JP7061253B2 - Motion correction system and motion correction method - Google Patents

Description

The present invention relates to a motion correction system and a motion correction method.

Conventionally, a technique of attaching a motion sensor to a human body and measuring the operating state of the human body has been disclosed. Further, a technique for correcting the movement of the human body according to the measured movement condition of the human body is disclosed.

For example, Patent Document 1 discloses sensing wear capable of accurately measuring biological information even during walking and exercising.

Further, Patent Document 2 discloses a walking instruction method and a device in which motion sensors are attached to at least two places of the waist and the back of the chest of the subject to calculate the operation state of the two places. Based on the calculated operating conditions at the two locations, the teaching method and the device superimpose the sway trajectories at the two locations on each of the sagittal plane, the coronal plane, and the horizontal plane of the subject and display them on the monitor. The instructor judges whether or not the duplication of the lumbar sway trajectory displayed on the monitor is remarkable, and gives walking guidance according to the judgment result.

Further, Patent Document 3 includes a method and a system including a plurality of hardware data capture devices, a cross-platform compatible physical calculation engine, and an interactive platform and user interface for delivering real-time feedback to the movement of a subject. Is disclosed. According to this method and system, the interactive engine displays the measured data on the operation state of the human body to the user in real time.

Japanese Unexamined Patent Publication No. 2017-29692 Japanese Unexamined Patent Publication No. 2017-35449 Special Table 2017-520336 Gazette

As described above, there is disclosed a technique of measuring the biological information or the operation state of the human body, displaying the measurement result, and utilizing it for the correction of the movement of the human body. However, in these techniques, whether or not the measurement result can be appropriately used for motion correction depends on the skill level or sense of the user who confirms the measurement result.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motion correction system and a motion correction method capable of more reliably correcting the motion of the human body.

In order to achieve the above object, the motion correction system according to the first aspect of the present invention is
A motion sensor that is attached to the human body and detects information indicating the movement of the human body at the attached position, and a motion sensor.
A plurality of stimulus providing devices that are attached to different positions of the human body and give stimuli to the human body at the attached positions.
An operation status generation unit that generates data indicating the operation status of the human body based on the information indicating the movement of the human body detected by the motion sensor.
A selection unit that selects a position to give a stimulus from a plurality of positions to which the stimulus providing device is attached, based on the data indicating the operation state of the human body generated by the operation state generation unit.
A drive unit that drives the stimulus providing device mounted at a position selected by the selection unit,
Equipped with
The operation status generation unit is
Based on the generated data indicating the operation status of the human body, the operation is determined according to the speed of the movement of the human body.
The generated data indicating the operation status of the human body is corrected according to the determined operation .

In this case, a reference data storage unit for storing reference data that serves as a reference for data indicating the operating state of the human body is provided.
The selection unit is
Information on the deviation between the reference data and the data indicating the operation status of the human body generated by the operation status generation unit is calculated , and the position to give a stimulus is selected based on the calculated deviation information.
It may be that.

Further, while driving the stimulus providing device mounted at the position selected by the selection unit by the drive unit, the operation status generation unit is based on the information indicating the movement of the human body detected by the motion sensor. A data storage unit that stores the generated data indicating the operating status of the human body, and
A reference data generation unit that generates the reference data based on the data accumulated in the data storage unit and stores it in the reference data storage unit, and a reference data generation unit.
To prepare
It may be that.

The motion sensor is arranged at a plurality of places on the clothes worn by the human body.
It may be that.

The stimulus providing device is arranged in a grid pattern on the clothes worn by the human body.
It may be that.

The stimulus providing device provides the human body with at least one stimulus: mechanical stimulus, electrical stimulus, magnetic stimulus, ultrasonic stimulus and thermal stimulus.
It may be that.

The intensity of the stimulus applied to the human body by the stimulus providing device is adjusted based on the data indicating the operation state of the human body generated by the operation state generation unit or the position of the stimulus selected by the selection unit. Equipped with an adjustment unit
The stimulus providing device applies a stimulus to the human body with an intensity adjusted by the adjusting unit.
It may be that.

The motion correction method according to the second aspect of the present invention is
By a motion correction system that supports the movement of the human body by using a motion sensor that is attached to the human body and detects information indicating the movement of the human body, and a stimulus providing device that is attached to the human body and stimulates the human body. It ’s a motion correction method that is performed.
An operation status generation step of generating data indicating the operation status of the human body based on the information indicating the movement of the human body detected by the motion sensor, and
A determination step of determining a position on the human body to which a stimulus is applied by the stimulus providing device based on the data indicating the operation status of the human body generated in the operation status generation step.
Including
In the operation status generation step,
Based on the generated data indicating the operation status of the human body, the operation is determined according to the speed of the movement of the human body.
The generated data indicating the operation status of the human body is corrected according to the determined operation .

According to the present invention, data showing the operating state of the human body is generated, and a position to give a stimulus is selected based on the generated data. The selected position is automatically stimulated by the stimulation providing device. By doing so, based on the data indicating the movement state of the human body obtained by the motion sensor, it is possible to give the human body a stimulus for correcting the movement without the intervention of an instructor or the like. The movement can be corrected more reliably.

It is a block diagram which shows the structure of the motion correction system which concerns on Embodiment 1 of this invention. It is a perspective view which shows the motion sensor and the clothes which accommodates it. It is a figure which shows the information which a motion sensor detects. (A) to (F) are diagrams showing an example of temporal fluctuations in position and inclination. It is a schematic diagram which shows the position and inclination in the movement of a human body. It is a figure which shows an example of the stimulus providing device and the clothing which accommodates the stimulus providing device. It is a figure which shows an example of the selected stimulus providing device. It is a block diagram which shows the hardware structure of the control part of FIG. It is a flowchart which shows the operation of the motion correction system of FIG. It is a figure which shows an example of the setting screen of a motion sensor. It is a figure which shows an example of the screen which displays the locus of a position and an inclination. It is a block diagram which shows the structure of the motion correction system which concerns on Embodiment 2 of this invention. It is a figure which shows the difference between the data which shows the operation state, and the ideal reference data. It is a block diagram which shows the structure of the motion correction system which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the control part of the motion correction system which concerns on Embodiment 4 of this invention. (A) and (B) are diagrams showing the operation of the adjusting unit. (A) and (B) are schematic diagrams showing the operation of the operation state generation unit of the control unit of the motion correction system according to the fifth embodiment of the present invention. It is a figure which shows the arrangement of the motion sensor used in the motion correction system which concerns on Embodiment 6 of this invention. It is a flowchart which shows the motion correction method which concerns on Embodiment 7 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all figures, the same or corresponding components are designated by the same reference numerals. The motion correction system and motion correction method according to the present embodiment are used to correct the motion of the human body.

Embodiment 1.
First, Embodiment 1 of the present invention will be described. As shown in FIG. 1, the motion correction system 1 includes a plurality of motion sensors 2, a plurality of stimulus providing devices 3, and a control unit 10.

The motion sensor 2 is attached to each of a plurality of different parts of the human body B. In the present embodiment, the head (position P1), right shoulder (position P2), left shoulder (position P3), chest (position P4), abdomen (position P5), and left and right legs (position P6) of the human body B. , P7), respectively, the motion sensor 2 is attached.

As shown in FIG. 2, the motion sensor 2 is housed in the clothes W worn by the human body B in a state of being housed in the waterproof case 2A. When the human body B wears the clothes W, the motion sensor 2 is attached to each of the seven parts of the human body B.

The motion sensor 2 detects information indicating the movement of the human body B at the mounted portion. For example, as shown in FIG. 3, the motion sensor 2 mounted on the head of the human body B detects accelerations (Ax, Ay, Az) in three orthogonal axes (X, Y, Z), and the motion sensor 2 detects the acceleration (Ax, Ay, Az). The angular velocity (Ωx, Ωy, Ωz) around the axis (θX, θY, θZ) is detected. Here, the X-axis direction is the left-right direction of the human body B, the + Z direction is the front of the human body B, and the + X direction is the upward direction of the human body B. Similarly, the motion sensors 2 attached to the positions P2 to P7 (FIG. 1) detect accelerations (Ax, Ay, Az) in the orthogonal three-axis directions (X, Y, Z), and rotate around the three axes (Ax, Ay, Az). The angular velocity (Ωx, Ωy, Ωz) of θX, θY, θZ) is detected.

For example, if the acceleration in the orthogonal three axes (Ax, Ay, Az) and the angular velocity around the three axes (Ωx, Ωy, Ωz) detected by the motion sensor 2 mounted on the head are sampled, for example, the figure. As shown in 4 (A) to 4 (F), the variation of the position P1 and the temporal variation of the inclination can be obtained. In this case, the position at each time point is the horizontal position (Y) in FIG. 4 (A), the front-rear position (Z) in FIG. 4 (B), and the vertical position (X) in FIG. 4 (C). P1 is decided. Further, the inclination V1 (see FIG. 5) at each time point at the position P1 is determined by θX in FIG. 4D, θY in FIG. 4E, and θZ in FIG. 4F. This also applies to the other positions P2 to P7 to which the motion sensor 2 is mounted. As shown in FIG. 5, the inclination of each part of the human body B at the positions P2 to P7 is V2 to V7. In this way, the loci of the positions P1 to P7 and the loci of the inclinations V1 to V7 at the positions P1 to P7 can be obtained by the plurality of motion sensors 2 mounted on the plurality of parts.

When the posture of the human body B is biased, the loci of the positions P1 to P7 and the loci of the inclinations V1 to V7 deviate from the ideal state. The motion correction system 1 according to the present embodiment corrects the bias or habit of the human body B during such motion so as not to be biased.

The correction of the bias or habit of the human body B is performed by using the stimulus providing device 3. Returning to FIG. 1, the stimulus providing device 3 is attached to different parts of the human body B, respectively. The stimulus providing device 3 gives a stimulus to the human body B at the mounted site (any of the positions M1 to M4). As shown in FIG. 6, the stimulation providing device 3 is a rectangular parallelepiped type, and the stimulation providing device 3 is attached to the human body B in a form of being housed in the clothes W worn by the human body B.

The stimulus provided by the stimulus providing device 3 includes, for example, at least one of mechanical stimulus, electrical stimulus, magnetic stimulus, ultrasonic stimulus, and thermal stimulus. The mechanical stimulus is, for example, a stimulus given by the physical force of an object, and is given by, for example, hitting (striking) the human body B or transmitting vibration. The object may be a solid, a liquid, or a gas. When the object is a gas, pressurizing and depressurizing the periphery of the human body B is also included in the mechanical stimulation. The electrical stimulation means that the human body B is electrically stimulated by passing a weak electric current through the human body B. Further, the magnetic stimulation means that a part of the human body B is stimulated by a magnetic field. Further, the ultrasonic stimulus is a stimulus given to the human body B by irradiating the human body B with ultrasonic waves. The thermal stimulus is a stimulus given to the human body B by heating or cooling the human body B. Any stimulus that causes a reaction in the human body B is included as long as it does not cause any harm. When a stimulus is given from the stimulus providing device 3, the reaction of the human body B activates the stimulated portion and makes it easier to move the portion, and as a result, the movement of the human body B is corrected. The correction of exercise by applying such a stimulus is based on the Proprioceptive Neuromuscular Facilitation (PNF) method, which is generally used for treatment and rehabilitation. be.

Returning to FIG. 1, the control unit 10 is a computer, for example, a personal computer or an information terminal (for example, a smartphone). The control unit 10 includes an operation status generation unit 11, a selection unit 12, and a drive unit 13.

The operation status generation unit 11 generates data indicating the operation status of the human body B based on the information indicating the movement of the human body B at the plurality of positions P1 to P7 detected by the motion sensor 2. The operation status generation unit 11 enables wireless communication with a plurality of motion sensors 2. As the wireless communication, for example, BLE (Bluetooth (registered trademark) Low Energy) is used. BLE is one of the extended specifications of the short-range wireless communication technology Bluetooth (registered trademark), and can communicate with extremely low power.

The operation status generation unit 11 collects the detected values of the motion sensor 2 via such wireless communication. The operation status generation unit 11 generates operation status data of the human body B based on the collected detection values of the motion sensor 2. For example, the operation status generation unit 11 obtains the loci of the positions P1 to P7 and the loci of the inclinations V1 to V7 of each part of the human body B as the operation status data of the human body B, as shown in FIG.

The selection unit 12 selects a position to give a stimulus from a plurality of positions M1 to M4 to which the stimulus providing device 3 is mounted, based on the data indicating the operation state of the human body generated by the operation state generation unit 11. .. The selection unit 12 obtains the amount of bias of the loci of the positions P1 to P7 and the loci of the inclinations V1 to V7 of each part of the human body B. For example, the average value of the positions P1 to P7 can be used as the bias amount. The selection unit 12 stores a database showing the correlation between the combination of the bias amount of the locus of the positions P1 to P7 and the locus of the inclinations V1 to V7 and the position where the stimulus is given. This database is based on the proprioceptive neuromuscular facilitation method, and is built on the rule of thumb of a physiotherapist, for example. The selection unit 12 refers to this database and gives a stimulus by using the bias amount of the locus of the positions P1 to P7 and the locus of the inclinations V1 to V7 of each part of the human body B obtained by the operation state generation unit 11. The position is read out and the stimulus providing device 3 mounted near the position is selected. In addition, such a database may be placed in a server or a cloud computer on a communication network.

The drive unit 13 drives the stimulus providing device 3 mounted at the positions M1 to M4 selected by the selection unit 12. For example, when the selection unit 12 has selected the stimulus providing device 3 at the position M2 on the left side of the body, the driving unit 13 drives the stimulating providing device 3 mounted at the position M2. The drive unit 13 performs wireless communication with the plurality of stimulus providing devices 3. As a wireless communication standard, for example, BLE (Bluetooth (registered trademark) Low Energy) is used. The drive unit 13 drives the stimulus providing device 3 mounted at the selected position via wireless communication.

For example, as shown in FIG. 7, when the position M2 is selected as the position to apply the stimulus by the selection unit 12, the drive unit 13 drives the stimulus providing device 3 mounted on the position M2. Then, the movable area of the left hip is expanded by the reaction caused by this stimulus, and the left half of the human body B moves well. As a result, for example, the eccentric load of the human body B to the right side is eliminated, and the balance of the human body B during operation is improved.

As shown in FIG. 8, the control unit 10 includes a CPU (Central Processing Unit) 31, a main storage unit 32, an external storage unit 33, an operation unit 34, a display unit 35, and a communication unit 36. The main storage unit 32, the external storage unit 33, the operation unit 34, the display unit 35, and the communication unit 36 are all connected to the CPU 31 via the internal bus 30.

The CPU 31 is an arithmetic processing unit that executes a software program. By executing the program 39 stored in the external storage unit 33, each component of the motion correction system 1 shown in FIG. 1 is realized.

The main storage unit 32 is composed of a RAM (Random-Access Memory) or the like. The program 39 stored in the external storage unit 33 is loaded into the main storage unit 32. In addition, the main storage unit 32 is used as a work area (temporary data storage area) of the CPU 31.

The external storage unit 33 is composed of a flash memory, a hard disk, a non-volatile memory such as a DVD-RAM (Digital Versatile Disc Random-Access Memory) and a DVD-RW (Digital Versatile Disc ReWritable). The external storage unit 33 stores in advance a program 39 for being executed by the CPU 31. Further, the external storage unit 33 supplies the data used when executing the program 39 to the CPU 31 according to the instruction of the CPU 31, and stores the data supplied from the CPU 31.

The operation unit 34 is composed of a pointing device such as a keyboard and a mouse, and an interface device for connecting the keyboard, the pointing device, and the like to the internal bus 30. Information about the contents operated by the operator is input to the CPU 31 via the operation unit 34.

The display unit 35 is composed of a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), an organic EL (ElectroLuminescence), or the like. When the operator inputs the operation information, the operation screen is displayed on the display unit 35.

The communication unit 36 is a communication driver that performs short-distance communication with an external device. BLE is used as such a short-distance communication method, but the method is not limited thereto. For example, a normal Bluetooth (registered trademark) method may be adopted, or a WiFi communication method, an NFC communication method, or a ZigBee (registered trademark) method may be adopted. Further, the communication unit 36 connects to a communication network such as the Internet to perform communication.

By executing the program 39 of the CPU 31, the functions of the components of the motion correction system 1 shown in FIG. 1 are exhibited. Here, the operation status generation unit 11 corresponds to the CPU 31, the main storage unit 32, the external storage unit 33, and the communication unit 36. Further, the selection unit 12 corresponds to the CPU 31, the main storage unit 32, and the external storage unit 33. Further, the drive unit 13 corresponds to the CPU 31, the main storage unit 32, the external storage unit 33, and the communication unit 36.

Next, the operation of the motion correction system 1 according to the present embodiment will be described.

As shown in FIG. 9, the motion correction system 1 performs initial settings in the control unit 10 (step S10). Here, the positions of the motion sensor 2 and the stimulus providing device 3 are set, the motion sensor 2 is calibrated, and the user's personal information is set.

To set the position of the motion sensor 2, for example, when only one motion sensor 2 is turned on and communicated with the control unit (smartphone) 10, the screen of the control unit (smartphone) 10 is set as shown in FIG. It is performed by designating the position of the motion sensor 2 by the operation input to. After this operation is performed for all the motion sensors 2, the setting of the position of the motion sensor 2 is completed. The same applies to the stimulus providing device 3.

Further, in the calibration of the motion sensor 2, the user is actually made to perform a target operation, and at that time, the motion sensor 2 has a three-axis acceleration (Ax, Ay, Az) and a three-axis angular velocity (Ωx, Ωy, Ωz) is measured, and the measurement is performed based on the measurement result. The operation status generation unit 11 has a speed (SP (i): i is a sampling number), a speed average, and a time average based on the sampling data of the acceleration (Ax, Ay, Az) of each axis obtained from the motion sensor 2. , The standard deviation of velocity, the standard deviation of time, the covariance, the correlation coefficient, the regression coefficient of the regression line (α1), and the section of the regression line (β1). Further, the operation status generation unit 11 calculates the corrected velocity coSP (i) using the following equation.
coSP (i) = SP (i)-(α1 × t + β1) ... (1)
Here, t is time.

Further, the operation status generation unit 11 calculates the corrected position P (i) using the following equation.
P (i) = ((coSP (i) + coSP (i-1)) / 2) × (t (i) -t (i-1)) + P (i-1) ... (2)

The operation status generation unit 11 is based on the sampling data of the angular velocity (Ωx, Ωy, Ωz) around each axis obtained from the motion sensor 2, and the angle (Rd (i): i is the sampling number), the angle average, and the time. Obtain the mean, standard deviation of angle, standard deviation of time, covariance, correlation coefficient, regression coefficient of regression line (α2), and section of regression line (β2). Further, the operation status generation unit 11 calculates the corrected angle coRd (i) using the following equation.
coRd (i) = Rd (i)-(α2 × t + β2) ... (3)
After that, the operation status generation unit 11 uses the above equations (1) to (3) based on the sampling data of the acceleration of each axis obtained from the motion sensor 2, and the corrected position P (i). , The corrected angle coRd (i) is calculated, and the calculated values are set as positions P1 to P7 and inclinations V1 to V7.

Subsequently, when the user starts the target motion, the motion correction system 1 detects information indicating the motion of the human body B by the motion sensors 2 mounted at the positions P1 to P7 (step S11; motion detection step). .. The detected information is sent to the control unit 10.

Subsequently, the operation status generation unit 11 of the control unit 10 generates data indicating the operation status of the human body B based on the information indicating the movement of the human body B at the plurality of positions P1 to P7 detected by the motion sensor 2. (Step S12; operation status generation step). As a result, the loci of the positions P1 to P7 and the inclinations V1 to V7 are obtained, and the bias amount thereof is calculated.

Subsequently, the selection unit 12 of the control unit 10 database based on the data indicating the operation status of the human body B acquired by the operation status generation unit 11 (bias of the loci of the positions P1 to P7 and the inclinations V1 to V7). From a plurality of positions M1 to M4, a position on the human body B to which a stimulus for correcting the movement of the human body B is applied is selected (step S13; selection step). That is, this selection step determines the position on the human body B to which the stimulus is applied by the stimulus providing device 3 based on the data indicating the operation status of the human body B generated in the above-mentioned operation status generation step (step S12). It can be considered as a decision step.

Subsequently, the drive unit 13 drives the stimulus providing device 3 mounted at the position selected by the selection unit 12 to apply the stimulus to the selected position (step S14; stimulus application step). For example, as shown in FIG. 7, when the stimulus providing device 3 mounted at the position M2 is driven to give a stimulus, the reaction of the human body B causes the human body B tilted to the right to face in the vertical direction. Change. As a result, the bias of the movement of the human body B during the movement is corrected. The operation status generation unit 11 further continues to generate data indicating the operation status of the human body B at this time. From this data, it can be confirmed that the bias of the movement of the human body B is corrected.

As shown in FIG. 11, during the measurement, the control unit (smartphone) 10 may display the loci of the positions P1 to P7 and the inclinations V1 to V7 generated by the operation status generation unit 11. At the bottom of the screen shown in FIG. 11, the selection screen 50 of the motion sensors 2 of 1 to 7 is displayed. 1 to 7 indicate positions P1 to P7. When 1 is selected, the selection result display unit 51 displays that the head has been selected. Further, as the button 52, the buttons of Top, Front, and Side are displayed. The Top button is selected when viewing the trajectory of the position from above. The Front button is selected when viewing the locus of the position from the front. Further, the Side button is selected when viewing the locus of the position from the side. The locus display unit 53 displays the locus of the position from the selected direction. With such a display, the loci of the positions P1 to P7 can be visualized. The tilt display unit 54 displays the tilt from the selected direction. With such a display, the inclinations V1 to V7 can be visualized.

It should be noted that the actual locus and the ideal locus may be superimposed and displayed. In this way, the user can repeatedly practice the movement by himself / herself while comparing the locus of the user himself / herself with the ideal locus. The ideal trajectory can be one provided by a hospital, a manufacturer, or the like.

As described in detail above, according to the present embodiment, data indicating the operating state of the human body B is generated, and a position to which the stimulus is given is selected based on the generated data. The stimulus providing device 3 automatically gives a stimulus to the selected position. By doing so, based on the data indicating the motion state of the human body B obtained by the motion sensor 2, it is possible to give a stimulus for correcting the motion of the human body B without the intervention of an instructor or the like. , The movement of the human body B can be corrected more reliably.

Various methods can be applied to the method of calculating the data indicating the operating state of the human body B. For example, a calculation method considering the average of detected values, the weighted average, and the positional relationship between the motion sensors 2 can be used. Further, all detected values may be used, or some detected values may be used.

Further, the stimulus providing device 3 selected by the selection unit 12 is not limited to one. The selection unit 12 may select a plurality of stimulus providing devices 3 at the same time.

Further, the mounting location of the motion sensor 2 and the stimulus providing device 3 is not limited to the position shown in FIG. For example, it can be attached to the head, back, arms, wrists, and the like. Further, in the present embodiment, the number of motion sensors 2 is four and the number of stimulus providing devices 3 is four, but the present invention is not limited to this. The number of the stimulus providing devices 3 may be any number as long as it is a plurality. The number of motion sensors 2 may be at least one.

Further, the motion sensor 2 and the stimulus providing device 3 may be attached not only to the clothes W but also directly to the human body B, or may be attached to various wearable items such as glasses, hats, shoes, and wristwatches. can do.

Further, in the present embodiment, a plurality of motion sensors 2 are arranged, but the number of motion sensors 2 may be one.

Embodiment 2.
Next, Embodiment 2 of the present invention will be described.

As shown in FIG. 12, the motion correction system 1 according to the present embodiment is different from the above-described first embodiment in that the reference data storage unit 14 is provided. The reference data storage unit 14 stores reference data that serves as a reference for data indicating an operating state of the human body B.

The reference data is data showing the operating state of the human body B in the case of ideal operation. Therefore, if the data indicating the operation status of the human body B generated by the operation status generation unit 11 is in accordance with the reference data, the human body B is performing an ideal operation. Conversely, as shown in FIG. 13, when the data showing the operation status of the human body B (measured data: solid line) is different from the reference data (dotted line), there is room for correction in the movement of the human body B. It means that there is.

Therefore, in the present embodiment, the selection unit 12 calculates information regarding the deviation between the reference data and the data indicating the operation status of the human body B generated by the operation status generation unit 11. This information is information indicating the bias or habit of the movement of the human body B. Here, as shown in FIG. 13, the bias indicates the deviation (deviation between the reference data and the actually measured data) when the movement of the human body B is biased in one direction, but the habit is only the bias in one direction. However, it also includes cases where the direction of deviation from the reference data changes. The selection unit 12 selects a position to give a stimulus from the positions M1 to M4 based on the calculated information indicating the bias or habit of the movement of the human body B, that is, the deviation from the reference data.

As described above, according to the motion correction system 1 according to the present embodiment, the motion of the human body B is corrected based on the deviation between the ideal reference data and the actually measured data, so that the motion of the human body B is ideal. It can be made easier to approach by operation.

Embodiment 3.
Next, Embodiment 3 of the present invention will be described.

As shown in FIG. 14, the motion correction system 1 according to the present embodiment is the same as the second embodiment in that the reference data storage unit 14 is provided. The reference data storage unit 14 stores reference data that serves as a reference for data indicating an operating state of the human body B.

The control unit 10 of the motion correction system 1 according to the present embodiment further includes a data storage unit 15 and a reference data generation unit 16. In the motion correction system 1, during the motion of the human body B, the stimulus providing device 3 mounted at the position selected by the selection unit 12 is driven to stimulate the human body B, and the motion status generation unit 11 of the human body B Generate data showing the operating status. The motion correction system 1 repeats this process a plurality of times. The data storage unit 15 stores data indicating the operation status of the human body B generated by the operation status generation unit 11 each time this process is repeated. That is, in the motion correction system 1, data indicating the motion status of the human body B obtained when the motion of the human body B is corrected a plurality of times is stored in the data storage unit 15.

The data stored in the data storage unit 15 is not data indicating an ideal operation state, but is data indicating an operation state when the operation correction system 1 corrects the operation so as to approach the ideal operation. In the present embodiment, these accumulated data are used to generate reference data that can be regarded as equivalent to data showing ideal operation.

Specifically, the reference data generation unit 16 generates reference data based on the data accumulated in the data storage unit 15. For example, the average data of the data stored in the data storage unit 15 can be generated as reference data. The data stored in the data storage unit 15 is not the data showing the ideal operation status, but the averaging cancels out the variation of each data and makes it possible to get closer to the data showing the ideal operation. be.

The generated reference data is stored in the reference data storage unit 14. The selection unit 12 indicates information regarding the deviation between the reference data stored in the reference data storage unit 14 and the data indicating the operation status of the human body B generated by the operation status generation unit 11, and indicates the bias and habit of the human body B. Calculated as information. The selection unit 12 selects the position to give the stimulus from the positions M1 to M4 based on the calculated information indicating the bias and habit of the human body B, which is the same as the motion correction system 1 according to the second embodiment. ..

Note that the reference data storage unit 14 stores temporary reference data, and the data storage unit 15 does not sufficiently store the data, that is, the reference data generation unit 16 does not generate the reference data. Then, the selection unit 12 may select the position to give the stimulus from the positions M1 to M4 by using the tentative reference data.

As described above, according to the motion correction system 1 according to the present embodiment, the reference data can be generated using the data indicating the operation status of the human body B, so that the burden when generating the reference data is reduced. be able to.

It is not necessary for the control unit 10 to include the data storage unit 15 and the reference data generation unit 16. For example, the data storage unit 15 and the reference data generation unit 16 may be constructed on a cloud computer capable of communicating with the control unit 10. In this case, data about other people may also be accumulated, and the reference data generation unit 16 may generate reference data based on data indicating the usage status of a plurality of people for a specific operation.

Further, the reference data generation unit 16 uses the average of the data indicating all the operating conditions as the reference data, but the reference data is not limited to this. By performing the processing a plurality of times, only the data whose residual is within the predetermined range may be selected and the average thereof may be obtained as the reference data.

Embodiment 4.
Next, Embodiment 4 of the present invention will be described.

As shown in FIG. 15, the motion correction system 1 according to the present embodiment is different from the above-described embodiment in that the adjustment unit 17 is provided. The adjusting unit 17 gives a stimulus to the human body B by the stimulus providing device 3 based on the data indicating the operating state of the human body B generated by the operation state generation unit 11 or the position to give the stimulus selected by the selection unit 12. Adjust the strength of. The stimulus providing device 3 stimulates the human body B with the intensity adjusted by the adjusting unit 17.

For example, as shown in comparison between FIGS. 16 (A) and 16 (B), in which the subjects are different from each other, even when the stimulus providing device 3 mounted at the same position M2 gives a stimulus, the human body B The intensity of the stimulus can be adjusted by the adjusting unit 17 for each individual based on the data indicating the operating state of the above. As a result, the strength imparted to the human body B can be optimized according to each individual. This makes it possible to prevent, for example, the stimulus given to the human body B from being too strong and the human body B not responding in reverse. Further, when the selected stimulus providing device 3 is different, the intensity of the stimulus may be adjusted by the adjusting unit 17 according to the selected stimulating providing device 3.

As described above, according to the present embodiment, the intensity of the stimulus can be adjusted, and the intensity of the reaction of the human body B is set to the stimulus amount suitable for each individual or the stimulus amount according to the site to be stimulated. Therefore, it is possible to optimize the correction of the movement of the human body B.

Further, when the selection unit 12 selects a plurality of stimulus providing devices 3, the intensity of the stimulus may be individually adjusted for each stimulus providing device 3.

Embodiment 5.
Next, Embodiment 5 of the present invention will be described.

The configuration of the motion correction system 1 according to the present embodiment is the same as that of the motion correction system 1 (see FIG. 12) according to the second embodiment. In the present embodiment, the operation of the operation status generation unit 11 is different from that of the second embodiment.

There are various motions targeted by the motion correction system 1. For example, when the motion correction system 1 also targets walking motion, running and other motions are also subject to correction. However, for this reason, there is a discrepancy between the information detected by the motion sensor 2 and the actual value, but the discrepancy is different in each operation. It is considered that this is because the speed of each part of the human body B is different in each movement. The motion correction system 1 according to the present embodiment has a function of canceling the above-mentioned deviation that occurs between motions.

In this function, first, the operation status generation unit 11 determines the operation performed by the human body B based on the generated data indicating the operation status of the human body B. For example, as shown in FIG. 17A, when walking, the forward (+ Z) movement speed SPz is smaller than the threshold value T. In this case, the operation status generation unit 11 can determine that the vehicle is walking. Further, as shown in FIG. 17B, when running, the forward (+ Z) moving speed SPz becomes larger than the threshold value T. In this case, the operation status generation unit 11 is running. Can be determined to be. The moving speed SPz can be obtained from, for example, the detected values of the motion sensors 2 at the positions P2 to P5.

Subsequently, the operation status generation unit 11 corrects the generated data indicating the operation status of the human body B according to the determined motion. For example, as shown in FIG. 17A, when it is determined that the vehicle is walking, the operation status generation unit 11 leaves the positions P1 to P7 and the inclinations V1 to V7 as they are without correcting them, while FIG. 17 As shown in (B), when it is determined that the vehicle is running, the position P1 and the inclination V1 are corrected in the forward (+ Z) direction.

As described above, the faster the movement of the human body B, the larger the error between the detected value of the motion sensor 2 and the actual movement. The operation status generation unit 11 determines the type of operation, and corrects the data indicating the operation status of the human body B so that the error can be canceled according to the operation. With this correction, the operating state of the human body B can be detected with high accuracy.

Embodiment 6.
Next, Embodiment 6 of the present invention will be described.

As shown in FIG. 18, the motion sensors 2 are arranged in a grid pattern over the entire clothes W worn by the human body B. By doing so, the movement of the human body B can be grasped in more detail, and more accurate data indicating the operating state of the human body B can be generated.

The stimulus providing device 3 may also be arranged in a grid pattern over the entire clothes W. By doing so, it is possible to correct fine movements by giving a fine stimulus to the human body B.

Embodiment 7.
Next, Embodiment 7 of the present invention will be described.

In the present embodiment, as a premise, the stimulus providing device 3 is not attached to the human body B. The motion correction method according to the present embodiment aims to determine the mounting location of the stimulus providing device 3 at a position where the motion is corrected.

As shown in FIG. 19, the motion correction system 1 performs initial settings in the control unit 10 (step S10). Here, the position of the human body B where the motion sensor 2 is mounted is set, the motion sensor 2 is calibrated, and the user's personal information is set.

Subsequently, the user starts the target operation. The motion correction system 1 generates data indicating the motion status of the human body B based on the information indicating the motion of the human body B detected by the motion sensors 2 mounted at the positions P1 to P7 (step S11; motion detection step). ). The detected information is sent to the control unit 10.

Subsequently, the operation status generation unit 11 of the control unit 10 generates data indicating the operation status of the human body B based on the information indicating the movement of the human body B at the plurality of positions P1 to P4 detected by the motion sensor 2. (Step S12; operation status generation step).

Subsequently, the selection unit 12 determines the position on the human body B to which the stimulus is applied by the stimulus providing device 3 based on the data indicating the operation status of the human body B acquired by the operation status generation unit 11 (step S23; Decision step). Here, for example, the position M2 in FIG. 7 is determined as the mounting location of the stimulus providing device 3. The stimulus providing device 3 is attached to the determined attachment location.

Subsequently, the drive unit 13 drives the stimulus providing device 3 mounted at the position determined by the selection unit 12 to give a stimulus to the determined position (step S14; stimulus applying step). As a result, for example, during the movement of the human body B, a stimulus is applied to the position M2 to correct the movement.

The motion correction system 1 according to each of the above embodiments is intended to correct the motion of the human body B, but the present invention is not limited to this. For example, it may be intended to imitate the behavior of another person. For example, when trying to imitate the movement of another person, data indicating the movement status of the person to be imitated is stored in the reference data storage unit 14 as reference data, and the movement is corrected using the reference data. You can do it. As described above, the reference data is not limited to the data indicating the ideal operating condition.

According to the motion correction system 1 according to each of the above embodiments, it is possible to contribute to improvement and improvement of walking posture and motor skill. For example, in competition, it can be used for practice and instruction to extend the strengths of an individual and cover their weaknesses. By using this motion correction system 1, it is possible to correct the motion according to the characteristics and abilities of the user, so that many people realize the improvement and progress of the motion regardless of individual differences such as the ability of the user. be able to. Further, in a training gym, a hospital, or the like, if an original program is incorporated into the motion correction system 1 and used, it can contribute to the acquisition of customers and patients. Further, according to the motion correction system 1, data on the motion status of many people can be acquired as big data, and the big data can be utilized. For example, this big data can be used as learning data of AI (Artificial Intelligence) that selects the stimulus providing device 3 and determines the installation location. In addition, such big data can be used for analysis of bias in each competition and distribution by age, and can be applied to product development of manufacturers.

In addition, the hardware configuration and software configuration of the motion correction system 1 are examples, and can be arbitrarily changed and modified.

The central part that performs the processing of the motion correction system 1 including the CPU 31, the main storage unit 32, the external storage unit 33, the operation unit 34, the display unit 35, the communication unit 36, the internal bus 30, and the like is a dedicated system. However, it can be realized by using a normal computer system. For example, a computer program for executing the above operation is stored and distributed in a computer-readable recording medium (flexible disk, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. May configure the motion correction system 1 to execute the above processing. Further, the operation correction system 1 may be configured by storing the computer program in a storage device of a server device on a communication network such as the Internet and downloading it by a normal computer system.

When the function of the motion correction system 1 is realized by sharing the OS (operating system) and the application program, or by coordinating the OS and the application program, only the application program part is stored in the recording medium or the storage device. May be good.

It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, a computer program may be posted on a bulletin board system (BBS, Bulletin Board System) on a communication network, and the computer program may be distributed via the network. Then, the computer program may be started and executed in the same manner as other application programs under the control of the OS so that the above processing can be executed.

In the above embodiment, the control unit 10 is a single computer, but the present invention is not limited to this. A smartphone, a personal computer, and a cloud computer may be combined and used as the control unit 10.

The present invention allows for various embodiments and variations without departing from the broad spirit and scope of the invention. Further, the above-described embodiment is for explaining the present invention, and does not limit the scope of the present invention. That is, the scope of the present invention is shown not by the embodiment but by the claims. Then, various modifications made within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.

The present invention can be applied to correct or imitate human movements.

1 motion correction system, 2 motion sensor, 2A waterproof case, 3 stimulus providing device, 10 control unit, 11 operation status generation unit, 12 selection unit, 13 drive unit, 14 reference data storage unit, 15 data storage unit, 16 reference data Generation unit, 17 Adjustment unit, 18 Operation setting unit, 19 Correction unit, 30 Internal bus, 31 CPU, 32 Main storage unit, 33 External storage unit, 34 Operation unit, 35 Display unit, 36 Communication unit, 39 Program, 50 selection Screen, 51 selection result display, 52 buttons, 53 locus display, 54 locus display, B human body, P1, P2, P3, P4, P5, P6, P7 position, M1, M2, M3, M4 position, W clothes

Claims (8)

A motion sensor that is attached to the human body and detects information indicating the movement of the human body at the attached position, and a motion sensor.
A plurality of stimulus providing devices that are attached to different positions of the human body and give stimuli to the human body at the attached positions.
An operation status generation unit that generates data indicating the operation status of the human body based on the information indicating the movement of the human body detected by the motion sensor.
A selection unit that selects a position to give a stimulus from a plurality of positions to which the stimulus providing device is attached, based on the data indicating the operation state of the human body generated by the operation state generation unit.
A drive unit that drives the stimulus providing device mounted at a position selected by the selection unit,
Equipped with
The operation status generation unit is
Based on the generated data indicating the operation status of the human body, the operation is determined according to the speed of the movement of the human body.
The generated data indicating the operation status of the human body is corrected according to the determined operation .
Motion correction system. A reference data storage unit for storing reference data that serves as a reference for data indicating the operating state of the human body is provided.
The selection unit is
Information on the deviation between the reference data and the data indicating the operation status of the human body generated by the operation status generation unit is calculated, and the position to give a stimulus is selected based on the calculated deviation information.
The motion correction system according to claim 1. While the stimulus providing device mounted at the position selected by the selection unit is driven by the drive unit, it is generated by the operation status generation unit based on the information indicating the movement of the human body detected by the motion sensor. A data storage unit that stores data indicating the operating status of the human body,
A reference data generation unit that generates the reference data based on the data accumulated in the data storage unit and stores it in the reference data storage unit, and a reference data generation unit.
To prepare
The motion correction system according to claim 2. The motion sensor is arranged at a plurality of places on the clothes worn by the human body.
The motion correction system according to any one of claims 1 to 3. The stimulus providing device is arranged in a grid pattern on the clothes worn by the human body.
The motion correction system according to any one of claims 1 to 3. The stimulus providing device provides the human body with at least one stimulus: mechanical stimulus, electrical stimulus, magnetic stimulus, ultrasonic stimulus and thermal stimulus.
The motion correction system according to any one of claims 1 to 5. The intensity of the stimulus applied to the human body by the stimulus providing device is adjusted based on the data indicating the operation state of the human body generated by the operation state generation unit or the position of the stimulus selected by the selection unit. Equipped with an adjustment unit
The stimulus providing device applies a stimulus to the human body with an intensity adjusted by the adjusting unit.
The motion correction system according to any one of claims 1 to 6. By a motion correction system that supports the movement of the human body by using a motion sensor that is attached to the human body and detects information indicating the movement of the human body, and a stimulus providing device that is attached to the human body and stimulates the human body. It ’s a motion correction method that is performed.
An operation status generation step of generating data indicating the operation status of the human body based on the information indicating the movement of the human body detected by the motion sensor, and
A determination step of determining a position on the human body to which a stimulus is applied by the stimulus providing device based on the data indicating the operation status of the human body generated in the operation status generation step.
Including
In the operation status generation step,
Based on the generated data indicating the operation status of the human body, the operation is determined according to the speed of the movement of the human body.
The generated data indicating the operation status of the human body is corrected according to the determined operation .
Motion correction method.

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