JP2017035449A - Walking guide method and walking guide device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking guide method and a device capable of easily diagnosing a walking state and performing sure guide.SOLUTION: A walking guide method and a device are configured so that: motion sensors are attached to at least two positions out of waist parts and a chest/back part of a subject for calculating an operation state on the two positions; oscillation loci on the two positions are superposed and displayed on a monitor, in each of a sagittal plane, a frontal plane, and a horizontal plane of the subject on the basis of the calculated operation state on the two positions; then an instructor determines whether or not, duplex of the oscillation loci of the waist part on at least the sagittal plane out of the sagittal plane, the frontal plane, and the horizontal plane is remarkable; if it is determined that, the duplex of the oscillation loci of the waist part on the sagittal plane is remarkable, the instructor performs walking guide on the basis of a lateral width of the oscillation locus on the waist part in the frontal plane or a cross width of the oscillation locus of the chest/back part on the horizontal plane; and if it is determined that the duplex of the oscillation loci on the waist part on the sagittal plane is not remarkable, by the instructor, the instructor performs walking guide on the basis of a cross width of the oscillation locus on the waist part on the sagittal plane.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a method and apparatus for instructing the walking of a subject.

In the case of analyzing a walking state (walking includes running), it is often performed by taking a moving image using a high-speed camera and analyzing the taken moving image.
However, problems such as the fact that devices such as high-speed cameras are expensive, that the measurement range can be performed only in a limited range of several meters square, and that the analysis method in the analysis of moving images is complicated are cited as problems.

On the other hand, a method of analyzing a walking state using a motion sensor such as an acceleration sensor instead of taking a moving image has been proposed.
For example, according to the walking state analysis method disclosed in Patent Document 1, a plurality of sensors are attached so as to sandwich the hip joint, knee joint, and ankle joint of both feet of the subject, and when the subject walks The joint angle of the subject and other information are obtained based on the data from the attached sensor.

  In addition, according to the walking evaluation device disclosed in Patent Document 2, an acceleration sensor is attached to the foot near the ankle of the subject, and the acceleration signal is calculated based on the acceleration data of the foot measured by the acceleration sensor. Frequency spectrum analysis is performed, and foot dragging, slipping, etc. can be evaluated.

JP 2012-343 JP 2013-59489 A

In the conventional method as described above, sensors are attached to the lower limbs, ankles, and the like, and evaluation during walking is performed. However, even with these data, it is the current situation that an experienced physical therapist must judge how to give guidance to patients.
Therefore, in an actual rehabilitation site, the physical therapist visually observes the patient's walking state and gives guidance to the patient based on the result of determining the walking state.
However, the evaluation of the walking state must rely on the subjectivity of a physical therapist who has gained a lot of experience, and therefore it is not easy to diagnose the walking state and give guidance to the subject.

  Therefore, the present invention is made to solve the above-described problems, and an object of the present invention is to provide a walking instruction method and apparatus capable of easily diagnosing a walking state and providing reliable instruction.

In order to achieve the above object, the present invention comprises the following arrangement.
That is, according to the walking instruction method according to the present invention, motion sensors are attached to at least two places of the waist and chest back of the subject, and the operations of the two places are performed based on the data measured by the motion sensor. The situation is calculated, and on the subject's sagittal plane, frontal plane, and horizontal plane, the two fluctuation trajectories are superimposed and displayed on the monitor on the basis of the calculated movement situation of the two places. The leader judges whether or not the duplication of the lumbar swaying trajectory is significant in at least the sagittal plane of the sagittal plane, the frontal plane, and the horizontal plane. If it is determined that there is, the walking instruction is given based on the lateral width of the lumbar swing trajectory on the frontal plane or the front-back width of the chest back trajectory on the horizontal plane. If the redundancy is determined not to be conspicuous it is characterized by performing a walking guidance based on the longitudinal width of upset trajectory of the waist in the sagittal plane.
The sagittal plane refers to a plane that divides the body left and right along the midline of the subject. The forehead plane is a plane perpendicular to the sagittal plane that divides the subject back and forth. The horizontal plane means a plane that divides the subject vertically.
Thus, by determining whether or not the duplication is remarkable with respect to the swinging locus of the waist of the sagittal plane, it is found that the left-right balance of the subject is broken if the duplication is remarkable. Thereby, it is possible to perform appropriate walking guidance without much experience.

In addition, when the instructor performs walking instruction based on the back and forth width of the wobble locus of the waist in the sagittal plane, the instructor is narrow in the front and back width of the wobble locus in the sagittal plane, and the subject If the right side of the body is determined to be weak by visually observing the standing position of the body, walking guidance is given to use the left upper arm external rotation and lateral abdominal muscles. If the left side of the body is determined to be weak by visually observing the subject's standing position, the gait is instructed to use the upper right arm external rotation and lateral abdominal muscles, If it is determined that the front and rear width of the wobbling trajectory is wide, guidance may not be necessary.
According to this method, appropriate walking guidance can be performed based on the walking state of the subject from the front-rear width of the wobbling locus of the waist of the sagittal plane.

In addition, when the instructor performs walking instruction based on the left and right width of the lumbar swing locus on the front face, if the leader determines that the left and right width of the lumbar swing locus on the front face is narrow, Walking instruction to perform arm external rotation and left upper arm external rotation, the instructor has a wide left and right width of the lumbar swing locus on the front face and the lumbar swing locus on the front face is not in the shape of figure 8. If it is determined, the walking instruction is performed so as to perform the upper right arm external rotation and the left upper arm external rotation, and the instructor has a wide left / right width of the waist swinging locus on the front face and the waist swinging locus on the front face is 8 If it is determined that the character is in the shape of a character, walking guidance may be performed based on a result of comparing the left and right areas of the character.
According to this, when it is determined that the left-right balance is broken in the sagittal plane, the left-right width is verified by the swing locus of the waist portion of the frontal face. If the left and right width is small, walk instruction is given to perform left and right upper arm external rotation. When the left-right width is not small, whether or not the swing locus of the lumbar portion of the frontal face has an 8-shaped shape, and if it is 8-shaped, the left and right areas of the rocked track are compared and guidance for subsequent walking is performed.

  In addition, when the instructor performs walking instruction based on the result of comparing the left and right areas of the figure 8 of the waist swinging locus on the front face, the instructor has a larger area on the left side of the figure 8. If the instructor determines that the area on the right side of the figure 8 is larger, the upper right arm external rotation and It may be characterized by instructing walking so as to perform left-side selective exercise.

  In addition, when the instructor performs walking guidance based on the front and back width of the back and back movement trajectory on the horizontal plane, if the instructor determines that the front and rear width of the back and back movement trajectory on the horizontal plane is small, If the instructor walks to perform external rotation and left upper arm external rotation, and the instructor determines that the back-and-front width of the back of the chest back on the horizontal plane is large and the left area is larger, If the instructor walks to perform left-side selective exercise, and the instructor determines that the back and forth width of the back of the chest back on the horizontal plane is large and the right area is larger, the left upper arm external rotation and right side selective It may be characterized by instructing walking to exercise.

According to the walking diagnosis method according to the present invention, a motion sensor is provided at least in two places on the waist and chest back of a subject using a computer having a storage unit in which instruction contents relating to walking are stored in advance and a monitor. The data measured by the motion sensor is input to the computer, and the computer calculates the operation status of the two locations based on the data measured by the two motion sensors. Based on the movement status of the two places, on the subject's sagittal plane, frontal plane, and horizontal plane, the two trajectories are superimposed and displayed on the monitor, and the waist and chest back of the frontal plane or horizontal plane are displayed. The left and right symmetry of the swing trajectory is automatically determined based on the similarity of the left and right shapes of the swing trajectory. If it is determined that the left / right symmetry is more than a preset similarity and left / right symmetry, it is automatically determined whether the forward / backward inclination angle of the wobble locus of the sagittal plane is equal to or greater than a preset threshold value. In the case where the back and forth inclination angle of the swing locus of the waist of the sagittal plane is equal to or greater than a preset threshold value, the instruction content indicating that the instruction is unnecessary is extracted from the storage unit and displayed on the monitor, If the front / rear tilt angle of the wobbling locus of the sagittal plane is less than a preset threshold, it is automatically determined whether the straight line connecting the two lower ends of the wobbling locus of the frontal plane is inclined to the left or right If the straight line connecting the two lower ends of the sway trajectory of the lumbar region of the frontal face is downward-sloping, the guidance content indicating that the left upper arm external rotation and the lateral abdominal muscles are used is extracted and stored in the monitor. If the straight line connecting the two lower ends of the sway trajectory of the waist on the front face is downward , Extracted the guidance content to the effect that the right upper arm external rotation and lateral abdominal muscles are used and displayed on the monitor, the left and right symmetry of the swing trajectory of the waist and back of the forehead or horizontal plane was preset If it is determined that the degree of similarity is less than right and left asymmetric, it automatically calculates the ratio of the left and right widths of the sway trajectory on the chest back of the front face and the left and right widths of the sway loci on the front face and shakes the back of the chest on the front face. If the ratio of the left / right width of the swaying locus of the waist to the left / right width of the trajectory is less than a preset threshold, the instruction content indicating that the upper right arm external rotation and the left upper arm external rotation are performed is extracted and displayed on the monitor. If the ratio of the left / right width of the sway trajectory of the chest back on the front face and the left / right width of the sway trajectory on the waist is equal to or greater than a preset threshold, the minimum value of the local radius of curvature of the sway trajectory of the front face lumbar Is automatically calculated, and the minimum value of the local curvature radius of the sway trajectory of the lumbar region of the front face is estimated. If it is less than the set threshold value, the guidance content for performing the upper right arm external rotation and the left upper arm external rotation is extracted and displayed on the monitor, and the local curvature radius of the oscillating trajectory of the lumbar region of the frontal plane is extracted. If the minimum value is greater than or equal to a preset threshold, it is automatically determined whether the straight line connecting the two lower ends of the sway trajectory of the lumbar portion of the front face is inclined to the left or right. When the straight line connecting the two lower ends of the swing trajectory is descending to the left, the instruction content indicating that the upper right arm external rotation and the left selective motion are performed is extracted and displayed on the monitor, and the swing trajectory of the lumbar portion of the frontal face is displayed. When the straight line connecting the two lower ends of the head is downwardly inclined, the guidance content indicating that the left upper arm external rotation and the right selective motion are performed is extracted and displayed on the monitor.
According to this method, appropriate walking guidance can be easily performed without depending on the subjectivity of the physical therapist.

According to the walking instruction apparatus according to the present invention, the walking instruction device includes a storage unit in which instruction contents relating to walking are stored in advance and a monitor, and is measured by motion sensors attached to at least two places of the waist and chest back of the subject. Is a walking guidance device that performs walking guidance based on the input data, and is based on the operation status of the two locations, in each of the sagittal plane, the frontal plane, and the horizontal plane of the subject. The display screen creating means for creating the shaking locus at the two locations, and the judging means for judging the state of the subject based on the shaking locus created by the display screen creating means, the judging means comprising: The left / right symmetry of the sway trajectory of the waist and back of the frontal plane or horizontal plane is automatically determined based on the similarity of the left and right shapes of the swaying trajectory. If it is determined that the left / right symmetry of the swing locus is greater than or equal to a preset similarity, the front / rear inclination angle of the swing locus of the waist of the sagittal plane is greater than or equal to a preset threshold value. If the front / rear tilt angle of the wobbling locus of the lumbar part of the sagittal plane is equal to or greater than a preset threshold value, the instruction content indicating that instruction is not necessary is extracted from the storage unit and displayed on the monitor If the tilt angle of the swaying locus of the waist of the sagittal plane is less than a preset threshold value, is the straight line connecting the two lower ends of the swaying locus of the lumbar part of the frontal frame inclined to the left or right? If the straight line connecting the two lower ends of the sway trajectory of the lumbar region of the front face is downward-sloping, the instruction content indicating that the right upper arm external rotation and the lateral abdominal muscles are used is extracted and The lower right of the straight line connecting the two lower ends of the swaying locus of the waist on the front face is displayed on the monitor In this case, the guidance content indicating that the left upper arm external rotation and lateral abdominal muscles are used is extracted and displayed on the monitor, and the left-right symmetry of the sway trajectory of the front face or horizontal waist and chest back is set in advance. If it is determined that the left and right asymmetry is less than the calculated similarity, the ratio of the left and right width of the lumbar swing trajectory to the left and right width of the back trajectory of the front face is automatically calculated, and the chest back of the front face is calculated. If the ratio of the left and right width of the lumbar swing trajectory to the left and right width of the swing trajectory is less than a preset threshold, the instruction content for performing the upper right arm external rotation and the left upper arm external rotation is extracted and stored in the monitor. If the ratio of the left / right width of the lumbar swing locus to the left / right width of the posterior chest back trajectory of the front face is greater than or equal to a preset threshold, the local curvature radius of the front face lumbar swing trajectory The minimum value is automatically calculated, and the local curvature of the sway trajectory of the front face lumbar region When the minimum value of the rate radius is less than a preset threshold value, the instruction content for performing the upper right arm external rotation and the left upper arm external rotation is extracted and displayed on the monitor, When the local minimum radius of curvature is greater than or equal to a preset threshold, it is automatically determined whether the straight line connecting the two lower ends of the sway trajectory of the lumbar region of the front face is inclined to the left or right. If the straight line connecting the two lower ends of the sway trajectory of the lumbar portion of the front face is downward-sloping, the instruction content indicating that the right upper arm external rotation and left selective movement are performed is extracted and displayed on the monitor. When the straight line connecting the two lower ends of the swing locus of the lower back of the face is downward, the instruction content for performing left upper arm external rotation and right selective exercise is extracted and displayed on the monitor. Yes.
By adopting this configuration, appropriate walking guidance can be easily performed without depending on the subjectivity of the physical therapist.

In addition, the determination means stores, in the storage unit, a ratio of the left and right width of the lumbar movement locus to the left and right width of the chest posterior movement locus on the front face as a first evaluation value, and the lumbar local area on the front face is determined locally. The minimum value of the radius of curvature is stored in the storage unit as a second evaluation value, the inclination angle of the straight line connecting the two lower ends of the swing locus of the waist of the front face is stored in the storage unit as a third evaluation value, The left-right symmetry of the lumbar swing trajectory in the face and horizontal planes is stored as a fourth evaluation value in the storage unit, and the left-right symmetry of the chest back trajectory in the front face and horizontal planes is stored as the fifth evaluation value in the storage unit. And the difference between the forward and backward inclination angle of the back and back movement trajectory in the sagittal plane and the front and rear inclination angle of the back and forth movement locus in the sagittal plane is stored in the storage section as a sixth evaluation value. Are the first to sixth evaluation values of a plurality of persons Radar chart creating means for displaying a relative evaluation value of the first evaluation value to the sixth evaluation value of a specific person on the monitor as a radar chart for the first evaluation value to the sixth evaluation value of a plurality of persons It is good also as providing.
According to this configuration, since the characteristics of the walking of the subject can be displayed in a relatively easy-to-understand manner, guidance for the subject can be performed smoothly.

  According to the walking instruction method and apparatus according to the present invention, it is possible to easily diagnose a walking state and perform reliable instruction.

It is explanatory drawing which shows the test subject in the walking instruction method. It is explanatory drawing of a walking state detection apparatus. It is explanatory drawing which shows the example of the screen displayed on the monitor of a walking state detection apparatus. It is explanatory drawing which shows the example of the fluctuation locus | trajectory which a leader refers. It is a flowchart which shows the flow of instruction | indication. FIG. 6 is a continuation of FIG. 5 and is a flowchart in the case of teaching based on a fluctuation trajectory of the front face. FIG. 6 is a continuation of FIG. 5 and a flowchart in the case of providing guidance based on a fluctuation trajectory on a horizontal plane. It is explanatory drawing of the walking instruction apparatus of 2nd Embodiment. It is a flowchart which shows the judgment operation | movement in 2nd Embodiment. It is a continuation of FIG. It is explanatory drawing shown about the left-right symmetry of the fluctuation locus | trajectory of a frontal plane and a horizontal surface. It is explanatory drawing shown about the inclination of the front-back direction of the rocking locus of the waist | lumbar part of a sagittal surface. It is explanatory drawing which shows whether the straight line which connects the two lower ends of the rocking locus | trajectory of the waist | hip | lumbar part of a frontal face inclines in right and left. It is explanatory drawing shown about ratio of the left-right width of the rocking locus | trajectory of the waist | lumbar part with respect to the left-right width of the rocking locus | trajectory of the chest back part of a frontal face. It is explanatory drawing shown about the magnitude | size of the local curvature radius of the rocking locus of the waist | lumbar part of a frontal face. It is explanatory drawing of a radar chart.

(First embodiment)
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings.
FIG. 1 shows a subject to be detected in a walking state in the walking guidance method of the present embodiment. FIG. 2 is a schematic explanatory diagram of a walking state detection device for creating and displaying a shaking trajectory used in the walking instruction method of the present embodiment.
In the present embodiment, the operation state is measured at two places, that is, the waist 12 and the chest back 14 of the subject 10 to be detected in the walking state. The specific position of the lumbar portion 12 may be in the vicinity of the sacrum from the lower lumbar vertebra of the subject. The sacrum is located at the lower part of the spine and constitutes the pelvis. Further, the chest back portion 14 is preferably near the apex of the posterior heel of the thoracic vertebra. The thoracic vertebra is one of the parts constituting the spine and is located near the scapula.

In addition to the two motion measurement positions at the lumbar region (from the lower lumbar vertebra to the sacrum) and the back of the chest (near the apex of the posterior rib of the thoracic vertebra), the third cervical vertebra is the motion measurement position. May be attached.
The seventh cervical spine is suitable as a motion measurement position because it is the most popping bone when the neck is tilted forward and is easy to find.

  In this way, when detecting the walking state, the movement of the trunk can be easily grasped by measuring the movement state at at least two places of the lower back and the chest back instead of the legs, and the walking state can be determined. It is possible to grasp accurately.

  The walking state detection device 30 of the present embodiment includes motion sensors 18 and 20 attached to each of the waist 12 and the chest back 14 of the subject, a device main body 31, and a monitor 32.

In the present embodiment, triaxial acceleration sensors 18 and 20 are mounted as an example of a motion sensor on each of the waist 12 and the chest back 14 and the operating conditions of the waist 12 and the chest back 14 are measured.
The triaxial acceleration sensors 18 and 20 measure the acceleration in the direction of each axis when the horizontal direction in the horizontal plane is the x-axis direction, the walking direction in the horizontal plane is the y-axis direction, and the vertical direction is the z-axis direction. it can.

  The motion sensor is not limited to a triaxial acceleration sensor, and a triaxial angular velocity sensor or a triaxial magnetic sensor can also be employed.

The two three-axis acceleration sensors 18 and 20 are provided so that data communication is possible with the device main body 31 of the walking state detection device 30.
The triaxial acceleration sensors 18 and 20 are provided with data transmission units 22 and 24, respectively, so that the detected acceleration data can be transmitted by wireless communication. The apparatus main body 31 is provided with a data receiving unit 29, and can receive acceleration data transmitted from the data transmitting units 22 and 24.
As the wireless communication function, Bluetooth (registered trademark) or the like can be employed.

  Note that the data communication of each of the three-axis acceleration sensors 18 and 20 is not limited to wireless communication. For example, the three-axis acceleration sensors 18 and 20 and the apparatus main body 31 may be connected by a data communication cable (not shown) or the like to enable data transmission / reception.

Next, a specific configuration of the device main body 31 of the walking state detection device 30 will be described.
As the apparatus main body 31, a general computer can be employed.
The computer (device main body) 31 includes a control unit 42 that operates based on a control program. The control unit 42 includes a CPU, ROM, RAM, and the like (not shown). The control unit 42 is connected to a storage device 44 such as a hard disk drive via an internal bus 43. However, the storage device 44 is not limited to a hard disk drive.

  The control unit 42 is connected to an input device such as a keyboard 46 and a mouse 48 via an internal bus 43.

The control unit 42 implements a calculation unit 34 that calculates the exercise status at two locations based on the acceleration data from the triaxial acceleration sensors 18 and 20.
Further, the control unit 42 realizes a display screen creation unit 36 that superimposes the two operation states calculated by the calculation unit 34 and displays them on the monitor 32.

The calculation means 34 receives acceleration data from two triaxial acceleration sensors 18 and 20.
The calculation means 34 includes a high-pass filter 35 that performs filtering processing on acceleration data measured at two locations. The high-pass filter 35 removes low frequency components from the acceleration data, leaving only high frequency components.

The reason for such filtering processing is as follows. The acceleration data includes minute low-frequency noise (offset) as sensor characteristics in addition to acceleration caused by movement such as walking. For this reason, the calculation means 34 removes low-frequency noise from the acceleration data by the high-pass filter 35 and extracts only the vibration component due to the periodic walking motion.
Note that the low-frequency noise is not limited to the high-pass filter in the calculating unit 34, and other filtering units such as a Kalman filter using the angular velocity and / or a signal from the magnetic sensor may be used.

The calculating unit 34 may include an integrator 37, and may integrate the vibration component extracted by the filtering process.
In the following description, the vibration component of acceleration data (not integrated) is the vibration acceleration, the vibration component of acceleration data is subjected to the first-order integration processing, the vibration speed, and the vibration component of acceleration data is subjected to the second-order integration processing. Is the amount of shaking.

  The display screen creating means 36 of the present embodiment creates two shaking trajectories in the horizontal plane based on the shaking acceleration, the shaking speed or the shaking amount calculated by the calculating means 34, and creates the two shaking traces. It operates to superimpose and display on the monitor 32.

FIG. 3 shows a display example in which the shaking trajectory created by the display screen creation means 36 is displayed on the monitor 32.
In FIG. 3, two fluctuation trajectories due to the displacement near the sacrum and the vicinity of the thoracic vertebra 6 calculated by the motion sensors 18 and 20 are shown as a YZ plane (an arrow face) 100 and an XY plane (a frontal plane) 102. , XZ plane (horizontal plane) 104 is displayed on three planes.

  In FIG. 3, the three fluctuation trajectories for the two pieces of data are arranged so as to be compared on the left and right sides, but display for one piece of data may be performed.

The display screen creation means 36 displays the connection line 82 that connects the same time points on the movement trajectories of the two motion sensors 18 and 20, and displays the connection line 82 so as to move with time. You can also.
The display of the connection line 82 is performed by the display screen creation means 36 when the operator presses the phase button 89 on the right side of the screen. In addition, a playback button 92 is provided below the phase button 89. When the play button 92 is pressed, the display screen creating means 36 reproduces and displays while moving the connection line 82 as time passes. Further, the reproduction display of the connection line 82 can be changed by changing the number in the double speed display column 93. When the number in the double speed display column 93 is 1.0, playback is in real time, and when the number is 0.5, playback is at half the real time.

In addition, next to each swing locus on the YZ plane (arrow plane) 100, the XY plane (frontal plane) 102, and the XZ plane (horizontal plane) 104, the swing width and the track length in each swing track are as follows. A display column 105 to be displayed is provided for each fluctuation trajectory.
In the display field 105, for the YZ plane (arrow plane) 100, the display screen creation means 36 calculates and displays the front-rear width (mm), the vertical width (mm), and the trajectory length (mm).
In the display column 105, the display screen creation means 36 calculates and displays the left and right width (mm), the vertical width (mm), and the trajectory length (mm) for the XY plane (frontal face) 102.
In the display column 105, for the XZ plane (horizontal plane) 104, the display screen creation means 36 calculates and displays the left-right width (mm), the front-rear width (mm), and the trajectory length (mm).

Further, as shown at the bottom of each swing locus, left and right soles 84a and 84b are displayed, and display fields 86a and 86b for displaying an impact value (m / s ² ) applied to the waist are provided. The calculating means 34 calculates the maximum acceleration value in the vertical direction at the time of grounding in the motion sensor 18 respectively, and the display screen creating means 36 displays the calculated acceleration values in the display columns 86a and 86b as impact values.

Next to the soles 84a and 84b, instruction bars 87a and 87b for indicating arbitrary points on the soles are provided. When the operator operates the instruction bars 87a and 87b, the calculation means 34 is provided. Displays the connection line 82 corresponding to the instructed position in the instruction bars 87a and 87b.
As for the positions of the instruction bars 87a and 87b and the walking phase, the instruction bar indicates the timing at which the horizontal 8 character (infinite mark) of the motion trajectory of the XY plane (frontal frame) in the motion sensor 18 becomes the lower left part. It can be grasped by assigning the timing at which the heel portion of 87a becomes the lowermost portion on the right side to the heel portion of the instruction bar 87b.

The analysis result shown in FIG. 3 can be stored in the storage device 44 by pressing the save button 95. The analysis result can be stored as, for example, a CSV file.
3 can be changed by changing the number in the scale display field 97.

Subsequently, a teaching method according to the present embodiment will be described with reference to FIGS.
FIG. 4 is an example of a display screen showing the wobbling trajectories on the sagittal plane, frontal plane, and horizontal plane that are used for instruction. 5-7 is a flow of the teaching method.
The instructor in this embodiment will be described on the assumption that it is a physical therapist, but the instructor is not limited to a physical therapist.

As shown in FIG. 5, first, the instructor observes the swaying locus near the sagittal sacrum. At this time, it is determined whether or not duplication of the shaking locus near the sacrum is significant (step S100).
When the instructor determines that the duplication of the shaking trajectory is not remarkable, it is observed whether or not the width before and after the shaking trajectory is narrow (step S102). When the instructor determines that the back and forth width of the swaying locus near the sagittal plane of the sagittal plane is wide, the subject is not instructed that guidance is unnecessary (step S104).
In other words, in this case, since the left and right balance of the sacral locus near the sagittal plane is good and the width in the front and back is wide, it is judged that there is no particular instruction because you are walking with the trunk firmly. This is the case.

If the instructor determines in step S102 that the front-rear width is narrow, the instructor visually observes the subject's standing position and determines whether the subject's left or right is weak (step S106). In the visual inspection in step S106, a determination based on the experience of the instructor is necessary.
If it is determined in step S106 that the left side is weak, the instructor instructs the upper right arm external rotation and navel to be recessed by 2 mm (step S108).
If it is determined in step S106 that the right side is weak, the instructor instructs the left upper arm external rotation and navel to be recessed by 2 mm (step S110).

  Here, the contents of instruction will be described. Upper arm external rotation means walking with the palm of the upper arm of the corresponding side facing forward. In addition, when the navel is recessed by 2 mm, it means walking with the navel recessed by 2 mm. Recessing the navel by 2 mm means that you can be conscious of using the transverse abdominal muscles.

That is, in the sacral trajectory near the sagittal plane, the right-left balance is good, but when the front-back width is narrow and the left side of the body is weak, the right shoulder is opened by the upper right arm external rotation and the lateral abdominal muscles are Can be used successfully.
Also, in the sacral locus near the sagittal plane, the left-right balance is good, but when the front and back width is narrow and the right side of the body is weak, the left shoulder is opened by the left upper arm external rotation and the lateral abdominal muscles are well Can be used.

In step S100, when the instructor determines that the duplication is remarkable, the right / left width of the swaying locus near the sacrum of the frontal plane or the size of the left / right difference (that is, the left / right symmetry is low), It is determined which of the sway trajectory in the vicinity of the thoracic vertebra in the horizontal plane is small or the difference between the left and right sides (ie, the left-right symmetry is low) is significant (step S112).
If it is determined in step S112 that the right / left width of the swaying locus near the sacrum on the frontal face is small or the difference between the left and right is significant, the process proceeds to step S200 in FIG.
If it is determined in step S112 that the front-rear width or the difference between the left and right sides of the oscillating locus near the horizontal thoracic vertebra is significant, the process proceeds to step S300 in FIG.

In step S200 of FIG. 6, first, the instructor observes a swaying locus near the sacrum on the front face. At this time, it is determined whether the lateral width of the swaying locus near the sacrum is small (step S200).
When the instructor determines that the left and right width of the swinging locus is small, the instructor instructs to perform the upper right arm external rotation and the left upper arm external rotation (step S202).
That is, it is considered that the subject is walking without moving his / her waist because the left-right width of the swing locus near the sacrum on the sagittal plane is poor and the left and right width of the swing locus near the sacrum on the frontal plane is small. In order to move the waist, it is necessary to soften the shoulders. Therefore, by performing left and right upper arm external rotation, the shoulder can be opened and guided to move the waist.

In step S200, when the instructor determines that the left-right width is not small, the instructor determines whether or not the swaying locus near the sacrum on the front face is an 8-character (step S204).
In step S204, when it is determined that the swaying locus near the sacrum on the front face is not in the shape of figure 8, the instructor instructs to perform right upper arm external rotation and left upper arm external rotation (step S206).
That is, the left-right balance is not good in the sacral locus near the sagittal plane, the left-right width of the oscillating locus near the sacrum on the frontal plane is not small, and the left-right balance is not completely broken. It is thought that. Therefore, by performing left and right upper arm external rotation, it is possible to instruct so that the shoulders can be opened and the left and right can be walked with a good balance.

If it is determined in step S204 that the swaying locus near the sacrum on the front face is an 8-character, the instructor determines which of the left and right areas of the 8-character is larger (step S208).
If it is determined in step S208 that the left side is small, the instructor instructs to perform right upper arm external rotation and left selective exercise (step S210).
If it is determined in step S208 that the right side is small, the instructor instructs to perform left upper arm external rotation and right selective exercise (step S212).

The left selective exercise refers to an exercise of standing on one foot with the left foot, raising the right foot, and turning the right foot and body to the right. This left selective movement can reduce the left-right difference in how the body is used during walking.
Right selective exercise refers to exercise in which one leg stands on the right foot and the left foot is raised and the left foot and body are directed to the left. This right selective exercise can reduce the left-right difference in how the body is used during walking.

Next, a description will be given from the point of transition to step S300 in FIG.
In step S300 of FIG. 7, first, the instructor observes a swing locus near the thoracic vertebra on a horizontal plane. At this time, it is determined whether or not the back-and-forth width of the shaking locus near the thoracic vertebra is small (step S300).
When the instructor determines that the front-rear width of the oscillating trajectory is small, the instructor instructs to perform the upper right arm external rotation and the left upper arm external rotation (step S302).

In step S300, when it is determined that the front-rear width of the swing locus near the thoracic vertebra on the horizontal plane is small, the instructor determines which of the left and right areas of the figure 8 is larger (step S304).
If it is determined in step S304 that the left side is small, the instructor instructs to perform left upper arm external rotation and right selective exercise (step S306).
If it is determined in step S304 that the right side is small, the instructor instructs to perform right upper arm external rotation and left selective exercise (step S308).

When the front and rear width of the sway trajectory of the thoracic vertebra on the horizontal plane is not small and the left side of the sway trajectory is small as in step S304 above, it can be determined that the right side of the subject's body is weak. Therefore, by instructing to perform left upper arm external rotation and right selective exercise, it is possible to adjust the left-right balance of the movement.
Further, when the horizontal width of the oscillating locus of the thoracic vertebra on the horizontal plane is not small and the right side of the oscillating locus is small as in step S304 above, it can be determined that the left side of the subject's body is weak. Therefore, it is possible to adjust the left-right balance of movement by instructing to perform right upper arm external rotation and left selective exercise.

  In addition, it is good to judge by the average waveform as a test subject's shaking locus | trajectory which a leader sees for instruction | indication. The average waveform here is a number of cycles of the wobbling trajectory measured when a predetermined one subject walks a predetermined distance (assuming about 10 m) once (assuming 3 cycles: 6 steps). ) Is the averaged waveform.

Further, the display screen creation means 36 creates the motion trajectory near the thoracic vertebra and the motion trajectory near the sacrum so that they are displayed in different colors.
By adopting red and blue as different colors, the difference can be easily grasped.

(Second Embodiment)
Next, a second embodiment will be described. In addition, about the same component as 1st Embodiment, the same code | symbol may be attached | subjected and description may be abbreviate | omitted. FIG. 8 shows a block diagram of a walking guidance device used in the second embodiment.
In the first embodiment, since the instructor performs the walking instruction, it is referred to as a walking state detection device, but in the second embodiment, the walking instruction is automatically performed by the device. This is called a walking guidance device.

  The walking guidance device 30 includes motion sensors 18 and 20, a device main body 31, and a monitor 32 that are attached to the waist 12 and the chest back 14 of the subject. The motion sensors 18 and 20 are triaxial acceleration sensors in this embodiment, and can communicate data with the apparatus main body 31. Details of the data communication are the same as those described in the first embodiment.

As the apparatus main body 31, a general computer can be employed. The computer (device main body) 31 includes a control unit 42 that operates based on a control program. The control unit 42 includes a CPU, ROM, RAM, and the like (not shown). The control unit 42 is connected to a storage device 44 such as a hard disk drive via an internal bus 43. However, the storage device 44 is not limited to a hard disk drive.
In the storage device 44, instruction contents for the subject are stored in advance, and threshold values of parameters to be described later are stored.

  The control unit 42 is connected to an input device such as a keyboard 46 and a mouse 48 via an internal bus 43.

The control unit 42 implements a calculation unit 34 that calculates the exercise status at two locations based on the acceleration data from the triaxial acceleration sensors 18 and 20.
Further, the control unit 42 realizes a display screen creation unit 36 that superimposes the two operation states calculated by the calculation unit 34 and displays them on the monitor 32.

The calculation means 34 receives acceleration data from two triaxial acceleration sensors 18 and 20.
The calculation means 34 includes a high-pass filter 35 that performs filtering processing on acceleration data measured at two locations. The high-pass filter 35 removes low frequency components from the acceleration data, leaving only high frequency components.

The reason for such filtering processing is as follows. The acceleration data includes minute low-frequency noise (offset) as sensor characteristics in addition to acceleration caused by movement such as walking. For this reason, the calculation means 34 removes low-frequency noise from the acceleration data by the high-pass filter 35 and extracts only the vibration component due to the periodic walking motion.
Note that the low-frequency noise is not limited to the high-pass filter in the calculating unit 34, and other filtering units such as a Kalman filter using the angular velocity and / or a signal from the magnetic sensor may be used.

The calculating unit 34 may include an integrator 37, and may integrate the vibration component extracted by the filtering process.
In the following description, the vibration component of acceleration data (not integrated) is the vibration acceleration, the vibration component of acceleration data is subjected to the first-order integration processing, the vibration speed, and the vibration component of acceleration data is subjected to the second-order integration processing. Is the amount of shaking.

The display screen creating means 36 of the present embodiment creates two shaking trajectories in the horizontal plane based on the shaking acceleration, the shaking speed or the shaking amount calculated by the calculating means 34, and creates the two shaking traces. It operates to superimpose and display on the monitor 32.
The display screen creation means 36 displays the two fluctuation trajectories on three planes, that is, a YZ plane (an arrow plane), an XY plane (frontal plane), and an XZ plane (horizontal plane).

Moreover, the control part 42 implement | achieves the judgment means 50 which judges a test subject's operation | movement based on the two fluctuation locus | trajectories displayed on each on three planes.
The flow of the judgment operation of the judgment means 50 is shown in FIGS.
Note that the specific contents of the upper arm external rotation, the navel 2 mm, and the selective exercise as instruction contents are the same as those in the first embodiment, and thus description thereof is omitted.

  As shown in FIG. 11, the determination unit 50 determines the left-right symmetry of the motion trajectory of the chest back and waist at the frontal frame and the horizontal plane (step S400). Since the swing trajectory of the frontal plane and the horizontal plane has a shape in which the figure 8 faces sideways, the determination unit 50 determines whether or not the shape portion close to the two circles of the figure 8 is bilaterally symmetric.

In step S <b> 400, the determination unit 50 calculates the COS similarity for each axis component of the left and right fluctuation trajectories when determining the left-right symmetry of the fluctuation trajectory, and dissimilarity if the COS similarity is close to −1. If the COS similarity is close to +1, it is determined that they are similar.
The determination unit 50 sets a threshold value for the COS similarity in advance, and determines that it is similar, i.e., left-right symmetric if it is greater than or equal to the threshold value, and is not similar, i.e., left-right asymmetric, if it is less than the threshold value.

If it is determined in step S400 that the image is symmetrical, the determination unit 50 calculates the front-rear direction inclination of the waist of the sagittal plane as shown in FIG. 12 (step S402). Since the swing locus of the waist in the sagittal plane has a shape like an ellipse or an ellipse that is long in the vertical direction, the determination means 50 determines how much the straight line extending along the major axis direction is inclined with respect to the vertical direction. Is calculated.
The determination means 50 sets in advance a threshold value of the inclination angle with respect to the vertical direction of the major axis of the approximate ellipse of the waist swing trajectory in the sagittal plane. (Step S404) is determined. In this case, the determination unit 50 extracts the instruction content indicating that the instruction is unnecessary from the storage device 44 and displays it on the monitor 32.
In this way, by looking at the front-back inclination angle of the lumbar portion of the sagittal plane, it can be seen whether the front-back inclination change of the pelvis during walking is smooth. In the case of normal walking, it is preferable that the pelvic front-back inclination is smoothly switched.

In step S402, when the determination unit 50 determines that the inclination angle of the major axis of the approximate ellipse of the waist motion locus in the sagittal plane with respect to the vertical direction is less than the threshold value, the process proceeds to step S406.
In step S406, as shown in FIG. 13, the determination means 50 determines whether the straight line connecting the two lower ends of the swing locus of the lumbar portion of the front face is downward or downward.
By judging whether the straight line connecting the two lower ends of the swaying locus of the waist on the frontal face is falling to the right or falling to the left, it can be determined whether the left or right side of the body is weak.

If the determination means 50 determines that the straight line connecting the two lower ends of the swaying locus of the waist on the front face is downward, the instruction content that the left upper arm external rotation and the navel are recessed by 2 mm is extracted from the storage device 44. And displayed on the monitor 32 (step S410).
Further, when the determination unit 50 determines that the straight line connecting the two lower end portions of the swaying locus of the lower back portion of the front face is lower leftward, the storage device 44 stores the instruction content to the effect that the upper right arm external rotation and the navel are recessed by 2 mm. And is displayed on the monitor 32 (step S408).

  In other words, when the pelvic front-back inclination is not smoothly switched and one of the left and right sides of the body is weaker than the other, if the right side of the body is weak, the left shoulder is opened by the left upper arm external rotation and the lateral abdominal muscles are used well You can walk well. If the left side of the body is weak, a good walk can be achieved by opening the left shoulder with the upper right arm external rotation and using the lateral abdominal muscles well.

If it is determined in step S400 that the image is asymmetrical, the process proceeds to step S412.
In step S412, as shown in FIG. 14, the judging means 50 compares the left and right widths of the swing trajectory of the chest back portion of the frontal face with the left and right widths of the waist trajectory, and calculates the ratio of both left and right widths. When you are walking well, the left and right width of the sway trajectory of the waist increases, so the larger the ratio of the left and right width of the sway trajectory of the waist to the left and right width of the back trajectory of the chest, the better the better you can walk It can be judged.

The determining means 50 calculates the ratio of the left and right width of the lumbar swing locus to the left and right width of the front and back chest back locus, and if it is determined that it is less than a preset threshold, the right upper arm external rotation and the left upper arm The instruction content for external rotation is extracted from the storage device 44 and displayed on the monitor 32 (step S414).
When the determination means 50 calculates the ratio of the left and right width of the lumbar movement locus to the left and right width of the movement locus of the chest back portion of the front face, and determines that the ratio is equal to or greater than a preset threshold value, the process proceeds to step S500 in FIG. To do.

  In step S500, as shown in FIG. 15, the determination means 50 calculates the local curvature radius of the swaying locus of the waist on the front face, and whether the calculated minimum value of the curvature radius is greater than or less than a preset threshold value. Judging. The smaller the minimum value of the local radius of curvature of the swaying locus of the waist, the lower the smoothness of walking, and the larger the minimum value of the local radius of curvature, the better the walking.

When the determination means 50 determines that the minimum value of the local curvature radius of the swaying locus of the lumbar portion of the front face is less than a preset threshold value, the instruction content that the right upper arm external rotation and the left upper arm external rotation are performed. Is extracted from the storage device 44 and displayed on the monitor 32 (step S502).
If the determination unit 50 determines that the minimum value of the local curvature radius of the swing locus of the lumbar portion of the front face is greater than or equal to a preset threshold value, the process proceeds to step S504.

In step S504, as shown in FIG. 13, the determination means 50 determines whether the straight line connecting the two lower ends of the swaying locus of the waist on the front face is downward or leftward.
If the determination unit 50 determines that the straight line connecting the two lower ends of the swaying locus of the waist on the front face is downward, the instruction content indicating that the left upper arm external rotation and the right selective exercise are performed is stored from the storage device 44. Extracted and displayed on the monitor 32 (step S508).
In addition, when the determination unit 50 determines that the straight line connecting the two lower ends of the swing locus of the lumbar portion of the front face is downward-sloping, the instruction content indicating that the right upper arm external rotation and the left selective exercise are performed is stored in the storage device. 44 is extracted and displayed on the monitor 32 (step S506).

FIG. 16 shows an example of a radar chart.
The control unit 42 of the walking guidance device 30 includes a radar chart creating means 52. The radar chart creating means 52 uses a first evaluation value (see FIG. 14) as a ratio of the left and right widths of the lumbar swing locus to the left and right widths of the posterior chest swing locus on the front face, and localizes the swing locus of the waist on the front face and the horizontal plane. The minimum value of the typical radius of curvature is the second evaluation value (see FIG. 15), the inclination angle of the straight line connecting the two lower ends of the swaying locus of the lumbar portion of the front face is the third evaluation value (see FIG. 13), the front face and 4th evaluation value (refer FIG. 11) about the left-right symmetry of the waist locus | trajectory in a horizontal surface, 5th evaluation value (refer FIG. 11), and the sagittal shape of the left-right symmetry of the back movement surface of a chest back in a frontal surface and a horizontal surface. The difference between the tilt angles in the front-rear direction of the loci of the waist and the back of the chest on the surface is defined as a sixth evaluation value (see FIG. 12), and a relative evaluation value of these six evaluation values is created as a radar chart. To display.

The storage device 44 stores first to sixth evaluation values of a plurality of persons.
After calculating the first evaluation value to the sixth evaluation value of a specific person, the radar chart creating means 52 calculates a relative evaluation value for the first evaluation value to the sixth evaluation value of a plurality of persons, and this relative Plot the evaluation value on the radar chart.
The laser chart displays walking characteristics and advice in accordance with the waveform of the displayed radar chart. The walking features and advice are stored in the storage device 44 in advance, and the laser chart creating means 52 extracts the corresponding walking features and advice from the storage device 44 and displays them on the monitor 32. As for advice, as shown in FIG. 16, the subject can easily execute the advice by displaying a diagram of how to move the body of the advice content.

  In FIG. 16, the first evaluation value is the Monroe index, the second evaluation value is the smooth index, the third evaluation value is tilted, the fourth evaluation value is left / right balance A, the fifth evaluation value is left / right balance B, and the sixth evaluation value. Is described as a pelvic front-rear tilt, but this is just an example of the name of the evaluation value.

  In FIG. 16, the numerical values of the first evaluation value to the sixth evaluation value are displayed separately from the radar chart. This also makes it easier to understand the relative evaluation.

In addition, you may make it employ | adopt cloud computing and memorize | store the 1st evaluation value-6th evaluation value of several persons in the memory | storage device of the cloud server arrange | positioned on the network. The cloud server receives the first evaluation value to the sixth evaluation value from a large number of walking guidance devices in the whole country or each country and stores them.
In the cloud server, the input first evaluation value to sixth evaluation value are stored in a database so that search and extraction can be performed for various items such as sex, age group, and country.
By adopting such a configuration, the accuracy of the relative evaluation increases, so that the diagnosis for the subject can be performed accurately.

The walking guidance method described above can be expected to contribute to prevention and countermeasures for locomotive syndrome, which has become a hot topic in recent years.
Locomotive syndrome is a musculoskeletal syndrome and refers to a state in which a function such as gait is deteriorated due to a failure of a motor, such as bones, joints, cartilage, intervertebral discs, and muscles, constituting the human body.
Organizations advocating locomotive syndrome have already proposed locomotive degree tests and exercises and gymnastics to avoid becoming locomotive syndrome.
The walking instruction method according to the present invention can also be applied in the form of a test for determining whether or not the locomotive syndrome is present and a walking instruction for preventing a locomotive syndrome.

  In addition, in this specification and a claim, a walk includes a run.

  While the present invention has been described in detail with reference to a preferred embodiment, the present invention is not limited to this embodiment, and it goes without saying that many modifications can be made without departing from the spirit of the invention. .

10 Subject 12 Lumbar 14 Chest / back 18 and 20 Motion sensor (3-axis acceleration sensor)
22, 24 Data transmission unit 29 Data reception unit 30 Walking state detection device 31 Device body (computer)
32 Monitor 34 Calculation means 35 High-pass filter 36 Display screen creation means 37 Integrator 42 Control unit 43 Internal bus 44 Storage device 46 Keyboard 48 Mouse
50 judging means 52 radar chart creating means 56 motion sensor 82 connecting lines 84a, 84b soles 86a, 86b display field 87a, 87b instruction bar 89 phase button 92 playback button 93 double speed display field 95 save button 97 scale display field 100 Y- Z plane (Yabushi face)
102 XY plane (front face)
104 XZ plane (horizontal plane)
105 Display column

Claims (8)

Attach motion sensors to at least two places of the waist and back of the subject, and calculate the operation status of the two places based on the data measured by the motion sensor,
Based on the calculated movement status of the two places, the fluctuation locus of the two places is displayed on the monitor in each of the sagittal plane, the frontal plane, and the horizontal plane of the subject,
The instructor determines whether or not the duplication of the swinging locus of the waist in at least the sagittal plane among the sagittal plane, the frontal plane, and the horizontal plane is significant,
If the instructor determines that duplication of the lumbar sway trajectory in the sagittal plane is significant, walk based on the lateral width of the lumbar sway trajectory on the frontal plane or the front-back width of the chest back sway in the horizontal plane Give guidance,
When the instructor determines that duplication of the lumbar swing locus in the sagittal plane is not remarkable, the walking guidance method is characterized by performing walking guidance based on the front and back width of the lumbar swing locus in the sagittal plane. . When the instructor performs walking instruction based on the front and rear width of the swaying locus of the waist in the sagittal plane,
If the instructor determines that the back and forth width of the swaying locus of the lower back in the sagittal plane is narrow and that the right side of the body is weak by viewing the subject's standing position, use the left upper arm external rotation and lateral abdominal muscles. Walk instruction to do,
If the subject determines that the back and forth width of the lumbar swing trajectory in the sagittal plane is narrow and the left side of the body is weak by visually observing the subject's standing position, use the right upper arm external rotation and lateral abdominal muscles Like walking instruction,
The walking guidance method according to claim 1, wherein when the instructor determines that the front and back width of the swaying locus of the waist in the sagittal plane is wide, the guidance is not required. In the case where the instructor performs walking instruction based on the left and right width of the swaying locus of the waist on the front face,
If the instructor determines that the left and right width of the swaying locus of the lumbar region on the front face is narrow, he / she walks to perform right upper arm external rotation and left upper arm external rotation,
If the instructor determines that the left / right width of the lumbar movement locus on the front face is wide and the lumbar movement locus on the front face is not 8-shaped, the right upper arm rotation and left upper arm rotation Walk instruction to do,
If the instructor determines that the left and right width of the lumbar movement locus on the front face is wide and the lumbar movement locus on the front face is in the shape of a figure 8, compare the left and right areas of the figure 8. The walking guidance method according to claim 1, wherein walking guidance is performed based on the result. In the case where the instructor performs walking instruction based on the result of comparing the left and right areas of the figure 8 of the lumbar movement locus on the front face,
If the instructor determines that the area on the left side of the figure 8 is larger, he / she walks to perform left upper arm external rotation and right side selective movement,
4. The walking guidance method according to claim 3, wherein when the instructor determines that the area on the right side of the figure 8 is larger, the walking guidance is performed so as to perform the upper right arm external rotation and the left selective movement. . In the case where the instructor performs walking instruction based on the width of the back and forth of the swinging trajectory of the chest back on the horizontal plane,
If the instructor determines that the back and forth width of the back of the chest on the horizontal plane is small, he / she walks to perform right upper arm rotation and left upper arm rotation,
If the instructor determines that the back and forth width of the back of the chest on the horizontal plane is large and the left area is larger, the instructor walks to perform right upper arm rotation and left selective movement,
When the instructor judges that the back and forth width of the back and forth movement of the chest back on the horizontal plane is larger and the area on the right is larger, the instructor walks to perform left upper arm external rotation and right side selective movement. The walking instruction method according to claim 1. Using a computer equipped with a storage unit in which guidance content related to walking is stored in advance and a monitor, motion sensors are attached to at least two places of the waist and back of the subject, and the data measured by the motion sensor is Entered into the computer,
The computer
Based on the data measured by the two motion sensors, calculate the operation status of the two locations,
Based on the calculated operation situation of the two places, in each of the subject's sagittal plane, frontal plane, and horizontal plane, the fluctuation locus of the two places is superimposed and displayed on the monitor,
Automatically determine the left-right symmetry of the sway trajectory of the waist and back of the forehead or horizontal plane based on the similarity of the left and right shape of the sway trajectory,
When it is determined that the left / right symmetry of the sway trajectory of the lumbar region and chest back of the frontal frame or horizontal plane is greater than or equal to a preset similarity, the anteroposterior tilt angle of the sway trajectory of the sagittal region's lumbar region is Automatically determine whether it is greater than or equal to a preset threshold,
When the back and forth tilt angle of the swinging locus of the waist of the sagittal plane is greater than or equal to a preset threshold value, the instruction content indicating that the instruction is unnecessary is extracted from the storage unit and displayed on the monitor. If the front / rear tilt angle of the lumbar sway trajectory is less than a preset threshold, it is automatically determined whether the straight line connecting the two lower ends of the lumbar sway trajectory on the front face is tilted to the left or right. ,
If the straight line connecting the two lower ends of the sway trajectory of the lumbar region of the frontal face is downward-sloping, the instruction content indicating that the left upper arm external rotation and the lateral abdominal muscles are used is extracted and displayed on the monitor. If the straight line connecting the two lower ends of the sway trajectory of the lower back of the lower part is right-down, the guidance content that the right upper arm external rotation and the lateral abdominal muscles are used is extracted and displayed on the monitor,
If the left / right symmetry of the sway trajectory of the lumbar region and chest back of the frontal frame or horizontal plane is determined to be asymmetrical with less than a preset similarity, the lateral width and lumbar region of the sway trajectory of the chest back of the frontal frame Automatically calculate the ratio of the left and right width of the swing trajectory of
If the ratio of the left / right width of the lumbar movement trajectory to the left / right width of the trajectory of the chest back on the front face is less than the preset threshold, extract the guidance content to perform right upper arm rotation and left upper arm external rotation Displayed on the monitor, and when the ratio of the lateral width of the swing trajectory of the chest back of the front face and the lateral width of the swing trajectory of the waist is equal to or greater than a preset threshold, Automatically calculates the minimum radius of curvature
When the minimum value of the local curvature radius of the oscillating trajectory of the lumbar portion of the front face is less than a preset threshold value, the instruction content for performing the upper right arm external rotation and the left upper arm external rotation is extracted and stored in the monitor. If the minimum value of the local curvature radius of the swaying locus of the lumbar part of the front face is greater than or equal to a preset threshold value, the straight line connecting the two lower ends of the swaying locus of the lumbar part of the front face is either left or right Automatically determine whether it is inclined to
If the straight line connecting the two lower ends of the oscillating trajectory of the lumbar part of the front face is downward-sloping, the instruction content indicating that the upper right arm external rotation and left selective movement are performed is extracted and displayed on the monitor. When the straight line connecting the two lower ends of the swaying locus of the lumbar region is descending to the right, the instruction content indicating that the left upper arm external rotation and the right selective movement are performed is extracted and displayed on the monitor. Walking instruction method. Data that is measured by motion sensors that are provided in advance in at least two locations of the subject's lower back and chest back are provided and provided with a storage unit in which guidance content relating to walking is stored in advance and a monitor. A walking guidance device that performs walking guidance based on
Based on the operation situation of the two places, in each of the sagittal plane, the frontal plane, and the horizontal plane of the subject, a display screen creating means for creating the swing locus of the two places;
Judging means for judging the state of the subject based on the shaking trajectory created by the display screen creating means,
The judging means is:
Automatically determine the left-right symmetry of the sway trajectory of the waist and back of the forehead or horizontal plane based on the similarity of the left and right shape of the sway trajectory,
When it is determined that the left / right symmetry of the sway trajectory of the lumbar region and chest back of the frontal frame or horizontal plane is greater than or equal to a preset similarity, the anteroposterior tilt angle of the sway trajectory of the sagittal region's lumbar region is Automatically determine whether it is greater than or equal to a preset threshold,
When the back and forth tilt angle of the swinging locus of the waist of the sagittal plane is greater than or equal to a preset threshold value, the instruction content indicating that the instruction is unnecessary is extracted from the storage unit and displayed on the monitor. If the front / rear tilt angle of the lumbar sway trajectory is less than a preset threshold, it is automatically determined whether the straight line connecting the two lower ends of the lumbar sway trajectory on the front face is tilted to the left or right. ,
If the straight line connecting the two lower ends of the sway trajectory of the lumbar part of the frontal face is downward-sloping, the guidance content indicating that the right upper arm external rotation and lateral abdominal muscles are used is extracted and displayed on the monitor. If the straight line connecting the two lower ends of the sway trajectory of the lumbar region is descending to the right, the guidance content to the effect that the left upper arm external rotation and lateral abdominal muscles are used is extracted and displayed on the monitor,
If it is determined that the left / right symmetry of the sway trajectory of the lumbar part and chest back of the front face or horizontal plane is less than a preset similarity and left / right asymmetry, the lumbar part with respect to the left / right width of the sway trajectory of the chest back part of the front face Automatically calculate the ratio of the left and right width of the swing trajectory of
If the ratio of the left / right width of the lumbar movement trajectory to the left / right width of the trajectory of the chest back on the front face is less than the preset threshold, extract the guidance content to perform right upper arm rotation and left upper arm external rotation If the ratio of the left and right width of the lumbar movement locus to the left and right width of the oscillating locus of the chest back on the front face is equal to or greater than a preset threshold value, Automatically calculates the minimum radius of curvature
When the minimum value of the local curvature radius of the oscillating trajectory of the lumbar portion of the front face is less than a preset threshold value, the instruction content for performing the upper right arm external rotation and the left upper arm external rotation is extracted and stored in the monitor. If the minimum value of the local curvature radius of the swaying locus of the lumbar part of the front face is greater than or equal to a preset threshold value, the straight line connecting the two lower ends of the swaying locus of the lumbar part of the front face is either left or right Automatically determine whether it is inclined to
If the straight line connecting the two lower ends of the oscillating trajectory of the lumbar part of the front face is downward-sloping, the instruction content indicating that the upper right arm external rotation and left selective movement are performed is extracted and displayed on the monitor. When the straight line connecting the two lower ends of the swaying locus of the lumbar region is descending to the right, the instruction content indicating that the left upper arm external rotation and the right selective movement are performed is extracted and displayed on the monitor. Walking guidance device. The determination means stores, as a first evaluation value, a ratio of the left and right width of the waist swing locus to the left and right width of the chest back swing locus on the front face, in the storage unit,
Storing the minimum value of the local curvature radius of the waist on the front face as the second evaluation value in the storage unit;
Storing the inclination angle of the straight line connecting the two lower end portions of the swing locus of the waist portion of the front face as the third evaluation value in the storage unit,
The left and right symmetry of the lumbar movement locus on the frontal plane and the horizontal plane is stored in the storage unit as a fourth evaluation value,
The left-right symmetry of the back and forth movement trajectory in the frontal plane and the horizontal plane is stored in the storage unit as a fifth evaluation value,
The difference between the front-rear direction inclination angle of the back movement of the chest back in the sagittal plane and the front-rear direction inclination angle of the back movement locus of the waist is stored in the storage unit as a sixth evaluation value,
The storage unit stores a plurality of first to sixth evaluation values.
A radar chart creating means for displaying relative evaluation values of the first evaluation value to the sixth evaluation value of a specific person on the monitor as a radar chart for the first evaluation value to the sixth evaluation value of a plurality of persons. The walking guidance device according to claim 7.