JP2018198885A - Footwear and system - Google Patents

Abstract

To provide footwear and a system capable of adjusting a load of a wearer according to a risk of overturning.SOLUTION: Footwear is equipped with a weight moving mechanism 11 capable of moving the center of gravity, and the center of gravity moves based on the electromyogram of a wearer. The electromyogram may include at least one of the electromyogram of the calf of the wearer and the electromyogram of the shin of the wearer. The electromyogram may be based on the output of a myoelectric sensor for detecting myoelectricity of the wearer. The myoelectric sensor may be provided to a sock or a supporter of the wearer. The footwear may be provided with the myoelectric sensor.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to footwear and systems.

  An elderly person who has weak muscle strength may not be able to raise his toes sufficiently, and the toes may fall on contact with the ground or stairs. For example, Patent Document 1 discloses footwear in which an ankle belt formed integrally with footwear and a toe portion of the footwear are connected by an elastic body.

JP 2006-141747 A

  While the wearer must avoid falls, it is desirable to increase or maintain muscle strength with an appropriate load during walking.

  The objective of this indication made in view of this situation is to provide the footwear and system which can adjust a wearer's load according to the danger of falling.

  The footwear which concerns on one Embodiment is provided with the gravity center moving mechanism which can move a gravity center. The center of gravity moves based on the wearer's electromyogram.

  The system which concerns on one Embodiment is provided with the gravity center moving mechanism which can move a gravity center, and is provided with the footwear which can communicate with a terminal device, and the said terminal device which acquires the information of the electromyograph of the wearer of the said footwear. The center of gravity moves based on an electromyogram generated from information on the wearer's electromyogram acquired by the terminal device.

  According to one embodiment, it is possible to provide footwear and a system that can adjust the load on the wearer according to the risk of falling.

It is a schematic structure figure of footwear concerning one embodiment. It is a schematic block diagram of the terminal device which communicates with footwear in the system which concerns on one Embodiment. It is a figure which illustrates the appearance probability of a wearer's muscle output according to the position of the gravity center of footwear. It is a figure which illustrates the pulse wave which a vital sensor detects. It is a figure which illustrates the relationship between exercise intensity and blood lactic acid concentration. FIG. 6A is a diagram exemplifying a temporal change in the myoelectric potential detected by the myoelectric sensor. FIG. 6B is a diagram showing an average frequency for each predetermined time in FIG. It is a figure which illustrates the relationship between the value based on sensor data, and the 1st and 2nd threshold value. It is a perspective view which shows the structural example of the gravity center moving mechanism of the footwear which concerns on one Embodiment. It is a flowchart which illustrates the process regarding the movement of the gravity center of the footwear by a controller. It is a schematic block diagram of the footwear which concerns on a modification. It is a schematic block diagram of the terminal device which communicates with footwear in the system which concerns on a modification. It is a schematic block diagram of the footwear which concerns on another modification. FIGS. 13A and 13B are schematic configuration diagrams of a terminal device that communicates with footwear in a system according to still another modification.

[First Embodiment]
(Composition of footwear)
FIG. 1 shows a schematic configuration of footwear 1 according to the first embodiment. As for footwear 1 concerning this embodiment, a center of gravity moves based on a wearer's fatigue degree, for example. The footwear 1 according to the present embodiment constitutes a system for moving the center of gravity (hereinafter referred to as a system according to the present embodiment) together with a terminal device 2 (see FIG. 2) that communicates with the footwear 1.

  As shown in FIG. 1, the footwear 1 includes a center-of-gravity movement mechanism 11, a communication unit 12 (communication unit), a storage 13, and a notification unit 16 (notification unit). Here, the footwear 1 according to the present embodiment is a walking shoe. However, the footwear 1 is not limited to walking shoes. The footwear 1 may be, for example, athletic shoes other than walking shoes, leather shoes, boots, or pumps. The footwear 1 may be a sandal such as a sports sandal or a boot. The center-of-gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 are provided, for example, on the shoe sole portion or insole of the footwear 1. Moreover, FIG. 1 is an illustration. Footwear 1 may not include all of the components shown in FIG. Moreover, the footwear 1 may be provided with components other than shown in FIG.

  The center of gravity moving mechanism 11 is a mechanism that can move the center of gravity of the footwear 1. The center of gravity moving mechanism 11 can move the center of gravity to the heel side or toe side of the footwear 1. That is, in general footwear, where the center of gravity is located in the vicinity of the middle of the toe and heel, the center-of-gravity moving mechanism 11 can move the center of gravity and bias it to either. In the present embodiment, the center-of-gravity moving mechanism 11 moves the center of gravity according to an instruction to move the center of gravity received by the communication unit 12 (hereinafter referred to as a center-of-gravity movement instruction). In the present embodiment, the center-of-gravity moving mechanism 11 includes two liquid bags respectively provided on the toe side and the heel side of the footwear 1, and a tube that connects these liquid bags. The center-of-gravity moving mechanism 11 includes a tube pump 110 that moves the liquid in one liquid bag to the other liquid bag via the tube (see FIG. 8). The center of gravity moving mechanism 11 moves the liquid by rotating the roller of the tube pump 110 in accordance with the center of gravity moving instruction. For example, when the tube pump 110 moves the liquid in the toe side liquid bag to the heel side liquid bag, the center of gravity of the footwear 1 moves toward the heel side. Since the toe side of the footwear 1 becomes lighter than before the liquid moves, the wearer of the footwear 1 (hereinafter simply referred to as “wearer”) can easily lift the toe.

  The communication unit 12 is an interface for communication. The footwear 1 can communicate with the terminal device 2 (see FIG. 2) by including the communication unit 12. In the present embodiment, the communication unit 12 performs communication according to a wireless communication standard. The wireless communication standards include, for example, Bluetooth (registered trademark) and Bluetooth (registered trademark) Low Energy. The wireless communication standards include, for example, WiMAX (Worldwide Interoperability for Microwave Access) and IEEE 802.11. The wireless communication standards include cellular phone communication standards such as 2G, 3G, and 4G. Cellular phone communication standards include, for example, LTE (Long Term Evolution) and W-CDMA (Wideband Code Division Multiple Access). Cellular phone communication standards include, for example, CDMA2000 and PDC (Personal Digital Cellular). The cellular phone communication standards include, for example, GSM (registered trademark) (Global System for Mobile communications) and PHS (Personal Handy-phone System). The wireless communication standards include, for example, IrDA (Infrared Data Association) and NFC (Near Field Communication). The communication unit 12 can support one or more of the communication standards described above. Here, the communication unit 12 can also communicate with the terminal device 2 (see FIG. 2) in a wired manner.

  The storage 13 stores data as a storage unit. The data stored in the storage 13 may include a gravity center movement instruction received by the communication unit 12. Further, the data stored in the storage 13 may include a detection value of the sensor 24 (see FIG. 2) received by the communication unit 12. Further, the data stored in the storage 13 may include intermediate data or result data of a calculation executed when the gravity center moving mechanism 11 moves the center of gravity. Moreover, the storage 13 may store data temporarily or may continue to store until it is deleted by a wearer or the like. The storage 13 may be composed of any storage device such as a semiconductor storage device and a magnetic storage device. Further, the storage 13 may be composed of a plurality of types of storage devices. Further, the storage 13 may have a configuration in which a portable storage medium such as a memory card and a storage medium reading device are combined.

  The storage 13 may store a program loaded on the gravity center moving mechanism 11. For example, the gravity center moving mechanism 11 may include a processor, and the processor may execute operation control of the tube pump 110 (see FIG. 8) by a program loaded from the storage 13. Here, the program may be stored in the storage 13 via communication by the communication unit 12. The storage 13 may store a predetermined threshold that will be described later.

  The notification unit 16 notifies the wearer that the footwear 1 or the wearer is in a predetermined state. The notification unit 16 includes at least one of a light, a speaker, and a vibration motor, for example. When the notification unit 16 includes a light, the notification unit 16 can emit light to the wearer. The light may be, for example, an LED (Light Emitting Diode) light. Moreover, when the alerting | reporting unit 16 is provided with a speaker, the alerting | reporting unit 16 can emit a sound with respect to a wearer. Moreover, when the alerting | reporting unit 16 is provided with a vibration motor, the alerting | reporting unit 16 can emit a vibration with respect to a wearer. Here, the predetermined state of the footwear 1 may be a state immediately before the center-of-gravity moving mechanism 11 moves the center of gravity, for example. The predetermined state of the wearer may be, for example, a state in which the degree of fatigue has increased beyond a reference. As an example, when the notification unit 16 includes a light and a speaker, the notification unit 16 may notify the wearer that the center of gravity moving mechanism 11 will move the center of gravity from now on by emitting light and sound.

(Configuration of terminal device)
FIG. 2 shows a schematic configuration of the terminal device 2. In the system according to the present embodiment, the terminal device 2 estimates the wearer's fatigue level and generates a gravity center movement instruction. In addition, the terminal device 2 transmits the generated center of gravity movement instruction to the footwear 1.

  As illustrated in FIG. 2, the terminal device 2 includes a communication unit 22, a storage 23, a sensor 24, and a controller 25. In the present embodiment, the terminal device 2 is a wristband type wearable terminal worn on the wearer's wrist. As another example, the terminal device 2 may be a ring type worn on a finger, a glasses type worn on a face, a hat type worn on a head, or a clothes type wearable terminal worn on a body. Good. Here, the terminal device 2 is not limited to a wearable terminal. The terminal device 2 may be, for example, a smartphone, a tablet terminal, or a feature phone. The terminal device 2 may be, for example, a PDA, a portable music player, a game machine, an electronic book reader, a home appliance, or the like. Moreover, FIG. 2 is an illustration. The terminal device 2 may include only some of the components shown in FIG. Further, the terminal device 2 may include components other than those shown in FIG. The terminal device 2 is not limited to one device. That is, the terminal device 2 may be composed of a plurality of devices.

  The communication unit 22 is an interface for communicating with the footwear 1. In the present embodiment, the communication unit 22 performs communication according to a wireless communication standard. The communication unit 22 can support one or more of the communication standards exemplified in the description of the communication unit 12 above. Here, the communication unit 22 can also communicate with the footwear 1 by wire. In the present embodiment, the communication unit 22 can receive a GPS signal (positioning signal) from a GPS (Global Positioning System) satellite.

  The storage 23 stores programs and data as a storage unit. The storage 23 stores intermediate data of the processing of the controller 25 and a processing result (for example, a gravity center movement instruction or the like). The storage 23 may store a value (data) detected by the sensor 24. The storage 23 may store a GPS signal received by the communication unit 22. The storage 23 may store wearer data (for example, height, weight, sex, age, etc.). In the present embodiment, data from the sensor 24 and the communication unit 22 is stored in the storage 23 via the controller 25. The storage 23 may be configured by any storage device such as a semiconductor storage device and a magnetic storage device. The storage 23 may be composed of a plurality of types of storage devices. Further, the storage 23 may have a configuration in which a portable storage medium such as a memory card and a storage medium reading device are combined.

  The program stored in the storage 23 includes an application executed in the foreground or the background, and a control program that supports the operation of the application. For example, the application causes the controller 25 to execute processing for causing the sensor 24 to detect at least one of a wearer's movement, vital signs, and myoelectric potential. The control program is, for example, a battery management program that manages the remaining battery level of the terminal device 2.

  The sensor 24 detects at least one of the wearer's movement, vital signs, and myoelectric potential. In the present embodiment, the sensor 24 includes a motion sensor, a vital sensor, and a myoelectric sensor. That is, in this embodiment, the sensor 24 detects a wearer's movement, vital signs, and myoelectric potential. Here, the sensor 24 may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. The sensor 24 may further include another detection device (for example, an ultraviolet sensor).

(Motion sensor)
A motion sensor detects a wearer's movement directly or indirectly. The motion sensor includes, for example, an acceleration sensor, a gyro sensor, an atmospheric pressure sensor, and an illuminance sensor.

  The acceleration sensor detects the direction and magnitude of acceleration acting on the wearer. The acceleration sensor is, for example, a three-axis (three-dimensional) type that detects acceleration in the x-axis direction, the y-axis direction, and the z-axis direction. The type of acceleration sensor is not limited. The acceleration sensor may be, for example, a piezoresistive type. The acceleration sensor may be, for example, a capacitance type. The acceleration sensor may be, for example, a piezoelectric element (piezoelectric type) or a heat detection type MEMS (Micro Electro Mechanical Systems) type.

  The gyro sensor detects an angular velocity based on the wearer's motion. The gyro sensor is, for example, a three-axis vibration gyro sensor that detects angular velocity from deformation of a structure due to Coriolis force acting on a vibrating arm. Here, the structure may be made of a piezoelectric material such as quartz or piezoelectric ceramic. The gyro sensor may be formed by MEMS (Micro Electro Mechanical Systems) technology using the structure as a material such as silicon. The gyro sensor may be an optical gyro sensor.

  The atmospheric pressure sensor detects the atmospheric pressure (atmospheric pressure) around the wearer. The atmospheric pressure sensor is, for example, a resistance change type sensor that converts an atmospheric pressure change into a resistance value. The atmospheric pressure sensor may be, for example, a capacitive sensor that converts an atmospheric pressure change into an electrostatic change. The atmospheric pressure sensor may be a crystal oscillation frequency type sensor that converts a pressure change into an oscillation frequency, for example.

  The illuminance sensor detects the illuminance of the ambient light of the wearer. The illuminance sensor may be, for example, a photodiode or a phototransistor.

  The acceleration sensor, gyro sensor, atmospheric pressure sensor, and illuminance sensor that constitute the motion sensor output detected acceleration data, angular velocity data, atmospheric pressure data, and ambient light illuminance data, respectively. The controller 25 grasps the wearer's movement based on the data output from the motion sensor.

(Vital sensor)
A vital sensor (biological sensor) measures a wearer's vital sign (biological information). In this embodiment, a vital sensor is attached to a wearer's test site and measures vital signs. In the present embodiment, the vital sign includes at least one of a pulse, a pulse wave, a blood pressure, a blood flow, a body temperature, a respiratory rate, a lactic acid level, and a blood glucose level.

  The vital sensor includes a light emitting unit and a light receiving unit. For example, the light emitting unit emits measurement light according to the control of the controller 25. The measurement light is light that can measure the vital sign of the site to be examined. The measurement light is, for example, infrared light. The light emitting unit may be, for example, an LED. The light emitting unit may be, for example, a semiconductor laser including a VCSEL (Vertical Cavity Surface Emitting Laser).

  The light receiving unit receives scattered light with respect to the measurement light emitted by the light emitting unit. The light receiving unit is, for example, a PD (Photo Diode).

For example, infrared light irradiated by the light emitting unit is absorbed by hemoglobin in blood. Therefore, the more blood flows, the less scattered light is received by the light receiving unit. Scattered light received by the light receiving unit varies according to the pulse. Moreover, a wearer's pulse wave is measurable based on the change of the scattered light which a light-receiving part light-receives. Information such as changes in pulse rate, pulse pressure, blood pressure, and the like can be obtained from the pulse wave.
For example, the vital sensor may measure blood flow using Doppler shift of scattered light scattered by the living tissue when the test site is irradiated with laser light.

  The vital sensor outputs a vital sign. The controller 25 grasps the wearer's state based on the vital sign output by the vital sensor.

(Myoelectric sensor)
The myoelectric sensor detects the state of the wearer's muscle. In the present embodiment, the myoelectric sensor is mounted on the wearer's leg to detect myoelectric information non-invasively. The myoelectric information is specifically myoelectric potential (skin surface potential).

  The myoelectric sensor outputs the detected myoelectric potential to the storage 23 together with the detection time information. The controller 25 acquires myoelectric potential from the storage 23. And the controller 25 produces | generates an electromyogram and grasps | ascertains the state change of the muscle of a wearer's leg part. The myoelectric sensor may measure type I muscle (slow muscle). An example of a site having many type I muscles (slow muscles) is a calf. In addition, the myoelectric sensor may be a type II muscle (fast muscle). An example of a site with many type II muscles (fast muscles) is a shin. Here, in general, when a wearer exercises, the state of a type II muscle (fast muscle) using carbohydrate as a main energy source is more likely to change than a type I muscle (slow muscle). Therefore, the myoelectric sensor may be attached to the shin.

(controller)
The controller 25 estimates the wearer's fatigue level based on at least one of the wearer's movement, vital signs, and electromyogram. Here, the movement of the wearer can be detected by a motion sensor attached to the wearer. The vital sign can be detected by a vital sensor attached to the wearer. In addition, the electromyogram can be generated based on the myoelectric potential detected by the electromyographic sensor worn by the wearer. That is, the controller 25 estimates the fatigue level of the wearer based on at least one output of the motion sensor, the vital sensor, and the myoelectric sensor worn by the wearer. Here, the degree of fatigue is a numerical value of the degree of fatigue. In the present embodiment, the fatigue level increases as the wearer is tired.

  Further, the controller 25 determines whether or not to move the center of gravity of the footwear 1 based on the degree of fatigue. For example, the controller 25 generates a center-of-gravity movement instruction for moving the center of gravity when the degree of fatigue satisfies a predetermined condition. Then, the controller 25 causes the communication unit 22 to transmit an instruction to move the center of gravity to the footwear 1. Further, the controller 25 can instruct the footwear 1 to emit at least one of light, sound, and vibration according to the degree of fatigue. For example, the controller 25 can include in the center of gravity movement instruction that the notification unit 16 emits light and sound to the wearer before moving the center of gravity. In addition, for example, the controller 25 can instruct the notification unit 16 to emit light, sound, or vibration to the wearer separately from the gravity center movement instruction.

(Fatigue degree)
In the present embodiment, the controller 25 of the terminal device 2 estimates the fatigue level as described below. Further, the controller 25 generates a center of gravity movement instruction according to the estimated degree of fatigue. The center of gravity movement instruction is transmitted to the footwear 1 by the communication unit 22. The center of gravity moving mechanism 11 of the footwear 1 moves the center of gravity of the footwear 1 to the toe side or the heel side in accordance with the center of gravity moving instruction received by the communication unit 12. That is, the center of gravity of the footwear 1 moves based on the wearer's fatigue level estimated by the controller 25.

  When the wearer gets tired, the toe cannot be pulled up sufficiently, so that the toe may come into contact with the ground or the stairs and fall. The controller 25 estimates the degree of fatigue of the wearer by calculating the degree of fatigue. Then, when the controller 25 determines that the wearer is tired, the controller 25 moves the load applied to the muscle necessary for raising the toe to another muscle. For example, if the controller 25 determines that the wearer is tired, the controller 25 moves the center of gravity of the footwear 1 to the heel side. Then, a wearer's toe becomes easy to be pulled up.

  FIG. 3 is a diagram illustrating the relationship between the position of the center of gravity of the footwear 1 and the muscle output of the wearer. The horizontal axis represents the muscle output necessary to raise the toe, and the maximum muscle output of the wearer who measured the data in FIG. The greater the muscle output, the greater the load on the wearer. The appearance probability represents the distribution of muscle output when the data in FIG. 3 is measured. For example, at the time of the toe center of gravity (when the center of gravity of the footwear 1 is on the toe side), the appearance probability of walking with a muscle output of 40 or less is less than 40%. On the other hand, at the time of the heel center of gravity (when the center of gravity of the footwear 1 is on the heel side), the appearance probability of walking with a muscle output of 40 or less exceeds 90%. Further, according to FIG. 3, at the time of the center of gravity of the heel, walking with 50% of the whole (appearance probability of 0.5) has a muscle output of less than 20.

  As is apparent from FIG. 3, by moving the center of gravity of the footwear 1 to the heel side, the muscle output necessary for raising the toes can be reduced, and the load on the muscles of the wearer's legs can be reduced. When determining that the wearer is tired, the controller 25 may move the center of gravity of the footwear 1 to the heel side. Conversely, by moving the center of gravity of the footwear 1 to the toe side, the muscle output required to raise the toe can be increased, and the load on the wearer can be increased. When it is determined that the wearer has recovered (not tired), the controller 25 may move the center of gravity of the footwear 1 to the toe side and train the wearer's muscular strength with an appropriate load. Here, the muscle output necessary for walking includes the muscle output necessary for raising the toes. In addition, the muscles of the wearer's legs include muscles necessary for raising the toes.

(First estimation method of fatigue)
The controller 25 can estimate the fatigue level based on the movement of the wearer. The motion of the wearer is detected by a motion sensor of the sensors 24. The controller 25 acquires data (sensor data) output from the sensor 24.

  As a first method for estimating the degree of fatigue, the controller 25 calculates the number of steps per unit time, the time required for one step, the walking speed, the stride, the amount of foot lift, and the walking variation from the acquired sensor data. Here, the sensor data used for calculating the number of steps per unit time may be instantaneous values. Further, statistical values (eg, average value, median value, etc.) at a predetermined time may be used in order to increase the accuracy of estimation.

  The controller 25 calculates the number of steps per unit time (for example, 1 minute) based on, for example, the acceleration data and the measurement time of the acceleration data. The controller 25 may calculate the time required for one step from the reciprocal of the number of steps per unit time. Further, the controller 25 may perform a fast Fourier transform (FFT) on the acceleration data, extract a specific frequency, and calculate a time required for one step.

  The controller 25 can obtain the position information and locus of the terminal device 2 based on, for example, a GPS signal. And the controller 25 can calculate a walking speed and a stride from the positional information and locus | trajectory (namely, a wearer's positional information and locus | trajectory) of the terminal device 2. FIG.

  The controller 25 can estimate the amount of foot lift based on the calculated walking speed, the stride, and the wearer data acquired from the storage 23. The amount of foot lift is the maximum value of the distance from the ground of the foot raised during walking. From the height, weight, sex, age, etc. of the wearer, the range of the amount of foot lift according to the stride is statistically determined. Then, the controller 25 can estimate the amount of foot lift based on the walking speed.

  Further, the controller 25 can calculate the walking variation based on, for example, acceleration data. Walking variation indicates a change in rhythm when the wearer walks. For example, the controller 25 calculates a difference in walking by calculating a difference from the immediately preceding value for each step with respect to the total acceleration value in the x-axis direction, the y-axis direction, and the z-axis direction. For example, the controller 25 may calculate the walking variation by calculating a difference from the immediately preceding value for each step in the up-down direction (z-axis direction) of the toes. Further, the controller 25 may calculate the walking variation from the time variation of the frequency extracted by the FFT. The controller 25 may calculate a standard deviation or a variation coefficient of the calculated value as the walking variation.

  Here, the controller 25 can estimate the place where the wearer is walking, for example, from the data of the atmospheric pressure sensor and the illuminance sensor. For example, the controller 25 may estimate that the wearer is outdoors when the illuminance is brighter than a predetermined brightness (for example, 10,000 lux). The illuminance sensor may include an ultraviolet sensor. When the value of the ultraviolet sensor is larger than a predetermined value, it may be estimated that the wearer is outdoors. In addition, for example, the controller 25 may estimate whether the wearer is walking on a flat ground, climbing stairs, or climbing from a change in atmospheric pressure. The controller 25 may adjust the calculated value of the data related to walking according to the estimated place where the wearer is walking.

  The controller 25 can estimate the fatigue level based on the number of steps per unit time. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of decrease or rate of decrease from the reference value of the number of steps per unit time increases. As an example, the controller 25 sets the degree of fatigue when the number of steps per minute is equal to or greater than a reference value to zero. Then, the controller 25 may increase the fatigue level by one point every time the number of steps per minute decreases by 0.1 steps from the reference value. For example, the controller 25 may increase the degree of fatigue by one point every time the number of steps per minute decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the number of steps per minute increases by 0.1 (or 1%). Here, the reference value may be determined using data regarding the walking of the wearer (when the wearable terminal is first worn). As another example, the reference value may be determined using statistical values (for example, an average value, a median value, etc.) of data regarding a plurality of walkings when the wearer is not tired.

  The controller 25 can estimate the fatigue level based on the time required for one step. For example, the controller 25 may calculate such that the degree of fatigue increases as the amount of increase or the rate of increase from the reference value of the time required for one step increases. As an example, the controller 25 sets the degree of fatigue when the time required for one step is equal to or less than a reference value to zero. The controller 25 may increase the degree of fatigue by one point every time the time required for one step increases by 0.1 seconds. For example, the controller 25 may increase the fatigue level by one point every time the time required for one step increases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by one point every time the time required for one step decreases by 0.1 second (or 1%).

  The controller 25 can estimate the fatigue level based on the walking speed. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in walking speed increases. As an example, the controller 25 sets the fatigue level when the walking speed is equal to or higher than the reference value to 0. The controller 25 may increase the degree of fatigue by one point each time the walking speed decreases by 0.1 [m / sec]. For example, the controller 25 may increase the degree of fatigue by one point every time the walking speed decreases by 1% from the reference value. Moreover, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the walking speed increases by 0.1 [m / sec] (or 1%).

  The controller 25 can estimate the fatigue level based on the stride. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in the stride increases. As an example, the controller 25 sets the degree of fatigue when the stride is equal to or greater than the reference value to 0. Then, the controller 25 may increase the fatigue level by one point each time the stride decreases by 1 [cm]. For example, the controller 25 may increase the degree of fatigue by one point every time the stride decreases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the stride increases by 1 [cm] (or 1%).

  The controller 25 can estimate the degree of fatigue based on the amount of foot lift. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in the foot lift amount increases. As an example, the controller 25 sets the degree of fatigue when the foot lift amount is equal to or greater than a reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the foot lift amount is less than the reference value and decreases by 0.1 [cm]. For example, the controller 25 may increase the degree of fatigue by one point every time the amount of raising the foot decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the amount of raising the foot increases by 0.1 [cm] (or 1%).

  The controller 25 can estimate the degree of fatigue based on walking variation. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase in walking variation increases. As an example, the controller 25 sets the fatigue level when the walking variation is equal to or less than the reference value to 0. Then, the controller 25 may increase the fatigue level by one point every time the walking variation increases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by one point every time the walking variation decreases by 1%.

  The controller 25 generates a center-of-gravity movement instruction for moving the center of gravity to the heel side when the fatigue level estimated based on the wearer's movement satisfies the first condition. In the present embodiment, the first condition is that it is larger than the first threshold value. Moreover, the controller 25 produces | generates the gravity center movement instruction | command which moves a gravity center to a toe side, when the fatigue degree estimated based on the wearer's movement satisfy | fills 2nd conditions. In the present embodiment, the second condition is that it is smaller than the second threshold. Here, the first threshold value is a threshold value used for determination that the wearer is tired and has a risk of falling. The second threshold value is a threshold value used for determination that the wearer is not tired and that the risk of falling is small. The second threshold value may be a threshold value used for determination that the wearer has recovered from fatigue and the risk of falling is small. The second threshold is set to be equal to or lower than the first threshold. For example, the first threshold value may be set to 20 points. For example, the second threshold value may be set to 5 points.

(Second estimation method of fatigue)
The controller 25 can estimate the degree of fatigue based on the wearer's vital signs. The vital sign of the wearer is detected by the vital sensor of the sensors 24. The controller 25 acquires data (sensor data) output from the sensor 24.

  As a second estimation method of the fatigue level, the controller 25 selects at least one of a pulse, a pulse wave, a blood pressure, a blood flow, a body temperature, a respiratory rate, a lactate value, and a blood glucose level among vital signs obtained from the acquired sensor data. Fatigue degree is estimated based on Here, the vital sign used for estimating the fatigue level may be an instantaneous value, but may be a statistical value (for example, an average value, a median value, etc.) at a predetermined time in order to increase the accuracy of the estimation. .

  A pulse is a heartbeat that occurs periodically as the heart beats. The pulse wave illustrates the change in the pulsation (pulse) of blood vessels accompanying the ejection of blood from the heart. Blood pressure is the pressure in the blood vessel. FIG. 4 is a diagram illustrating pulse waves. In FIG. 4, the horizontal axis represents time, and the vertical axis represents the output value (voltage value) of the PD. As shown in FIG. 4, for example, the pulse can be obtained from the peak interval of the pulse wave. A change in the state of the wearer can be estimated from the number of times the heart beats within a predetermined time (for example, one minute) (so-called pulse rate or heart rate). Alternatively, a predetermined blood pressure (for example, systolic blood pressure and diastolic blood pressure) may be estimated from the maximum value and minimum value of the pulse wave and the amplitude value (pulse pressure) of the pulse wave.

  The blood flow rate is the amount of blood flowing through the blood vessel within a predetermined time (for example, 1 minute). The body temperature and the respiratory rate are the body temperature and the number of breaths within a predetermined time (for example, 1 minute), respectively. In the present embodiment, the lactic acid value is the blood lactic acid value. That is, the lactic acid value is the concentration of lactic acid in the blood. The blood sugar level is the concentration of glucose (glucose) in the blood.

  The controller 25 can estimate the fatigue level based on the pulse. Heart rate increases as exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of increase or rate of increase from the reference value of the pulse increases. As an example, the controller 25 sets the degree of fatigue when the pulse is equal to or less than the reference value to 0. Then, the controller 25 may increase the fatigue level by one point each time the pulse increases by 1 [times / min]. For example, the controller 25 may increase the degree of fatigue by one point every time the pulse increases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the pulse decreases by 1 [times / min] (or 1%). Here, the reference value may be set by the method described in the first estimation method of the fatigue level, for example, based on data when the wearer first wears the wearable terminal.

  The controller 25 can estimate the fatigue level based on the pulse wave. For example, the controller 25 may calculate the acceleration pulse wave by differentiating the obtained pulse wave twice. A low frequency component (for example, a component of less than 0.15 Hz) included in the acceleration pulse wave reflects the sympathetic nerve function. Moreover, the high frequency component (for example, component of 0.15 Hz or more) included in the acceleration pulse wave reflects the parasympathetic nerve function. The controller 25 may obtain a ratio (LF / HF) obtained by dividing the low-frequency component by the high-frequency component and associate it with the fatigue level. For example, when the ratio (LF / HF) is greater than 2, it is determined that the tire is in a fatigued state. As an example, the controller 25 sets the degree of fatigue when the ratio (LF / HF) is 2 or less to 0. Then, when the ratio (LF / HF) is greater than 2, the controller 25 may increase the degree of fatigue by 1 point for every 0.1 increase. Further, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point every time the ratio (LF / HF) decreases by 0.1.

  The controller 25 can estimate the fatigue level based on the blood pressure. As exercise intensity increases, blood pressure increases with increasing heart rate, myocardial contractility, and vascular resistance. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of increase or rate of increase from the reference value of blood pressure increases. As an example, the controller 25 sets the degree of fatigue when the blood pressure is equal to or less than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by one point every time the blood pressure increases by 5 [mmHg]. For example, the controller 25 may increase the degree of fatigue by one point every time the blood pressure increases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the blood pressure decreases by 5 [mmHg] (or 1%). Here, the controller 25 may use, for example, systolic blood pressure in the above determination. As another example, the controller 25 may use diastolic blood pressure in the above determination.

  The controller 25 can estimate the fatigue level based on the blood flow rate. As exercise intensity increases, blood flow increases as the heart rate increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase of the blood flow from the reference value increases. As an example, the controller 25 sets the degree of fatigue when the blood flow is equal to or less than a reference value to zero. Then, the controller 25 may increase the degree of fatigue by one point every time the blood flow rate increases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by one point every time the blood flow rate decreases by 1%.

  The controller 25 can estimate the fatigue level based on the body temperature. Body temperature rises as exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of increase or the rate of increase from the reference value of body temperature increases. As an example, the controller 25 sets the degree of fatigue when the body temperature is equal to or lower than the reference value to 0. The controller 25 may increase the degree of fatigue by one point every time the body temperature rises by 0.1 [° C.]. For example, the controller 25 may increase the degree of fatigue by one point every time the body temperature increases by 0.3% from the reference value. Further, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the body temperature decreases by 0.1 [° C.] (or 0.3%).

  The controller 25 can estimate the fatigue level based on the respiratory rate. As exercise intensity increases, breathing rate increases. For example, the controller 25 may calculate the degree of fatigue so as to increase as the amount of increase or rate of increase from the reference value of the respiration rate increases. As an example, the controller 25 sets the degree of fatigue when the respiration rate is equal to or less than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by one point each time the respiratory rate increases by 1 [times / min]. For example, the controller 25 may increase the degree of fatigue by one point every time the respiratory rate increases by 5% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the respiratory rate decreases by 1 [times / min] (or 5%).

  The controller 25 can estimate the fatigue level based on the lactic acid value. FIG. 5 is a diagram illustrating the relationship between exercise intensity and blood lactic acid concentration (lactic acid level). In the example of FIG. 5, the horizontal axis indicates the magnitude of exercise intensity. In the example of FIG. 5, the vertical axis represents blood lactic acid concentration (lactic acid value). When the exercise intensity increases beyond the lactic acid threshold LT, the lactic acid value increases. As an example, the controller 25 sets the fatigue level to 0 when the lactic acid value is equal to or less than a reference value corresponding to the lactic acid threshold LT (about 1.7 [mmol / liter] in the example of FIG. 5). Then, the controller 25 may increase the fatigue level by one point each time the lactic acid value increases by 0.1 [mmol / liter]. For example, the controller 25 may increase the degree of fatigue by one point every time the lactic acid value increases by 10% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by 1 point each time the lactic acid value decreases by 0.1 [mmol / liter] (or 10%).

  The controller 25 can estimate the fatigue level based on the blood sugar level. When the wearer exercises, blood glucose is taken into the muscles, so the blood glucose level decreases. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of decrease in blood glucose level from the reference value increases. As an example, the controller 25 sets the degree of fatigue when the blood glucose level is equal to or higher than the reference value to 0. Then, the controller 25 may increase the fatigue level by one point every time the blood glucose level decreases by 1% from the reference value. In addition, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by one point every time the blood glucose level increases by 1%.

  Similarly to the first estimation method of the fatigue level, the controller 25 moves the center of gravity to the heel side when the fatigue level estimated based on the vital sign of the wearer is larger than the first threshold. Generate a move instruction. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the controller 25 is smaller than the second threshold.

(Third estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the wearer's electromyogram. The controller 25 generates an electromyogram from the myoelectric potential detected by the myoelectric sensor, and grasps the state change of the muscles of the wearer's legs.

An electromyogram shows a change in action potential (myoelectric potential) generated from a muscle fiber. When the wearer is fatigued, the time interval of periodic changes in myoelectric potential becomes wider. That is, the average frequency when the electromyogram is subjected to frequency analysis becomes lower as the muscle becomes tired. Of the two types of muscles called fast muscles and slow muscles, the activity of fast muscles that generate high-frequency components during fatigue decreases, so the average frequency decreases.
Therefore, the controller 25 can estimate the degree of fatigue from the average frequency in the electromyogram (average of periodic changes in myoelectric potential).

  FIG. 6A is a diagram exemplifying a temporal change in the myoelectric potential detected by the myoelectric sensor. The controller 25 acquires the time change of the myoelectric potential from the storage 23. And the controller 25 calculates | requires an average frequency for every predetermined time (for example, 3 second). FIG. 6B is a diagram showing an average frequency for each predetermined time obtained by the controller 25. As an example, the controller 25 sets the degree of fatigue when the average frequency is equal to or higher than the reference value to 0. The controller 25 may increase the degree of fatigue by one point each time the average frequency decreases by 1 Hz from the reference value. For example, the controller 25 may increase the degree of fatigue by one point every time the average frequency decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may decrease the fatigue level by one point every time the average frequency increases by 1 Hz (or 1%). Here, the reference value may be set by the method described in the first estimation method of the fatigue level, for example, based on data when the wearer first wears the wearable terminal.

  Here, as another estimation method, the controller 25 may estimate the fatigue level without using the reference value. In this estimation method, the controller 25 obtains a reduction amount or a reduction rate compared to the immediately preceding average frequency for the average frequency for each predetermined time. Then, the controller 25 increases or decreases the degree of fatigue according to the obtained reduction amount or reduction rate. For example, the controller 25 sets the initial value at the start of estimation of the fatigue level to zero. For example, the controller 25 reduces the degree of fatigue when the average frequency is higher than the previous average frequency. However, the fatigue level is 0 as the lower limit. Then, the controller 25 increases the degree of fatigue according to the reduction amount or the reduction rate when the average frequency decreases from the immediately preceding average frequency.

  Similarly to the first and second estimation methods of the fatigue level, the controller 25 moves the center of gravity to the heel side when the fatigue level estimated based on the wearer's electromyogram is larger than the first threshold value. A first center of gravity movement instruction is generated. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the controller 25 is smaller than the second threshold.

(Adjustment of reference value and threshold)
In the present embodiment, the controller 25 estimates the degree of fatigue during exercise of the wearer using at least one of the first to third methods for estimating the degree of fatigue. As described above, the controller 25 uses the reference value when estimating the degree of fatigue. Further, the controller 25 uses the first threshold value and the second threshold value in the determination of the generation of the gravity center movement instruction. As will be described below, the footwear 1 according to the present embodiment can adjust at least one of a reference value, a first threshold value, and a second threshold value.

  FIG. 7 is a diagram illustrating the daily change in the degree of fatigue. In the example of FIG. 7, the horizontal axis indicates the number of days. The vertical axis indicates the magnitude of a value based on sensor data (in this embodiment, the degree of fatigue per day). The controller 25 obtains statistical data related to the fatigue level as shown in FIG. 7 by calculation, and determines whether the reference value, the first threshold value, and the second threshold value are appropriate.

  The controller 25 obtains a statistical value of the degree of fatigue on a daily basis. In the example of FIG. 7, the controller 25 calculates a value d1 based on the first sensor data by averaging the values greater than the first threshold value among the daily fatigue levels. Further, the controller 25 calculates a value d2 based on the second sensor data by averaging values smaller than the second threshold value among the daily fatigue levels. Here, the controller 25 calculates the value d2 based on the second sensor data only for one day when the value d1 based on the first sensor data exists. Then, the controller 25 calculates the value d3 based on the third sensor data by averaging all the fatigue levels for one day for the day when the value d1 based on the first sensor data does not exist.

  For example, the controller 25 acquires sensor data for one day at the timing when the date changes, and updates the data of the daily change in fatigue level as shown in FIG. Here, the start of the day may not be based on 0:00. For example, sensor data from 10 pm on the previous day to 10 pm today may be used with 10 pm as a reference.

  The controller 25 can easily grasp the following state of the wearer from the daily change in the fatigue level as shown in FIG. In the example of FIG. 7, on the third day, the fourth day, the sixth day, and the eighth day, there is a value d1 based on the first sensor data that is larger than the first threshold value. The controller 25 can recognize that the wearer is tired to such an extent that it becomes difficult to raise the toes. On the third and eighth days, there is a value d2 based on the second sensor data that is smaller than the second threshold. On the third and eighth days, the controller 25 can grasp that the fatigue, which has become difficult to raise the toes, has subsequently recovered.

  When the controller 25 finishes acquiring sensor data for one month (for example, when the month changes), the controller 25 determines whether or not the number of days on which the value d1 based on the first sensor data exists is greater than the third threshold. The third threshold value is a threshold value that determines whether at least one of the reference value, the first threshold value, and the second threshold value needs to be corrected. In the present embodiment, the third threshold value is set to the number of days half a month (for example, 15 days). When the number of days in which the value d1 based on the first sensor data is present is larger than the third threshold value, that is, when the number of days frequently exceeds the first threshold value, the controller 25 determines the reference value, the first threshold value, and the second threshold value. It is determined that the threshold is not appropriate. Then, the controller 25 rewrites at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23. For example, if the controller 25 determines that the first threshold value and the second threshold value are too low, these values may be set to larger values. For example, the controller 25 may update or adjust the reference value.

  In the present embodiment, the third determination is executed every month. Here, the third determination may be performed every predetermined number of days instead of one month. For example, the predetermined number of days may be 20 days. The third threshold value may change according to a predetermined number of days. For example, when the predetermined number of days is 20, the third threshold may be 10 days, for example.

(Center of gravity movement mechanism)
FIG. 8 is a perspective view illustrating a configuration example of the center-of-gravity moving mechanism 11 of the footwear 1 according to the present embodiment. The center-of-gravity moving mechanism 11 of the footwear 1 according to the present embodiment is provided at the shoe sole portion.

  The center-of-gravity moving mechanism 11 includes a tube pump 110, a toe side liquid bag 111A, and a heel side liquid bag 111B. The tube pump 110 includes a tube connected to the toe side liquid bag 111A and the heel side liquid bag 111B, a roller for sending out the liquid passing through the tube, and a motor for rotating the roller. In this embodiment, the liquid is water. However, the liquid is not limited to water. For example, a liquid having a specific gravity larger than that of water and having viscosity may be used. The liquid may be oil, for example.

  The center-of-gravity movement mechanism 11 of the footwear 1 receives a center-of-gravity movement instruction from the communication unit 22 of the terminal device 2 via the communication unit 12. The center-of-gravity moving mechanism 11 controls the rotation of the motor of the tube pump 110 in accordance with the center-of-gravity movement instruction. As the motor rotates, the roller rotates forward or backward while crushing the tube. When the roller crushes the tube, the liquid inside moves, so that the liquid moves between the toe side liquid bag 111A and the heel side liquid bag 111B. The center of gravity moving mechanism 11 can move the center of gravity of the footwear 1 to the toe side or the heel side. Moreover, the gravity center moving mechanism 11 stops the rotation of the motor of the tube pump 110 when the movement of the gravity center is completed. The center-of-gravity moving mechanism 11 can change the speed at which the center of gravity of the footwear 1 moves by changing the rotational speed of the motor.

(flowchart)
FIG. 9 is a flowchart illustrating a process related to the movement of the center of gravity of the footwear 1 executed by the controller 25 in the system according to the present embodiment.

  The controller 25 of the terminal device 2 worn by the wearer acquires data (sensor data) detected by the sensor 24 (step S1).

  When the value based on the sensor data exceeds the first threshold (Yes in Step S2), the controller 25 notifies the user (Step S3). In the present embodiment, the value based on the sensor data is the degree of fatigue estimated using at least one of the first to third estimation methods. In the present embodiment, the notification to the user is a notification using the notification unit 16. For example, the controller 25 performs notification to the user by sending an instruction to emit light to the notification unit 16 via the communication unit 12 and the communication unit 22. The notification to the user may be changed according to the degree of fatigue. For example, when the degree of fatigue greatly exceeds the first threshold, the volume of notification to the user may be larger than when the fatigue level is not.

  When the value based on the sensor data does not exceed the first threshold value (No in step S2), the controller 25 proceeds to the process in step S5.

  After the notification (warning) to the user, the controller 25 moves the center of gravity of the footwear 1 to the heel side (step S4). More specifically, the controller 25 generates a first center-of-gravity movement instruction for moving the center of gravity to the heel side so that a tired wearer can easily raise the toe. Then, the controller 25 sends a first gravity center movement instruction to the gravity center moving mechanism 11 via the communication unit 12 and the communication unit 22. The center-of-gravity moving mechanism 11 moves the center of gravity of the footwear 1 by moving the liquid from the toe-side liquid bag 111A to the heel-side liquid bag 111B in accordance with the first center-of-gravity movement instruction.

  When the value based on the sensor data does not exceed the first threshold value and is less than the second threshold value (Yes in step S5), the controller 25 notifies the user (step S6). Since the notification to the user in step S6 is the same as that in step S3, detailed description thereof is omitted. Here, in this embodiment, the process of step S6 and step S7 is not performed unless the value (fatigue degree) based on sensor data exceeds a 1st threshold value. That is, the controller 25 determines whether or not the wearer has recovered from fatigue by the process of step S5.

  When the value based on the sensor data does not exceed the first threshold value and is equal to or greater than the second threshold value (No in step S5), the controller 25 returns to the process in step S1.

  After the notification (warning) to the user, the controller 25 moves the center of gravity of the footwear 1 to the toe side (step S7). In the present embodiment, the controller 25 generates a second center-of-gravity movement instruction for moving the center of gravity to the toe side in order to give an appropriate load to the wearer who has recovered from fatigue. Then, the second center-of-gravity movement instruction is sent to the center-of-gravity movement mechanism 11 via the communication unit 12 and the communication unit 22. The center-of-gravity moving mechanism 11 moves the center of gravity of the footwear 1 by moving the liquid from the heel-side liquid bag 111B to the toe-side liquid bag 111A according to the second center-of-gravity movement instruction.

  When the number of times that the value based on the sensor data exceeds the first threshold exceeds the third threshold after the process of step S4 or S7, the controller 25 notifies the user (Yes in step S8). Perform (step S9). In the present embodiment, the notification to the user in step S9 is the same as in step S3, and thus detailed description thereof is omitted.

  When the number of times that the value based on the sensor data exceeds the first threshold does not exceed the third threshold (No in step S8), the controller 25 returns to the process in step S1.

  After the process of step S9, the controller 25 updates at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23 (step S10). In the present embodiment, the controller 25 determines that at least one of the set reference value and threshold value is not appropriate because the number of times that the degree of fatigue exceeds the first threshold value is greater than the third threshold value, and the value To correct.

  As described above, the footwear 1 according to the present embodiment includes the center-of-gravity moving mechanism 11 that can move the center of gravity. The center of gravity moves based on the wearer's fatigue level. Moreover, the system which concerns on this embodiment is provided with the footwear 1 and the terminal device 2 which acquires at least 1 of a wearer's movement, a vital sign, and an electromyogram. In the system according to the present embodiment, the degree of fatigue is estimated based on at least one of the wearer's movement, vital signs, and electromyogram acquired by the terminal device 2.

  In the footwear 1 and the system according to the present embodiment, the wearer's fatigue level is estimated. The greater the degree of fatigue, the easier the toes will come into contact with the ground or stairs, and the higher the risk of the wearer falling. The footwear 1 includes a center-of-gravity moving mechanism 11 that can move the center of gravity based on the wearer's fatigue level. Therefore, for example, when the degree of fatigue is large, the footwear 1 can move the center of gravity to the heel side, thereby making it easier for the wearer to pull up the toe and avoid falling. Further, for example, when the degree of fatigue is small, the footwear 1 can return the center of gravity to the toe side and give an appropriate load to the wearer. Thus, the footwear 1 and the system according to the present embodiment can adjust the load on the wearer according to the risk of falling.

  In the present embodiment, the fatigue level is estimated regardless of which sensor data of the motion sensor, vital sensor, and myoelectric sensor is used. Therefore, in the determination of the movement of the center of gravity of the footwear 1, unified handling is possible, for example, the same threshold value can be used.

[Second Embodiment]
The configurations of the footwear 1 and the system according to the second embodiment are the same as those of the first embodiment. Therefore, the description similar to that of the first embodiment is simplified or omitted as appropriate. In the present embodiment, the controller 25 moves the center of gravity of the footwear 1 without estimating the fatigue level.

  The sensor 24 of the terminal device 2 that is a wearable terminal detects at least one of a wearer's movement, vital signs, and myoelectric potential. Also in this embodiment, the sensor 24 includes a motion sensor, a vital sensor, and a myoelectric sensor. In the footwear 1 according to the present embodiment, the center of gravity moves based on the movement of the wearer. Moreover, as for the footwear 1 which concerns on this embodiment, a gravity center moves based on a wearer's vital sign. Moreover, as for the footwear 1 which concerns on this embodiment, a gravity center moves based on a wearer's electromyogram.

(Center of gravity movement based on wearer's movement)
A case where the center of gravity of the footwear 1 moves based on the movement of the wearer will be described. In the first embodiment, the movement of the wearer detected by the motion sensor is related to the state of movement of the wearer, particularly the walking state, which is closely related to the degree of fatigue. Also in this embodiment, the controller 25 moves the center of gravity of the footwear 1 according to the walking state calculated based on the wearer's movement. In addition to this, in the present embodiment, the controller 25 can move the center of gravity of the footwear 1 based not only on the state of exercise but also on the movement of the wearer, that is, widely on the body movement. Therefore, for example, the wearer can intentionally move the center of gravity of the footwear 1 by performing a specific movement.

  The controller 25 generates a center-of-gravity movement instruction for moving the center of gravity when the movement of the wearer detected by the motion sensor satisfies a predetermined condition. The predetermined condition includes a first condition and a second condition. When the movement of the wearer satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the wearer's movement satisfies the second condition, the controller 25 generates a second center-of-gravity movement instruction for moving the center of gravity to the toe side.

  For example, the first condition may be, for example, that the wearer does not walk, and quickly swings his / her arm backward in a stopped state. In addition, for example, the first condition may be that the heel portion of the footwear 1 is continuously brought into contact with the ground a plurality of times without the wearer walking. Further, for example, the first condition may be that the wearer squats without walking and makes his / her hand touch the footwear 1. When it is determined that the first condition is satisfied based on the detection value of the motion sensor, the controller 25 generates a first center-of-gravity movement instruction for moving the center of gravity to the heel side.

  For example, the second condition may be, for example, that the wearer does not walk, and quickly swings his / her arm forward in a stopped state. In addition, for example, the second condition may be that the toe portion of the footwear 1 is continuously brought into contact with the ground a plurality of times without the wearer walking. When it is determined that the second condition is satisfied based on the detection value of the motion sensor, the controller 25 generates a second center-of-gravity movement instruction that moves the center of gravity to the toe side.

  Moreover, in this embodiment, the controller 25 moves the gravity center of the footwear 1 based also on the motion state (especially walking state) calculated from the motion of the wearer detected by the motion sensor. The walking state includes at least one of the number of steps per unit time, the time required for one step, the walking speed, the step length, the amount of foot lift, and the walking variation.

  The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the wearer's walking state satisfies a predetermined condition. When the wearer's walking state satisfies the first condition, the controller 25 generates a first center-of-gravity movement instruction for moving the center of gravity to the heel side. Moreover, when the wearer's walking state satisfies the second condition, the controller 25 generates a second center-of-gravity movement instruction for moving the center of gravity to the toe side.

  Here, the controller 25 may include that the wearer's walking state is larger than the first threshold in the first condition. Moreover, the controller 25 may include that the wearer's walking state is smaller than the second threshold in the second condition. Unlike the first embodiment, the first threshold and the second threshold in the present embodiment are set according to the type of walking state used for determination.

  The controller 25 may set the first condition that the number of steps per unit time (for example, 1 minute) has decreased from the reference value by more than 5 steps. Further, the controller 25 may set the second condition that the amount of decrease from the reference value of the number of steps per unit time becomes smaller than three steps after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is a difference from the reference value of the number of steps per unit time. At this time, five steps correspond to the first threshold value. Three steps correspond to the second threshold.

  The controller 25 may set the first condition that the time required for one step has increased from the reference value by more than 1.0 seconds. Further, the controller 25 may set the second condition that the increase from the reference value of the time required for one step after the first condition is satisfied is smaller than 0.8 seconds. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the time required for one step. At this time, 1.0 second corresponds to the first threshold value. Further, 0.8 seconds corresponds to the second threshold value.

  The controller 25 may use the first condition that the walking speed has decreased from the reference value by more than 1.0 [m / sec]. The controller 25 may set the second condition that the amount of decrease from the reference value of the walking speed becomes smaller than 0.3 [m / sec] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the walking speed. At this time, 1.0 [m / sec] corresponds to the first threshold value. Further, 0.3 [m / sec] corresponds to the second threshold value.

  The controller 25 may set the first condition that the stride has decreased more than 10 [cm] from the reference value. The controller 25 may set the second condition that the amount of decrease from the reference value of the stride is smaller than 3 [cm] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the stride. At this time, 10 [cm] corresponds to the first threshold value. 3 [cm] corresponds to the second threshold value.

  The controller 25 may set the first condition that the amount of foot lift has decreased more than 2 [cm] from the reference value. The controller 25 may set the second condition that the amount of decrease from the reference value of the foot lift amount is smaller than 1 [cm] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the foot lift amount. At this time, 2 [cm] corresponds to the first threshold value. Further, 1 [cm] corresponds to the second threshold value.

  The controller 25 may set the first condition that the walking variation has increased from the reference value by more than 10%. Further, the controller 25 may set the second condition that the increase from the reference value of the walking variation is smaller than 3% after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the walking variation. At this time, 10% corresponds to the first threshold value. 3% corresponds to the second threshold value.

  Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Similarly to the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration in accordance with the movement of the wearer.

(Movement of the center of gravity based on the wearer's vital signs)
A case where the center of gravity of the footwear 1 moves based on the vital signs of the wearer will be described. In the first embodiment, the fatigue level calculated based on the vital sign is used for the determination of moving the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the vital sign for the determination of moving the center of gravity of the footwear 1 more directly.

  The controller 25 generates a centroid movement instruction for moving the centroid when the vital sign detected by the vital sensor satisfies a predetermined condition. The predetermined condition includes a first condition and a second condition. When the vital sign satisfies the first condition, the controller 25 generates a first center-of-gravity movement instruction for moving the center of gravity to the heel side. Further, when the vital sign satisfies the second condition, the controller 25 generates a second center-of-gravity movement instruction for moving the center of gravity to the toe side.

  Here, the controller 25 may set the first condition that the difference from the normal state (reference value) of the wearer's vital sign is larger than the first threshold value. Moreover, the controller 25 is good also considering that the difference from the normal state (reference value) of a wearer's vital sign is smaller than a 2nd threshold value as 2nd conditions. Unlike the first embodiment, the first threshold and the second threshold in the present embodiment are set according to the type of vital sign.

  In the present embodiment, the vital sign includes at least one of a pulse, a pulse wave, a blood pressure, a blood flow, a body temperature, a respiratory rate, a lactic acid level, and a blood glucose level.

  The controller 25 may set the first condition that the amount of increase from the reference value of the pulse is greater than 20 [times / min]. The controller 25 may set the second condition that the increase from the reference value of the pulse is smaller than 6 [times / min] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is the difference from the reference value of the pulse. At this time, 20 [times / min] corresponds to the first threshold value. Further, 6 [times / min] corresponds to the second threshold value.

  For example, the controller 25 calculates an acceleration pulse wave by second-order differentiation of the pulse wave, and obtains a ratio (LF / HF) obtained by dividing the low frequency component by the high frequency component. Then, the controller 25 may set the ratio (LF / HF) to be greater than 2 as a first condition. The controller 25 may set the ratio (LF / HF) to be smaller than 2 after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the above ratio. At this time, both the first threshold value and the second threshold value are two.

  The controller 25 may set the first condition that the amount of increase in blood pressure from the reference value is greater than 30 [mmHg]. The controller 25 may set the second condition that the increase from the reference value of the blood pressure is smaller than 10 [mmHg] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the blood pressure reference value. At this time, 30 [mmHg] corresponds to the first threshold value. Further, 10 [mmHg] corresponds to the second threshold value.

  The controller 25 may use the first condition that the rate of increase in blood flow from the reference value is greater than 10%. The controller 25 may set the second condition that the rate of increase from the reference value of the blood flow is less than 3% after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the blood flow. At this time, 10% corresponds to the first threshold value. 3% corresponds to the second threshold value.

  The controller 25 may set the first condition that the amount of increase from the reference value of the body temperature is greater than 1 [° C.]. The controller 25 may set the second condition that the amount of increase from the reference value of the body temperature becomes smaller than 0.3 [° C.] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the body temperature reference value. At this time, 1 [° C.] corresponds to the first threshold value. Further, 0.3 [° C.] corresponds to the second threshold value.

  The controller 25 may set the first condition that the amount of increase from the reference value of the respiration rate is greater than 15 [times / min]. The controller 25 may set the second condition that the increase from the reference value of the respiration rate is smaller than 5 [times / min] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the respiration rate. At this time, 15 [times / min] corresponds to the first threshold value. 5 [times / min] corresponds to the second threshold value.

  The controller 25 may set the first condition that the amount of increase from the reference value of the lactic acid value is greater than 0.5 [mmol / liter]. The controller 25 may set the second condition that the increase amount from the reference value of the lactic acid value becomes smaller than 0.2 [mmol / liter] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the lactic acid value. At this time, 0.5 [mmol / liter] corresponds to the first threshold value. Further, 0.2 [mmol / liter] corresponds to the second threshold value.

  The controller 25 may set the first condition that the rate of decrease in blood glucose level from the reference value is greater than 15%. Further, the controller 25 may set the second condition that the decrease rate of the blood sugar level from the reference value becomes smaller than 5% after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is a difference from the reference value of the blood glucose level. At this time, 15% corresponds to the first threshold value. 5% corresponds to the second threshold value.

  Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Similarly to the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration in accordance with the wearer's vital sign.

(Movement of the center of gravity based on the wearer's electromyogram)
A case where the center of gravity of the footwear 1 moves based on the electromyogram of the wearer will be described. In the first embodiment, the degree of fatigue calculated based on the electromyogram is used for the determination of moving the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the electromyogram for the determination of moving the center of gravity of the footwear 1 more directly. Here, the electromyogram includes at least one of an electromyogram of the wearer's calf and an electromyogram of the wearer's shin.

  The controller 25 generates an electromyogram based on the myoelectric potential detected by the myoelectric sensor. The controller 25 generates a center-of-gravity movement instruction for moving the center of gravity when the electromyogram satisfies a predetermined condition. The predetermined condition includes a first condition and a second condition. When the electromyogram satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. When the electromyogram satisfies the second condition, the controller 25 generates a second center-of-gravity movement instruction for moving the center of gravity to the toe side.

  Here, the controller 25 may set the first condition that the difference from the normal state (reference value) of the value based on the wearer's electromyogram is larger than the first threshold value. Moreover, the controller 25 is good also considering that the difference from the normal state (reference value) of the value based on a wearer's electromyogram is smaller than a 2nd threshold value as 2nd conditions.

  The controller 25 calculates an average frequency for each predetermined time from the wearer's electromyogram. In the present embodiment, the value based on the wearer's electromyogram is an average frequency for each predetermined time (hereinafter, simply referred to as “average frequency”). The controller 25 may set the first condition that the amount of decrease from the reference value of the average frequency is greater than 10 Hz. The controller 25 may set the second condition that the amount of decrease from the reference value of the average frequency is smaller than 3 Hz after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is a difference from the reference value of the average frequency. At this time, 10 Hz corresponds to the first threshold value. 3 Hz corresponds to the second threshold value.

  Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Similarly to the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the electromyogram of the wearer.

  As described above, the footwear 1 according to the present embodiment includes the center-of-gravity moving mechanism 11 that can move the center of gravity. Moreover, the system which concerns on this embodiment is provided with the footwear 1 and the terminal device 2 which acquires at least 1 of a wearer's movement, a vital sign, and an electromyogram. In this embodiment, the center of gravity moves based on at least one of the wearer's movement, vital signs, and electromyogram.

  Also in the present embodiment, the wearer's load can be adjusted according to the risk of falling, as in the first embodiment. In addition, the system according to the present embodiment can be used to determine the movement of the center of gravity of the footwear 1 even for values based on the wearer's movement, vital signs, and electromyograms that are not related to the degree of fatigue. For example, it is possible to move the center of gravity of the footwear 1 by a movement “swiftly swinging the arm backward in a stopped state”.

  Although the present disclosure has been described based on the drawings and embodiments, it should be noted that various changes and modifications may be easily made by those skilled in the art based on the present disclosure. Accordingly, it should be noted that these variations and modifications are within the scope of the present disclosure. For example, functions included in each means or each step can be rearranged so as not to be logically contradictory, and a plurality of means or steps can be combined into one or divided. .

(First modification)
In the systems according to the first and second embodiments described above, the terminal device 2 includes the sensor 24. And the terminal device 2 was a wearable terminal worn by the wearer. In the system including the footwear 1 according to the first modification, the footwear 1 includes the sensor 14. The terminal device 2 does not include the sensor 24.

  FIG. 10 shows a schematic configuration of the footwear 1 according to the present modification. As shown in FIG. 10, the footwear 1 includes a center-of-gravity moving mechanism 11, a communication unit 12, a storage 13, a sensor 14, and a notification unit 16. The center-of-gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 can have the same configuration as in the first and second embodiments.

  FIG. 11 shows a schematic configuration of the terminal device 2 of the system according to the present modification. As illustrated in FIG. 11, the terminal device 2 includes a communication unit 22, a storage 23, and a controller 25. In this modification, the terminal device 2 may not be a wearable terminal. In this modification, the terminal device 2 is a smartphone, for example.

  The sensor 14 of the footwear 1 corresponds to the sensor 24 in the above embodiment. That is, the sensor 14 detects at least one of the wearer's movement, vital signs, and myoelectric potential. In this modification, the sensor 14 includes a motion sensor, a vital sensor, and a myoelectric sensor. Here, the sensor 14 may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. The sensor 14 may further include another detection device (for example, an ultraviolet sensor).

  Here, when the sensor 14 includes a vital sensor, the sensor 14 may be provided in the footwear 1 so as to contact the wearer's foot when the wearer wears the footwear 1. Further, the sensor 14 may be disposed so as to contact at least one of the sole, the instep and the ankle of the wearer. For example, when the footwear 1 is a high-cut shoe, the sensor 14 may be provided at the mouth so as to contact the ankle. Further, for example, the sensor 14 may be provided on the surface of the insole of the footwear 1 so as to contact the sole.

  Further, when the sensor 14 includes a myoelectric sensor, the sensor 14 may be provided in the footwear 1 so as to contact the wearer's foot when the wearer wears the footwear 1. Further, the sensor 14 may be arranged to contact at least one location of the wearer's calf and shin. For example, when the footwear 1 is a boot, the sensor 14 may be provided in contact with the calf and the shin.

  In this modification, without wearing a wearable terminal or the like, it is possible to detect at least one of vital signs and myoelectric potential by simply wearing the footwear 1 by the wearer. Further, when the sensor 14 includes a motion sensor, it is possible to detect a fine movement of the footwear 1. Therefore, in this modification, it becomes possible to detect the movement regarding the wearer's walking more accurately.

(Second modification)
In the system according to the first modification, the footwear 1 includes the sensor 14. The terminal device 2 does not include the sensor 24. In the system including the footwear 1 according to the second modification, the footwear 1 further includes a controller 15. In the present modification, the controller 15 executes part or all of the processing that has been executed by the controller 25 of the terminal device 2 in the above-described embodiment.

  FIG. 12 shows a schematic configuration of the footwear 1 according to the present modification. As shown in FIG. 12, the footwear 1 includes a center-of-gravity movement mechanism 11, a communication unit 12, a storage 13, a sensor 14, a controller 15, and a notification unit 16. The gravity center moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 are the same as those in the first and second embodiments. The sensor 14 is the same as that in the first modification. Moreover, the structure of the terminal device 2 of this modification is the same as that of the first modification (see FIG. 11).

  The controller 15 may acquire sensor data from the sensor 14 and estimate the degree of fatigue based on at least one of the wearer's movement, vital signs, and electromyogram. The controller 15 may move the center of gravity of the footwear 1 according to the walking state calculated based on the wearer's movement. Further, the controller 15 may move the center of gravity of the footwear 1 based on the vital sign. Further, the controller 15 may move the center of gravity of the footwear 1 based on the electromyogram.

  In this modification, the processing load on the controller 25 of the terminal device 2 can be reduced by the controller 15 executing the process related to the movement of the center of gravity of the footwear 1. Further, as described above, when the controller 15 estimates the fatigue level or the walking state, it is not necessary to communicate sensor data from the sensor 14 between the footwear 1 and the terminal device 2. Therefore, the load of communication processing of the footwear 1 and the terminal device 2 can be reduced.

(Third Modification)
In the systems according to the first and second embodiments described above, the terminal device 2 is configured by a single device. In the system including the footwear 1 according to the third modification, the terminal device 2 includes a plurality of devices.

  FIG. 13 (A) and FIG. 13 (B) show a schematic configuration of the terminal device 2 of the system according to the present modification. In this modification, the terminal device 2 includes a first terminal device 2A and a second terminal device 2B. As shown in FIG. 13A, the first terminal device 2A includes a communication unit 22A, a storage 23A, and a controller 25A. As shown in FIG. 13B, the second terminal device 2B includes a communication unit 22B, a storage 23B, and a sensor 24B.

  The 2nd terminal device 2B is a wearable terminal with which a wearer is equipped, for example. The first terminal device 2A is, for example, a smartphone. The first terminal device 2A and the second terminal device 2B communicate with each other using the communication unit 22A and the communication unit 22B. At least one of the first terminal device 2A and the second terminal device 2B also communicates with the footwear 1. The first terminal device 2A and the second terminal device 2B are physically separate devices, but execute the same processing as the terminal device 2 in the above embodiment in cooperation with each other. Moreover, the structure of the footwear 1 of this modification is the same as that of 1st and 2nd embodiment, for example (refer FIG. 1).

  The sensor 24B included in the second terminal device 2B corresponds to the sensor 24 in the above embodiment. That is, the sensor 24B detects at least one of the wearer's movement, vital signs, and myoelectric potential. In this modification, the sensor 24B includes a motion sensor, a vital sensor, and a myoelectric sensor. Here, the sensor 24B may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. The sensor 24B may further include another detection device (for example, an ultraviolet sensor).

  For example, when the sensor 24B includes a myoelectric sensor, the second terminal device 2B may be a sock or a supporter-type wearable terminal. At this time, the myoelectric sensor is provided in the sock or supporter of the wearer. The sock or supporter is in direct contact with the wearer's calf and shin. Therefore, the myoelectric sensor can accurately detect the myoelectric potentials of the calf and shin.

  The second terminal device 2B temporarily stores the sensor data detected by the sensor 24B in the storage 23B. Then, the second terminal apparatus 2B transmits necessary sensor data from the communication unit 22B. The first terminal device 2A acquires sensor data from the second terminal device 2B by the communication unit 22A. The first terminal device 2A temporarily stores the acquired sensor data in the storage 23A. Then, the controller 25A of the first terminal device 2A executes processing related to the movement of the center of gravity of the footwear 1 based on the acquired sensor data.

  In the present modification, the terminal device 2 includes a first terminal device 2A and a second terminal device 2B that are physically separated. Therefore, it is possible to arrange | position the 2nd terminal device 2B provided with the sensor 24B away from the 1st terminal device 2A provided with the controller 25A which performs the process regarding the movement of the gravity center of the footwear 1. FIG. That is, in the present modification, the mounting position of the second terminal device 2B is highly flexible. Moreover, since the component of the 2nd terminal device 2B can be decreased, the weight reduction of the 2nd terminal device 2B with which a wearer is mounted | worn can be achieved.

(Other)
In addition, an electromyograph may be used instead of the myoelectric sensor in the above-described embodiment and modification. For example, the electromyograph may generate an electromyogram and output the electromyogram data to the controller 25 or the like. Moreover, the vital sensor in said embodiment and modification output the vital sign. Here, the vital sensor may output data capable of calculating vital signs to the controller 25 or the like. At this time, the controller 25 or the like may calculate a vital sign based on the output of the vital sensor. For example, the controller 25 acquires a photoelectric conversion signal of scattered light received by the light receiving unit of the vital sensor. Then, the controller 25 may calculate a vital sign based on the intensity of the scattered light. Further, when the footwear 1 includes an illuminance sensor as the sensor 14, for example, the controller 25 can accurately grasp the raising and lowering of the wearer's foot from the change in illuminance. At this time, the controller 25 can calculate the wearer's foot-lifting amount and the like more accurately.

  Many aspects of the present disclosure are presented as a series of operations performed by a computer system or other hardware capable of executing program instructions. In each embodiment, the various operations or control methods are performed by dedicated circuitry (eg, individual logic gates interconnected to perform a specific function), eg, implemented with program instructions (software). Please keep in mind. It should be noted that in each embodiment, various operations or control methods are executed by, for example, logical blocks and / or program modules executed by one or more processors. The one or more processors that execute logic blocks and / or program modules include, for example, one or more microprocessors and a CPU (Central Processing Unit). Such a processor includes, for example, an application specific integrated circuit (ASIC) and a digital signal processor (DSP). Such a processor includes, for example, a PLD (Programmable Logic Device) and an FPGA (Field Programmable Gate Array). Such processors also include controllers, microcontrollers, microprocessors, and other devices designed to perform the functions described herein. Such processors also include combinations of the above specific examples. The embodiments shown here are implemented by, for example, hardware, software, firmware, middleware, microcode, or any combination thereof. The instructions may be program code or code segments for performing the necessary tasks. The instructions can then be stored on a machine-readable non-transitory storage medium or other medium. A code segment may represent any combination of procedures, functions, subprograms, programs, routines, subroutines, modules, software packages, classes or instructions, data structures or program statements. A code segment transmits and / or receives information, data arguments, variables or stored contents with other code segments or hardware circuits, thereby connecting the code segments with other code segments or hardware circuits .

  Further, the storages 13, 23, 23A, and 23B can be further configured as a computer-readable tangible carrier (medium) configured in the categories of solid state memory, magnetic disk, and optical disk. Such a medium may store an appropriate set of computer instructions or a data structure such as a program module for causing a processor to execute the technology disclosed herein. Computer readable media include portable computer disks, RAM (Random Access Memory) and ROM (Read-Only Memory). The computer readable medium includes EPROM (Erasable Programmable Read-Only Memory). The computer readable medium includes EEPROM (Electrically Erasable Programmable Read-Only Memory). The computer readable medium also includes a rewritable and programmable ROM such as a flash memory or other tangible storage medium capable of storing information, or a combination of any of the above specific examples. The memory can be provided inside and / or outside the processor or processing unit. As used herein, the term “memory” means any kind of long-term storage, short-term storage, volatile, non-volatile or other memory. That is, the “memory” is not limited to a specific type and / or number. Further, the type of medium in which the storage is stored is not limited.

DESCRIPTION OF SYMBOLS 1 Footwear 2 Terminal device 2A 1st terminal device 2B 2nd terminal device 11 Center-of-gravity movement mechanism 12 Communication unit 13 Storage 14 Sensor 15 Controller 16 Notification unit 22, 22A, 22B Communication unit 23, 23A, 23B Storage 24, 24B Sensor 25,25A Controller 110 Tube pump 111A, 111B Liquid bag

Claims (11)

It has a center of gravity movement mechanism that can move the center of gravity,
Footwear wherein the center of gravity moves based on the wearer's electromyogram.   The footwear of claim 1, wherein the electromyogram includes at least one of an electromyogram of the wearer's calf and an electromyogram of the wearer's shin.   The footwear according to claim 1 or 2, wherein the electromyogram is based on an output of an electromyographic sensor that detects an electromyogram of the wearer.   The footwear according to claim 3, wherein the myoelectric sensor is provided on a sock or a supporter of the wearer.   The footwear according to claim 3, comprising the myoelectric sensor.   The footwear according to any one of claims 1 to 5, wherein the center of gravity moves when the electromyogram satisfies a predetermined condition.   The footwear according to claim 6, wherein the center of gravity moves to a heel side when the electromyogram satisfies a first condition.   The footwear according to claim 6 or 7, wherein the center of gravity moves to a toe side when the electromyogram satisfies a second condition. With a notification unit,
The footwear according to any one of claims 1 to 8, wherein the notification unit emits at least one of light, sound, and vibration according to the electromyogram. With a controller,
The footwear according to any one of claims 3 to 5, wherein the controller generates the electromyogram based on an output of the electromyographic sensor. Footwear that has a center of gravity movement mechanism that can move the center of gravity, and that can communicate with the terminal device;
The terminal device for obtaining information on myoelectricity of the wearer of the footwear,
The center of gravity moves based on an electromyogram generated from information on the wearer's electromyogram acquired by the terminal device.

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