JP2019154489A - Athletic ability evaluation system - Google Patents

Abstract

To provide a system for effectively evaluating athletic ability in a daily life body motion of a subject for care and preventive care.SOLUTION: An athletic ability evaluation system includes: a body motion measuring unit 20 for measuring a position and an angle of a body part in a daily life body motion of a subject; an athletic ability calculation unit 30 for calculating athletic ability of a body part of the subject in a time series manner on the basis of a result of the measurement of the position and the angle of the body part of the subject; a specific value calculation unit 40 for calculating a specific value of the athletic ability of at least three body parts of an upper half of the body, a left side lower part, and a right side lower part on the basis of the athletic ability of the body parts of the subject calculated in a time series manner; and an evaluation result output unit 50 for evaluating the specific value of the athletic ability of the at least three body parts as the athletic ability in the daily life body motion of the subject, and outputting the evaluation result for the upper half of the body, the left side lower part, and the right side lower part respectively.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an athletic ability evaluation system that evaluates athletic ability of a subject during physical movements in daily life for nursing care or prevention of nursing care.

  In recent years, aging is progressing mainly in developed countries such as Japan, and it has become important not only to extend the average life span, but also to extend the healthy life span of how to achieve a healthy life span. Recently, Locomotive Syndrome (Motor Organ Syndrome, commonly known as Locomo) has been gaining attention.

  This locomotive syndrome refers to a state in which the function of `` standing '' and `` walking '' has deteriorated due to the musculoskeletal disorder caused by long-term use of musculoskelets such as bones, joints, muscles, or nerves, Progressing will cause problems in daily life. In particular, there are an increasing number of people who are in a state of requiring nursing care or in a state in which the risk of requiring nursing care is high due to musculoskeletal disorders requiring frequent hospitalization after age 50.

  Therefore, conventionally, body composition parameters such as body weight, muscle mass, and body fat mass of a subject are measured using a body measurement device such as DEXA, and these parameters are analyzed. However, body measurement devices such as DEXA can only measure body composition parameters such as the body weight, muscle mass, and body fat mass of the subject, and can fully suggest whether or not the musculoskeletal disorder will occur. There wasn't.

  On the other hand, when many people become older, the muscles of many people become thinner and their muscle strength declines, and sarcopenia is also attracting attention as a disease in which muscles decrease with age. This sarcopenia was proposed by Rosenberg in 1989 as a term meaning “muscle loss due to aging” and originally defined as a decrease in skeletal muscle mass. became. This sarcopenia has been increasing year by year, and this is expected to lead to an increase in the number of care recipients, which will lead to a decrease in individual living standards and an increase in the burden of medical care costs for society.

  Thus, conventionally, an apparatus for measuring the muscle strength of a subject is known (see, for example, Patent Documents 1 and 2). According to this, by measuring the muscular strength of the subject over time, it is possible to suggest more specifically that the musculoskeletal disorder occurs in combination with the measurement results of the parameters by the body measuring device described above. In particular, Patent Document 1 discloses a device for measuring muscle strength of the lower limbs. However, measuring the muscle strength of the lower body, particularly the lower limbs, rather than the upper body for an elderly person in this way may cause musculoskeletal disorders. It is very effective to suggest.

  Also, a physical strength estimation device that evaluates walking, standing on one foot, and the like related to daily life and estimating exercise ability has been disclosed (for example, see Patent Documents 3, 4, and 5). In particular, Patent Document 5 can measure a plurality of specific values such as a stride, a step, and a toe angle for each of the right leg and the left leg during walking.

  In addition, devices that attempt to estimate muscle strength in daily life using a virtual human body model are disclosed (Patent Documents 6 and 7). According to these, it is possible to output, as time series data, an estimated value of how much strength the subject has exerted in the daily activities of the subject. In particular, Patent Documents 6 and 7 estimate muscle strength in walking.

JP 2015-33517 A JP 2013-169448 A JP 2007-117692 A JP 2009-101108 A JP 2017-6305 A JP 2010-29340 A JP 2013-68779 A

  However, the devices according to Patent Literatures 1 and 2 estimate the athletic ability by measuring the muscular strength in the task (for example, stand up with full power) performed by the subject with the maximum effort, and the body movement in daily life (for example, , Stand up with natural power), and evaluate the motor ability in the body movement when performing with excessive force. Therefore, the measured muscular strength is different from the muscular strength when performing physical movements in daily life, and does not evaluate the motor ability during daily physical movements that is important for the subject.

  In addition, the devices according to Patent Documents 3 to 5 output specific values such as stride, step, toe angle, etc., but are not specific values related to the state of muscle strength or exerted force such as joint torque. Therefore, it is difficult to intuitively grasp the state of muscular strength of the elderly. In order to grasp the degree of exercise ability of the elderly, information related to muscle strength is indispensable.

  In addition, the devices according to Patent Documents 6 and 7 estimate a plurality of muscle strengths in the whole body, but the output of time-series data is stopped, and the clinical staff instantaneously determines the exercise ability of the elderly. It is difficult. In order to determine the athletic ability of the elderly, it is necessary to perform analysis processing on time-series data, calculate a specific value that can clearly represent the difference in athletic ability, and output it.

  In addition, standing up and walking are important operations for determining whether an elderly person can perform an independent daily life. In order to perform the standing-up motion, while supporting the upper body, muscle strength of the trunk that adjusts the position of the center of gravity to balance the muscles and muscle strength of the thighs and hips that extend the legs are important. In walking motion, the balance between the muscle strength of the upper body necessary for balance adjustment, the muscle strength of the lower body that supports the body by moving the foot, and the muscle strength of the left and right legs is very important. Although there is a level of muscle strength required for each movement, attention is paid to specific values associated with the state of muscle strength such as joint torque generated by the trunk and the joints of each limb that are moved by the muscle and the state of the exerted force. It is possible to observe how daily life works. For these reasons, specific values that can clearly grasp the muscle strength status of the upper body, the lower left body, and the lower right body are considered to be very important. Information is not taken into account.

  The present invention has been made in view of the above-mentioned problems, and provides a system that can effectively evaluate the exercise ability of a subject during physical movements in daily life for nursing care or prevention of nursing care. With the goal.

  In order to achieve the above object, the present invention provides an exercise ability evaluation system for evaluating exercise ability of a subject during physical movement in daily life, wherein the position of the body part and / or during physical exercise of the subject in daily life A body motion measurement unit that measures an angle, and a motor ability calculation that calculates the motion ability of the body part of the subject in time series based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit And at least three body parts of the upper body, left lower body, and right lower body based on the motor ability of the body part of the subject calculated in time series by the motor ability calculating unit. A specific value calculation unit to be calculated, and specific values of athletic ability of at least three body parts calculated by the specific value calculation unit during physical movement of the subject in daily life Ratings for kicking exercise capacity, to the upper body, the left lower body, characterized in that it comprises an evaluation result output unit for outputting divided into right lower body. This motor ability includes joint torque of body part, joint force, joint angle, joint angular velocity, joint angular acceleration, joint movement distance, joint position, joint movement speed, joint movement acceleration, barycentric position, barycentric movement speed, barycentric movement acceleration, It is the ability to assume the position and orientation of the head, the moving speed of the head, and the moving acceleration of the head. The specific value is a value based on the maximum value, the minimum value, the average value, the median value, the integral value, the differential value, the sum, and the standard deviation of the exercise ability of the body part.

  According to this, athletic ability at the time of physical movement of a subject's daily life can be evaluated. In addition, the exercise ability of the subject is output separately for the upper body, the lower left body, and the lower right body.For example, subjects with large differences in body movements, subjects with large differences in muscle weakness between the upper and lower bodies, etc. It is possible to evaluate athletic ability taking into account.

  Further, a physical information input unit for inputting the physical information of the subject is provided, and the athletic ability calculation unit calculates the athletic ability of the body part using the physical information of the subject input to the physical information input unit. Also good. This physical information includes the age, sex, weight, height, human body dimensions, and past history of the subject. Moreover, the mass of the body part of the subject, the mass center value, and the moment of inertia may be included. According to this, the exercise ability of the body part at the time of body movement of the subject's daily life can be accurately evaluated.

  Further, the body motion measuring unit uses a motion capture device or the like to determine the position and / or angle of the body part during at least one body motion among the standing motion, walking motion, single leg standing motion, and squat motion. It is better to measure. According to this, the exercise ability of the body part at the time of body movement of the subject's daily life can be accurately evaluated.

  The specific value calculating unit may normalize the specific value of the body part by the mass, volume, area, density, length, diameter, or product of the subject or the body part. According to this, the motor ability of the body part in consideration of the physique of the subject can be evaluated.

  Further, the motor ability evaluation system according to the present invention is an exercise ability evaluation system that evaluates the exercise ability of a subject during physical movement in daily life, and the position of the body part and / or during the physical action of the subject in daily life. A body motion measurement unit that measures an angle, and a motor ability calculation that calculates the motion ability of the body part of the subject in time series based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit And at least three body parts of the upper body, left lower body, and right lower body based on the motor ability of the body part of the subject calculated in time series by the motor ability calculating unit. After calculation, a specific value calculation unit that calculates a predetermined index value based on the specific value, and at least three body parts calculated by the specific value calculation unit An evaluation result output unit that evaluates an index value related to a specific value of athletic ability as athletic ability at the time of physical movement of a subject's daily life and outputs the upper half, the left lower half, and the right lower half is output. It may be a feature. According to this, it is possible to evaluate the exercise ability of the body part of the subject with higher accuracy.

  This index value is a value based on the premise that calculation is performed by combining specific values of a single part or a plurality of parts. Moreover, as a calculation method of this index value, the following three formulas are mentioned, for example. In addition, you may change the joint site | part and the number of joints which are used by each type | formula shown below according to operation | movement of evaluation object, and evaluation content. Also, regarding whether to take the difference between the specific value of the left half of the body from the specific value of the left half or the specific value of the left half of the body from the specific value of the right half or whether to take the upper body or the lower half as the numerator or denominator, You may change according to the operation | movement of evaluation object, or evaluation content.

n: Joint number N: ^Total number of joints ω ^Total _n : Weight coefficient for each specific value
_Xn : specific value

n, m: number of joints M: total number of joints used for calculation of p ₂ ω ^Valance _{n, m} : weighting factor for absolute value of difference between specific values of left and right half
X ^{right (or left) half body} _n : specific value of right (or left) half body
X ^{Left (or right) half body} _m : Specific value of left (or right) half body

l, u: joint number L ^{upper body (or lower body):} total number of joints U ^{lower body} upper body used for calculation of p ₃ (or lower body) ^{(or upper body):} total number of joints of the lower body to be used for calculation of p ₃ (or upper body) ω ^Rate _l : Weight coefficient for specific value of upper body (or lower body) ω ^Rate _u : Weight coefficient for specific value of lower body (or upper body)
X ^{Upper body (or lower body)} _l : Specific value of upper body (or lower body)
X ^{Lower body (or upper body)} _u : Specific value of lower body (or upper body)

  Further, the motor ability evaluation system according to the present invention is an exercise ability evaluation system that evaluates the exercise ability of a subject during physical movement in daily life, and the position of the body part and / or during the physical action of the subject in daily life. A body motion measurement unit that measures an angle, and a motor ability calculation that calculates the motion ability of the body part of the subject in time series based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit And at least three body parts of the upper body, left lower body, and right lower body based on the motor ability of the body part of the subject calculated in time series by the motor ability calculating unit. After the calculation, a specific value calculation unit that calculates a predetermined index value based on the specific value and calculates a predetermined score based on the index value; and the specific value calculation unit The score related to the specific value of at least three body parts calculated from the above is evaluated as the athletic ability during physical movement of the subject in daily life, and is output for the upper body, the left lower body, and the lower right body It is good also as providing an evaluation result output part. According to this, it is possible to easily evaluate the exercise ability of the body part of the subject.

As a calculation method of the score S _k , for example, the following three formulas can be given.

S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : Reference value for each index value as the minimum score

S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : Reference value for each index value as the minimum score

k: number of each index value K: total number of index values ω ^Score _k : weighting coefficient _{Sk of} each index value _Sk : score for each index value

  Further, the specific value calculation unit performs grouping for each subject having physical information that is the same as or similar to the physical information input by the physical information input unit, and the specific value of the body part of the subject for each group, An index value or score totaling process may be performed. According to this, the motor ability of a body part can be grasped | ascertained for every test subject who has the same or similar body information.

  The evaluation result output unit may output the specific value, index value, or score of the body part calculated by the specific value calculation unit using a radar chart. According to this, it is possible to easily evaluate the exercise ability of the body part of the subject at a glance.

  In addition, the evaluation result output unit outputs a predetermined human body model, and the specific value, index value or score of the physical ability calculated by the specific value calculation unit is output to the corresponding body part of the human body model. You may output it repeatedly. According to this, it is possible to easily evaluate the exercise ability of the body part of the subject at a glance.

  In addition, the specific value calculation unit needs the level of motor ability, the level of care required, and care prevention based on the specific value, index value or score of the body part calculated by the specific value calculation unit. At least one of the following probability and estimated age may be output. According to this, the level of athletic ability of the subject, the level of the level of care required, the probability that care prevention is required, and the estimated age can also be grasped.

  ADVANTAGE OF THE INVENTION According to this invention, the athletic ability at the time of physical movement of a test subject's daily life can be evaluated. In addition, the exercise ability of the subject is output separately for the upper body, the lower left body, and the lower right body.For example, subjects with large differences in body movements, subjects with large differences in muscle weakness between the upper and lower bodies, etc. It is possible to evaluate athletic ability taking into account.

  For this reason, in order to accurately suggest to the subject that there may be a decrease in athletic ability in the future, the subject can perform a predetermined training and treatment from an early stage accordingly, such as sarcopenia etc. It is possible to reduce the disease and suppress the decrease in the muscular strength of the test subject, and as a result, it is possible to improve the individual's living level and reduce the burden of medical care costs of society.

1 is a schematic configuration diagram of an athletic ability evaluation system according to the present invention. It is a conceptual diagram for demonstrating calculating the specific value of the athletic ability at the time of the physical motion of a test subject's daily life. It is a flowchart which shows operation | movement of the athletic ability evaluation system of FIG. It is a figure which shows the state which output the athletic ability (specific value) at the time of the body movement of the test subject (non-elderly person) concerning Example 1 in daily life. It is a figure which shows the state which output the athletic ability (specific value) at the time of the body movement of the test subject (elderly person) concerning Example 1 in daily life. It is a figure which shows the state which output the athletic ability (value normalized) at the time of the physical movement of the test subject (non-elderly person) concerning Example 2 in daily life. It is a figure which shows the state which output the athletic ability (normalized value) at the time of the body movement of the test subject (elderly person) which concerns on Example 2 in daily life. It is a figure which shows the table | surface which output the athletic ability (score) at the time of the body movement of each test subject's everyday life which concerns on Example 3. FIG. It is the figure which output the athletic ability (score) at the time of the physical movement of the test subject (non-elderly person) concerning Example 3 by the radar chart. It is the figure which output the athletic ability (score) at the time of the body movement of the test subject (elderly person) concerning Example 3 in daily life with a radar chart.

  Next, an embodiment of an athletic ability evaluation system in daily life (hereinafter referred to as the present system) according to the present invention will be described with reference to FIGS. In the present embodiment, a case where the joint torque of the body part is used as the exercise ability of the subject will be described.

  As shown in FIG. 1, this system is a system for evaluating the exercise ability of a subject during physical movements in daily life for the prevention of nursing care, and includes a body information input unit 10, a body movement measurement unit 20, and a movement ability calculation. Unit 30, specific value calculation unit 40, and evaluation result output unit 50.

  The system is realized by an information terminal such as a PC, a tablet terminal, a smartphone, or a dedicated terminal, and functions by installing a predetermined program via a storage medium or a network.

  The physical information input unit 10 is input with physical information such as the subject's age, sex, weight, height, human body dimensions (circumference, length, etc.), and past medical history. Moreover, as will be described later, body information such as the mass of the body part of the subject, the mass center value, and the moment of inertia may be input.

  The body motion measuring unit 20 measures the position and angle of the body part during the body motion in the daily life of the subject. Examples of the body movement of the subject in daily life include a standing-up movement, a walking movement, a one-leg standing movement, and a squat movement. The body part includes at least the upper body (torso, hereinafter referred to as “trunk”), the lower left body (left leg), the lower right body (right leg), and the like. In the present embodiment, the body motion measuring unit 20 measures time-series data of the three-dimensional position and / or angle of the body part of the subject from the body motion of the subject using a motion capture device or the like.

  In addition, the said body motion measurement part 20 may be comprised with the same apparatus as each part 10, 30, 40, 50, or may be comprised with another apparatus. Further, the time-series data of the three-dimensional position and / or angle of the body part is used, but the time-series data of the two-dimensional position and / or angle may be used.

  The athletic ability calculating unit 30 calculates the athletic ability of the body part in a time series based on the measurement result of the position and angle of the body part by the body action measuring unit 20 at the time of the body movement of the subject in daily life.

  Specifically, the athletic ability calculation unit 30 first determines the posture of the body part of the subject based on the time-series data of the three-dimensional position and / or angle of the body part of the subject measured by the body motion measurement unit 20. In addition, the joint angle q, the angular velocity q ′, and the angular acceleration q ″ of the body part of the subject are calculated using a differential method such as a fourth-order Runge-Gutta method. Based on the posture of the body part, the joint angle q, the angular velocity q ′, and the angular acceleration q ″, the joint torque of the body part at the time of physical movement of the subject's daily life is calculated inversely. A method of calculating the joint torque of the body part by formulation or a method of calculating by a numerical simulation can be considered.

  In the present embodiment, the athletic ability calculation unit 30 includes an acceleration term M (q), a Coriolis / centrifugal force term C (q, q ′), a gravity term G (q), an external force term (such as a reaction force from a floor or a chair). ) The joint torque τ of the body part is calculated by the following equation using E (q, q ′).

[Formula 1]

The acceleration term M (q), the Coriolis / centrifugal force term C (q, q ′), the gravity term G (q), and the external force term E (q, q ′) are represented by the following equations. Note that n represents a degree of freedom, and () ^T represents a transposed matrix.

[Formula 2]

  Parameters such as the mass of each part of the body, the position of the center of mass, and the moment of inertia necessary for the calculation of the joint torque of the athletic ability calculation unit 30 are the age, sex, weight, and human body of the subject input by the body information input unit 10. Based on the dimensional information, an average parameter for each physical feature of the subject prepared in advance may be assigned. Alternatively, parameters such as mass, mass center position, and moment of inertia of each body part prepared in advance may be assigned regardless of information on the age, sex, weight, and human body dimensions of the subject. Thereby, it is possible to avoid the trouble of inputting parameters and input errors.

  As shown in FIG. 2, the specific value calculation unit 40 is based on the exercise ability of the body part at the time of physical movement of the subject's daily life calculated by the exercise ability calculation unit 30 in time series. Specific values of the motor ability of at least three body parts of the lower body and the lower body of the right side are calculated.

  Specifically, as shown in FIG. 2, the specific value calculation unit 40 calculates the position / angle q, velocity / angular velocity q ′, acceleration of each joint of the body part of the subject calculated by the athletic ability calculation unit 30. / Angular acceleration q ″ and / or joint torque / joint force τ time series data, maximum value, minimum value, average value, median value, integral value, differential value, sum, standard deviation, etc. It is calculated as a specific value of the motor ability of the body part during body movement.

  The specific value calculation unit 40 performs absolute values and filter processing before performing calculations such as maximum value, minimum value, average value, median value, integral value, differential value, sum, standard deviation, and so on. You may perform the process for clarifying.

  Further, the specific value calculation unit 40 may calculate the specific value of the body part as it is, but calculates the specific value from the joint torque of the body part in a state where the gravity term G shown in [Equation 1] is subtracted. May be. In addition, the specific value of the body part may be normalized by the mass, volume, area, density, length, diameter, or product of the subject or the body part.

  Further, the specific value calculation unit 40 may calculate a predetermined index value based on the specific value of each body part at the time of physical movement of the subject in daily life.

For example, as a first example of calculating the index value, a case where the index value is calculated from the maximum value in the data after the absolute value processing of the joint torque of each body part will be described. The total sum of the specific values _Xn of each body part By calculating X _Total , an index value p ₁ indicating the exercise ability of the subject may be calculated as in the following equation.

[Formula 3]
n: Joint number N: ^Total number of joints ω ^Total _n : Weight coefficient for each specific value
_Xn : specific value

For example, using the maximum value τ ^Max _n in the joint torque operation section after the absolute value processing as the specific value X _n , the trunk, left hip joint, right hip joint, left knee joint, right knee joint, left foot joint, right foot joint When calculating the sum τ _Total of the joint torque after the absolute value processing and calculating the index value p ₁ indicating how much force the subject can exert, the following formula may be used.

[Formula 4]
n: Joint number N: _Total number of joints τ _Total : Sum of maximum values of joint torque after absolute value processing ω ^Total _n : Weight coefficient τ ^Max _n for the maximum value of each joint torque after absolute value processing: After absolute value processing Maximum value of each joint torque

In addition, as a second example of the calculation of the index value, to what extent the subject was able to exert power in a good balance between the left and right bodies by calculating the absolute value of the difference between the specific values _Xn of the left and right bodies. An index value p ₂ indicating the above may be calculated as in the following equation. Whether to take the difference between the specific value of the left half and the specific value of the right half or whether to take the difference between the specific value of the right half and the specific value of the left half depends on the action to be evaluated and the content of the evaluation. Also good.

[Formula 5]
n, m: number of joints M: total number of joints used for calculation of p ₂ ω ^Valance _{n, m} : weighting factor for absolute value of difference between specific values of left and right half
X ^{right (or left) half body} _n : specific value of right (or left) half body
X ^{Left (or right) half body} _m : Specific value of left (or right) half body

For example, the left and right balance of the lower limb is shown using the maximum value τ ^Max _n of the joint torque after the absolute value processing of the left hip joint, right hip joint, left knee joint, right knee joint, left foot joint, and right foot joint as the specific value _Xn. when calculating the index value p _2, it may be calculated by the following equation.

[Formula 6]
ω ^Valance _n : Weighting factor τ ^Max _n for the absolute value of the difference between the specific values of the left and right body: ^Max value of joint torque after absolute value processing

In addition, as a third example of the calculation of the index value, by calculating the ratio of the specific value _Xn between the upper body side and the lower body side, the subject moves either the upper body side or the lower body side and moves. the index value p ₃ showing the Taka may be calculated by the following equation. Note that whether the upper body or the lower body is taken as the numerator or denominator may be changed according to the operation to be evaluated and the evaluation content.

[Formula 7]
l, u: joint number L ^{upper body (or lower body):} total number of joints U ^{lower body} upper body used for calculation of p ₃ (or lower body) ^{(or upper body):} total number of joints of the lower body to be used for calculation of p ₃ (or upper body) ω ^Rate _l : Weight coefficient for specific value of upper body (or lower body) ω ^Rate _u : Weight coefficient for specific value of lower body (or upper body)
X ^{Upper body (or lower body)} _l : Specific value of upper body (or lower body)
X ^{Lower body (or upper body)} _u : Specific value of lower body (or upper body)

For example, using the maximum value τ ^Max _n of the joint torque after the absolute value processing of the trunk, the left hip joint, the right hip joint, the left knee joint, the right knee joint, the left foot joint, and the right foot joint as the specific value X _n , the index value p _{When 3} is calculated, it may be calculated as in the following equation.

[Formula 8]
ω ^Rate _n : Weight coefficient τ ^Max _n for a specific value: Maximum value of joint torque after absolute value processing

  In addition, the specific value calculation unit 40 may calculate a score related to the exercise ability of the subject based on each index value described above.

For example, as a first example of score calculation, there is a relationship in which the index value increases as the motor ability increases, as in the index value p ₁ based on the sum of the maximum values of joint torque after absolute value processing. You may calculate a score by the following formula.

[Formula 9]

[Formula 10]
S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : reference value of each index value to be the minimum score f _k : score for each index value (when the condition of p ^Min _k <p _k <p ^Max _k is satisfied)

Further, as a second example of score calculation, the torque is more well balanced as the value becomes smaller, such as the index value p ₂ based on the absolute value of the difference between the maximum values of the joint torques of the lower left body and the right lower body. In the case of showing that the score is, the score may be calculated by the following formula.

[Formula 11]

[Formula 12]
S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : reference value of each index value to be the minimum score f _k : score for each index value (when the condition of p ^Min _k <p _k <p ^Max _k is satisfied)

Further, as a third example of the score calculation, the total score S _Total regarding the exercise ability of the subject may be calculated by the following equation from the score for each value calculated by the above equation.

[Formula 13]
k: number of each index value K: total number of index values ω ^Score _k : weighting coefficient _{Sk of} each index value _Sk : score for each index value

Note that the score calculation method is not limited to the above, and the total score S _Total may be calculated by calculating a plurality of index values p _k other than those described above.

  In addition, the specific value calculation unit 40 is grouped for each subject having similar physical information from the age, sex, body dimensions, and past history of a plurality of subjects input to the physical information input unit 10, A specific value, an index value, an average value of scores, a standard deviation, or the like may be calculated for each group.

  The evaluation result output unit 50 evaluates the specific values, index values or scores of at least three body parts calculated by the specific value calculation unit 40 as the motor ability during physical movement of the subject in daily life. Output to the upper body, the lower body on the left, and the lower body on the right.

  For example, as shown in FIGS. 4 and 5, when specific values of at least three parts of the subject's upper body, left lower body, and right lower body are output over the corresponding parts of each part of the human body model, It is possible to instantly grasp the degree of decline and the left / right balance of the lower body.

  As shown in FIGS. 6 and 7, when a value obtained by normalizing a specific value of a body part with a body weight or the like is output, the exercise ability can be grasped in consideration of the physique difference of the subject.

  Moreover, as shown in FIG. 8, when the total score of athletic ability is output, the degree of athletic ability of the elderly can be easily grasped.

  Moreover, as shown in FIGS. 9 and 10, when the score of each index value is output on a radar chart, it should be improved by rehabilitation (whether the left / right difference needs to be improved or the trunk needs to be trained) Etc.).

  In the present embodiment, the maximum joint torque is output, but together with or instead of it, the minimum value, maximum value, average value, median value, integral value, differential value, sum, standard deviation, etc. of the joint torque May be output. In addition to or instead of joint torque, joint position / angle, joint speed / angular speed, joint acceleration / angular acceleration, head position and orientation, head movement speed, head movement acceleration, joint force, center of gravity position, center of gravity movement Specific values such as speed and center-of-gravity movement acceleration may be evaluated and output as exercise ability of the subject in daily life. In the present embodiment, only the trunk is used as the upper body, but specific values such as the head and arms may be used together with or instead of it. In addition, the score related to athletic ability, the level of the level of care required, the probability that care prevention may be required, the estimated age, etc. may be output together.

  Next, the operation of this system will be described with reference to the flowchart shown in FIG.

  First, physical information such as the subject's age, sex, weight, height, human body dimensions (circumference, length, etc.), past history, and the like is input to the physical information input unit 10 (S1). In addition, body information such as the mass of the subject's body part, the center of mass value, and the moment of inertia may be input.

  Then, the body motion measuring unit 20 measures the position and angle of the body part during the body motion in the daily life of the subject using a motion capture device or the like (S2).

  Based on the physical information input to the physical information input unit 10 and the measurement result of the position and angle of the body part by the physical motion measurement unit 20, the athletic ability calculation unit 30 performs the physical motion of the subject in daily life. The joint torque / joint force of the body part is calculated in time series using inverse dynamics (S3).

  Then, the specific value calculation unit 40 is based on the joint torque of the body part at the time of physical movement of the subject's daily life calculated by the athletic ability calculation unit 30 in time series, the upper body, the left lower body, and the right side Specific values of joint torques of at least three body parts of the lower body are calculated (S4). Specifically, the specific value calculating unit 40 calculates the position / angle q, velocity / angular velocity q ′, acceleration / angular acceleration q ″, and acceleration / angular acceleration q ″ of each joint of the body part of the subject calculated by the athletic ability calculating unit 30. Or, for the time series data of joint torque / joint force τ, the maximum value, minimum value, average value, median value, integral value, differential value, sum, standard deviation, etc., specify the body part during daily body movement At this time, the specific value calculation unit 40 may normalize the specific value based on the weight, height, or human body dimensions (circumference, length, etc.) input by the body information input unit 10. Good.

  Then, as shown in FIGS. 4 to 10, the evaluation result output unit 50 uses the specific values, index values, or scores of the joint torque / joint force of at least three body parts calculated by the specific value calculation unit 40. Then, it is evaluated as athletic ability at the time of physical movement of the subject's daily life, and the upper body, the left lower body, and the right lower body are output separately (S5).

<Example 1>
In the present embodiment, a total of 12 subjects including 6 non-elderly people and 6 elderly people are targeted. In the measurement of body movement, using the motion capture device Kinect sensor (manufactured by Microsoft, frame rate 30fps), the body movement in the daily life of standing up from a chair sitting position and posture of each part of the subject's body Series data was measured.

  A simulation using the measured time-series data was performed assuming a 7-link model related to 7 body parts including the right foot, right lower leg, right thigh, left foot, left lower leg, left thigh and trunk (torso) of each subject. . Thereby, the joint torques of the right hip joint, the left hip joint, the right knee joint, the left knee joint, and the trunk of each subject were temporally calculated. From there, the absolute value was calculated for the time series data of the joint torque estimated in the motion section from the chair standing up. And the maximum value was extracted from this time series data, and it output as a specific value.

Other setting items of the present embodiment are as follows.
・ There was no reaction force from the floor or chair.
・ The joint torque was low-pass filtered with a cutoff frequency of 3 Hz.
-The parameters common to all subjects were used for each mass of body part, moment of inertia, center of mass, etc.
-The center of mass position was defined as half the link length of each body part.
・ Subjects were usually given verbal instructions to get up in the daily life with the same level of force as when they got up from the chair.

  When the maximum value is treated as a specific value for the time series data after the absolute value processing of the estimated joint torque, the right hip joint, left hip joint, right knee joint, left knee joint and trunk are identified in the standing motion of each subject The values were as shown in FIGS. 4 and 5 for the non-elderly subjects and the elderly subjects, respectively. As shown in FIG. 4, the specific values of all six non-elderly people are approximately the same in each part of the body, and similar specific value patterns can be seen. On the other hand, as shown in FIG. 5, the elderly have different specific values for each part of the body for each subject, and a pattern with different specific values for each subject was observed.

  In particular, the elderly have a lower trunk specific value as seen in the results of Sub.7, Sub.8, and Sub.9, and the muscle strength of the trunk declines more than non-elderly subjects. In addition, the elderly subjects Sub.9 and Sub.12 have hip joint values that are approximately 1.5 to 2 times different from each other on the left and right, and the left-right balance of the lower body is poor.

  When only the lower limbs are evaluated as in Patent Document 5, there is a fear that the elderly's trunk may be overlooked. However, in the present invention, the upper half and the lower half of the left half and the right half of the body are not included. By outputting specific values of one part, it is possible to comprehensively evaluate the degree of decline of the trunk and the left-right balance, and to capture the degree of decline of the exercise ability of the elderly in a multifaceted manner.

<Example 2>
In this example, simulation was performed by assigning each mass of the body part from the weight and sex information in consideration of the physique of each subject with respect to the absolute value of the absolute value of the joint torque calculated in Example 1. . As a result, a value corresponding to the physique of each subject was obtained as the joint torque. In the assignment of each mass of the body part from the weight and gender information, in the elderly group subjects, each of the mass ratios of “Okada et al .;“ Body part inertia characteristic of Japanese elderly ”, biomechanism 13” is used. The site mass was estimated from the subject's body weight. In the non-elderly group of subjects, the mass of each part was estimated from the body weight of each subject using the mass ratio of “Ae et al.,“ Estimation of Body Part Inertia Characteristics of Japanese Athletes ”, Biomechanism 11”. In addition, in order to take into account the physique difference of each subject, a value obtained by normalizing the maximum value of joint torque with the weight of each subject was output as a specific value.

  As a result of the simulation, the values obtained by normalizing the maximum value of the joint torque of the right hip joint, the left hip joint, the right knee joint, the left knee joint, and the trunk in the standing motion of each subject by the body weight are determined for the non-elderly subjects and the elderly. The test subjects were as shown in FIGS. 6 and 7, respectively. According to this, a result in consideration of the physique of the subject can be obtained.

  In addition, although the example using only the subject's weight information was shown, a plurality of pieces of information such as the subject's height, weight, age, and part length may be used, from which each mass, moment of inertia, center of mass position of the body part Etc. may be assigned.

<Example 3>
In this example, a specific value of a plurality of athletic abilities was calculated, and a score for the athletic ability of the subject was calculated. In the present embodiment, the total value τ _{Total of} joint torques is calculated using the specific value calculated in the second embodiment, and an index value p ₁ indicating how much force the subject can exert is expressed by [Expression 4]. ] Was calculated. Further, by calculating the absolute value of the difference between the maximum values of the joint torque after the absolute value processing, an index value p ₂ indicating how much the subject was able to exert the right and left balance [Expression 6] Calculated by Then, to demonstrate increased either force the upper body and lower body, an index value p ₃ indicating which performs an operation was calculated using the equation 8]. However, since it was difficult to accurately measure the three-dimensional data of the ankle joint with the motion capture device, the value of the ankle joint was not used in this example.

Other setting items of the present embodiment are as follows.
- The results of Example 2 with reference, as the p ₁ and p ₃ is an index value indicating that the higher exercise capacity value increases, [Expression 9], was calculated score using the equation 10]. As p ₂ is the index value indicates a higher exercise capacity smaller the value, [Formula 11] was calculated scores using Expression 12].
In calculating the total sum p ₁ of the joint torque maximum values of the absolute value processing values, the weighting coefficient of [Equation 4] is ω ^Total _trunk = 1, ω ^Total _{left hip joint} = 1, ω ^Total _{right hip joint} = 1, ω ^Total _{left knee joint} = 1, ω ^Total _{right knee joint} = 1, ω ^Total _{left foot joint} = 1, ω ^Total _{right foot joint} = 0. Here, the reason that ω ^Total _{left ankle joint} = 0 and ω ^Total _{right ankle joint} = 0 is that it is difficult to accurately measure the three-dimensional data of the foot with the motion capture device. This is because it has been determined that the calculation cannot be performed with the necessary and sufficient accuracy.

on the other hand,
In the calculation of the value p ₂ indicating whether or not the force can be exerted with a good balance between left and right, the weighting coefficient of [Equation 6] is ω ^Valance _{hip joint} = 1, ω ^Valance _{knee joint} = 1, and ω ^Valance _{ankle joint} = 0. .
The reference value p ^Min ₁ = 0.01, which is the lowest score of the sum p ₁ of the maximum joint torque values after absolute value processing, and the reference value p ^Max ₁ = 4.0, which is the highest score.
A reference value p ^Max ₂ = 1.5, which is the minimum score of the value p ₂ indicating how much the subject can exert his / her power in a balanced manner, and a reference value p ^Min ₂ = 0.01 which is the maximum score It was.
The reference value p ^Min ₃ = 0.1, which is the minimum score of the value p ₃ indicating whether the subject exerts the upper body or the lower body and exerts movement, the maximum value p ^Max ₃ = 2.0.
The total score S _Total was calculated by setting the weighting coefficients of [Equation 13] to ω ^Score ₁ = 0.1, ω ^Score ₂ = 0.45, and ω ^Score ₃ = 0.45.
In the calculation of the value indicating whether the test subject exerts his / her upper body or lower body's force, the weight coefficient of [Equation 8], ω ^Rate _trunk = 1, ω ^Rate _{left hip joint} = 1, ω ^Rate _{right hip joint} = 1, ω ^Rate _{left knee joint} = 1, ω ^Rate _{right knee joint} = 1, ω ^Rate _{left foot joint} = 0, ω ^Rate _{right foot joint} = 0.

  Thus, as a result of calculating the score, as shown in FIG. 8, the score is different between the non-elderly person and the elderly person, the difference in athletic ability can be confirmed at a glance, and the elderly person with low athletic ability can be easily found.

Further, the score S ₁ of the sum of the maximum values of the joint torque after the absolute value processing of the non-elderly person and the elderly was calculated from [Expression 9] and [Expression 10]. In addition, a score S _{2 of} a value indicating whether or not the force could be exerted with a good balance between left and right was calculated from [Expression 11] and [Expression 12]. In addition, a score S ₃ indicating a value indicating whether the upper body or the lower body exerted a greater force to perform the motion was calculated from [Equation 9] and [Equation 10]. The radar charts of score S ₁ , score S ₂ , and score S ₃ are as shown in FIGS. 9 and 10, respectively.

  As shown in FIG. 9, all scores are higher for non-elderly people. On the other hand, as shown in FIG. 10, the elderly have a lower score for the ratio of the upper and lower body as a whole, and the upper body and lower body have different ways of putting power in the upper body and the upper body. It can be seen that is not able to demonstrate. In Sub.12, the scores for both the upper and lower body ratio and the left / right difference are low, and it is possible to confirm at a glance the decline in athletic ability.

  In this way, by using the radar chart, it becomes easier to grasp the place to be improved by rehabilitation, such as whether the left-right difference needs to be improved or whether the trunk needs to be trained.

  As described above, by calculating scores based on specific values of at least three parts of the upper body, the left lower body, and the right lower body, it shows the ability of the elderly, such as the decline of the trunk and the left / right balance of the lower body Can be extracted. This makes it possible to classify elderly people who need immediate rehabilitation intervention, elderly people who may need rehabilitation intervention in the near future, and healthy elderly people based on the scores of the elderly's motor skills.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

DESCRIPTION OF SYMBOLS 10 ... Body information input part 20 ... Body motion measurement part 30 ... Motor ability calculation part 40 ... Specific value calculation part 50 ... Evaluation result output part

Claims (20)

An athletic ability evaluation system for evaluating athletic ability during physical movement of a subject's daily life,
A body movement measuring unit that measures the position and / or angle of the body part during the body movement of the subject in daily life;
Based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit, an athletic ability calculation unit that calculates the exercise ability of the body part of the subject in time series;
Specification that calculates specific values of at least three body parts of the upper body, the left lower body, and the right lower body based on the motor ability of the body part of the subject calculated in time series by the motor ability calculation unit A value calculator,
The specific values of at least three body parts calculated by the specific value calculation unit are evaluated as athletic ability at the time of physical movement of the subject in daily life, and are divided into an upper body, a left lower body, and a right lower body. An athletic ability evaluation system comprising: an evaluation result output unit for outputting.   The athletic ability calculation unit includes joint torque, joint force, joint angle, joint angular velocity, joint angular acceleration, joint movement distance, joint position, joint movement speed, joint movement acceleration, barycentric position, barycentric movement speed, barycentric movement of the body part. The athletic ability evaluation system according to claim 1, wherein at least one of acceleration, head position and orientation, head moving speed, and head moving acceleration is calculated as the motor ability of the body part.   The specific value calculation unit is a maximum value, a minimum value, an average value, a median value, an integral value, a differential value, a sum, and a standard deviation of the motor ability of the body part calculated in time series by the athletic ability calculation unit. The athletic ability evaluation system according to claim 1, wherein at least one or more is calculated as a specific value of athletic ability. A physical information input unit for inputting the physical information of the subject is provided,
The athletic ability evaluation system according to any one of claims 1 to 3, wherein the athletic ability calculating unit calculates the athletic ability of a body part using the physical information of the subject input to the physical information input unit.   The athletic ability evaluation system according to claim 4, wherein the physical information input unit inputs at least one physical information among the age, sex, weight, height, human body dimensions, and past history of the subject.   The athletic ability evaluation system according to claim 4 or 5, wherein the physical information input unit inputs at least one physical information among a mass of a body part of the subject, a mass center value, and an inertia moment.   The body motion measuring unit measures a position and / or angle of a body part during at least one body motion among a standing motion, a walking motion, a single leg standing motion, and a squat motion. The athletic ability evaluation system according to any one of the above.   The specific value calculation unit normalizes the specific value of the body part by the mass, volume, area, density, length, diameter, or product of the subject or the body part, according to any one of claims 1 to 7. The athletic ability evaluation system described. An athletic ability evaluation system for evaluating athletic ability during physical movement of a subject's daily life,
A body movement measuring unit that measures the position and / or angle of the body part during the body movement of the subject in daily life;
Based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit, an athletic ability calculation unit that calculates the exercise ability of the body part of the subject in time series;
After calculating specific values of at least three body parts of the upper body, the left lower body, and the right lower body based on the motor ability of the subject's body part calculated in time series by the motor ability calculator A specific value calculation unit for calculating a predetermined index value based on the specific value;
The index value relating to the specific value of the athletic ability of at least three body parts calculated by the specific value calculating unit is evaluated as the exercise capacity at the time of physical movement of the subject's daily life, and the upper body, the lower left body, the right side An athletic ability evaluation system comprising: an evaluation result output unit that outputs the lower body separately. The athletic ability evaluation system according to claim 9, wherein the specific value calculation unit calculates an index value by the following formula.
n: Joint number N: ^Total number of joints ω ^Total _n : Weight coefficient for each specific value
_Xn : specific value The athletic ability evaluation system according to claim 9, wherein the specific value calculation unit calculates an index value by the following formula.
n, m: number of joints M: total number of joints used for calculation of p ₂ ω ^Valance _{n, m} : weighting factor for absolute value of difference between specific values of left and right half
X ^{right (or left) half body} _n : specific value of right (or left) half body
X ^{Left (or right) half body} _m : Specific value of left (or right) half body The athletic ability evaluation system according to claim 9, wherein the specific value calculation unit calculates an index value by the following formula.
l, u: joint number L ^{upper body (or lower body):} total number of joints U ^{lower body} upper body used for calculation of p ₃ (or lower body) ^{(or upper body):} total number of joints of the lower body to be used for calculation of p ₃ (or upper body) ω ^Rate _l : Weight coefficient for specific value of upper body (or lower body) ω ^Rate _u : Weight coefficient for specific value of lower body (or upper body)
X ^{Upper body (or lower body)} _l : Specific value of upper body (or lower body)
X ^{Lower body (or upper body)} _u : Specific value of lower body (or upper body) An athletic ability evaluation system for evaluating athletic ability during physical movement of a subject's daily life,
A body movement measuring unit that measures the position and / or angle of the body part during the body movement of the subject in daily life;
Based on the measurement result of the position and / or angle of the body part of the subject by the body motion measurement unit, an athletic ability calculation unit that calculates the exercise ability of the body part of the subject in time series;
After calculating specific values of at least three body parts of the upper body, the left lower body, and the right lower body based on the motor ability of the subject's body part calculated in time series by the motor ability calculator A specific value calculation unit that calculates a predetermined index value based on the specific value and calculates a predetermined score based on the index value;
The score related to the specific values of at least three body parts calculated by the specific value calculation unit is evaluated as the exercise capacity of the subject during physical movements in daily life, and the upper body, the left lower body, the right lower body An athletic ability evaluation system comprising: an evaluation result output unit that outputs the results separately. The athletic ability evaluation system according to claim 13, wherein the specific value calculation unit calculates a score by the following formula.
S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : Reference value for each index value as the minimum score The athletic ability evaluation system according to claim 13, wherein the specific value calculation unit calculates a score by the following formula.
S _k : Score for each index value k: Number of each index value
p _k : k-th index value
p ^Max _k : Standard value of each index value as the highest score
p ^Min _k : Reference value for each index value as the minimum score The athletic ability evaluation system according to any one of claims 13 to 15, wherein the specific value calculation unit calculates a score according to the following equation.
k: number of each index value K: total number of index values ω ^Score _k : weighting coefficient _{Sk of} each index value _Sk : score for each index value   The specific value calculation unit performs grouping for each subject having physical information that is the same as or similar to the physical information input by the physical information input unit, and the specific value and index value of the body part of the subject for each group Or the athletic ability evaluation system in any one of Claims 1-16 which performs the total process of a score.   The athletic performance evaluation system according to any one of claims 1 to 17, wherein the evaluation result output unit outputs the specific value, index value, or score of the body part calculated by the specific value calculation unit using a radar chart.   The evaluation result output unit outputs a predetermined human body model, and superimposes the specific value, index value or score of the physical ability calculated by the specific value calculation unit on the corresponding body part of the human body model. The exercise capacity evaluation system according to any one of claims 1 to 18, which outputs the athletic ability evaluation system. The specific value calculating unit is based on the specific value, index value, or score of the body part calculated by the specific value calculating unit, the level of the motor ability of the subject, the level of the level of care required, and the probability that care prevention is required The athletic ability evaluation system according to any one of claims 1 to 19, wherein at least one of the estimated ages is output.