JP2021074265A

JP2021074265A - Gait index output apparatus, gait index output method, gait index information collection system, gait index output system, and gait index comparison system

Info

Publication number: JP2021074265A
Application number: JP2019203100A
Authority: JP
Inventors: 正彦奥田; Masahiko Okuda; 元康園部; Motoyasu Sonobe
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2021-05-20

Abstract

To provide a gait index output apparatus, a gait index output method, a gait index information collection system, a gait index output system, and a gait index comparison system capable of evaluating a gait easily.SOLUTION: A gait index output apparatus 1 includes a knee angle measuring unit 2 for measuring a relative positional relationship between one part and the other part sandwiching a leg joint, a calculation unit 4 for calculating an index on a gait on the basis of a measurement value of the knee angle measuring unit 2, and an output unit 6 for outputting a signal according to the index on the gait calculated by the calculation unit 4.SELECTED DRAWING: Figure 2

Description

本発明は、歩容指標出力装置、歩容指標出力方法、歩容指標情報収集システム、歩容指標出力システム、及び歩容指標比較システムに関する。 The present invention relates to a gait index output device, a gait index output method, a gait index information collection system, a gait index output system, and a gait index comparison system.

従来、歩行者の歩容を計測する技術として種々の技術が用いられている（例えば特許文献１）。特許文献１に記載された歩行能力の評価技術は、義足装着者などの歩容を客観的にかつ高精度で評価できる。 Conventionally, various techniques have been used as techniques for measuring the gait of a pedestrian (for example, Patent Document 1). The walking ability evaluation technique described in Patent Document 1 can objectively and highly accurately evaluate the gait of a person wearing an artificial leg.

特開２０１０−１２５０１６号JP-A-2010-1205016

本発明は、高精度で歩容を評価できる技術に対して、より簡潔に歩容を評価できる歩容指標出力装置、歩容指標出力方法、歩容指標情報収集システム及び歩容指標出力システムを提供することを目的とする。 The present invention provides a gait index output device, a gait index output method, a gait index information collection system, and a gait index output system that can evaluate gait more concisely with respect to a technique capable of evaluating gait with high accuracy. The purpose is to provide.

上記課題を解決するために本発明のある態様は、足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測する計測部と、計測部の計測値に基づいて歩容に関する指標を算出する算出部と、算出部で算出した歩容に関する指標に応じた出力を行う出力部とを備える。 In order to solve the above problem, an aspect of the present invention is a gait based on a measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot, and a gait based on the measured values of the measuring unit. It includes a calculation unit that calculates an index related to gait, and an output unit that outputs according to the index related to gait calculated by the calculation unit.

本発明によれば、簡潔に歩容を評価できる。 According to the present invention, the gait can be evaluated simply.

本発明の実施形態による歩容指標出力装置の概略構成図である。It is a schematic block diagram of the gait index output device by embodiment of this invention. 同歩容指標出力装置のブロック図である。It is a block diagram of the same gait index output device. 本発明の実施形態による歩容指標情報収集システムのブロック図である。It is a block diagram of the gait index information collection system by embodiment of this invention. 同歩容指標情報収集システムが記録するテーブルの一例である。This is an example of a table recorded by the gait index information collection system. 本発明の実施形態による歩容指標出力システムのブロック図である。It is a block diagram of the gait index output system by embodiment of this invention. 本発明の実施形態による歩容指標比較システムのブロック図である。It is a block diagram of the gait index comparison system by embodiment of this invention. 変形例による歩容指標出力装置の概略構成図である。It is a schematic block diagram of the gait index output device by a modification.

以下、本発明の実施形態について説明する。まず、実施形態で用いられる用語の一部の定義を説明する。或る実施形態では、足の各種パラメータを計測、取得する。ここでいう足とは、義足、装具及び人間の健常足を含む。義足とは、下腿に取り付ける下腿義足、大腿に取り付ける下腿義足、及び股に取り付ける股義足を含む。装具とは、下肢装具、及び膝装具を含む。また或る実施形態では足の関節を基準に各種パラメータを計測、取得するが、足の関節とは足の足首関節、膝関節、及び股関節を含む。また或る実施形態では装着者の歩容に関する指標を算出するが、歩容の指標とは装着者の歩行時の膝関節角度、接地衝撃力、体幹の上下動若しくは左右の揺動の有無、歩幅、及び歩調を意味する。特に明示的に区別しない場合には、歩容の指標とは膝関節角度、接地衝撃力、体幹上下動若しくは揺動の有無、歩幅、及び歩調の少なくともいずれか１つ又はこれらの組み合わせを意味する。歩容に関する指標とは、センサ等の計測手段で計測した歩容に関する指標を数値等の比較可能なデータにしたものである。歩容に関する指標は、膝関節角度、接地衝撃力、体幹上下動若しくは揺動の有無、歩幅、又は歩調の１つを単独でデータ化したものであってもよいし、これらの組み合わせをデータ化したものであってもよい。 Hereinafter, embodiments of the present invention will be described. First, some definitions of terms used in the embodiments will be described. In certain embodiments, various parameters of the foot are measured and acquired. The term "foot" as used herein includes a prosthesis, an orthosis, and a healthy human foot. The prosthesis includes a crus prosthesis attached to the lower leg, a crus prosthesis attached to the thigh, and a crotch prosthesis attached to the crotch. The orthosis includes a lower limb orthosis and a knee orthosis. Further, in a certain embodiment, various parameters are measured and acquired with reference to the foot joint, and the foot joint includes the ankle joint, the knee joint, and the hip joint of the foot. Further, in a certain embodiment, an index related to the wearer's gait is calculated, and the gait index is the knee joint angle, ground contact impact force, and the presence / absence of vertical movement or left / right swing of the trunk during walking of the wearer. , Gait, and pace. Unless explicitly distinguished, the gait index means at least one of knee joint angle, ground contact impact force, presence / absence of trunk up / down movement or swing, stride length, and pace, or a combination thereof. To do. The gait-related index is a data obtained by converting a gait-related index measured by a measuring means such as a sensor into numerical data or the like. The index related to gait may be a data obtained by independently converting one of the knee joint angle, the ground contact impact force, the presence / absence of vertical movement or swing of the trunk, the stride length, or the pace, or a combination of these as data. It may be a modified version.

図１は実施形態による歩容指標出力装置の概略構成図であり、図２は歩容指標出力装置のブロック図である。図１では破線によって装着者の下半身を正面側から示し、装着者の右足には大腿義足が取り付けられている。図示の例では大腿義足は、人体の大腿に取り付けられるソケットＳと、足部Ｌと、ソケットと足部とを所定の関節軸Ｘ回りに回転可能に支持する膝継手Ｃとを備えている。 FIG. 1 is a schematic configuration diagram of a gait index output device according to an embodiment, and FIG. 2 is a block diagram of the gait index output device. In FIG. 1, the lower body of the wearer is shown from the front side by a broken line, and the thigh prosthesis is attached to the wearer's right foot. In the illustrated example, the thigh prosthesis includes a socket S attached to the thigh of the human body, a foot L, and a knee joint C that rotatably supports the socket and the foot about a predetermined joint axis X.

実施形態による歩容指標出力装置１は、大腿義足又は健常足（左足）のいずれにも取り付け可能である。 The gait index output device 1 according to the embodiment can be attached to either a thigh prosthesis or a healthy foot (left foot).

図１及び図２に示すように歩容指標出力装置１は、計測部としての膝角度計測部２と、算出部４と、出力部６とを備える。膝角度計測部２は、膝関節近辺に取り付けられ装着者の膝の角度を計測する。より具体的には膝角度計測部２は、膝継手Ｃの大腿側に取り付けられた第１膝角度センサ１０と、膝継手Ｃの下腿側に取り付けられた第２膝角度センサ１２とを備える。第１膝角度センサ１０と第２膝角度センサ１２は、関節軸Ｘを上下に挟んで配置される。本実施形態では、第１膝角度センサ１０と第２膝角度センサ１２をそれぞれ膝継手Ｃの関節軸Ｘを挟んで配置している。第１膝角度センサ１０と第２膝角度センサ１２を配置する位置としては、関節軸Ｘを挟んでそれぞれ大腿側と下腿側にすればよい。したがって第１膝角度センサ１０を膝継手Ｃにおける関節軸Ｘよりも上側の部分、又は例えばをソケットＳのような膝継手Ｃよりも上側にある義足の部分に配置してもよい。また、第２膝角度センサ１２を膝継手Ｃにおける関節軸Ｘよりも下側の部分、又は足部Ｌのような膝継手Ｃよりも下側にある義足の部分に配置してもよい。 As shown in FIGS. 1 and 2, the gait index output device 1 includes a knee angle measurement unit 2 as a measurement unit, a calculation unit 4, and an output unit 6. The knee angle measuring unit 2 is attached near the knee joint and measures the angle of the wearer's knee. More specifically, the knee angle measuring unit 2 includes a first knee angle sensor 10 attached to the thigh side of the knee joint C and a second knee angle sensor 12 attached to the lower leg side of the knee joint C. The first knee angle sensor 10 and the second knee angle sensor 12 are arranged so as to sandwich the joint axis X vertically. In the present embodiment, the first knee angle sensor 10 and the second knee angle sensor 12 are arranged so as to sandwich the joint axis X of the knee joint C, respectively. The first knee angle sensor 10 and the second knee angle sensor 12 may be arranged on the thigh side and the lower leg side with the joint axis X in between. Therefore, the first knee angle sensor 10 may be arranged in the portion of the knee joint C above the joint axis X, or, for example, in the portion of the artificial leg above the knee joint C such as the socket S. Further, the second knee angle sensor 12 may be arranged in a portion of the knee joint C below the joint axis X, or in a portion of the artificial leg below the knee joint C such as the foot portion L.

第１膝角度センサ１０及び第２膝角度センサ１２は、例えば加速度センサ、ジャイロ、又は慣性計測装置（ＩＭＵ）のような慣性センサを用いることができる。慣性センサは、ロール、ピッチ、及びヨー角を検出可能な３軸慣性センサであることが好ましい。第１膝角度センサ１０及び第２膝角度センサ１２として３軸慣性センサを用いる場合、第１膝角度センサ１０はヨー軸が大腿の長手方向軸に沿うように配置される。またこの場合、第２膝角度センサ１２はヨー軸が下腿の長手方向軸に沿うように配置される。第１膝角度センサ１０及び第２膝角度センサ１２は、装着者が歩行しているときにオイラー角又はクォータニオンのような三次元直交座標系における回転量を計測する。計測結果は算出部４に供給される。 As the first knee angle sensor 10 and the second knee angle sensor 12, an inertial sensor such as an acceleration sensor, a gyro, or an inertial measurement unit (IMU) can be used. The inertial sensor is preferably a triaxial inertial sensor capable of detecting roll, pitch, and yaw angles. When a 3-axis inertial sensor is used as the first knee angle sensor 10 and the second knee angle sensor 12, the first knee angle sensor 10 is arranged so that the yaw axis is along the longitudinal axis of the thigh. In this case, the second knee angle sensor 12 is arranged so that the yaw axis is along the longitudinal axis of the lower leg. The first knee angle sensor 10 and the second knee angle sensor 12 measure the amount of rotation in a three-dimensional Cartesian coordinate system such as Euler angles or quaternions when the wearer is walking. The measurement result is supplied to the calculation unit 4.

算出部４は、膝角度計測部２の計測結果に基づいて歩容に関する指標を算出する。計測部として膝角度計測部２を用いる例では、算出部４は膝角度計測部２の第１膝角度センサ１０と第２膝角度センサ１２との計測結果に基づいて装着者の膝の屈曲角度を算出する。算出部４は、ＭＰＵのような演算素子によって形成されており、第１膝角度センサ１０及び第２膝角度センサ１２から供給された計測結果に基づいて第１膝角度センサ１０及び第２膝角度センサ１２の相対角度を算出する。第１膝角度センサ１０及び第２膝角度センサ１２の相対角度を算出する方法としては、例えば三次元直交座標系で得られた計測結果を絶対座標系に変換し、得られた絶対座標系から内積の公式を用いて第１膝角度センサ１０と第２膝角度センサ１２のヨー軸の相対角度を算出する方法がある。 The calculation unit 4 calculates an index related to gait based on the measurement result of the knee angle measurement unit 2. In the example in which the knee angle measuring unit 2 is used as the measuring unit, the calculating unit 4 determines the flexion angle of the wearer's knee based on the measurement results of the first knee angle sensor 10 and the second knee angle sensor 12 of the knee angle measuring unit 2. Is calculated. The calculation unit 4 is formed by an arithmetic element such as an MPU, and the first knee angle sensor 10 and the second knee angle are based on the measurement results supplied from the first knee angle sensor 10 and the second knee angle sensor 12. The relative angle of the sensor 12 is calculated. As a method of calculating the relative angle of the first knee angle sensor 10 and the second knee angle sensor 12, for example, the measurement result obtained in the three-dimensional Cartesian coordinate system is converted into the absolute coordinate system, and the obtained absolute coordinate system is used. There is a method of calculating the relative angle of the yaw axis of the first knee angle sensor 10 and the second knee angle sensor 12 using the formula of the inner product.

なお、上記の膝角度の算出方法は一例であり、大腿部と下腿部との相対角度を算出できればあらゆる計測手段及び算出手法を用いることができる。 The above-mentioned knee angle calculation method is an example, and any measuring means and calculation method can be used as long as the relative angle between the thigh and the lower leg can be calculated.

出力部６は算出部４で算出した膝の角度に応じた合図の出力を行う。より具体的には出力部６は、歩容指標出力装置１の装着者に対して膝の角度に応じた歩容に関する指標をフィードバックする。一例として出力部６は歩容指標出力装置１に設けられたスピーカー１４である。この場合出力部６は膝角度に応じて装着者の聴覚で認識可能な合図を出力する。聴覚で認識可能な合図としては例えば音の大きさの大小又は音のピッチがある。出力部６は、例えば膝の角度が大きくなるにつれて音の大きさを漸増させたり、小間切れ音のピッチを短くしたりすることで装着者に膝の角度を知らせる。また、出力部６として装着者が耳に装着できるイヤホンを用いてもよい。 The output unit 6 outputs a signal according to the knee angle calculated by the calculation unit 4. More specifically, the output unit 6 feeds back an index related to the gait according to the angle of the knee to the wearer of the gait index output device 1. As an example, the output unit 6 is a speaker 14 provided in the gait index output device 1. In this case, the output unit 6 outputs a signal recognizable by the wearer's hearing according to the knee angle. Auditory recognizable cues include, for example, loudness or pitch. The output unit 6 informs the wearer of the knee angle by, for example, gradually increasing the loudness of the sound or shortening the pitch of the booth sound as the knee angle increases. Further, as the output unit 6, an earphone that the wearer can wear on the ear may be used.

また出力部６としてバイブレーション機能付きのウェアブル端末を用いることで装着者の触覚で認識可能な合図を送ることができる。この場合、出力部６を歩容指標出力装置１と一体とし、歩容指標出力装置１に振動を発生させて装着者の触覚に合図を送ってもよい。また出力部６として画像表示部付きの携帯端末を用いることで装着者の視覚で認識可能な合図を送ることができる。出力部６として聴覚又は視覚で認識可能な合図を出力する場合、歩容指標出力装置１の付近にて聴覚又は視覚で合図を認識するのは困難な場合がある。したがってこのような場合には、出力部６を別体の携帯端末とし、視覚又は聴覚で合図を認識し易くしてもよい。 Further, by using a wearable terminal with a vibration function as the output unit 6, it is possible to send a signal recognizable by the wearer's sense of touch. In this case, the output unit 6 may be integrated with the gait index output device 1 to generate vibration in the gait index output device 1 to send a signal to the tactile sensation of the wearer. Further, by using a mobile terminal with an image display unit as the output unit 6, it is possible to send a signal that can be visually recognized by the wearer. When the output unit 6 outputs a signal that can be recognized audibly or visually, it may be difficult to recognize the signal audibly or visually in the vicinity of the gait index output device 1. Therefore, in such a case, the output unit 6 may be used as a separate mobile terminal so that the signal can be easily recognized visually or audibly.

また出力部６が歩容指標出力装置１とは別体の携帯端末等で実現される場合、通信部８を用いて歩容指標出力装置１と出力部６との間で情報の送受信を行ってもよい。具体的には、出力部６は、Ｗｉ−Ｆｉ又はＢｌｕｅｔｏｏｔｈ（登録商標）のような無線通信を介して歩容指標出力装置１と通信し、歩容指標出力装置１から算出部４の算出結果、又は算出結果に基づく出力に関する信号を受信する。出力部６は、受信した信号に基づいて合図を作成し、装着者に合図を出力する。 When the output unit 6 is realized by a mobile terminal or the like separate from the gait index output device 1, information is transmitted and received between the gait index output device 1 and the output unit 6 by using the communication unit 8. You may. Specifically, the output unit 6 communicates with the gait index output device 1 via wireless communication such as Wi-Fi or Bluetooth (registered trademark), and the calculation result of the gait index output device 1 to the calculation unit 4 , Or receive a signal regarding the output based on the calculation result. The output unit 6 creates a signal based on the received signal and outputs the signal to the wearer.

装着者に膝の角度をフィードバックすることにより、装着者に対して自身の歩容を知らせることができる。装着者はリアルタイムで自身の歩容を知ることができる。これにより装着者は歩行しながら自身の歩容をリアルタイムで修正できる。 By feeding back the knee angle to the wearer, the wearer can be informed of his / her gait. The wearer can know his / her gait in real time. As a result, the wearer can correct his / her gait in real time while walking.

また、歩容指標出力装置１は第２の計測部としての体幹計測部１６を備えていてもよい。体幹計測部１６は例えば加速度センサ、ジャイロ、又は慣性計測装置（ＩＭＵ）のような慣性センサを備えている。体幹計測部１６の慣性センサは、ロール、ピッチ、及びヨー角を検出可能な３軸慣性センサであることが好ましい。体幹計測部１６はバンド等を用いて例えば歩容指標出力装置１の装着者の腹又は背中の幅方向中央付近に取り付けられる。体幹計測部１６は装着者の体幹の上下動、及び揺動の少なくともいずれか一方を計測する。体幹計測部１６の計測結果は、算出部４に供給される。 Further, the gait index output device 1 may include a trunk measurement unit 16 as a second measurement unit. The trunk measuring unit 16 includes an inertial sensor such as an acceleration sensor, a gyro, or an inertial measurement unit (IMU). The inertial sensor of the trunk measuring unit 16 is preferably a three-axis inertial sensor capable of detecting roll, pitch, and yaw angle. The trunk measuring unit 16 is attached to the abdomen of the wearer of the gait index output device 1 or near the center of the back in the width direction by using a band or the like. The trunk measuring unit 16 measures at least one of the vertical movement and the swing of the wearer's trunk. The measurement result of the trunk measurement unit 16 is supplied to the calculation unit 4.

算出部４は、体幹計測部１６から供給された計測結果に基づいて体幹の上下動の有無、及び体幹の揺動の有無の少なくともいずれか一方を算出する。出力部６は算出部４で算出した体幹の上下動の有無及び揺動の有無の少なくともいずれか一方に応じた出力を行う。例えば出力部６としてスピーカー１４を用いる場合、体幹の上下動の有無を示す高音と、体幹の揺動の有無を示す低音を用いることができる。体幹の上下動がある場合に高音を大きくしたり、体幹の揺動がある場合に低音を大きくしたりする制御を行うことができる。 The calculation unit 4 calculates at least one of the presence / absence of vertical movement of the trunk and the presence / absence of swing of the trunk based on the measurement result supplied from the trunk measurement unit 16. The output unit 6 outputs according to at least one of the presence / absence of vertical movement and the presence / absence of swing of the trunk calculated by the calculation unit 4. For example, when the speaker 14 is used as the output unit 6, high-pitched sound indicating the presence or absence of vertical movement of the trunk and low-pitched sound indicating the presence or absence of swinging of the trunk can be used. It is possible to control to increase the treble when the trunk moves up and down, and to increase the bass when the trunk swings.

また算出部４は膝の角度と体幹の上下動及び揺動との総合値を算出してもよい。総合値は、例えば膝の角度の評価、及び体幹の上下動及び揺動の評価を点数付けし、それらの平均点を１つの値として算出する。この場合出力部６は、総合評価に基づいた出力を行う。なお、総合値は膝の角度と体幹の上下動及び揺動との総合値に限らず、歩容に関する指標のあらゆる総合値を算出してもよい。 Further, the calculation unit 4 may calculate the total value of the knee angle and the vertical movement and swing of the trunk. The total value is calculated by scoring, for example, the evaluation of the knee angle and the evaluation of the vertical movement and swing of the trunk, and the average score thereof is used as one value. In this case, the output unit 6 outputs based on the comprehensive evaluation. The total value is not limited to the total value of the knee angle and the vertical movement and swing of the trunk, and any total value of the gait-related index may be calculated.

以上のように歩容指標出力装置１によれば、歩容を装着者に対してリアルタイムでフィードバックできる。また歩容指標出力装置１はセンサの種類が少なく必要な情報だけ計測し、それをフィードバックするものであるから簡潔で小型な構造とすることができる。したがって例えば義足の歩行練習を行うに際してリハビリ施設の測定器等を用いずに、自身の歩容の客観的な判断情報を得られる。装着者にリアルタイムで客観的な情報をフィードバックすることにより、装着者は他者の補助を受けることなく歩きながら自身の歩容を改善できるようになる。 As described above, according to the gait index output device 1, the gait can be fed back to the wearer in real time. Further, since the gait index output device 1 has few types of sensors, measures only necessary information, and feeds it back, a simple and compact structure can be obtained. Therefore, for example, when practicing walking of an artificial leg, objective judgment information of one's own gait can be obtained without using a measuring instrument of a rehabilitation facility or the like. By feeding back objective information to the wearer in real time, the wearer can improve his / her gait while walking without the assistance of others.

また、歩容指標出力装置１は、選択的に通信部８を備えてもよい。通信部８は、歩容指標出力装置１で得られた情報を外部装置に送信したり、必要な場合には外部装置から送られた情報を受信したりする無線通信部として機能する。通信部８は、Ｗｉ−Ｆｉ又はＢｌｕｅｔｏｏｔｈ（登録商標）のような無線通信を用いるものであってもよいしケーブル等による有線通信を用いるものであってもよい。 Further, the gait index output device 1 may selectively include the communication unit 8. The communication unit 8 functions as a wireless communication unit that transmits the information obtained by the gait index output device 1 to the external device and, if necessary, receives the information sent from the external device. The communication unit 8 may use wireless communication such as Wi-Fi or Bluetooth (registered trademark), or may use wired communication using a cable or the like.

なお、歩容指標出力装置１は、装着者の歩行時の膝関節角度、又は体幹上下動若しくは揺動の有無に代えて接地衝撃力、歩幅、又は歩調を出力してもよい。例えば接地衝撃力を算出する場合、算出部４は慣性センサの鉛直加速度から鉛直床反力を算出する。鉛直床反力は、慣性力の総和に基づいて算出される。接地衝撃力は、鉛直床反力の相加平均と加速度出力に基づいて算出できる。 The gait index output device 1 may output the ground contact impact force, stride length, or pace instead of the knee joint angle of the wearer during walking, or the presence or absence of vertical or rocking of the trunk. For example, when calculating the ground contact impact force, the calculation unit 4 calculates the vertical floor reaction force from the vertical acceleration of the inertial sensor. The vertical floor reaction force is calculated based on the sum of the inertial forces. The ground contact impact force can be calculated based on the arithmetic mean of the vertical floor reaction force and the acceleration output.

次に歩容指標情報収集システムについて説明する。図３は歩容指標情報収集システムのブロック図である。歩容指標情報収集システムは、被測定対象装置としての１つ以上の歩容指標出力装置１と、サーバー２０とを備える。 Next, the gait index information collection system will be described. FIG. 3 is a block diagram of the gait index information collection system. The gait index information collecting system includes one or more gait index output devices 1 and a server 20 as devices to be measured.

被測定対象装置としての１つ以上の歩容指標出力装置１は、上述した歩容指標出力装置である。歩容指標出力装置１は、通信部８を用いて膝角度計測部２若しくは体幹計測部１６で得られた計測結果、及び算出部４で得られた算出結果の少なくともいずれか一つをサーバー２０に送信する。 One or more gait index output devices 1 as the devices to be measured are the above-mentioned gait index output devices. The gait index output device 1 uses the communication unit 8 to server at least one of the measurement results obtained by the knee angle measurement unit 2 or the trunk measurement unit 16 and the calculation results obtained by the calculation unit 4. Send to 20.

サーバー２０は、歩容指標出力装置１から送信された情報を、通信部２４を通じて受信して記録部２２に記録する。記録部２２は、歩容指標出力装置１毎に膝角度計測部２における計測結果、及び算出部４における算出結果の少なくともいずれか１つを記録する。サーバー２０は例えばリハビリ施設からアクセス可能となっており、リハビリ担当者が歩容指標出力装置１の装着者の歩容に関する情報を逐次入手可能できるようになっている。 The server 20 receives the information transmitted from the gait index output device 1 through the communication unit 24 and records it in the recording unit 22. The recording unit 22 records at least one of the measurement result of the knee angle measurement unit 2 and the calculation result of the calculation unit 4 for each gait index output device 1. The server 20 can be accessed from, for example, a rehabilitation facility, so that the person in charge of rehabilitation can sequentially obtain information on the gait of the wearer of the gait index output device 1.

また、歩容指標情報収集システムは改善度算出部２６を備えていてもよい。この場合記録部２２は、図４に示すように歩容指標出力装置から送られてくる情報を歩容指標出力装置毎に時系列で記録する。改善度算出部２６は記録部２２に記録された情報に基づいて改善度を算出する。改善度としては、例えば前回の計測時と今回の計測時の計測結果の変化量がある。改善度を算出することにより、例えば前回の計測時には一歩毎に膝角度が大幅に変化していたのに対して今回の計測時には膝角度の変化量が少なくなった等の歩容の改善具合を得られる。この情報はリハビリ担当者がアクセス可能な情報として管理してもよいし、遠隔地から歩容指標出力装置１の装着者がアクセス可能な情報として管理してもよい。また歩容指標出力装置１が画像表示部を備えている場合には、サーバー２０の通信部２４を介して改善度を歩容指標出力装置１に送信してもよい。 Further, the gait index information collecting system may include an improvement degree calculation unit 26. In this case, the recording unit 22 records the information sent from the gait index output device in chronological order for each gait index output device as shown in FIG. The improvement degree calculation unit 26 calculates the improvement degree based on the information recorded in the recording unit 22. The degree of improvement includes, for example, the amount of change in the measurement result between the previous measurement and the current measurement. By calculating the degree of improvement, for example, the degree of improvement in gait such as the amount of change in the knee angle decreased during the current measurement, while the knee angle changed significantly with each step during the previous measurement. can get. This information may be managed as information accessible to the person in charge of rehabilitation, or may be managed as information accessible to the wearer of the gait index output device 1 from a remote location. When the gait index output device 1 includes an image display unit, the degree of improvement may be transmitted to the gait index output device 1 via the communication unit 24 of the server 20.

次に歩容指標出力システムについて説明する。図５は歩容指標出力システムのブロック図である。歩容指標出力システムは、少なくとも１つ以上の被測定対象装置としての歩容指標出力装置３０と、サーバー３２とを備える。 Next, the gait index output system will be described. FIG. 5 is a block diagram of the gait index output system. The gait index output system includes at least one gait index output device 30 as a device to be measured and a server 32.

歩容指標出力装置３０は、歩容指標出力装置１とほぼ同一の構成を有しているが、算出部を備えていない点において異なる。歩容指標出力装置３０は膝角度計測部２のような計測部の計測結果を、通信部８を介してサーバーに送信する。 The gait index output device 30 has substantially the same configuration as the gait index output device 1, but is different in that it does not include a calculation unit. The gait index output device 30 transmits the measurement result of the measurement unit such as the knee angle measurement unit 2 to the server via the communication unit 8.

サーバー３２は算出部３４とシステム出力部としての通信部３６とを備えている。サーバー３２の算出部３４は、上述した歩容指標出力装置１の算出部４と同様の構成を有しており膝角度計測部２の計測結果に基づいて歩容に関する指標を算出する。また、算出部３４は、２つ以上の歩容の指標の総合値を算出してもよい。算出部３４で算出された結果は、通信部３６を介して対応する歩容指標出力装置３０に送り返される。 The server 32 includes a calculation unit 34 and a communication unit 36 as a system output unit. The calculation unit 34 of the server 32 has the same configuration as the calculation unit 4 of the gait index output device 1 described above, and calculates an index related to gait based on the measurement result of the knee angle measurement unit 2. In addition, the calculation unit 34 may calculate the total value of two or more gait indexes. The result calculated by the calculation unit 34 is sent back to the corresponding gait index output device 30 via the communication unit 36.

このように歩容の指標をサーバー３２側で算出してもよい。 In this way, the gait index may be calculated on the server 32 side.

図６は歩容指標出力システムの変形例のブロック図である。歩容指標出力システムは、少なくとも１つ以上の被測定対象装置としての歩容指標出力装置１と、サーバー４０とを備える。 FIG. 6 is a block diagram of a modified example of the gait index output system. The gait index output system includes at least one gait index output device 1 as a device to be measured and a server 40.

歩容指標出力装置１は、歩容指標出力装置と同一の構成を有している。歩容指標出力装置１は算出部４で算出された歩容に関する指標を、通信部８を介してサーバー４０に送信する。 The gait index output device 1 has the same configuration as the gait index output device. The gait index output device 1 transmits an index related to the gait calculated by the calculation unit 4 to the server 40 via the communication unit 8.

サーバー４０は歩容に関する指標を比較する比較部４２を備える。比較部４２は、複数の歩容指標出力装置１から送信された歩容に関する指標を比較する。歩容に関する指標を比較することにより、装着者毎の歩容に関する指標をランク付けできる。比較結果は、サーバー４０の通信部４４を介して全ての歩容指標出力装置１に出力される。これにより装着者は、自身の歩容に関する指標が他の装着者の歩容に関する指標と比べてどの程度、良いのかを客観的に認識できる。 The server 40 includes a comparison unit 42 for comparing indicators related to gait. The comparison unit 42 compares the indexes related to the gait transmitted from the plurality of gait index output devices 1. By comparing the gait-related indexes, the gait-related indexes for each wearer can be ranked. The comparison result is output to all gait index output devices 1 via the communication unit 44 of the server 40. As a result, the wearer can objectively recognize how good the index related to his / her gait is compared with the index related to the gait of other wearers.

また、１人の装着者が義足と健常足の両方にそれぞれ歩容指標出力装置１を着用している場合には、２つの歩容指標出力装置１からサーバー４０に算出結果を送ってもよい。この場合、比較部４２は２つの算出結果を比較し比較結果を装着者に返信する。これにより装着者は義足と健常足の歩容の違いを客観的に知ることができ、より歩容の改善効果を向上させることができる。 Further, when one wearer wears the gait index output device 1 on both the artificial leg and the healthy foot, the calculation result may be sent from the two gait index output devices 1 to the server 40. .. In this case, the comparison unit 42 compares the two calculation results and returns the comparison result to the wearer. As a result, the wearer can objectively know the difference in gait between the artificial foot and the healthy foot, and can further improve the effect of improving the gait.

上述した実施形態は、本発明の一例を示すものであり本発明はこれら実施形態に限定されるものではない。実施形態の各構成は、本発明の趣旨を逸脱しない範囲で適宜変更可能である。 The above-described embodiments show an example of the present invention, and the present invention is not limited to these embodiments. Each configuration of the embodiment can be appropriately changed without departing from the spirit of the present invention.

上述の例では、義足の着用者が歩容指標出力装置１を装着することとしたが健常者が歩容指標出力装置１を着用してもよい。図７は変形例による歩容指標出力装置１０１の概略構成図である。 In the above example, the wearer of the artificial leg is supposed to wear the gait index output device 1, but a healthy person may wear the gait index output device 1. FIG. 7 is a schematic configuration diagram of the gait index output device 101 according to a modified example.

図７に示すように歩容指標出力装置１０１の計測部としての膝角度計測部１０２は、関節軸Ｘの上側にある大腿側に取り付けられた第１膝角度センサ１１０と、関節軸Ｘの下側にある下腿側に取り付けられた第２膝角度センサ１１２とを備える。第１膝角度センサ１１０は大腿に巻き付けるストラップにより大腿に取り付けられる。第１膝角度センサ１１０を取り付ける位置は、関節Ｘよりも上側の位置であればどこでもよい。また第２膝角度センサ１１２は下腿に巻き付けるストラップにより下腿に取り付けられる。第２膝角度センサ１１２を取り付ける位置は、関節軸Ｘよりも下側の位置であればどこでもよい。なお、各々の足に歩容指標出力装置１０１を着用し、２つの歩容指標出力装置１０１の出力結果を比較してもよい。 As shown in FIG. 7, the knee angle measuring unit 102 as a measuring unit of the gait index output device 101 has a first knee angle sensor 110 attached to the thigh side above the joint axis X and below the joint axis X. It is provided with a second knee angle sensor 112 attached to the lower leg side on the side. The first knee angle sensor 110 is attached to the thigh by a strap that wraps around the thigh. The position where the first knee angle sensor 110 is attached may be any position above the joint X. The second knee angle sensor 112 is attached to the lower leg by a strap that is wrapped around the lower leg. The position where the second knee angle sensor 112 is attached may be any position below the joint axis X. A gait index output device 101 may be worn on each foot, and the output results of the two gait index output devices 101 may be compared.

このように健常者が歩容指標出力装置１０１を使用して、自身の歩容の改善を図ってもよい。 In this way, a healthy person may use the gait index output device 101 to improve his / her gait.

実施形態を一般化すると以下の態様を導き出すことができる。 The following aspects can be derived by generalizing the embodiments.

〔態様１〕
足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測する計測部と、
計測部の計測値に基づいて歩容に関する指標を算出する算出部と、
算出部で算出した歩容に関する指標に応じた合図の出力を行う出力部とを備える歩容指標出力装置。
〔態様２〕
前記計測部は前記計測部を備えた足の膝関節の角度を計測する膝角度センサであり、
前記算出部は歩容に関する指標として前記膝関節の角度を算出する
態様１に記載の歩容指標出力装置。
〔態様３〕
前記計測部は前記足の関節の前記一方の部位に設置される第１の加速度センサと前記他方の部位に設置される第２の加速度センサとからなり、
前記算出部は歩容に関する指標として前記計測部を備えた膝関節の角度及び接地衝撃力の少なくとも何れか一方を算出する
態様１に記載の歩容指標出力装置。
〔態様４〕
前記計測部の装着者が装着して前記装着者の体幹の上下方向の加速度及び幅方向の加速度の少なくとも何れか一方を測定する体幹計測部を備え、
前記算出部は前記体幹計測部の計測値に基づいて歩容に関する指標として体幹の上下動及び体幹の揺動の少なくとも何れか一方を算出する態様１乃至３のいずれか１項に記載の歩容指標出力装置。
〔態様５〕
前記出力部は前記装着者の視覚、聴覚、又は触覚の少なくとも何れか一つで認識可能な合図を出力する、態様１乃至４のいずれか１項に記載の歩容指標出力装置。
〔態様６〕
前記算出部は歩容に関する指標として膝関節角度、接地衝撃力、体幹上下動又は揺動の有無、歩幅、及び歩調のいずれかの組合せの総合評価を算出する態様１に記載の歩容指標出力装置。
〔態様７〕
前記計測部の計測値に応じた情報及び前記算出部が算出した歩容に関する指標に応じた情報の少なくとも何れか一方を外部に送信する無線送信部を備える態様１乃至５のいずれか１項に記載の歩容指標出力装置。
〔態様８〕
義足の膝継手の膝関節を挟んで膝継手の大腿側と膝継手の下腿側との相対的な位置関係を計測する計測部と、
計測部の計測値に基づいて前記膝継手の屈曲角度を算出する算出部と、
算出部で算出した膝関節の角度に応じた合図の出力を行う出力部とを備える歩容指標出力装置。
〔態様９〕
足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測するステップと、
前記計測するステップにおける計測値に基づいて歩容に関する指標を算出するステップと、
前記算出するステップで算出した歩容に関する指標に応じた合図の出力を行うステップとを備える歩容指標出力方法。
〔態様１０〕
足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測する計測部と、
計測部の計測値に基づいて歩容に関する指標を算出する算出部と、
前記計測部の計測値に応じた情報及び前記算出部が算出した歩容に関する指標に応じた情報の少なくとも何れか一方を外部に送信する無線送信部と、
算出部で算出した歩容に関する指標に応じた合図の出力を行う出力部とを含む１つ以上の被測定対象装置と、
前記１つ以上の被測定対象装置で算出された歩容に関する指標を記録する記録部とを備える歩容指標情報収集システム。
〔態様１１〕
前記記録部は前記１つ以上の被測定対象装置毎に前記歩容の態様に関する指標を時系列で記録する、態様１０に記載の歩容指標情報収集システム。
〔態様１２〕
時系列で記録された前記歩容の態様に関する指標に基づいて歩容の態様の改善度を算出する改善度算出部を備える、態様１１に記載の歩容指標情報収集システム。
〔態様１３〕
足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測する計測部を含む複数の被測定対象装置と、
それぞれの被測定対象装置の前記計測部の計測値に基づいて歩容に関する指標をそれぞれ算出するシステム算出部と、
前記システム算出部で算出したそれぞれの前記歩容に関する指標に応じた出力、及び前記歩容に関する指標の総合評価の結果に応じた出力の少なくともいずれか一方を行うシステム出力部とを備える歩容指標出力システム。
〔態様１４〕
足の関節を挟んで一方の部位と他方の部位との相対的な位置関係を計測する計測部と、
計測部の計測値に基づいて歩容に関する指標を算出する算出部と、
前記計測部の計測値に応じた情報及び前記算出部が算出した歩容に関する指標に応じた情報の少なくとも何れか一方を外部に送信する無線送信部と、
算出部で算出した歩容に関する指標に応じた合図の出力を行う出力部とを含む１つ以上の被測定対象装置と、
前記１つ以上の被測定対象装置のうち、１つの被測定対象装置で算出された歩容に関する指標と、他の被測定対象装置で算出された歩容に関する指標とを比較する比較部とを備える歩容指標比較システム。
〔態様１５〕
前記比較部は、比較結果を前記１つの被測定対象装置、及び前記他の被測定対象装置の少なくともいずれか一方に送信する送信部を備える態様１４に記載の歩容指標比較システム。 [Aspect 1]
A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A gait index output device including an output unit that outputs a signal according to an index related to the gait calculated by the calculation unit.
[Aspect 2]
The measuring unit is a knee angle sensor that measures the angle of the knee joint of the foot provided with the measuring unit.
The gait index output device according to the first aspect, wherein the calculation unit calculates the angle of the knee joint as an index related to the gait.
[Aspect 3]
The measuring unit includes a first acceleration sensor installed at the one portion of the foot joint and a second acceleration sensor installed at the other portion.
The gait index output device according to the first aspect, wherein the calculation unit calculates at least one of the angle of the knee joint and the ground contact impact force provided with the measurement unit as an index related to the gait.
[Aspect 4]
A trunk measuring unit that is worn by the wearer of the measuring unit and measures at least one of the vertical acceleration and the widthwise acceleration of the wearer's trunk is provided.
The calculation unit is described in any one of aspects 1 to 3 for calculating at least one of vertical movement of the trunk and swing of the trunk as an index related to gait based on the measured values of the trunk measurement unit. Gait index output device.
[Aspect 5]
The gait index output device according to any one of aspects 1 to 4, wherein the output unit outputs a signal that can be recognized by at least one of the wearer's visual, auditory, and tactile senses.
[Aspect 6]
The gait index according to the first aspect, wherein the calculation unit calculates a comprehensive evaluation of any combination of knee joint angle, ground contact impact force, trunk vertical movement or swing, stride length, and gait as an index related to gait. Output device.
[Aspect 7]
The item according to any one of aspects 1 to 5, further comprising a wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside. The described gait index output device.
[Aspect 8]
A measuring unit that measures the relative positional relationship between the thigh side of the knee joint and the lower leg side of the knee joint across the knee joint of the knee joint of the artificial leg.
A calculation unit that calculates the flexion angle of the knee joint based on the measurement value of the measurement unit, and a calculation unit.
A gait index output device including an output unit that outputs a signal according to the angle of the knee joint calculated by the calculation unit.
[Aspect 9]
The step of measuring the relative positional relationship between one part and the other part across the joint of the foot,
A step of calculating an index related to gait based on the measured value in the step of measuring, and a step of calculating an index related to gait.
A gait index output method including a step of outputting a signal according to an index related to the gait calculated in the step of calculating the gait.
[Aspect 10]
A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside.
One or more devices to be measured, including an output unit that outputs a signal according to an index related to gait calculated by the calculation unit, and a device to be measured.
A gait index information collecting system including a recording unit for recording an index related to a gait calculated by the one or more devices to be measured.
[Aspect 11]
The gait index information collecting system according to aspect 10, wherein the recording unit records an index related to the gait mode for each one or more devices to be measured in chronological order.
[Aspect 12]
The gait index information collecting system according to aspect 11, further comprising an improvement degree calculation unit that calculates an improvement degree of the gait aspect based on the index relating to the gait aspect recorded in time series.
[Aspect 13]
A plurality of devices to be measured including a measurement unit that measures the relative positional relationship between one part and the other part across the joint of the foot.
A system calculation unit that calculates an index related to gait based on the measurement value of the measurement unit of each device to be measured, and a system calculation unit.
A gait index including an output corresponding to each index related to the gait calculated by the system calculation unit and a system output unit that performs at least one of the outputs according to the result of the comprehensive evaluation of the index related to the gait. Output system.
[Aspect 14]
A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside.
One or more devices to be measured, including an output unit that outputs a signal according to an index related to gait calculated by the calculation unit, and a device to be measured.
Among the one or more devices to be measured, a comparison unit that compares an index related to gait calculated by one device to be measured with an index related to gait calculated by another device to be measured. A gait index comparison system to prepare.
[Aspect 15]
The gait index comparison system according to aspect 14, wherein the comparison unit includes a transmission unit that transmits a comparison result to at least one of the one device to be measured and the other device to be measured.

１歩容指標出力装置、４算出部、６出力部、２２記録部、２６改善度算出部、３０歩容指標出力装置、３４算出部、４２比較部 1 Gait index output device, 4 Calculation unit, 6 Output unit, 22 Recording unit, 26 Improvement degree calculation unit, 30 Gait index output device, 34 Calculation unit, 42 Comparison unit

Claims

A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A gait index output device including an output unit that outputs a signal according to an index related to the gait calculated by the calculation unit.

The measuring unit is a knee angle sensor that measures the angle of the knee joint of the foot provided with the measuring unit.
The gait index output device according to claim 1, wherein the calculation unit calculates the angle of the knee joint as an index related to the gait.

The measuring unit includes a first acceleration sensor installed at the one portion of the foot joint and a second acceleration sensor installed at the other portion.
The gait index output device according to claim 1, wherein the calculation unit calculates at least one of the angle of the knee joint provided with the measurement unit and the ground contact impact force as an index related to the gait.

A trunk measuring unit that is worn by the wearer of the measuring unit and measures at least one of the vertical acceleration and the widthwise acceleration of the wearer's trunk is provided.
According to any one of claims 1 to 3, the calculation unit calculates at least one of the vertical movement of the trunk and the swing of the trunk as an index related to gait based on the measured value of the trunk measurement unit. The described gait index output device.

The gait index output device according to any one of claims 1 to 4, wherein the output unit outputs a signal that can be recognized by at least one of the wearer's visual, auditory, and tactile senses.

The gait according to claim 1, wherein the calculation unit calculates a comprehensive evaluation of any combination of knee joint angle, ground contact impact force, presence / absence of trunk vertical movement or swing, stride length, and gait as an index related to gait. Index output device.

Any one of claims 1 to 5 including a wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside. The gait index output device described in the section.

A measuring unit that measures the relative positional relationship between the thigh side of the knee joint and the lower leg side of the knee joint across the knee joint of the knee joint of the artificial leg.
A calculation unit that calculates the flexion angle of the knee joint based on the measurement value of the measurement unit, and a calculation unit.
A gait index output device including an output unit that outputs a signal according to the angle of the knee joint calculated by the calculation unit.

The step of measuring the relative positional relationship between one part and the other part across the joint of the foot,
A step of calculating an index related to gait based on the measured value in the step of measuring, and a step of calculating an index related to gait.
A gait index output method including a step of outputting a signal according to an index related to the gait calculated in the step of calculating the gait.

A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside.
One or more devices to be measured, including an output unit that outputs a signal according to an index related to gait calculated by the calculation unit, and a device to be measured.
A gait index information collecting system including a recording unit for recording an index related to a gait calculated by the one or more devices to be measured.

The gait index information collecting system according to claim 10, wherein the recording unit records an index related to the gait in chronological order for each one or more devices to be measured.

The gait index information collecting system according to claim 11, further comprising an improvement degree calculation unit that calculates a gait improvement degree based on an index relating to the gait mode recorded in time series.

A plurality of devices to be measured including a measurement unit that measures the relative positional relationship between one part and the other part across the joint of the foot.
A system calculation unit that calculates an index related to the gait mode based on the measurement value of the measurement unit of each device to be measured, and a system calculation unit.
A step including a system output unit that performs at least one of an output according to an index related to each gait mode calculated by the system calculation unit and an output according to the result of comprehensive evaluation of the index related to the gait. Gait index output system.

A measuring unit that measures the relative positional relationship between one part and the other part across the joint of the foot,
A calculation unit that calculates an index related to gait based on the measurement value of the measurement unit,
A wireless transmission unit that transmits at least one of information according to the measured value of the measurement unit and information according to the index related to the gait calculated by the calculation unit to the outside.
One or more devices to be measured, including an output unit that outputs a signal according to an index related to gait calculated by the calculation unit, and a device to be measured.
Among the one or more devices to be measured, a comparison unit that compares an index related to gait calculated by one device to be measured with an index related to gait calculated by another device to be measured. A gait index comparison system to prepare.

The gait index comparison system according to claim 14, wherein the comparison unit includes a transmission unit that transmits a comparison result to at least one of the one device to be measured and the other device to be measured.