WO2014108948A1 - Dispositif de mesure, chaussures et dispositif de traitement d'informations - Google Patents

Dispositif de mesure, chaussures et dispositif de traitement d'informations Download PDF

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Publication number
WO2014108948A1
WO2014108948A1 PCT/JP2013/006607 JP2013006607W WO2014108948A1 WO 2014108948 A1 WO2014108948 A1 WO 2014108948A1 JP 2013006607 W JP2013006607 W JP 2013006607W WO 2014108948 A1 WO2014108948 A1 WO 2014108948A1
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WIPO (PCT)
Prior art keywords
pressure distribution
foot
foot pressure
subject
data
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PCT/JP2013/006607
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English (en)
Japanese (ja)
Inventor
泰憲 加藤
光 ▲高▼橋
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テルモ株式会社
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Priority to JP2014556211A priority Critical patent/JPWO2014108948A1/ja
Publication of WO2014108948A1 publication Critical patent/WO2014108948A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array

Definitions

  • the present invention relates to a measuring device, footwear, and an information processing device for evaluating the walking of a subject.
  • a sensor part such as a pressure sensitive element is arranged on the insole portion of the shoe to measure the foot pressure distribution during walking of the subject.
  • a system has been proposed (for example, see Patent Documents 1 and 2 below).
  • the foot pressure distribution during walking can be accurately measured, and abnormal foot pressure distribution can be measured. It is desirable to have a configuration that can quantitatively grasp the cause.
  • the present invention has been made in view of the above problems, and an object thereof is to provide an advantageous technique for accurately and quantitatively grasping the state of a subject during walking.
  • One aspect of the present invention relates to a measurement device for evaluating the walking of a subject, and the measurement device includes a foot pressure distribution detection sensor unit including a plurality of pressure-sensitive elements, and the foot of the subject.
  • a foot pressure distribution detection sensor unit including a plurality of pressure-sensitive elements, and the foot of the subject.
  • a three-axis acceleration sensor that detects the movement in the three-axis direction, foot pressure distribution calculation data obtained by measurement by the foot pressure distribution detection sensor, and three axes obtained by measurement by the three-axis acceleration sensor
  • a communication unit that transmits acceleration data in association with an elapsed time from the start of measurement by the foot pressure distribution detection sensor unit and the three-axis acceleration sensor.
  • an advantageous technique is provided for accurately and quantitatively grasping the state of the subject during walking.
  • FIG. 1 It is a figure showing appearance composition of a foot pressure distribution measuring system provided with footwear (rehabilitation shoes) concerning a 1st embodiment of the present invention. It is a figure which shows the external appearance structure and sensor arrangement
  • FIG. 1 is a diagram illustrating an example of an external configuration of a foot pressure distribution measurement system 100 including rehabilitation shoes (footwear) 110R and 110L according to the first embodiment of the present invention.
  • the rehabilitation shoes (footwear) 110R and 110L incorporate a measuring device for evaluating the walking of the subject.
  • the measurement device includes a foot pressure distribution detection sensor unit, a triaxial acceleration sensor unit, and a communication unit.
  • 110L and 110R are rehabilitation shoes (footwear) provided with a foot pressure distribution detection sensor unit including an array of a plurality of pressure sensitive elements.
  • the plurality of pressure-sensitive elements can be disposed on the insole of the rehabilitation shoe so that the sole of the subject contacts directly or via a sock, for example.
  • 110L is a rehabilitation shoe for the left foot
  • 110R is a rehabilitation shoe for the right foot.
  • the rehabilitation shoes 110R and 110L are respectively provided with communication units 112R and 112L for performing wireless communication with the information processing apparatus, and triaxial acceleration sensor units 111R and 111L for measuring accelerations in the triaxial directions of the respective feet. It has been.
  • the communication unit 112R, the foot pressure distribution detection sensor unit, and the three-axis acceleration sensor unit 111R can be connected via a cable.
  • the communication unit 112L, the foot pressure distribution detection sensor unit, and the three-axis acceleration sensor unit 111L can be connected via a cable.
  • the communication unit 112R and the three-axis acceleration sensor unit 111R can be integrally attached to a band-shaped member that is wound around the subject's ankle.
  • the communication unit 112L and the three-axis acceleration sensor unit 111L can be integrally attached to a band-shaped member that is wound around the subject's ankle.
  • Reference numeral 120 denotes an information processing device, which includes foot pressure distribution calculation data measured by a foot pressure distribution detection sensor unit (not shown) of the rehabilitation shoe 110L for the left foot and the rehabilitation shoe 110R for the right foot, and a triaxial acceleration sensor unit.
  • the triaxial acceleration data measured by 111R and 111L (that is, data from the measuring device) are acquired.
  • the triaxial acceleration data includes acceleration data in the X axis direction (lateral direction; pitch axis direction), acceleration data in the Y axis direction (traveling direction when the subject walks; roll axis direction), Acceleration data in the Z-axis direction (height direction; yaw axis direction) can be included.
  • the information processing device 120 calculates the position coordinates of each foot of the subject while walking and the motion trajectory of each foot of the subject while walking by analyzing the triaxial acceleration data, along with the foot pressure distribution data indicate.
  • the position coordinates can be calculated with reference to the position of each foot of the subject at the start of the walking motion analysis process, for example. By calculating the motion trajectory, the landing position of the foot of the subject who is walking can be determined.
  • FIGS. 2A and 2B are diagrams for explaining a detailed configuration of the rehabilitation shoes.
  • a rehabilitation shoe 110R for the right foot is shown.
  • 2A is a side external view
  • FIG. 2B is a plan view of the insole.
  • a plurality of pressure-sensitive elements 202R are embedded in the midsole of the rehabilitation shoe 110R.
  • the midsole is a foot pressure for measuring foot pressure distribution detection data. It functions as the distribution detection sensor unit 201R.
  • the sole of the subject contacts the inner bottom of the rehabilitation shoe 110R directly or via a sock.
  • a power supply unit 203R for supplying power to the pressure sensitive element 202R, the triaxial acceleration sensor unit 111R, and the communication unit 112R is disposed on the sole of the rehabilitation shoe 110R.
  • foot pressure data data measured in each of the plurality of pressure sensitive elements 202R constituting the foot pressure distribution detection sensor unit 201R
  • foot pressure distribution calculation data a number of foot pressure data groups corresponding to the number of pressure sensitive elements 202R.
  • foot pressure distribution data data for displaying the foot pressure distribution calculated using the foot pressure distribution calculation data
  • foot pressure distribution data data for displaying the foot pressure distribution calculated using the foot pressure distribution calculation data
  • FIG. 3 is a diagram illustrating a functional configuration of the information processing apparatus 120 that configures the foot pressure distribution measurement system 100.
  • the information processing apparatus 120 includes a control unit (computer) 321, a memory unit 322, a storage unit 323, a display unit 324, an input unit 325, and an external device I / F unit 326. Each part is connected to each other via a bus 327.
  • the storage unit 323 configured by a hard disk or the like stores programs that function as a foot pressure distribution calculation unit 331, a walking motion analysis unit 332, and a triaxial motion analysis unit 333, respectively, by being executed by the control unit 321. ing.
  • the program is appropriately read into a memory unit 322 (for example, a RAM) functioning as a work area under the control of the control unit 321, and executed by the control unit 321, thereby realizing each function.
  • a memory unit 322 for example, a RAM
  • data acquired by executing the program by the control unit 321 is recorded in the storage unit 323 as foot pressure distribution calculation data 334 and triaxial acceleration data 335.
  • the display unit 324 displays a user interface for causing the control unit 321 to execute the program, or displays a walking motion analysis result.
  • the input unit 325 inputs an instruction for executing the program, and includes a keyboard and a pointing device (such as a mouse).
  • the external device I / F unit 326 is measured by the foot pressure distribution detection sensor units 201L and 201R and transmitted via the communication units 112L and 112R, and the triaxial acceleration sensor units 111L and 111R. This is an I / F (interface) for taking the triaxial acceleration data measured and transmitted via the communication units 112L and 112R into the information processing apparatus 120.
  • the external device I / F unit 326 is realized by a wireless interface such as a wireless LAN or Bluetooth.
  • the external device I / F unit 326 is realized by a wired interface such as USB or IEEE1394, for example.
  • FIG. 4 is a diagram illustrating the displacement in the Z-axis direction when the movement of the right foot while the subject is walking is viewed from the side.
  • the right foot that has landed (state 401) starts to walk and moves upward by kicking the ground (state 402), and is positioned substantially parallel to the ground.
  • the right foot that has landed (state 401) starts to walk and moves upward by kicking the ground (state 402), and is positioned substantially parallel to the ground.
  • state 405 After moving in the advancing direction while maintaining (states 403 and 404), landing again (state 405).
  • the position in the Z-axis direction of the 3-axis acceleration sensor unit 111R in the state 401 is set as the reference position 410, and the acceleration data in the Z-axis direction measured by the 3-axis acceleration sensor unit 111R is integrated twice, thereby A displacement 412 from the position 410 can be calculated.
  • the displacements 413 and 414 in the states 403 and 404 the displacement in the Z-axis direction at each elapsed time after the start of the walking motion in the walking motion for one step of the right foot can be obtained.
  • FIG. 5 is a diagram illustrating the displacement in the Z-axis direction when the movement of the right foot while the subject is walking is viewed from the side.
  • the right foot that has landed (state 401) moves upward in the traveling direction by starting a walking motion and kicking the ground (state 402), and is positioned substantially parallel to the ground.
  • the right foot that has landed moves upward in the traveling direction by starting a walking motion and kicking the ground (state 402), and is positioned substantially parallel to the ground.
  • state 405 After moving in the advancing direction while maintaining (states 403 and 404), landing again (state 405).
  • the position in the Y-axis direction of the three-axis acceleration sensor unit 111R in the state 401 is set as the reference position 510, and the acceleration data in the Y-axis direction measured by the three-axis acceleration sensor unit 111R is integrated twice, thereby A displacement 512 from the position 510 can be calculated.
  • the displacement in the Y-axis direction at each elapsed time after the start of the walking motion in the walking motion for one step of the right foot can be obtained. .
  • FIG. 6 is a diagram illustrating displacement in the X-axis direction when the motion of the right foot while the subject is walking is viewed from above. As shown in FIG. 6, the right foot that has landed (state 401) starts walking, moves in the direction of travel by kicking up the ground (states 402 to 404), and then landers again (state 405). .
  • the leg during the swing leg period may deviate in the X axis direction (turns outward or inward) with respect to the landing position. Therefore, a line connecting the position in the X-axis direction in the state 401 and the position in the X-axis direction in the state 405 with a straight line is taken as a reference position 610, and acceleration data in the X-axis direction measured by the three-axis acceleration sensor unit 111R.
  • displacements 612 to 614 from the reference position 610 can be calculated. That is, the displacement in the X-axis direction at each elapsed time after the start of the walking motion in the walking motion for one step of the right foot can be obtained.
  • the displacement locus can be calculated.
  • FIG. 7 is a flowchart showing the flow of walking motion analysis processing in the information processing apparatus 120.
  • the walking motion analysis unit 332 transmits a measurement start instruction to the rehabilitation shoe 110L for the left foot and the rehabilitation shoe 110R for the right foot.
  • the foot pressure distribution detection sensor units 201R and 201L include the foot pressure distribution calculation data.
  • the triaxial acceleration sensor units 111R and 111L start measuring triaxial acceleration data.
  • the rehabilitation shoe 110L for the left foot and the rehabilitation shoe 110R for the right foot transmit the measured foot pressure distribution calculation data and the triaxial acceleration data to the information processing device 120 in association with the elapsed time from the measurement start time. To start.
  • step S702 the walking motion analysis unit 332 starts receiving foot pressure distribution calculation data and triaxial acceleration data transmitted from the rehabilitation shoe 110L for the left foot and the rehabilitation shoe 110R for the right foot.
  • step S703 the walking motion analysis unit 332 starts recording the foot pressure distribution calculation data and the triaxial acceleration data received in step S702 in the storage unit 323.
  • FIG. 8 is a diagram illustrating an example of foot pressure distribution calculation data and triaxial acceleration data recorded in the storage unit 323. As shown in FIG. 8, the foot pressure distribution calculation data 334 and the triaxial acceleration data 335 transmitted from the left foot rehabilitation shoe 110L and the right foot rehabilitation shoe 110R, respectively, are associated with the elapsed time from the measurement start time. Recorded.
  • the triaxial acceleration data 335 is composed of acceleration data groups in the X axis direction, the Y axis direction, and the Z axis direction
  • the foot pressure distribution calculation data 334 is foot pressure data from N pressure sensitive elements. It consists of a group.
  • the sampling interval of the triaxial acceleration data 335 and the foot pressure distribution calculation data 334 is 100 mmsec, but the present invention is not limited to this.
  • step S704 the triaxial motion analysis unit 333 uses the acceleration data recorded in the storage unit 323 in the X axis direction and the Y axis direction to see the motion of the subject's foot while walking from above.
  • the locus of displacement in the case that is, in the XY axis plane) is calculated.
  • step S705 the triaxial motion analysis unit 333 uses the acceleration data in the Z axis direction and the Y axis direction recorded in the storage unit 323 to see the motion of the foot while the subject is walking from the side.
  • the locus of displacement in the case that is, in the YZ axis plane) is calculated.
  • step S706 the foot pressure distribution calculation unit 331 calculates the foot pressure distribution data at each elapsed time based on the foot pressure distribution calculation data 334 recorded in the storage unit 323. Specifically, a color scheme corresponding to the value of each foot pressure data is added to a position corresponding to the arrangement of each pressure sensitive element.
  • the position coordinates of the foot pressure distribution data on the XY axis plane are also calculated using the corresponding acceleration data in the X-axis direction and the Y-axis direction.
  • step S707 the walking motion analysis unit 332 determines whether or not a measurement end instruction has been input. If it is determined that a measurement end instruction has not been input, the process returns to step S704 to continue the process. On the other hand, if it is determined in step S707 that a measurement end instruction has been input, the process proceeds to step S708.
  • step S708 the stride of each foot of the subject is calculated based on the displacement locus on the YZ axis plane calculated in step S705. Specifically, a time point having a height position that coincides with the height position at the measurement start time point is extracted from the displacement locus on the YZ axis plane calculated in step S705, and the XY axis at each time point is extracted. The position coordinates of the plane are calculated. Then, these processes are performed for each of the right foot and the left foot, and the distance between adjacent position coordinates is calculated to obtain the stride of the subject.
  • step S709 the displacement locus in the XY axis plane calculated in step S704, the displacement locus in the YZ axis plane calculated in step S705, the foot pressure distribution data calculated in step S706, and in step S708
  • the calculated stride is displayed as a walking motion analysis result.
  • FIG. 9 is a diagram illustrating an example of the walking motion analysis result displayed in step S709.
  • reference numeral 901 denotes the locus of the left foot of the subject among the displacement locus on the XY axis plane calculated in step S704.
  • Reference numeral 902 denotes the locus of the right foot of the subject among the displacement locus on the XY axis plane calculated in step S704.
  • 911 indicates the locus of the left foot of the subject among the displacement locus on the YZ axis plane calculated in step S705.
  • Reference numeral 912 denotes the trajectory of the subject's right foot among the displacement trajectories in the YZ axis plane calculated in step S705.
  • reference numeral 921 indicates the foot pressure distribution data of the left foot at a predetermined elapsed time among the foot pressure distribution data calculated in step S706.
  • 922 indicates foot pressure distribution data of the right foot at a predetermined elapsed time among the foot pressure distribution data calculated in step S706.
  • 931 determines the position and orientation of the foot type (predetermined foot type) of the subject's left foot based on the foot pressure distribution data while the left foot is landing, and superimposes it on the foot pressure distribution data 921 It is a foot type displayed together.
  • 932 determines the position and orientation of the foot shape (predetermined foot shape) of the subject's right foot based on the foot pressure distribution data while the right foot is landing, and foot pressure distribution data This is a foot pattern superimposed on 922.
  • 941 and 942 indicate the strides calculated in step S708. In order to clearly indicate the stride, it is assumed that the past footprints are displayed as they are regardless of the elapsed time.
  • a triaxial acceleration sensor unit is attached to each foot of the subject, and the triaxial acceleration data together with the foot pressure distribution calculation data corresponds to the elapsed time from the start of measurement. It was set as the structure which attaches and records. Also, by processing the triaxial acceleration data, the trajectory of the subject's foot during walking on the XY axis plane, the trajectory on the YZ axis plane, and the stride are calculated, and the foot pressure distribution at each elapsed time The position coordinates of the data on the XY axis plane are calculated.
  • the calculated locus and stride are displayed, and the foot pressure distribution data is displayed based on the position coordinates of the calculated foot pressure distribution data on the XY axis plane.
  • the present invention is not limited to this.
  • the foot pressure distribution data at each landing timing during walking may be displayed simultaneously on the same plane.
  • FIG. 10 is a diagram illustrating an example of a walking motion analysis result.
  • the same display contents as the display contents shown in FIG. 9 are assigned the same reference numerals, and the description thereof is omitted here.
  • the difference from FIG. 9 is the foot pressure distribution data 1021 to 1023.
  • the foot pressure distribution data at a predetermined elapsed time is displayed.
  • the foot pressure distribution data at each timing when each foot is landing during walking is landed. It is the point which is simultaneously displayed at each position.
  • the displacement in the X axis direction, the Y axis direction, and the Z axis direction is calculated based on the triaxial acceleration data, and the trajectory of each foot during walking on the XY axis plane and Although the trajectory of each foot during walking on the YZ axis plane is displayed, the present invention is not limited to this.
  • the motion speed of each foot at each elapsed time can be calculated by integrating the 3-axis acceleration data once, the motion speed may be displayed together.
  • the operation speed display method may be, for example, a numerical value or a vector having a length proportional to the operation speed.
  • the turning angle of each foot during walking on the XY axis plane and YZ The angle of raising each foot during walking on the axial plane may be calculated and displayed together.
  • the timing at which each foot has landed is the timing at which the height of each foot has reached the reference position.
  • the stride is calculated based on the position coordinates of each foot at the timing, but the present invention is not limited to this.
  • the timing at which the contact area is maximized is determined to be the timing at which each foot has landed, and the stride is calculated using the position coordinates of each foot at that timing. It may be configured.
  • the communication units 112R and 112L and the triaxial acceleration sensor units 111R and 111L of each foot are attached to the band-shaped member.
  • the present invention is not limited to this. It is good also as a structure attached in rehabilitation shoes 110R, 110L.
  • the pressure-sensitive element is directly embedded in the bottom of the rehabilitation shoe.
  • the present invention is not limited to this.
  • the pressure sensitive element is embedded in the insole portion. It may be.
  • the three-axis acceleration sensor is arranged and the trajectory of the foot motion is calculated based on the three-axis acceleration data.
  • the present invention is not limited to this.
  • a gyro sensor or the like may be used.
  • the stride of the subject is calculated based on the triaxial acceleration data from the triaxial acceleration sensor.
  • the present invention is not limited to this, and the GPS is not limited to this.
  • a position sensor such as the above may be used.
  • 100 Foot pressure distribution measurement system
  • 110R Rehabilitation shoes for right foot
  • 110L Rehabilitation shoes for left foot
  • 111R 3-axis acceleration sensor unit
  • 111L 3-axis acceleration sensor unit
  • 112R Communication unit
  • 112L Communication unit
  • 120 Information processing device
  • 201R Foot pressure distribution detection sensor unit
  • 202R Pressure sensitive element
  • 203R Power supply unit

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Abstract

L'invention concerne un dispositif de mesure pour évaluer la démarche d'un sujet, qui comprend : un capteur de détection de répartition de la pression du pied, dans lequel sont disposés de multiples éléments sensibles à la pression; un capteur d'accélération triaxiale qui détecte un mouvement du pied du sujet dans trois directions axiales; et une unité de communication qui transmet à l'extérieur des données de calcul de la répartition de pression du pied, obtenues par mesure par le capteur de détection de la répartition de pression du pied, et des données d'accélération triaxiale obtenues par mesure par le capteur d'accélération triaxiale, les données de calcul de la répartition de pression du pied transmises et les données d'accélération triaxiale étant associées à des temps écoulés depuis le début de la mesure par le capteur de détection de la répartition de pression du pied et le capteur d'accélération triaxiale.
PCT/JP2013/006607 2013-01-11 2013-11-11 Dispositif de mesure, chaussures et dispositif de traitement d'informations WO2014108948A1 (fr)

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JP2017000435A (ja) * 2015-06-10 2017-01-05 花王株式会社 情報処理装置、プログラム、及び歩行の判定方法
CN106595912A (zh) * 2016-11-01 2017-04-26 中国海洋大学 一种人足动态力学实时检测评估系统及方法
JP2017167051A (ja) * 2016-03-17 2017-09-21 北川工業株式会社 計測情報出力システム及びプログラム
US10512819B2 (en) 2014-08-26 2019-12-24 Well Being Digital Limited Gait monitor and a method of monitoring the gait of a person
CN113133761A (zh) * 2020-01-17 2021-07-20 宝成工业股份有限公司 左右步态的判断方法及其分析装置
JP2021527511A (ja) * 2018-06-21 2021-10-14 シスナヴ 歩行中の歩行者のストライドを分析する方法
JP7505299B2 (ja) 2020-07-03 2024-06-25 日本電気株式会社 判定装置、センサ装置、判定方法、プログラム

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JPH0991437A (ja) * 1995-07-19 1997-04-04 Nippon Telegr & Teleph Corp <Ntt> 歩行パターン処理方法及びその装置
JP2002233517A (ja) * 2001-02-09 2002-08-20 Nippon Telegr & Teleph Corp <Ntt> 歩行の美しさ評価装置および方法
JP2008073285A (ja) * 2006-09-22 2008-04-03 Seiko Epson Corp 靴、その靴を履いた人の歩行・走行動作評価支援装置
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Cited By (9)

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Publication number Priority date Publication date Assignee Title
US10512819B2 (en) 2014-08-26 2019-12-24 Well Being Digital Limited Gait monitor and a method of monitoring the gait of a person
JP2017000435A (ja) * 2015-06-10 2017-01-05 花王株式会社 情報処理装置、プログラム、及び歩行の判定方法
JP2017167051A (ja) * 2016-03-17 2017-09-21 北川工業株式会社 計測情報出力システム及びプログラム
CN106595912A (zh) * 2016-11-01 2017-04-26 中国海洋大学 一种人足动态力学实时检测评估系统及方法
JP2021527511A (ja) * 2018-06-21 2021-10-14 シスナヴ 歩行中の歩行者のストライドを分析する方法
JP7312773B2 (ja) 2018-06-21 2023-07-21 シスナヴ 歩行中の歩行者のストライドを分析する方法
CN113133761A (zh) * 2020-01-17 2021-07-20 宝成工业股份有限公司 左右步态的判断方法及其分析装置
CN113133761B (zh) * 2020-01-17 2024-05-28 宝成工业股份有限公司 左右步态的判断方法及其分析装置
JP7505299B2 (ja) 2020-07-03 2024-06-25 日本電気株式会社 判定装置、センサ装置、判定方法、プログラム

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