JP2018513707A - 手持ち式器具を通じたヒトの振戦の測定および収集 - Google Patents
手持ち式器具を通じたヒトの振戦の測定および収集 Download PDFInfo
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Abstract
Description
同じことは、角回転についても書くことができる。
指数形式を用い、時間導関数をとることによって(式4について)以下が得られる。
および
ここで、
は正弦曲線の振幅であり、ωは角周波数である。
Bi=Ai+Lsinθj (式8)
iは、関心対象の軸(x,y,z)であり、jは運動を誘導する直交回転軸である。式1、式2および式3を用いて、Aの運動を推定する(誤差を引き起こす項を補正する)ことができる。Aおよびθの振幅は、加速度計およびジャイロスコープ信号のFFTをとり、ピークを見つけ、次に式6および式7の関係を用いてBの大きさを計算することによって推定することができる。
ピッチの場合、
ロールの場合、
ベクトルgは、入力としてジャイロスコープおよび加速度計の双方の信号を用いて相補フィルタを通じて計算される(カルマンフィルタも用いることができる)。ピッチおよびロール角を推定する代替的な方法は、第3のセンサ入力として磁力計を用いることである。上記の解析は、運動ログ225を解析して手持ち式器具100の運動を再生する1つの例にすぎないことが理解されるべきである。他の技法も実施することができる。
Claims (27)
- 手持ち式器具であって、
ハンドルと、
前記ハンドルから延びる取付アームと、
前記取付アームの遠位端に取り付けられたユーザ補助デバイスと、
前記ハンドルの運動を測定し、前記ハンドルの前記運動を示す運動データを生成するように前記ハンドルに強固に取り付けられた慣性測定ユニット(「IMU」)と、
前記手持ち式器具から前記運動データを出力する通信インターフェースとを備える、手持ち式器具。 - 前記IMUは、前記ハンドルの並進加速を測定する加速度計を備える、請求項1に記載の手持ち式器具。
- 前記IMUは、前記ハンドルの回転運動を測定するジャイロスコープを更に備える、請求項2に記載の手持ち式器具。
- 前記IMUは、磁場に対する前記ハンドルの運動を測定する磁力計を更に備える、請求項2に記載の手持ち式器具。
- 前記IMUに結合され、前記IMUから前記運動データを読み出すコントローラと、
前記コントローラに結合されたメモリユニットと、
前記コントローラによって実行可能なロジックとを更に備え、
前記ロジックは、前記コントローラによって実行されたとき、前記手持ち式器具に、ユーザが前記手持ち式器具を保持している間に生成される前記運動データに基づいて前記メモリユニット内に運動ログを生成することを含む動作を行わせる、請求項1に記載の手持ち式器具。 - 前記ロジックは、前記コントローラによって実行されたとき、前記手持ち式器具に更なる動作を実行させる更なるロジックを含み、
前記更なる動作は、
前記ユーザが前記手持ち式器具を保持し、1つ以上の活動を実行している間に生成される前記運動データに基づいて前記メモリユニット内に複数の運動ログを生成することを含む、請求項5に記載の手持ち式器具。 - 前記ユーザ補助デバイスはキッチン用品を含み、前記1つ以上の活動は食事を含む、請求項6に記載の手持ち式器具。
- 前記ロジックは、前記コントローラによって実行されたとき、前記手持ち式器具に更なる動作を実行させる更なるロジックを含み、
前記更なる動作は、
前記運動データを記録するときに前記ユーザによって実行される前記1つ以上の活動のインジケーションとして、前記運動ログを用いて前記取付アーム上に搭載された前記ユーザ補助デバイスのタイプを記録することを含む、請求項6に記載の手持ち式器具。 - 前記通信インターフェースは無線インターフェースを含み、前記ロジックは、前記コントローラによって実行されたとき、前記手持ち式器具に更なる動作を実行させる更なるロジックを含み、
前記更なる動作は、
前記通信インターフェースを用いて遠隔サーバに前記運動ログを無線通信することを含む、請求項5に記載の手持ち式器具。 - 前記ハンドル内に配置される運動生成機構と、
前記取付アーム上に配置され、前記取付アームの振戦運動を検出する第1の運動センサと、
前記ハンドル内に配置され、前記ハンドルに対する前記取付アームの相対運動を検出する第2の運動センサとを更に備え、
前記取付アームは、前記振戦運動を安定化させるために前記第1の運動センサおよび前記第2の運動センサからのフィードバックを用いて前記運動生成機構の影響下で前記ハンドルに対し動く、請求項5に記載の手持ち式器具。 - 前記ロジックは、前記コントローラによって実行されたとき、前記手持ち式器具に更なる動作を実行させる更なるロジックを含み、
前記更なる動作は、
前記振戦運動を安定化させながら、前記取付アーム上の前記運動生成機構によって与えられる補正量を示す前記運動ログ内に追加データを記録することを含む、請求項10に記載の手持ち式器具。 - 前記ユーザ補助デバイスは、製造器具、手術器具、キッチン用品、スポーツ器具、ガーデニング工具、身だしなみ用品及び歯科衛生器具のうちのいずれかを含む、請求項1に記載の手持ち式器具。
- 手持ち式器具によって実行される方法であって、
前記手持ち式器具を用いて作業を実行する間にユーザによって操作される手持ち式器具の運動を測定することであって、前記運動は、前記手持ち式器具のハンドル内に配置される慣性測定ユニット(「IMU」)を用いて測定されることと、
前記手持ち式器具に搭載されて配置されたメモリユニット内に記憶された運動ログに前記運動の運動データを記録することであって、前記運動データは、前記ユーザが前記手持ち式器具を用いて前記作業を実行する間に生じた振戦の深刻度を判断するための情報を含む、記録することと、
前記運動ログを解析のために遠隔サーバに通信することと、
を含む、方法。 - 前記IMUは、前記手持ち式器具の並進運動および回転運動の双方を測定するセンサを備える、請求項13に記載の方法。
- 前記IMUは、前記手持ち式器具の前記ハンドルに強固に据えつけられた加速度計、ジャイロスコープ及び磁力計のうちの1つ以上を備える、請求項14に記載の方法。
- 前記手持ち式器具はキッチン用品を含み、前記作業は前記キッチン用品を用いた食事を含む、請求項13に記載の方法。
- 前記手持ち式器具は、異なるユーザ補助デバイスを前記取付アームの遠位端に取り外し可能に取り付けるための取付アームを備え、
前記方法は、
前記作業を行っている間に、前記取付アームの前記遠位端に結合された前記ユーザ補助デバイスのタイプを前記運動ログと共に記録することと、
前記ユーザ補助デバイスの前記タイプを前記運動ログと共に前記遠隔サーバに通信することとを更に含む、請求項13に記載の方法。 - 前記ユーザ補助デバイスの前記タイプは、フォーク、ナイフまたはスプーンのうちの少なくとも1つのインジケーションを含む、請求項17に記載の方法。
- 前記運動ログを解析のために前記遠隔サーバに通信することは、
携帯電話への無線リンクを確立することと、
前記無線リンクを介して前記携帯電話から受信したユーザコマンドに応答して、前記無線リンクを通じて前記サーバに前記運動ログをアップロードすることとを含む、請求項13に記載の方法。 - 前記運動ログを解析のために前記遠隔サーバに通信することは、
前記手持ち式器具が、前記手持ち式器具の内部バッテリを充電する充電ドックに結合されると、前記運動ログを前記遠隔サーバに通信することを含む、請求項13に記載の方法。 - 前記手持ち式器具は、前記ユーザが前記ハンドルを保持している間の振戦運動を安定化する運動生成機構を含む、請求項13に記載の方法。
- 前記振戦運動を安定化している間に前記運動生成機構によって与えられる補正量を示すデータを前記運動ログに記録することを更に含む、請求項21に記載の方法。
- ネットワークを通じて手持ち式器具から、前記手持ち式器具を用いて作業を行っている間に患者によって操作される手持ち式器具の運動を示す運動データを含む運動ログを受信することと、
前記運動ログ内の前記運動データを解析することと、
前記運動データに基づいて、前記ユーザが前記手持ち式器具を用いて前記作業を行う間に発生した振戦の深刻度を判断することと、
を含む、方法。 - 前記ネットワークを介して、前記患者を治療する医師に前記振戦の前記深刻度のインジケーションを通信することを更に含む、請求項23に記載の方法。
- 前記解析することは、前記運動データを、ヒトの振戦を段階評価するための臨床尺度に相関付けることを含み、前記インジケーションは前記臨床尺度におけるスコアを含む、請求項24に記載の方法。
- 前記運動ログ内の前記運動データは、自宅の前記手持ち式器具を用いて前記患者によって生成される、請求項23に記載の方法。
- 前記手持ち式器具はキッチン用品を含み、前記作業は食事を含む、請求項23に記載の方法。
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