JP4512703B2 - Rehabilitation posture monitoring method and rehabilitation posture monitor - Google Patents

Description

  The present invention relates to a rehabilitation posture monitoring method and a rehabilitation posture monitor, and in particular, a three-axis accelerometer and a three-axis gyro are provided in a box-shaped body, and each of the three-axis accelerometers and each resolution of the gyro is attached. The present invention relates to a novel improvement for making a small, high-performance and low-cost configuration that varies depending on a target portion.

Conventionally, as this type of rehabilitation posture monitoring method and rehabilitation posture monitor for attachment, motion capture using a camera image is used, and a configuration using an inertial sensor is disclosed in Patent Documents 1 and 2. Is disclosed.
That is, as a motion capture method, as shown in FIG. 11, a large number of markers 51 are attached to the surface of a subject 50 made of a living body to be attached, and each marker 51 is imaged by a video camera 52 from different angular directions. The image data from each video camera 52 is taken into the personal computer 53 and analyzed, whereby the movement of each marker 51 can be captured and the movement of the subject 50 can be obtained fairly accurately.

JP 2002-328134 A JP 2002-263086 A

Since the conventional biological posture monitoring method for rehabilitation and the posture monitoring for rehabilitation are configured as described above, the following problems exist.
In other words, the motion capture method can see the movement of the subject fairly accurately by looking at the marker, but it requires several video cameras and multiple operators, and requires considerable space. The cost of the apparatus is high, and only limited facilities can be used.
Further, the method using the inertial sensor is not sufficient as data for expressing the operation as compared with the motion capture method using the camera image described above, and has not reached the practical level. In addition, since the three-axis accelerometer and gyro were manufactured with the same resolution, depending on the part of the living body, only a part of the body operates, and the others often operate close to saturation. It was useless in terms of cost, increased in size, and was going to go back to space saving.

The rehabilitation posture monitoring method according to the present invention is a rehabilitation method in which a motion of a mounting object is detected using a rehabilitation posture monitor provided on a main body and comprising an X, Y, Z axis accelerometer and an X, Y, Z axis gyro. In the posture monitoring method for use, a plurality of the rehabilitation posture monitors are provided at each part to be attached, and the X, Y, Z-axis accelerometer and the X, Y, Z-axis gyro provided in each of the rehabilitation posture monitors The resolution of the X-, Y-, and Z-axis accelerometers and the X-, Y-, and Z-axis gyros are used in the main body. The X, Y, and Z axis accelerometers and the X, Y, and Z axis gyros are used by being provided in the main body having a box shape as a whole. In the way In the X, Y, and Z axis accelerometers, the resolution of the X and Y axis accelerometers is smaller than the resolution of the Z axis accelerometer, and in the X, Y, and Z axis gyros, The resolution of the X and Y axis gyros is greater than the resolution of the Z axis gyro.
The rehabilitation posture monitor according to the present invention includes a main body having a box shape as a whole, a three-axis X, Y, Z-axis accelerometer and an X, Y, Z-axis gyro provided in the main body. The X, Y, Z-axis accelerometer and the X, Y, Z-axis gyro are configured such that resolutions of acceleration and angular velocity are different from each other on one or more of the three axes, and the main body Is provided with a power supply unit, an X, Y, and Z axis signal processing unit and a longitudinal mounting member, and the X, Y, Z axis accelerometer and X, The Y and Z axis gyros are composed of an electrostatic detection type using a silicon substrate, and among the X, Y and Z axis accelerometers, the resolution of the X and Y axis accelerometers is the Z axis acceleration. Less than the resolution of the meter, and the X and Y axes in the X and Y axis gyros Resolution Yairo is a configuration which is larger than the resolution of the Z-axis gyro.

Since the rehabilitation posture monitoring method and the rehabilitation posture monitor according to the present invention are configured as described above, the following effects can be obtained.
That is, the resolutions of the three-axis accelerometer and the three-axis gyro are varied depending on the size of the movement in the direction of each axis in the attachment target part, and the resolution is large in the part where the movement is large according to the movement of the part. Since an inexpensive accelerometer or gyroscope with poor accuracy is used, and an expensive accelerometer or gyroscope with a small resolution and good accuracy is used for a portion where the movement is smaller than the above, the monitor itself is downsized and inexpensive. can do.
In addition, since the gyroscope and accelerometer are ultra-small and thin using MEMS (Micro Electro Mechanical System) technology manufactured by processing a silicon substrate, it is possible to contribute to miniaturization and thinning of the monitor. When it is attached to a wearable part, it can be attached in a wearable manner.

  In the present invention, the resolutions of the three-axis accelerometer and the three-axis gyro are made different according to the axial movement of the part to be mounted, and the resolution is small in the axial direction that requires little detection and high accuracy. Use an accelerometer or gyro with good accuracy, and use an inexpensive accelerometer or gyro with high resolution and low accuracy in the axial direction where there is a large movement smaller than the above and there is little need for highly accurate detection. The purpose is to make the shape smaller and cheaper.

Hereinafter, preferred embodiments of a rehabilitation posture monitoring method and a rehabilitation posture monitor according to the present invention will be described with reference to the drawings.
The same reference numerals are used for the same or equivalent parts as in the conventional example.
In FIG. 1, reference numeral 50 denotes an attachment target made up of a subject who is a living body (human, animal, etc.). A rehabilitation posture monitor 61 formed in a flat plate shape is provided via a mounting member 60 having a shape, and sent from each of the rehabilitation posture monitors 61 via wireless (in some cases, wired). As shown in FIG. 4, the triaxial angular velocity and triaxial acceleration data 62 is taken into an inertia calculation unit 63, and the inertia calculation unit 63 is connected to a personal computer 64.

  As shown in FIGS. 7 to 10, the rehabilitation posture monitor 61 includes a three-axis accelerometer 65 and a three-axis gyro 66 manufactured by using a well-known MEMS (Micro Electro Mechanical System) technology. ing.

The three-axis accelerometer 65 and the three-axis gyro 66 will be described in the configuration disclosed in Japanese Patent Application Laid-Open No. 2001-330622 filed by the present applicant.
That is, what is denoted by reference numeral 1 in FIGS. 7 and 8 is an outer frame portion which is a planar shape and forms a rectangular frame, and this outer frame portion 1 includes a lower layer silicon substrate 11a, an insulating oxide film 11b, and an upper layer. The semiconductor wafer 11 is a known SOI wafer composed of a silicon thin film 11c and a bonded silicon substrate 11d.

The outer frame portion 1 is configured so as to be sandwiched and stacked between a glass upper package 5a and a lower package 5b.
A plurality of upper detection electrodes 4a and 4b are formed on the inner surface of the upper package 5a, and a plurality of lower detection electrodes 5A and 5B are formed on the inner surface of the lower package 5b.

  The upper detection electrodes 4a and 4b are connected to upper electrode extraction portions 8a and 8b by wire bonding, respectively, and are held by the upper package 5a. The lower detection electrodes 5A and 5B are respectively connected to lower electrodes by wire bonding. The extraction units 10a and 10b are connected.

In the space 20 formed by the upper and lower packages 5a and 5b via the outer frame 1, a weight body 3 obtained by etching the semiconductor wafer 11 as the outer frame 1 is the The plurality of beam portions 2 a and 2 b held on a part of the semiconductor wafer 11 can be moved up and down.
Each of the beam portions 2a and 2b is commonly connected to a weight electrode extraction portion 9 by wire bonding.

The weight body 3 is provided with first and second weight pieces 3a and 3b having the same mass so as to sandwich the beam portions 2a and 2b, and the center of gravity G of the weight body 3 is It is located on an extension line in the longitudinal direction of the beam portions 2a, 2b.
The first weight piece 3a is made of the lower silicon substrate 11a, the beam portions 2a and 2b are made of the insulating oxide film 11b and the upper silicon thin film 11c, and the second weight piece 3b is attached. A laminated silicon substrate 11d is used.

The semiconductor wafer 11 described above has a three-layer structure having a silicon thin film 11c having a thickness of 20 to 40 μm on a single crystal silicon substrate having a thickness of about 600 μm with an insulating oxide film 11b having a thickness of 1 μm interposed therebetween. When the upper and lower two layers of silicon are dry-etched, the intermediate insulating oxide film 11b is used as a mask to form the weight body 3 and the beam portions 2a and 2b with excellent dimensional accuracy. The weight pieces 3a and 3b are configured to have the same mass so as not to occur.
Further, the bonding of the silicon members can be performed by annealing at about 1100 ° C. in an oxygen atmosphere, whereby the center of gravity of the weight body 3 is arranged on the extension line in the longitudinal direction of the beam portion, Occurrence of other axis sensitivity can be suppressed.

  In addition to the above-described configuration of the weight body 3, the cause of the above-mentioned other-axis sensitivity may be a case where rotation is applied around the central axis of the weight body 3, which is particularly problematic. Is the rotation of the beams 2a and 2b in the longitudinal direction. In order to suppress this phenomenon, the upper and lower sides of the weight body 3, that is, the upper detection electrodes 4a and 4b and the lower detection electrodes 5A and 5B of the respective packages 5a and 5b are independent of each other. Thus, a biased body 3 when the rotation is applied (ie, change in capacitance) is detected and processed by an electronic circuit (not shown) to suppress the occurrence of other-axis sensitivity due to rotation. Can do. Further, a highly accurate acceleration sensor is realized by forming a servo loop with this electronic circuit and performing known feedback control.

  The X, Y and Z axis accelerometers 65a to 65c of the triaxial accelerometer 65 and the X, Y and Z axis gyroscopes 66a to 66c of the triaxial gyro 66, as shown in FIG. The detection element 30 shown in FIGS. 7 and 8 is provided in the three-axis directions so that the roll), the Y axis Y (left, pitch), and the Z axis Z (lower, yaw) can be detected. It is configured.

  The inertia calculation unit 63 incorporates a known Kalman filter 63a and has a function of performing temperature correction 63b and static drift correction 63c. In the 6-axis data 62 of the 3-axis angular velocity and 3-axis acceleration, In the case of walking measurement, there is always a stationary state at the beginning and the end of walking, for example, even if it moves a little to the stationary state, it is a completely different movement from the walking state. Clearly distinguishable.

  Therefore, as shown in FIG. 5, the 6-axis data 62 is obtained from the stationary state M at the start of walking and the stationary state N at the end of walking shown in (A) of the three-axis accelerometer 65 and the three-axis gyro 66. The zero point error is corrected by estimating the error by the inertia calculation unit 63, and the corrected 6-axis data 62a can be obtained as shown in FIG.

  The walking state P in FIG. 5 is also corrected by estimating the error by the Kalman filter 63a. However, this walking analysis does not need to be performed in real time, and the 6-axis data 62 recorded by measurement is processed offline. In this case, the corrected 6-axis data 62a having a content comparable to that of the conventional motion capture method can be obtained by correcting and calculating.

  The corrected six-axis data 62a obtained by the calculation / correction by the inertia calculation unit 63 of FIG. 4 is shown in more detail in FIG. 3, and the rehabilitation posture monitor 61 can be easily attached to the attachment target 50. In order to be wearable, it is formed in a plate shape and packaged with a flexible member or the like.

Next, FIG. 6 shows corrected 6-axis data 62a obtained from the posture monitor unit 61 attached to the waist of the mounting object 50 described above. It is possible to obtain operation state data such as walking and walking.
It should be noted that patterning the data of this operation state and comparing it with data obtained from another living body 50 makes it easier to detect the state at that time.

  As shown in FIGS. 9 and 10, the rehabilitation posture monitor 61 is formed by a main body 100 having a box shape as a whole, and an X for constituting a three-axis accelerometer 65 is formed in the main body 100. An axial accelerometer 65a, a Y-axis accelerometer 65b, and a Z-axis accelerometer 65c are provided independently. Further, an X-axis gyro 66a, a Y-axis gyro 66b, and a Z-axis gyro 66c for forming the 3-axis gyro 66 are provided. Each is provided independently.

  The X, Y and Z axis accelerometers 65a to 65c and the X, Y and Z axis gyros 66a to 66c are supplied with power from the power supply unit 101, and each output signal is transmitted to the X axis signal processing unit 102. The Y-axis signal processing unit 103 and the Z-axis signal processing unit 104 are configured to perform signal processing.

  When the posture monitor 61 for rehabilitation is actually used to monitor the posture, as shown in FIG. 1, a plurality of rehabilitation posture monitors 61 are attached to the waist, thighs, feet, etc. The output signals from the three-axis accelerometer 65 and the three-axis gyro 66 are taken into the personal computer 64 and processed to obtain measurement results as shown in the walking data of FIG. The operation state of the part can be grasped.

In the above-described case, each part of the attachment target 50 does not move in the same three-axis directions of X, Y, and Z, but moves differently.
Therefore, the present invention is disadvantageous both in terms of space and cost when the accelerometers 65a to 65c and the gyroscopes 66a to 66c having a small resolution with high precision on both axes are used for each part. In the rehabilitation posture monitor 61, the resolution of only the accelerometer or gyroscope in the axial direction that does not cause a large movement is higher than that of the other, that is, the high-precision detection type and the low-cost configuration of the other low-precision detection type. However, the resolution is different depending on the detection axial direction.

For example, in one rehabilitation posture monitor 61, in the case of a gyro, the resolution of the X and Y axis gyros 66a and 66b is larger than the resolution of the Z axis gyro 66c, and the resolution of the Z axis gyro 66c is larger than the above. Small.
In the case of an accelerometer, the resolution of the X and Y axis accelerometers 65a and 65b is smaller than the resolution of the Z axis accelerometer 65c, and the resolution of the Z axis accelerometer 65c is larger than the smaller one.
That is, in the definition of the resolution in the present invention, a small resolution indicates a fine resolution state with high accuracy, and a large resolution (larger than the small) indicates poor resolution (or worse than the high accuracy).
Therefore, when using each rehabilitation posture monitor 61, an inexpensive accelerometer or gyroscope having a large resolution and a low accuracy is used in the axial direction in which the movement is large (the movement is larger than the axial direction in which the movement is small). An expensive accelerometer or gyroscope with a small resolution and good accuracy is used in the axial direction where the movement is small in the region (smaller than the axial direction where the movement is large).

  As described above, the rehabilitation posture monitor 61 configured as described above has the resolutions of only the accelerometers 65a to 65c and the gyroscopes 66a to 66c that perform detection in a small (small) axial direction in advance as described above. It is set to be smaller (higher accuracy) than the other large axial resolution according to the condition of the body, and it is dedicated to each part such as for waist, thigh, foot, hand etc. Pre-configured.

  Therefore, in actual use, a display for each part is displayed on the surface of the main body 100 of each rehabilitation posture monitor 61, and optimal detection is performed by attaching the attachment member 60 according to the part. It can be carried out.

  The present invention can be applied not only to human beings but also to animals such as dogs and cats and livestock, and also to robots.

It is a block diagram which shows the posture monitor for rehabilitation by this invention, and the posture monitor for rehabilitation. It is explanatory drawing which shows the detection axis of the attitude | position monitor part of FIG. It is explanatory drawing which shows the principal part of FIG. It is the schematic which shows the data processing of this invention. It is explanatory drawing which shows the correction | amendment of FIG. It is waveform data which shows the walk data of this invention. It is a block diagram of the accelerometer and gyro of the posture monitor for rehabilitation in this invention. FIG. 8 is a perspective configuration diagram of FIG. 7. It is a block diagram of the posture monitor for rehabilitation by this invention. FIG. 10 is a right side view of FIG. 9. It is a block diagram which shows a conventional structure.

Explanation of symbols

61 Rehabilitation posture monitor 62 6-axis data 63 Inertia calculation unit 65 3-axis accelerometer 66 3-axis gyro 65a, 65b, 65c X, Y, Z-axis accelerometers 66a, 66b, 66c X, Y, Z-axis gyro 100 Main body 102 , 103, 104 X, Y, Z axis signal processor

Claims (8)

Installation target (50) using an X, Y, Z axis accelerometer (65a to 65c) and a rehabilitation posture monitor (61) comprising an X, Y, Z axis gyro (66a to 66c) provided on the main body (100) In the rehabilitation posture monitoring method for detecting the movement of
A plurality of the rehabilitation posture monitors (61) are provided in each part of the attachment target (50), and the X, Y, Z-axis accelerometers (65a to 65c) provided in the rehabilitation posture monitors (61) And a rehabilitation posture monitoring method, wherein the resolution of the X, Y, and Z axis gyros (66a to 66c) is varied depending on the movement of each part in the direction of each axis.   The X, Y, and Z axis accelerometers (65a to 65c) and the X, Y, and Z axis gyros (66a to 66c) are used in a state of being provided independently in the main body (100). The rehabilitation posture monitoring method according to claim 1.   The X, Y, and Z axis accelerometers (65a to 65c) and the X, Y, and Z axis gyros (66a to 66c) are provided and used in the main body (100) having a box shape as a whole. The rehabilitation posture monitoring method according to claim 1 or 2, characterized in that:   Among the X, Y and Z axis accelerometers (65a to 65c), the resolution of the X and Y axis accelerometers (65a and 65b) is smaller than the resolution of the Z axis accelerometer (65c). 2. The resolution of the X and Y axis gyros (66a, 66b) among the Y, Z axis gyros (66a to 66c) is larger than the resolution of the Z axis gyro (66c). 4. The rehabilitation posture monitoring method according to any one of 3 to 3.   A main body (100) having a box shape as a whole, a triaxial X, Y, Z axis accelerometer (65a to 65c) and an X, Y, Z axis gyro (66a to 66a) provided in the main body (100) 66c), and the X, Y and Z axis accelerometers (65a to 65c) and the X, Y and Z axis gyroscopes (66a to 66c) are acceleration and angular velocity in one or more of the three axes. A posture monitor for rehabilitation characterized by having a configuration in which the resolutions are different from each other.   The main body (100) is provided with a power supply unit (101), X, Y, and Z-axis signal processing units (102, 103, 104) and a longitudinal mounting member (60). The rehabilitation posture monitor according to claim 4.   6. The X, Y and Z axis accelerometers (65a to 65c) and the X, Y and Z axis gyros (66a to 66c) are of electrostatic detection type using a silicon substrate. Posture monitor for rehabilitation.   Among the X, Y and Z axis accelerometers (65a to 65c), the resolution of the X and Y axis accelerometers (65a and 65b) is smaller than the resolution of the Z axis accelerometer (65c). The resolution of the X and Y axis gyros (66a, 66b) among the Y, Z axis gyros (66a to 66c) is larger than the resolution of the Z axis gyro (66c). The posture monitor for rehabilitation in any one of thru | or 7.

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