JP6783013B2 - Gait measurement system, gait measurement program, and gait measurement method - Google Patents

Description

The present invention relates to a gait measurement system, a gait measurement program, and a gait measurement method. More specifically, it relates to a gait measurement system, a gait measurement program, and a gait measurement method that can accurately grasp the gait state of a subject and efficiently guide the subject to the target gait movement. is there.

There is an increasing need for training to improve, recover, and maintain walking function for subjects whose walking function is impaired due to weakening of leg strength due to aging in recent years, illness, accidents, and the like. There is walking training as training for recovering the walking function of such a subject.

Conventionally, in walking training, a method of having an assistant walk while assisting the walking posture of the subject, or walking by oneself while grasping between two handrails (called parallel bars) passed in parallel. Training etc. have been generally carried out.

However, in such walking training with assistance by a caregiver or walking training using parallel bars, medical staff such as physical therapists and doctors who evaluate and instruct the training can use a stopwatch, scale, or number of steps. The walking parameters such as the rough walking speed and stride were calculated and evaluated using a meter or the like. With such a conventional method, it is not possible to directly and accurately measure the walking parameters of the subject, which changes from moment to moment, in real time, and the medical staff can grasp the accurate walking state of the subject. Or, it was not possible to obtain useful information for diagnosing the therapeutic effect.

Therefore, for example, Patent Document 1 discloses a measuring device capable of measuring an accurate walking speed or walking distance according to the actual walking of the subject. Specifically, a magnetic field generating means is attached to one of both feet of the subject, and a detecting means for detecting a magnetic field from the magnetic field generating means is attached to the other, and the crossing speed when both feet intersect based on the detection data. It is possible to measure the walking speed of a person in real time by calculating.

Further, Patent Document 2 discloses a calculation device in which an acceleration sensor is attached to the foot of a subject and the walking speed, walking time, and walking distance are calculated based on the acceleration measured by the acceleration sensor. Specifically, it measures whether or not a change has occurred in the acceleration measured by a three-axis acceleration sensor attached to the foot of the subject, and determines the detection time when the change in acceleration is detected. Estimated walking time. Then, by multiplying the estimated walking time by the walking speed calculated from the acceleration sensor to calculate the walking distance, it is possible to measure the walking speed, walking time, and walking distance of the subject in real time. It has become something like that.

Japanese Unexamined Patent Publication No. 2004-69468 Japanese Unexamined Patent Publication No. 2005-49202

However, although the measuring device disclosed in Patent Document 1 can measure the walking speed that changes from moment to moment, the speed calculated in Patent Document 1 is the crossing speed of both feet. Normally, although the crossing speed of both feet is different from the walking speed of the subject, Patent Document 1 regards both as the same and estimates the crossing speed of both feet as the walking speed of the subject. Therefore, it does not necessarily calculate the accurate walking speed of the subject.

Further, in the arithmetic device disclosed in Patent Document 2, for example, the walking speed is calculated by time-integrating the acceleration measured by the acceleration sensor, but an integration error inevitably occurs in the process of integrating the acceleration. It ends up. Therefore, even in Patent Document 2, the accurate walking speed of the subject is not always calculated.

The present invention was devised in view of the above points, and is a gait measurement capable of accurately grasping the walking state of a subject and efficiently guiding the subject to the target walking movement. It is an object of the present invention to provide a system, a gait measurement program, and a gait measurement method.

In order to achieve the above object, the gait measurement system of the present invention is irradiated with a foot pressure sensor that measures the foot pressure of a subject and outputs the measured foot pressure data at a predetermined pitch angle in the horizontal direction. The foot position of the subject is measured based on the reflected state of the detected wave, and the foot position sensor that outputs the measured foot position data and the noise data included in the foot position data are removed and the noise data is removed. A filter processing unit that outputs the foot position processing data, a storage unit that stores the foot pressure data output from the foot pressure sensor and the foot position processing data in association with the measurement time, the foot pressure data and the foot. It is provided with a gait analysis device having a calculation unit that calculates a predetermined gait parameter of the subject based on the position processing data.

Here, by providing a foot pressure sensor that measures the foot pressure of the subject and outputs the measured foot pressure data, the foot touches the ground when the subject walks based on the measured foot pressure data. Since the state and the takeoff state of the foot can be determined, the walking state of the subject can be grasped in detail.

In addition, it is an inexpensive system by providing a foot position sensor that measures the foot position of the subject based on the reflection state of the detection wave emitted at a predetermined pitch angle in the horizontal direction and outputs the measured foot position data. Therefore, it is possible to accurately grasp the foot position of the subject when walking.

In addition, by providing a walking analysis device that analyzes the walking state of the subject based on the foot pressure data and the foot position data, the walking state of the subject that changes from moment to moment is based on the foot pressure data and the foot position data. Can be analyzed accurately.

In addition, the gait analysis device has a filter processing unit that removes noise data included in the foot position data and outputs the foot position processing data from which the noise data has been removed, so that the foot position data measured by the foot position sensor can be obtained. Accurate foot position of the subject can be detected by detecting and removing noise data unrelated to the included measurement target (subject).

In addition, the gait analysis device has a storage unit that stores the foot pressure data and the foot position processing data output from the foot pressure sensor in association with the measurement time, so that the subject can walk based on the foot pressure data. Since it is possible to associate the contact state of the foot with the floor surface and the foot position during walking of the subject based on the foot position processing data, the walking state of the foot during walking of the subject can be accurately grasped. can do.

In addition, the gait analysis device has a calculation unit that calculates a predetermined walking parameter of the subject based on the foot pressure data and the foot position processing data, so that the foot pressure data and the foot position processing associated with the measurement time are processed. Based on the data, the walking parameters indicating the walking state of the subject can be easily and accurately calculated.

Further, when the filter processing unit includes a coordinate conversion unit that converts the foot position data into the coordinate data of the Cartesian coordinate system, the foot position data measured by the foot position sensor is obtained between the foot position sensor and the subject. Although it is output as distance data, it can be converted into Cartesian coordinate data by coordinate conversion.

Further, when the filter processing unit includes a data approximation unit that approximates the coordinate data to a predetermined number of effective digits, the filter processing unit approximates the coordinate data converted into orthogonal coordinate data by the coordinate conversion unit to a predetermined number of effective digits. Can be transformed into.

Further, the filter processing unit is approximated by the data approximation unit when it includes a data accumulation unit that accumulates coordinate data having the same coordinate values into a group data by the approximation in the data approximation unit. It is possible to collect the coordinate data having the same coordinate values into one cohesive group data.

Further, when the filter processing unit includes a coordinate data counting unit that counts the number of coordinate data consisting of the same coordinates constituting the group data, the filtering unit counts the number of coordinate data data consisting of the same coordinates constituting the group data. With, the size of the group data can be grasped.

Further, when the number of coordinate data constituting the group data is smaller than a predetermined threshold set according to the distance from the foot position sensor to the foot of the subject as the measurement target, the filter processing unit may be used. When the first determination unit that determines the group data as noise is included, among the foot position data measured by the foot position sensor, based on the number of coordinate data included in the group data counted by the coordinate data counting unit. , It is possible to determine the presence or absence of minute noise data unrelated to the subject's feet.

At this time, the threshold value is set to a value corresponding to the distance between the foot position sensor and the object to be measured. Specifically, since the foot position sensor irradiates the detection wave at a predetermined pitch angle, the interval between adjacent detection waves increases as the irradiation distance of the detection wave from the foot position sensor to the object to be irradiated increases. Has the property of becoming longer. Therefore, for example, when the distance from the foot position sensor to the measurement target is short, a small value is set as the threshold value, and when the distance from the foot position sensor to the measurement target is long, a large value is set as the threshold value. , It is possible to prevent a detection error based on the distance difference between the foot position sensor and the object to be measured.

Further, when the filter processing unit includes a detection point coordinate setting unit that sets coordinate data constituting a group of data determined to be equal to or higher than the threshold value by the first determination unit as detection point coordinates, the first determination is made. The coordinate data constituting the group data determined to be not noise data by the unit can be set as the detection point coordinates for detecting the foot of the subject.

Further, when the filter processing unit includes a specific detection point coordinate setting unit that selects a specific detection point coordinate as the specific detection point coordinate from the detection point coordinates, for example, the center at the time of detecting the foot of the subject. The detection point coordinates that are the coordinates can be set as the specific detection point coordinates.

Further, when the filter processing unit includes an area setting unit that sets a predetermined determination area centered on the coordinates of the specific detection point, the filter processing unit is based on, for example, the size around the foot of the subject, which is generally used as the determination area. The judgment area can be set.

In addition, the filter processing unit determines that the specific detection point coordinates are a part of the measurement target when a predetermined number of detection point coordinates exist around the specific detection point coordinates in the determination area. When the determination unit of is included, it is assumed that there is a data group having a certain spread due to the existence of a predetermined number of detection point coordinates around the specific detection point coordinates, and the data group is regarded as the subject. It can be determined that it is a part of the foot.

In addition, the gait measurement system is equipped with a waist position sensor that measures the waist position of the subject based on the reflection state of the detection wave emitted at a predetermined pitch angle in the horizontal direction and outputs the measured waist position data. When the filter processing unit identifies the noise data included in the foot position data based on the noise data included in the waist position data, the filter processing unit exists around the object to be measured based on both the foot position data and the waist position data. Since the noise data can be detected, the detection accuracy of the noise data can be improved.

Further, the calculation unit is a storage unit corresponding to the time when the predetermined contact state of the nth step (n is a natural number) of one of the left and right feet during walking of the subject is determined based on the foot pressure data. The stored foot position processing data and the predetermined contact state of the (n + 1) step of the other foot during walking of the subject are stored in the storage unit corresponding to the time determined based on the foot pressure data. When a stride measuring unit that measures the stride length of the subject based on the foot position processing data is included, the stride is measured based on the foot pressure data and the foot position processing data, so that the stride length should be measured more accurately. Can be done.

Further, the calculation unit is stored in the storage unit corresponding to the time when the predetermined contact state of the nth step (n is a natural number) of one foot during walking of the subject is determined based on the foot pressure data. Foot position processing data, foot position stored in the storage unit corresponding to the time when the predetermined contact state of the (n + 1) step of the other foot during walking of the subject is determined based on the foot pressure data. The processed data and the foot position processing data stored in the storage unit corresponding to the time when the predetermined contact state of the (n + 2) step of one foot during walking of the subject is determined based on the foot pressure data. When the stride measuring unit for measuring the stride of the subject is included, the stride is measured based on the foot pressure data and the foot position processing data, so that the stride can be measured more accurately.

Further, the calculation unit is stored in the storage unit corresponding to the time when the predetermined contact state of the nth step (n is a natural number) of one foot during walking of the subject is determined based on the foot pressure data. Foot position processing stored in the storage unit corresponding to the time when the foot position processing data and the predetermined contact state of the (n + 1) step of the other foot during walking of the subject are determined based on the foot pressure data. When a foot pressure measuring unit that measures the foot distance of the subject based on the data is included, the foot pressure data measured by the foot pressure sensor is applied to the floor surface of the foot of the subject during walking. Since the ground contact status can be grasped and the step distance is measured based on the foot position processing data based on the ground contact status of the foot on the floor surface, more accurate step distance can be measured.

In addition, the calculation unit is a step count measurement unit that calculates the number of steps in the measurement target area based on the ground contact or takeoff state of one of the left and right feet and the other foot during walking of the subject based on the foot pressure data. If it is included, the number of steps of the subject can be accurately calculated from the ground contact and takeoff state of the subject's foot based on the foot pressure data measured by the foot pressure sensor.

In order to achieve the above object, the walking measurement program and the walking measurement method of the present invention include a foot pressure data receiving step for receiving foot pressure data indicating the foot pressure of a subject measured in a measurement target area, and a measurement. A foot position data reception step for receiving foot position data indicating the foot position of a subject measured in a target area, a noise detection step for detecting noise data included in the foot position data, foot pressure data, and detection. A storage step for storing the foot position processing data from which the noise data has been removed in association with the measurement time, and a predetermined walking parameter of the subject are calculated based on the foot pressure data and the foot position processing data. It has a calculation step.

Here, by providing a foot pressure data receiving step for receiving foot pressure data indicating the foot pressure of the subject measured in the measurement target area, the foot of the subject during walking is provided based on the received foot pressure data. Since it is possible to determine the ground contact state of the part and the takeoff state of the foot, it is possible to accurately grasp the walking state of the subject.

In addition, by providing a foot position data receiving step for receiving foot position data indicating the foot position of the subject measured in the measurement target area, the foot position of the subject during walking can be determined based on the received foot position data. Since it can be determined, the walking state of the subject can be accurately grasped.

In addition, by providing a noise detection step for detecting the noise data included in the foot position data, the noise data included in the foot position data is detected, and the noise data unrelated to the measurement target is removed from the foot position data. Therefore, the calculation accuracy of the walking parameter can be improved.

By providing a storage step in which the foot pressure data and the foot position processing data from which the noise data has been removed are stored in association with the measurement time, the foot pressure data and the foot position processing data are associated with the measurement time as paired data. Can be remembered.

In addition, by providing a calculation step for calculating a predetermined walking parameter of the subject based on the foot pressure data and the foot position processing data, the foot pressure data and the foot stored in the storage unit in association with the measurement time are provided. Based on the position processing data, it is possible to improve the calculation accuracy for calculating the walking parameter indicating the walking state of the subject.

Further, when the noise detection step includes a coordinate conversion step of converting the foot position data into the coordinate data of the Cartesian coordinate system, for example, the foot position data received as distance data may be converted into the Cartesian coordinate data by coordinate conversion. it can.

Further, when the noise detection step includes an approximation step for approximating the coordinate data to a predetermined number of effective digits, the coordinate data converted into Cartesian coordinate data by the coordinate conversion step is approximated to a predetermined number of effective digits. can do.

Further, when the noise detection step includes an integration step in which coordinate data having the same coordinate values are integrated into a group data by approximation by the approximation step, the same coordinates are approximated by the approximation step. Coordinate data that have become values can be accumulated into one cohesive group of data.

Further, when the noise detection step includes a counting step for counting the number of coordinate data consisting of the same coordinates constituting the group data, the noise detection step counts the number of coordinate data consisting of the same coordinates constituting the group data and counts the group data. You can grasp the size of.

Further, the noise detection step is the same included in the group data when the number of coordinate data constituting the group data is less than a predetermined threshold value and includes the first determination step of determining the group data as noise. By comparing the number of coordinate data consisting of coordinates with a predetermined threshold value, it is possible to determine the presence or absence of minute noise data unrelated to the measurement target.

Further, when the noise detection step includes a detection point coordinate setting step in which the coordinate data constituting the group data determined to be equal to or higher than the threshold value by the first determination unit is set as the detection point coordinates, the first determination is made. Coordinate data consisting of the same coordinate values constituting a group of data determined not to be noise data by the step can be set as the detection point coordinates for detecting the foot of the subject.

Further, when the noise detection step includes a specific detection point coordinate setting step for selecting a specific detection point coordinate as the specific detection point coordinate from the detection point coordinates, for example, the detection point coordinate which is the center coordinate of the measurement target object. Can be set as the coordinates of a specific detection point.

Further, when the noise detection step includes an area setting step for setting a predetermined determination area centered on the coordinates of the specific detection point, for example, the noise detection step is based on the size around the foot of the subject, which is generally used as the determination area. The judgment area can be set.

Further, the noise detection step is a second determination step of determining the specific detection point coordinates as a measurement target when a predetermined number of detection point coordinates exist around the specific detection point coordinates in the determination area. In the case of including, it is assumed that there is a data group having a certain spread by having a predetermined number of detection point coordinates around the specific detection point coordinates, and the data group is regarded as the foot of the subject. It can be determined that it is a part of.

The walking measurement system, the walking measurement program, and the walking measurement method according to the present invention can accurately grasp the walking state of the subject and efficiently guide the subject to the target walking movement.

It is an whole block diagram of the walking measurement system which concerns on embodiment of this invention. It is a figure which shows the foot pressure sensor which is attached to the foot part of the subject in the walking measurement system which concerns on embodiment of this invention. It is a figure which shows the housing part which concerns on embodiment of this invention, (a) is a completed drawing, (b) is an exploded view. It is a conceptual diagram which shows the measurement area which uses the walking measurement system which concerns on embodiment of this invention. It is explanatory drawing of a walking parameter. It is a block diagram of the filter processing part which concerns on embodiment of this invention. It is a block diagram of the calculation part which concerns on embodiment of this invention. It is a figure which shows the processing flow of the gait analysis apparatus. It is a figure which shows the processing flow of the filter processing part in a gait analysis apparatus. It is a conceptual diagram which shows the processing content in a filter processing part.

Hereinafter, embodiments of the present invention relating to a walking measurement system, a walking measurement program, and a walking measurement method will be described with reference to the drawings to help the present invention be understood.

[Walking measurement system]
First, a block diagram showing the overall configuration of the walking measurement system 1 according to the present invention will be described with reference to FIG. As shown in FIG. 1, the gait measurement system 1 is a foot pressure sensor 2 that is attached to the foot of the subject S to measure the foot pressure during walking, and a reflected state of a detection wave irradiated at a predetermined pitch angle. Foot position sensor 3 that measures the position of the foot of the subject S, waist position sensor 4 that measures the position of the waist, foot pressure data measured by the foot pressure sensor 2, and foot position sensor 3 that measures the position of the foot. A wireless communication unit 5 that transmits and receives the foot position data and the waist position data measured by the waist position sensor 4, a walking analysis device 6 that calculates and outputs a predetermined walking parameter of the subject S, and a walking analysis device 6. It is mainly composed of a display unit 7 for displaying the calculation result.

[Foot pressure sensor]
As shown in FIG. 2, the foot pressure sensor 2 includes an insole 21 to be attached to shoes used by the subject S for walking, and a load sensor 22 distributed in the range from the heel to the toe of the insole 21. It is composed of an insole 23 to be attached to the ankle of the subject S, and an electrical component 24 that converts the load signal output from the load sensor 22 into a wireless transmission signal and transmits it to the wireless communication unit 5. It is possible to measure the walking state of the insole, swing leg, etc. in real time based on the foot pressure data of the subject S during walking. A more detailed description of the foot pressure sensor 2 will be omitted here because the applicant has described it in Japanese Patent Application Laid-Open No. 2014-45885 of the application in the past.

Here, the foot pressure sensor 2 does not necessarily have to have the form shown in FIG. For example, the foot pressure sensor 2 and the gait analysis device 6 may be connected by wire instead of wirelessly. Further, the foot pressure sensor 2 does not need to be attached to the shoes of the subject, and may be configured to walk and measure with the foot of the subject S placed on the insole 21.

[Case]
The foot position sensor 3, the waist position sensor 4, the wireless communication unit 5, the gait analysis device 6, and the like according to the embodiment of the present invention are built in the housing unit 8 as shown in FIG. The housing portion 8 is mainly composed of a base portion 81 and a pole portion 82 extending vertically upward from the substantially center of the base portion 81, and the base portion 81 and the pole portion 82 are covered with a cover portion 83.

The foot position sensor 3, the waist position sensor 4, and the image pickup device 9 for photographing the walking state of the subject S on the pole portion 82 can be adjusted in the vertical direction at a predetermined height position of the pole portion 82. It is fixed by the adjustment mechanism. Therefore, the foot position sensor 3, the waist position sensor 4, and the image pickup device 9 can be adjusted to an appropriate measurement position according to the physique of the subject and used. Further, the base unit 81 receives the data measured by the power supply unit 84 that supplies power to the housing unit 8, the walking analysis device 6, and each sensor, and outputs the calculation result of the walking analysis device 6 to the display unit 7. It has a wireless communication unit 5 to perform.

The cover portion 83 has transparent sensor windows 83a and 83b corresponding to the height positions of the foot position sensor 3 and the waist position sensor 4, and is directed into the measurement area M through the sensor windows 83a and 83b. The detection wave can be irradiated. Further, a circular imaging window 83c is attached to the height position of the imaging device 9, and the imaging device 9 can image the walking state of the subject S through the imaging window 83c.

Here, the foot position sensor 3, the waist position sensor 4, the gait analysis device 6, and the like do not necessarily have to be integrated in the housing portion 8. For example, the foot position sensor 3, the waist position sensor 4, and the gait analysis device 6 may be configured separately. However, since the foot position sensor 3, the waist position sensor 4, and the gait analysis device 6 are integrated, the measurement can be started by installing the housing portion 8 in a predetermined place at the time of measurement. It is possible to reduce the preparatory man-hours for measurement.

Further, it is not always necessary to have the waist position sensor 4. Since it is only necessary to be able to grasp the foot position of the subject S during walking, it is sufficient to have at least the foot position sensor 3. However, by having the waist position sensor 4, noise data can be detected based on both the foot position sensor 3 and the waist position sensor 4 in the filter processing by the filter processing unit 61 described later, so that the foot position sensor 3 From the viewpoint of increasing the reliability of the foot position data of the subject S detected in the above, it is preferable to have the waist position sensor 4.

Further, it is not always necessary for the wireless communication unit 5 to transmit and receive the measurement data measured by each sensor and the calculation result of the gait analysis device 6 by wireless communication. For example, it can be realized by wired communication instead of wireless communication.

Further, it is not always necessary to have an image pickup device 9 for taking a moving image of the walking state of the subject S. However, by having the image pickup device 9, the walking state of the subject S can be confirmed by a moving image, so that feedback at the time of rehabilitation can be efficiently performed.

[Foot position sensor, waist position sensor]
The foot position sensor 3 and the waist position sensor 4 irradiate the subject S with a detection wave (laser) along the floor surface in the horizontal direction at each height position, and the subject S of the irradiated detection wave. A laser range finder (hereinafter referred to as "LRF") that measures the distance between the foot position sensor 3 or the waist position sensor 4 and the subject S from the reflection time from the subject S is used.

A schematic diagram of the measurement region M using this LRF is shown in FIG. As the LRF used in the embodiment of the present invention, the lateral region angle (viewing angle) is 240 deg, the angular resolution is 0.36 deg, and the radius (R) can be measured within a range of about 3.5 m. The height positions of the foot position sensor 3 and the waist position sensor 4 from the floor surface are appropriately set according to the physique of the subject S as described above. For example, in the embodiment of the present invention. The foot position sensor 3 is installed at a height of about 18 cm from the floor so that the detection wave is emitted from the ankle of the subject S to the vicinity of the knee, and the waist position sensor 4 is the waist position of the subject S. It was installed at a height of about 80 cm from the floor surface so that the detected wave was irradiated to the portion.

Here, the LRF is not necessarily limited to the above specifications, and various LRFs can be used, for example, depending on the measurement environment.

Further, it is not always necessary that the detection wave is irradiated from the ankle to the knee of the subject S as the irradiation range of the foot position sensor 3 and the waist position portion of the subject as the irradiation range of the waist position sensor 4. For example, the irradiation range of the detection wave of the foot position sensor 3 may be any portion as long as it can identify the left and right foot portions of the subject S. Further, the irradiation range of the detection wave of the waist position sensor 4 may be any portion as long as the body portion of the subject S can be identified.

Further, it is not always necessary to use the LRF as the sensor, and any kind of measuring device may be used as long as it can measure the foot position and the waist position of the subject S.

In the measurement, when the subject S starts walking from the "START" position, the foot pressure sensor 2 starts measuring the foot pressure, and the foot pressure data is transmitted to the wireless communication unit 5 through the wireless signal. When the subject S enters the measurement area M, the foot position sensor 3 and the waist position sensor 4 start measuring the foot position and the waist position, and the foot position data and the waist position data are transmitted to the wireless communication unit through wireless signals. It is transmitted to 5. When the subject S evacuates from the measurement area M, the measurement by the foot position sensor 3 and the waist position sensor 4 ends, but the measurement by the foot pressure sensor 2 continues. Then, when the subject S reaches the position of "FINISH", all the measurements are completed.

[Walking analyzer]
The gait analysis device 6 walks the subject S based on the foot pressure data measured by the foot pressure sensor 2, the foot position data measured by the foot position sensor 3, and the waist position data measured by the waist position sensor 4. It is a general-purpose computer that calculates walking parameters indicating a state, and is mainly composed of a filter processing unit 61, a storage unit 62, and a calculation unit 63 as shown in the block diagram of FIG. 1, and these are mutually via an internal bus. It is connected so that it can communicate.

[Filter processing unit]
The filter processing unit 61 measures the foot position sensor 3 and the waist position sensor 4, and among the foot position data and the waist position data received by the wireless communication unit 5, noise data (not related to the walking subject S) ( For example, a cane used when walking, minute noise data, etc.) are detected and removed. As shown in FIG. 6, the coordinate conversion unit 61a, the data approximation unit 61b, the data accumulation unit 61c, and the coordinate data counting are performed. It is composed of a unit 61d, a first determination unit 61e, a detection point coordinate setting unit 61f, a specific detection point coordinate setting unit 61g, an area setting unit 61h, and a second determination unit 61i. The processing flow of the filter processing unit 61 will be described later.

[Memory]
The storage unit 62 is the foot pressure data measured by the foot pressure sensor 2 and the foot position data measured by the foot position sensor 3 and filtered by the above-mentioned filtering unit 61 (hereinafter, “Foot position data”. It is stored in association with the measurement time (referred to as “foot position processing data”), and is composed of a known storage device such as a hard disk drive or a non-volatile memory. The waist position data measured by the waist position sensor 4 is used only in the noise data removal process in the filter processing unit 61 described above, and is not stored in the storage unit 62.

[Calculation unit]
The calculation unit 63 is shown in FIG. 7 as a program for calculating each parameter indicating the walking state of the subject S based on the foot pressure data and the foot position processing data stored in the storage unit 62. As described above, the walking state calculation unit 63a, the stride calculation unit 63b, the stride calculation unit 63c, the step distance calculation unit 63d, the step count calculation unit 63e, the walking cycle calculation unit 63f, the step speed calculation unit 63g, and the pace calculation unit 63h are stored. There is. The general definitions of stride length L1, stride L2, and step distance W, which are typical walking parameters calculated by the calculation unit 63, are as described in FIG. 5A.

[Walking state calculation unit]
The walking state calculation unit 63a determines the timing of contacting or taking off from the floor surface of one of the left and right feet of the subject S and the other foot based on the foot pressure data stored in the storage unit 62. That is, in the walking state calculation unit 63, the heel touching time when the heel touches the ground when the subject S walks, the total touching time when the entire back surface of the foot touches the ground, and the takeoff time when the toes move away from the floor surface. Each piece of information is acquired based on the foot pressure data, and the stance phase P1, the both foot support phase P2, and the swing phase P3 (FIG. 5 (b)) of the subject S during walking can be determined.

[Stride calculation unit]
In the stride calculation unit 63b, based on the ground contact state, the takeoff state, and the foot position processing data of the foot of the subject S calculated by the walking state calculation unit 63a, the other heel is moved from the ground contact of one of the left and right heels. The stride length L1, which is the distance in the walking traveling direction until touching the ground, is calculated. That is, the foot contact state of the heel of the nth step (n is a natural number) of one foot of the subject S walking in the measurement area M, the foot position processing data corresponding to that time, and the foot position processing data of the other foot (n). n + 1) The stride length L1 is calculated based on the ground contact state of the heel of the step and the foot position processing data corresponding to the time.

[Stride calculation unit]
The stride calculation unit 63c is based on the ground contact state, the takeoff state, and the foot position processing data of the foot of the subject S calculated by the walking state calculation unit 63a, from the ground contact of one of the left and right heels to the one heel. The stride L2, which is the distance until the grounding is reached again, is calculated. That is, the ground contact state of the heel of the nth step of one foot of the subject S walking in the measurement area M, the foot position processing data corresponding to that time, and the grounding of the heel of the (n + 1) step of the other foot. Stride L2 is calculated based on the foot position processing data corresponding to the state and the time, the ground contact state of the heel of the (n + 2) step of one foot, and the foot position processing data corresponding to the time.

[Distance calculation unit]
The step distance calculation unit 63d is based on the ground contact state, the takeoff state, and the foot position processing data of the foot of the subject S calculated by the walking state calculation unit 63a, and the ground contact position of one of the left and right heels and the other The step W, which is the distance in the width direction of the ground contact position of the heel, is calculated. That is, the ground contact state of the heel of the nth step of the subject S walking in the measurement area M, the foot position processing data corresponding to that time, and the ground contact of the heel of the (n + 1) step of the other foot. The step distance W is calculated based on the foot position processing data corresponding to the state and the time.

Here, it is not always necessary to use the foot pressure data used by the stride calculation unit 63b, the stride calculation unit 63c, and the step distance calculation unit 63d, and the data of the ground contact state of the heel of the subject S as the foot position processing data. However, any data may be used as long as the foot is in a predetermined contact state. For example, it is possible to perform a calculation based on the foot pressure data in a state where the entire sole is in contact with the ground and the foot position processing data corresponding in time.

[Step calculation unit]
The step count calculation unit 63e calculates the step count N in the measurement area M based on the ground contact state and the takeoff state of one of the left and right feet and the other foot of the subject S calculated by the walking state calculation unit 63a. .. When calculating the number of steps N, for example, the number of steps N may be calculated based on the temporal change of the foot position of the subject S based on the foot position processing data.

[Walking cycle calculation unit]
The walking cycle calculation unit 63f calculates one walking cycle C1 which is the time required for one stride, and can calculate based on the stride L2 calculated by the stride calculation unit 63c and the measurement time.

Here, one walking cycle C1 does not necessarily have to be calculated based on the stride L2 calculated by the stride calculation unit 63c and the measurement time. For example, the calculation may be performed based on the determination results of the stance phase P1 and the swing phase P3 during walking of the subject S in the walking state determination unit 63a and the time data accompanying the determination results.

[Step calculation unit]
The walking speed calculation unit 63g calculates the walking speed V based on the stride L2 calculated by the stride calculation unit 63c and the one walking cycle C1 calculated by the walking cycle calculation unit 63f.

Here, the step speed V does not necessarily have to be calculated based on the stride L2 and one walking cycle C1, and may be calculated from the relationship between the stride length L1 and the time required for the stride length L1, for example.

[Pace calculation unit]
The pedometer 63h calculates the pedometer C2 indicating the number of steps N per minute, and is calculated based on the number of steps N calculated by the pedometer 63e and the measurement time.

The above are typical walking parameters calculated by the calculation unit 63 of the embodiment of the present invention, but the walking parameters calculated by the calculation unit 63 are not necessarily limited to these. As other walking parameters, for example, it is possible to calculate the foot movement direction indicating the movement direction of the foot of the subject S during walking, the foot angle indicating the direction of the foot when touching the floor, and the like. is there. Further, among the above-mentioned walking parameters, only the parameters necessary for the subject S may be specified and calculated.

[Display]
The display unit 7 displays the calculation result of the walking parameter by the calculation unit 63. For example, the display unit 7 is composed of a personal computer and a tablet terminal, and stores the calculation result in the memory in the personal computer and the tablet terminal. Data management of each subject S can be easily performed.

[Walking analysis program]
Next, the overall processing flow in the gait analysis system 1 will be described with reference to FIG.

<STEP1: Walking judgment of the subject>
When the gait analysis system 1 is started, the entire system is first initialized, and then it is determined whether or not the subject S is walking in the measurement area M.

<STEP2: Start measurement>
When the subject S enters the measurement area M, the foot pressure sensor 2, the foot position sensor 3, and the waist position sensor 4 start measuring the walking state of the subject S. As described above, the measurement by the foot pressure sensor 2 is continuously performed before and after the measurement area M, and the moving image is taken by the imaging device 9 as well as walking in the measurement area M of the subject S. It may be started with or without.

<STEP3: Data reception>
When the measurement of the subject S in the walking state is started, the foot pressure data measured by the foot pressure sensor 2, the foot position data measured by the foot position sensor 3, and the waist position data measured by the waist position sensor 4 are displayed. Each is transmitted to the wireless communication unit 5 by a wireless signal.

<STEP4: Filtering>
Of the measurement data received by the wireless communication unit 5, the foot position data and the waist position data pass through the filter processing unit 61, and a process of detecting and removing the noise data contained in the data is performed.

<STEP5: Data storage>
The foot pressure data measured by the foot pressure sensor 2 and the foot position processing data from which noise data has been removed by the filter processing unit 61 are stored in the storage unit 62 in association with the measurement time.

<STEP6: Arithmetic processing>
Based on the foot pressure data stored in the storage unit 62 and the foot position processing data, the calculation unit 63 calculates various walking parameters as described above.

<STEP7: Output of calculation result>
The calculation result of the walking parameter by the calculation unit 63 is displayed via the display unit 7 of the personal computer or the tablet terminal, and the calculation result is managed in the memory of the personal computer or the tablet terminal.

[Filtering program]
Next, the filter processing flow in the filter processing unit 61 will be described with reference to FIG. Since the foot position data and the waist position data have the same processing flow, the following processing flow mainly describes the filter processing of the foot position data.

<STEP411: Reception of foot position data>
The foot position data measured by the foot position sensor 3 by one scan is transmitted to the filter processing unit 61 via the wireless communication unit 5. As described above, since the LRF used in the embodiment of the present invention has a side region angle (viewing angle) of 240 deg and an angular resolution of 0.36 deg, 667 LRFs can be scanned by the foot position sensor 3 once. = 240 deg / 0.36 deg) foot position data is acquired. On the other hand, since the required visual field data is the data in the measurement area M where the subject S walks, only the foot position data in the area of the side area angle of 180 deg with respect to the foot position sensor 3 is targeted. do it. Therefore, as the foot position data actually used for the filter processing by the filter processing unit 61, 500 (= 180 deg / 0.36 deg) foot position data are targeted.

<STEP412: Coordinate conversion of foot position data to Cartesian coordinate system>
The foot position data measured by the foot position sensor 3 is the distance data between the foot position sensor 3 and the subject S, which is converted into the coordinate data of the xy orthogonal coordinate system by the coordinate conversion unit 61a by the triangular function processing. Then, the coordinate data corresponding to each foot position data is obtained.

<STEP413: Approximation of coordinate data>
For each coordinate data that has been subjected to coordinate transformation, the data approximation unit 61b approximates the coordinate data. Specifically, the coordinate data whose unit is converted to "cm unit" by dividing each coordinate data in "mm unit" has a predetermined number of significant digits (for example, two significant digits but is limited to this). It is not.).

<STEP414: Accumulation of coordinate data>
By approximating the coordinate data, coordinate data having the same coordinate value within a predetermined region (for example, within a coordinate region of 10 mm × 10 mm) is accumulated as a group data by the data accumulation unit 61c.

<STEP415: Counting coordinate data>
The coordinate data counting unit 61d counts the number of coordinate data constituting each group data.

<STEP416: Threshold setting>
As shown in FIG. 4, in the foot position sensor 3 to which the detection wave is irradiated at a predetermined pitch angle, the distance between the adjacent detection waves becomes wider as the distance from the foot position sensor 3 increases. Therefore, even if the number of coordinate data constituting each group data is the same, the data density differs depending on the distance from the foot position sensor 3, so it is necessary to consider the distance between the coordinate data and the foot position sensor 3. There is. Therefore, here, a threshold value for noise determination is set according to the distance between the coordinate data and the foot position sensor 3.

Specifically, when the coordinate data constituting the group data is at a predetermined short distance from the foot position sensor 3, a small value is set as the threshold value T1a, and when the coordinate data is at a predetermined long distance from the foot position sensor 3. Can be set to a large value as the threshold value T1c, and further set to an intermediate value between the threshold value T1a and the threshold value T1c as the threshold value T1b when the foot position sensor 3 is at a predetermined medium distance.

<STEP417: Noise judgment>
The first determination unit 61e sets the thresholds T1a, T1b, and T1c set according to the number of coordinate data constituting each group data counted by the coordinate data counting unit 61d and the distance between the coordinate data and the foot position sensor 3. Based on this, it is determined whether or not the group data is minute noise data. When the number of coordinate data constituting the group data is smaller than these threshold values T1a, T1b, and T1c, it is determined that the group data is minute noise irrelevant to the measurement target (subject S), and the coordinates. The data is deleted (STEP418) and is not used for subsequent arithmetic processing.

On the other hand, when the number of coordinate data constituting the group data is equal to or greater than these threshold values T1a, T1b, T1c, it is highly likely that the group data has a certain size and is the foot of the subject S. You can judge. Then, the coordinate data determined to be equal to or higher than the threshold values T1a, T1b, and T1c are used in the subsequent arithmetic processing in the detection of the foot of the subject S by the second determination unit 61i.

Here, it is not always necessary to set the threshold value to three stages such as T1a, T1b, and T1c according to the distance from the foot position sensor 3, and for example, it is set to two stages or four or more stages. The range can be changed as appropriate.

<STEP421: Setting of detection point coordinates>
For the group data determined to be equal to or higher than a predetermined threshold value by the first determination unit 61e, the detection point coordinate setting unit 61f sets the coordinate data consisting of the same coordinates constituting the group data as the detection point coordinates.

<STEP422: Setting of specific detection point coordinates>
From the set data of the detection point coordinates set by the detection point coordinate setting unit 61f, the specific detection point coordinates, which are the specific detection point coordinates, are selected by the specific detection point coordinate setting unit 61g.

<STEP423: Setting of judgment area centered on specific detection point coordinates>
A predetermined determination area is set by the area setting unit 61h around the specific detection point coordinates selected by the specific detection point coordinate setting unit 61g. Specifically, as shown in FIG. 10, within a predetermined region on the Cartesian coordinate system in which the detection point coordinates are plotted, the coordinates (xi + a,) are defined as the peripheral region centered on the specific detection point coordinates (xi, yi). (y), (xi-a, yi), (xi, yi + a), (xi, yi-a) are defined (a is a constant).

A predetermined value can be set for a as the average size of the ankle circumference of the subject S to be detected, and in the embodiment of the present invention, it is set to "a = 5 cm", but it is not always the case. The present invention is not limited to this, and can be appropriately changed according to the size of the ankle of the subject S. When the waist position sensor 4 detects noise data around the waist position, for example, a value of about "a = 40 cm" is set.

<STEP424: Foot judgment>
The presence or absence of the detection point coordinates is confirmed and detected on the coordinates (xi + a, yi), (xi-a, yi), (xi, yi + a), and (xi, yi-a) set by the area setting unit 61h. When the point coordinates exist at a predetermined threshold value T2 or more (for example, three or more), the second determination unit 61i prepares the specific detection point coordinate data as a set data having a certain spread around the specific detection point coordinates. Is determined to be the foot of the subject S.

On the other hand, when the detection point coordinates are less than a predetermined number, the second determination unit 61i regards the specific detection point coordinate data as data having no constant spread around the specific detection point coordinates, and the specific detection point coordinate data is the subject. Assuming that the object is one size smaller than the foot of S (for example, a cane carried by the subject S when walking), it is determined that the object is other than the foot of the subject S.

The specific detection point coordinates determined to be a part of the foot of the subject S by the second determination unit 61i are transmitted to the storage unit 62 as foot position processing data together with the foot pressure data in association with the processing time. It is used for the calculation of the walking parameter in the calculation unit 63. On the other hand, when the second determination unit 61i determines that the object is an object other than the foot of the subject S, the data is not related to the calculation of the walking parameter, so the data is erased (STEP425) or the storage unit. No transmission to 62 is performed.

The noise processing flow of the foot position data has been described above, but the waist position data acquired by the waist position sensor 4 is also performed by the same processing flow, and among the waist position data measured by the waist position sensor 4, the waist is used. Unnecessary noise data existing around the position is extracted and removed. As described above, the waist position data is not directly used for the calculation of the walking parameter, but is used to improve the reliability of the foot position data in the filter processing flow in the filter processing unit 61. It is a thing.

As described above, the walking measurement system, the walking measurement program, and the walking measurement method according to the present invention can accurately grasp the walking state of the subject and efficiently guide the subject to the target walking movement. It has become a thing.

1 Walking measurement system 2 Foot pressure sensor 3 Foot position sensor 4 Waist position sensor 5 Wireless communication unit 6 Walking analysis device 61 Filter processing unit 61a Coordinate conversion unit 61b Data approximation unit 61c Data collection unit 61d Coordinate data counting unit 61e First Judgment unit 61f Detection point coordinate setting unit 61g Specific detection point coordinate setting unit 61h Area setting unit 61i Second judgment unit 62 Storage unit 63 Calculation unit 63a Walking state calculation unit 63b Stride calculation unit 63c Stride calculation unit 63d Distance calculation unit 63e Step count calculation unit 63f Walking cycle calculation unit 63g Step speed calculation unit 63h Coordinate calculation unit 7 Display unit 8 Housing unit 81 Base unit 82 Pole unit 83 Cover unit 83a, 83b Sensor window 83c Imaging window 84 Power supply unit 9 Imaging device S Person

Claims (10)

A foot pressure sensor that measures the foot pressure of the subject and outputs the measured foot pressure data,
A foot position sensor that measures the foot position of the subject based on the reflection state of the detection wave emitted at a predetermined pitch angle in the horizontal direction and outputs the measured foot position data.
A filter processing unit that removes noise data included in the foot position data and outputs the foot position processing data from which the noise data has been removed, and the foot pressure data and the foot position processing data output from the foot pressure sensor. In a walking measurement system including a storage unit that stores data in association with the measurement time, and a walking analysis device having a calculation unit that calculates a predetermined walking parameter of the subject based on the foot pressure data and the foot position processing data. ,
The filter processing unit
A coordinate conversion unit that converts the foot position data into coordinate data of a Cartesian coordinate system,
A data approximation unit that approximates the coordinate data to a predetermined number of effective digits,
A data accumulation unit that accumulates the coordinate data having the same coordinate values into a group data by the approximation in the data approximation unit, and
A coordinate data counting unit that counts the coordinate data constituting the group data,
A first determination that determines the group data as noise when the number of coordinate data constituting the group data is smaller than a predetermined threshold value set according to the distance from the foot position sensor to the measurement target. A gait measurement system that has a part and. The filter processing unit
A detection point coordinate setting unit that sets the coordinate data constituting the group data determined to be equal to or higher than the threshold value by the first determination unit as detection point coordinates.
A specific detection point coordinate setting unit that selects specific coordinates from the detection point coordinates as specific detection point coordinates, and
An area setting unit that sets a predetermined determination area centered on the coordinates of the specific detection point, and
A claim having a second determination unit that determines that the specific detection point coordinates are measurement objects when a predetermined number of the detection point coordinates exist around the specific detection point coordinates in the determination area. Item 1. The walking measurement system according to item 1. The walking measurement system includes a waist position sensor that measures the waist position of a subject based on the reflection state of a detection wave radiated at a predetermined pitch angle in the horizontal direction and outputs the measured waist position data.
The walking measurement system according to claim 1, wherein the filter processing unit specifies noise data included in the foot position data based on the noise data included in the waist position data. The calculation unit
The foot position processing stored in the storage unit corresponding to the time determined based on the foot pressure data for the predetermined contact state of the nth step (n is a natural number) of one of the left and right feet during walking of the subject. The foot position processing stored in the storage unit corresponding to the time determined based on the data and the predetermined contact state of the (n + 1) step of the left and right foot of the subject during walking based on the foot pressure data. The gait measurement system according to claim 1, further comprising a stride measurement unit that measures the stride length of a subject based on data. The calculation unit
The foot position stored in the storage unit corresponding to the time when the predetermined contact state of the nth step (n is a natural number) of one of the left and right feet during walking of the subject is determined based on the foot pressure data. The foot position stored in the storage unit corresponding to the time determined based on the processed data and the foot pressure data for the predetermined contact state of the (n + 1) step of the left and right foot of the subject during walking. The foot stored in the storage unit corresponding to the time when the processed data and the predetermined contact state of the (n + 2) step of one of the left and right feet of the subject during walking are determined based on the foot pressure data. The gait measurement system according to claim 1, further comprising a stride measurement unit that measures the stride of a subject based on position processing data. The calculation unit
The foot position processing stored in the storage unit corresponding to the time when the predetermined contact state of the nth step (n is a natural number) of one of the left and right feet during walking of the subject is determined based on the foot pressure data. The foot position processing stored in the storage unit corresponding to the time determined based on the data and the predetermined contact state of the (n + 1) step of the left and right foot of the subject during walking based on the foot pressure data. The walking measurement system according to claim 1, further comprising a walking distance measuring unit that measures the walking distance of a subject based on data. The calculation unit
Claim 1 includes a step count measuring unit that calculates the number of steps in the measurement target area based on the ground contact or takeoff state of one of the left and right feet and the other foot when the subject is walking based on the foot pressure data. The described pedometer. A foot pressure data receiving step for receiving foot pressure data indicating the foot pressure of the subject measured in the measurement target area, and
A foot position data receiving step for receiving foot position data indicating the foot position of the subject measured in the measurement target area, and
A noise detection step for detecting noise data included in the foot position data, and
A storage step of storing the foot pressure data and the foot position processing data detected and from which the noise data has been removed in association with the measurement time, and
In a gait measurement program that causes a computer to execute a calculation step of calculating a predetermined gait parameter of a subject based on the foot pressure data and the foot position processing data.
The noise detection step
A coordinate conversion step for converting the foot position data into coordinate data of a Cartesian coordinate system, and
An approximation step that approximates the coordinate data to a predetermined number of effective digits,
An accumulation step of accumulating the coordinate data having the same coordinate values into a group data,
A counting step for counting the coordinate data constituting the group data, and
A gait measurement program having a first determination step of determining the group data as noise when the number of coordinate data constituting the group data is less than a predetermined threshold value. The step of removing the noise data included in the foot position data is
A detection point coordinate setting step for setting the coordinate data constituting the group data determined to be equal to or higher than the threshold value by the first determination step as detection point coordinates.
A specific detection point coordinate setting step for selecting a specific detection point coordinate as a specific detection point coordinate from the detection point coordinates, and
An area setting step for setting a predetermined determination area centered on the specific detection point coordinates, and
A second determination step of determining the specific detection point coordinates as an object to be measured when a predetermined number of the detection point coordinates exist around the specific detection point coordinates in the determination area. The walking measurement program according to claim 8. A foot pressure data receiving step for receiving foot pressure data indicating the foot pressure of the subject measured in the measurement target area, and
A foot position data receiving step for receiving foot position data indicating the foot position of the subject measured in the measurement target area, and
A noise detection step for detecting noise data included in the foot position data, and
A storage step of storing the foot pressure data and the foot position processing data detected and from which the noise data has been removed in association with the measurement time, and
In a walking measurement method including a calculation step for calculating a predetermined walking parameter of a subject based on the foot pressure data and the foot position processing data.
The noise detection step
A coordinate conversion step for converting the foot position data into coordinate data of a Cartesian coordinate system, and
An approximation step that approximates the coordinate data to a predetermined number of effective digits,
An accumulation step of accumulating the coordinate data having the same coordinate values into a group data,
A counting step for counting the coordinate data constituting the group data, and
A gait measurement method comprising a first determination step of determining the group data as noise when the number of coordinate data constituting the group data is less than a predetermined threshold value.

Images