JP5644312B2 - Walking state display system - Google Patents

Description

The present invention relates to the art of walking state display system that displays a walking state of the current user.

  In recent years, a walking assist device has been designed to help prevent muscle weakness by assisting elderly people and victims with weak muscles in walking, raising and lowering stairs, standing up from a sitting position, and sitting from a standing position. Exists (see, for example, Patent Document 1).

  The walking assist device of Patent Document 1 is provided with a link mechanism portion in a user's knee portion, and the link mechanism portion is operated by a drive portion having a motor or the like to assist the operation of the knee portion and assist walking. It is. In this type of walking assistance device, the operation of the drive unit is controlled in advance by a control program.

  When such a walking assistance device is used, it is necessary to accurately know the person's walking state in order to provide appropriate walking assistance by the device.

  In order to know the walking state, a method for determining the walking state based on the angle of the leg by stepping on the leg accompanying walking is disclosed (for example, see Patent Document 2).

  In order to know the walking state, a plurality of high-speed video cameras are arranged in the walking area, a plurality of markers are attached to the subject's body, and the walking state in that state is photographed by the video camera, A technique for image analysis is known.

JP 2007-325732 A JP 2000-325329 A

  In the determination of the walking state according to Patent Document 2 shown in the above example, since the length of the leg is different for each pedestrian, the raising state of the thigh during walking is different, and the walking state may not be accurately determined. .

  In addition, conventionally known image analysis has a large error in measurement results, and the subject's walking state may not be accurately grasped.

  Further, in the case of image analysis, if the measurement area of the video camera is out of the measurement area, measurement cannot be performed, and analysis is performed for several steps. Thus, sufficient measurement results cannot be obtained and there is a problem in terms of reliability.

  The angle of the leg may be measured by attaching an angle sensor called a potentiometer to a predetermined joint, but this angle sensor must be installed at the joint center position. It is very difficult and causes errors, so it is very difficult to measure an accurate angle.

To solve an example of such problems, the present invention aims at providing an accurate as possible grasp gait display system walking condition of the subject.

In order to solve the above-described problem, the walking state display system (S) according to claim 1 displays an index indicating the user's walking motion when the user walks and moves a predetermined distance. The display system includes a storage unit (12) for storing user's human body information, a first gyro sensor (7) for measuring a change in the center of gravity associated with the user's walking, and a leg portion associated with the user's walking. A second gyro sensor (5) for measuring the variation of the joint angle;
A range sensor (6) for measuring the user's moving distance and vertical distance, and the user based on the measured moving distance, vertical distance, center of gravity fluctuation, joint angle fluctuation, and human body information Calculation means (13) for calculating an index indicating the walking motion of the user, and display means (4a) for displaying the calculated index , wherein the calculation means includes the measured vertical distance and centroid variation. In addition, the distance in the vertical direction of the left and right hip joints due to the change in the center of gravity due to the user's walking is calculated based on the human body information, and is reflected when calculating the index .

  Further, the walking state display system according to claim 2 is the walking state display system according to claim 1, wherein the data measured by the first and second gyro sensors and the range sensor are at regular time intervals. Control means (15), which is acquired as series data and displays the calculated index in a time series, is further provided.

  Further, the walking state display system according to claim 3 is the walking state display system according to claim 2, wherein the control means is a walking motion displayed by a predetermined walking motion pattern and the calculated index. It is characterized by being displayed in comparison with a pattern.

  The walking state display system according to claim 4 is the walking state display system according to any one of claims 1 to 3, wherein the second gyro sensor includes a hip joint and a knee of the leg portion of the user. It is characterized by being attached to a part of a human body sandwiching each joint part of a joint and an ankle joint.

  The walking state display system according to claim 5 is the walking state display system according to any one of claims 1 to 4, wherein the range sensor is arranged on a user's waist, and the user's walking The laser beam emitted from the range sensor is tilted toward the floor so that the laser beam emitted from the range sensor is not blocked by the movement of the foot part.

The walking state display system according to claim 6 is the walking state display system according to any one of claims 1 to 5, wherein the distance to the ground measured by the range sensor is continuously measured. Among the values, it is the minimum value.

  According to the present invention, the current walking state of a pedestrian can be grasped accurately and in real time.

It is a simple lineblock diagram of a walking state display system. FIG. 2A is a side view and FIG. 2B is a front view, showing a pedestrian model with a walking motion measuring device attached thereto. It is a figure for demonstrating the example of a measurement using a range sensor. It is a block diagram of a walking state display system. It is a figure for demonstrating the example of arithmetic processing in case a gravity center exists in the center. It is a figure for demonstrating the example of arithmetic processing when a gravity center fluctuates.

  An embodiment of a walking state display system of the present invention will be described with reference to the drawings.

  The walking state display system S of the present embodiment measures walking motion information by the walking motion measuring device 2 attached to a pedestrian, and transmits the walking motion information to the terminal device 4 connected via a communication line such as a radio wave. And the said terminal device 4 calculates | requires the parameter | index etc. for showing a walking state based on the said walking motion information, and displays it on the display part 4a. The walking motion information is various parameters indicating the walking motion of a pedestrian, and includes a range sensor 6 and a three-axis vibration gyro described later (hereinafter simply referred to as “gyro sensors 5 and 7”). It is information measured by. The index is information such as a stride indicating a walking state, a walking cycle, a fluctuation state of the center of gravity, a foot height, and a knee height.

  As shown in FIG. 2, a pedestrian 1 is attached with a range sensor 6 and gyro sensors 5 and 7 (an example of a walking motion measuring device). The gyro sensors 5 and 7 detect rotational angular velocities about three axes (pitch angle, roll angle, and azimuth angle) orthogonal to each other. On the other hand, the range sensor 6 irradiates a laser beam, scans a predetermined plane, and measures the distance from the time until the laser beam is reflected back to the measurement object. Since the range sensor 6 and the gyro sensors 5 and 7 are conventionally known techniques, detailed description thereof is omitted.

  The gyro sensors 5 and 7 are arranged to measure the joint angles of the legs, and specifically, are attached to a part of the human body that sandwiches the hip joint, knee joint, and ankle joint of the leg. . Thereby, the angle around a predetermined joint is calculated from the displacement of the pitch angle respectively measured by the pair of gyro sensors 5 and 7.

  A specific example showing an example of attachment of the gyro sensors 5 and 7 will be described below. For example, as shown in FIGS. 2A and 2B, the pedestrian 1 has a waist 1a, a thigh 1b, and A link mechanism 9 in which a plurality of support bodies 8 are connected to both lateral sides of the crus 1c through pivots 8a and 8b is mounted, and the gyro sensor 5 is attached to the thigh 1b and the crus 1c. Attached to the supporting body 8. Furthermore, the gyro sensor 5 is also attached to the back of the foot 1d. At this time, each gyro sensor is installed so that the relative angle of both is the same.

  A gyro sensor 7 attached to the waist 1a, which will be described later, and a gyro sensor 5 attached to the thigh 1b measure the displacement of the pitch angle, and the hip joint angle around the hip joint of the pedestrian 1 is calculated from the measurement result. The gyro sensor 5 attached to the thigh 1b and the gyro sensor 5 attached to the crus 1c measure the displacement of the pitch angle, and from the measurement result, the knee at the knee 1e of the pedestrian 1 An angle around the joint (a knee joint angle) is calculated. Further, the gyro sensor 5 attached to the lower leg 1c and the gyro sensor 5 attached to the back of the foot 1d measure the displacement of the pitch angle, and from the measurement result, the pedestrian 1 around the ankle joint Is calculated (ankle angle).

  In addition, although it is possible to attach and measure an angle sensor called a potentiometer as a sensor for measuring the hip joint angle, the knee joint angle, and the ankle angle, this angle. The sensor needs to be installed at the joint center position, and this installation is very difficult and causes an error. Therefore, it is very difficult to measure an accurate angle. Therefore, in the present embodiment, the hip joint angle and the knee joint angle can be measured easily and accurately by using the gyro sensor 5 which is easy to attach and does not cause a measurement error due to the attachment.

As shown in FIG. 2A, the hip joint angle is an angle θ _RA formed by the thigh 1b with respect to the vertical plane H including the hip joint, and the thigh 1b is based on the pedestrian 1 standing up. Is defined as an angle with positive when moving in the traveling direction and negative when moving in the opposite direction to the traveling direction.

Further, the knee joint angle is an angle θ _RB formed by the left and right lower leg portions 1c with respect to the plane H1 including the thigh 1b, and is positive when the lower leg portion 1c moves in the moving direction. It is defined as an angle that is negative when operating in the reverse direction.

The ankle angle is an angle θ _RC formed by the foot 1d with respect to the plane H2 including the crus 1c. The ankle angle is positive when the toe moves counterclockwise, and negative when it moves clockwise. Is defined as the angle to In addition, from the ankle angle and the length RC of the foot 1d as human body information, it is possible to calculate how to carry the foot 1d while the pedestrian 1 is walking.

  As shown in FIG. 2 (b), the gyro sensor 7 is a front center portion of the pedestrian's waist 1a, the central axis thereof is provided in parallel with the horizontal plane, and the pitch angle and the roll angle are displaced by the user. Measure the center of gravity variation.

  Further, as shown in FIG. 2B, the range sensor 6a is a front center portion of the waist 1a of the pedestrian 1, and the scanning surface is provided downward with respect to the horizontal plane. As shown in FIG. 3, the range sensor 6a measures a distance L between the floor and the hip joint.

  On the other hand, as shown in FIG.2 (b), the other range sensor 6b is the front upper part of the trunk | drum of the pedestrian 1, Comprising: The scanning surface is provided in parallel with the horizontal surface. As shown in FIG. 3, the other range sensor 6b measures the distance from the measurement start point R1 to the measurement end point R2 or the movement distance during walking in a predetermined measurement region R. A partition K is provided at the measurement end point R2, and the other range sensor 6b measures the distance between the pedestrian and the partition K.

  Although not shown, the range sensor 6a is fixedly attached together with the above-described gyro sensor 7 to a fixed plate (a wide belt or the like) attached to the waist 1a. It is preferable that the range sensor 6a and the gyro sensor 7 are provided at a substantially central portion particularly for detecting the posture. In addition, the range sensor 6a is preferably arranged so that the laser beam is emitted directly below in order to measure the distance from the floor. However, since the foot is in the way, the laser beam is blocked in consideration of walking. It is provided to be inclined obliquely forward so that it does not. More preferably, the range sensor 6a is disposed on the back side of the waist 1a. In this way, since the movement of the foot part to the rear is reduced during walking, it can be attached with a smaller inclination angle than the front side of the waist part 1a, and the measurement accuracy of the range sensor 6a can be improved. Peeled off.

  As shown in FIG. 4, the terminal device 4 includes a receiving unit 11 that receives walking motion information transmitted from the walking motion measuring device 2, a storage unit 12 that stores human body information of the pedestrian 1, and the walking motion. The calculation unit 13 that calculates an index for recognizing the walking state of the pedestrian 1 based on the information and the human body information, and the display control of the walking state of the pedestrian 1 based on the index, and the respective units 11 to 13 are integrated. And a control unit 15 composed of a CPU (Central Processing Unit) and the like that are controlled in a controlled manner. As shown in FIG. 1, the terminal device 5 includes a display unit 4a that displays the calculation or analysis result and an input unit 4b that includes a predetermined key. The terminal device 4 is a device generally called a general-purpose computer, for example, and is operated by a user.

  The storage unit 12 includes an HDD (Hard Disk Drive) or the like, and includes a pedestrian's hip joint-knee joint distance, knee joint-ankle distance, start position-partition K distance in the measurement region, hip joint center coordinates, knee joint. Center coordinates, ankle center coordinates, and the like are stored. The information stored in the storage unit 12 is information that does not change due to walking, and is information that is necessary for calculating an index other than the information obtained by the walking motion measuring device 2.

  Moreover, the calculating part 13 calculates | requires the parameter | index mentioned above.

  Specifically, the calculating part 13 calculates | requires a stride based on the distance with the partition K measured by the range sensor 6b arrange | positioned at the trunk | drum upper part of the pedestrian 1. FIG.

  Further, the calculation unit 13 obtains the center of gravity variation state and the walking cycle based on the roll angle and the pitch angle measured by the gyro sensor 7.

The calculation unit 13 also determines the foot height RH and the knee height RL based on the distance to the ground measured (calculated) by the range sensor 6 and the gyro sensors 5 and 7 and the angles of the hip joint and the knee joint. ₂ Find + RH.

Here, during walking, the foot height RH and the knee height RL ₂ + RH are measured by the hip joint angle θ _RA , the knee joint angle θ _RB , the thigh length RA, and the crus length RB. If it is possible, it is clear from FIG. 5 that the calculation can be performed using an elementary function formula or the like, but the distance between the hip joint and the floor portion R _L0 varies depending on the change of the center of gravity.

  Therefore, in the present embodiment, the range sensor 6a and the gyro sensor 7 are used in order to obtain such an index as accurately as possible.

Specifically, when obtaining the distance between the hip joint and the floor, as shown in FIG. 6, the right and left tilt θ _rolls of the body are acquired by the gyro sensor 7, and the centers of the left and right hip joints stored in advance are obtained. The distances L _R0 and L _L0 between the centers of the left and right hip joints are calculated from the coordinates, the shortest distance L to the floor is measured by the range sensor 6a, and the left and right hip joint-floor distances L _R and L _L are obtained. . That is, it is obtained by correcting the distance of the hip joint moved by the center of gravity from the hip-floor distance when the center of gravity is at the center.

In the case of the pedestrian model shown in FIG. 6, the distance between the left hip joint and the floor is L _L , the distance between the right hip joint and the floor is L _R , the distance between the range sensor and the left hip center is L _L0 , and the range sensor and the right hip joint. If the center distance is L _R0 and the roll angle measured by the gyro sensor is θ roll,
L _L = L−L _L0 sin θ _roll
L _R = L + L _R0 sin θ _roll
It becomes.

Note that the foot height RH and knee height RL ₂ + RH of the pedestrian model shown in FIG. 6 are obtained by using a general function formula based on these results.

  The control unit 15 performs control for displaying the index calculated by the calculation unit on the display unit 4a. Further, the control unit 15 displays the index calculated by the calculation unit 13 as a walking motion pattern, and compares and displays the current walking motion pattern of the pedestrian and the optimal walking motion pattern defined in advance. You may make it display on the part 4a. It should be noted that the index calculated by the calculation unit 13 may be displayed in a graph showing the time series at regular time intervals, and a graph comparing the optimal index may be displayed.

  According to the walking state display system S described above, the current walking state of the target person can be grasped accurately and in real time by attaching the predetermined walking motion measuring device 2 to the target person and walking in the predetermined measurement region R. can do. Moreover, the location which should be corrected regarding a walk can be grasped | ascertained accurately by comparing or displaying the optimal walking motion pattern. Furthermore, long-time walking data can be accurately acquired without excessively burdening the pedestrian.

  In addition, this embodiment is one form and is not limited to this form. For example, the left and right inclinations (roll angles) have been exemplarily described, but it is preferable that the calculation is performed in consideration of the front and rear inclinations (pitch angles) and the human body inclination (azimuth angle) with respect to the traveling direction. Since this calculation can be performed in consideration of general function formulas, the description thereof is omitted here. In this embodiment, the angle of the hip joint and the angle of the knee joint are measured using a gyro sensor. However, if it can be installed at the joint center position without error, a conventional potentiometer or the like is used. It doesn't matter.

S walking state display system 2 walking motion measuring device 4a display unit 12 storage unit 13 calculation unit 15 control unit

Claims (6)

When the user walks a predetermined distance and moves, the walking state display system displays an index indicating the user's walking motion,
Storage means for storing body information of the user,
A first gyro sensor for measuring the center of gravity variation due to walking of the user,
A second gyro sensor for measuring a change in a joint angle of the leg portion as the user walks;
A range sensor for measuring the user's moving distance and vertical distance;
The measured movement distance, the distance in the vertical direction, the center of gravity variation, calculating means for calculating variation in the joint angle, and an index indicating a walking motion of the user based on the human body information,
Display means for displaying the indicator;
Equipped with a,
The computing means is
Based on the measured vertical distance, center-of-gravity variation, and human body information, the vertical distance of the left and right hip joints due to left-right center-of-gravity variation due to walking of the user is calculated and reflected when calculating the index walking condition display system characterized in that it makes.   The data measured by the first and second gyro sensors and the range sensor is acquired as time series data at fixed time intervals, and further includes control means for displaying the calculated index in time series. The walking state display system according to claim 1, wherein:   3. The walking state display system according to claim 2, wherein the control unit compares and displays a predetermined walking motion pattern and a walking motion pattern displayed by the calculated index.   The said 2nd gyro sensor is attached to a part of human body which pinches | interposes each joint part of the hip joint of the user's said leg part, a knee joint, and an ankle joint, The Claim 1 thru | or 3 characterized by the above-mentioned. The walking state display system described in 1.   The ranging sensor is disposed on the user's waist, and is tilted toward the floor so that the laser light emitted from the ranging sensor is not blocked by the movement of the foot portion as the user walks. The walking state display system according to any one of claims 1 to 4, wherein   The walking state display system according to any one of claims 1 to 5, wherein the distance to the ground measured by the range sensor is a minimum value among values continuously measured.

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