JP2018011890A - Walking data acquisition device and walking data acquisition system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking data acquisition device capable of acquiring walking data for enabling evaluation of a locker function or pronosupination.SOLUTION: A data acquisition device 1 according to the present invention includes: a flexion measuring unit 20 that measures at least one of a degree of flexion of a foot F of a subject about an MP joint axis 100, a degree of flexion of an ankle part A, and a degree of flexion of an arch part 101; and a data processing unit 50. The data processing unit 50 creates flexion data by associating a flexion degree signal received from the flexion measuring unit 20 with a measurement time, and outputs the flexion data.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a walking data acquisition device and a walking data acquisition system.

  In general, human gait diagnosis is performed by confirming walking during one walking cycle. Here, one walking cycle refers to a period from the time when one foot F touches the floor and leaves, and then the same foot F touches, and the foot F touches the floor. It is divided into a stance phase and a swing phase in which the foot F is away from the floor surface. For gait diagnosis, it is considered effective to evaluate whether or not the rocker function is functioning normally in the stance phase, and whether or not pronation and supination exercise are appropriately performed.

  If there are problems with walking, such as elderly people or people with walking disabilities, a physical rehabilitation specialist such as a physical therapist will make a walking diagnosis. In gait diagnosis, it is common to check the footsteps visually or by taking a video. However, it is difficult to accurately evaluate the above-described rocker function and pronation / extraction motion by visual confirmation or moving image confirmation. In other words, when the rocker function is working normally or when pronation and supination movements are performed normally, the foot and ankle are deformed so that the foot joint and ankle joint rotate. To do. There is a limit to accurately grasping the deformation of the foot and the deformation of the ankle from visual observation or video observation.

  By the way, a method using various sensors for gait diagnosis is known (for example, see Patent Documents 1 to 3).

  Among them, in Patent Document 1, the acceleration of the foot is measured using an acceleration sensor, and the strength of the kicking foot, the tempo of walking, the altitude of the foot, and the stride are estimated based on the measured acceleration, and the walking state is determined. I am evaluating. In Patent Document 2, a pressure distribution sensor system for evaluating a walking function is disclosed. In this system, a plurality of pressure sensitive elements are arranged at positions suitable for measuring the pressure distribution of the sole and the center of gravity movement of the body weight. Patent Document 3 discloses an operation stability support device, and this device is configured to detect a pressure on a ground contact surface of a shoe sole by a pressure sensor and calculate a center of gravity position based on the detected pressure. . And when it determines with the possibility of falling based on the calculated center-of-gravity position, the stable support plate is unfolded and the fall of a human is aimed at.

JP 2009-000391 A JP 2008-256470 A JP 2012-11136 A

  However, with the methods disclosed in Patent Documents 1 to 3, it is difficult to capture the deformation of the foot or the deformation of the ankle so that the foot joint or the ankle joint rotates. That is, it is not designed to evaluate whether or not the locker function is functioning normally and whether or not pronation / extraction is properly performed.

  The present invention has been made in consideration of such points, and includes a walking data acquisition device and a walking data acquisition system that can acquire walking data that enables evaluation of a rocker function or pronation / extraction movement. The purpose is to provide.

  The present invention relates to a bending measuring unit that measures at least one of the degree of bending of the subject's foot around the MP joint axis, the degree of bending of the ankle portion, and the degree of bending of the arch, and the bending received from the bending measuring unit. There is provided a walking data acquisition device comprising: a data processing unit that generates and outputs bending data by associating a degree signal with a measurement time.

  In the walking data acquisition device described above, the bending measurement unit may include an MP bending sensor that measures a degree of bending of the foot around the MP joint axis.

  In the walking data acquisition device described above, the bending measurement unit may include a thigh bending sensor that measures a degree of bending around the thigh joint axis of the ankle part.

  In the above-described walking data acquisition apparatus, the bending measurement unit may include a talus bending sensor that measures a degree of bending around the subtalar joint axis of the ankle part.

  In the gait data acquisition apparatus described above, the talar bending sensor includes an inner talus bending sensor that measures a degree of bending around the subtalar joint axis inside the ankle part, and the subtalar joint axis outside the ankle part. And at least one of an outer talus bending sensor that measures the degree of bending around the body.

  In the walking data acquisition device described above, the bending measurement unit may include an arch bending sensor that measures a degree of bending of the arch.

  The walking data acquisition device described above further includes a pressure measurement unit that measures the foot pressure of the subject, and the data processing unit creates pressure data by associating a pressure signal received from the pressure measurement unit with a measurement time. May be output.

  In the above-described walking data acquisition device, the pressure measurement unit may include a heel pressure sensor that measures a heel pressure on the sole side of the foot.

  In the above-described walking data acquisition device, the pressure measurement unit may include a toe pressure sensor that measures the pressure of the toe part on the back side of the foot.

  In the walking data acquisition device described above, the pressure measurement unit may include an MP pressure sensor that measures the pressure of the MP joint on the back side of the foot.

  The walking data acquisition device described above further includes an acceleration measurement unit that measures acceleration of the lower leg or the foot of the subject, and the data processing unit associates the acceleration signal received from the acceleration measurement unit with the measurement time. The acceleration data may be generated and output.

  The walking data acquisition device described above may further include a power supply unit that supplies power to the data processing unit.

  In the above-described walking data acquisition apparatus, the bending measurement unit may be attached, and the walking data acquisition apparatus may further include an accessory that can be attached to the foot.

  In the walking data acquisition device described above, the accessory may be a sock, a supporter, or footwear.

  In the walking data acquisition device described above, the bending measurement unit measures a degree of bending around the MP joint axis, and the walking data acquisition device further includes an insole to which the bending measurement unit is attached. Also good.

  The walking data acquisition device described above may further include a pressure measurement unit that is attached to the insole and measures the foot pressure of the subject.

  The present invention also provides a walking data acquisition system comprising the above-described walking data acquisition device and a display device that displays the bending data output from the data processing unit of the walking data acquisition device. To do.

  According to the present invention, it is possible to acquire walking data that enables evaluation of a rocker function or pronation / extraction movement.

FIG. 1 is a perspective view showing a walking data acquisition device in the first embodiment of the present invention. FIG. 2 is a view of the walking data acquisition device of FIG. 1 as seen from the back side of the foot. FIG. 3 is a view of the walking data acquisition device of FIG. 1 as viewed from the front side of the foot. FIG. 4 is a view of the walking data acquisition device of FIG. 1 as viewed from the inside of the foot. FIG. 5 is a view of the walking data acquisition device of FIG. 1 as viewed from the outside of the foot. FIG. 6 is a view of the walking data acquisition device of FIG. 1 as viewed from the rear side of the foot. FIG. 7 is a diagram seen from the upper side of the foot for explaining the thigh joint axis and the subtalar joint. FIG. 8 is a block diagram showing a configuration of a walking data acquisition system including the walking data acquisition device of FIG. FIG. 9 is a graph showing data of a plurality of walking cycles acquired from the walking data acquisition device of FIG. FIG. 10 is a diagram for explaining the locker function. FIG. 11 is a diagram for explaining the sole pressure during walking. FIG. 12 is a graph of heel pressure data indicating the pressure of the buttock acquired from the walking data acquisition device of FIG. 1. FIG. 13 is a graph of MP pressure data indicating the pressure at the MP joint obtained from the walking data acquisition device of FIG. FIG. 14 is a graph of toe pressure data indicating the pressure of the buttock acquired from the walking data acquisition device of FIG. FIG. 15 is a graph of MP bending data indicating the degree of bending around the MP joint axis acquired from the walking data acquisition device of FIG. FIG. 16 is a graph of thigh bending data obtained from the walking data acquisition device of FIG. 1 and indicating the degree of bending around the thigh joint axis. FIG. 17 is a diagram for explaining the pronation / extraction exercise. FIG. 18 is a graph of arch bending data indicating the degree of bending of the arch obtained from the walking data acquisition device of FIG. FIG. 19 is a graph of medial talus bending data indicating the degree of flexion around the subtalar joint axis inside the ankle, acquired from the walking data acquisition device of FIG. FIG. 20 is a graph of lateral talus bending data showing the degree of flexion around the subtalar joint axis outside the ankle part, acquired from the walking data acquisition device of FIG. FIG. 21 is a graph of acceleration data indicating the vertical acceleration of the lower leg obtained from the walking data obtaining apparatus of FIG. FIG. 22 is a graph of acceleration data indicating the longitudinal acceleration of the lower leg obtained from the walking data obtaining device of FIG. FIG. 23 is a graph of acceleration data indicating the lateral acceleration of the lower leg obtained from the walking data acquisition device of FIG. FIG. 24 is a graph of the vertical and longitudinal acceleration RMS data of the crus acquired from the walking data acquisition device of FIG. FIG. 25 is a perspective view showing a walking data acquisition apparatus according to the second embodiment of the present invention. FIG. 26 is a plan view showing a walking data acquisition apparatus according to the third embodiment of the present invention. 27 is a cross-sectional view of the insole shown in FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
With reference to FIG. 1 thru | or FIG. 24, the walk data acquisition apparatus and walk data acquisition system in the 1st Embodiment of this invention are demonstrated.

  As shown in FIG. 1, the walking data acquisition device 1 according to the present embodiment includes an accessory 10 that can be attached to a subject's foot F, a bending measurement unit 20, a pressure measurement unit 30, and a data processing unit 50. I have. In the present embodiment, an example in which the accessory 10 is a sock 11 will be described. The bending measurement unit 20 and the pressure measurement unit 30 are attached to the sock 11. The bending measuring unit 20 measures the degree of bending of the subject's foot F around the MP joint axis 100 (see FIG. 2), the degree of bending of the ankle portion A, and the degree of bending of the arch 101 (see FIG. 2). The pressure measuring unit 30 measures the foot pressure of the subject.

  As shown in FIGS. 1 to 6, the sock 11 includes a sock toe part 11 a that covers the toe part 102 of the subject, a sock sole part 11 b that covers the sole, a sock foot part 11 c that covers the sole, A sock heel part 11d covering the part 103 and a sock leg part 11e extending from the ankle part A to the crus part L are provided. The sock toe portion 11a, the sock sole portion 11b, the sock foot instep portion 11c, the sock heel portion 11d, and the sock leg portion 11e may be sewn with separately formed fabrics, or from a integrally formed fabric. The socks 11 may be configured arbitrarily. The size of the sock 11 is such that the bending sensors 21 to 24 (described later) and the pressure sensors 31 to 33 (described later) attached to the sock 11 accurately measure the deformation of the subject's foot F and ankle A. It is preferable to set the size according to the size of the foot F of the subject.

  The bending measuring unit 20 includes an MP bending sensor 21, a thigh bending sensor 22, an arch bending sensor 23, and a talus bending sensor 24.

  The MP bending sensor 21 measures the degree of bending around the MP joint axis 100 of the subject's foot F as shown in FIG. More specifically, the MP bending sensor 21 measures the degree of bending around the MP joint axis 100 in the portion between the second heel 104 and the heel point 105 of the foot F on the back side of the foot F. The bending degree measured by the MP bending sensor 21 is preferably the bending degree around the MP joint axis 100 in the sagittal plane including the foot long axis 106. In this case, it is possible to capture a change in the degree of bending in a portion of the MP joint axis 100 where a change in the degree of bending appears relatively large. Here, the MP joint axis 100 means a straight line connecting the shin side midfoot point 107 and the heel side midfoot point 108. Among these, the shin side midfoot point 107 is a point that protrudes to the innermost side (the tibia 110 side) of the first metatarsal 109, and the heel side midfoot point 108 is the first on the toe portion 102 side. 5 is a point protruding to the outermost side (the side of the radius 112) of the distal end of the metatarsal 111. The long foot axis 106 means a straight line connecting the heel point 105 and the tip of the second heel 104 when the foot F is viewed from the back side. The sagittal plane is a plane that divides the body into left and right parallel to the middle of the body of the subject that is bilaterally symmetrical, and means a plane that is perpendicular to the floor when the foot F touches the floor. To do.

  The MP bending sensor 21 is formed in an elongated shape and is disposed on the inner surface of the sock sole 11b of the sock 11. When the foot F of the subject wearing the walking data acquisition device 1 is viewed from the back side, the MP bending sensor 21 is disposed on the long foot axis 106, and the longitudinal center of the MP bending sensor 21 is the MP joint axis. Preferably, it is arranged on 100. As a result, the degree of bending around the MP joint axis 100 in the sagittal plane including the long leg axis 106 can be accurately measured.

  As shown in FIG. 3, the thigh bending sensor 22 measures the degree of bending around the thigh joint axis 113 of the ankle portion A of the subject. More specifically, the thigh bending sensor 22 measures the degree of bending around the thigh joint axis 113 at an intermediate position between the inner heel point 114 and the outer heel point 115 of the subject's foot F. In this case, it is possible to capture the change in the degree of flexion in the portion of the thigh joint axis 113 where the change in the degree of flexion appears relatively large. Here, the thigh joint axis 113 is an axis of the thigh joint that enables the ankle A to rotate in the dorsiflexion buckling direction (front-rear direction) as shown in FIGS. 3, 6, and 7. . Here, the inner saddle point 114 means a point that protrudes inwardly among the inner flanges 116, and the outer saddle point 115 means a point that protrudes outwardly in the outer flange 117.

  The thigh bending sensor 22 is formed in an elongated shape, and is disposed so as to extend from the inner surface of the sock foot portion 11c of the sock 11 to the inner surface of the sock leg portion 11e. More preferably, a first pocket 12 extending from the inner surface of the sock instep portion 11c to the inner surface of the sock leg portion 11e is provided, and an opening 12a is formed at the end of the first pocket 12 on the side of the sock leg portion 11e. The thigh bending sensor 22 is inserted and accommodated in the first pocket 12 from the opening 12a. When the subject's foot F to which the walking data acquisition device 1 is attached is viewed from the front side (toe portion 102 side), the thigh bending sensor 22 detects the inner saddle point 114 and the outer saddle point 115 of the subject's foot F. It is preferable to be disposed at an intermediate position and on a line X1 connecting the intermediate position and the tip of the second rod 104. The longitudinal center of the thigh bending sensor 22 is preferably disposed on the anterior tibial lower point 118. This makes it possible to accurately measure the degree of bending around the thigh joint axis 113 at an intermediate position between the inner collar point 114 and the outer collar point 115. Here, the anterior tibia lower point 118 is a point at the anterior lower end of the tibia 110 and means a point in contact with the tarsal bone. The tarsal bone is a general term for short bones (such as a scaphoid bone 121 described later) following the ankle joint of the ankle portion A.

  The arch bending sensor 23 measures the degree of bending of the arch portion 101 of the subject's foot F as shown in FIG. More specifically, the arch bending sensor 23 is a bending degree of the arch portion 101 at a position inside the foot F from the line X2 connecting the tip of the heel 119 of the foot F and the heel point 105 on the back side of the foot F. Measure. In this case, it is possible to capture the change in the degree of bending in the portion of the arch portion 101 where the change in the degree of bending appears relatively large.

  The arch bending sensor 23 is formed in an elongated shape and disposed on the inner surface of the sock sole 11b of the sock 11. When the foot F of the subject wearing the walking data acquisition device 1 is viewed from the back side, the arch bending sensor 23 is along a line X2 connecting the tip of the heel 119 and the saddle point 105 (substantially parallel). It is preferable to be disposed inside the foot F with respect to the line X2. Further, the arch bending sensor 23 is arranged such that the longitudinal center of the arch bending sensor 23 is located at the maximum height position of the arch portion 101 (for example, a position about 15 mm forward from the front end of the rough scaphoid surface 120). Is preferred. Thus, the degree of bending of the arch 101 at a position inside the line X2 connecting the tip of the subject's mother 119 and the saddle point 105 can be accurately measured. Here, the rough surface 120 of the scaphoid bone means a point that protrudes to the innermost side of the scaphoid bone 121.

  As shown in FIGS. 4 to 6, the talus bending sensor 24 measures the degree of flexion around the subtalar joint axis 122 of the ankle portion A of the subject. More specifically, the talus bending sensor 24 includes an inner talus bending sensor 24a that measures the degree of flexion around the subtalar joint axis 122 inside the ankle part A, and the subtalar joint axis 122 outside the ankle part A. And an outer talus bending sensor 24b for measuring the degree of flexion around. The medial talus bending sensor 24a measures the degree of bending around the subtalar joint axis 122 inside the ankle part A, and the outside talus bending sensor 24b measures the degree of bending around the subtalar joint axis 122 outside the ankle part A. Measure. In this case, the change in the degree of flexion in the portion of the subtalar joint shaft 122 where the change in the degree of flexion appears relatively large can be captured from the inside and outside of the ankle part A. Here, the subtalar joint axis 122 is an axis of the subtalar joint that enables left-right rotation (pronation, gyration) in the ankle portion A as shown in FIGS. 4, 6, and 7. .

  The inner talus bending sensor 24a shown in FIGS. 4 and 6 is formed in an elongated shape, and is arranged so as to extend from the inner surface of the sock instep portion 11c of the sock 11 to the inner surface of the sock sole portion 11b inside the ankle portion A. The More preferably, a second pocket 13 extending from the inner surface of the sock instep portion 11c to the inner surface of the sock sole portion 11b is provided, and an opening 13a is formed at the end of the second pocket 13 on the side of the sock leg portion 11e. The inner talar bending sensor 24a is inserted and accommodated in the second pocket 13 from the opening 13a. When the foot F of the subject wearing the walking data acquisition device 1 is viewed from the inside, the medial talus bending sensor 24a is disposed on the line X3 connecting the inner saddle point 114 and the scaphoid rough surface 120, The front end of the medial talar bending sensor 24a is preferably disposed on or near the scaphoid rough surface 120. The longitudinal center of the medial talus bending sensor 24a is preferably located on the intersection of the projection line obtained by projecting the subtalar joint axis 122 onto the sagittal plane and the line X3. Thus, the degree of bending around the subtalar joint axis 122 inside the ankle portion A can be accurately measured.

  The outer talus bending sensor 24b shown in FIGS. 5 and 6 is formed in an elongated shape, and is arranged outside the ankle portion A so as to extend from the inner surface of the sock instep portion 11c of the sock 11 to the inner surface of the sock sole portion 11b. The More preferably, a third pocket 14 extending from the inner surface of the sock instep portion 11c to the inner surface of the sock sole portion 11b is provided, and an opening 14a is formed at the end of the third pocket 14 on the side of the sock leg portion 11e. The outer talar bending sensor 24b is inserted and accommodated in the third pocket 14 from the opening 14a. When the foot F of the subject wearing the walking data acquisition device 1 is viewed from the outside, the outer talus bending sensor 24b is disposed on a line X4 connecting the outer saddle point 115 and the fifth metatarsal rough surface 124. In addition, the front end of the lateral talar bending sensor 24b is preferably disposed on or near the fifth metatarsal rough surface 124. In addition, the longitudinal center of the outer talus bending sensor 24b is preferably disposed on the intersection of the projection line obtained by projecting the subtalar joint axis 122 onto the sagittal plane and the line X4. Thus, the degree of bending around the subtalar joint axis 122 outside the ankle portion A can be accurately measured. Here, the fifth metatarsal rough surface 124 means a point that protrudes to the outermost side of the proximal end of the fifth metatarsal 111 on the heel side.

  Here, each of the bending sensors 21 to 24 can have an arbitrary configuration as long as it can measure the degree of bending of the measurement site. For example, the bending sensors 21 to 24 may have an elongated conductor having elasticity. it can. In this case, the relative bending degree with respect to the zero point (0 point) can be measured by utilizing the fact that the resistance value of the elongated conductor changes according to the bending degree. The zero point can be arbitrarily set, but a value measured in a standing position may be set as the zero point. In this posture, both feet are grounded, so that the zero point can be set with little deformation of the foot F. Or it is good also considering the state which made the knee and the ankle joint 90 degrees in the sitting position. In this case, it is possible to prevent the foot F from being loaded and to set the intermediate position of the subtalar joint to the zero point. An example of a bending sensor is a flex sensor (Flex Sensor) manufactured by Spectra symbol.

  The suitable length of each bending sensor 21-24 is demonstrated.

  The degree of bending of the subject's foot F around the MP joint axis 100 is measured while changing the position of the front end of the MP bending sensor 21 (with the longitudinal center of the MP bending sensor 21 placed on the MP joint axis 100). Then, the position of the front end of the MP bending sensor 21 that can clearly grasp the change in the bending degree was examined. At this time, the MP bending sensor 21 was disposed on the long foot axis 106, and the front end of the MP bending sensor 21 was disposed on the front side of the MP joint shaft 100. Then, when the distance from the MP joint axis 100 to the front end of the MP bending sensor 21 is disposed at a position of 20 mm to 40 mm, it has been confirmed that the change in the degree of bending appears relatively clearly. Since the subject's foot length at this time is 256 mm, the distance is calculated based on the foot length range between the 5th percentile value of a Japanese woman in her 60s and the 95th percentile value of a man in her 30s (222.9 mm to 266 mm). ) (Source: Japanese anthropometric database 1992-1994), a suitable range of the distance is 17.4 mm to 41.6 mm. The length of the MP bending sensor 21 that satisfies this distance is 34.8 mm to 83.2 mm when the longitudinal center of the MP bending sensor 21 is arranged on the MP joint axis 100, and in this case, the MP joint It is considered that the change in the degree of bending around the axis 100 can be clearly shown. It is preferable to select appropriately according to the size of the foot F from this length range.

  Similarly, when the change in the degree of bending around the thigh joint axis 113 was also examined, the range in which the change in the degree of bending can be measured clearly is that the front end of the thigh bending sensor 22 is the lower point of the anterior tibial bone. It was confirmed that this was a case of being disposed at a position of 10 mm to 40 mm on the front side from 118. For this reason, when proportionally converted to the above-mentioned foot length range, a suitable distance from the anterior tibial lower point 118 to the front end of the thigh bending sensor 22 is 8.7 mm to 41.6 mm. The length of the thigh bending sensor 22 that satisfies this distance is 17.4 mm to 83.2 mm when the longitudinal center of the thigh bending sensor 22 is disposed on the anterior tibial lower point 118. In this case, it is considered that the change in the degree of bending around the thigh joint axis 113 can be clearly shown. It is preferable to select appropriately according to the size of the foot F from this length range.

  Regarding the degree of bending of the arch part 101, the range in which the change in the degree of bending can be clearly measured is such that the front end of the arch bending sensor 23 is located at a position 20 to 50 mm forward from the maximum height position of the arch part 101. It was confirmed that this was the case. Therefore, when converted proportionally to the above-described foot length range, the distance from the maximum height position of the arch portion 101 to the front end of the arch bending sensor 23 is 17.4 mm to 52.0 mm. The length of the arch bending sensor 23 that satisfies this distance is as follows when the longitudinal center of the arch bending sensor 23 is placed on the maximum height position of the arch portion 101. 34.5 mm to 104 mm. In this case, it is considered that the change in the bending degree of the arch portion 101 can be clearly shown. It is preferable to select appropriately according to the size of the foot F from this length range.

  Regarding the degree of flexion around the subtalar joint axis 122, the range in which the change in the degree of flexion can be clearly measured inside the ankle F is such that the front end of the medial talar bending sensor 24a is at a predetermined point (subtalar joint axis 122). It was confirmed that this is a case where the projection line projected on the sagittal plane and the line X3 connecting the inner saddle point 114 and the scaphoid rough surface 120) are arranged at a position of 20 to 40 mm on the front side. . For this reason, when converted proportionally to the above-mentioned foot length range, the distance from the intersection to the front end of the medial talus bending sensor 24a is 17.4 mm to 41.6 mm. The length of the inner talus bending sensor 24a that satisfies this distance is 34.8 to 83.2 mm when the longitudinal center of the inner talus bending sensor 24a is placed on the intersection. In this case, it is considered that the change in the degree of bending around the subtalar joint axis 122 can be clearly shown. It is preferable to select appropriately according to the size of the foot F from this length range. The outer talus bending sensor 24b can be the same as the inner talus bending sensor 24a, and detailed description thereof is omitted here.

  Each of the bending sensors 21 to 24 is formed in an elongated shape as described above, but the longitudinal ends of the sensors 21 to 24 may be fixed to the sock 11 (for example, pasted with a tape or the like). Alternatively, one end of both ends in the longitudinal direction may be fixed to the sock 11 and the other end may not be fixed to the sock 11. In the latter case, the bending sensors 21 to 24 can smoothly follow the deformation of the subject's foot F and ankle portion A, and the accuracy of the acquired walking data can be improved.

  As shown in FIGS. 1 and 2, the pressure measuring unit 30 includes a heel pressure sensor 31, an MP pressure sensor 32, and a toe pressure sensor 33.

  As shown in FIG. 2, the heel pressure sensor 31 measures the pressure of the heel part 103 on the back side of the foot F of the subject. More specifically, the heel pressure sensor 31 is attached to the inner surface of the sock heel part 11d of the sock 11 (for example, affixed with a tape or the like). When the subject's foot F to which the walking data acquisition device 1 is attached is viewed from the back side, the heel pressure sensor 31 is disposed at a position where the heel portion 103 contacts the floor surface. Thereby, the pressure of the heel part 103 can be accurately measured on the back side of the subject's foot F, and the heel contact time point T1 and the heel-off point time point T3 described later can be accurately specified.

  The MP pressure sensor 32 measures the pressure of the MP joint 123 on the back side of the subject's foot F. More specifically, the MP pressure sensor 32 measures the pressure of the MP joint 123 on the back side of the foot F and on the outer side of the foot F with respect to the foot long axis 106. Such an MP pressure sensor 32 is attached to the inner surface of the sock sole 11b of the sock 11 (for example, affixed with a tape or the like). When the foot F of the subject wearing the walking data acquisition device 1 is viewed from the back side, the MP pressure sensor 32 is disposed on the MP joint shaft 100 and on the outer side of the foot F with respect to the foot long shaft 106. It is preferable. Accordingly, the pressure of the MP joint 123 on the outside of the foot F on the back side of the foot F can be measured with high accuracy, and the MP contact point T2 described later can be specified with high accuracy.

  The toe pressure sensor 33 measures the pressure of the toe 119 (an example of the toe part 102) on the back side of the foot F of the subject. More specifically, the toe pressure sensor 33 is attached to the inner surface of the sock toe part 11a of the sock 11 (for example, affixed with a tape or the like). The toe pressure sensor 33 is preferably arranged at a position where the toe pressure sensor 33 contacts the floor when the foot F of the subject wearing the walking data acquisition device 1 is viewed from the back side. Thereby, the pressure of the toe 119 can be accurately measured on the back side of the subject's foot F, and the toe separation time point T4 described later can be accurately identified. The toe pressure sensor 33 is not limited to the pressure of the toe 119, and may measure the pressure of other toes such as the second toe 104.

  Here, each of the pressure sensors 31 to 33 can have an arbitrary configuration as long as it can measure the pressure of the measurement site, but may be configured by, for example, a piezoelectric element. An example of a pressure sensor is an FSR sensor manufactured by Interlink Electronics.

  As shown in FIG. 1, the walking data acquisition device 1 according to the present embodiment further includes an acceleration sensor 40 (acceleration measuring unit) that measures the acceleration of the lower leg L of the subject. In the present embodiment, the acceleration sensor 40 is housed in a box 63 described later, and is attached to the sock leg 11e of the sock 11 by a belt 64. The acceleration sensor 40 is configured to be able to measure acceleration in three axis directions, and measures vertical acceleration, longitudinal acceleration, and lateral acceleration (inside and outside of the foot F) of the crus L. The acceleration sensor 40 is not limited to being attached to the lower leg L of the subject, and may be attached to the foot F of the subject.

  Here, the acceleration sensor 40 can have any configuration as long as it can measure the acceleration of the measurement site. For example, KXSD 9-2050 manufactured by Kionix can be suitably used as the acceleration sensor.

  Next, the data processing unit 50 will be described with reference to FIGS. 1 and 8. The data processing unit 50 creates and outputs bending data by associating the bending degree signal received from the bending measuring unit 20 with the measurement time and outputs the pressure data by associating the pressure signal received from the pressure measuring unit 30 with the measuring time. Create and output. As shown in FIG. 8, the data processing unit 50 in the present embodiment includes a microcomputer 51 and a data output unit 52.

  The microcomputer 51 includes an MP bending sensor 21, a thigh bending sensor 22, an arch bending sensor 23, a talus bending sensor 24 (an inner talus bending sensor 24a and an outer talus bending sensor 24b), a heel pressure sensor 31, an MP pressure sensor 32, The toe pressure sensor 33 and the acceleration sensor 40 are connected via a sensor wiring 60. Then, measurement values are transmitted as signals from these sensors to the microcomputer 51. The microcomputer 51 creates data by associating the signal received from each sensor with the measurement time, and transmits the created data to the data output unit 52.

  More specifically, the microcomputer 51 creates MP bending data by associating the bending degree signal received from the MP bending sensor 21 with the measurement time. That is, the microcomputer 51 continuously receives the bending degree signal from the MP bending sensor 21, extracts a measurement value from the received bending degree signal at a predetermined time interval, and extracts the measured value as the measurement value. MP bending data is created in association with the measured measurement time (elapsed time from the start of measurement).

  Similarly, the microcomputer 51 creates the thigh bending data by associating the bending degree signal received from the thigh bending sensor 22 with the measurement time, and associates the bending degree signal received from the arch bending sensor 23 with the measurement time. The arch bending data is created, and the talus bending data (inner talus bending data and outer talus bending data) is created by associating the bending degree signal received from the talus bending sensor 24 with the measurement time. Further, the microcomputer 51 creates the soot pressure data by associating the pressure signal received from the soot pressure sensor 31 with the measurement time, and creates the MP pressure data by associating the pressure signal received from the MP pressure sensor 32 with the measurement time. The toe pressure data is created by associating the pressure signal received from the toe pressure sensor 33 with the measurement time. Furthermore, the microcomputer 51 associates the acceleration signal in each direction received from the acceleration sensor 40 with the measurement time, and creates vertical acceleration data, longitudinal acceleration data, and horizontal acceleration data.

  The data output unit 52 outputs data created by the microcomputer. In the present embodiment, the data output unit 52 includes a data recording unit 52a and a data transmission unit 52b. Among these, the data recording unit 52a records and stores the data created by the microcomputer 51. Such a data recording unit 52a can have an arbitrary configuration, but may be a fixed memory, for example. Alternatively, the data recording unit 52a may be configured to include a recording medium and a writing unit (not shown) that writes the data while holding the recording medium detachably. Here, examples of the recording medium include a memory card (for example, an SD card), a USB memory, and the like.

  The data transmission unit 52b includes the above-described MP bending data, thigh bending data, arch bending data, medial talus bending data, lateral talus bending data, and heel pressure data recorded in the data recording unit 52a. , MP pressure data, toe pressure data, and acceleration data in each direction are transmitted and output. In the present embodiment, the data transmission unit 52b transmits (outputs) each data recorded in the data recording unit 52a to the display device 71 described later.

  Incidentally, a power supply unit 61 is connected to the microcomputer 51 of the data processing unit 50. The power supply unit 61 is configured to supply power to the microcomputer 51 using a dry battery or a rechargeable battery. As a result, electric power can be supplied to the microcomputer 51 even while the subject is walking without using an external power source. In order to prevent the power from being supplied to the microcomputer 51 when the power is not desired, it is preferable that an on / off switch 62 is provided between the power supply unit 61 and the microcomputer 51. For example, the on / off switch 62 is attached to the surface of a box 63 described later, although not shown.

  As shown in FIG. 1, the acceleration sensor 40, the data processing unit 50, and the power supply unit 61 are arranged on the sock leg portion 11 e of the sock 11. In the present embodiment, the acceleration sensor 40, the data processing unit 50, and the power supply unit 61 are accommodated in a box 63, and the box 63 is attached to the belt 64. When the walking data acquisition device 1 is worn on the subject, the belt 64 is wound around the lower leg L via the sock leg 11e, and the box 63 is attached to the lower leg L of the subject. Note that the mounting structure of the acceleration sensor 40, the data processing unit 50, and the power supply unit 61 is not limited to such a configuration, and can be directly mounted on the sock leg portion 11e without using the belt 64. Also good. The acceleration sensor 40, the data processing unit 50, and the power supply unit 61 are not limited to being housed in the box 63 as long as they can be attached to the lower leg L of the subject.

  Next, the walking data acquisition system 70 in the present embodiment will be described.

  As shown in FIG. 8, the walking data acquisition system 70 according to the present embodiment includes a display device 71 connected to the above-described walking data acquisition device 1 and the data transmission unit 52 b of the data output unit 52 of the walking data acquisition device 1. And. Examples of the display device 71 include a personal computer and a portable information terminal (including a mobile phone, a smart phone, a tablet terminal, and the like). The display device 71 and the data transmission unit 52b are preferably wirelessly connected. The display device 71 and the data transmission unit 52b may be connected by wire.

  The display device 71 receives and displays each data transmitted from the data transmission unit 52b. More specifically, the display device 71 may be configured to display data of all cycles as shown in FIG. 9 described later when data of a plurality of cycles is transmitted from the data transmission unit 52b. Alternatively, it may be configured to be able to selectively display data of any one or a plurality of walking cycles in the entire cycle. When displaying data of one arbitrary walking cycle, for example, MP bending data is displayed as shown in FIG. 15 described later, and thigh bending data is displayed as shown in FIG. Further, the display device 71 displays arch bending data as shown in FIG. 18 to be described later, displays inner talus bending data as shown in FIG. 19, and displays outer talus bending data as shown in FIG. Further, the display device 71 displays heel pressure data, MP pressure data, and toe pressure data as shown in FIGS. Further, the display device 71 displays vertical acceleration data, longitudinal acceleration data, and horizontal acceleration data as shown in FIGS.

  The display device 71 may be configured to simultaneously display a normal waveform graph as a reference and the subject's graph, or may be configured to display only the subject's graph. Further, the display device 71 may be configured to selectively display various data, or may be configured to simultaneously display a plurality of types of data.

  Next, the operation of the present embodiment having such a configuration will be described. Here, a method for acquiring the walking data of the subject will be described.

  First, the walking data acquisition device 1 shown in FIG. In this case, the sock 11 of the walking data acquisition device 1 is worn on at least one foot F of the subject. Thus, each sensor is arranged at a desired position on the subject's foot F or lower leg L. That is, the MP bending sensor 21 is disposed on the long foot axis 106 when the foot F is viewed from the back side, and the longitudinal center of the MP bending sensor 21 is disposed on the MP joint shaft 100. The thigh bending sensor 22 is disposed at an intermediate position between the inner collar point 114 and the outer collar point 115, and is disposed on a line X1 (see FIG. 3) connecting the intermediate position and the tip of the second collar 104. The arch bending sensor 23 is arranged on the inner side of the line X2 along the line X2 (see FIG. 2) connecting the front end of the rivet 119 and the saddle point 105, and the longitudinal center of the arch bending sensor 23 is centered. The arch is disposed at the maximum height position of the arch portion 101. The medial talus bending sensor 24a is disposed on a line X3 (see FIG. 4) connecting the internal saddle point 114 and the scaphoid rough surface 120, and the front end of the medial talus bending sensor 24a is on the scaphoid rough surface 120. Or it arrange | positions in the vicinity. The lateral talus bending sensor 24b is disposed on a line X4 (see FIG. 5) connecting the outer heel point 115 and the fifth metatarsal rough surface 124, and the front end of the lateral talus bending sensor 24b is the fifth metatarsal. It arrange | positions on the rough surface 124 or its vicinity. The heel pressure sensor 31 is disposed at a position where the heel portion 103 contacts the floor surface, and the MP pressure sensor 32 is disposed on the MP joint shaft 100 and outside the foot F from the foot long shaft 106. The toe pressure sensor 33 is arranged at a position where the toe 119 contacts the floor surface.

  Further, the belt 64 to which the above-described box 63 is attached is wound around the crus L via the sock leg 11e of the sock 11 of the subject, and the acceleration sensor 40 is disposed on the crus L.

  When acquiring the walking data of the subject, first, the on / off switch 62 is turned on. As a result, power is supplied from the power supply unit 61 to the microcomputer 51, the microcomputer 51 is activated, and measurement by each sensor is started.

  Subsequently, the subject walks. During this time, the measurement value measured by each sensor is transmitted as a signal to the microcomputer 51, and the microcomputer 51 creates data by associating each signal with the measurement time. The created data is recorded in the data recording unit 52a.

  After the measurement is completed, the display device 71 is wirelessly connected to the data transmission unit 52b. As a result, the walking data recorded in the data recording unit 52a is transmitted (output) from the data transmitting unit 52b. In this way, the walking data of the subject can be acquired. The walking data transmitted from the data transmission unit 52b is transmitted to the display device 71.

  Thereafter, the received data is displayed on the display device 71. Each data transmitted to the display device 71 is data as shown in FIG. 9 when the subject walks for a plurality of cycles. In FIG. 9, for example, (a) heel pressure data, (b) MP pressure data, (c) toe pressure data, (d) MP bending data, (e) thigh bending data, (f) top and bottom Direction acceleration data, (g) longitudinal acceleration data, and (h) left-right acceleration data are shown. The horizontal axis of each graph in FIG. 9 indicates dimensionless time, the vertical axes of (a) to (c) indicate pressure, the vertical axes of (d) and (e) indicate the degree of bending, and (f) to (f) The vertical axis of (h) indicates acceleration.

  In the present embodiment, the display device 71 displays data of one arbitrary cycle from the data of the plurality of cycles. More specifically, waveform graphs as shown in FIGS. 121 to 16 and FIGS. 18 to 24 described later are displayed. In this way, a rehabilitation specialist such as a physical therapist can view the walking data of the subject. Here, the horizontal axis of the graphs shown in FIG. 12 to FIG. 16 and FIG. 18 to FIG. 24 indicates the dimensionless time when one walking cycle is 100, and the vertical axis of the graphs shown in FIG. Dimensional pressure is shown. The vertical axis of the graphs shown in FIGS. 15, 16, 18, 19, and 20 indicates the degree of bending, and the vertical axis of the graphs shown in FIGS. 21 to 24 indicates the dimensionless acceleration.

  Here, the graphs of pressure data shown in FIGS. 9, 12 to 14 are data obtained as a result of performing a walking test by attaching the pressure sensors 31 to 33 to the insole 90 in a third embodiment to be described later. It is an example. The MP bending data graphs shown in FIGS. 9 and 15 are examples of data obtained as a result of a walking test with the MP bending sensor 21 attached to the insole 90. The graph of the thigh bending data shown in FIGS. 9 and 16 is an example of data acquired as a result of performing a walking test with the thigh bending sensor 22 attached to the shoe 80 in a second embodiment to be described later. The arch bending data graph shown in FIG. 18 is an example of data obtained as a result of a walking test with the arch bending sensor 23 attached to the sock 11, and the inner talus bending data graph shown in FIG. FIG. 20 is an example of data obtained as a result of a walking test with the inner talus bending sensor 24a attached to the shoe 80. The graph of the outer talus bending data shown in FIG. 20 is a walking with the outer talus bending sensor 24b attached to the shoe 80. It is an example of the data acquired as a result of testing. Each of these pressure sensors 31 to 33 and each of the bending sensors 21 to 24 is data obtained as a result of walking while wearing a shoe 80 in which an insole 90 is put. The shoe 80 used at this time is a shoe having a product name “late up”, which will be described later. 1 (made by Daiso Sangyo Co., Ltd., durometer hardness of about 20) was cut into an insole shape.

  The acceleration data graphs shown in FIG. 9 and FIGS. 21 to 23 are examples of data acquired as a result of a walking test with the acceleration sensor 40 attached to the lower leg L.

  When the pressure sensors 31 to 33 and the MP bending sensor 21 are attached to the sock 11 or the shoe 80, illustration of data acquired from these sensors 31 to 33 and 21 is omitted, but the same data as those graphs. Can also be obtained from the sensors 31 to 33 and 21 attached to the sock 11 and the shoe 80. The illustration of data acquired when the thigh bending sensor 22 and the talus bending sensor 24 (the inner talus bending sensor 24a and the outer talus bending sensor 24b) are attached to the sock 11 is also omitted. However, similar data can be acquired. In FIGS. 12 to 16 and FIGS. 18 to 24, the waveform of the normal person and the waveform of the subject are displayed as an example, but in FIG. 9, the waveform of the normal person is shown for clarity. Is omitted, and the waveform of the subject is shown.

  Next, a method for diagnosing a subject's walking using the walking data acquired as described above will be described. In other words, the rehabilitation specialist looks at each data displayed on the display device 71 and confirms the walking of the subject. From the data acquired from the walking data acquisition device 1 according to the present embodiment, an evaluation as to whether or not the rocker function is working normally and an evaluation as to whether or not the pronation / extraction movement is appropriately performed. It can be carried out.

  First, the locker function will be described.

  One walking cycle is divided into a stance phase in which the foot F is in contact with the floor surface and a swing phase in which the foot F is away from the floor surface. Of these, as shown in FIG. 10, the stance phase is divided into a heel rocker period (an initial stance phase), an ankle rocker period (an intermediate stance phase), and a forefoot rocker period (an stance end phase).

  As shown in FIGS. 10 and 11, the heel rocker period is a period from when the collar portion 103 is grounded to the floor surface until the MP joint portion 123 is grounded to the floor surface. More specifically, in the heel rocker period, from the time point when the pressure of the buttock 103 becomes a positive value (the heel contact point T1), when the pressure of the MP joint portion 123 becomes a positive value (the point of contact of the MP contact point). It is a period until T2). Normally, at the MP contact point T2, the main shaft 119 is not grounded, and the pressure of the main shaft 119 is zero. In the heel rocker period, as shown in FIG. 10, the foot F and the lower leg L are deformed so that the entire foot F is in contact with the floor surface mainly with the heel portion 103 as an axis.

  The ankle rocker period is a period from when the MP joint portion 123 comes into contact with the floor surface until the collar portion 103 moves away from the floor surface. More specifically, in the ankle rocker period, from the time when the pressure of the MP joint 123 becomes a positive value (MP contact time T2), the time when the pressure of the buttock 103 becomes zero (the time of heeling off T3) ) Until. Usually, at the time point T3, the MP joint 123 is grounded and the pressure of the MP joint 123 becomes a positive value. In the ankle rocker period, as shown in FIG. 10, the lower leg L rotates forward while the entire foot F is grounded to the floor surface, mainly around the ankle part shaft 113 of the ankle part A. The ankle part A is deformed.

  The forefoot rocker period is a period from when the collar portion 103 is separated from the floor surface to when the main rod 119 is separated from the floor surface. More specifically, the forefoot rocker period is from the time point when the pressure of the buttocks 103 becomes zero (the time point T3) to the time point when the pressure of the heel 119 becomes zero (the time point T4 when the toes leave). ) Until. Normally, at the toe separation time T4, the MP joint portion 123 is detached, and the pressure of the MP joint portion 123 becomes zero. In the forefoot rocker period, as shown in FIG. 10, the foot F rotates mainly in the MP joint shaft 100 in the direction in which the toe portion 103 is lifted while the toe portion 102 is grounded to the floor surface. Deform.

  Whether or not such a rocker function is operating normally can be evaluated by, for example, looking at the MP bending data shown in FIG. 15 and the thigh bending data shown in FIG.

  First, before viewing the MP bending data and the thigh bending data, the heel rocker period, the ankle rocker period, and the forefoot rocker period are determined from the heel pressure data, the MP pressure data, and the toe pressure data. In this case, from the graph of dredging pressure data shown in FIG. 12, the dredging contact time point T1 at which the pressure of the brim portion 103 becomes a positive value from zero is specified. Further, the MP contact point T2 when the pressure of the MP joint 123 becomes a positive value from zero is specified from the MP pressure data graph shown in FIG. Then, from the graph of the heel pressure data shown in FIG. 12, the heel off time T3 when the pressure of the heel part 103 becomes zero from the positive value is specified, and from the graph of the toe pressure data shown in FIG. The toe separation time T4 at which the pressure of the (toe part 102) becomes zero from the positive value is specified. The heel rocker period, the ankle rocker period, and the forefoot rocker period can be determined by these identified time points T1 to T4. 12 to 16 and FIGS. 18 to 24, the respective time points T1 to T4 are displayed for convenience (in FIG. 19 and FIG. 20, T2 of the normal person and T2 of the subject overlap). . T1 to T4 may be displayed as shown in these figures by performing arithmetic processing in the display device 71. If the rocker function or pronation / extraction movement can be evaluated, T1 to T4 can be displayed. The display may be omitted.

  In addition to specifying each rocker period, each pressure data can also be used to evaluate the left / right balance ability of the foot F, the load balance, and the like. It is also possible to evaluate quantitative and temporal variations in the heel rocker period, the ankle rocker period, and the forefoot rocker period from pressure data of a plurality of cycles. For example, when the heel rocker period or the ankle rocker period becomes long, it can be determined that the user is walking in such a manner that the feet F are grounded to the floor. In addition, when each locker period is short or disappeared, it can be determined that a pain is felt when a load is applied to the foot F.

  Subsequently, the locker function is evaluated.

  For example, the rocker function is evaluated in the forefoot rocker period from the MP joint bending data. That is, when the rocker function is working normally, as shown in FIG. 10, the hip 103 is lifted around the MP joint shaft 100 while the heel 119 (toe 102) is grounded to the floor. The foot F is deformed so as to rotate in the direction to be rotated. This is shown by the solid line in FIG. That is, it can be seen that the degree of flexion around the MP joint axis 100 increases during the forefoot rocker period, and the foot F rotates around the MP joint axis 100.

  However, when the rocker function is not functioning normally, such deformation of the foot F is reduced. For example, when the subject's walk is a foot, the locker function tends not to work normally. In this case, as indicated by a broken line in FIG. 15, the degree of bending around the MP joint axis 100 during the forefoot rocker period does not increase so much. Thus, the rehabilitation specialist can recognize from this MP bending data that the deformation of the foot F during the forefoot rocker period is insufficient, and the subject's rocker function is not working properly. can do.

  As another example of the evaluation of the rocker function, the rocker function is evaluated during the ankle rocker period from the thigh bending data. That is, when the rocker function is working normally, as shown in FIG. 10, the crus L is placed on the front side while the sole is grounded to the floor surface around the thigh joint axis 113. The ankle part A is deformed so as to rotate. This is shown by the solid line in FIG. That is, it can be seen that the ankle portion A is deformed such that the degree of flexion around the thigh joint axis 113 increases during the ankle rocker period and the crus L rotates forward.

  However, when the rocker function is not functioning normally, such deformation of the ankle portion A can be reduced. For example, when the subject's walk is a foot, the locker function tends not to work normally. In this case, as indicated by a broken line in FIG. 16, the degree of bending around the thigh joint axis 113 during the ankle rocker period does not increase so much. From this, the rehabilitation specialist can recognize from this thigh bending data that the deformation of the ankle part A is insufficient during the ankle rocker period, and the subject's rocker function is not working normally. Can be evaluated.

  Further, when the rocker function is not functioning normally, as shown by the broken line in FIG. 16, the increase in the degree of bending around the thigh joint axis 113 during the ankle rocker period tends to be delayed. Also in this respect, the rehabilitation specialist can recognize that it is difficult to rotate the lower leg L to the front side during the ankle rocker period, and evaluates that the subject's rocker function is not working normally. be able to. This delay in increasing the degree of bending can also be recognized by the broken line in FIG.

  Next, pronation / extraction exercise will be described.

  As shown in FIG. 17, the pronation and supination movement means a torsional movement in the left-right direction around the subtalar joint axis 122 during walking. Of these, the pronation exercise is an exercise in which the lower leg L rotates inward during the stance phase, and the extrarotation exercise is an exercise in which the lower leg L rotates outward during the swing leg phase. In the stance phase, the deformation of the foot F and the ankle portion A is in the pronation position range, but the degree of deformation in the pronation direction differs depending on the time of walking, and may be in a deformation state close to the pronation position range. .

  More specifically, as shown in FIG. 17, at the heel contact point T 1, the foot F and the ankle portion A are in the supination position, and the pronation motion is started therefrom.変 形 Deformation toward the pronation direction becomes stronger from the contact point T1 to the MP contact point T2, and the deformation toward the pronation direction becomes relatively large at the MP contact point T2. From the MP contact point T2 to the toe separation point T4, the deformation in the pronation direction weakens and approaches the supination position, and at the toe separation point T4, the foot F and the ankle portion A are in the supination position. Become. In this way, in the stance phase, the deformation of the foot F and the ankle portion A is changed except for the heel contact time T1 and the toe separation time T4, but the deformation of the foot F and the ankle portion A changes, and the foot F and the ankle portion A Deforms so that it can be twisted.

  Whether or not such pronation and supination movements are performed normally is determined by, for example, looking at the arch bending data shown in FIG. 18, the inner talus bending data shown in FIG. 19, and the outer talus bending data shown in FIG. Can be evaluated.

  First, in the same manner as the evaluation of the rocker function described above, from the heel pressure data, the MP pressure data, and the toe pressure data, the heel contact point T1, the MP contact point T2, the heel point T3, and the toe point T4 are obtained. Identified.

  Subsequently, pronation and supination exercises are evaluated.

  For example, the pronation movement is evaluated from the arch bending data. That is, when the pronation movement is performed normally, as shown by the solid line in FIG. 18, even when the pronation movement is being performed, the arch 101 has a positive bending degree. The arch shape of the arch portion 101 is maintained without being lost.

  However, if the pronation movement is not performed normally, for example, if the pronation movement is performed excessively, the arch 101 is flattened and the arch shape is lost. This is indicated by the broken line in FIG. From this, the rehabilitation specialist can recognize from the arch bending data that the pronation movement is excessively performed, and evaluate that the pronation movement of the subject is not performed normally. Can do.

  Further, as another example of the evaluation of the rocker function, the pronation movement is evaluated from the medial talus bending data and the lateral talus bending data. That is, when the pronation is normally performed, the degree of bending around the subtalar joint axis 122 inside the ankle portion A has a waveform as shown by the solid line in FIG. The degree of bending around the subtalar joint axis 122 in FIG. 20 has a waveform as shown by the solid line in FIG.

  However, if the pronation movement is not performed normally, for example, if the pronation movement is performed excessively, the degree of flexion in the pronation direction around the subtalar joint axis 122 inside the ankle portion A is 19, the degree of flexion in the pronation direction around the subtalar joint axis 122 outside the ankle part A increases as shown by the broken line in FIG. From this, the rehabilitation specialist can recognize from these talar bending data that the pronation movement is excessively performed and evaluates that the pronation movement of the subject is not performed normally. be able to.

  In the present embodiment, the acceleration sensor 40 measures the triaxial acceleration of the lower leg L of the subject who is walking, and the vertical acceleration data, the longitudinal acceleration data, and the lateral acceleration data are displayed on the display device 71. Is displayed. From these acceleration data, changes in the speed of the foot F during the swing phase can be seen. That is, the rehabilitation specialist can see the momentum of the foot F swinging in each axial direction, and can also perform a walking diagnosis of the subject in this respect.

  For example, the momentum of the foot F swinging out in the vertical direction can be evaluated from the vertical acceleration data. In other words, when the swinging moment of the foot F is sufficient during the swing phase, the upward acceleration of the foot F increases. This is shown by the solid line in FIG. That is, it can be recognized that the upward acceleration of the foot F increases during the swing phase, and the swinging moment of the foot F is sufficient.

  However, when the swinging force of the foot F is insufficient during the swing phase, the upward acceleration of the foot F becomes small as shown by the broken line in FIG. Thereby, the rehabilitation specialist can recognize from the vertical acceleration data that the momentum of the foot F swinging out is insufficient.

  Similarly, from the acceleration data shown in FIGS. 22 and 23, the acceleration of the foot F in each direction during the swing phase can be confirmed to evaluate whether or not the swinging moment of the foot F is sufficient. .

  Further, the vertical forward / backward direction RMS (root mean square) can be calculated from the vertical acceleration shown in FIG. 21 and the longitudinal acceleration shown in FIG. In this case, for example, in the display device 71, an average value of values obtained by squaring the vertical acceleration and the longitudinal acceleration may be defined as the vertical RMS. The vertical RMS (see FIG. 24) calculated in this way can represent the absolute value of the change in acceleration. That is, while walking, the axis of the accelerometer changes with respect to the absolute space due to the movement of the crus L. By evaluating the momentum of swinging out of the foot F using this vertical RMS, the change in the axis of the accelerometer Can be eliminated and the evaluation accuracy can be improved. In addition, from the acceleration data in each direction, it is possible to evaluate whispering to the floor surface (contact with the floor surface) in the swing phase, slip in the stance phase, and the like.

  As shown in FIGS. 12 to 16 and FIGS. 21 to 24, each time point T1 to T4 indicated by a broken line is delayed from each time point T1 to T4 indicated by a solid line. In the broken line graph, the stance phase is long. Such a phenomenon can also be recognized by a rehabilitation specialist who viewed each data, and can be evaluated as having a problem in the stability and safety of walking of the subject.

  As described above, according to the present embodiment, the degree of bending around the MP joint axis 100 of the subject's foot F, the degree of bending around the ankle part A, and the degree of bending of the arch 101 measured by the bending measuring unit 20 are obtained. Bending data is created and output in association with the measurement time. This makes it possible to acquire walking data that enables the evaluation of the rocker function and pronation / extraction movement. That is, the rehabilitation specialist can grasp the deformation of the foot F and the ankle portion A of the subject who is walking from the output bending data. For this reason, it is possible to evaluate whether or not the locker function is working normally and whether or not the pronation / extraction exercise is appropriately performed. As a result, it is possible to improve the walking diagnosis accuracy of humans (especially elderly people and persons with walking disabilities) and efficiently perform diagnosis.

  Further, according to the present embodiment, the bending measurement unit 20 and the pressure measurement unit 30 are attached to the sock 11. Accordingly, the bending measuring unit 20 and the pressure measuring unit 30 can be arranged in advance at a desired position of the sock 11, and when the sock 11 is put on the foot F of the subject, the desired position is obtained. It can be easily arranged. Therefore, accurate bending data and pressure data can be acquired, and the rocker function and the pronation / extraction movement can be evaluated with high accuracy.

  In addition, in this Embodiment mentioned above, the example by which the bending measurement part 20 and the pressure measurement part 30 were attached to the sock 11 as an example of the accessory 10 was demonstrated. However, the accessory 10 is not limited to the socks 11 as long as it can cover the foot F, and may be a supporter that covers the foot F, a stocking, or the like. Even in this case, the bending measurement unit 20 and the pressure measurement unit 30 can be attached to the supporter or stocking.

  Moreover, in this Embodiment mentioned above, the walk data acquisition apparatus 1 demonstrated the example provided with the acceleration sensor 40. FIG. However, if the rocker function or the pronation / extraction exercise can be evaluated, the walking data acquisition device 1 does not include the acceleration sensor 40, and the measurement of acceleration may be omitted.

  Moreover, in this Embodiment mentioned above, the pressure measurement part 30 demonstrated the example which has the heel pressure sensor 31, the MP pressure sensor 32, and the toe pressure sensor 33. FIG. However, the present invention is not limited to this, and the pressure measurement unit 30 may not have the MP pressure sensor 32. Even in this case, it is possible to easily identify the stance phase and the swing phase. Further, the pressure measuring unit 30 may not include the toe pressure sensor 33 as well as the MP pressure sensor 32. In this case, only one soot pressure data acquired from the soot pressure sensor 31 can easily identify one walking cycle.

  Moreover, in this Embodiment mentioned above, the walk data acquisition apparatus 1 demonstrated the example provided with the pressure measurement part 30. FIG. However, the pressure measuring unit 30 may not be provided. That is, when the bending data shown in FIGS. 15, 16, 18, 19, and 20 is viewed, the heel contact point T1, the MP contact point T2, the heel off point T3, and the toe off point T4 are identified. Even if not, the rehabilitation specialist can evaluate the rocker function or pronation / extraction movement from the graph showing the bending data. For this reason, the specification of the time points T1 to T4 can be omitted, and the measurement of the sole pressure by the pressure measurement unit 30 can be omitted.

  Moreover, in this Embodiment mentioned above, the bending measurement part 20 demonstrates the example which has the MP bending sensor 21, the thigh bending sensor 22, the arch bending sensor 23, and the talus bending sensor 24. did. However, it is not restricted to this, The bending measurement part 20 should just have at least one of these bending sensors 21-24. Even in this case, the rehabilitation specialist should evaluate the rocker function or pronation / extraction movement from at least one of the MP bending data, talum bending data, arch bending data and talar bending data. Can do.

  Further, in the above-described embodiment, in order to improve the evaluation accuracy, an example in which the talus bending sensor 24 is configured to include both the inner talus bending sensor 24a and the outer talus bending sensor 24b has been described. However, the present invention is not limited to this, and only one of the sensors may be included. Even in this case, the pronation and supination motion can be evaluated from the talar bending data acquired by the one sensor.

  Moreover, in this Embodiment mentioned above, the example in which the display apparatus 71 was connected to the data transmission part 52b of the walking data acquisition apparatus 1 was demonstrated. However, the present invention is not limited to this. For example, in the case where the data recording unit 52a includes the above-described recording medium and a writing unit that holds the recording medium in a removable manner and writes data, the data transmitting unit 52b and the display device 71 may not be connected. Good. In this case, the data created by the microcomputer 51 is written and recorded on a recording medium by the writing unit, and the recording medium on which the data is recorded is extracted from the writing unit after the measurement is completed, and the reading unit ( (Not shown) may be inserted. Thereby, the data of the recording medium is read by the display device 71 and each data can be displayed. In this case, the data output unit 52 may not include the data transmission unit 52b because the data can be read into the display device 71 by the recording medium.

  Moreover, in this Embodiment mentioned above, the display apparatus 71 was connected to the data transmission part 52b after completion | finish of measurement, and the example which each data recorded on the data recording part 52a was transmitted to the display apparatus 71 was demonstrated. However, the present invention is not limited to this, and the display device 71 may be connected to the data transmission unit 52b during measurement so that the data recorded in the data recording unit 52a is transmitted to the display device 71 as needed. . In this case, the data received by the display device 71 may be accumulated in the display device 71 and displayed. In this case, the data created by the microcomputer 51 may be transmitted to the data transmission unit 52b without being recorded in the data recording unit 52a, but the data is recorded as a backup in the data recording unit 52a. You may make it do.

  Furthermore, although it is preferable that each bending sensor 21-24 is arrange | positioned in the position mentioned above, the position mentioned above of each bending sensor 21-24 does not show a strict and limited position. That is, even if each bending sensor 21-24 is displaced to some extent depending on the size of the foot F of the subject, it is possible to acquire walking data that enables evaluation of the rocker function and pronation / extraction movement. is there. The same applies to each pressure sensor 31-33.

(Second Embodiment)
Next, a walking data acquisition device and a walking data acquisition system according to the second embodiment will be described with reference to FIG.

  The second embodiment shown in FIG. 25 is mainly different in that the accessory is a shoe, and other configurations are substantially the same as those of the first embodiment shown in FIGS. In FIG. 25, the same parts as those of the first embodiment shown in FIGS. 1 to 24 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 25, the accessory 10 of the walking data acquisition apparatus 1 in the present embodiment is a shoe 80 (footwear). That is, the walking data acquisition device 1 shown in FIG. 25 includes a shoe 80 to which the bending measurement unit 20 and the pressure measurement unit 30 are attached. A shoe 80 shown in FIG. 25 includes a shoe sole 80a, a shoe main body portion 80b provided on the shoe sole 80a, and a shoe leg portion 80c that covers the ankle portion A.

  The shoe 80 is preferably formed so as to be able to smoothly follow the deformation of the subject's foot F and ankle portion A, including the shoe sole 80a. For example, the shoe 80 is preferably a flexible shoe made of a fiber material (shoe like a sock) having a shoe sole having elasticity such as rubber, and examples of such a shoe include , Lunar Epic fly knit (trade name of Nike, “FLYKNIT” is a registered trademark), Chuburdoom (trade name of Adidas, “TUBULAR” is a registered trademark of Adidas), Late Up Rate Up (Device Creation, Inc.) Product name), but is not limited thereto. The size of the shoe 80 is such that each of the bending sensors 21 to 24 and the pressure sensors 31 to 33 attached to the shoe 80 can accurately measure the deformation of the subject's foot F and ankle portion A. It is good to set it as the size according to the size of the subject's foot F.

  The bending sensors 21 to 24 and the pressure sensors 31 to 33 are attached to the shoe 80 at positions similar to the positions where the socks 11 shown in FIGS. 1 to 6 are placed on the subject's foot F. Yes. More specifically, the MP bending sensor 21 and the arch bending sensor 23 are attached to desired positions on the upper surface of the shoe sole 80a (the inner surface of the shoe 80). The heel pressure sensor 31, the MP pressure sensor 32, and the toe pressure sensor 33 are attached to desired positions on the upper surface of the shoe sole 80a.

  The thigh bending sensor 22 is housed in a first pocket 81 provided on the inner surface of the shoe main body 80b, similarly to the thigh bending sensor 22 in the first embodiment. The talus bending sensor 24 (the inner talus bending sensor 24a and the outer talus bending sensor 24b) is not shown, but is provided on the inner surface of the shoe main body 80b, like the talus bending sensor 24 in the first embodiment. It is accommodated in a second pocket or a third pocket (both not shown).

  The acceleration sensor 40, the data processing unit 50, and the power supply unit 61 are housed in a box 63 as in the first embodiment, and the belt 64 to which the box 63 is attached is connected to the shoe leg 80c of the shoe 80. The box 63 is attached to the subject's lower leg L by being wound around the lower leg L.

  25 is preferably provided with a fastener (not shown) such as a fastener for smoothly attaching and detaching the shoe 80. The shoe main body 80b shown in FIG. In this case, the opening of the shoe 80 can be enlarged at the time of attachment and detachment, and each bending sensor 21 to 24 and each pressure sensor 31 to 33 can be prevented from being displaced, and these sensors 21 to 24, 31 to 33 can be prevented. Can be prevented from being damaged. Such a fastener can be provided at an arbitrary position as long as the opening of the shoe 80 can be enlarged.

  Thus, according to the present embodiment, the bending measurement unit 20 and the pressure measurement unit 30 are attached to the shoe 80. Accordingly, the bending measuring unit 20 and the pressure measuring unit 30 can be arranged in advance at a desired position of the shoe 80, and when the shoe 80 is put on the foot F of the subject, the desired position is obtained. It can be easily arranged. Therefore, accurate bending data and pressure data can be acquired, and the rocker function and the pronation / extraction movement can be evaluated with high accuracy.

  In the above-described embodiment, an example in which the shoe 80 has the shoe leg portion 80c has been described. However, the present invention is not limited to this, and the shoe 80 is configured to expose the subject's ankle A (more specifically, the inner saddle point 114 and the outer saddle point 115) without having the shoe leg portion 80c. It may be. In this case, the thigh bending sensor 22 may be attached to the subject's foot F with a tape or the like without being attached to the shoe 80.

  Moreover, in this Embodiment mentioned above, the example in which the arch bending sensor 23 was attached to the shoes 80 was demonstrated. However, when it is difficult for the shoe sole 80 a to follow the deformation of the arch portion 101, the arch bending sensor 23 may not be attached to the shoe 80. In this case, for example, the arch bending sensor 23 may be attached to the arch portion 101 of the subject's foot F with a tape or the like.

(Third embodiment)
Next, a walking data acquisition device and a walking data acquisition system according to the third embodiment will be described with reference to FIGS. 26 and 27.

  The third embodiment shown in FIGS. 26 and 27 is mainly different in that the bending measuring section is attached to the insole, and the other configuration is the first embodiment shown in FIGS. Is almost the same. In FIG. 26 and FIG. 27, the same parts as those in the first embodiment shown in FIG. 1 to FIG.

  As shown in FIG. 26, the walking data acquisition device 1 in the present embodiment includes an insole 90 (insole) instead of the accessory 10. A bending measuring unit 20 and a pressure measuring unit 30 are attached to the insole 90. The insole 90 includes a sole body 90a facing the subject's foot and an extension 90b extending so as to protrude from the sole body 90a. The insole 90 is not particularly limited as long as it can smoothly follow the deformation of the foot F of the subject, but is preferably formed of a flexible material.

  The MP bending sensor 21 and the pressure sensors 31 to 33 are attached to the insole 90 at the same position as the position where the sock 11 shown in FIGS. 1 to 6 is attached to the subject's foot F. More specifically, the MP bending sensor 21 is attached to a predetermined position on the upper surface (surface facing the foot F) of the sole body 90a. The heel pressure sensor 31, the MP pressure sensor 32, and the toe pressure sensor 33 are attached to predetermined positions on the upper surface of the sole body 90a.

  The thigh bending sensor 22, the arch bending sensor 23, and the talus bending sensor 24 (the inner talus bending sensor 24a and the outer talus bending sensor 24b) are not attached to the insole 90. In this case, these bending sensors 22 to 24 are preferably attached to the subject's foot F with a tape or the like. In this case, the thigh bending sensor 22, the arch bending sensor 23, and the talus bending sensor 24 are pasted on a desired position of the subject's foot F or ankle portion A after the subject wears the shoe 95 in which the insole 90 is put. It is done. In addition, although it is preferable that the shoes 95 are flexible shoes like the shoes 80 in 2nd Embodiment, it is not restricted to this, Arbitrary shoes 80 can be used.

  As in the first embodiment, the acceleration sensor 40, the data processing unit 50, and the power supply unit 61 are accommodated in a box 63, and a belt 64 (see FIG. 1) to which the box 63 is attached is below the subject. By being wrapped around the thigh L, the box 63 is attached to the lower thigh L of the subject. The box 63 may be attached to the extension 90b of the insole 90.

  As shown in FIG. 27, the insole 90 in the present embodiment is provided on the first sole layer 91 disposed on the shoe sole 95a side of the shoe 95, and on the first sole layer 91, and the shoe main body of the shoe 95 is provided. It is preferable to have a structure in which the second sole layer 92 disposed on the part 95b side is laminated. Of these, the second sole layer 92 is disposed on the side facing the foot F (upper side in FIG. 27). The first sole layer 91 is preferably made of a material harder than the second sole layer 92. In this case, even if each of the pressure sensors 31 to 33 sinks into the second sole layer 92 of the insole 90 due to the pressure applied at the time of grounding, if the pressure sensors 31 to 33 are released from the pressure at the time of takeoff, The submerged state can be quickly resolved. For this reason, the measurement accuracy of the sole pressure immediately after takeoff can be improved.

  As described above, according to the present embodiment, the MP bending sensor 21 of the bending measuring unit 20 and the pressure sensors 31 to 33 of the pressure measuring unit 30 are attached to the insole 90. As a result, the bending measuring unit 20 and the pressure measuring unit 30 can be arranged in advance at desired positions on the insole 90, and the shoe 95 including the insole 90 is put on the subject's foot F. Can be easily arranged at a desired position. Therefore, accurate bending data and pressure data can be acquired, and the rocker function and the pronation / extraction movement can be evaluated with high accuracy.

  As described above, the embodiment of the present invention has been described in detail. However, the walking data acquisition device and the walking data acquisition system according to the present invention are not limited to the above embodiment, and do not depart from the spirit of the present invention. Various changes in range are possible. Moreover, as a matter of course, these embodiments can be partially combined as appropriate within the scope of the present invention.

  In each of the above-described embodiments, the example in which the bending measurement unit 20 and the pressure measurement unit 30 are attached to the accessory 10 or the insole 90 has been described. However, the present invention is not limited to this, and the bending measurement unit 20 and the pressure measurement unit 30 may not be attached to the accessory 10 or the insole 90. In this case, the bending sensors 21 to 24 of the bending measuring unit 20 and the pressure sensors 31 to 33 of the pressure measuring unit 30 are arranged when the sock 11 shown in FIGS. 1 to 6 is attached to the foot F of the subject. You may make it affix on a test subject's leg | foot F or the ankle part A with a tape etc. in the position similar to the position to be performed.

  According to the present invention described above, it is possible to acquire walking data that enables evaluation of a rocker function and pronation / extraction movement, and to improve walking diagnosis accuracy of a human (for example, an elderly person or a walking handicapped person). Thus, it is possible to provide a walking data acquisition device and a walking data acquisition system that can perform diagnosis efficiently. For this reason, the present invention is an industrially applicable invention. For example, the present invention can be used in various fields such as the electrical equipment industry, the software industry, the sock manufacturing industry, the shoe manufacturing industry, the insole manufacturing industry, and the medical and rehabilitation fields.

DESCRIPTION OF SYMBOLS 1 Walking data acquisition apparatus 10 Trinket 11 Socks 20 Bending measurement part 21 MP bending sensor 22 Thigh bending sensor 23 arch bending sensor 24 Tail bending sensor 24a Inner talus bending sensor 24b Outer talus bending sensor 30 Pressure measuring part 31 Saddle pressure sensor 32 MP Pressure sensor 33 toe pressure sensor 40 acceleration sensor 50 data processing unit 61 power supply unit 70 walking data acquisition system 71 display device 80 shoe 90 insole 100 MP joint shaft 101 arch part 102 toe part 103 heel part 113 talus joint axis 122 talus Lower joint axis 123 MP joint F Foot A Ankle L Lower leg

Claims (17)

A bending measuring unit that measures at least one of the degree of bending around the MP joint axis of the subject's foot, the degree of bending of the ankle part, and the degree of bending of the arch;
A walking data acquisition device comprising: a data processing unit that generates and outputs bending data by associating a bending degree signal received from the bending measuring unit with a measurement time.   The walking data acquisition apparatus according to claim 1, wherein the bending measurement unit includes an MP bending sensor that measures a degree of bending of the foot around the MP joint axis.   The walking data acquisition device according to claim 1, wherein the bending measurement unit includes a thigh bending sensor that measures a degree of bending of the ankle portion around a thigh joint axis.   The gait data acquisition device according to any one of claims 1 to 3, wherein the bending measurement unit includes a talus bending sensor that measures a degree of bending of the ankle portion around a subtalar joint axis.   The talar bending sensor measures the degree of bending around the subtalar joint axis inside the ankle part, and measures the degree of bending around the subtalar joint axis outside the ankle part. The walking data acquisition device according to claim 4, comprising at least one of an outer talus bending sensor.   The walking data acquisition device according to any one of claims 1 to 5, wherein the bending measurement unit includes an arch bending sensor that measures a degree of bending of the arch. A pressure measuring unit for measuring the pressure of the sole of the subject;
The walking data acquisition device according to any one of claims 1 to 6, wherein the data processing unit creates and outputs pressure data by associating a pressure signal received from the pressure measurement unit with a measurement time.   The pressure measuring unit includes a heel pressure sensor that measures the pressure of the heel on the back side of the foot. The walking data acquisition device according to claim 7.   The walking data acquisition device according to claim 8, wherein the pressure measurement unit includes a toe pressure sensor that measures a pressure of a toe part on the back side of the foot.   The walking data acquisition device according to claim 9, wherein the pressure measurement unit includes an MP pressure sensor that measures the pressure of the MP joint on the back side of the foot. An acceleration measuring unit for measuring the acceleration of the subject's lower leg or the foot,
The gait data acquisition device according to any one of claims 1 to 10, wherein the data processing unit creates and outputs acceleration data in association with the acceleration signal received from the acceleration measurement unit.   The walking data acquisition device according to any one of claims 1 to 11, further comprising a power supply unit that supplies power to the data processing unit.   The walking data acquisition device according to any one of claims 1 to 12, further comprising an accessory to which the bending measurement unit is attached and which can be attached to the foot.   The walking data acquisition device according to claim 13, wherein the accessory is a sock, a supporter, or footwear. The bending measurement unit measures the degree of bending around the MP joint axis,
The walking data acquisition device according to claim 1, further comprising an insole to which the bending measurement unit is attached.   The walking data acquisition apparatus according to claim 15, further comprising a pressure measurement unit that is attached to the insole and that measures a foot pressure of the subject. The walking data acquisition device according to any one of claims 1 to 16,
A walking data acquisition system comprising: a display device that displays the bending data output from the data processing unit of the walking data acquisition device.

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