JP6803802B2 - Footwear and system - Google Patents

Description

This disclosure relates to footwear and systems.

Elderly people with weak muscles may fall because their toes cannot be pulled up sufficiently and their toes come into contact with the ground or stairs. For example, Patent Document 1 discloses a footwear in which an ankle belt integrally formed with the footwear and a toe portion of the footwear are connected by an elastic body.

Japanese Unexamined Patent Publication No. 2006-141747

While the wearer must avoid falls, it is desirable to build or maintain muscle strength with an appropriate load during walking.

An object of the present disclosure made in view of such circumstances is to provide footwear and a system capable of adjusting the load of the wearer according to the risk of falling.

The footwear according to one embodiment includes a center of gravity moving mechanism capable of moving the center of gravity. The center of gravity moves based on the degree of fatigue of the wearer.

The system according to one embodiment includes a center of gravity moving mechanism capable of moving the center of gravity, and obtains at least one of a footwear capable of communicating with a terminal device, a movement of the wearer of the footwear, vital signs, and an electromyogram. It is equipped with a device. The center of gravity moves according to the degree of fatigue of the wearer. The degree of fatigue is estimated based on at least one of the wearer's movements, vital signs and electromyograms acquired by the terminal device.

According to one embodiment, it is possible to provide footwear and a system that can adjust the load on the wearer according to the risk of falling.

It is a schematic block diagram of the footwear which concerns on one Embodiment. It is a schematic block diagram of the terminal device which communicates with footwear in the system which concerns on one Embodiment. It is a figure which illustrates the appearance probability of the muscle output of the wearer according to the position of the center of gravity of the footwear. It is a figure which illustrates the pulse wave detected by a vital sensor. It is a figure which illustrates the relationship between exercise intensity and blood lactate concentration. FIG. 6A is a diagram illustrating a time change of the myoelectric potential detected by the myoelectric sensor. FIG. 6B is a diagram showing the average frequency at predetermined time intervals of FIG. 6A. It is a figure which illustrates the relationship between the value based on the sensor data, and the 1st and 2nd threshold values. It is a perspective view which shows the structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a flowchart which illustrates the process about the movement of the center of gravity of footwear by a controller. It is a schematic block diagram of the footwear which concerns on the modification. It is a schematic block diagram of the terminal device which communicates with footwear in the system which concerns on a modification. It is a schematic block diagram of the footwear which concerns on another modification. 13 (A) and 13 (B) are schematic configuration diagrams of a terminal device that communicates with footwear in a system according to yet another modification.

[First Embodiment]
(Footwear composition)
FIG. 1 shows a schematic configuration of footwear 1 according to the first embodiment. The center of gravity of the footwear 1 according to the present embodiment moves, for example, based on the degree of fatigue of the wearer. The footwear 1 according to the present embodiment constitutes a system for moving the center of gravity (hereinafter, referred to as a system according to the present embodiment) together with the terminal device 2 (see FIG. 2) that communicates with the footwear 1.

As shown in FIG. 1, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12 (communication unit), a storage 13, and a notification unit 16 (notification unit). Here, the footwear 1 according to the present embodiment is a walking shoe. However, footwear 1 is not limited to walking shoes. The footwear 1 may be, for example, athletic shoes other than walking shoes, leather shoes, boots, pumps, or the like. Further, the footwear 1 may be sandals such as sports sandals, boots, or the like. Further, the center of gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 are provided, for example, on the sole portion or the insole of the footwear 1. Further, FIG. 1 is an example. Footwear 1 does not have to include all of the components shown in FIG. Further, the footwear 1 may include components other than those shown in FIG.

The center of gravity moving mechanism 11 is a mechanism capable of moving the center of gravity of the footwear 1. The center of gravity moving mechanism 11 can move the center of gravity to the heel side or the toe side of the footwear 1. That is, where the center of gravity is located just in the middle of the toes and heels of general footwear, the center of gravity moving mechanism 11 can move the center of gravity and bias it to either side. In the present embodiment, the center of gravity moving mechanism 11 moves the center of gravity according to an instruction to move the center of gravity received by the communication unit 12 (hereinafter, referred to as a center of gravity moving instruction). In the present embodiment, the center of gravity moving mechanism 11 includes two liquid bags provided on the toe side and the heel side of the footwear 1, respectively, and a tube connecting these liquid bags. Further, the center of gravity moving mechanism 11 includes a tube pump 110 that moves the liquid in one liquid bag to the other liquid bag via a tube (see FIG. 8). The center of gravity moving mechanism 11 rotates the roller of the tube pump 110 in accordance with the center of gravity moving instruction to move the liquid. For example, the tube pump 110 moves the liquid in the liquid bag on the toe side to the liquid bag on the heel side, so that the center of gravity of the footwear 1 moves to the heel side. Since the toe side of the footwear 1 is lighter than before the movement of the liquid, the wearer of the footwear 1 (hereinafter, simply referred to as “wearer”) can easily pull up the toe.

The communication unit 12 is an interface for communication. The footwear 1 can communicate with the terminal device 2 (see FIG. 2) by including the communication unit 12. In the present embodiment, the communication unit 12 communicates according to the wireless communication standard. Radio communication standards include, for example, Bluetooth® and Bluetooth® Low Energy. In addition, wireless communication standards include, for example, WiMAX (Worldwide Interoperability for Microwave Access) and IEEE 802.11. In addition, wireless communication standards include communication standards for cellular phones such as 2G, 3G and 4G. Communication standards for cellular phones include, for example, LTE (Long Term Evolution) and W-CDMA (Wideband Code Division Multiple Access). Communication standards for cellular phones include, for example, CDMA2000 and PDC (Personal Digital Cellular). Communication standards for cellular phones include, for example, GSM (registered trademark) (Global System for Mobile communications) and PHS (Personal Handy-phone System). Further, the wireless communication standard includes, for example, IrDA (Infrared Data Association) and NFC (Near Field Communication). The communication unit 12 can support one or more of the communication standards described above. Here, the communication unit 12 can also communicate with the terminal device 2 (see FIG. 2) by wire.

The storage 13 stores data as a storage unit. The data stored in the storage 13 may include the center of gravity movement instruction received by the communication unit 12. Further, the data stored in the storage 13 may include the detection value of the sensor 24 (see FIG. 2) received by the communication unit 12. Further, the data stored in the storage 13 may include intermediate data or result data of an operation executed by the center of gravity moving mechanism 11 when the center of gravity is moved. Further, the storage 13 may temporarily store the data, or may continue to store the data until it is deleted by the wearer or the like. The storage 13 may be composed of any storage device such as a semiconductor storage device and a magnetic storage device. Further, the storage 13 may be composed of a plurality of types of storage devices. Further, the storage 13 may have a configuration in which a portable storage medium such as a memory card and a reading device for the storage medium are combined.

The storage 13 may store a program loaded in the center of gravity moving mechanism 11. For example, the center of gravity moving mechanism 11 includes a processor, and the processor may execute operation control of the tube pump 110 (see FIG. 8) by a program loaded from the storage 13. Here, the program may be stored in the storage 13 via communication by the communication unit 12. The storage 13 may store a predetermined threshold value described later.

The notification unit 16 notifies the wearer that the footwear 1 or the wearer is in a predetermined state. The notification unit 16 includes, for example, at least one of a light, a speaker, and a vibration motor. When the notification unit 16 includes a light, the notification unit 16 can emit light to the wearer. The light may be, for example, an LED (Light Emitting Diode) light. Further, when the notification unit 16 includes a speaker, the notification unit 16 can emit a sound to the wearer. Further, when the notification unit 16 includes a vibration motor, the notification unit 16 can generate vibration to the wearer. Here, the predetermined state of the footwear 1 may be, for example, a state immediately before the center of gravity moving mechanism 11 moves the center of gravity. In addition, the predetermined state of the wearer may be, for example, a state in which the degree of fatigue exceeds the standard. As an example, when the notification unit 16 includes a light and a speaker, the notification unit 16 may notify the wearer that the center of gravity moving mechanism 11 will move the center of gravity from now on by emitting light and sound.

(Configuration of terminal device)
FIG. 2 shows a schematic configuration of the terminal device 2. In the system according to the present embodiment, the terminal device 2 estimates the degree of fatigue of the wearer and generates an instruction to move the center of gravity. Further, the terminal device 2 transmits the generated center of gravity movement instruction to the footwear 1.

As shown in FIG. 2, the terminal device 2 includes a communication unit 22, a storage 23, a sensor 24, and a controller 25. In the present embodiment, the terminal device 2 is a wristband type wearable terminal worn on the wearer's wrist. As another example, the terminal device 2 may be a ring-type wearable terminal worn on a finger, a glasses-type wearable on the face, a hat-type wearable on the head, or a clothing-type wearable terminal worn on the body. Good. Here, the terminal device 2 is not limited to the wearable terminal. The terminal device 2 may be, for example, a smartphone, a tablet terminal, a feature phone, or the like. Further, the terminal device 2 may be, for example, a PDA, a portable music player, a game machine, an electronic book reader, a home appliance, or the like. Further, FIG. 2 is an example. The terminal device 2 may include only a part of the components shown in FIG. Further, the terminal device 2 may include components other than those shown in FIG. Further, the terminal device 2 is not limited to one device. That is, the terminal device 2 may be composed of a plurality of devices.

The communication unit 22 is an interface for communicating with the footwear 1. In the present embodiment, the communication unit 22 communicates according to the wireless communication standard. The communication unit 22 can support one or more of the communication standards exemplified in the description of the communication unit 12 above. Here, the communication unit 22 can also communicate with the footwear 1 by wire. Further, in the present embodiment, the communication unit 22 can receive a GPS signal (positioning signal) from a GPS (Global Positioning System) satellite.

The storage 23 stores programs and data as a storage unit. The storage 23 stores intermediate data and processing results (for example, an instruction to move the center of gravity) of the processing of the controller 25. Further, the storage 23 may store the value (data) detected by the sensor 24. The storage 23 may store the GPS signal received by the communication unit 22. In addition, the storage 23 may store data of the wearer (for example, height, weight, gender, age, etc.). In the present embodiment, the data from the sensor 24 and the communication unit 22 are stored in the storage 23 via the controller 25. The storage 23 may be composed of any storage device such as a semiconductor storage device and a magnetic storage device. The storage 23 may be composed of a plurality of types of storage devices. Further, the storage 23 may have a configuration in which a portable storage medium such as a memory card and a reading device for the storage medium are combined.

The program stored in the storage 23 includes an application executed in the foreground or the background and a control program that supports the operation of the application. The application causes the controller 25 to perform, for example, a process of causing the sensor 24 to detect at least one of the wearer's movements, vital signs and myoelectric potentials. The control program is, for example, a battery management program that manages the remaining battery level of the terminal device 2.

The sensor 24 detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this embodiment, the sensor 24 includes a motion sensor, a vital sensor and a myoelectric sensor. That is, in this embodiment, the sensor 24 detects the wearer's movements, vital signs and myoelectric potentials. Here, the sensor 24 may be configured to include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 24 may be provided with yet another detection device (for example, an ultraviolet sensor).

(Motion sensor)
The motion sensor directly or indirectly detects the wearer's movement. The motion sensor is composed of, for example, an acceleration sensor, a gyro sensor, a barometric pressure sensor, and an illuminance sensor.

Accelerometers detect the direction and magnitude of acceleration acting on the wearer. The acceleration sensor is, for example, a three-axis (three-dimensional) type that detects acceleration in the x-axis direction, the y-axis direction, and the z-axis direction. The type of accelerometer is not limited. The accelerometer may be, for example, a piezoresistive type. Further, the acceleration sensor may be, for example, a capacitance type. Further, the acceleration sensor may be, for example, a piezoelectric element (piezoelectric type) or a MEMS (Micro Electro Mechanical Systems) type based on a heat detection type.

The gyro sensor detects the angular velocity based on the wearer's movements. The gyro sensor is, for example, a 3-axis type vibrating gyro sensor that detects the angular velocity from the deformation of the structure due to the Coriolis force acting on the vibrating arm. Here, the structure may be made of a piezoelectric material such as quartz or piezoelectric ceramics. Further, the gyro sensor may be formed by MEMS (Micro Electro Mechanical Systems) technology using the structure as a material such as silicon. Further, the gyro sensor may be an optical gyro sensor.

The atmospheric pressure sensor detects the atmospheric pressure (atmospheric pressure) around the wearer. The barometric pressure sensor is, for example, a resistance change type sensor that converts a barometric pressure change into a resistance value. The barometric pressure sensor may be, for example, a capacitance type sensor that converts a change in barometric pressure into a change in electrostatic quantity. Further, the barometric pressure sensor may be, for example, a crystal oscillation frequency type sensor that converts a pressure change into an oscillation frequency.

The illuminance sensor detects the illuminance of the wearer's ambient light. The illuminance sensor may be, for example, one using a photodiode or one using a phototransistor.

The acceleration sensor, gyro sensor, pressure pressure sensor, and illuminance sensor that make up the motion sensor output the detected acceleration data, angular velocity data, pressure pressure data, and ambient light illuminance data, respectively. The controller 25 grasps the movement of the wearer based on the data output by the motion sensor.

(Vital sensor)
The vital sensor (biological sensor) measures the wearer's vital signs (biological information). In the present embodiment, the vital sensor is attached to the test site of the wearer and measures vital signs. In this embodiment, vital signs include at least one of pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate level and blood glucose level.

The vital sensor includes a light emitting unit and a light receiving unit. The light emitting unit irradiates the measurement light according to the control of the controller 25, for example. The measurement light is light that can measure the vital signs of the test site. The measurement light is, for example, infrared light. The light emitting unit may be, for example, an LED. The light emitting unit may be, for example, a semiconductor laser including a VCSEL (Vertical Cavity Surface Emitting Laser).

The light receiving unit receives scattered light with respect to the measurement light emitted by the light emitting unit. The light receiving unit is, for example, a PD (Photodiode).

For example, the infrared light emitted by the light emitting portion is absorbed by hemoglobin in the blood. Therefore, the more blood flows, the less scattered light is received by the light receiving unit. The scattered light received by the light receiving unit fluctuates according to the pulse. In addition, the pulse wave of the wearer can be measured based on the change in the scattered light received by the light receiving unit. Then, information such as a pulse rate, a pulse pressure, and a change in blood pressure can be obtained from the pulse wave.
For example, the vital sensor may measure the blood flow rate by utilizing the Doppler shift of the scattered light scattered in the living tissue when the laser beam is irradiated to the test site.

The vital sensor outputs vital signs. The controller 25 grasps the state of the wearer based on the vital signs output by the vital sensor.

(Myoelectric sensor)
The myoelectric sensor detects the condition of the wearer's muscles. In the present embodiment, the myoelectric sensor is attached to the wearer's leg to detect myoelectric information non-invasively. The electromyographic information is specifically myoelectric potential (electric potential on the surface of the skin).

The myoelectric sensor outputs the detected myoelectric potential to the storage 23 together with the detection time information. The controller 25 acquires the myoelectric potential from the storage 23. Then, the controller 25 generates an electromyogram and grasps the state change of the muscles of the wearer's leg. The myoelectric sensor may measure type I muscles (slow muscles). An example of a site having many type I muscles (slow muscles) is the calf. Further, the myoelectric sensor may target a type II muscle (fast muscle) as a measurement target. An example of a site having many type II muscles (fast muscles) is the shin. Here, in general, when the wearer exercises, the state of type II muscles (fast muscles) whose main energy source is sugar is more likely to change than that of type I muscles (slow muscles). Therefore, the myoelectric sensor may be worn on the shin.

(controller)
The controller 25 estimates the wearer's degree of fatigue based on at least one of the wearer's movements, vital signs and electromyogram. Here, the movement of the wearer can be detected by the motion sensor worn on the wearer. In addition, vital signs can be detected by a vital sensor worn on the wearer. In addition, the electromyogram can be generated based on the myoelectric potential detected by the myoelectric sensor worn on the wearer. That is, the controller 25 estimates the wearer's fatigue level based on at least one output of the motion sensor, vital sensor, and myoelectric sensor worn on the wearer. Here, the degree of fatigue is a numerical value of the degree of fatigue. In the present embodiment, the more tired the wearer is, the larger the value of the degree of fatigue becomes.

Further, the controller 25 determines whether or not to move the center of gravity of the footwear 1 based on the degree of fatigue. For example, the controller 25 generates a center of gravity movement instruction for moving the center of gravity when the degree of fatigue satisfies a predetermined condition. Then, the controller 25 causes the communication unit 22 to transmit the center of gravity movement instruction to the footwear 1. Further, the controller 25 can instruct the footwear 1 to emit at least one of light, sound and vibration according to the degree of fatigue. For example, the controller 25 can include in the center of gravity movement instruction that the notification unit 16 emits light and sound to the wearer before moving the center of gravity. Further, for example, the controller 25 can instruct the wearer to emit light, sound, or vibration separately from the instruction to move the center of gravity.

(Fatigue)
In the present embodiment, the controller 25 of the terminal device 2 estimates the degree of fatigue as described below. Further, the controller 25 generates an instruction to move the center of gravity according to the estimated degree of fatigue. The center of gravity movement instruction is transmitted to the footwear 1 by the communication unit 22. The center of gravity moving mechanism 11 of the footwear 1 moves the center of gravity of the footwear 1 to the toe side or the heel side according to the center of gravity moving instruction received by the communication unit 12. That is, the center of gravity of the footwear 1 moves based on the degree of fatigue of the wearer estimated by the controller 25.

When the wearer gets tired, the toes cannot be pulled up sufficiently, and the toes may come into contact with the ground or stairs and fall. The controller 25 estimates the degree of fatigue of the wearer by calculating the degree of fatigue. Then, when the controller 25 determines that the wearer is tired, the controller 25 shifts the load applied to the muscle required for pulling up the toes to another muscle. For example, when the controller 25 determines that the wearer is tired, the controller 25 moves the center of gravity of the footwear 1 to the heel side. Then, the wearer's toes are easily pulled up.

FIG. 3 is a diagram illustrating the relationship between the position of the center of gravity of the footwear 1 and the muscle output of the wearer. The horizontal axis is the muscle output required to pull up the toes, and the maximum muscle output of the wearer who measured the data in FIG. 3 is set to 100. The greater the muscle output, the greater the load on the wearer. The appearance probability represents the distribution of muscle output when the data of FIG. 3 is measured. For example, at the center of gravity of the toes (when the center of gravity of the footwear 1 is on the toe side), the probability of appearance of walking with a muscle output of 40 or less is less than 40%. On the other hand, at the time of the center of gravity of the heel (when the center of gravity of the footwear 1 is on the heel side), the probability of appearance of walking with a muscle output of 40 or less exceeds 90%. Further, according to FIG. 3, at the center of gravity of the heel, 50% of the total walking (appearance probability 0.5) requires less than 20 muscle output.

As is clear from FIG. 3, by moving the center of gravity of the footwear 1 to the heel side, it is possible to reduce the muscle output required for pulling up the toes and reduce the load on the muscles of the wearer's foot. The controller 25 may move the center of gravity of the footwear 1 to the heel side when it is determined that the wearer is tired. On the contrary, by moving the center of gravity of the footwear 1 to the toe side, the muscle output required for pulling up the toe can be increased, and the load on the wearer can be increased. When the controller 25 determines that the wearer has recovered (not tired), the controller 25 may move the center of gravity of the footwear 1 to the toe side to train the wearer's muscular strength with an appropriate load. Here, the muscle output required for walking includes the muscle output required for pulling up the toes. Also, the wearer's foot muscles include the muscles needed to pull up the toes.

(First estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the movement of the wearer. The movement of the wearer is detected by the motion sensor among the sensors 24. The controller 25 acquires the data (sensor data) output by the sensor 24.

As the first estimation method of the degree of fatigue, the controller 25 calculates the number of steps per unit time, the time required for one step, the walking speed, the stride length, the amount of foot lift, and the walking variation from the acquired sensor data. Here, the sensor data used for calculating the number of steps per unit time or the like may be an instantaneous value. Further, in order to improve the accuracy of estimation, statistical values (for example, mean value, median value, etc.) at a predetermined time may be used.

The controller 25 calculates the number of steps per unit time (for example, 1 minute) based on the acceleration data and the measurement time of the acceleration data, for example. Further, the controller 25 may calculate the time required for each step from the reciprocal of the number of steps per unit time. Further, the controller 25 may perform a Fast Fourier Transform (FFT) on the acceleration data, extract a specific frequency, and calculate the time required for each step.

The controller 25 can obtain the position information and the locus of the terminal device 2 based on, for example, a GPS signal. Then, the controller 25 can calculate the walking speed and the stride length from the position information and the locus of the terminal device 2 (that is, the position information and the locus of the wearer).

The controller 25 can estimate the amount of foot lift based on the calculated walking speed, stride length, and wearer's data acquired from the storage 23. The amount of foot lift is the maximum value of the distance from the ground of the foot raised during walking. The range of the amount of foot lift according to the stride is statistically determined from the height, weight, gender, age, etc. of the wearer. Then, the controller 25 can estimate the amount of foot lift based on the walking speed.

Further, the controller 25 can calculate the walking variation based on, for example, acceleration data. Gait variation indicates variation in rhythm when the wearer walks. The controller 25 calculates the walking variation by calculating the difference between the total value of the accelerations in the x-axis direction, the y-axis direction, and the z-axis direction from the immediately preceding value for each step. The controller 25 may calculate the walking variation by calculating the difference from the immediately preceding value for each step in the vertical direction (z-axis direction) of the toe, for example. Further, the controller 25 may calculate the walking variation from the time variation of the frequency extracted by the FFT. Further, the controller 25 may calculate the standard deviation or the coefficient of variation of the calculated value as the walking variation.

Here, the controller 25 can estimate the place where the wearer is walking from the data of the barometric pressure sensor and the illuminance sensor, for example. For example, the controller 25 may presume that the wearer is outdoors when the illuminance is brighter than a predetermined brightness (eg, 10000 lux). The illuminance sensor may include an ultraviolet sensor. When the value of the ultraviolet sensor is larger than a predetermined value, it may be estimated that the wearer is outdoors. Further, for example, the controller 25 may estimate from the change in atmospheric pressure whether the wearer is walking on a flat ground, going up and down stairs, or climbing a mountain. The controller 25 may adjust the calculated value of the walking data according to the estimated place where the wearer is walking.

The controller 25 can estimate the degree of fatigue based on the number of steps per unit time. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of decrease or the rate of decrease of the number of steps per unit time from the reference value increases. As an example, the controller 25 sets the fatigue level to 0 when the number of steps per minute is equal to or greater than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the number of steps per minute decreases by 0.1 step from the reference value. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the number of steps per minute decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 0.1 step (or 1%) increase in the number of steps per minute. Here, the reference value may be determined using data on the wearer's initial gait (when the wearable terminal is first worn). As another example, the reference value may be determined using statistical values (eg, mean, median, etc.) of data on multiple gait when the wearer is not tired.

The controller 25 can estimate the degree of fatigue based on the time required for each step. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of increase or the rate of increase from the reference value of the time required for one step increases. As an example, the controller 25 sets the fatigue level to 0 when the time required for one step is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point for every 0.1 second increase in the time required for each step. Further, for example, the controller 25 may increase the fatigue level by 1 point each time the time required for one step increases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 0.1 second (or 1%) decrease in the time required for one step.

The controller 25 can estimate the degree of fatigue based on the walking speed. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in walking speed increases. As an example, the controller 25 sets the degree of fatigue when the walking speed is equal to or higher than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the walking speed decreases by 0.1 [m / sec]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the walking speed decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the walking speed increases by 0.1 [m / sec] (or 1%).

The controller 25 can estimate the degree of fatigue based on the stride length. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in stride increases. As an example, the controller 25 sets the degree of fatigue when the stride is equal to or greater than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the stride decreases by 1 [cm]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the stride length decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the stride increases by 1 [cm] (or 1%).

The controller 25 can estimate the degree of fatigue based on the amount of foot lift. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of decrease in the amount of foot lift or the rate of decrease increases. As an example, the controller 25 sets the fatigue level to 0 when the amount of foot lift is equal to or greater than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the amount of foot lift is less than the reference value and decreases by 0.1 [cm]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the amount of foot lift decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the foot lift amount increases by 0.1 [cm] (or 1%).

The controller 25 can estimate the degree of fatigue based on the walking variation. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase in walking variation increases. As an example, the controller 25 sets the degree of fatigue to 0 when the walking variation is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the walking variation increases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 1% reduction in walking variation.

The controller 25 generates a center-of-gravity movement instruction for moving the center of gravity to the heel side when the fatigue degree estimated based on the movement of the wearer satisfies the first condition. In the present embodiment, the first condition is that it is larger than the first threshold value. Further, the controller 25 generates a center of gravity movement instruction for moving the center of gravity to the toe side when the degree of fatigue estimated based on the movement of the wearer satisfies the second condition. In the present embodiment, the second condition is that it is smaller than the second threshold value. Here, the first threshold value is a threshold value used for determining that the wearer is tired and there is a risk of falling. The second threshold value is a threshold value used for determining that the wearer is not tired and the risk of falling is low. Further, the second threshold value may be a threshold value used for determining that the wearer has recovered from fatigue and the risk of falling is low. The second threshold is set to be equal to or lower than the first threshold. For example, the first threshold may be set to 20 points. Further, for example, the second threshold value may be set to 5 points.

(Second estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the wearer's vital signs. The vital sign of the wearer is detected by the vital sensor of the sensors 24. The controller 25 acquires the data (sensor data) output by the sensor 24.

As a second estimation method of the degree of fatigue, the controller 25 uses at least one of the vital signs obtained from the acquired sensor data, such as pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate level, and blood glucose level. Estimate the degree of fatigue based on. Here, the vital signs used for estimating the degree of fatigue may be instantaneous values, but may be statistical values (for example, mean value, median value, etc.) at a predetermined time in order to improve the accuracy of the estimation. ..

A pulse is a beating that occurs periodically by the beating of the heart. The pulse wave illustrates the change in the pulsation (pulse) of the blood vessel accompanying the ejection of blood from the heart. Blood pressure is the pressure inside a blood vessel. FIG. 4 is a diagram illustrating a pulse wave. Further, the horizontal axis of FIG. 4 is time, and the vertical axis is the output value (voltage value) of PD. As shown in FIG. 4, for example, the pulse can be obtained from the peak interval of the pulse wave. The change of state of the wearer can be estimated from the number of times the heart beats (so-called pulse rate or heart rate) within a predetermined time (for example, 1 minute). Further, a predetermined blood pressure (for example, systolic blood pressure and diastolic blood pressure) may be estimated from the maximum value and the minimum value of the pulse wave and the amplitude value (pulse pressure) of the pulse wave.

Blood flow is the amount of blood flowing through a blood vessel within a predetermined time (for example, 1 minute). Body temperature and respiratory rate are the temperature of the body and the number of breaths within a predetermined time (eg, 1 minute), respectively. In this embodiment, the lactate level is the blood lactate level. That is, the lactate level is the concentration of lactate in the blood. The blood sugar level is the concentration of glucose (glucose) in the blood.

The controller 25 can estimate the degree of fatigue based on the pulse rate. The heart rate rises as the exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of the pulse increases. As an example, the controller 25 sets the degree of fatigue when the pulse is equal to or less than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the pulse increases by 1 [times / min]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the pulse increases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 1 [times / min] (or 1%) decrease in the pulse rate. Here, the reference value may be set by the method described in the first estimation method of the degree of fatigue, for example, setting based on the data when the wearer first wears the wearable terminal.

The controller 25 can estimate the degree of fatigue based on the pulse wave. For example, the controller 25 may calculate the acceleration pulse wave by differentiating the obtained pulse wave twice. The low frequency component (for example, the component below 0.15 Hz) contained in the acceleration pulse wave reflects the sympathetic nerve function. Further, the high frequency component (for example, the component of 0.15 Hz or higher) contained in the acceleration pulse wave reflects the parasympathetic nerve function. The controller 25 may obtain the ratio (LF / HF) obtained by dividing the low frequency component by the high frequency component and associate it with the degree of fatigue. For example, when the ratio (LF / HF) is larger than 2, it is determined that the patient is in a fatigued state. As an example, the controller 25 sets the fatigue level to 0 when the ratio (LF / HF) is 2 or less. Then, when the ratio (LF / HF) is larger than 2, the controller 25 may increase the degree of fatigue by 1 point for every 0.1 increase. Further, when the fatigue degree is not 0, the controller 25 may reduce the fatigue degree by 1 point for every 0.1 decrease in the ratio (LF / HF).

The controller 25 can estimate the degree of fatigue based on the blood pressure. As exercise intensity increases, blood pressure increases with increased heart rate, myocardial contractile force, and vascular resistance. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of blood pressure increases. As an example, the controller 25 sets the degree of fatigue when the blood pressure is equal to or lower than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood pressure increases by 5 [mmHg]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the blood pressure rises by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 5 [mmHg] (or 1%) decrease in blood pressure. Here, the controller 25 may use, for example, systolic blood pressure in the above determination. As another example, the controller 25 may use diastolic blood pressure in the above determination.

The controller 25 can estimate the degree of fatigue based on the blood flow rate. As the exercise intensity increases, the blood flow increases as the heart rate increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase in blood flow from the reference value increases. As an example, the controller 25 sets the fatigue level to 0 when the blood flow rate is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood flow rate increases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 1% decrease in blood flow rate.

The controller 25 can estimate the degree of fatigue based on the body temperature. Body temperature rises as exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of body temperature increases. As an example, the controller 25 sets the fatigue level to 0 when the body temperature is equal to or lower than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the body temperature rises by 0.1 [° C.]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the body temperature rises by 0.3% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the body temperature decreases by 0.1 [° C.] (or 0.3%).

The controller 25 can estimate the degree of fatigue based on the respiratory rate. Respiratory rate increases as exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase of the respiratory rate from the reference value increases. As an example, the controller 25 sets the degree of fatigue to 0 when the respiratory rate is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the respiratory rate increases by 1 [times / min]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the respiratory rate increases by 5% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the respiratory rate decreases by 1 [times / min] (or 5%).

The controller 25 can estimate the degree of fatigue based on the lactic acid value. FIG. 5 is a diagram illustrating the relationship between exercise intensity and blood lactate concentration (lactic acid level). In the example of FIG. 5, the horizontal axis indicates the magnitude of exercise intensity. Further, in the example of FIG. 5, the vertical axis indicates the blood lactate concentration (lactic acid value). When the exercise intensity exceeds the lactate threshold LT, the lactate level rises. As an example, the controller 25 sets the degree of fatigue to 0 when the lactic acid value is equal to or less than the reference value (about 1.7 [mmol / liter] in the example of FIG. 5) corresponding to the lactate threshold LT. Then, the controller 25 may increase the degree of fatigue by 1 point each time the lactic acid value increases by 0.1 [mmol / liter]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the lactic acid value increases by 10% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 0.1 [mmol / liter] (or 10%) decrease in the lactic acid value.

The controller 25 can estimate the degree of fatigue based on the blood glucose level. When the wearer exercises, blood glucose is taken up by the muscles, and the blood sugar level drops. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of decrease of the blood glucose level from the reference value increases. As an example, the controller 25 sets the degree of fatigue when the blood glucose level is equal to or higher than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood glucose level decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point for every 1% increase in the blood glucose level.

Similar to the first estimation method of the fatigue degree, the controller 25 moves the center of gravity to the heel side when the fatigue degree estimated based on the wearer's vital signs is larger than the first threshold value. Generate a move instruction. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the value is smaller than the second threshold value.

(Third estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the wearer's electromyogram. The controller 25 generates an electromyogram from the myoelectric potential detected by the myoelectric sensor, and grasps the state change of the muscle of the wearer's leg.

An electromyogram shows changes in action potentials (myoelectric potentials) generated from muscle fibers. When the wearer becomes tired, the time interval between periodic changes in myoelectric potential increases. That is, the average frequency when the electromyogram is frequency-analyzed decreases as the muscles become tired. Of the two types of muscles called fast muscles and slow muscles, the activity of the fast muscles that generate high frequency components decreases during fatigue, so the average frequency becomes low.
Therefore, the controller 25 can estimate the degree of fatigue from the average frequency (average of periodic changes in myoelectric potential) in the electromyogram.

FIG. 6A is a diagram illustrating a time change of the myoelectric potential detected by the myoelectric sensor. The controller 25 acquires the time change of the myoelectric potential from the storage 23. Then, the controller 25 obtains the average frequency every predetermined time (for example, 3 seconds). FIG. 6B is a diagram showing an average frequency for each predetermined time obtained by the controller 25. As an example, the controller 25 sets the fatigue level to 0 when the average frequency is equal to or higher than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the average frequency decreases by 1 Hz from the reference value. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the average frequency decreases by 1% from the reference value. Further, when the fatigue level is not 0, the controller 25 may reduce the fatigue level by 1 point each time the average frequency increases by 1 Hz (or 1%). Here, the reference value may be set by the method described in the first estimation method of the degree of fatigue, for example, setting based on the data when the wearer first wears the wearable terminal.

Here, as another estimation method, the controller 25 may estimate the degree of fatigue without using the reference value. In this estimation method, the controller 25 obtains the amount of decrease or the rate of decrease of the average frequency at predetermined time intervals as compared with the immediately preceding average frequency. Then, the controller 25 increases or decreases the degree of fatigue according to the obtained reduction amount or reduction rate. For example, the controller 25 sets the initial value at the start of fatigue estimation to 0. Then, for example, the controller 25 reduces the degree of fatigue when the average frequency rises from the immediately preceding average frequency. However, the lower limit of the degree of fatigue is 0. Then, when the average frequency decreases from the immediately preceding average frequency, the controller 25 increases the degree of fatigue according to the amount of decrease or the rate of decrease.

The controller 25 moves the center of gravity to the heel side when the fatigue degree estimated based on the wearer's electromyogram is larger than the first threshold value, as in the first and second estimation methods of the fatigue degree. Generate the first center of gravity movement instruction. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the value is smaller than the second threshold value.

(Adjustment of reference value and threshold value)
In the present embodiment, the controller 25 estimates the fatigue level of the wearer during exercise by using at least one of the first to third fatigue degree estimation methods. As described above, the controller 25 uses the reference value when estimating the degree of fatigue. Further, the controller 25 uses the first threshold value and the second threshold value in determining the generation of the center of gravity movement instruction. The footwear 1 according to the present embodiment can adjust at least one of a reference value, a first threshold value, and a second threshold value as described below.

FIG. 7 is a diagram illustrating daily changes in the degree of fatigue. In the example of FIG. 7, the horizontal axis represents the number of days. The vertical axis indicates the magnitude of the value based on the sensor data (in this embodiment, the degree of fatigue per day). The controller 25 calculates statistical data regarding the degree of fatigue as shown in FIG. 7, and determines whether or not the reference value, the first threshold value, and the second threshold value are appropriate.

The controller 25 obtains a statistical value of the degree of fatigue on a daily basis. In the example of FIG. 7, the controller 25 averages the values larger than the first threshold value among the fatigue degrees for one day, and calculates the value d1 based on the first sensor data. Further, the controller 25 averages the values smaller than the second threshold value among the fatigue degrees for one day, and calculates the value d2 based on the second sensor data. Here, the controller 25 calculates the value d2 based on the second sensor data only for the day when the value d1 based on the first sensor data exists. Then, the controller 25 calculates the value d3 based on the third sensor data by averaging all the fatigue degrees for one day for the day when the value d1 based on the first sensor data does not exist.

For example, the controller 25 acquires the sensor data for one day at the timing when the date changes, and updates the data for the daily change in the degree of fatigue as shown in FIG. 7. Here, the start of the day does not have to be based on 0 o'clock. For example, the sensor data from 10 pm the previous day to 10 pm today may be used with reference to 10 pm.

The controller 25 can easily grasp the following state of the wearer from the daily change in the degree of fatigue as shown in FIG. 7. In the example of FIG. 7, on the 3rd, 4th, 6th and 8th days, there is a value d1 based on the first sensor data larger than the first threshold value. The controller 25 can see that on these days the wearer was tired to the extent that it was difficult to raise his toes. Further, on the 3rd and 8th days, there is a value d2 based on the second sensor data smaller than the second threshold value. On the 3rd and 8th days, the controller 25 can grasp that the fatigue that made it difficult to raise the toes was recovered thereafter.

When the controller 25 finishes acquiring the sensor data for one month (for example, when the month changes), the controller 25 determines whether or not the number of days in which the value d1 based on the first sensor data exists is larger than the third threshold value. The third threshold is a threshold for determining whether at least one of the reference value, the first threshold and the second threshold needs to be modified. In this embodiment, the third threshold is set to half the number of days in a month (eg, 15 days). When the number of days that the value d1 based on the first sensor data has existed is greater than the third threshold value, that is, when the value d1 frequently exceeds the first threshold value, the controller 25 determines the reference value, the first threshold value, and the second threshold value. Determine that the threshold is not appropriate. Then, the controller 25 rewrites at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23. For example, if the controller 25 determines that the first threshold and the second threshold are too low, they may set them to higher values. Further, for example, the controller 25 may update or adjust the reference value.

In this embodiment, the third determination is performed monthly. Here, the third determination may be executed every predetermined number of days instead of one month. For example, the predetermined number of days may be 20 days. The third threshold may change according to a predetermined number of days. For example, when the predetermined number of days is 20 days, the third threshold value may be, for example, 10 days.

(Center of gravity movement mechanism)
FIG. 8 is a perspective view showing a configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. The center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment is provided on the sole portion.

The center of gravity moving mechanism 11 includes a tube pump 110, a liquid bag 111A on the toe side, and a liquid bag 111B on the heel side. The tube pump 110 includes a tube connected to the liquid bag 111A on the toe side and the liquid bag 111B on the heel side, a roller for sending out the liquid passing through the tube, and a motor for rotating the roller. In this embodiment, the liquid is water. However, the liquid is not limited to water. For example, a liquid having a specific gravity higher than that of water and having a viscosity may be used. The liquid may be, for example, oil.

The center of gravity moving mechanism 11 of the footwear 1 receives a center of gravity moving instruction from the communication unit 22 of the terminal device 2 via the communication unit 12. The center of gravity moving mechanism 11 controls the rotation of the motor of the tube pump 110 according to the center of gravity moving instruction. As the motor rotates, the rollers rotate forward or reverse while crushing the tube. When the roller crushes the tube, the liquid inside moves, so that the liquid moves between the liquid bag 111A on the toe side and the liquid bag 111B on the heel side. The center of gravity moving mechanism 11 can move the center of gravity of the footwear 1 to the toe side or the heel side. Further, the center of gravity moving mechanism 11 stops the rotation of the motor of the tube pump 110 when the movement of the center of gravity is completed. Further, the center of gravity moving mechanism 11 can change the speed at which the center of gravity of the footwear 1 moves by changing the rotation speed of the motor.

(flowchart)
FIG. 9 is a flowchart illustrating a process related to the movement of the center of gravity of the footwear 1 executed by the controller 25 in the system according to the present embodiment.

The controller 25 of the terminal device 2 worn on the wearer acquires the data (sensor data) detected by the sensor 24 (step S1).

When the value based on the sensor data exceeds the first threshold value (Yes in step S2), the controller 25 notifies the user (step S3). In the present embodiment, the value based on the sensor data is the degree of fatigue estimated by using at least one of the above-mentioned first to third estimation methods. Further, in the present embodiment, the notification to the user is a notification using the notification unit 16. For example, the controller 25 notifies the user by sending an instruction to emit light to the notification unit 16 via the communication unit 12 and the communication unit 22. The notification to the user may be changed according to the degree of fatigue. For example, when the degree of fatigue greatly exceeds the first threshold value, the volume of the notification to the user may be louder than when it is not.

When the value based on the sensor data does not exceed the first threshold value (No in step S2), the controller 25 proceeds to the process of step S5.

The controller 25 moves the center of gravity of the footwear 1 to the heel side after notifying the user (warning) (step S4). More specifically, the controller 25 generates a first center of gravity movement instruction that moves the center of gravity to the heel side to help the tired wearer raise his toes. Then, the controller 25 sends the first center of gravity movement instruction to the center of gravity movement mechanism 11 via the communication unit 12 and the communication unit 22. The center of gravity moving mechanism 11 moves the liquid from the liquid bag 111A on the toe side to the liquid bag 111B on the heel side in accordance with the first center of gravity moving instruction, and moves the center of gravity of the footwear 1.

The controller 25 notifies the user when the value based on the sensor data does not exceed the first threshold value and is less than the second threshold value (Yes in step S5) (step S6). Since the notification to the user in step S6 is the same as in step S3, detailed description thereof will be omitted. Here, in the present embodiment, the processes of steps S6 and S7 are executed only after the value (fatigue degree) based on the sensor data exceeds the first threshold value. That is, the controller 25 determines whether or not the wearer has recovered from fatigue by the process of step S5.

The controller 25 returns to the process of step S1 when the value based on the sensor data does not exceed the first threshold value and is equal to or higher than the second threshold value (No in step S5).

The controller 25 moves the center of gravity of the footwear 1 to the toe side after notifying (warning) the user (step S7). In the present embodiment, the controller 25 generates a second center of gravity movement instruction that moves the center of gravity toward the toes in order to give an appropriate load to the wearer who has recovered from fatigue. Then, the second center of gravity movement instruction is sent to the center of gravity movement mechanism 11 via the communication unit 12 and the communication unit 22. The center of gravity moving mechanism 11 moves the liquid from the liquid bag 111B on the heel side to the liquid bag 111A on the toe side in accordance with the second center of gravity moving instruction to move the center of gravity of the footwear 1.

After the process of step S4 or S7, the controller 25 notifies the user when the number of times the value based on the sensor data exceeds the first threshold value exceeds the third threshold value (Yes in step S8). (Step S9). In the present embodiment, the notification to the user in step S9 is the same as in step S3, and therefore detailed description thereof will be omitted.

The controller 25 returns to the process of step S1 when the number of times the value based on the sensor data exceeds the first threshold value does not exceed the third threshold value (No in step S8).

After the process of step S9, the controller 25 updates at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23 (step S10). In the present embodiment, the controller 25 determines that at least one of the set reference value and the threshold value is not appropriate because the number of times the fatigue level exceeds the first threshold value exceeds the third threshold value, and determines that value. To fix.

As described above, the footwear 1 according to the present embodiment includes the center of gravity moving mechanism 11 capable of moving the center of gravity. Then, the center of gravity moves based on the degree of fatigue of the wearer. In addition, the system according to the present embodiment includes footwear 1 and a terminal device 2 that acquires at least one of a wearer's movement, vital signs, and an electromyogram. In the system according to the present embodiment, the degree of fatigue is estimated based on at least one of the wearer's movement, vital signs, and electromyogram acquired by the terminal device 2.

In the footwear 1 and the system according to the present embodiment, the degree of fatigue of the wearer is estimated. The greater the degree of fatigue, the easier it is for the toes to come into contact with the ground or stairs, and the higher the risk of the wearer falling. The footwear 1 includes a center of gravity moving mechanism 11 capable of moving the center of gravity based on the degree of fatigue of the wearer. Therefore, the footwear 1 can move the center of gravity to the heel side, for example, when the degree of fatigue is large, so that the wearer can easily pull up the toes and avoid falling. Further, for example, when the degree of fatigue of the footwear 1 is small, the center of gravity can be returned to the toe side to give an appropriate load to the wearer. As described above, the footwear 1 and the system according to the present embodiment can adjust the load on the wearer according to the risk of falling.

Further, in the present embodiment, the degree of fatigue is estimated regardless of which sensor data of the motion sensor, the vital sensor, and the myoelectric sensor is used. Therefore, in determining the movement of the center of gravity of the footwear 1, for example, the same threshold value can be used, and unified handling is possible.

[Second Embodiment]
The configuration of the footwear 1 and the system according to the second embodiment is the same as that of the first embodiment. Therefore, the same description as in the first embodiment will be simplified or omitted as appropriate. In this embodiment, the controller 25 moves the center of gravity of the footwear 1 without estimating the degree of fatigue.

The sensor 24 of the terminal device 2, which is a wearable terminal, detects at least one of the wearer's movement, vital signs, and myoelectric potential. Also in this embodiment, the sensor 24 includes a motion sensor, a vital sensor, and a myoelectric sensor. The center of gravity of the footwear 1 according to the present embodiment moves based on the movement of the wearer. Further, the center of gravity of the footwear 1 according to the present embodiment moves based on the vital signs of the wearer. Further, the center of gravity of the footwear 1 according to the present embodiment moves based on the electromyogram of the wearer.

(Movement of the center of gravity based on the movement of the wearer)
A case where the center of gravity of the footwear 1 moves based on the movement of the wearer will be described. In the first embodiment, the wearer's movement detected by the motion sensor relates to the state of the wearer's movement, particularly the walking state, which is closely related to the degree of fatigue. Also in this embodiment, the controller 25 moves the center of gravity of the footwear 1 according to the walking state calculated based on the movement of the wearer. In addition to this, in the present embodiment, the controller 25 can move the center of gravity of the footwear 1 based on the movement of the wearer, that is, the body movement, which is not limited to the state of exercise. Therefore, for example, the wearer can intentionally move the center of gravity of the footwear 1 by performing a specific movement.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the wearer's movement detected by the motion sensor satisfies a predetermined condition. The predetermined conditions include a first condition and a second condition. When the wearer's movement satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the wearer's movement satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

For example, the first condition may be, for example, the wearer swiftly swinging his arm backwards in a stationary state without walking. Further, for example, the first condition may be that the wearer brings the heel portion of the footwear 1 into contact with the ground a plurality of times in succession without walking. Further, for example, the first condition may be that the wearer squats down and brings his / her hand into contact with the footwear 1 without walking. The controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side when it is determined that the first condition is satisfied based on the detection value of the motion sensor.

For example, the second condition may be, for example, the wearer swiftly swinging his arm forward in a stationary state without walking. Further, for example, the second condition may be that the wearer brings the toe portion of the footwear 1 into contact with the ground a plurality of times in succession without walking. When the controller 25 determines that the second condition is satisfied based on the detection value of the motion sensor, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Further, in the present embodiment, the controller 25 moves the center of gravity of the footwear 1 based on the state of movement (particularly the walking state) calculated from the movement of the wearer detected by the motion sensor. The walking state includes at least one of the number of steps per unit time, the time required for one step, the walking speed, the stride length, the amount of foot lift, and the walking variation.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the wearer's walking state satisfies a predetermined condition. When the walking state of the wearer satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the walking state of the wearer satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may include in the first condition that the walking state of the wearer is larger than the first threshold value. Further, the controller 25 may include in the second condition that the walking state of the wearer is smaller than the second threshold value. Unlike the first embodiment, the first threshold value and the second threshold value in the present embodiment are set according to the type of walking state used for the determination.

The first condition of the controller 25 may be that the number of steps per unit time (for example, 1 minute) is significantly reduced from the reference value by more than 5 steps. Further, the controller 25 may set that the amount of decrease in the number of steps per unit time from the reference value becomes smaller than 3 steps after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is the difference from the reference value of the number of steps per unit time. At this time, 5 steps correspond to the first threshold value. Also, 3 steps correspond to the second threshold.

The first condition may be that the time required for the controller 25 has increased more than 1.0 second from the reference value. Further, the controller 25 may set that the increase amount of the time required for one step from the reference value is smaller than 0.8 seconds after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the time required for each step. At this time, 1.0 second corresponds to the first threshold value. Also, 0.8 seconds corresponds to the second threshold.

The first condition of the controller 25 may be that the walking speed is significantly reduced from the reference value by more than 1.0 [m / sec]. Further, the controller 25 may set the second condition that the amount of decrease in the walking speed from the reference value becomes smaller than 0.3 [m / sec] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the walking speed. At this time, 1.0 [m / sec] corresponds to the first threshold value. Further, 0.3 [m / sec] corresponds to the second threshold value.

The first condition of the controller 25 may be that the stride length is significantly reduced from the reference value by more than 10 [cm]. Further, the controller 25 may set that the amount of decrease in the stride length from the reference value becomes smaller than 3 [cm] after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the stride length. At this time, 10 [cm] corresponds to the first threshold value. Further, 3 [cm] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of foot lift is significantly reduced from the reference value by more than 2 [cm]. Further, the controller 25 may set that the amount of decrease in the amount of foot lift from the reference value becomes smaller than 1 [cm] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the amount of foot lift. At this time, 2 [cm] corresponds to the first threshold value. Further, 1 [cm] corresponds to the second threshold value.

The first condition of the controller 25 may be that the walking variation has increased more than 10% from the reference value. Further, the controller 25 may set that the amount of increase in walking variation from the reference value becomes smaller than 3% after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the walking variation. At this time, 10% corresponds to the first threshold value. Also, 3% corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the movement of the wearer.

(Movement of the center of gravity based on the wearer's vital signs)
A case where the center of gravity of the footwear 1 moves based on the vital signs of the wearer will be described. In the first embodiment, the degree of fatigue calculated based on vital signs is used for determining the movement of the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the vital signs to determine that the center of gravity of the footwear 1 is moved more directly.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the vital signs detected by the vital sensor satisfy a predetermined condition. The predetermined conditions include a first condition and a second condition. When the vital signs satisfy the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the vital signs satisfy the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may make it a first condition that the difference from the normal state (reference value) of the wearer's vital signs is larger than the first threshold value. Further, the controller 25 may make it a second condition that the difference from the normal state (reference value) of the wearer's vital signs is smaller than the second threshold value. Unlike the first embodiment, the first threshold value and the second threshold value in the present embodiment are set according to the type of vital signs.

In this embodiment, the vital signs include at least one of pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate level and blood glucose level.

The first condition of the controller 25 may be that the amount of increase in the pulse from the reference value is larger than 20 [times / min]. Further, the controller 25 may set the second condition that the amount of increase from the reference value of the pulse becomes smaller than 6 [times / min] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is the difference from the reference value of the pulse. At this time, 20 [times / min] corresponds to the first threshold value. Further, 6 [times / min] corresponds to the second threshold value.

The controller 25 calculates the acceleration pulse wave by, for example, second-order differentializing the pulse wave, and obtains the ratio (LF / HF) of the low frequency component divided by the high frequency component. Then, the controller 25 may have the first condition that the ratio (LF / HF) is larger than 2. Further, the controller 25 may set that the ratio (LF / HF) becomes smaller than 2 after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the above ratio. At this time, both the first threshold value and the second threshold value are 2.

The first condition of the controller 25 may be that the amount of increase in blood pressure from the reference value is larger than 30 [mmHg]. Further, the controller 25 may set the second condition that the amount of increase in blood pressure from the reference value becomes smaller than 10 [mmHg] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of blood pressure. At this time, 30 [mmHg] corresponds to the first threshold value. Further, 10 [mmHg] corresponds to the second threshold value.

The first condition of the controller 25 may be that the rate of increase in blood flow from the reference value is greater than 10%. Further, the controller 25 may set that the rate of increase of the blood flow rate from the reference value becomes smaller than 3% after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the blood flow rate. At this time, 10% corresponds to the first threshold value. Also, 3% corresponds to the second threshold.

The first condition of the controller 25 may be that the amount of increase in body temperature from the reference value is larger than 1 [° C.]. Further, the controller 25 may set the second condition that the amount of increase in the body temperature from the reference value becomes smaller than 0.3 [° C.] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the body temperature. At this time, 1 [° C.] corresponds to the first threshold value. Further, 0.3 [° C.] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of increase in the respiratory rate from the reference value is larger than 15 [times / min]. Further, the controller 25 may set the second condition that the increase amount of the respiratory rate from the reference value becomes smaller than 5 [times / min] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the respiratory rate. At this time, 15 [times / min] corresponds to the first threshold value. Further, 5 [times / min] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of increase in the lactic acid value from the reference value is larger than 0.5 [mmol / liter]. Further, the controller 25 may set the second condition that the amount of increase in the lactic acid value from the reference value becomes smaller than 0.2 [mmol / liter] after the first condition is satisfied. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the lactic acid value. At this time, 0.5 [mmol / liter] corresponds to the first threshold value. Further, 0.2 [mmol / liter] corresponds to the second threshold value.

The first condition of the controller 25 may be that the rate of decrease of the blood glucose level from the reference value is larger than 15%. Further, the controller 25 may set that the rate of decrease of the blood glucose level from the reference value becomes smaller than 5% after the first condition is satisfied as the second condition. Here, it is assumed that the value based on the sensor data is the difference from the reference value of the blood glucose level. At this time, 15% corresponds to the first threshold value. Also, 5% corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the vital signs of the wearer.

(Movement of the center of gravity based on the wearer's EMG)
A case where the center of gravity of the footwear 1 moves based on the electromyogram of the wearer will be described. In the first embodiment, the degree of fatigue calculated based on the electromyogram was used for determining the movement of the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the electromyogram to more directly determine the movement of the center of gravity of the footwear 1. Here, the electromyogram includes at least one of the wearer's calf electromyogram and the wearer's shin electromyogram.

The controller 25 generates an electromyogram based on the myoelectric potential detected by the myoelectric sensor. The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the electromyogram satisfies a predetermined condition. The predetermined conditions include a first condition and a second condition. When the electromyogram satisfies the first condition, the controller 25 generates a first center-of-gravity movement instruction for moving the center of gravity to the heel side. Further, when the electromyogram satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may make it a first condition that the difference from the normal state (reference value) of the value based on the wearer's electromyogram is larger than the first threshold value. Further, the controller 25 may make it a second condition that the difference from the normal state (reference value) of the value based on the wearer's electromyogram is smaller than the second threshold value.

The controller 25 calculates the average frequency for each predetermined time from the wearer's electromyogram. In the present embodiment, the value based on the wearer's electromyogram is the average frequency for each predetermined time (hereinafter, simply referred to as "average frequency"). The first condition of the controller 25 may be that the amount of decrease in the average frequency from the reference value is larger than 10 Hz. Further, the controller 25 may make it a second condition that the amount of decrease in the average frequency from the reference value becomes smaller than 3 Hz after the first condition is satisfied. Here, it is assumed that the value based on the sensor data (see FIG. 7) is the difference from the reference value of the average frequency. At this time, 10 Hz corresponds to the first threshold value. Also, 3 Hz corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the electromyogram of the wearer.

As described above, the footwear 1 according to the present embodiment includes the center of gravity moving mechanism 11 capable of moving the center of gravity. In addition, the system according to the present embodiment includes footwear 1 and a terminal device 2 that acquires at least one of a wearer's movement, vital signs, and an electromyogram. In this embodiment, the center of gravity moves based on at least one of the wearer's movements, vital signs and electromyogram.

Also in this embodiment, as in the first embodiment, the load on the wearer can be adjusted according to the risk of falling. In addition, the system according to the present embodiment can also be used to determine the movement of the center of gravity of the footwear 1 with respect to values based on the wearer's movement, vital signs, and electromyogram that are not related to the degree of fatigue. For example, it is possible to move the center of gravity of the footwear 1 by the movement of "quickly swinging the arm backward in the stopped state".

Although the present disclosure has been described with reference to the drawings and embodiments, it should be noted that those skilled in the art can easily make various modifications and modifications based on the present disclosure. It should be noted, therefore, that these modifications and modifications are within the scope of this disclosure. For example, the functions included in each means or each step can be rearranged so as not to be logically inconsistent, and a plurality of means or steps can be combined or divided into one. ..

(First modification)
In the system according to the first and second embodiments described above, the terminal device 2 includes the sensor 24. The terminal device 2 was a wearable terminal worn by the wearer. In the system including the footwear 1 according to the first modification, the footwear 1 includes the sensor 14. The terminal device 2 does not include the sensor 24.

FIG. 10 shows a schematic configuration of footwear 1 according to this modified example. As shown in FIG. 10, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12, a storage 13, a sensor 14, and a notification unit 16. The center of gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 can have the same configurations as those in the first and second embodiments.

Further, FIG. 11 shows a schematic configuration of the terminal device 2 of the system according to the present modification. As shown in FIG. 11, the terminal device 2 includes a communication unit 22, a storage 23, and a controller 25. In this modification, the terminal device 2 does not have to be a wearable terminal. In this modification, the terminal device 2 is, for example, a smartphone.

The sensor 14 of the footwear 1 corresponds to the sensor 24 in the above embodiment. That is, the sensor 14 detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this modification, the sensor 14 includes a motion sensor, a vital sensor, and a myoelectric sensor. Here, the sensor 14 may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 14 may be provided with yet another detection device (for example, an ultraviolet sensor).

Here, when the sensor 14 includes a vital sensor, the sensor 14 may be provided on the footwear 1 so as to come into contact with the wearer's foot when the footwear 1 is worn by the wearer. Further, the sensor 14 may be arranged so as to contact at least one of the wearer's sole, instep and ankle. For example, when the footwear 1 is a high-cut shoe, the sensor 14 may be provided at the shoe opening so as to come into contact with the ankle. Further, for example, the sensor 14 may be provided on the surface of the insole of the footwear 1 so as to come into contact with the sole of the foot.

Further, when the sensor 14 includes the myoelectric sensor, the sensor 14 may be provided on the footwear 1 so as to come into contact with the wearer's foot when the footwear 1 is worn by the wearer. In addition, the sensor 14 may be placed in contact with at least one location on the wearer's calf and shin. For example, if the footwear 1 is a boot, the sensor 14 may be provided in contact with the calf and shin.

In this modification, at least one of vital signs and myoelectric potential can be detected only by the wearer wearing footwear 1 without wearing a wearable terminal or the like. Further, when the sensor 14 includes a motion sensor, it is possible to detect fine movements of the footwear 1. Therefore, in this modified example, it becomes possible to more accurately detect the movement of the wearer regarding walking.

(Second modification)
In the system according to the first modification, the footwear 1 includes a sensor 14. The terminal device 2 does not include the sensor 24. In the system including the footwear 1 according to the second modification, the footwear 1 further includes a controller 15. In this modification, the controller 15 executes a part or all of the processing executed by the controller 25 of the terminal device 2 in the above embodiment.

FIG. 12 shows a schematic configuration of footwear 1 according to this modified example. As shown in FIG. 12, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12, a storage 13, a sensor 14, a controller 15, and a notification unit 16. The center of gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 are the same as those in the first and second embodiments. Further, the sensor 14 is the same as the first modification. Further, the configuration of the terminal device 2 of this modified example is the same as that of the first modified example (see FIG. 11).

The controller 15 may acquire sensor data from the sensor 14 and estimate the degree of fatigue based on at least one of the wearer's movements, vital signs and electromyogram. Further, the controller 15 may move the center of gravity of the footwear 1 according to the walking state calculated based on the movement of the wearer. Further, the controller 15 may move the center of gravity of the footwear 1 based on the vital signs. Further, the controller 15 may move the center of gravity of the footwear 1 based on the electromyogram.

In this modification, the processing load of the controller 25 of the terminal device 2 can be reduced by the controller 15 executing the processing related to the movement of the center of gravity of the footwear 1. Further, as described above, when the controller 15 estimates the fatigue level or the walking state, it is not necessary to communicate the sensor data from the sensor 14 between the footwear 1 and the terminal device 2. Therefore, the load of communication processing of the footwear 1 and the terminal device 2 can be reduced.

(Third modification example)
In the system according to the first and second embodiments described above, the terminal device 2 is composed of one device. In the system including the footwear 1 according to the third modification, the terminal device 2 is composed of a plurality of devices.

13 (A) and 13 (B) show a schematic configuration of the terminal device 2 of the system according to this modification. In this modification, the terminal device 2 is composed of a first terminal device 2A and a second terminal device 2B. As shown in FIG. 13A, the first terminal device 2A includes a communication unit 22A, a storage 23A, and a controller 25A. Further, as shown in FIG. 13B, the second terminal device 2B includes a communication unit 22B, a storage 23B, and a sensor 24B.

The second terminal device 2B is, for example, a wearable terminal worn by a wearer. Further, the first terminal device 2A is, for example, a smartphone. The first terminal device 2A and the second terminal device 2B communicate with each other using the communication unit 22A and the communication unit 22B. Further, at least one of the first terminal device 2A and the second terminal device 2B also communicates with the footwear 1. Although the first terminal device 2A and the second terminal device 2B are physically different devices, they cooperate with each other to execute the same processing as the terminal device 2 in the above embodiment. Further, the configuration of the footwear 1 of this modified example is the same as, for example, the first and second embodiments (see FIG. 1).

The sensor 24B included in the second terminal device 2B corresponds to the sensor 24 in the above embodiment. That is, the sensor 24B detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this modification, the sensor 24B includes a motion sensor, a vital sensor and a myoelectric sensor. Here, the sensor 24B may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 24B may be provided with yet another detection device (for example, an ultraviolet sensor or the like).

For example, when the sensor 24B includes an electromyographic sensor, the second terminal device 2B may be a sock or supporter type wearable terminal. At this time, the myoelectric sensor is provided on the wearer's socks or supporters. The sock or supporter comes into direct contact with the wearer's calf and shin. Therefore, the myoelectric sensor can accurately detect the myoelectric potentials of the calf and the shin.

The second terminal device 2B temporarily stores the sensor data detected by the sensor 24B in the storage 23B. Then, the second terminal device 2B transmits necessary sensor data from the communication unit 22B. The first terminal device 2A acquires sensor data from the second terminal device 2B by the communication unit 22A. The first terminal device 2A temporarily stores the acquired sensor data in the storage 23A. Then, the controller 25A of the first terminal device 2A executes a process related to the movement of the center of gravity of the footwear 1 based on the acquired sensor data.

In this modification, the terminal device 2 is composed of a first terminal device 2A and a second terminal device 2B that are physically separated. Therefore, it is possible to arrange the second terminal device 2B including the sensor 24B away from the first terminal device 2A including the controller 25A that executes the process related to the movement of the center of gravity of the footwear 1. That is, in this modification, the mounting position of the second terminal device 2B has a high degree of freedom. Further, since the number of components of the second terminal device 2B can be reduced, it is possible to reduce the weight of the second terminal device 2B worn by the wearer.

(Other)
Further, an electromyogram may be used instead of the myoelectric sensor in the above-described embodiment and modification. The electromyogram may generate, for example, an electromyogram and output the electromyogram data to the controller 25 or the like. In addition, the vital sensors in the above embodiments and modifications output vital signs. Here, the vital sensor may output data capable of calculating vital signs to the controller 25 or the like. At this time, the controller 25 or the like may calculate the vital signs based on the output of the vital sensor. For example, the controller 25 acquires a photoelectric conversion signal of the scattered light received by the light receiving portion of the vital sensor. Then, the controller 25 may calculate the vital signs based on the intensity of the scattered light. Further, when the footwear 1 is provided with an illuminance sensor as the sensor 14, for example, the controller 25 can accurately grasp the raising and lowering of the wearer's foot from the change in illuminance. At this time, the controller 25 can more accurately calculate the amount of foot lift of the wearer.

Many aspects of this disclosure are presented as a series of actions performed by a computer system or other hardware capable of executing program instructions. In each embodiment, the various operations or control methods are performed, for example, by dedicated circuits implemented in program instructions (software) (eg, individual logic gates interconnected to perform a particular function). Please note. It should also be noted that in each embodiment, the various operations or control methods are performed, for example, by logical blocks and / or program modules executed by one or more processors. One or more processors that execute logical blocks and / or program modules and the like include, for example, one or more microprocessors and CPUs (Central Processing Units). Further, such a processor includes, for example, an ASIC (Application Specific Integrated Circuit) and a DSP (Digital Signal Processor). Further, such a processor includes, for example, a PLD (Programmable Logic Device) and an FPGA (Field Programmable Gate Array). Such processors also include controllers, microcontrollers, microprocessors, and other devices designed to perform the functions described herein. In addition, such a processor includes a combination of the above specific examples. The embodiments shown herein are implemented, for example, by hardware, software, firmware, middleware, microcode, or a combination thereof. The instruction may be program code or a code segment to perform the required task. The instructions can then be stored on a machine-readable non-temporary storage medium or other medium. A code segment may represent any combination of procedures, functions, subprograms, programs, routines, subroutines, modules, software packages, classes or instructions, data structures or program statements. A code segment sends and / or receives information, data arguments, variables or stored contents with another code segment or hardware circuit, thereby connecting the code segment with the other code segment or hardware circuit. ..

Further, the storages 13, 23, 23A and 23B can be further configured as a computer-readable tangible carrier (medium) composed of the categories of solid state memory, magnetic disk and optical disk. Such media may store an appropriate set or data structure of computer instructions, such as program modules, for causing a processor to perform the techniques disclosed herein. Computer-readable media include portable computer disks, RAM (Random Access Memory) and ROM (Read-Only Memory). The computer-readable medium includes EPROM (Erasable Programmable Read-Only Memory). In addition, a computer-readable medium includes an EEPROM (Electrically Erasable Programmable Read-Only Memory). Also, computer readable media include rewritable and programmable ROMs such as flash memory or other tangible storage media capable of storing information or combinations of any of the above embodiments. Memory can be provided inside and / or outside the processor or processing unit. As used herein, the term "memory" means any type of long-term memory, short-term memory, volatile, non-volatile or other memory. That is, "memory" is not limited to any particular type and / or number. Further, the type of medium in which the storage is stored is not limited.

1 Footwear 2 Terminal device 2A 1st terminal device 2B 2nd terminal device 11 Center for gravity movement 12 Communication unit 13 Storage 14 Sensor 15 Controller 16 Notification unit 22, 22A, 22B Communication unit 23, 23A, 23B Storage 24, 24B Sensor 25, 25A Controller 110 Tube Pump 111A, 111B Liquid bag

Claims (15)

Equipped with a center of gravity movement mechanism that can move the center of gravity
Footwear whose center of gravity moves based on the degree of fatigue of the wearer. The footwear according to claim 1, wherein the degree of fatigue is estimated based on at least one of the wearer's movements, vital signs and electromyogram. The footwear according to claim 1 or 2, wherein the degree of fatigue is estimated based on the output of at least one of a motion sensor, a vital sensor, and an electromyographic sensor worn on the wearer. The degree of fatigue is estimated from at least one of the number of steps per unit time of the wearer, the time required for one step, the walking speed, the stride length, the amount of foot lift, and the walking variation, any one of claims 1 to 3. The footwear described in the section. The degree of fatigue is estimated based on at least one of the wearer's pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate level, and blood glucose level, any one of claims 1 to 3. The footwear described in. The footwear according to any one of claims 1 to 3, wherein the degree of fatigue is estimated based on the electromyogram of the wearer. The footwear according to any one of claims 1 to 6, wherein the center of gravity moves when the degree of fatigue satisfies a predetermined condition. The footwear according to claim 7, wherein the center of gravity moves to the heel side when the degree of fatigue satisfies the first condition. The footwear according to claim 8, wherein the first condition is larger than the first threshold value. The footwear according to any one of claims 7 to 9, wherein the center of gravity moves to the toe side when the degree of fatigue satisfies the second condition. The footwear according to claim 10, wherein the second condition is smaller than the second threshold value. The footwear according to any one of claims 1 to 11, further comprising at least one of a motion sensor, a vital sensor and an electromyographic sensor. Equipped with a controller
The footwear according to any one of claims 1 to 12, wherein the controller estimates the degree of fatigue based on at least one of the wearer's movements, vital signs and electromyogram. Equipped with a notification unit
The footwear according to any one of claims 1 to 13, wherein the notification unit emits at least one of light, sound, and vibration according to the degree of fatigue. Footwear that has a center of gravity movement mechanism that can move the center of gravity and can communicate with the terminal device,
The terminal device for acquiring at least one of the wearer's movements, vital signs and electromyogram of the footwear.
The center of gravity moves according to the degree of fatigue of the wearer,
The degree of fatigue is estimated based on at least one of the wearer's movements, vital signs and electromyograms acquired by the terminal device.

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