JP6056107B2 - Exercise assistance device, exercise assistance method, program - Google Patents

Description

  The present invention relates to an exercise assistance device, an exercise assistance method, and a program.

  In hospitals, there is a need to be able to easily determine the strength status of visiting patients and inpatients, and to exercise (such as rehabilitation) for strengthening the strength of those patients without relying on doctors themselves. Yes. At home, it is also necessary for individuals to exercise to increase muscle strength and maintain physical strength from the viewpoint of extending healthy life expectancy.

  Here, as a related technique, Patent Document 1 discloses a technique capable of wirelessly acquiring the position of a body part and biological information. As a related technique, Patent Document 2 discloses a technique that can reduce accidents in rehabilitation and walking training for paralyzed patients.

JP 2005-121427 A Japanese Patent No. 4581087

  Here, when a patient or the like performs an exercise for determining the muscle strength state of the person to be measured or for strengthening the muscle strength, the posture in the exercise is an important factor for efficiently obtaining the effect of the exercise. When the person to be measured such as a patient himself or herself performs the determination of the muscle strength state of the person to be measured and the exercise for strengthening the muscle strength in this way, It is required that the measurer himself / herself can be easily recognized.

  Therefore, an object of the present invention is to provide an exercise assistance device, an exercise assistance method, and a program that can solve the above-described problems.

To achieve the above object, according to an embodiment of the present invention, an exercise posture detection unit that detects the exercise posture of a user who performs repetitive exercise based on the user's sensing information; and An exercise posture determination unit that determines whether the exercise posture is determined during the repetitive exercise, and the exercise posture detection unit is a target position of the user's head position, and the height of the user A lower target position is calculated, and the user's exercise posture is detected based on at least the head position, the user's foot tip position, the knee position, and the target position, and the posture determination unit during exercise is The repetitive motion in which the head position is less than or equal to the target position, and based on a horizontal distance between the head position, the foot tip position, and the knee position during the repetitive motion. The above Feature points shown between the parts position and the knee position, motion assist device and judging whether the motion and orientation of the squat in the predetermined distance range is determined to be located on an axis passing through the foot tip position It is.

In one embodiment of the present invention, in the above-described exercise assistance device, the exercise posture detection unit detects the exercise posture of the user standing on one foot based on at least the foot tip position of the foot away from the floor , The motion posture determination unit is the repetitive motion in which the height from the floor of the foot tip position of the foot away from the floor is equal to or higher than a target height, and in the repetitive motion from the floor It is determined whether the posture is a one-leg standing exercise posture in which the angle formed with respect to the vertical line of the axis of the thigh of the leg on the far foot is a predetermined angle or more.
In addition, according to an embodiment of the present invention, the above-described exercise assisting device includes a support information output unit that outputs support information according to the exercise posture of the user.
In one embodiment of the present invention, in the above-described exercise assistance device, the support information output unit outputs the support information when the user's exercise posture is determined to be an inappropriate posture for repeated exercise. It is characterized by.

According to an embodiment of the present invention, in the above-described exercise assisting device, the repetitive movement determination unit includes a repetition number determination unit that determines the number of repetitions of the repetitive exercise, and the support information output unit includes the number of repetitions for which the repetition number is determined When reaching the above, an instruction to end the repetitive motion is output .
Moreover, one embodiment in the present invention includes a physique information acquisition unit that acquires physique information of a user in the above-described exercise assistance device, and the posture detection unit during exercise calculates the target position using the physique information. It is characterized by that.

One embodiment of the present invention is the above-described exercise assisting device, further comprising a lateral photographed image processing unit that acquires a photographed image from the lateral direction of the user, which is the sensing information, and the motion posture detecting unit is , and detects said head position from the captured image from at least the lateral direction, and said foot tip position.

One embodiment of the present invention is the above-described exercise assisting device, further comprising a thigh angle determination sensor attached to at least a thigh position of the user, and the athletic posture detection unit is obtained from the thigh angle determination sensor. and detecting the angle between the vertical line with the axis of the thigh, based on the sensing information.

In one embodiment of the present invention, an exercise posture detection unit that detects an exercise posture of a user who is making repetitive exercises based on the user's sensing information, and the exercise posture of the user is determined during the repetitive exercise. An exercise posture determination unit that determines whether the user is in an exercise posture, and the exercise posture detection unit detects the exercise posture of the user based on at least a tip position of a foot away from the floor of the user and, wherein during exercise posture determination unit is the repetitive motion height from the floor of the foot tip position of the foot away from the floor is repeated to be a more target height, and said at its repetitive motion the direction of the leg away from the floor leg side knee axial direction and the other vertical line along the axis of the legs are matched, the vertical line of the axis of the thigh of the leg away leg side from the floor is more than a predetermined angle angle formed with respect to An exercise assisting apparatus characterized by determining whether the movement position of a foot standing.

According to an embodiment of the present invention, the exercise assisting device includes a captured image processing unit that acquires a captured image of the user as the sensing information, and the athletic posture detection unit adds the captured image of the user to the captured image of the user. Based on the user's foot tip position, and the motion posture determination unit detects an angle formed between an axis of the user's thigh and a vertical line based on the user's captured image. Features.

In one embodiment of the present invention, the motion posture detection unit of the motion assist device detects the motion posture of the user who is performing repetitive motion based on the sensing information of the user, and determines the motion posture of the motion assist device. A determination unit that determines whether the user's movement posture is a predetermined movement posture during the repetitive movement, and the movement posture detection unit is a target position of the user's head position, and the height of the user A lower target position is calculated, and the user's exercise posture is detected based on at least the head position, the user's foot tip position, the knee position, and the target position, and the posture determination unit during exercise is The repetitive motion in which the head position is less than or equal to the target position, and based on a horizontal distance between the head position, the foot tip position, and the knee position during the repetitive motion. The head Feature point indicating the position and the knee position, in the exercise assisting method characterized by determining whether the motion attitude of the squat in the predetermined distance range is determined to be located on an axis passing through the foot tip position is there.

In one embodiment of the present invention, the computer of the exercise assisting device is configured to detect an exercise posture of a user who is performing repetitive exercise based on the user's sensing information, and the exercise posture of the user is the It is made to function as a posture determination means at the time of exercise that determines whether the exercise posture is determined at the time of repetitive exercise. A low target position is calculated, and the user's motion posture is detected based on at least the head position, the user's foot tip position, the knee position, and the target position; wherein the head position is less than the target position is the repetitive motion is repeated, the horizontal direction and the knee position and the head position during the repetitive exercise and the foot tip position Based on the distance, the feature points shown between the knee position and the head position is, determines whether the said movement position squat within a predetermined distance range is determined to be located on an axis passing through the foot tip position It is a program characterized by this.

  According to the present invention, when a person to be measured such as a patient himself or herself performs a measurement for determining a muscle strength state or exercise for strengthening the muscle strength, the person to be measured performs the exercise in a good posture according to the exercise. This can be easily recognized.

It is a figure which shows the exercise assistance system containing the exercise assistance apparatus by 1st embodiment of this invention. It is a functional block diagram of the exercise assistance apparatus by 1st embodiment of this invention. It is a figure which shows the processing flow of the exercise assistance apparatus by 1st embodiment of this invention. It is a figure which shows the exercise assistance system containing the exercise assistance apparatus by 2nd embodiment of this invention. It is a figure which shows the processing flow of the exercise assistance apparatus by 2nd embodiment of this invention.

Hereinafter, an exercise assistance device according to a first embodiment of the present invention and an exercise assistance method using the exercise assistance device will be described with reference to the drawings.
FIG. 1 is a diagram showing an exercise assistance system including an exercise assistance device according to the embodiment.
In this figure, reference numeral 1 denotes an exercise assist device. In the exercise assistance device 1, cameras 10 </ b> A and 10 </ b> B and a monitor 100 are connected by communication. The cameras 10 </ b> A and 10 </ b> B photograph the person to be measured (user) 2. The cameras 10 </ b> A and 10 </ b> B output the captured image of the person 2 to the exercise assisting device 1. The exercise assisting apparatus 1 outputs the captured images input from the cameras 10 </ b> A and 10 </ b> B to the monitor 100, and outputs the sensing information of the measurement subject 2 and information calculated from the captured images to the monitor 100.

  The monitor 100 inputs and displays the captured image, sensing information, and information calculated by the exercise assisting device 1. In the present embodiment, the exercise assisting device 1 is described separately from the camera 10 and the monitor 100. However, the combination of the exercise assisting device 1, the cameras 10A and 10B, and the monitor 100 is referred to as an exercise assisting device (exercise assisting system). You may call it.

  The function of the exercise assistance device 1 may be incorporated in a game machine, a television, or the like as a function by hardware or a function by software. In the example shown in FIG. 1, for convenience of illustration, the position of the camera 10 </ b> A is shown in the lower portion of the person 2 to be measured in the figure. This is because the camera 10 </ b> A photographs the person to be measured from the side of the person 2 to be measured. Means that In the example shown in FIG. 1, the camera 10 </ b> B means that the subject is photographed from the front (a position facing the subject's line of sight).

  The exercise assistance device 1 in the present embodiment performs processing for assisting the squat exercise of the person 2 to be measured. The exercise assisting apparatus 1 outputs a laterally photographed image (image photographed by the camera 10A) of the person 2 to be measured as shown in FIG. The information of the head position (body position), the feature point 22, the feature point 23, and the first axis (vertical axis) 41 is output. Then, the monitor 100 displays the target position G, the positions of the feature points 21, 22, and 23, and the first axis 41 so as to be superimposed on the laterally captured image of the measurement subject 2 as shown in FIG. The exercise assisting apparatus 1 may output a pre-captured image (image captured by the camera 10B) obtained by capturing the subject 2 from the front.

  The target position G, the feature points 21, 22, 23, and the first axis 41 are calculated based on information input from the person to be measured 2 by the exercise assisting device 1 or based on captured images input from the cameras 10A and 10B. Information. The person to be measured 2 may have a thigh angle determination sensor 3 attached to the thigh as shown in FIG. The thigh angle determination sensor 3 (exercise state determination sensor) is a device that determines the current angle of the thigh and transmits information on the determined angle to the exercise assistance device 1 using wireless communication. Based on the angle information input from the thigh angle determination sensor 3, the exercise assisting apparatus 1 determines the posture during exercise in the squat exercise of the measurement subject 2. The exercise assisting device 1 also determines the generation during exercise based on the positional relationship between the feature point 21 and the target position G, and the positions of the feature points 21, 22, 23 and the first axis 41. The feature point 21 is a position specified near the toe (foot tip position), such as the vicinity of the nose of the screen of the person 2 to be measured, the feature point 22 is a knee that is a part of the thigh, and the like.

FIG. 2 is a functional block diagram of the exercise assisting device according to the present embodiment.
As shown in FIG. 2, the exercise assisting apparatus 1 according to the present embodiment includes a control unit 11, a communication unit 12, an input / output unit 13, a lateral shooting image processing unit 14, a pre-shooting image processing unit 15, a physique information acquisition unit 16, an exercise. The function unit includes a time posture detection unit 17, an exercise posture determination unit 18, an iteration count determination unit 19, and a support information output unit 20. Each of the functional units corresponds to each function configured in the exercise assisting device 1 by causing the computer of the exercise assisting device 1 to execute a program stored in the storage unit included in the exercise assisting device 1 using the CPU. It is a processing unit. The exercise assisting device 1 includes a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive).

The control unit 11 is a functional unit that controls each functional unit configured in the exercise assisting apparatus 1.
The communication unit 12 is a functional unit that communicates with devices such as the cameras 10A and 10B and the monitor 100.
The input / output unit 13 is a functional unit that delivers information input to the exercise assisting device 1 to other functional units and outputs information acquired from each functional unit to the outside.
The horizontal captured image processing unit 14 is a functional unit that processes a captured image input from the camera 10A.
The pre-captured image processing unit 15 is a functional unit that processes a captured image input from the camera 10B.
The physique information acquisition unit 16 is a functional unit that acquires the physique information of the measurement subject 2.
The exercise posture detection unit 17 is a functional unit that detects the exercise posture of the measurement subject 2 who is performing repetitive exercise based on the physique information and sensing information of the measurement subject 2.
The exercise posture determination unit 18 is a functional unit that determines whether the exercise posture of the person under measurement 2 is a predetermined exercise posture during repeated exercise.
The number-of-repetitions determination unit 19 is a functional unit that determines the number of repetitions of repetitive movement.
The support information output unit 20 is a functional unit that outputs support information when performing repetitive exercise.
The exercise assisting apparatus 1 shown in FIG. 1 and FIG. 2 provides a function for the person to be measured 2 to easily perform the determination of the muscle strength state of the person to be measured 2 and exercise (rehabilitation etc.) for strengthening the muscle strength.

FIG. 3 is a diagram showing a processing flow of the exercise assisting apparatus according to the first embodiment.
Next, details of the processing of the exercise assisting apparatus 1 will be described with reference to FIG.
The exercise assisting apparatus 1 displays a menu screen on the monitor 100. On the menu screen, icons of virtual buttons such as an exercise designation button, a physique information input button, and a user registration button are displayed on the monitor 100. The user selects the icon of these buttons using the operation device. The operating device may be an operating device such as a mouse or a remote controller, or the monitor 100 may be provided with a touch panel function as an operating device. The person to be measured 2 presses the physique information input button on the menu screen, and thereafter inputs physique information such as his / her height, weight, and age in each input column displayed on the monitor 100. In these inputs, the person to be measured 2 inputs using the operating device. The physique information is acquired by the physique information acquisition unit 16 of the exercise assisting apparatus 1 from the input / output unit 13 (step S101), and is primarily recorded in a memory or the like. In addition, the person under measurement 2 presses the motion designation button and the squat motion designation button displayed after pressing the motion designation button, and uses the operation device and the monitor 100 to instruct the start of squat motion processing. To the exercise assisting device 1. Information input in the monitor 100 is converted into a signal and output to the exercise assisting apparatus 1.

  The exercise assisting apparatus 1 inputs an instruction to start squat exercise processing via the input / output unit 13 (step S102). Then, the control part 11 starts camera 10A, 10B, and the input-output part 13 inputs a picked-up image from each camera. Then, the control unit 11 outputs a laterally captured image (image captured by the camera 10A) to the laterally captured image processing unit 14, and outputs a previously captured image (image captured by the camera 10B) to the previous captured image processing unit 15. The horizontally shot image processing unit 14 outputs a horizontally shot image to the monitor 100. As a result, the monitor 100 displays a horizontally shot image (step S103). The pre-photographed image processing unit 15 outputs the pre-photographed image to the monitor 100. The exercise assisting apparatus 1 may output at least a laterally captured image. Normally, it is assumed that the person to be measured 2 stands facing the monitor 100 (facing the direction in which the monitor 100 is located), but an angle of 90 degrees from the direction in which the person 2 to be measured looks at the monitor 100. The person to be measured 2 may stand in the direction where the mark is attached, and the image may be taken. In this case, the camera 10B captures a laterally captured image of the person 2 to be measured, and the laterally captured image processing unit 14 performs image processing on information output from the camera 10B.

  Based on the control of the control unit 11, the exercise posture detection unit 17 acquires the physique information from the physique information acquisition unit 16 and calculates the height indicated by the target position G (step S104). For example, when the target position G is a height h1 that is 60% of the height, the posture detection unit 17 during exercise calculates the target position G by multiplying the height by 0.6. In addition, the motion posture detection unit 17 detects the position of the toe of the measurement subject 2 by image processing, and specifies the position as the feature point 23 (step S105). The motion posture detection unit 17 then specifies a vertical line passing through the feature point 23 (information on a line perpendicular to the floor in the spatial coordinates specified from the image) as the first axis 41 (step S106) and stores it. The motion posture detection unit 17 detects the feature point 21 and the feature point 22 by performing image processing on the input laterally captured image (step S107). The motion posture detection unit 17 may detect the feature points 21, 22, and 23 by performing image processing on the input previous captured image.

In the detection of the feature points 21, for example, the motion posture detection unit 17 specifies a screen position using a face recognition technique used in a digital camera or the like. For example, the motion posture detection unit 17 is based on a predetermined position (for example, a center point) of the screen range specified as the face position and a relative distance or a relative angle from the center point of the nose position determined in advance. Then, the position of the nose is specified as the feature point 21.
In detecting the feature point 22, for example, the posture detection unit 17 during exercise specifies the thigh axis 52 and the lower knee axis 53, and the intersection of the thigh axis 52 and the lower knee axis 53 is defined as the feature point 22 (thigh position). Identify.
In the detection of the feature point 23, for example, the motion posture detection unit 17 detects the toe position based on the intersection of the lower knee axis 53 and the floor, and the relative distance between the intersection and a preset toe, The toe position is identified as the feature point 23.

The motion posture detection unit 17 detects a pixel corresponding to the body of the person to be measured 2 from the captured image, and based on the range and shape of the pixel, the axis line in the three-dimensional space of the femoral axis 52 and the below-knee axis 53 is obtained. A linear equation or a space vector may be calculated. The feature points 22 and 23 are calculated as described above using this linear equation and space vector. Similarly, the motion posture detection unit 17 may calculate a linear equation or a space vector of the trunk axis 51 and use it for any processing. The exercise posture detection unit 17 records the spatial coordinates of the identified feature points 21, 22, and 23 in a memory or the like as exercise posture information. In other words, the exercise posture detection unit 17 detects the exercise posture of the measurement subject.
The exercise posture detection unit 17 repeatedly specifies information on the exercise posture at a predetermined timing. For example, the predetermined timing is a plurality of times per second. The repetition interval of this timing can be set as appropriate.

  When the exercise posture detection unit 17 detects the exercise posture, it instructs the exercise posture determination unit 18 to start processing. Then, the motion posture determination unit 18 determines whether or not H1 ≦ h1 using the height H1 indicated by the current spatial coordinates of the feature point 21 and the height h1 indicated by the target position (step S108). When it is determined that H1 ≦ h1, the exercise posture determination unit 18 counts the number of times when the person to be measured performs a squat once, and updates the number of times of memory by one. This is performed (step S109).

  In addition, the motion posture determination unit 18 recognizes a two-dimensional image when the person to be measured 2 is viewed from the side in the horizontal captured image, and the horizontal direction of the feature point 21 among the coordinates based on the origin in the image. The difference between the coordinate (x coordinate) indicating the position (the direction parallel to the forward line-of-sight direction when the subject is not turning his head) and the coordinate (x coordinate) indicating the horizontal position of the feature point 23 is calculated. To do. Then, the exercise posture determination unit 18 determines whether the difference is within a predetermined distance range, and records information of the determination result (step S110). For example, the motion posture determination unit 18 has the two feature points 21 and 23 in a virtual plane with the first axis 41 and the intersection of the floor as the origin, the horizontal direction in the horizontal captured image as x, and the vertical direction as y. Information on a predetermined distance range in the case where it can be determined that it is positioned in a vertical straight line or almost the vertical straight line is recorded in the memory. Then, the motion posture determination unit 18 compares the distance range information with the distance in the horizontal direction x of the coordinates indicated by the feature points 21 and 22, and determines whether the distance is within a predetermined distance range. If the distance in the horizontal direction x of the coordinates indicated by the feature point 21 and the feature point 23 is within a predetermined distance range, the posture determination unit 18 during movement has these two feature points on the first axis 41 (vertical or Is located on a substantially vertical straight line).

  In the above-described processing, the motion posture determination unit 18 coordinates (x-coordinate) indicating the horizontal direction of the feature point 21 and coordinates (x-coordinate) indicating the horizontal direction of the feature point 23 in the two-dimensional laterally captured image. ) Are within a predetermined distance range, it is determined whether the two feature points are on the first axis 41. However, the motion posture determination unit 18 may determine whether the two feature points are on the first axis 41 depending on whether or not the coordinates indicating all the horizontal directions of the feature points 21, 22, and 23 are within a predetermined distance range. Good. Alternatively, the motion posture determination unit 18 may determine whether the two feature points are on the first axis 41 based on whether or not the coordinates indicating the horizontal direction of the feature points 21 and 22 are within a predetermined distance range. Alternatively, the motion posture determination unit 18 determines whether or not the distance between the first axis 41 and any one or a plurality of predetermined feature points of the feature points 21, 22, and 23 is within a predetermined distance range. In some cases, it may be determined that the predetermined feature point is on the first axis 41.

  The exercise posture determination unit 18 repeatedly compares the height H1 indicated by the feature point 21 with the height h1 indicated by the target position, and determines whether the distance between the feature point 21 and the feature point 22 is within a predetermined distance range. Do. The exercise posture determination unit 18 determines whether a predetermined time has elapsed (step S111). If the predetermined time has not elapsed, the process is repeated from step S105. When the predetermined time elapses, the exercise posture determination unit 18 reads from the storage unit the number of times that the distance between the feature point 21 and the feature point 22 is not within the predetermined distance range during the predetermined time (step S112). Then, the exercise posture determination unit 18 determines whether the number of times is equal to or greater than a predetermined number (step S113). If the number is equal to or greater than the predetermined number of times, the posture determination unit 18 determines that the posture is inappropriate (step S114). Record in memory. The processing of the posture determination unit 18 during exercise is based on the change in accordance with the repetitive movement of the axis connecting the head position and the foot tip position, and the relationship between the desired body part and the target position. This corresponds to determining whether the posture is a posture during squat exercise.

  Based on the request from the posture determination unit 18 during exercise to the support information output unit 20, the support information output unit 20 displays on the monitor 100 that the posture is improper and warns the subject 2 (step) S115). Alternatively, the support information output unit 20 may notify the person to be measured 2 of an inappropriate posture by sounding an alarm sound or by outputting sound. The support information output unit 20 may perform support information (for example, voice or screen display) so that the user can exercise with an appropriate posture instead of a warning.

  Then, the number-of-repetitions determination unit 19 compares the number of squats (number of repetitions) of the person under measurement 2 with a predetermined number of times stored in advance to determine whether they match (step S116). It is determined that the exercise has ended, a display of the end is output to the monitor 100, and the control unit 11 is notified of the end of the process. The control unit 11 outputs a menu screen to the monitor 100. Thereby, the squat motion of the person under measurement 2 is completed. If they do not match in step S116, the processing from step S105 is repeated.

The exercise posture determination unit 18 determines the number of squats based on the age read from the physique information acquisition unit 16, and the repetition number determination unit 19 reaches the number of squats according to the age of the person being measured. In some cases, the squat movement may be stopped.
Further, the exercise posture detection unit 17 may calculate the target position G by substituting the height and age read from the physique information acquisition unit 16 into a predetermined target position calculation formula.
In addition, after receiving the notification of the start of the squat exercise from the control unit 11, the iteration number determination unit 19 counts the time by a timer function, and the predetermined number of times (the number of squats according to age or a predetermined squat is determined). If the number of squats is not reached, the memory may be notified that the muscular strength is low, may be transmitted to a management server that stores the physical information of the measurement subject, or displayed on the monitor 100.
As described above, when the person to be measured performs squats, a chair may be prepared behind the person to be measured so as not to fall backward, or squats may be made by placing a hand on a wall or desk.

  If the above-mentioned exercise assisting device 1 is installed in a hospital, the patient can easily determine the strength status of visiting patients and inpatients and support for exercise (rehabilitation, etc.) for strengthening muscle strength without relying on a doctor. Can be done. In addition, when a person to be measured such as a patient himself or herself performs a measurement for determining a muscle strength state or exercising for muscular strength, it is easily recognized that the person to be measured is performing the exercise in a good posture according to the exercise. can do.

  In addition, the functions of the exercise assisting device 1 as described above are provided in game machines, televisions, etc., so that it can be used to increase muscle strength at home and maintain physical strength (extend healthy life expectancy). It can also be used to increase the strength of athletes.

  The exercise assistance device 1 may determine the posture of the person to be measured based on the pre-captured image acquired from the camera 10B. In this case, the motion posture detection unit 17 performs the motion of the measurement subject 2 including the spatial coordinates of the feature point 22 (knee), which is a part of the thigh position detected from the previous captured image, and the spatial coordinates of the foot tip position. Generate posture information. Note that the foot tip position may be the intersection of the lower knee axis 53 specified in the previous captured image and the floor surface. In this process, the exercise posture detection unit 17 generates exercise posture information for both the left and right legs. The exercise posture determination unit 18 determines whether the inclination of the axis indicated by the feature point 22 and the foot tip position is smaller than a predetermined inclination determined to be vertical or substantially vertical for each of the left and right legs. When the motion posture determination unit 18 has an inclination of the axis indicated by the feature point 22 and the foot tip position is equal to or less than a predetermined inclination (inclination with respect to the vertical) determined to be vertical or substantially vertical, The posture is determined to be appropriate, and the posture is determined to be inappropriate when the inclination of the axis indicated by the feature point 22 and the foot tip position is greater than a predetermined inclination determined to be vertical or substantially vertical. The processing of the motion posture determination unit 18 determines whether the user's motion posture is a posture when standing on one foot based on a change according to the repetitive motion of the axis connecting the thigh position and the foot tip position. It corresponds to.

  In the above-described processing, the exercise assisting device 1 calculates the number of squats depending on whether the feature point 21 is lower than the target position G, but the sensing information received from the thigh angle determination sensor 3 indicates that the thigh axis 52 is parallel to the floor surface. In the case of the information indicating that the angle is, the squat may be counted as one time. In other words, the exercise posture determination unit 18 determines whether or not the measurement subject's exercise posture is a predetermined exercise posture based on a change according to repetitive motion of information obtained from the thigh angle determination sensor 3. You may make it do. Alternatively, the exercise assisting apparatus 1 detects the thigh axis 52 from the captured image without receiving sensing information from the thigh angle determination sensor 3, and the angle formed by the thigh axis 52 is parallel or with the floor is equal to or less than a predetermined angle. When it becomes, you may make it count a squat once.

  In daily life, standing and sitting from a toilet or chair is an operation that must be performed. Maintaining the muscular strength for performing the necessary actions in such life leads to a reduction in the risk of falling and the like, and the muscular strength can be maintained by the exercise assisting device 1 described above.

  In the first embodiment, it is assumed that the captured image is also one piece of sensing information. In the first embodiment, the exercise posture detection unit 17 calculates the target position of the desired body part calculated based on the physique information, and at least the head position detected from the captured image, the foot tip position, The user's posture during exercise is detected based on the target position. Further, the posture determination unit 18 during exercise is based on a user's exercise based on a change according to repetitive movement of the first axis connecting at least the head position and the foot tip position and the relationship between the desired body part and the target position. It is determined whether the time posture is a predetermined posture during exercise. Here, the relationship between the desired body part and the target position is the positional relation between the feature point 21 that is the head position and the target position G, but the user's position depends on the relationship between the position of the other part and the other target position. It may be determined whether the posture during exercise (posture during squat exercise) is a predetermined posture during exercise (posture during squat exercise).

(Second Embodiment)
Next, the exercise assistance device according to the second embodiment and the exercise assistance method using the exercise assistance device will be described with reference to the drawings.
FIG. 4 is a diagram showing an exercise assistance system including an exercise assistance device according to the second embodiment.
Next, the exercise assistance apparatus according to the second embodiment will be described.
The exercise assisting device according to the second embodiment assists and evaluates the posture when standing on one foot. The functional block diagram of the exercise assistance device according to the second embodiment is the same as that of the first embodiment. As shown in FIG. 4, the person to be measured raises his / her left or right foot from the floor and performs an operation for maintaining the posture.

  Medically, the inability to stand on one foot is in agreement with the fact that the legs cannot be raised high and the stride cannot be increased. For example, even if you intend to raise your 5cm foot, you may be able to see many states with age that the recognition by the brain and the actual movement of the body deviate, such as when the foot is actually raised only a few centimeters. This leads to the risk of whispering and falling. For example, as you become older, you gradually become crumpled when walking, and the chances of wandering with a slight step increase. There is a survey result that 2/3 of elderly fractures are caused by falls in the house. The cords in the house, the turning state of the carpets, the hitting of obstacles such as stacks of kimonos and magazines often cause falls, and there is a need to reduce such cases. In order to avoid such a fall, it is necessary to be able to normalize the one-leg standing with the knees out of the movement of one leg standing, so training of the iliopsoas muscle necessary for the one-leg standing action is essential. is there. The iliopsoas muscle is a muscle around the hip joint that is close to the trunk and plays a role in stabilizing the pelvis. In addition, training for standing on one foot without raising the knee forward does not require the use of the iliopsoas muscle because of the contraction of only the muscles behind the thigh (hamstrings). However, it is not enough because I cannot train the iliopsoas muscle. The exercise assisting device according to the present embodiment is useful for training the muscular strength of the iliopsoas muscle that is medically supported for the purpose of preventing such a fall.

FIG. 5 is a diagram showing a processing flow of the exercise assisting device according to the second embodiment.
Next, the processing flow of the exercise assistance apparatus according to the second embodiment will be described with reference to FIG.
Similar to the first embodiment, the exercise assisting apparatus 1 according to the second embodiment displays a menu screen on the monitor 100. On the menu screen, icons of virtual buttons such as an exercise designation button, a physique information input button, and a user registration button are displayed on the monitor 100. The user selects the icon of these buttons using the operation device. The operating device may be an operating device such as a mouse or a remote controller, or the monitor 100 may be provided with a touch panel function as an operating device. The person to be measured 2 first presses a physique information input button on the menu screen, and thereafter inputs physique information such as his / her height, weight, and age in each input column displayed on the monitor 100. In these inputs, the person to be measured 2 inputs using the operating device. The physique information is acquired by the physique information acquisition unit 16 of the exercise assisting apparatus 1 from the input / output unit 13 (step S201), and is primarily recorded in a memory or the like. In addition, the person to be measured 2 depresses the exercise designation button and the designation button of the one-leg standing exercise displayed after the depression operation on the exercise designation button, and instructs the start of the one-leg standing exercise process to the operation device and the monitor 100. Is input to the exercise assisting apparatus 1 (step S202). Information input in the monitor 100 is converted into a signal and output to the exercise assisting apparatus 1.

  The exercise assisting apparatus 1 inputs an instruction to start a one-leg standing exercise process via the input / output unit 13. Then, the control unit 11 activates the camera 10A or 10B, and the input / output unit 13 inputs a photographed image from each camera. Hereinafter, description will be given using an example in which the control unit 11 activates the camera 10B and performs processing using a previously captured image. The control unit 11 outputs a previously captured image (an image captured by the camera 10B) to the previously captured image processing unit 15. The pre-photographed image processing unit 15 outputs the pre-photographed image to the monitor 100 (Step S203). As a result, the monitor 100 displays the previous photographed image. Normally, it is assumed that the person to be measured 2 stands facing the monitor 100 (facing the direction in which the monitor 100 is located), but an angle of 90 degrees from the direction in which the person to be measured 2 looks at the monitor 100 is set. The person to be measured 2 may stand in the direction in which the camera is attached, and the camera 10B may capture the image (pre-photographed image or post-photographed image). Or you may make it perform the following processes using the horizontal imaging | photography image image | photographed with the cameras 10B and 10A.

  Based on the control of the control unit 11, the exercise posture detection unit 17 acquires the physique information from the physique information acquisition unit 16 and calculates the height indicated by the target position G (step S204). For example, when the target position G is a height h2 that is 10% of the height, the exercise posture detection unit 17 calculates the target position G by multiplying the height by 0.1. The height h2 of the target position G is the height from the floor. The posture detection unit 17 during exercise detects the position of each toe of both feet of the person to be measured 2 by image processing, and specifies the position as a feature point 24 and a feature point 25, respectively (step S205). In this embodiment, the feature point of the toe of the right foot is 24, and the feature point of the toe of the left foot is 25. It should be noted that the toe feature point detected using the laterally photographed image may be only one toe of the foot located on the camera side.

  In detecting the feature points 24 and 25, for example, the posture detector during exercise 17 detects the toe position based on the intersection of the lower knee axis 53 and the floor and the relative distance between the intersection and a preset toe. Then, the toe position is identified as the feature points 24 and 25.

Similar to the first embodiment, the motion posture detection unit 17 detects pixels corresponding to the body of the person to be measured 2 from the photographed image, and based on the range and shape of the pixels, A linear equation indicating an axis or a space vector may be calculated. The feature points 24 and 25 are calculated as described above using this linear equation and space vector. The exercise posture detection unit 17 records the spatial coordinates of the identified feature points 24 and 25 in a memory or the like as exercise posture information. In other words, the exercise posture detection unit 17 detects the exercise posture of the measurement subject.
The exercise posture detection unit 17 repeatedly specifies information on the exercise posture at a predetermined timing. For example, the predetermined timing is a plurality of times per second. The repetition interval of this timing can be set as appropriate.

  When the exercise posture detection unit 17 detects the exercise posture, it instructs the exercise posture determination unit 18 to start processing. Then, the motion posture determination unit 18 specifies a feature point away from the floor among the feature points 24 or 25 (step S206). Specifically, it is determined whether or not H2> 0 (coordinate corresponding to 0 cm) by using the vertical coordinate (y coordinate) indicating the height H2 of the feature point 24, and the vertical coordinate indicating the height H2 of the feature point 25 ( It is determined whether H2> 0 cm using the y coordinate). Then, the feature point 24 or feature point 25 satisfying H2> 0 cm is specified as a feature point away from the floor. The exercise posture determination unit 18 may determine whether the feature point 24 or 25 is greater than or equal to the coordinate y = 5 (coordinate corresponding to 5 cm) with a certain margin. When the motion posture determination unit 18 identifies a feature point away from the floor, the posture determination unit 18 determines whether H2 ≧ h2 using the vertical coordinate (y coordinate) indicating the height H2 for the feature point (step S207). ).

  The exercise posture determination unit 18 receives sensing information from the thigh angle determination sensor 3. The sensing information is an angle α1 with respect to the vertical formed by the thigh axis 52. When this angle is an angle in the front direction of the person to be measured 2 and is an angle of a predetermined angle α2 or more (α1 ≧ α2) with respect to the vertical, it can be determined that the person to be measured 2 has raised the knee. (For example, the state of the leg indicated by 2A in FIG. 4). The exercise posture determination unit 18 determines whether α1 ≧ α2 (step S208). When the exercise posture determination unit 18 satisfies H2 ≧ h2 (Yes at Step S207) and α1 ≧ α2 (Yes at Step S208), the measured person 2 raises the toe to a height equal to or higher than the target position G. Then, the number of times is counted, and update processing is performed to increase the value of the number of times of memory by a value of 1 (step S209). The exercise posture determination unit 18 detects the angle of the thigh axis 52 from the laterally captured image in the same manner as in the first embodiment, and detects α1 based on the angle formed by the vertical axis and the thigh axis 52. May be. In that case, it is not necessary to attach the thigh angle determination sensor 3 to the person 2 to be measured. The to-be-measured person 2 repeatedly raises and lowers one leg while standing on the same one leg. Thereby, the frequency | count which the attitude | position determination part 18 at the time of an exercise | movement increases. Note that the state of the leg indicated by 2B in FIG. 4 is not counted as the number of times the toes are raised because α1 ≧ α2.

  The posture determination unit 18 during exercise repeats the determination of H2 ≧ h2 and α1 ≧ α2 and determines that H2 ≧ h2 is not satisfied (step S207 No), or if it is determined that α1 ≧ α2 is not satisfied (step S208 No), It is determined that the posture is appropriate (step S212), and the information is recorded in a memory or the like. Alternatively, based on the request from the posture determination unit 18 during exercise to the support information output unit 20, the support information output unit 20 displays a warning on the monitor 100 that the posture is inappropriate ( Step S213). Alternatively, the support information output unit 20 may notify the person to be measured 2 of an inappropriate posture by sounding an alarm sound or by outputting sound. The support information output unit 20 may perform support information (for example, voice or screen display) so that the user can exercise with an appropriate posture instead of a warning.

  Then, the number-of-repetitions determination unit 19 compares the number of times the person to be measured 2 raised one leg (the number of repeated exercises) with a preset number stored in advance (step S210). , The display of the end is output to the monitor 100, and the control unit 11 is notified of the end of the process. The control unit 11 outputs a menu screen to the monitor 100. As a result, the one-leg standing motion of the person under measurement 2 is completed. If the number of times the person under test 2 raises one leg does not match the preset number stored in advance, the iteration number determination unit 19 waits for a predetermined time (for example, waits for one second) (step S211), and then from step S207 Repeat the process.

The exercise posture determination unit 18 determines the number of times to raise one leg based on the age read from the physique information acquisition unit 16, and the iteration number determination unit 19 determines the number of times to raise the one leg of the person 2 to be measured according to age. When the number of times of raising one leg is reached, the standing leg movement may be stopped.
Further, the exercise posture detection unit 17 may calculate the target position G by substituting the height and age read from the physique information acquisition unit 16 into a predetermined target position calculation formula.
In addition, after receiving the notice of the start of the one-leg standing exercise from the control unit 11, the iteration number determination unit 19 counts the time by a timer function, and repeats the predetermined number of times (the number of times of raising one leg according to age or a predetermined time). The number of times of raising one leg) is not reached, it may be notified to the memory that the muscle strength is low, transmitted to the management server storing the physical information of the person being measured, or displayed on the monitor 100 Good.
As described above, when the person under measurement 2 performs a one-leg standing exercise, a chair may be prepared beside the person to be measured so as not to fall down, or one hand standing exercise may be performed by placing a hand on a wall or desk. .

  Also, the posture determination unit 18 during exercise determines whether the determination of H2 ≧ h2 and α1 ≧ α2 continues for a predetermined time or more, not the number of times of standing on one foot, and determines that the one-leg standing exercise is finished when the determination continues for a predetermined time or more. May be. In this case, when the determination of H2 ≧ h2 and α1 ≧ α2 does not continue for a predetermined time or more, the exercise posture determination unit 18 outputs alarm information (screen information or sound) or determines whether H2 ≧ h2 and α1 ≧ α2. For example, the time that is continued may be recorded in the memory as information indicating the state of muscular strength.

  If the above-mentioned exercise assisting device 1 is installed in a hospital, the patient can easily determine the strength status of visiting patients and inpatients and support for exercise (rehabilitation, etc.) for strengthening muscle strength without relying on a doctor. Can be done. Moreover, the fall of the elderly can be prevented by increasing the muscle strength of the iliopsoas muscle.

  In the second embodiment, the exercise posture detection unit 17 calculates a target position of a desired body part calculated based on the physique information, and the user based on the foot tip position included in the captured image and the target position. The posture during exercise is detected. In the second embodiment, the exercise posture determination unit 18 determines whether or not the user's exercise posture is an appropriate posture when standing on one foot, based on a change in accordance with the repeated movement of the foot tip position. . Here, in the second embodiment, the relationship between the desired body part and the target position is the positional relationship between the feature point 23 that is the foot tip position and the target position G (height from the floor). Depending on the relationship between the position of the part and the other target position, it may be determined whether the user's posture during exercise (posture in one foot state) is a predetermined posture during exercise (posture in one foot state).

  In addition, as the exercise assistance apparatus 1, you may make it the exercise assistance of the to-be-measured person 2 by the process outside said 1st embodiment or 2nd embodiment. For example, the degree of opening of the crotch or the stride when the measured person 2 advances two steps with a large crotch may be detected from the captured image, and the walking posture may be determined based on the degree of crotch opening or the stride. In that case, for example, the degree of opening of the crotch may be specified by the angle of the thigh axis 52 of both legs, or the stride may be calculated based on the moving distance of the feature point 23 of the toe of the foot.

  The above-described exercise assistance device has a computer system therein. Each process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing the program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 ... Exercise assistance apparatus 10A, 10B ... Camera 100 ... Monitor 11 ... Control part 12 ... Communication part 13 ... Input / output part 14 ... Horizontal photographing image processing part 15 ... -Pre-photographed image processing unit 16 ... physique information acquisition unit 17 ... exercise posture detection unit 18 ... exercise posture determination unit 19 ... iteration count determination unit 2 ... person to be measured 3 ...・ Thigh angle sensor

Claims (12)

A posture detection unit for exercise that detects the exercise posture of the user who is performing repetitive exercise based on the sensing information of the user;
An exercise posture determination unit for determining whether the user's exercise posture is a determined exercise posture during the repetitive exercise;
With
The exercise posture detection unit calculates a target position that is a target position of the user's head position and lower than the user's height, and includes at least the head position, the user's foot tip position, and a knee position. , Detecting the user's motion posture based on the target position,
The movement posture determination unit is the repetitive movement in which the head position is not more than the target position, and the head position, the foot tip position, and the knee position are repeated during the repetitive movement. Whether the feature point indicated by the head position and the knee position is a squat motion posture within a predetermined distance range determined to be located on an axis passing through the foot tip position based on a horizontal distance. An exercise assisting device characterized by judging. The exercise posture detection unit detects the exercise posture of the one-leg standing of the user based on at least the foot tip position of the foot away from the floor ,
The motion posture determination unit is the repetitive motion in which the height from the floor of the foot tip position of the foot away from the floor is equal to or higher than a target height, and in the repetitive motion from the floor angle formed with respect to the vertical line of the axis of the thigh of the leg away leg side motion assisting device according to claim 1 determines whether the movement posture of standing on one leg is a predetermined angle or more. A support information output unit that outputs support information according to the user's exercise posture;
The exercise assistance apparatus according to claim 1, further comprising: The exercise support apparatus according to claim 3, wherein the support information output unit outputs the support information when it is determined that the user's exercise posture is an inappropriate posture for repeated exercise. A repetition number determination unit for determining the number of repetitions of the repetitive motion,
The exercise support apparatus according to claim 3 or 4, wherein the support information output unit outputs an instruction to end the repetitive exercise when the number of repetitions reaches a predetermined number of repetitions. A physique information acquisition unit for acquiring physique information of the user,
The exercise assistance device according to any one of claims 1 to 5, wherein the exercise posture detection unit calculates the target position using the physique information. A horizontal captured image processing unit that acquires a captured image from the lateral direction of the user, which is the sensing information;
The exercise assistance device according to claim 1, wherein the exercise posture detection unit detects the head position and the foot tip position from at least a captured image from the lateral direction. A thigh angle determination sensor attached to at least the thigh position of the user;
The posture determination unit during exercise detects an angle formed by an axis of the thigh and the vertical line based on the sensing information obtained from the thigh angle determination sensor. Exercise assistance device. A posture detection unit for exercise that detects the exercise posture of the user who is performing repetitive exercise based on the sensing information of the user;
An exercise posture determination unit for determining whether the user's exercise posture is a determined exercise posture during the repetitive exercise;
With
The exercise posture detection unit detects the user's exercise posture based on at least a tip position of a foot away from the floor of the user,
The motion posture determination unit is the repetitive motion in which the height from the floor of the foot tip position of the foot away from the floor is equal to or higher than a target height, and in the repetitive motion from the floor away and direction of the vertical line along the axis of the axial direction and the other leg of the knee of the leg of the foot-side match, makes with respect to the vertical line of the axis of the thigh of the leg away leg side from the floor It is judged whether it is an exercise posture of one leg standing whose angle is more than a predetermined angle. A captured image processing unit that acquires the captured image of the user as the sensing information;
The exercise posture detection unit detects the position of the user's foot tip based on the user's captured image,
The exercise assistance device according to claim 9, wherein the exercise posture determination unit detects an angle formed by an axis of the thigh of the user and a vertical line based on a captured image of the user. The movement posture detection unit of the movement assist device detects the movement posture of the user who is performing repetitive movement based on the user's sensing information,
The exercise posture determination unit of the exercise assisting device determines whether the user's exercise posture is a predetermined exercise posture during the repeated exercise,
The exercise posture detection unit calculates a target position that is a target position of the user's head position and lower than the user's height, and includes at least the head position, the user's foot tip position, and a knee position. , Detecting the user's motion posture based on the target position,
The movement posture determination unit is the repetitive movement in which the head position is not more than the target position, and the head position, the foot tip position, and the knee position are repeated during the repetitive movement. Whether the feature point indicated by the head position and the knee position is a squat motion posture within a predetermined distance range determined to be located on an axis passing through the foot tip position based on a horizontal distance. A method of assisting exercise characterized by judging. The computer of the exercise assistance device,
A posture detection means for exercise that detects the exercise posture of the user who is performing repetitive exercise based on the sensing information of the user;
Exercise posture determination means for determining whether the user's exercise posture is a predetermined exercise posture during the repeated exercise,
Function as
The exercise posture detection means calculates a target position that is a target position of the user's head position and is lower than the user's height, and includes at least the head position, the user's foot tip position, and a knee position. , Detecting the user's motion posture based on the target position,
The movement posture determination means is the repetitive movement in which the head position is repeated below the target position, and the head position, the foot tip position, and the knee position are repeated during the repetitive movement. Whether the feature point indicated by the head position and the knee position is the motion posture of the squat within a predetermined distance range determined to be located on an axis passing through the foot tip position based on a horizontal distance. The program characterized by judging.

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