JPH0991437A - Walking pattern processing method and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably and simply acquire a walking spatial and temporal parameter without imposing much load onto a reagent by detecting a parameter representing a walking characteristic corresponding to a step of a pedestrian and displaying the walking parameter. SOLUTION: A step correspondence detection section 6 retrieves clockwise a foot pressure lump image to detect the correspondence of the image with an original time series image string for each step. A gravity center position detection section 7 detects a position of a gravity center of the image string, and a moving direction detection section 9 detects the moving direction of the gravity center position string. An initial frame detection section 10 and a final frame detection section 11 detect an initial frame and a final frame of a step of each image made corresponding by the step correspondence detection section 6 respectively. A time interval detection section 12 detects a time interval between the initial frame and the final frame. A walking parameter display section 13 displays the information based on the result of detection in an intuitionally recognized way.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking pattern processing method and a device therefor, and more particularly to a walking pattern processing method and a device for measuring a human walking motion, analyzing the measurement result, and displaying it as a parameter. .

[0002]

2. Description of the Related Art Conventionally, as means for analyzing and processing a walking pattern, there are a floor reaction force meter and a foot size pressure distribution sensor.

[0003]

Among these, the floor reaction force meter can measure the change in force during walking in time series, but cannot measure the pressure distribution in the ground contact area of the foot, and therefore, it cannot be measured during walking. I could not measure the position of my feet.

Further, in the case of the foot size pressure distribution sensor, a pressure distribution sensor of the size of the foot is laid in the shoe to measure the pressure distribution inside the foot mold and to ground the foot.
I could measure the time of departure, but I couldn't measure the position of my feet when walking.

As a method of measuring the position with the foot attached, a very laborious measurement such as a method of applying ink to the foot and walking on a paper, or a method of taking a video together with a scale and performing measurement while reproducing the video. There was only a way.

Further, as a conventional method of displaying the analysis result of the walking pattern, there has been a method of directly displaying the value of each parameter or displaying the statistics, but a large amount of data is stored because the measuring means is insufficient. It was difficult to get. Therefore, a display method for displaying a large amount of data in an easy-to-understand manner has not been developed. Further, as a conventional general walking parameter display method, for example, FIG.
There are display methods as shown in FIG. 13 and FIG. 13, but all are views for conceptual explanation, and there is no means for realizing the display method corresponding to these figures for actual measurement and analysis results.

As described above, in the conventional analysis method,
There is a problem that it is difficult to easily and simultaneously acquire the parameters relating to the position of the foot and the time. Also, regarding the display of the measurement results, it is difficult to intuitively grasp the walking motion, which is a time-series phenomenon that is performed in a three-dimensional space, when it is described on a two-dimensional paper surface with a small number of parameters or a simplified diagram. There was a problem that the understanding required skill.

The present invention has been made under the circumstances as described above, and an object of the present invention is to place a large burden on a subject automatically and stably in terms of spatial and temporal parameters of walking motion. (EN) A walking pattern processing method and an apparatus therefor capable of being acquired without a need and facilitating intuitive grasping and quantitative comparison of spatial and temporal factors of walking motion. .

[0009]

According to a first aspect of the present invention, there is provided a pressure sensor for obtaining a two-dimensional pressure distribution based on walking, and a time when the output of the pressure sensor is obtained as time series data at regular time intervals. Series pressure distribution image detecting means, superimposition image creating means for superimposing the time series pressure distribution images in the time direction to create a superimposition image, and foot pressure mass area segmentation for extracting a plurality of foot pressure mass areas from the superposition image Means, and for each of the foot pressure mass regions, a step correspondence detection means for making correspondence with the time-series pressure distribution image, and a parameter for detecting a parameter representing the characteristics of the walking, based on the correspondence of the step correspondence means. A walking pattern processing device comprising: a detection unit and an output unit that outputs the parameter.

According to the present invention, since the walking parameter is acquired from the two-dimensional pressure distribution acquired in time series and the superimposed image thereof, the basic walking parameter can be automatically and easily acquired. In addition, it becomes possible to intuitively grasp the walking pattern by the foot pressure block pattern on the superimposed image,
This makes it easier to understand, compare, and record gait patterns, which required skill in the past.

According to a second aspect of the present invention, the parameter detecting means is a characteristic position detecting means for detecting a predetermined characteristic position from the superimposed image based on the correspondence of the step corresponding means.

According to a third aspect of the present invention, the predetermined characteristic position is the rearmost part, the most distal end part, the center, or the center of gravity of each foot pressure block with respect to the walking direction.

According to a fourth aspect of the present invention, the parameter detecting means detects an initial frame having a pressure value for each foot pressure mass region based on the correspondence of the step corresponding means, and an initial frame detecting means. Based on the correspondence of the step correspondence means, the final frame detection means for detecting the last frame having the pressure value for each foot pressure mass area, and the respective frames detected by the initial frame detection means and the final frame detection means And a time interval detecting means for detecting a time parameter based on the time information.

According to a fifth aspect of the present invention, the time parameters are stride time, step time, simultaneous fixing time, and swing leg time.

According to a sixth aspect of the present invention, the parameter detecting means comprises a barycentric position detecting means for obtaining a barycenter of pressure values for each pressure distribution image based on the correspondence of the step corresponding means.

According to a seventh aspect of the present invention, the center-of-gravity position detecting means obtains the center of gravity for both feet.

According to an eighth aspect of the present invention, the center of gravity position detecting means obtains the center of gravity for each foot.

According to a ninth aspect of the present invention, the parameter detecting means is based on the position of the center of gravity of the pressure value for each pressure distribution image detected by the center of gravity position detecting means.
It further comprises moving direction detecting means for detecting the moving direction of the center of gravity in terms of time.

According to a tenth aspect of the present invention, the foot pressure block region cutting-out means expands a region having a pixel value by a certain number of pixels when extracting each foot pressure block, and detects an overlapping region when expanding. It is regarded as a footprint region of the same step.

According to this aspect, each step can be accurately extracted from the superimposed image of a plurality of steps.

The invention according to claim 11 acquires a two-dimensional pressure distribution based on walking as a time-series pressure distribution image at regular time intervals, and superimposes the time-series pressure distribution image in the time direction to form a superimposed image. Created, extracting a plurality of foot pressure mass region from the superimposed image, for each foot pressure mass region, the time-series pressure distribution image is associated with, based on the association, represents the characteristics of the walking A walking pattern processing method comprising detecting a parameter and displaying or printing the parameter.

According to a twelfth aspect of the present invention, as the parameters, the last portion, the frontmost portion, and the center of the foot pressure mass region of each step are detected, and the stride length and the step are associated in parallel with the superimposed image. The length information is displayed or printed, and the step information is displayed or printed on the superimposed image.

According to this aspect, the magnitudes of the stride length, step length, and step parameters can be grasped as a whole.

In the thirteenth aspect of the invention, as the parameter, the center of gravity of the pressure value for each pressure distribution image is detected, and the position of the center of gravity of the pressure value for each pressure distribution image is set in parallel with the superimposed image. Displaying or printing.

According to this aspect, since the movement of the center of gravity is displayed or printed, it is possible to easily grasp the dynamic speed change.

According to a fourteenth aspect of the present invention, when detecting the center of gravity of the pressure value, the moving direction of the position is detected, and when the center of gravity moves in the direction opposite to the walking direction, display or printing is performed. The method is changed.

According to this aspect, it is possible to easily find an abnormality in the movement of the center of gravity.

According to the fifteenth aspect of the present invention, when the center of gravity moves in the direction opposite to the walking direction, the display or print color is changed.

According to the sixteenth aspect of the present invention, the center of gravity is detected for each leg and the position is displayed or printed.

According to the seventeenth aspect of the invention, the center of gravity is detected for both feet and the position is displayed or printed.

In the eighteenth aspect of the present invention, the center of gravity of the pressure distribution image having the pressure value as the parameter is detected first in each step, and the position of the center of gravity is displayed or printed by superimposing it on the superimposed image. Is to do.

According to this aspect, it is possible to easily find an abnormal walk in which the person touches the ground at the toe portion, not the heel, at the beginning of foot contact.

In the nineteenth aspect of the present invention, stride time, step time, simultaneous fixing time, and swing leg time are detected as the parameters, and the ground contact time of each foot is represented by a line segment along the time axis. Displaying or printing.

According to this aspect, it becomes easy to grasp the time parameter.

According to a twentieth aspect of the present invention, the sum or the average value of the pressure values at each time point is displayed or printed by changing the color or the density so as to be superimposed on the line segment.

According to this aspect, it becomes easy to understand the relationship between the temporal pressure change and the walking motion.

In the twenty-first aspect of the invention, a pressure level scale is additionally written on the line segment.

In the twenty-second aspect of the invention, the stride time, step time, simultaneous fixing time, and swing leg time are detected based on the time of the pressure distribution image having the pressure values at the beginning and end of each step. It is that.

According to the twenty-third aspect of the present invention, stride length, step length, step interval, stride time, step time, swing leg time, and simultaneous fixing time are detected as the parameters, and the left and right feet are compared, Stride length, step length, step length, stride time, step time, swing time,
The simultaneous fixing time is displayed or printed on a scale.

According to this aspect, it becomes easy to grasp the degree of the left-right difference which is important in abnormal walking, and at the same time, it is possible to easily judge whether the left-right difference is significant or not by comparing the magnitude of the left-right difference. it can.

According to a twenty-fourth aspect of the present invention, a plurality of data of stride length, step length, step, stride time, step time, swing leg time, and simultaneous fixing time are printed or displayed, respectively, and at the same time, these plural data are Average value,
The mean ± standard deviation value, the maximum value, and the minimum value are displayed or printed in different colors.

According to this aspect, it becomes easy to grasp the degree of variation that is important for abnormal walking a plurality of times, and at the same time, by comparing the magnitudes of the variations, it is easy to determine whether the left-right difference is significant or not. You can judge.

According to the twenty-fifth aspect of the present invention, the stride length, the step length, and the step are detected as the parameters, and the stride length, the step length, and the step are displayed or printed as a radar chart. is there.

According to a twenty-sixth aspect of the present invention, the step length and stride length, which are the length in the walking direction, are selected as the parameters in the vertical direction of the radar chart, and the length orthogonal to the walking direction is selected as the parameters in the horizontal direction of the radar chart. That is, the step is selected, and the parameters for the left and right feet are arranged in correspondence with the left and right positions on the radar chart.

According to this aspect, it is possible to intuitively grasp the balance of each spatial parameter and the left-right balance thereof.

In the twenty-seventh aspect of the present invention, stride time, step time, simultaneous fixing time, and swing leg time are detected as the parameters, and stride time, step time, simultaneous fixing time, and swing leg time are detected. It is displayed or printed as a radar chart.

In the twenty-eighth aspect of the invention, the time required for the step and stride in the walking direction is selected as the vertical parameter of the radar chart, and the simultaneous fixing time of both the left and right legs and the free leg are selected as the horizontal parameters of the radar chart. The time is selected, and the parameters for the left and right feet are arranged in correspondence with the left and right positions on the radar chart.

In this aspect, the balance of each spatial parameter and the left-right balance thereof can be intuitively grasped.

[0049]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the walking pattern processing device of the present invention. In the figure, 1 is a foot of a pedestrian, 2 is a pressure sensor unit that acquires a two-dimensional pressure distribution, and 3 is a time-series pressure distribution image detection that acquires the output of the pressure sensor unit 2 as time-series data at fixed time intervals. Reference numeral 4 denotes a superimposition image creation unit that superimposes this time-series pressure distribution image in the time direction, 5 denotes a foot pressure mass region cutout unit that extracts a foot pressure mass region from the superimposed image, and 6 denotes the foot pressure mass image in the time direction. To detect the correspondence of each step with the original time-series image sequence, 7 is a center-of-gravity position detection unit that detects the position of the center of gravity of the image sequence, and 8 is the moving direction of the center-of-gravity position sequence. Is detected by the moving direction detecting unit, 9 is a characteristic position detecting unit that detects the characteristic position of each image after being matched by the step correspondence detecting unit 6, and 10 is a characteristic position detection unit that is detected by each of the images after being matched by the step correspondence detecting unit 6. The initial frame of steps Initial frame detection unit for output, 11 last frame detector for detecting the last frame of the steps of each image after being compatible in step correspondence detection unit 6, 1
Reference numeral 2 is a time interval detection unit that detects the time interval between the initial frame and the final frame, and 13 is a walking parameter display unit that displays the above walking parameters.

FIG. 2 is a diagram showing an example of the flow of processing the pressure distribution image by the walking pattern processing device shown in FIG. In the figure, 21 is the acquired time-series pressure distribution image, 22 is a superimposed image, the square frame in this superimposed image is the one-step foot pressure image block region, and 23 is the feature point superimposed on the superimposed image. It is an image displayed as. 25 is the step length measured on the image 23, and 25 is the image 23
It represents the stride length measured above. 26,27
Represent the first frame and the last frame of one foot pressure image block region, respectively.

3, 4, and 5 are flow charts showing details of the processing of the pressure distribution image. Hereinafter, FIGS.
And 5 will be described.

First, the foot 1 walks on the pressure sensor section 2. At this time, the pressure sensor unit 2 acquires a unique two-dimensional pressure distribution according to the walking pattern of the foot 1 (step S5).
01). That is, the pressure sensor unit 2 obtains a pressure value output corresponding to the coordinate value for each pressure sensor.

The time-series pressure distribution image detection unit 3 detects the two-dimensional pressure distribution pattern continuously obtained by the pressure sensor unit 2 for every fixed time interval for a certain time, and the T time-series pressure distribution images Ψ are detected. (T = 1, 2, ..., T) is acquired (step S502). This fixed time interval is preferably 1/10 seconds to 1/100 seconds. For example, 1/1
When measuring for 5 seconds at a time interval of 0 seconds, t = 1 to 5
Fifty time series pressure distribution images numbered 0 are obtained.

The superimposition image creation unit 4 superimposes the time-series pressure distribution images acquired by the time-series pressure distribution image detection unit 3 on the time method (step S503). In this superposition processing, the following two processing methods are effective. One is a method of setting the maximum value of the pressure value output of each sensor as a value as a superimposed image of the position corresponding to the sensor, and the other is the method of determining the total value of the pressure value output of each sensor as the sensor. This is a method of setting a value as a superimposed image at a position corresponding to.

The foot pressure mass region cutout unit 5 cuts out a region regarded as a footprint of the same step on the superimposed image as a foot pressure mass region (step S504). At this time, there is no problem in regard that adjacent pixels each having a value on the superimposed image are considered to be the area of the same step, but like the part of each finger, the pressure distribution image is obtained even at the same step. The following processing is effective because some parts may be separated above.

In other words, in the superimposed image, the area in which the pixel has a value is enlarged by 1 pixel to 10 pixels, and the area overlapping when enlarged is regarded as the footprint area of the same step. The process of enlarging the region is shown in FIGS.
As shown in (b), it can be realized by including pixels near the region as the same region. Here, FIG. 6A is a diagram showing an original image, and FIG. 6B is a diagram showing an image obtained by performing enlargement processing for one pixel, for example. Further, specifically, for example, it is assumed that the original image shown in FIG. 6C is obtained. When this original image is enlarged, the result shown in FIG.
The image shown in (d) is obtained. A region of continuous pixels having the value in FIG. 6D is regarded as a footprint region of the same step, and a region corresponding to it is cut out from FIG. 6C to obtain a superimposed image as shown in FIG. The footprint area for each step in is obtained.

Further, since the shape of the foot region is close to a rectangle which is long in the traveling direction, it is also effective to change the enlargement ratio according to the direction in the enlargement processing shown in FIG. 6 (b). For example, it is a process of enlarging by 10 pixels in the traveling direction and enlarging by 5 pixels in the direction orthogonal thereto. According to such processing, the footprint region can be stably cut out even when the left and right footprints are close to each other in the superimposed image.

Furthermore, it is also effective to have an interface in which a human can visually observe the superimposed image and interactively specify the footprint region of the same step.

The foot pressure mass region slicing section 5 also counts the number N of foot pressure masses (step S505).

Next, the step correspondence detecting unit 6 searches the time-series pressure distribution image from t = 1 for each step cut out by the foot pressure block region cutting unit 5 to find at least one pixel inside the step region. A time-series pressure distribution image having a pressure value is detected (steps S506 to S510). That is, for example, the array M (Ψ (t),
n) is prepared. Here, n is a parameter for specifying the step number. For a time-series pressure distribution image having a pressure value in at least one pixel, M = 1 (step S507), otherwise M =
It is set to 0 (step S508). In practice, for example, M
(Ψ (5), 1) to M (Ψ (25), 1) = 1, M (Ψ
(20), 2) to M (Ψ (40), 2) = 1, M (Ψ
(35), 3) to M (Ψ (55), 3) = 1, ...
・ And so on.

The center-of-gravity position detector 7 determines each pressure distribution image {Ψ
The center of gravity of the pressure value is obtained for (t), t = 1 to T} (step S511). At this time, there are the following two types of target ranges for obtaining the center of gravity. One is for the entire pressure image, that is, for both legs, and the other is for each step, that is, for each leg.

The moving direction detecting section 8 detects the direction in which the center of gravity moves temporally based on the center of gravity of the pressure value in each pressure distribution image sequence obtained by the center of gravity position detecting section 7 (steps S512 to S515). ). That is,
It is determined whether the center of gravity of the previous pressure distribution image has moved in the same direction as the walking direction or in the opposite direction. For example, the array G (Ψ (t)) is prepared, and the pressure distribution image Ψ (t
From (-1), when the moving method of the center of gravity in the pressure distribution image Ψ (t) matches the walking method, G (Ψ (t)) =
1, and G (Ψ (t)) = 0 in the opposite direction. The moving direction of the center of gravity can be detected for all the feet or for each foot.

The initial frame detector 10 selects 1 from the images for each step detected by the step correspondence detector 6.
The frame having the pressure value, that is, the pressure distribution image Ψ _{n, s} is first detected in the step (step S516). Specifically, in M (Ψ (t), n), a frame in which M (Ψ (t), n) ≠ 0 is first detected starting from t = 1.

Further, the final frame detection unit 11 obtains the frame having the last pressure value within one step, that is, the pressure distribution image Ψ _{n, e} from the images for each step detected by the step correspondence detection unit 6. Detect (step S51
7). Specifically, starting with a frame having a pressure value, a frame having M (Ψ (t), n) = 0 is detected first.

The time interval detection unit 12 is based on the information detected by the initial frame detection unit 10 and the final frame detection unit 11, the time from the start of one step to the start of the next step (step time), the right foot or The time from the start of the left foot step to the start of the next left or right foot step (stride time), the time when both the left and right feet are in contact with the ground (simultaneous fixing time), and the time when one foot is floating (the swing time) ) Is detected (step S519). Specifically, the number of times (ψ _{n + 1, s} (t _{n + 1, s} ) -the number of Ψ _{n, s} (t _{n, s} )) is multiplied by the frame time interval and detected as the step time. (Ψ _{n + 2, s} number (t _{n + 2, s} ) −Ψ _{n, s}
No. (t _{n, s} )) is multiplied by the frame time interval to detect the stride time. (Number of Ψ _{n + 1, s} (t _{n + 1, s} )
The number (t _{n, e} ) of Ψ _{n, e} ) is multiplied by the frame time interval to detect the simultaneous fixing time. (Ψ _{n + 2, s} number (t
The number (t _{n, e} ) of ( _{n + 2, s} ) −Ψ _{n, e} ) is multiplied by the frame time interval and detected as the swing leg time.

The characteristic position detecting section 9 detects a predetermined characteristic position from the superimposed image representing the footprint area of each step (steps S520 to S526). As the characteristic position, the rearmost portion, the frontmost portion, the center, or the center of gravity with respect to the walking direction in the superimposed image representing the footprint region of each step is effective.

A pedestrian who walks normally can detect the position of the rearmost portion most stably. However, in the first image within one step, the position detection of the last part may not be stable during abnormal walking where the heel does not touch the ground. Therefore, when the center of gravity of the pressure distribution of the first image in the step is not included in the region of the rear side ⅓ of the superimposed image, a switching process such as using the center or the center of gravity instead of the last part is effective. .

Specifically, first, the position h _n of the rearmost part of the n-th foot pressure mass is calculated (step S520). The position s _n of the tip of the n-th foot pressure mass is calculated (step S
521). The center of gravity g _n of the region having the pressure value in the pressure distribution image Ψ _{n, s} having the pressure value first detected in one step detected in step S516 is calculated (step S52).
2).

Next, it is determined whether or not the expression (1) is satisfied (step S523).

H _n − (s _n −h _n ) / 3> g _n (1) That is, a distance of (the total length of the foot pressure mass) / 3 from the rearmost position h _{n of the} foot pressure mass in the walking direction. It is determined whether or not the position of is in front of the position of the center of gravity g _n . This is judged for all foot pressure masses (step S524). as a result,
If the determination in step S523 is affirmative for all foot pressure masses, the rearmost position h _n is set as the feature point for all foot pressure masses (step S525). On the other hand, if the determination in step S523 is negative for any foot pressure mass, the center of gravity is set as the feature point for all foot pressure masses (step S52).
6).

The walking parameter display unit 13 allows the human to intuitively understand the information detected by the center-of-gravity position detection unit 7, the moving direction detection unit 8, the characteristic position detection unit 9, the initial frame detection unit 10, and the time interval detection unit 12. It is displayed on the display device so as to be easily recognized (step S527).

FIG. 7 is a view showing a screen on which a superimposed image and a movement of the center of gravity and the like are displayed in parallel with the superimposed image, which is a so-called spatial chart. The walking parameter display unit 13 sets the distance in the walking direction as the horizontal axis, and displays the superimposed image created in step S503 in the center in the vertical direction.
The positions of the respective centers of gravity of the time-series pressure distribution images detected by the center-of-gravity position detection unit 7 are plotted below the superimposed image. In this embodiment, the center-of-gravity position movement (for each foot) 35
Both the center of gravity position movement (both feet) 36 are displayed. In the display of the movement of the position of the center of gravity, the display method is also changed depending on the difference in the moving direction according to the change in the moving direction obtained in steps S512 to S515. For example, the color may be changed or the solid line and the broken line may be used for distinction. In this embodiment, as shown in the display 37, when it moves in the opposite direction, it is indicated by a broken line.
In the actual screen, it is easier to see the different positions of the center of gravity in the walking direction displayed in blue and the position of the center of gravity in the opposite direction displayed in red.

Further, the walking parameter display unit 13 horizontally sets the step length 24 and the stride length 25 on the upper portion of the superimposed image based on the information of the last portion and the frontmost portion of each step detected by the characteristic position detecting unit 9. Display as a line segment in the direction. Further, the step 34 is displayed as a horizontal line segment so as to be superimposed on the superimposed image. Here, the step length means an interval from the right foot to the left foot or the left foot to the right foot in the walking direction.
The stride length is the distance from the right foot to the left foot and then to the right foot again, or from the left foot to the right foot and then to the left foot again. The step interval is a characteristic position interval in a direction orthogonal to the walking direction.

The gait parameter display unit 13 refers to the center of gravity position of the initial frame obtained by the initial frame display unit 10 from the center of gravity position detection unit 7, and displays it as the initial ground contact center of gravity position 38 on the superimposed image.

The integrated display can be printed not only on the display device but also as it is.

FIG. 8 is a diagram showing the display of the time chart. The walking parameter display unit 13 sets the walking time on the horizontal axis, refers to each time parameter from the time interval detection unit 12, and sets each time parameter when the left foot is the starting point and when the right foot is the starting point. Separately, the time axes are aligned and displayed as horizontal line segments. When displaying this,
The total or average value of the pressure values at each time point is expressed by changing the display color or density. At this time, it is effective to additionally describe the pressure level scale 41. Also,
Since the pressure level has a large individual difference, it is effective to set the maximum pressure value of the pedestrian to be measured as the full scale and change the color of the pressure level or the density scale for each individual. At this pressure level scale, preferably
The higher pressure level is displayed in red and the lower pressure level is displayed in blue.

FIG. 9 is a diagram showing a display in which the spatial parameter and the temporal parameter are compared for the left and right feet.
The walking parameter display unit 13 includes spatial parameters obtained from the characteristic position detection unit 9 and the time interval detection unit 12, that is, stride length, step length, and stride, and time parameters, that is, stride time, step time, swing time, Also, the simultaneous fixing time is divided into left and right feet and displayed with vertical lines. Whether a plurality of walks or one walk, a plurality of sets of parameters can be obtained from a plurality of sets of walks. Therefore, an average value 54 of these plurality of sets of parameters, a value 55 of mean ± standard deviation, 56, the maximum value 58, and the minimum value 57 are displayed in different colors in a superimposed manner.

The example shown in FIG. 9 is the data of a patient with left hemiplegia, but the temporal parameter particularly affects the left and right balance of the mean value, and the spatial parameter particularly affects the paralysis side (left side) foot. It is shown that there are large variations in the parameters of.

FIG. 10 is a diagram showing a display example of a radar chart relating to spatial parameters. The walking parameter display unit 13 divides the spatial parameters obtained from the characteristic position detection unit 9, that is, the stride length, the step length, and the step interval into left and right feet and displays them as a radar chart. At this time, the step length and stride length, which are the length in the walking direction, are selected as the parameters in the vertical direction of the radar chart, and the step interval, which is the length orthogonal to the walking direction, is selected as the parameter in the horizontal direction of the radar chart. . In addition, the parameters for the left and right feet are arranged in correspondence with the left and right positions on the radar chart. As a result, the aspect ratio and the left-right balance of the entire radar chart show the walking pattern.

The example shown in FIG. 10 is data for a patient with left hemiplegia, but it is shown that the step and stride of the left foot are smaller than those of the right foot.

FIG. 11 is a diagram showing an example of display of a radar chart relating to time parameters. The walking parameter display unit 13 displays the time parameters obtained from the time interval detection unit 12, that is, the stride time, the step time, the swing leg time, and the simultaneous fixing time, separately on the left and right feet and displayed as a radar chart. At this time, the time required for the step and stride in the walking direction is selected as the vertical parameter of the radar chart, and the simultaneous fixing time and the free leg time of the left and right legs are selected as the horizontal parameters of the radar chart. In addition, the parameters for the left and right feet are arranged in correspondence with the left and right positions on the radar chart. As a result, the aspect ratio and the left-right balance of the entire radar chart show the walking pattern.

The example shown in FIG. 11 is data of a left hemiplegic patient, but the simultaneous fixing time from left to right is extremely long, and it is difficult to shift the weight from left to right, that is, the kicking force of the left foot. Has been shown to be inadequate.

[0084]

According to the present invention described above, it is possible to automatically and stably acquire the spatial and temporal parameters of a walking motion without imposing a large burden on the subject. It also facilitates intuitive grasping and quantitative comparison of spatial and temporal factors of walking motion. From this, according to the present invention, for example, the following effective use becomes possible.

(A) In the medical field, it can be used to measure the severity of a disease in which walking movement is impaired.

(B) When performing rehabilitation of walking motion in the medical field, it can be used for measuring the degree of progress.

(C) In the medical field, the drug efficacy can be measured by comparing before and after administration of a drug having an effect of improving walking motion.

(D) In the medical field, the degree of serious injury can be measured by measuring the walking motion of a patient who has no objective symptoms such as dizziness and low back pain.

(E) By utilizing the information of the stable footstep position and its time, which are obtained by the present invention, at the same time, the image of the walking motion is acquired, and by using these information together, the ankle joint , It is possible to stably detect the walking motion parameters such as the angles of the knee joint and the hip joint.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of an embodiment of a walking pattern processing device of the present invention.

2 is a diagram showing an example of the flow of processing of a pressure distribution image by the walking pattern processing device shown in FIG.

FIG. 3 is a flowchart showing details of processing of a pressure distribution image.

FIG. 4 is a flowchart showing details of processing of a pressure distribution image.

FIG. 5 is a flowchart showing details of processing of a pressure distribution image.

FIG. 6 is a diagram for explaining a process of cutting out a region regarded as a footprint of the same step on a superimposed image as a foot pressure mass region.

FIG. 7 is a diagram showing a superimposed image and a screen on which a center of gravity movement and the like are displayed in parallel, which is a so-called spatial chart.

FIG. 8 is a diagram showing a display of a time chart.

FIG. 9 is a diagram showing a display in which the spatial parameter and the temporal parameter are compared for the left and right feet.

FIG. 10 is a diagram showing an example of display of a radar chart relating to spatial parameters.

FIG. 11 is a diagram showing an example of display of a radar chart related to time parameters.

FIG. 12 is a diagram showing a conventional walking parameter display method.

FIG. 13 is a diagram showing a conventional method for displaying walking parameters.

[Explanation of symbols]

 1 Pedestrian's foot 2 Pressure sensor unit 3 Time-series pressure distribution image detection unit 4 Superimposition image creation unit 5 Foot pressure block region cutout unit 6 Step correspondence detection unit 7 Center of gravity position detection unit 8 Moving direction detection unit 9 Characteristic position detection unit 10 Initial frame detection unit 11 Final frame detection unit 12 Time interval detection unit 13 Walking parameter display unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masanobu Arai 3-19-2 Nishishinjuku, Shinjuku-ku, Tokyo Nippon Telegraph and Telephone Corporation

Claims (28)

[Claims] 1. A pressure sensor for acquiring a two-dimensional pressure distribution based on walking, a time-series pressure distribution image detecting means for acquiring the output of the pressure sensor as time-series data at fixed time intervals, and the time-series pressure distribution. A superimposed image creating unit that creates a superimposed image by superimposing images in the time direction, a foot pressure mass region cutting-out unit that extracts a plurality of foot pressure mass regions from the superimposed image, and for each foot pressure mass region, the time. Step correspondence detection means for making correspondence with the series pressure distribution image, parameter detection means for detecting a parameter representing the characteristics of the walking based on the correspondence of the step correspondence means, and output means for outputting the parameter, A walking pattern processing device comprising: 2. The walking according to claim 1, wherein the parameter detecting unit is a characteristic position detecting unit that detects a predetermined characteristic position from the superimposed image based on the correspondence of the step corresponding unit. Pattern processing device. 3. The walking pattern processing device according to claim 2, wherein the predetermined characteristic position is a rearmost portion, a frontmost portion, a center, or a center of gravity in a walking direction in each foot pressure block. 4. The parameter detecting means associates the initial frame detecting means for first detecting a frame having a pressure value in each foot pressure mass region based on the association of the step responding means with the step responding means. Based on the final frame detection means for detecting the frame having the last pressure value for each foot pressure mass area, based on the time information related to each frame detected by the initial frame detection means and the final frame detection means,
The walking pattern processing device according to claim 1, further comprising a time interval detecting means for detecting a time parameter. 5. The walking pattern processing device according to claim 4, wherein the time parameters are stride time, step time, simultaneous fixing time, and swing leg time. 6. The center of gravity position detecting means for obtaining the center of gravity of a pressure value for each pressure distribution image based on the correspondence of the step corresponding means, the parameter detecting means. Walking pattern processing device. 7. The walking pattern processing device according to claim 6, wherein the center-of-gravity position detection means obtains the center of gravity for both feet. 8. The walking pattern processing device according to claim 6, wherein the center-of-gravity position detecting means obtains the center of gravity for each foot. 9. The moving direction detecting means for detecting the moving direction of the center of gravity based on the position of the center of gravity of the pressure value for each pressure distribution image detected by the center of gravity position detecting means. The walking pattern processing device according to claim 6, further comprising: 10. The foot pressure block region cutting means expands a region having a pixel value by a certain number of pixels when extracting each foot pressure block, and regards a region overlapping when enlarged as a footprint region of the same step. The walking pattern processing device according to claim 1, wherein: 11. A two-dimensional pressure distribution based on walking is acquired as a time-series pressure distribution image at regular time intervals, the time-series pressure distribution image is superimposed in the time direction to create a superimposed image, and the superimposed image is generated from the superimposed image. Extracting a plurality of foot pressure mass region, for each foot pressure mass region, to associate with the time-series pressure distribution image, based on the association, to detect a parameter representing the characteristics of the walking, the parameter A walking pattern processing method characterized by displaying or printing. 12. The stride length and step length information is displayed or printed in parallel with the superimposed image by detecting the last part, the most distal end part, and the center of the foot pressure mass region of each step as the parameter. The gait pattern processing method according to claim 11, further comprising: displaying or printing the step information in a superimposed manner on the superimposed image. 13. The center of gravity of the pressure value for each pressure distribution image is detected as the parameter, and the position of the center of gravity of the pressure value for each pressure distribution image is displayed or printed in parallel with the superimposed image. The walking pattern processing method according to claim 11, which is characterized in that. 14. When detecting the center of gravity of the pressure value, the moving direction of the position is detected, and when the center of gravity moves in the direction opposite to the walking direction, the display or printing method may be changed. The walking pattern processing method according to claim 13, which is characterized in that. 15. The walking pattern processing method according to claim 14, wherein the color of display or printing is changed when the center of gravity moves in a direction opposite to the walking direction. 16. The walking pattern processing method according to claim 13, wherein the center of gravity is detected for each leg and the position is displayed or printed. 17. The walking pattern processing method according to claim 13, wherein the center of gravity is detected for all the feet and the position is displayed or printed. 18. The center of gravity of a pressure distribution image having a pressure value in each step as the parameter is first detected, and the position of the center of gravity is displayed or printed in superimposition on the superimposed image. The walking pattern processing method according to claim 11. 19. The stride time, the step time, the simultaneous fixing time, and the swing leg time are detected as the parameters, and the ground contact time of each foot is displayed or printed as a line along the time axis. The walking pattern processing method according to claim 11, which is characterized in that. 20. The walking pattern processing method according to claim 19, wherein the sum or average of the pressure values at each time point is displayed or printed in different colors or densities so as to be superimposed on the line segment. 21. The walking pattern processing method according to claim 20, wherein a pressure level scale is also written on the line segment. 22. The stride time, step time,
20. The walking pattern processing method according to claim 19, wherein the simultaneous fixing time and the swing leg time are detected based on the time of the pressure distribution image having the pressure values at the beginning and the end in each step. 23. The stride length, step length, step interval, stride time, step time, swing leg time, and simultaneous fixing time are detected as the parameters, and the left and right feet are compared to determine the stride length, step length, and step. 12. The walking pattern processing method according to claim 11, wherein the distance, stride time, step time, swing leg time, and simultaneous fixing time are displayed or printed on a scale. 24. A plurality of data of stride length, step length, step, stride time, step time, swing leg time, and simultaneous fixing time are printed or displayed, respectively, and an average value and an average standard deviation of the plurality of data are provided. 24. The walking pattern processing method according to claim 23, wherein the value, the maximum value, and the minimum value are displayed or printed in different colors in an overlapping manner. 25. The stride length, the step length, and the stride are detected as the parameters, and the stride length, the step length, and the stride are displayed or printed as a radar chart. Walking pattern processing method. 26. A step length and a stride length, which are lengths in a walking direction, are selected as vertical parameters of the radar chart, and a step interval, which is a length orthogonal to the walking direction, is selected as a horizontal parameter of the radar chart. The walking pattern processing method according to claim 25, wherein the parameters relating to the left and right feet are arranged so as to correspond to the left and right positions on the radar chart. 27. The stride time, the step time, the simultaneous fixing time, and the swing time are detected as the parameters, and the stride time, the step time, the simultaneous fixing time, and the swing time are displayed or printed as a radar chart. The walking pattern processing method according to claim 11, wherein: 28. The time required for steps and strides in the walking direction is selected as the vertical parameter of the radar chart, and the simultaneous fixing time and the free leg time of the left and right legs are selected as the horizontal parameters of the radar chart, 28. The walking pattern processing method according to claim 27, wherein each parameter related to the foot is arranged so as to correspond to the left and right positions on the radar chart.