-in microcomputer of the controller unit 10h sequentially executes the program, and supplies a drive signal corresponding to the target angle and the current link angle to the driver 94. Thus, it is desirable to control the motor 95 by software.

  With reference to FIG. 5, the sequence of the waist position measurement system 100 will be described. As shown in FIG. 5, the walking assist device 10 includes a ground contact detection unit 11, an inclination angle / rotational angular velocity detection unit (hereinafter, sometimes referred to as an inclination angle detection unit or a rotational angular velocity detection unit) 12, an acceleration detection unit 13, A link angle detector 14 is included. For convenience of explanation, the functional units 11 to 14 may be simply referred to as a detection unit (detection device). The measurement unit 20 includes a determination unit 21, a calculation unit (first position calculation unit) 22, a set value holding unit 23, a selection unit 24, and a waist position measurement unit (second position calculation unit) 25. The computer includes a measurement data processing unit 31, an input unit 32, and a measurement data display unit 33.

  The connection relationship between the functional blocks shown in FIG. 5 is as follows. Each output of the detection unit 11 and the detection unit 12 is connected to the determination unit 21. Each output of the detection units 12 to 14 is connected to the calculation unit 22. The output of the set value holding unit 23 is connected to the calculation unit 22. Each output of the determination unit 21 and the calculation unit 22 is connected to the selection unit 24. The output of the selection unit 24 is connected to the waist position measurement unit 25. The output of the waist position measurement unit 25 is connected to the measurement data processing unit 31. The output of the measurement data processing unit 31 is connected to the measurement data display unit 33. The output of the input unit 32 is connected to the set value holding unit 23. Note that the connection relationship illustrated in FIG. 5 is merely an example, and a connection relationship (not illustrated) may exist.

  The walking assist device 10 illustrated in FIG. 5 includes detection units 11 to 14. The detection unit 11 detects that the paralyzed leg of the patient 200 is grounded. For example, the ground detection unit 11 outputs an H level signal when the paralyzed leg of the patient 200 is grounded, and outputs an L level signal when the paralyzed leg of the patient 200 is not grounded. The detection part 11 is comprised from the pressure sensor etc. which were provided in the foot part 10c.

  The detection unit 12 is composed of an arbitrary type of gyro sensor, and detects a rotational angular velocity and an inclination angle (angles γ, α, etc. shown in FIG. 8). Note that the inclination angle α is an angle formed by the longitudinal direction of the link 10a with respect to the vertical direction (Z-axis direction) in a side view of the walking direction (X-axis direction) of the patient 200. The inclination angle α is an angle formed by the longitudinal direction of the link 10a with respect to the vertical direction (Z-axis direction) when viewed from the walking direction (X-axis direction) of the patient 200. The detection unit 12 is built in the controller unit 10 h of the walking assist device 10.

  The detection unit 13 is composed of an arbitrary type of acceleration sensor, and detects acceleration in three axial directions. Similar to the detection unit 12, the detection unit 13 is built in the controller unit 10 h of the walking assist device 10. Note that, when the walking assist device 10 is attached to the standing patient's leg as desired, one of the accelerations detected by the detection unit 13 is vertical acceleration.

  The detection unit 14 includes an encoder or the like built in the joint unit 10d, and supplies a value indicating the link angle to the microcomputer in the controller unit 10h.

  The measurement unit 20 shown in FIG. 5 incorporates a microcomputer and executes each process of the determination unit 21 to the waist position measurement unit 25. By the execution of the program by the microcomputer, the detection value supplied from the detection unit of the walking assist device 10 is processed, and finally, the waist position of the patient 200 in the global coordinates (Xg, Yg coordinate system shown in FIG. 7) is calculated. The

  The determination unit 21 determines whether the paralyzed leg of the patient 200 is grounded based on the outputs of the detection units 11 and 12. When the determination unit 21 receives an H level signal from the detection unit 11 and the acceleration in the Ys direction supplied from the detection unit 12 is zero (or a predetermined threshold or less), the paralysis leg of the patient 200 is grounded. Determine and output an H level signal indicating this. When one of the two conditions is insufficient, the determination unit 21 determines that the paralyzed leg of the patient 200 is not in contact with the ground, and outputs an L level signal indicating this. The determination unit 21 determines the ground contact state with reference to the acceleration in the Ys direction in order to effectively increase the determination accuracy (see FIG. 13).

  The calculation unit 22 calculates the waist position of the patient 200 based on the detection values supplied from the detection units 12 to 14. The set value holding unit 23 holds set values (link lengths L1 and L2 shown in FIG. 8, the interval L4 shown in FIG. 9, etc.) used for the calculation process by the calculating unit 22. The selection unit 24 selects one of the two outputs (the waist position data Va and the waist position data Vb) from the calculation unit 22 according to the output of the determination unit 21. The waist position measurement unit 25 converts the coordinates of the waist position supplied via the selection unit 24 into global coordinates and outputs the result.

  A computer 30 shown in FIG. 5 is a general computer including a CPU (Central Processing Unit), a memory, a hard disk, and the like, and generates a display image corresponding to data supplied from the measurement unit 20 by executing an application. This is displayed on a display unit such as a display panel. The computer 30 instructs the measurement unit 20 to change the held value of the set value holding unit 23 provided in the measurement unit 20.

  The measurement data processing unit 31 processes the supply value from the waist position measurement unit 25 and generates display data. The measurement data display unit 33 performs display according to the display data supplied from the measurement data processing unit 31. The input unit 32 includes an input device such as a keyboard, and instructs to change the held value of the set value holding unit 23. In response to this, the set value holding unit 23 rewrites its own held value with the supply value from the input unit 32.

  As schematically shown in FIG. 6, when the patient 200 performs a walking exercise, the standing leg and the free leg are repeated as time passes. When standing, the paralyzed leg is in contact with the ground and the other healthy leg is pushed forward away from the ground. At the time of the swing leg, the healthy leg is grounded, and the other paralyzed leg is pushed forward while being separated from the ground.

  As schematically illustrated in FIG. 6, the output of the determination unit 21 varies between HL levels according to the walking state (standing leg / free leg) of the patient 200. The calculating unit 22 continuously executes the standing-back waist position calculation a and the swinging-back waist position calculation b in parallel in time. The selection unit 24 selects one of the outputs from the calculation unit 22 according to the output from the determination unit 21. The waist position measurement unit 25 continuously calculates the relative displacement of the waist position in time based on the calculated value of the calculation unit 22 continuously supplied via the selection unit 24.

  For example, between the times t0 and t1, the leg is in the swinging state, and the output of the determination unit 21 is at the L level. At this time, the selection unit 24 selectively outputs the calculated value Vb obtained by the free leg waist position calculation b. The waist position measurement unit 25 sequentially calculates the relative displacement of the waist position based on the calculated values Vb that are sequentially input.

  As schematically shown in FIG. 7, the waist position P0 moves in the global coordinate system defined by the axis Xg and the axis Yg in accordance with the walking motion of the patient 200. Note that the axis Xg coincides with the traveling direction of the patient 200. The axis Yg is an axis perpendicular to the axis Xg and the vertical axis, and corresponds to the trunk width direction of the patient 200. The origin of the global coordinate system is set, for example, to the waist position when the paralyzed leg takes the first step and touches the ground. The method of setting the origin of the global coordinate system is arbitrary and should not be limited to this.

  The waist position P0 shown in FIG. 7 is measured at a predetermined time interval, for example. The waist position P0 is an initial position, and this position is the origin in the global coordinate system. The waist position P10 is a waist position when the paralyzed leg is separated from the ground. The waist position P11 is a waist position in the swing leg. The waist position P20 is a waist position when the paralyzed leg is grounded. The waist position P21 is a waist position in the standing leg.

  As shown in FIG. 7, a local coordinate system defined by an axis Xm and an axis Ym (m is an arbitrary natural number) is defined corresponding to the current position of the patient 200. The axis Xm is an axis parallel to the axis Xg of the global coordinate system. The axis Ym is an axis parallel to the axis Ym of the global coordinate system. The local coordinate system is a coordinate system set for the waist position of the patient 200, more precisely, the controller unit 10 h of the walking assist device 10. It can be understood that the local coordinate system moves in the global coordinate system in accordance with the walking of the patient 200.

  As described above, the calculation unit 22 calculates the waist position of the patient 200 based on the detection values of the detection units 11 to 14. This point will be described in detail with reference to FIGS. FIG. 8 is a diagram illustrating the calculation principle of the waist position when standing. FIG. 9 is a diagram illustrating the calculation principle of the waist position during swinging.

  As understood from FIG. 8, the calculation unit 22 calculates the waist position Dy based on geometric calculation. The waist position Dy indicates the waist position in the directions of the local axis Ym and the global axis Yg. More specifically, the calculation unit 22 calculates the height L based on the link lengths L1, L2, the link angle θ1, and the inclination angle γ, and then the waist position based on the calculated height L and the inclination angle α. Dy is calculated.

  The link lengths L1 and L2 are supplied from the set value holding unit 23 to the calculation unit 22. The link angle θ1 is supplied from the link angle detection unit 14 to the calculation unit 22. The inclination angles γ and α are supplied from the inclination angle detection unit 12 to the calculation unit 22.

  The calculation formula performed by the calculation part 22 is shown. Of the following formulas (1) to (6), formulas (1) to (5) are shown in FIG. 8 (a), and formula (6) is shown in FIG. 8 (b). It is shown.

Based on the first expression, the calculation unit 22 calculates the length of the remaining sides of the triangle having two sides for the link 10a and the link 10b (hereinafter may be referred to as the remaining sides). The calculation unit 22 calculates the angle θ2 formed by the link 10a and the margin based on the third formula obtained by developing the second formula. The calculation unit 22 calculates the angle θ3 by subtracting the calculated angle θ2 and the inclination angle λ. The calculation unit 22 calculates the height L by geometric calculation based on the calculated angle θ3 and the margin length L3. The calculation unit 22 obtains the waist position Dy by geometric calculation based on the calculated height L and the inclination angle α.

The waist position Dy calculated by the calculation unit 22 is added by the waist position measurement unit 25 to the waist position calculated by the previous calculation process. The waist position measurement unit 25 performs the calculation shown in Equation (7). Here, P0 _y is the previous waist position, and P0 _1y indicates the waist position calculated this time. In this way, the waist position in the global coordinate system is calculated.

As can be understood from FIG. 9, the calculation unit 22 is different from the case of FIG. 8 in that the acceleration conditions such as the angular acceleration and the acceleration are not utilized without using the links 10 a and 10 b and the mechanism conditions such as the angle formed by them. Based on the detection, the waist position Dy is calculated. When the paralyzed leg is floating from the ground, it is not easy to obtain the waist position Dy even if the links 10a, 10b and the angles formed by them are used. In view of this point, in the present embodiment, as described above, the waist position Dy is calculated based on detection of acceleration states such as angular acceleration and acceleration. As a result, continuous waist position measurement can be performed. Incidentally, as shown in FIG. 9, alpha = alpha ₁ relationship is established.

The calculation unit 22 calculates the waist position Dy based on the calculation principle shown in equations (8) to (11). Based on the rotation angular acceleration α ^″ supplied from the rotation angular velocity detection unit 12 and the length L4 supplied from the set value holding unit 23, the calculation unit 22 links the point P corresponding to the waist position as the rotation center. Acceleration S _ly when 10a rotates (see equation (8)) is calculated, and acceleration S _ly is subtracted from acceleration S _ay supplied from acceleration detection unit 13 (see equation (9)), according to waist movement The acceleration S _{ky of} the value is obtained. Subsequently, the computing unit 22 based on the inclination angle α supplied from the acceleration _{S ky} an inclination angle detection unit 12 calculates the acceleration _{G ay} axis Y0 direction (see equation (10)). Next, the calculation unit 22 integrates the calculated acceleration _Gay twice to calculate the waist position Dy (see Expression (11)).

The waist position Dy calculated by the calculation unit 22 is added by the waist position measurement unit 25 to the waist position calculated by the previous calculation process. The waist position measurement unit 25 performs the calculation shown in Expression (12). However, P1 _0y is the previous waist position, and P1 _1y indicates the waist position calculated this time. In this way, the waist position in the global coordinate system is calculated.

  As is apparent from FIG. 6, in the present embodiment, the calculation unit 22 executes the standing-back waist position calculation a and the free-leg waist position calculation b in parallel in time. In this case, one calculation result is a true value, but the other calculation result is an incorrect value. In order to determine this point, in the present embodiment, the determination unit 21 determines the standing leg / free leg, and uses a calculation result determined according to the determination result. Thus, the calculation process by the calculation unit 22 can be continuously executed.

  The operation of the waist position measurement system 100 will be described with reference to FIG. Note that the waist position measurement system 100 continuously executes a cycle from start to return.

  First, a detection process is performed (S100). Specifically, the detection units 11 to 14 of the walking assist device 10 perform a detection operation.

  Next, the standing leg or the free leg is determined (S101). Specifically, when the output of the ground contact detection unit 11 is at the H level and the value of the rotational angular velocity is equal to or less than a predetermined value or a threshold value, the determination unit 21 determines the standing state and outputs an H level signal indicating this. To do. When one of the two conditions is insufficient, the determination unit 21 determines that the paralyzed leg of the patient 200 is not in contact with the ground, and outputs an L level signal indicating this.

  In the case of the stance determination, it is determined whether the stance is in the start state (S102). The determination unit 21 holds the previous determination result of S101, and determines whether the current determination result is the first stance determination in comparison with this. That is, the determination unit 21 does not determine that the stance start is started when the previous determination result indicates stance. When the previous determination result indicates a free leg, the determination unit 21 determines that the stance is started.

  In the case of starting the stance, local coordinates are virtually set (S103). In accordance with the determination by the determination unit 21, local coordinates defined by the X2 axis and the Y2 axis are virtually set, as schematically shown in FIG.

  Next, the extension is held (S104). Specifically, the walking assist device 10 drives the links 10a and 10b by continuous torque generation, but considers that it is stationary at a certain point in time.

  Next, the waist position is calculated in local coordinates (S105). Specifically, it is as described with reference to FIG.

  Next, the waist position is calculated in global coordinates (S106). Specifically, the waist position measurement unit 25 adds Dy calculated this time to Dy calculated last time (see Expression (7)).

  Next, the motor is driven (S107). Specifically, the walking assisting device 10 starts to perform link driving based on torque generation after leaving the stretched state in a certain time.

  Next, the monitor is displayed (S108). Specifically, the supply value supplied from the waist position measurement unit 25 is processed by the measurement data processing unit 31, and the measurement data display unit 33 determines the displacement state of the waist based on the data supplied from the measurement data processing unit 31. An image showing is displayed. Then return to the start.

  If it is determined in S101 that it is a free leg, it is determined whether or not it is the start of a free leg (S109). Specifically, the determination unit 21 holds the previous determination result of S101, and determines whether the current determination result is the first stance determination in comparison with this. That is, the determination unit 21 does not determine that the free leg starts when the previous determination result indicates a free leg. The determination unit 21 determines that the free leg is started when the previous determination result indicates stance.

  When the free leg starts, the local coordinates are virtually set (S110). In accordance with the determination by the determination unit 21, local coordinates defined by the X1 axis and the Y1 axis are virtually set, as schematically shown in FIG.

  Next, a pattern is supplied (S104). Specifically, the walking assistance device 10 is in a state of driving the links 10a and 10b by continuous torque generation, and the target value pattern supply unit 91 sends the target value pattern to the target angle generation unit 92. Supply continuously. In the next step, the waist position is calculated based on the time factor, so this step is included in the flowchart in order to clarify this point.

  Next, the waist position is calculated in local coordinates (S112). Specifically, it is as described with reference to FIG.

  Next, the waist position is calculated in global coordinates (S106). Specifically, the waist position measurement unit 25 adds Dy calculated this time to Dy calculated last time (see Expression (12)).

  Next, as in the case described above, the motor is driven (S107) and the monitor is displayed (S108). Then return to the start.

  As is clear from the above description, in this embodiment, the calculation unit 22 calculates the waist position by the calculation process described with reference to FIG. 8 and the waist position by the calculation process described with reference to FIG. Is calculated. This makes it possible to easily measure the continuous displacement of the waist position. In addition, it is possible to measure the displacement of the waist position of the patient 200 in a mode in which the existing walking assist device 10 is utilized. In this case, a large-scale apparatus configuration is not involved.

Embodiment 2
In the present embodiment, the waist position (movement amount) at the time of the free leg is calculated by a method different from that in the first embodiment. As a result, it is possible to effectively reduce the error of the waist position that is superimposed over time. Even in this case, the same effect as in the first embodiment can be obtained.

  Specifically, the calculation unit 22 executes the steps shown in FIG.

  First, the speed calculated in the final cycle when standing is set as the initial speed, and the movement amount in the Y-axis direction is set as 0 (S201).

Next, the calculation unit 22 calculates the acceleration S _ly by executing Expression (8) (S202).

Next, the calculation unit 22 calculates the speed by subtracting the initial speed from the speed obtained by integrating the calculated acceleration _Sly (S203).

  Next, the calculation unit 22 integrates the speed calculated in S203 (S204). As a result, it is possible to effectively reduce the error of the waist position that is superimposed over time.

  If a supplementary explanation is given with reference to FIG. 6, in this embodiment, at time t0 and time t2, the speed calculated in the previous calculation process from the speed calculated in the current calculation process to reset the integration error. After subtracting, the acceleration is calculated by integrating the speed. As a result, it is possible to effectively increase the calculation accuracy of the waist position.

Embodiment 3
In the present embodiment, the computer 30 determines and displays the walking state of the patient 200. Thereby, the rehabilitation instructor can intuitively grasp the walking state of the patient 200. In addition, if the display of the computer 30 is presented to the patient himself, the patient 200 can intuitively grasp his / her walking state on the spot. Even in this case, the same effect as in the first and second embodiments can be obtained.

  As shown in FIG. 12, it is assumed that the waist position of the patient varies in time series. Note that the solid line in FIG. 12 indicates the change in the waist position of the patient calculated by the measurement unit 20. The upper part of FIG. 12 is displayed on the display unit of the computer 30.

  Between time t0 and time t1, the waist position exceeds the threshold position TH2. At this time, the computer 30 turns on the lighting 35c of the display unit 35 provided therein. Between time t1 and time t2, the waist position is below the threshold position TH2. At this time, the computer 30 turns on the lighting 35b of the display unit 35. Between time t2 and time t3, the waist position exceeds the threshold position TH1. At this time, the computer 30 turns on the lighting 35 a of the display unit 35. By adopting this configuration, the current walking state can be presented more directly to the rehabilitation instructor and patient.

  The specific configuration of the computer 30 is arbitrary. It is assumed that the threshold positions TH1 and TH2 are preset by the user. The number of thresholds may be increased, and the walking state may be discriminated in more stages / details.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, a specific method for detecting acceleration is arbitrary. A specific method of angular velocity detection is arbitrary. The specific configuration of the jig is arbitrary. The present invention can also be applied to users other than hemiplegic patients (for example, athletes). The specific configuration of the walking assist device 10 is arbitrary. The specific configuration of the measurement unit is arbitrary. The specific configuration of the computer 30 is arbitrary.

100 waist position measurement system

10 walking assist device 20 measuring unit 30 computer

DESCRIPTION OF SYMBOLS 11 Ground detection part 12 Inclination angle / rotation angular velocity detection part 13 Acceleration detection part 14 Link angle detection part

21 determination unit 22 calculation unit 23 set value holding unit 24 selection unit 25 waist position measurement unit 26 motor 27 tilt sensor

31 Measurement Data Processing Unit 32 Input Unit 33 Measurement Data Display Unit 35 Display Unit

91 Target value pattern supply unit 92 Target angle generation unit 93 Addition unit 94 Driver 95 Motor

Claims (13)

A position variation in which a jig including a plurality of links and a detection device is attached to a user's leg, and a position variation of the predetermined portion of the user is detected based on a detection value supplied from the detection device of the jig. A detection device,
Based on the detection value supplied from the detection device (the detection value includes at least a value according to an angle formed by the plurality of links and a value according to an inclination angle of the link with respect to a vertical direction). Calculating the position of the predetermined part in a predetermined direction intersecting the vertical axis;
Based on the detection value supplied from the detection device (the detection value includes at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link) along the predetermined direction. A position variation detection device that calculates an acceleration of a link and calculates a position of the predetermined portion in the predetermined direction based on an integration of the acceleration. A first position calculation unit for calculating the position of the predetermined part in the predetermined direction;
A second position calculation unit that calculates a position of the predetermined part in a predetermined space based on a calculation result by the first position calculation unit determined according to information indicating whether or not the user's leg is in contact with the ground; ,
The position variation detection device according to claim 1, comprising: The position detection device according to claim 1 or 2, wherein the detection value further includes a value indicating whether or not the leg of the user is in contact with the ground.
A first position calculation unit for calculating the position of the predetermined part in the predetermined direction;
A determination unit that determines whether or not the user's leg is grounded based on the detection value supplied from the detection device;
A second position calculation unit that calculates a position of the predetermined part in a predetermined space based on a calculation result by the first position calculation unit determined according to a determination result by the determination unit;
Is provided. The position variation detection device according to any one of claims 1 to 3, further comprising a first position calculation unit that calculates a position of the predetermined part in the predetermined direction.
The first position calculation unit is configured to detect the link based on an angular acceleration detected when the link rotates around the predetermined part and an acceleration detected by the detection device according to a displacement of the link. Acceleration is calculated, and the calculated acceleration is integrated. The position variation detection device according to any one of claims 1 to 4, further comprising a first position calculation unit that calculates a position of the predetermined part in the predetermined direction.
The first position calculation unit calculates a height of the predetermined part along the vertical axis, and calculates a position of the predetermined part in the predetermined direction based on the calculated height. 6. The device according to claim 1, further comprising: a first position calculation unit configured to calculate a height of the predetermined part along the vertical axis and calculate a position of the predetermined part in the predetermined direction based on the calculated height. The position variation detection device according to one item,
The calculation process of the height along the vertical axis of the predetermined part by the first position calculation unit and the calculation process of the acceleration of the link along the predetermined direction by the first position calculation unit are executed in parallel in time. Is done. 7. The apparatus according to claim 1, further comprising: a first position calculation unit configured to calculate a height along a vertical axis of the predetermined part and calculate a position of the predetermined part in the predetermined direction based on the calculated height. The position variation detection device according to the item,
The first position calculation unit calculates a height along the vertical axis of the predetermined portion based on a plurality of setting values corresponding to each length of the plurality of links and an angle formed by the plurality of links. To do. 8. The apparatus according to claim 1, further comprising a first position calculation unit configured to calculate a height along a vertical axis of the predetermined part and calculate a position of the predetermined part in the predetermined direction based on the calculated height. The position variation detection device according to the item,
The first position calculation unit calculates a height along the vertical axis of the predetermined portion based on a plurality of link length values indicating the lengths of the plurality of links and an angle formed by the plurality of links. The position of the predetermined part in the predetermined direction is calculated based on the height and the angle formed by the link with respect to the vertical direction.   The position variation detection according to any one of claims 1 to 8, wherein the jig is a walking assistance device that assists a user's walking by applying torque to a knee of a user's leg. apparatus.   The plurality of links include a first link disposed in association with the user's femur and a second link disposed in association with the user's tibia. The position variation detection device according to any one of the above.   The position variation detection device according to any one of claims 1 to 10, wherein the predetermined position is a waist position of the user. A jig that includes a plurality of links and a detection device, and is attached to a user's leg;
A position fluctuation detecting device for detecting a position fluctuation of the predetermined portion of the user based on a detection value supplied from the detection device of the jig;
A position variation detection system comprising:
The position variation detection device is:
Based on the detection value supplied from the detection device (the detection value includes at least a value according to an angle formed by the plurality of links and a value according to an inclination angle of the link with respect to a vertical direction). Calculating the position of the predetermined part in a predetermined direction intersecting the vertical axis;
Based on the detection value supplied from the detection device (the detection value includes at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link) along the predetermined direction. A position variation detection system for calculating an acceleration of a link and calculating a position of the predetermined portion in the predetermined direction based on an integration of the acceleration. Position variation detection in which a jig including a plurality of links and a detection device is attached to a user's leg, and the position variation of the predetermined portion of the user is detected based on a detection value supplied from the detection device of the jig. A method of operation of the device, comprising:
Based on the detection value supplied from the detection device (the detection value includes at least a value according to an angle formed by the plurality of links and a value according to an inclination angle of the link with respect to a vertical direction). Calculating the position of the predetermined part in a predetermined direction intersecting the vertical axis;
Based on the detection value supplied from the detection device (the detection value includes at least a value corresponding to the rotational angular acceleration of the link and a value corresponding to the acceleration of the link) along the predetermined direction. An operation method of a position variation detection device, wherein an acceleration of a link is calculated, and a position of the predetermined part in the predetermined direction is calculated based on an integration of the acceleration.

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