JPWO2022137546A5 - Gain adjustment device, walking state estimation device, gait analysis system, gain adjustment method, and program - Google Patents
Gain adjustment device, walking state estimation device, gait analysis system, gain adjustment method, and program Download PDFInfo
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- JPWO2022137546A5 JPWO2022137546A5 JP2022570984A JP2022570984A JPWO2022137546A5 JP WO2022137546 A5 JPWO2022137546 A5 JP WO2022137546A5 JP 2022570984 A JP2022570984 A JP 2022570984A JP 2022570984 A JP2022570984 A JP 2022570984A JP WO2022137546 A5 JPWO2022137546 A5 JP WO2022137546A5
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- 230000005021 gait Effects 0.000 title claims 7
- 238000000034 method Methods 0.000 title claims 6
- 230000001133 acceleration Effects 0.000 claims 5
- 238000001514 detection method Methods 0.000 claims 3
- 230000036461 convulsion Effects 0.000 claims 2
Claims (10)
前記立脚相の期間における歩行パラメータを計算する計算手段と、
前記センサデータに基づいて歩行パラメータを推定するフィルタを用いて推定された、前記歩行パラメータの推定値を取得する推定値取得手段と、
前記歩行パラメータの計算値と推定値を比較した結果に応じて、前記フィルタのゲインを調整するゲイン調整手段と、を備えるゲイン調整装置。 detection means for detecting a stance phase using sensor data relating to user's foot movements;
calculating means for calculating gait parameters during the stance phase;
estimated value acquisition means for acquiring an estimated value of the walking parameter estimated using a filter that estimates the walking parameter based on the sensor data;
gain adjusting means for adjusting the gain of the filter according to the result of comparing the calculated value and the estimated value of the walking parameter.
前記歩行パラメータの計算値と推定値の差が一定値以下の場合、初期値に設定された前記フィルタのゲイン調整パラメータの値を、前記初期値よりも小さな歩行モードの値に切り替える請求項１に記載のゲイン調整装置。 The gain adjusting means is
2. When the difference between the calculated value and the estimated value of the walking parameter is equal to or less than a certain value, the value of the gain adjustment parameter of the filter set to the initial value is switched to a walking mode value smaller than the initial value. Gain adjustment device as described.
前記ゲイン調整手段は、
前記歩行パラメータの計算値と推定値を比較した結果に応じて、前記Ｍａｄｗｉｃｋフィルタのゲイン調整パラメータであるβ値を切り替える請求項１または２に記載のゲイン調整装置。 the filter is a Madwick filter;
The gain adjusting means is
3. The gain adjustment device according to claim 1, wherein the β value, which is the gain adjustment parameter of the Madwick filter, is switched according to the result of comparing the calculated value and the estimated value of the walking parameter.
前記センサデータに含まれる３軸方向の加速度のうち少なくともいずれかを微分することで加加速度を計算し、
算出された前記加加速度の絶対値が、所定期間一定値以下のタイミングを、前記立脚相として検出する請求項１乃至３のいずれか一項に記載のゲイン調整装置。 The detection means is
calculating a jerk by differentiating at least one of accelerations in three axial directions included in the sensor data;
The gain adjusting device according to any one of claims 1 to 3, wherein timing when the calculated absolute value of the jerk is equal to or less than a constant value for a predetermined period is detected as the stance phase.
前記センサデータに含まれる３軸回りの角速度のうち少なくともいずれかを微分することで角加速度を計算し、
算出される前記角加速度の絶対値が、所定期間一定値以下のタイミングを、前記立脚相として検出する請求項１乃至３のいずれか一項に記載のゲイン調整装置。 The detection means is
calculating an angular acceleration by differentiating at least one of angular velocities around three axes included in the sensor data;
4. The gain adjusting device according to any one of claims 1 to 3, wherein timing when the calculated absolute value of the angular acceleration is equal to or less than a constant value for a predetermined period is detected as the stance phase.
前記フィルタのゲインを調整するタイミングに合わせて、前記フィルタを用いて推定された前記歩行パラメータの推定値を、前記計算手段によって算出された前記歩行パラメータの計算値で置換する請求項１乃至５のいずれか一項に記載のゲイン調整装置。 The gain adjusting means is
6. The method according to any one of claims 1 to 5, wherein the estimated value of the walking parameter estimated using the filter is replaced with the calculated value of the walking parameter calculated by the calculating means in accordance with the timing of adjusting the gain of the filter. A gain adjustment device according to any one of the preceding claims.
前記ゲイン調整装置によってゲインが調整されるフィルタを用いて、前記センサデータに基づいて歩行パラメータを推定し、推定された前記歩行パラメータに応じて、前記ユーザの歩行状態を推定する状態推定装置と、を備える歩行状態推定装置。 A gain adjustment device according to any one of claims 1 to 6;
a state estimating device for estimating a walking parameter based on the sensor data using a filter whose gain is adjusted by the gain adjusting device, and estimating the walking state of the user according to the estimated walking parameter; A walking state estimation device comprising:
歩容の解析対象であるユーザの履く履物に配置され、前記ユーザの歩行に応じて空間加速度および空間角速度を計測し、計測された前記空間加速度および前記空間角速度に基づくセンサデータを生成し、生成された前記センサデータを前記歩行状態推定装置に送信するデータ取得装置と、を備える歩容解析システム。 A walking state estimation device according to claim 7;
Placed on footwear worn by a user whose gait is to be analyzed, measures spatial acceleration and spatial angular velocity according to the user's walking, and generates sensor data based on the measured spatial acceleration and spatial angular velocity. a data acquisition device that transmits the obtained sensor data to the walking state estimation device.
足の動きに関するセンサデータを用いて立脚相を検出し、
前記立脚相の期間における歩行パラメータを計算し、
前記センサデータに基づいて歩行パラメータを推定するフィルタを用いて推定された、前記歩行パラメータの推定値を取得し、
前記歩行パラメータの計算値と推定値を比較した結果に応じて、前記フィルタのゲインを調整するゲイン調整方法。 the computer
Detecting the stance phase using sensor data on foot movement,
calculating gait parameters during the stance phase;
obtaining an estimate of the gait parameter estimated using a filter that estimates the gait parameter based on the sensor data;
A gain adjustment method for adjusting the gain of the filter according to the result of comparing the calculated value and the estimated value of the walking parameter.
前記立脚相の期間における歩行パラメータを計算する処理と、
前記センサデータに基づいて歩行パラメータを推定するフィルタを用いて推定された、前記歩行パラメータの推定値を取得する処理と、
前記歩行パラメータの計算値と推定値を比較した結果に応じて、前記フィルタのゲインを調整する処理とをコンピュータに実行させるプログラム。 A process of detecting a stance phase using sensor data related to foot movement;
calculating gait parameters during the stance phase;
a process of obtaining an estimated value of the walking parameter estimated using a filter that estimates the walking parameter based on the sensor data;
A program for causing a computer to execute a process of adjusting the gain of the filter according to the result of comparing the calculated value and the estimated value of the walking parameter.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2020/048862 WO2022137546A1 (en) | 2020-12-25 | 2020-12-25 | Gain adjustment device, walking state estimation device, gait analysis system, gain adjustment method, and program recording medium |
Publications (3)
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| JPWO2022137546A1 JPWO2022137546A1 (en) | 2022-06-30 |
| JPWO2022137546A5 true JPWO2022137546A5 (en) | 2023-08-30 |
| JP7480868B2 JP7480868B2 (en) | 2024-05-10 |
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| JP2015217053A (en) * | 2014-05-15 | 2015-12-07 | 国立大学法人東北大学 | Movement measuring apparatus and movement measuring method |
| CN104406586B (en) * | 2014-12-04 | 2017-03-15 | 南京邮电大学 | Pedestrian navigation apparatus and method based on inertial sensor |
| WO2016107653A1 (en) * | 2014-12-30 | 2016-07-07 | Telecom Italia S.P.A. | System and method for monitoring the movement of a part of a human body |
| WO2020240751A1 (en) * | 2019-05-29 | 2020-12-03 | 日本電気株式会社 | Information processing device, individual identification device, individual identification system, information processing method and storage medium |
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