JP6871576B2 - センサのキャリブレーション方法、この方法に用いるための椅子及び、この方法を実行する歩行動作計測システム - Google Patents
センサのキャリブレーション方法、この方法に用いるための椅子及び、この方法を実行する歩行動作計測システム Download PDFInfo
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Description
背当て部34は、ポスト33の上部に架け渡されており、歩行補助装置10を装着したユーザUが座面21aに着座した時にユーザUの腰部から後方へ突出する腰フレーム11を受容可能な装置受容孔37をポスト33間の下部に形成している。装置受容孔37は、歩行補助装置10の幅(左右の駆動源13の幅)よりも大きな幅及び、左右の大腿フレーム12を含まない歩行補助装置10の高さよりも大きな高さを有する大きさに形成されている。そのため、椅子20に着座したユーザUに対してオペレータが歩行補助装置10を装着することもできる。また、ユーザUが上記のように椅子20に座った状態において、座面21aは背凭れ22から更に後方へ延びており、このスペースを歩行補助装置10の仮置きスペースとして利用できる。これにより、歩行補助装置10のユーザUへの装着が容易に行える。
2 慣性計測センサ
4 計測装置
5 入力操作盤(入力部)
6 ディスプレイ
7 スピーカ(報知手段)
10 歩行補助装置
11 腰フレーム
12 大腿フレーム
14 制御装置
20 椅子
21 着座部
21a 座面
22 背凭れ
22a 背凭れ面
25 前板(下腿ガイド部材)
26 足置き
26a 足接地面
27 面圧センサ
28 前側目印
37 装置受容孔
38 背側目印(椅子側目印)
39 装置側目印
41 キャリブレーション部
42 光学式モーションキャプチャ
43 傾き係数算出部
44 動作計測部
45 左右中心判定部
U ユーザ
β 傾き係数
Claims (6)
- ユーザの動作を計測するために前記ユーザの上体部、大腿部及び下腿部に取り付けられ、3軸の加速度及び角速度を検出する複数の慣性計測センサと、
前記ユーザの腰部に装着される腰フレーム及び前記ユーザの脚部に装着される脚フレームを有し、前記ユーザの歩行動作を補助する補助力を発生する歩行補助装置と、
前記歩行補助装置が前記ユーザの歩行動作を補助している時に、複数の前記慣性計測センサの出力に基づいて前記ユーザの前記上体部、前記大腿部及び前記下腿部の動作を計測する計測装置と、
前記ユーザの前記大腿部が座面に沿うように、足接地面から前記座面までの高さが調整可能に構成された着座部、前記ユーザの前記下腿部の膝裏が前記座面の前縁に接し且つ前記ユーザの背部が背凭れ面に沿うように、前記着座部に対して前後方向に移動可能な背凭れ及び、前記座面の前縁の下方に踵を位置させるべく前記下腿部をガイドする下腿ガイド部材を有する椅子と、
複数の前記慣性計測センサが取り付けられた前記ユーザの動作を計測する光学式モーションキャプチャ装置とを備え、
前記計測装置は、
前記上体部と前記下腿部とが互いに平行をなし且つ前記大腿部が前記上体部及び前記下腿部に対して直交する姿勢である基準姿勢をとって前記ユーザが前記椅子に着座した状態で、複数の前記慣性計測センサの前記出力を前記基準姿勢の値としてリセットし、複数の前記慣性計測センサのキャリブレーションを行うように構成されたキャリブレーション部と、
前記光学式モーションキャプチャ装置により計測された前記ユーザの動作を示す前記上体部、前記大腿部及び前記下腿部の検出値に対する、複数の前記慣性計測センサが出力する前記上体部、前記大腿部及び前記下腿部の前記3軸の前記加速度及び前記角速度に比例する検出値の、線形モデルの傾きの補正係数である傾き係数を算出する傾き係数算出部と、
前記傾き係数に基づいて、複数の前記慣性計測センサの前記出力を補正し、補正された前記出力により前記ユーザの動作を計測する動作計測部とを備えることを特徴とする歩行動作計測システム。 - 前記歩行補助装置は発生する補助力を制御する制御装置を備え、
前記制御装置が前記ユーザの背側に配置され、前記上体部に取り付けられる前記慣性計測センサが前記ユーザの腹側に配置されることを特徴とする請求項1に記載の歩行動作計測システム。 - 前記計測装置に対し、複数の前記慣性計測センサのキャリブレーションを開始させる操作を受け付ける入力部を更に備えることを特徴とする請求項1又は請求項2に記載の歩行動作計測システム。
- 前記椅子の前記背凭れは、前記歩行補助装置の前記腰フレームを受容可能な装置受容孔と、前記装置受容孔の周囲に形成された椅子側目印とを備え、
前記歩行補助装置の前記腰フレームには、前記椅子側目印に対して左右方向について対応する位置に装置側目印が形成されていることを特徴とする請求項1〜請求項3のいずれか1項に記載の歩行動作計測システム。 - 前記着座部は、前記座面の面圧を検出する面圧センサを備え、
前記計測装置は、前記基準姿勢をもって前記ユーザが前記椅子に座った状態で取得した前記面圧センサの出力に基づいて、前記ユーザの左右方向の重心位置が前記椅子の左右方向の所定の中心領域にあるか否かを判定する左右中心判定部を備えることを特徴とする請求項1〜請求項4のいずれか1項に記載の歩行動作計測システム。 - 前記計測装置は、前記左右中心判定部により、前記ユーザの左右方向の重心位置が前記椅子の左右方向の所定の中心領域にあることが判定された場合に、合格判定を報知する報知手段を更に備えることを特徴とする請求項5に記載の歩行動作計測システム。
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JP2018167750A JP6871576B2 (ja) | 2018-09-07 | 2018-09-07 | センサのキャリブレーション方法、この方法に用いるための椅子及び、この方法を実行する歩行動作計測システム |
US16/527,722 US20200078254A1 (en) | 2018-09-07 | 2019-07-31 | Calibration of sensor for measuring user movement |
CN201910827369.2A CN110881980A (zh) | 2018-09-07 | 2019-09-03 | 测量用户运动用的传感器的校准 |
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US10792209B2 (en) | 2018-02-23 | 2020-10-06 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
US20190274912A1 (en) * | 2018-03-09 | 2019-09-12 | Lg Electronics Inc. | Wearable assistive device having improved waist support |
USD947388S1 (en) * | 2018-12-10 | 2022-03-29 | Jtekt Corporation | Motion assisting device |
JP7435357B2 (ja) * | 2020-08-18 | 2024-02-21 | トヨタ自動車株式会社 | 動作状態監視システム、訓練支援システム、動作状態監視システムの制御方法、及び、制御プログラム |
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JPS463757Y1 (ja) * | 1966-06-30 | 1971-02-08 | ||
JP2829353B2 (ja) * | 1990-05-07 | 1998-11-25 | 日本電気三栄株式会社 | 行動記録装置 |
US5469861A (en) * | 1992-04-17 | 1995-11-28 | Mark F. Piscopo | Posture monitor |
JP2006034343A (ja) * | 2004-07-22 | 2006-02-09 | Tamagawa Seiki Co Ltd | 生体のリハビリ用姿勢モニタリング方法及び装置 |
US7883483B2 (en) * | 2005-05-31 | 2011-02-08 | Honda Motor Co., Ltd. | Control device and control program of walking assisting device |
JP2008307207A (ja) * | 2007-06-14 | 2008-12-25 | Advanced Telecommunication Research Institute International | 動作計測装置 |
KR101136909B1 (ko) * | 2009-06-24 | 2013-11-28 | (주)컴텍코리아 | 자세감지시트, 자세감지시트가 설치된 의자, 및 그를 포함하는 자세교정시스템 |
JP2014000141A (ja) * | 2012-06-15 | 2014-01-09 | Nikon Corp | 電子機器、被利用物体及び衣服 |
JP5986445B2 (ja) * | 2012-07-20 | 2016-09-06 | 国立大学法人九州大学 | 歩行用遊脚振子運動補助具およびアシスト力の制御方法 |
US20150015399A1 (en) * | 2013-07-01 | 2015-01-15 | Geost, Inc. | Providing information related to the posture mode of a user appplying pressure to a seat component |
JP6358853B2 (ja) * | 2014-05-23 | 2018-07-18 | 本田技研工業株式会社 | 動作補助装置 |
JP6205387B2 (ja) * | 2014-06-04 | 2017-09-27 | アニマ株式会社 | 仮想マーカーの位置情報の取得方法及び装置、動作計測方法 |
GB201410648D0 (en) * | 2014-06-14 | 2014-07-30 | Pape Lise S | Walking aid providing tactile and visual cues to trigger and improve mobility |
KR101776098B1 (ko) * | 2014-09-02 | 2017-09-07 | 애플 인크. | 신체적 활동 및 운동 모니터 |
JP2016104074A (ja) * | 2014-12-01 | 2016-06-09 | 富士ゼロックス株式会社 | 姿勢判定装置、姿勢判定システム及びプログラム |
JP5938124B1 (ja) * | 2015-05-19 | 2016-06-22 | 本田技研工業株式会社 | 歩行補助装置 |
US10222450B2 (en) * | 2015-10-12 | 2019-03-05 | Xsens Holding B.V. | Integration of inertial tracking and position aiding for motion capture |
JP6785472B2 (ja) * | 2016-03-09 | 2020-11-18 | パナソニックIpマネジメント株式会社 | 起立動作支援装置、及び起立動作支援方法 |
KR20170143209A (ko) * | 2016-06-21 | 2017-12-29 | 순천향대학교 산학협력단 | 앉은 자세 모니터링 시스템 |
JP6890286B2 (ja) * | 2016-09-02 | 2021-06-18 | パナソニックIpマネジメント株式会社 | 起立動作支援装置、起立動作支援方法およびプログラム |
JP6775151B2 (ja) * | 2016-09-02 | 2020-10-28 | パナソニックIpマネジメント株式会社 | 起立動作支援装置、起立動作支援方法およびプログラム |
KR102566102B1 (ko) * | 2016-09-20 | 2023-08-11 | 삼성전자주식회사 | 보행 보조 장치 및 보행 보조 장치의 제어 방법 |
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