JP2020018366A - Walking analysis method - Google Patents

Abstract

To provide a technology to analyze a subject's walking state by using the subject's foot pressure in walking.SOLUTION: A walking analysis method includes: an acquisition step (S11) for acquiring foot pressure distribution information on at least one foot of a subject for a plurality of steps when the subject is walking; a specification step (S13) for specifying a foot pressure region for each step in the acquired foot pressure distribution information; and a generation step (S15) for generating superposed foot pressure distribution information by superposing and adding foot pressure regions of each specified step.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for analyzing walking.

Patent Literature 1 discloses a technique in which a foot placed on a transparent plate is imaged from the back surface side of the transparent plate, and the sole shape is measured from image information of the imaged image.
Patent Literature 2 discloses that when the subject is stopped on the pressure distribution sensor, the load state of the subject on the pressure distribution sensor is detected, and based on the detection result, the last of the subject is changed. A method of classifying into a flat type, a pronation foot type, an outer load foot type, a supination foot type, a concave foot type, a shank deformed foot type, and a normal foot type, which is an index of athletic ability related to walking, is disclosed. .
Patent Literature 3 discloses an evaluation value of a subject calculated based on an index representing a foot pressure distribution of the subject measured by a foot pressure distribution detection sensor, the valgus angle and valgus angle of the foot of the subject. There is disclosed a method of determining a risk of causing a subject to suffer from an orthopedic disease based on a value corrected based on data relating to an anti-toe angle.
In Patent Document 4, the foot pressure distribution of a subject at the time of walking is measured by a foot pressure distribution detection sensor, and the degree of bending of the center of gravity of the subject's foot is calculated based on the measurement result. There is disclosed a technique for determining the risk of causing a subject's orthopedic disease using the method.
In Patent Document 5, the foot pressure distribution of a subject who stands upright is measured by a foot pressure distribution detecting sensor, and the area of the sole of the subject's foot and the center of gravity of the foot are calculated based on the measurement result. There is disclosed a method of determining the risk of causing a subject to suffer from an orthopedic disease based on the evaluation values of the first and second indices calculated using them.

JP-A-2004-219404 JP 2010-69229 A International Publication No. 2013/46515 International Publication No. 2013/153806 JP 2014-223097 A

The method disclosed in each of the documents except for Patent Document 4 described above is based on a footprint of a subject in a stationary state measured by standing the subject on a transparent plate or a pressure sensor. The risk of onset of orthopedic disease derived from the last is determined.
On the other hand, the disclosed method of Patent Document 4 allows a user to specify a target area for analyzing a movement locus of a center of gravity of a foot from a measured foot pressure distribution of a subject during walking, and the specified analysis is performed. The position of the center of gravity of the foot and the movement locus of the position of the center of gravity are calculated based on the foot pressure distribution in the region.
The present invention relates to a technique for analyzing a walking state of a subject using foot pressure of the subject during walking.

In the embodiments of the present invention, the following configurations are employed to solve the above-described problems.
The gait analysis method according to the aspect of the present invention includes an acquiring step of acquiring foot pressure distribution information for a plurality of steps of at least one foot in a subject during walking, and for each step in the acquired foot pressure distribution information. The method includes a specifying step of specifying a foot pressure area, and a generating step of generating superimposed foot pressure distribution information by superimposing and adding the specified foot pressure areas for each step.
Another aspect of the present invention relates to, for example, a gait analysis device (information processing device, computer) that executes the gait analysis method according to the above aspect, and relates to a program that causes a computer to execute the gait analysis method according to the above aspect. And a computer-readable storage medium storing such a program. This recording medium includes a non-transitory tangible medium.

  According to the above aspect, it is possible to provide a technique for analyzing the walking state of the subject using the foot pressure of the subject during walking.

It is a flowchart which shows the outline | summary of the gait analysis method concerning this embodiment. It is a figure showing an example of a foot pressure distribution image. It is a figure showing the example of generation of superimposition foot pressure distribution information. It is a flowchart which shows the gait analysis method which concerns on this embodiment. It is a figure showing an example of outputting of walking state information. It is a figure which shows notionally the hardware structural example of the walking state analyzer in this embodiment.

  Hereinafter, an example of a preferred embodiment of the present invention (hereinafter, referred to as the present embodiment) will be described. The embodiments described below are examples, and the present invention is not limited to the configurations of the following embodiments.

First, an outline of a walking analysis method according to the present embodiment (hereinafter, also referred to as the present method) will be described with reference to FIG.
FIG. 1 is a flowchart illustrating an outline of the walking analysis method according to the present embodiment.
As shown in FIG. 1, when the method is broadly considered, the method includes an obtaining step (S11) for obtaining foot pressure distribution information, a specifying step (S13) for specifying a foot pressure area for each step, and a superimposed foot pressure distribution. Generating step (S15) of generating information.
The method is primarily performed by one or more computers, such as the gait analyzer 10 described below. However, this method does not exclude that a human computer operation is involved in each step. Hereinafter, one or more computers that are the main execution entities of the method will be referred to as the present computer.

  In the acquisition step (S11), the computer acquires foot pressure distribution information for a plurality of steps of at least one foot of the subject during walking. The foot pressure distribution information acquired in the acquiring step (S11) includes the pressure applied to the walking surface from the time when one or both of the right foot and the left foot of the subject at the time of walking comes into contact with the heel and kicks off with the toe to leave the floor. Indicating the two-dimensional distribution of the right foot and / or the left foot. In addition, the foot pressure distribution information includes not only information relating to the position where the pressure from the sole is detected and its pressure value, but also information relating to the position where the pressure is not detected and the pressure value (0 (zero)). May be included.

  The foot pressure distribution information can be acquired from information measured by, for example, a sheet-type pressure sensor (a pressure sensor sheet 18 described later) laid on the walking surface. A specific method of generating the foot pressure distribution information in this case will be described later. In addition, the foot pressure distribution information may be obtained from information from a wearable pressure sensor that is provided on the sole, the sole, or the insole of the subject's socks.

In the present specification, the notation “foot pressure distribution” means a plane distribution of a pressure applied to a walking surface by one or both of the right foot and the left foot of the subject during walking, unless otherwise specified. Then, it is indicated by the foot pressure distribution information acquired in the acquisition step (S11).
“Foot pressure” means the pressure applied to one or both of the right foot and the left foot of the subject during walking on the walking surface.
Further, in this specification, the “sole” means the entire sole of a person's foot, and can be distinguished into a toe and a sole. The “sole portion” means the remaining portion of the sole excluding the toe portion.

Various methods can be used as a method of obtaining the foot pressure distribution information in the obtaining step (S11).
For example, the present computer may be connected to a pressure sensor capable of detecting a planar distribution of foot pressure, and the computer may generate foot pressure distribution information based on a signal obtained from the pressure sensor. Further, the present computer may acquire the foot pressure distribution information from another computer or a portable recording medium, or acquire the data which is the basis of the foot pressure distribution information, and based on the data, acquire the foot pressure distribution information. May be generated.
Further, there may be various modes regarding the format of the foot pressure distribution information acquired in the acquisition step (S11). For example, a foot pressure distribution image in which a pressure value is indicated as a pixel value can be acquired as foot pressure distribution information. The foot pressure distribution image may be a color image or a gray scale image. In addition, two-dimensional array data or the like that includes a position on a two-dimensional plane and a pressure value measured at the position in a state where it can be associated with each other may be acquired as foot pressure distribution information.

FIG. 2 is a diagram illustrating an example of a foot pressure distribution image.
The foot pressure distribution image in the example of FIG. 2 has an image area WA corresponding to the detection area of the pressure sensor sheet 18, and within the image area WA, foot pressure areas W2, W4, and W6 for a plurality of steps of the right foot. , Foot pressure areas W1, W3, and W5 for a plurality of steps of the left foot.

In the specifying step (S13), a foot pressure region for each step is specified in the foot pressure distribution information acquired in the acquiring step (S11).
Here, the “foot pressure area for each step” means a plane area in which the pressure applied to the walking surface of the right foot or the left foot during the one stance phase is distributed, and the stance phase is the sole of one foot. (E.g., the heel) touches the ground until the sole completely leaves the floor. In the example of FIG. 2, the individual foot pressure regions W1 to W6 correspond to the foot pressure regions for each step. The specified foot pressure area includes not only information on the position where the pressure from the sole is detected and the pressure value, but also information on the position where the pressure is not detected and the pressure value (0 (zero)). May be included.

Various methods can be adopted as the method of specifying the foot pressure region in the specifying step (S13).
For example, there is a method of cutting out a foot pressure region for each step from a foot pressure distribution image using a cut-out window having a predetermined shape and size. In this method, the computer detects a position where a region group having a pressure value equal to or more than a predetermined threshold (for example, 1) in the foot pressure distribution image falls within the cutout window, and detects the detected position in the foot pressure distribution image. From the position, the image in the extraction window can be extracted as a foot pressure region for one step.
Further, the present computer may output a user interface that allows the operator to specify a foot pressure region for one step in the foot pressure distribution image, and may specify the foot pressure region for one step by specifying the user interface. Good.
This method does not limit the method of specifying the foot pressure region in the specifying step (S13).

  The “specifying” performed in the specifying step (S13) means that the computer makes it possible to grasp the foot pressure region for each step in some form. For this reason, in the specific step (S13), information indicating the foot pressure region for each step may be generated for a plurality of steps separately from the foot pressure distribution information, or the foot pressure distribution of the foot pressure distribution indicated by the foot pressure distribution information may be generated. The position information of the foot pressure region for each step may be acquired.

In the generation step (S15), superimposed foot pressure distribution information is generated by superimposing and adding together the foot pressure regions for each step specified in the specifying step (S13).
Specifically, the computer generates the superimposed foot pressure distribution information by adding the pressure values at the overlapping positions when it is assumed that the foot pressure regions for each step of the same foot are overlapped. For example, when the foot pressure area A and the foot pressure area B are superimposed and added together, when the pressure value at the overlapping position is 0 (zero) in the foot pressure area A and 1 or more in the foot pressure area B, , The pressure value at that position in the superimposed foot pressure distribution information is the pressure value in the foot pressure region B.

  There can be various modes in the form of the superimposed foot pressure distribution information. For example, a superimposed foot pressure distribution image in which a pressure value is indicated as a pixel value can be acquired as superimposed foot pressure distribution information. The superimposed foot pressure distribution image may be a color image or a gray scale image. In addition, two-dimensional array data or the like that includes a position on a two-dimensional plane and a pressure value measured at the position in a state where they can be associated with each other may be generated as superimposed foot pressure distribution information.

Various methods can be adopted as a method of generating the superimposed foot pressure distribution information.
FIG. 3 is a diagram illustrating an example of generating superimposed foot pressure distribution information. In the example of FIG. 3, the computer determines the center of gravity position (J1 and J2) of the foot pressure region (W10 and W11) for each step, and uses the determined center of gravity position (J1 and J2) to determine each foot pressure. The regions (W10 and W11) are aligned without being aligned. The computer generates a superimposed foot pressure distribution image VW by superimposing and adding the foot pressure areas (W10 and W11) after matching the center of gravity positions (J1 and J2) by such positioning. Can be.
However, the method of positioning each foot pressure region is not limited to such a method using the center of gravity, and may be a method using a reference position other than the center of gravity.
In this way, by performing position alignment and superimposition without performing alignment, it is possible to indicate variation in the direction of each foot for each step in the superimposed foot pressure distribution information.

  On the other hand, it is also possible to generate superimposed foot pressure distribution information by superimposing each foot pressure area after performing both orientation and positioning. Even with the superimposed foot pressure distribution information generated in this way, it is possible to analyze at least the variation in the load of each foot during walking.

There is no limitation on the method of aligning each foot pressure region. By determining the direction of each foot pressure region by a predetermined method, and rotating one or more foot pressure regions so that the direction of each foot pressure region matches, the orientation of each foot pressure region can be realized. .
The direction of each foot pressure area may be a direction connecting the highest point and the lowest point of the foot pressure area, or the secondary gravity moment of the image of each foot pressure area may be used. In the latter case, the image of each foot pressure region may be binarized, and the secondary centroid moment of the binarized image may be calculated. Since the method of obtaining the secondary centroid moment is well known, the description is omitted here. When the foot pressure region is image information, the foot pressure region can be rotated using a known method such as affine transformation.

  On the other hand, as in the case where the above-mentioned foot pressure distribution information is obtained based on information measured by a wearable pressure sensor provided on a sock or a shoe, the above-described positioning and orientation may not be necessary. possible. In such a case, the computer can generate the superimposed foot pressure distribution information by simply superimposing and adding the foot pressure regions for each step.

As described above, in the present embodiment, the foot pressure area for each step is specified from the foot pressure distribution information for a plurality of steps, and the superimposed foot pressure distribution information is generated by superimposing and adding the foot pressure areas of the same foot. .
According to the superimposed foot pressure distribution information, it is possible to easily grasp the direction or the load variation of each of the right foot and the left foot during walking. That is, according to the present embodiment, the walking state of the subject can be easily analyzed using the foot pressure of the subject during walking.

Hereinafter, this method will be described in more detail with reference to FIG.
FIG. 4 is a flowchart illustrating the gait analysis method (the method) according to the present embodiment.
As shown in FIG. 4, the present method includes steps (S21) to (S27), and is executed by the gait analyzer 10 described later.

The step (S21) is the same as the above-described acquisition step (S11).
For example, a linear walking evaluation area is provided, the subject is allowed to walk in the walking evaluation area linearly, and the pressure sensor sheet 18 described later installed in the walking evaluation area is used to measure the subject for a plurality of steps. Foot pressure is measured.
The pressure sensor sheet 18 outputs pressure value distribution information (expressed as foot pressure sensing data) at a sampling frequency of 100 Hz, and the walking analyzer 10 sequentially converts the foot pressure sensing data output at intervals of the sampling period. By acquiring, a foot pressure distribution image as shown in FIG. 2 is acquired. For example, the gait analyzer 10 can generate the foot pressure distribution image by integrating the foot pressure sensing data and dividing by the number of outputs (the number of frames).
Here, if only one foot is to be analyzed, in step (S21), the foot pressure area of the non-analysis target foot may be deleted and used as foot pressure distribution information.

The step (S22) is the same as the above-described specific step (S13).
Here, it is assumed that a foot pressure region for each step is specified for a plurality of steps for each of the right foot and the left foot. According to the example of FIG. 2, the foot pressure regions W1 to W6 for each step are specified.

The step (S23) is a step of determining the position of the center of gravity of the foot pressure region for each step specified in the step (S22). According to the example of FIG. 3, the center of gravity position J1 is determined for the foot pressure region W10, and the center of gravity position J2 is determined for the foot pressure region W11.
Various methods are available for determining the center of gravity. For example, binarizing the image of each foot pressure region, calculating the zero-order and first-order image moments of the binarized image, and using the image moments to determine the position of the center of gravity of each foot pressure region. Can be. When the foot pressure region is formed by a plurality of islands, the center of gravity may be determined for each island, and the position where the distance from the center of gravity of each island is the shortest may be determined as the center of gravity position. As another method, the uppermost position and the lowermost position and the leftmost position and the rightmost position in the foot pressure region are specified, and the foot pressure region is assumed to be a rectangle having a distance between the positions as one side, and the square is defined by the square. The position of the center of gravity may be determined as the position of the center of gravity of the foot pressure region. Thus, the method of determining the position of the center of gravity in the step (S23) is not limited.

The step (S24) is a step of positioning the foot pressure region for each step specified in the step (S22) using the position of the center of gravity determined in the step (S23). Specifically, the positioning of each foot pressure region of the same foot is performed such that the position of the center of gravity determined in the step (S23) matches each foot pressure region of the same foot.
The positioning here is realized, for example, by associating the positions in the foot pressure regions among the foot pressure regions of the same foot. When the foot pressure region is specified as the image region, the pixels between the images of the foot pressure region are associated with each other.
In the alignment in the step (S24), it is preferable that the alignment of each foot pressure region is not performed. In this manner, the variation in the direction of each foot for each step can be indicated in the superimposed foot pressure distribution information.

The step (S25) is a step of generating superimposed foot pressure distribution information based on the alignment based on the position of the center of gravity performed in the step (S24).
Here, the superimposed foot pressure distribution information is generated by adding the pressure values at the positions associated between the foot pressure regions for each step of the same foot by the positioning in the step (S24). . At this time, the superimposed foot pressure distribution information may be obtained by normalizing the added pressure value with the maximum pressure value.

The step (S26) is a step of specifying a position indicating the center of gravity in the superimposed foot pressure distribution information generated in the step (S25), and generating walking age information based on the specified position.
It is known that the sole load during walking shifts from the front of the sole (toe side) to the rear of the sole (heel side) with aging. For this reason, the foot pressure distribution indicated by the superimposed foot pressure distribution information can be converted into age information depending on whether the position of the foot pressure indicating the center of gravity is in front of or behind the sole.
In this case, superimposed foot pressure distribution information is previously generated from the subject group for each age group using the present method, and an average position indicating the center of gravity of each age group is generated based on the superimposed foot pressure distribution information group. Should be obtained in advance. By determining whether the position specified in the step (S26) is close to the average position of which age group, the walking age information of the subject can be generated.

The step (S27) is a step of outputting the superimposed foot pressure distribution information generated in the step (S25) and the walking age information generated in the step (S26) as walking state information.
At this time, the superimposed foot pressure distribution information is a superimposed foot pressure distribution image colored according to the magnitude of the pressure, and the reference superimposed foot pressure distribution generated from the foot pressure distribution information population of the specific subject group. It is preferable that the image is output in a state that can be compared with the image.
The superimposed foot pressure distribution image may be a color image or an achromatic grayscale image.
The reference superimposed foot pressure distribution image can be generated in advance as an average image based on the superimposed foot pressure distribution image group generated from the foot pressure distribution information population of the subject group for each attribute such as age group and gender. I just need.

  The walking analyzer 10 described later can output such walking state information from the output device 15. The output form of the walking state information is not particularly limited, and may be display on a display device or printing on a print medium.

FIG. 5 is a diagram illustrating an output example of walking state information.
In the example of FIG. 5, the walking age D1 and the average foot pressure D2 are output as walking state information.
In the average foot pressure D2, a superimposed foot pressure distribution image D21 generated for the subject and a reference superimposed foot pressure distribution image D22 of the same gender and age as the subject are arranged side by side. With this arrangement, the superimposed foot pressure distribution image and the reference superimposed foot pressure distribution image can be compared with each other, but they may be output in other forms.
For example, the superimposed foot pressure distribution image of the subject and the superimposed foot pressure distribution image for reference may be output on different media. Specifically, the superimposed foot pressure distribution image of the subject may be displayed on a display device, and the reference superimposed foot pressure distribution image may be printed on a print medium in advance for each attribute such as age group and gender. Thus, the subject or the evaluator can compare the displayed superimposed foot pressure distribution image of the subject with the printed superimposed foot pressure distribution image for reference.
The states that can be compared with each other are not limited to such an example.

[Modification]
The embodiment described above can be variously modified within a range that does not hinder the contents.
For example, the following walking state information can be generated from the above-described superimposed foot pressure distribution information. That is, the above-described method may include calculating the size of the foot pressure region in the superimposed foot pressure distribution information, and generating walking state information based on the calculated size of the foot pressure region.
As described above, in generating the superimposed foot pressure distribution information, the orientation of the foot pressure region is not performed for each step. Therefore, it can be said that the spread in the width direction of the foot pressure region indicated by the superimposed foot pressure distribution information indicates a variation in the direction of each foot for each step.
Therefore, as described above, by determining the size of the foot pressure region in the superimposed foot pressure distribution information, it is possible to analyze the walking state related to the variation in the trajectory of each foot for each step. The degree of variation of the foot trajectory may be determined based on the obtained degree of the size of the foot pressure region, and the degree of variation may be used as walking state information.

[Walking state analyzer]
FIG. 6 is a diagram conceptually illustrating an example of a hardware configuration of a walking state analyzer (hereinafter, sometimes simply referred to as an analyzer) 10 according to the present embodiment.
The analyzer 10 is a so-called computer and includes, for example, a CPU (Central Processing Unit) 11, a memory 12, an input / output interface (I / F) 13, a communication unit 14, and the like, which are interconnected by a bus. The number of each hardware element forming the analyzer 10 is not limited, and these hardware elements can be collectively referred to as an information processing circuit. In addition, the analyzer 10 may include hardware elements not shown in FIG. 5, and the hardware configuration is not limited.

The CPU 11 may be configured by an application-specific integrated circuit (ASIC), a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), or the like, in addition to a general CPU.
The memory 12 is a random access memory (RAM), a read only memory (ROM), and an auxiliary storage device (such as a hard disk).
The input / output I / F 13 is connectable to user interface devices such as the output device 15 and the input device 16. The output device 15 is at least one of a device such as an LCD (Liquid Crystal Display) and a CRT (Cathode Ray Tube) display that displays a screen corresponding to drawing data processed by the CPU 11 or the like, a printing device, or the like. The input device 16 is a device that receives an input of a user operation, such as a keyboard and a mouse. The output device 15 and the input device 16 may be integrated and realized as a touch panel.
The communication unit 14 performs communication via a communication network with another computer, exchanges signals with other devices, and the like. A portable recording medium or the like may be connected to the communication unit 14.

The pressure sensor sheet 18 is connected to the input / output I / F 13.
As the pressure sensor sheet 18, for example, a sheet-type lower limb weight meter series Walk Way manufactured by Anima, a floor reaction force meter manufactured by AMTI, or the like can be used.
The pressure sensor sheet 18 preferably has a length of the detection area of 2 m or more and 5 m or less. As a result, foot pressure distribution information for a plurality of steps can be obtained for subjects of various body types or ages.
However, the foot pressure of the subject during walking may be measured by means other than the pressure sensor sheet 18. For example, the subject may wear socks in which a pressure sensor is attached to a fiber of a sole portion or a shoe in which a pressure sensor is attached to a sole, and the pressure sensor may measure foot pressure. Of course, the analyzer 10 can also acquire the foot pressure distribution information from another computer or a portable recording medium via the communication unit 14.

  The analysis device 10 according to the present embodiment can execute the walking state analysis method illustrated in FIG. 1 or 4 by reading and executing the computer program stored in the memory 12 by the CPU 11. The computer program is installed from a portable recording medium such as a CD (Compact Disc) or a memory card or another computer on the network via the input / output I / F 13 or the communication unit 14 and stored in the memory 12. May be installed in the memory 12 in advance.

The analyzer 10 can execute each step shown in FIG. 1 or FIG. The analyzer 10 may execute all the steps automatically, or may require a human operation in one or more steps.
For example, in the step (S11) and the step (S21), the analyzer 10 determines the location where the foot pressure distribution information or the data that is the basis of the foot pressure distribution information exists (for example, the location on the network, the location on the file system, or the like). May be output to the output device 15. In step (S13) and step (S22), the analyzer 10 outputs a user interface that allows the operator to specify a foot pressure area for one step in the foot pressure distribution image, and the user can specify one step by the user interface. A minute foot pressure region may be specified. Furthermore, the analysis device 10 may cause the output device 15 to display a user interface that allows the operator to select the type of information (walking age, average foot pressure, and the like) to be generated as the walking state information.

10 Walking analyzer (analyzer)
11 CPU11
12 memory 13 input / output I / F
14 Communication unit 15 Output device 16 Input device 18 Pressure sensor sheet

Claims (7)

Acquisition step of acquiring foot pressure distribution information for a plurality of steps of at least one foot of the subject during walking,
A specifying step of specifying a foot pressure region for each step in the obtained foot pressure distribution information,
A generation step of generating superimposed foot pressure distribution information by superimposing and adding the specified foot pressure areas for each step,
Gait analysis method including: An output step of outputting the superimposed foot pressure distribution information generated in the generation step,
Further comprising
The superimposed foot pressure distribution information output in the output step is a superimposed foot pressure distribution image colored according to the magnitude of the pressure,
In the output step, in a state where the reference superimposed foot pressure distribution image generated from the foot pressure distribution information population of the specific subject group and the superimposed foot pressure distribution image of the subject can be compared with each other. Output,
The walking analysis method according to claim 1. In the generating step, a position indicating a center of gravity in the superimposed foot pressure distribution information is specified, and walking age information based on the specified position is generated.
The walking analysis method according to claim 1 or 2. In the generating step, a size of a foot pressure region in the superimposed foot pressure distribution information is calculated, and walking state information based on the calculated size of the foot pressure region is generated.
The walking analysis method according to any one of claims 1 to 3. In the generation step, the center of gravity of the foot pressure region for each of the identified steps is determined, and the foot pressure regions are aligned without using the determined center of gravity position to face each other.
The walking analysis method according to any one of claims 1 to 4. In the generation step, the superimposed foot pressure distribution information is generated by superimposing and adding both the position and the orientation of the identified foot pressure region for each step, and
The walking analysis method according to any one of claims 1 to 4.   A gait analyzer that executes the gait analysis method according to claim 1.

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