WO2020138456A1 - Programme d'aide à l'exercice, système d'aide à l'exercice et procédé de commande d'un système d'aide à l'exercice - Google Patents

Programme d'aide à l'exercice, système d'aide à l'exercice et procédé de commande d'un système d'aide à l'exercice Download PDF

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Publication number
WO2020138456A1
WO2020138456A1 PCT/JP2019/051511 JP2019051511W WO2020138456A1 WO 2020138456 A1 WO2020138456 A1 WO 2020138456A1 JP 2019051511 W JP2019051511 W JP 2019051511W WO 2020138456 A1 WO2020138456 A1 WO 2020138456A1
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WO
WIPO (PCT)
Prior art keywords
user
acceleration
information
foot
angular velocity
Prior art date
Application number
PCT/JP2019/051511
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English (en)
Japanese (ja)
Inventor
亮 市村
直人 白澤
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2018246251A external-priority patent/JP2020103652A/ja
Priority claimed from JP2018246250A external-priority patent/JP2020103651A/ja
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201980085448.9A priority Critical patent/CN113226491A/zh
Publication of WO2020138456A1 publication Critical patent/WO2020138456A1/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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports

Definitions

  • the present invention relates to an exercise assistance program, an exercise assistance system, and a control method for the exercise assistance system.
  • a motion assist system that determines the type of walking motion is known.
  • the conventional exercise assistance system assists the exercise of the lower limbs according to the type of walking motion, for example.
  • Patent Document 1 discloses an example of a conventional exercise assistance system.
  • Information on the ankle and knee conditions during exercise can be used to control the occurrence of lower limb injuries.
  • the conventional exercise assisting system cannot measure the condition of the ankle and knee during exercise.
  • An object of the present invention is to provide an exercise assisting program, an exercise assisting system, and a method of controlling the exercise assisting system, which can measure ankle and knee conditions.
  • a first form of an exercise assisting system detects an angular velocity around a front-back axis of a foot of the user by using an angular velocity sensor provided in a first wear worn on the foot of the user, and detects the foot of the user. If it is determined that the varus angle of the user's ankle calculated based on information about the angular velocity about the longitudinal axis exceeds a threshold value, and the varus angle exceeds the threshold value, the user Electrical stimulation is applied to the common peroneal nerve of the user using an electrode provided on the second wear attached to the lower limb.
  • a first form of an exercise assistance program provides, from the first ware, information about an angular velocity about a front-back axis of the foot of the user, which is detected by an angular velocity sensor provided in a first wear worn by the user.
  • a first form of a method for controlling an exercise assistance system is a method for controlling an exercise assistance system including first wear and second wear worn by a user, wherein the first wear worn by the user.
  • the information about the angular velocity about the front-back axis of the foot of the user detected by the angular velocity sensor provided in is received from the first wear, and is calculated based on the information about the angular velocity about the front-back axis of the user's foot. If the varus angle of the ankle of the user exceeds a threshold value, and if it is determined that the varus angle exceeds the threshold value, the auxiliary unit of the second wear worn by the user. Then, the control information for applying electrical stimulation to the common peroneal nerve of the user is output.
  • a second form of the exercise assistance system detects the acceleration of the user's knee in the left-right axis direction by using an acceleration sensor provided on the wear worn on the user's thigh, and the detected user's knee is detected.
  • the accelerations in the left-right axis direction of the knee it is determined whether or not the inward acceleration is less than a threshold value, and if the inward acceleration is determined to be less than the threshold value, then the wearer's thigh is worn. Electrical stimulation is applied to the semitendinosus muscles of the user using electrodes provided on the garment.
  • a second form of the exercise assistance program receives, from the acceleration sensor, information about acceleration in the left-right axis direction of the user's knee detected by the acceleration sensor provided in the wear worn on the user's thigh. And a process of determining whether or not the inward acceleration of the knee of the user in the left-right axis direction exceeds a threshold value based on the information on the acceleration, and the inward acceleration is When it is determined to be less than the threshold value, the control information for applying electrical stimulation to the semitendinosus muscle of the user by the electrode of the auxiliary unit of the wear worn by the user is output to the auxiliary unit of the wear. And the processing to be performed.
  • a second aspect of the control method of the exercise assistance system is a control method of the exercise assistance system including wear worn by the user, wherein the knee of the user detected by an acceleration sensor provided in the wear.
  • Information about the acceleration in the left-right axis direction of the user is acquired from the acceleration sensor, and whether or not the inward acceleration of the user's knee in the left-right axis direction exceeds a threshold value based on the information about the acceleration. If it is determined that the inward acceleration is less than the threshold value, the auxiliary part of the wear worn by the user is controlled to apply electrical stimulation to the semitendinosus muscle of the user. Output information.
  • the ankle and knee states can be measured.
  • the perspective view which shows an example of the use condition of the exercise assistance system of 1st Embodiment.
  • the disassembled perspective view of the mounting body of FIG. The block diagram of the exercise assistance system of FIG.
  • the schematic diagram which shows an example of the ankle inversion and valgus angle.
  • the schematic diagram which shows an example of the ankle plantar dorsiflexion angle.
  • the graph which shows an example of the 1st state information based on a jump exercise.
  • the graph which shows another example of the 1st state information based on a jump exercise.
  • the graph which shows an example of the 1st state information based on a side step motion.
  • the front view which shows the inner surface of the 3rd wear of FIG.
  • a first form of an exercise assisting system detects an angular velocity around a front-back axis of a foot of the user by using an angular velocity sensor provided in a first wear worn on the foot of the user, and detects the foot of the user. If it is determined that the varus angle of the user's ankle calculated based on information about the angular velocity about the longitudinal axis exceeds a threshold value, and the varus angle exceeds the threshold value, the user Electrical stimulation is applied to the common peroneal nerve of the user using an electrode provided on the second wear attached to the lower limb.
  • the ankle varus angle is calculated based on the angular velocity of the foot about the anterior-posterior axis, so that the ankle condition can be suitably measured. Further, when it is determined that the varus angle exceeds the threshold value, electrical stimulation is applied to the common peroneal nerve, so that the movement of the lower limbs can be assisted according to the state of the ankle.
  • a first form of an exercise assistance program provides, from the first ware, information about an angular velocity about a front-back axis of the foot of the user, which is detected by an angular velocity sensor provided in a first wear worn by the user.
  • the ankle varus angle is calculated based on the angular velocity of the foot about the anterior-posterior axis, so that the ankle condition can be suitably measured. Further, when it is determined that the varus angle exceeds the threshold value, electrical stimulation is applied to the common peroneal nerve, so that the movement of the lower limbs can be assisted according to the state of the ankle.
  • a first form of a method for controlling an exercise assistance system is a method for controlling an exercise assistance system including first wear and second wear worn by a user, wherein the first wear worn by the user.
  • the information about the angular velocity about the front-back axis of the foot of the user detected by the angular velocity sensor provided in is received from the first wear, and is calculated based on the information about the angular velocity about the front-back axis of the user's foot. If the varus angle of the ankle of the user exceeds a threshold value, and if it is determined that the varus angle exceeds the threshold value, the auxiliary unit of the second wear worn by the user. Then, the control information for applying electrical stimulation to the common peroneal nerve of the user is output.
  • the ankle varus angle is calculated based on the angular velocity of the foot about the anterior-posterior axis, so that the ankle condition can be appropriately measured. Further, when it is determined that the varus angle exceeds the threshold value, electrical stimulation is applied to the common peroneal nerve, so that the movement of the lower limbs can be assisted according to the state of the ankle.
  • a further form of the exercise assistance program according to the present invention is a first step of reading first state information relating to the state of the lower limb detected by the detection unit, and a second step of calculating the state of the ankle according to the first state information. And a third step of outputting the second state information regarding the calculated ankle state, to the control unit.
  • the first state information including information on the angular velocity of the lower limb is read.
  • the condition of the ankle is reflected in the angular velocity of the lower limb.
  • the information regarding the angular velocity of the lower limb is included in the first state information, it is possible to preferably measure the state of the ankle.
  • the first state information including information on the angular velocity of the lower leg and information on the angular velocity of the foot is read.
  • the condition of the ankle is reflected in the angular velocity of the lower leg and the angular velocity of the foot.
  • the information regarding the lower leg's angular velocity and the information regarding the leg's angular velocity are included in the first state information, so that the state of the ankle can be preferably measured.
  • the first state information including information on the acceleration of the lower limbs is read.
  • the ankle condition is reflected in the lower limb acceleration.
  • the state of the ankle can be preferably measured.
  • the first state information including information on the lower leg acceleration and information on the leg acceleration is read.
  • the condition of the ankle is reflected in the acceleration of the lower leg and the acceleration of the foot.
  • the information regarding the lower leg acceleration and the information regarding the foot acceleration are included in the first state information, so that the state of the ankle can be preferably measured.
  • the first state information including information on the pressure of the sole is read.
  • the condition of the ankle is reflected in the pressure on the sole of the foot. According to the above-mentioned exercise assistance program, since the information regarding the sole of the foot is included in the first state information, it is possible to preferably measure the state of the ankle.
  • an ankle valgus valgus angle including at least one of the ankle varus angle and the ankle valgus angle is calculated, and in the third step, the ankle varus and valgus is calculated.
  • the second state information including information about the angle is output.
  • Ankle varus angle and ankle valgus angle are associated with ankle sprains. According to the above exercise assistance program, the risk of ankle sprain can be determined.
  • an ankle floor dorsiflexion angle including at least one of an ankle plantar flexion angle and ankle dorsiflexion angle is calculated, and in the third step, the ankle bottom dorsiflexion angle is calculated.
  • the second state information including information on the dorsiflexion angle is output.
  • Ankle plantar flexion angle and ankle dorsiflexion angle are associated with ankle sprains. According to the above exercise assistance program, the risk of ankle sprain can be determined.
  • the controller performs a fourth step of calculating instruction information for controlling an assisting unit that assists the exercise of the lower limbs according to at least one of the first state information and the second state information. Further, the instruction information is further output in the third step.
  • the instruction information for operating the assisting part to stabilize the ankle state is provided in at least one of the first state information and the second state information. Calculate according to.
  • the stability of the ankle is enhanced, so that the occurrence of ankle sprain can be suppressed.
  • a further form of the exercise assistance system according to the present invention is a garment worn on a lower limb, the detection unit provided in the garment, a transmission unit that transmits the first state information detected by the detection unit, and An exercise support program is provided.
  • the condition of the ankle can be measured.
  • the detection unit detects a lower leg angular velocity sensor for detecting a lower leg angular velocity, a lower leg acceleration sensor for detecting a lower leg acceleration, a foot angular velocity sensor for detecting a foot angular velocity, and a foot acceleration. At least one of a foot acceleration sensor and a foot pressure sensor that detects the pressure of the foot is included.
  • the exercise assistance system 1 is used, for example, for training performed by an exerciser.
  • Training includes, for example, exercise of the lower limbs L related to general life and sports.
  • the exercise of the lower limb L includes a jump exercise, a side step exercise, a plantar dorsiflexion exercise, and the like.
  • the jumping motion is a motion in which both feet jump and bounce away from the ground contact surface.
  • An example of the ground plane is the ground.
  • the side step motion is a motion of moving one foot away from the ground contact surface.
  • the plantar dorsiflexion motion is a motion to move the ankle so as to repeat plantar flexion and dorsiflexion.
  • Main components of the exercise assistance system 1 are the wearing body 10, the terminal device 40, and the exercise assistance program.
  • the mounting body 10 is mounted on the body.
  • the mounting body 10 includes a mounting body 10 for the left half body to be mounted on the left body and a mounting body (not shown) for the right body to be mounted on the right body.
  • the configuration of the wearing body 10 for the left half of the body is substantially the same as the configuration of the wearing body for the right half of the body.
  • the function of the wearing body 10 for the left half of the body is substantially the same as the function of the wearing body for the right half of the body.
  • the shape of the wearing body 10 for the left half of the body has a symmetrical relationship with the shape of the wearing body for the right half of the body. In the following description, the left-half body wearing body 10 will be described in detail, and the description regarding the right-half body wearing body will be omitted.
  • the main elements constituting the wearing body 10 are the wear 11, the detection block 20, and the auxiliary block 30.
  • the wear 11 is attached to the lower limb L.
  • the wear 11 as a wearing body includes a first wear 12 as a first wearing body and a second wear 18 as a second wearing body.
  • the first wear 12 and the second wear 18 may be configured integrally with each other or separately from each other. In the example shown in FIG. 1, the first wear 12 and the second wear 18 are configured separately from each other.
  • the first wear 12 is attached, for example, around the foot and ankle.
  • the second wear 18 is attached, for example, around the knee.
  • the second wear 18 has an annular shape.
  • the second wear 18 is preferably made of a stretchable material.
  • the first wear 12 includes an ankle covering portion 13, a foot covering portion 14, an insole 15, and an adjusting portion 16.
  • the ankle covering portion 13 includes a portion capable of covering the ankle.
  • the ankle covering portion 13 is formed in a hollow shape so that a foot can be inserted, for example.
  • the foot covering portion 14 includes a portion capable of covering the foot.
  • the foot covering portion 14 is formed integrally with the ankle covering portion 13, for example.
  • the foot covering portion 14 includes a sole covering portion 14A and a pair of instep covering portions 14B.
  • the sole covering portion 14A includes a portion capable of covering the sole.
  • the instep covering portion 14B includes a portion capable of covering the instep of the foot.
  • the pair of upper covering portions 14B extend from the sole covering portion 14A. It has a structure that can be folded back with respect to the sole covering portion 14A.
  • the insole 15 is inserted into the sole covering portion 14A.
  • the adjusting unit 16 has a structure capable of adjusting the wearing size of the foot covering unit 14.
  • the wearing size defines the inner circumference of the foot covering portion 14 when the foot covering portion 14 is worn on the foot.
  • the mounting size of the foot covering portion 14 is adjusted by the adjusting portion 16 to change the strength with which the foot covering portion 14 tightens the foot.
  • the adjusting portion 16 is composed of, for example, a hook-and-loop fastener 17.
  • the hook-and-loop fastener 17 includes a hook (not shown) and a loop 17A.
  • the hook is provided, for example, on the outer surface of the one instep covering portion 14B (not shown).
  • the loop 17A is provided, for example, on the inner surface 14C of the other instep covering portion 14B.
  • the foot is inserted into the ankle covering 13, the one instep covering 14B is folded back to cover the foot, and the loop 17A is attached to the hook so that the foot covering 14 fits the foot.
  • the first wear 12 is properly worn around the foot
  • the detection block 20 is provided in the wear 11, for example. In one example, the detection block 20 is provided in the first wear 12. The detection block 20 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the detection block 20 is configured to be capable of wireless communication with the terminal device 40.
  • the auxiliary block 30 is provided in the wear 11, for example. In one example, the auxiliary block 30 is provided in the second wear 18. Specifically, the auxiliary block 30 is provided on the second wear 18 so that an auxiliary portion 31 (see FIG. 3) described later comes into contact with the body. The auxiliary block 30 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the auxiliary block 30 is configured to be capable of wireless communication with the terminal device 40.
  • the terminal device 40 is provided separately from the wearing body 10.
  • the terminal device 40 includes at least one of a smart device and a personal computer.
  • the smart device includes at least one of a wearable device such as a smart watch, a smartphone, and a tablet computer.
  • the terminal device 40 includes a tablet computer.
  • the terminal device 40 can wirelessly communicate with the detection block 20 and the auxiliary block 30 by pairing with the detection block 20 and the auxiliary block 30. Communication elements required for pairing are included in each of the detection block 20, the auxiliary block 30, and the terminal device 40.
  • the terminal device 40 may be attached to the wear 11.
  • a specific configuration of the exercise assistance system 1 will be described with reference to FIG. In the exercise assisting system 1 shown in FIG. 3, one wearing body 10 is omitted.
  • the main elements that make up the detection block 20 are a detection unit 21 and a transmission unit 23.
  • the detection unit 21 detects the condition of the ankle.
  • the detection unit 21 includes a lower leg angular velocity sensor 21A that detects the lower leg's angular velocity, a lower leg acceleration sensor 21B that detects the lower leg acceleration, a foot angular velocity sensor 21C that detects the angular velocity of the foot, and a foot acceleration sensor 21D that detects the foot acceleration.
  • the sole pressure sensors 22 for detecting the pressure of the sole.
  • the lower leg angular velocity sensor 21A is provided in the wear 11. In one example, the lower leg angular velocity sensor 21A is provided in the ankle cover 13 (see FIG. 2). The lower leg angular velocity sensor 21A detects at least one of the angular velocity about the front-rear axis, the angular velocity about the left-right axis, and the angular velocity about the vertical axis. In one example, the lower leg angular velocity sensor 21A is a triaxial angular velocity sensor.
  • the lower leg angular velocity sensor 21A When the values detected by the lower leg angular velocity sensor 21A are integrated, at least one of the lower leg angle with respect to the anterior-posterior axis, the lower leg angle with respect to the left-right axis, and the lower leg angle with respect to the vertical axis is calculated.
  • the lower leg acceleration sensor 21B is provided in the wear 11. In one example, the lower leg acceleration sensor 21B is provided on the ankle cover 13 (see FIG. 2). In the example shown in FIG. 2, the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B are housed in one case 20A and integrally attached to the ankle covering portion 13.
  • the lower leg acceleration sensor 21B has an acceleration acting on the lower leg acceleration sensor 21B along the direction in which the front-rear axis extends (hereinafter, an acceleration in the front-rear axis direction), and an acceleration acting on the lower leg acceleration sensor 21B along a direction in which the left-right axis extends (hereinafter, At least one of the acceleration in the horizontal axis direction) and the acceleration acting on the lower leg acceleration sensor 21B along the direction in which the vertical axis extends (hereinafter, vertical axis acceleration) is detected.
  • the front-rear axis means an imaginary line extending along the front-back direction of the body
  • the left-right axis means an imaginary line extending along the left-right direction of the body
  • the vertical axis means an imaginary line extending along the up-down direction of the body.
  • the lower leg acceleration sensor 21B is a triaxial acceleration sensor.
  • the foot angular velocity sensor 21C is provided in the wear 11. In one example, the foot angular velocity sensor 21C is provided on the foot covering portion 14 (see FIG. 2). The foot angular velocity sensor 21C detects at least one of an angular velocity about the front-rear axis, an angular velocity about the left-right axis, and an angular velocity about the vertical axis. In one example, the foot angular velocity sensor 21C is a triaxial angular velocity sensor. When the values detected by the foot angular velocity sensor 21C are integrated, at least one of the foot angle with respect to the front-rear axis, the foot angle with respect to the left-right axis, and the foot angle with respect to the up-down axis is calculated.
  • the foot acceleration sensor 21D is provided in the wear 11. In one example, the foot acceleration sensor 21D is provided on the foot covering portion 14 (see FIG. 2). In the example shown in FIG. 2, the foot angular velocity sensor 21C and the foot acceleration sensor 21D are housed in one case 20B and integrally attached to the foot covering portion 14. The foot acceleration sensor 21D detects at least one of acceleration in the longitudinal axis direction, acceleration in the lateral axis direction, and acceleration in the vertical axis direction. In one example, the foot acceleration sensor 21D is a triaxial acceleration sensor.
  • the sole pressure sensor 22 is provided on the wear 11. In one example, the sole pressure sensor 22 is provided on the insole 15. In the example shown in FIG. 2, the sole pressure sensor 22 is a first sole pressure sensor 22A that detects the pressure of the thumb ball of the foot, a second sole pressure sensor 22B that detects the pressure of the little ball of the foot, and At least one of the third sole pressure sensors 22C for detecting the pressure of the heel is included.
  • the first sole pressure sensor 22A is provided on the insole 15 at a portion corresponding to the thumb ball of the foot.
  • the second sole pressure sensor 22B is provided on the insole 15 at a portion corresponding to the little toe ball of the foot.
  • the third sole pressure sensor 22C is provided at a portion of the insole 15 corresponding to the heel.
  • the transmitting unit 23 transmits the first state information detected by the detecting unit 21.
  • the first state information includes at least one of information about the angular velocity of the lower leg L, information about the acceleration of the lower leg L, and information about the pressure of the sole.
  • the first state information includes at least one of information about the lower leg's angular velocity, information about the lower leg's acceleration, information about the leg's angular velocity, information about the leg's acceleration, and information about the pressure on the sole.
  • the transmitter 23 includes a first transmitter 23A and a second transmitter 23B.
  • the first transmitter 23A is housed in, for example, the case 20A (see FIG. 2).
  • the first transmitter 23A is electrically connected to the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B.
  • the first state information transmitted by the first transmitter 23A includes at least one of information regarding the angular velocity of the lower leg and information regarding the acceleration of the lower leg.
  • the first transmitting unit 23A transmits the first state information detected by at least one of the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B to the terminal device 40.
  • the second transmitter 23B is housed in, for example, the case 20B (see FIG. 2).
  • the second transmitter 23B is electrically connected to the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the foot pressure sensor 22.
  • the first state information transmitted by the second transmission unit 23B includes at least one of information regarding the angular velocity of the foot, information regarding the acceleration of the foot, and information regarding the pressure of the sole.
  • the second transmitter 23B transmits the first state information detected by at least one of the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the sole pressure sensor 22 to the terminal device 40.
  • the main elements that make up the auxiliary block 30 are an auxiliary unit 31, a receiving unit 32, and a voltage control unit 33.
  • the auxiliary unit 31 assists the movement of the lower limb L.
  • the auxiliary portion 31 includes a first electrode 31A and a second electrode 31B.
  • electrodes 31A, 31B provide electrical stimulation to the common peroneal nerve.
  • the electrodes 31A and 31B are provided on the second wear 18 so as to come into contact with a portion of the lower limb L corresponding to the lower end of the peroneal head when the wear 11 is attached to the lower limb L, for example. Electric current is applied from one of the electrodes 31A and 31B to the other to apply electrical stimulation to the common peroneal nerve.
  • the receiving unit 32 receives various kinds of information from the terminal device 40.
  • the receiving unit 32 receives various kinds of information regarding the control of the auxiliary unit 31.
  • the various kinds of information regarding the control of the auxiliary unit 31 include at least one of information regarding the timing of applying the electrical stimulation, information regarding the stimulation pattern of the electrical stimulation, and information regarding the intensity of the electrical stimulation.
  • the voltage controller 33 controls the electrodes 31A and 31B based on various information received by the receiver 32, for example.
  • the mounting body 10 further includes a power supply 19 that supplies electric power to the detection block 20 and the auxiliary block 30.
  • the power supply 19 is provided in the wear 11, for example.
  • the power source 19 is electrically connected to the detection block 20 and the auxiliary block 30 by wire or wirelessly.
  • the power supply 19 supplies electric power to various electric elements that form the detection block 20 and various electric elements that form the auxiliary block 30.
  • the power source 19 includes a primary battery or a secondary battery.
  • the mounting body 10 may individually include a power supply that supplies power to the detection block 20 and a power supply that supplies power to the auxiliary block 30.
  • the main elements that configure the terminal device 40 are a control unit 41, an operation unit 42, a notification unit 43, and a power supply 44.
  • the control unit 41 includes one or more CPUs (Central Processing Units) or MPUs (Micro Processing Units).
  • the control unit 41 includes 1) one or more processors that execute various processes according to a computer program (software), and 2) 1 such as an application-specific integrated circuit (ASIC) that executes at least a part of the various processes. It may be configured as a circuit including one or more dedicated hardware circuits, or 3) combinations thereof.
  • a processor includes a CPU and memory such as RAM and ROM, which stores program codes or instructions configured to cause the CPU to perform processing.
  • Memory or computer readable media includes any available media that can be accessed by a general purpose or special purpose computer.
  • the control unit 41 executes various controls based on at least one of the first state information and the operation information regarding the operation of the operation unit 42.
  • the control unit 41 includes an information reading unit 41A, a state calculation unit 41B, an information output unit 41C, a risk determination unit 41D, and an auxiliary calculation unit 41E.
  • the information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 21.
  • the information reading unit 41A outputs, for example, the first state information to the state calculation unit 41B and the auxiliary calculation unit 41E.
  • the state calculation unit 41B calculates the state of the ankle according to the first state information.
  • the state calculation unit 41B determines the movement of the lower limb L according to the first state information, and calculates the state of the ankle based on the relationship between the first state information and the movement of the lower limb L.
  • the state of the ankle includes the ankle valgus valgus angle A (see FIG. 4) and the ankle plantar dorsiflexion angle B (see FIG. 5).
  • the state calculation unit 41B calculates, for example, the ankle varus/valgus angle A according to the first state information.
  • the ankle valgus valgus angle A includes at least one of the ankle varus angle A1 and the ankle valgus angle A2.
  • the varus angle A1 of the ankle is defined by the smaller one of the angles formed by the sole of the foot and the ground contact surface when the ankle is inversion.
  • the valgus angle A2 of the ankle is defined by the smaller one of the angles formed by the sole of the foot and the ground contact surface when the ankle is valgus, for example.
  • the ankle valgus/valgus angle A is calculated, for example, according to the detection results of at least one of the lower leg angular velocity sensor 21A, the foot angular velocity sensor 21C, and the sole pressure sensor 22.
  • the state calculation unit 41B calculates, for example, the ankle plantar dorsiflexion angle B according to the first state information.
  • the ankle plantar flexion angle B includes at least one of the ankle plantar flexion angle B1 and the ankle dorsiflexion angle B2.
  • the plantar flexion angle B1 of the ankle is defined by the smaller one of the angles formed by the sole of the foot and the imaginary line LI in a state where the ankle is flexed.
  • the virtual line LI defines the sole of the foot when the ankle is in the middle position.
  • the middle position of the ankle shows the state of the ankle, which is similar to the state where the foot is in contact with the ground contact surface.
  • the middle position of the ankle indicates a state in which the smaller angle between the lower leg and the foot is 90 degrees.
  • the ankle dorsiflexion angle B2 is defined by the smaller one of the angles formed by the sole of the foot and the imaginary line LI when the ankle is dorsiflexed, for example.
  • the ankle plantar dorsiflexion angle B is calculated according to at least one detection result of the lower leg angular velocity sensor 21A, the foot angular velocity sensor 21C, and the sole pressure sensor 22, for example.
  • the state calculation unit 41B outputs the calculation result regarding the state of the ankle to the information output unit 41C.
  • the information output unit 41C outputs the second state information regarding the calculated state of the ankle.
  • the information output unit 41C outputs the second state information to the risk determination unit 41D and the auxiliary calculation unit 41E.
  • the risk determination unit 41D determines a risk related to a sprain of the ankle (hereinafter, “risk of sprain”) based on the second state information. For example, when the risk condition is satisfied, the risk determination unit 41D outputs risk information regarding the risk of sprain to the information output unit 41C. The establishment of the risk condition indicates that the risk of sprain is high. The information output unit 41C outputs the risk information to the notification unit 43. The information output unit 41C may output information regarding the movement of the lower limb L to the notification unit 43, separately from the risk information. The risk determination unit 41D may output the risk information to the information output unit 41C regardless of whether or not the risk condition is satisfied.
  • risk of sprain a risk related to a sprain of the ankle
  • the risk determination unit 41D determines whether or not a risk condition is satisfied, for example, based on the relationship between the second state information and a preset threshold value.
  • the threshold value is stored in a memory (not shown) mounted on the terminal device 40.
  • the thresholds are peroneus muscle status, ankle flexibility, injury history, jump height, number of jump movements, speed of side step movements, number of side step movements, plantar flexion angle in bottom dorsiflexion movements. It is defined based on at least one of B1, the dorsiflexion angle B2 in the bottom dorsiflexion motion, and the number of times of the bottom dorsiflexion motion.
  • the auxiliary calculation unit 41E calculates instruction information for controlling the auxiliary unit 31 that assists the movement of the lower limb L according to at least one of the first state information and the second state information. For example, when the auxiliary condition is satisfied, the auxiliary calculation unit 41E calculates the instruction information according to at least one of the first state information and the second state information. The auxiliary calculation unit 41E determines whether or not the auxiliary condition is satisfied, for example, based on the risk information. In one example, when the risk condition is satisfied, the auxiliary calculation unit 41E determines that the auxiliary condition is satisfied. The auxiliary calculation unit 41E outputs the calculated instruction information to the information output unit 41C. The information output unit 41C outputs the instruction information to the auxiliary block 30. The voltage control unit 33 controls the electrodes 31A and 31B according to the instruction information acquired via the receiving unit 32. The auxiliary calculator 41E may calculate the instruction information regardless of whether or not the auxiliary condition is satisfied.
  • the operation unit 42 is configured to be able to input information regarding the operation of the exercise assistance system 1, for example.
  • the notification unit 43 is configured to be able to notify information about the exercise assistance system 1, for example.
  • the notification unit 43 includes at least one of the speaker 43A and the display 43B.
  • the speaker 43A notifies the information regarding the exercise assistance system 1 by sound.
  • the display 43B notifies the information regarding the exercise assistance system 1 by an image.
  • the display 43B may be configured integrally with the operation unit 42. In this case, the display 43B is a touch panel display.
  • the power supply 44 supplies electric power to various electric elements that constitute the terminal device 40.
  • Exercise support system 1 executes various controls according to the exercise support program.
  • the exercise assistance program is calculated by a first step S1 of reading first state information relating to the state of the lower limb L detected by the detection unit 21, and a second step S2 of calculating the state of the ankle according to the first state information.
  • the control unit 41 is caused to execute a third step of outputting the second state information regarding the state of the ankle. With the exercise support program, the condition of the ankle can be measured.
  • the first state information including information on the angular velocity of the lower limb L is read.
  • the first state information including information on the lower leg's angular velocity and information on the leg's angular velocity is read. Since the state of the ankle is reflected on the angular velocity of the lower leg and the angular velocity of the foot, the state of the ankle can be preferably measured.
  • the first state information including the information on the acceleration of the lower limb L is read.
  • the first state information including the information regarding the lower leg acceleration and the information regarding the leg acceleration is read. Since the condition of the ankle is reflected in the acceleration of the lower leg and the acceleration of the foot, the condition of the ankle can be preferably measured.
  • the first state information including the information on the pressure of the sole is read. Since the ankle condition is reflected in the pressure on the sole of the foot, the ankle condition can be preferably measured.
  • the ankle varus/valgus angle A including at least one of the ankle varus angle A1 and the ankle valgus angle A2 is calculated.
  • the second state information including information about the ankle valgus eversion angle A is output. Since the second state information includes information about the ankle valgus valgus angle A related to the ankle sprain, the risk of sprain can be appropriately determined.
  • the ankle bottom dorsiflexion angle B including at least one of the ankle plantar flexion angle B1 and the ankle dorsiflexion angle B2 is calculated.
  • second state information including information on the ankle plantar dorsiflexion angle B is output. Since the second state information includes information on the ankle plantar dorsiflexion angle B related to the ankle sprain, the risk of sprain can be appropriately determined.
  • the exercise assistance program further causes the control unit 41 to execute a fourth step S4 of calculating instruction information for controlling the electrodes 31A and 31B that assist the exercise of the lower limb L according to at least one of the first state information and the second state information. ..
  • instruction information for operating the electrodes 31A and 31B so that the ankle state is stable is calculated according to at least one of the first state information and the second state information.
  • instruction information for operating the electrodes 31A and 31B so that the peroneal muscles are activated immediately before the foot touches the ground is calculated according to at least one of the first state information and the second state information.
  • the timing immediately before the foot touches the ground is the timing before the moment when the foot touches the ground.
  • the timing when the foot moves in the direction toward the ground contact surface Immediately before the foot touches the ground, it is estimated based on, for example, the first state information.
  • the instruction information is further output. According to the exercise support program, electrical stimulation is applied so that the peroneal muscles are activated, so that stability of the ankle can be enhanced. Therefore, the occurrence of sprain of the ankle can be suppressed.
  • the graph shown in FIG. 6 shows an example of the relationship between the ankle state (stable or unstable) and the first state information.
  • Jump movement is divided into, for example, three phases.
  • the jump motion is divided into takeoff, top, and landing.
  • the take-off is a period in which the knee is greatly bent, the knee is extended, and the foot separates from the ground contact surface.
  • the highest point is the period during which the body reaches the highest position in the jump exercise.
  • Landing is the period when the foot touches down from the air.
  • the detection result of the detection unit 21 corresponding to one lower limb L and the detection result of the detection unit 21 corresponding to the other lower limb L are substantially the same.
  • the graph shown in FIG. 6 shows an example of the detection result of the detection unit 21 corresponding to one lower limb L.
  • the broken line shown in FIG. 6 indicates that the sensor value is 0.
  • the solid line angular velocity shown in FIG. 6 indicates the angular velocity around the front-rear axis.
  • the angular velocity indicated by the alternate long and short dash line in FIG. 6 indicates the angular velocity about the left and right axes.
  • the angular velocity indicated by the chain double-dashed line in FIG. 6 indicates the angular velocity about the vertical axis.
  • FIG. 7 shows an example of the relationship between the state of the ankle and the first state information.
  • the detection result of the detection unit 21 corresponding to one lower limb L and the detection result of the detection unit 21 corresponding to the other lower limb L are substantially the same.
  • the graph shown in FIG. 7 shows an example of the detection result of the detection unit 21 corresponding to one lower limb L.
  • the broken line shown in FIG. 7 indicates that the sensor value is 0.
  • the following differences are found depending on the state of the ankle. Before the landing of the jumping motion, there is a difference in the angle of the foot around the front-back axis. It is preferable to set the risk condition based on the above points.
  • the graph shown in FIG. 8 shows an example of the relationship between the ankle state and the first state information.
  • Side step motion is divided into three phases, for example.
  • the side step movement is divided into a first two-leg standing position, a one-leg standing position, and a second both-leg standing position.
  • the first two-leg standing position is a period in which both feet are in contact with the ground.
  • One-leg standing is a period in which one foot touches the ground and the other foot moves away from the touchdown surface.
  • the second leg standing is a period in which one foot is in contact with the ground and the other foot is in contact with the ground.
  • the graph shown in FIG. 8 shows an example of the detection result of the detection unit 21 corresponding to the lower limb L moving in the side step motion.
  • the broken line shown in FIG. 8 indicates that the sensor value is 0.
  • the solid line angular velocity shown in FIG. 8 indicates the angular velocity around the front-rear axis.
  • the angular velocity indicated by the alternate long and short dash line in FIG. 8 indicates the angular velocity about the left and right axes.
  • the angular velocity indicated by the chain double-dashed line in FIG. 8 indicates the angular velocity around the vertical axis.
  • the following differences are found depending on the state of the ankle. There is a difference in the angular velocity of the lower leg and the angular velocity of the foot in the second leg standing of the side step motion. It is preferable to set the risk condition based on the above points.
  • FIG. 9 shows an example of the relationship between the state of the ankle and the first state information.
  • the solid line graph shown in FIG. 9 shows an example of the detection result of the detection unit 21 corresponding to the lower limb L moving in the side step motion.
  • the dashed-dotted line graph shown in FIG. 9 shows an example of the detection result of the detection unit 21 corresponding to the lower limb L that does not move in the side step motion.
  • the broken line shown in FIG. 9 indicates that the sensor value is 0.
  • the following differences are found depending on the state of the ankle. There is a difference in the angle of the foot around the anterior-posterior axis in the second leg standing in the side step motion. It is preferable to set the risk condition based on the above points.
  • the graph shown in FIG. 10 shows an example of the relationship between the ankle state and the first state information.
  • Dorso-dorsiflexion movement is divided into three phases, for example.
  • the plantar dorsiflexion motion is divided into intermediate, plantar flexion, and dorsiflexion.
  • the middle position is a period in which the smaller one of the angles formed by the lower leg and the foot is 90 degrees.
  • Plantar flexion is a period in which the smaller angle between the lower leg and the foot is greater than 90 degrees.
  • Dorsiflexion is a period in which the smaller angle between the lower leg and the foot is less than 90 degrees.
  • the detection result of the detection unit 21 corresponding to one lower limb L and the detection result of the detection unit 21 corresponding to the other lower limb L are substantially the same.
  • the graph shown in FIG. 10 shows an example of the detection result of the detection unit 21 corresponding to one lower limb L.
  • the broken line shown in FIG. 10 indicates that the sensor value is 0.
  • the solid line angular velocity shown in FIG. 10 indicates the angular velocity around the front-rear axis.
  • the angular velocity indicated by the alternate long and short dash line in FIG. 10 indicates the angular velocity about the left and right axes.
  • the angular velocity indicated by the chain double-dashed line in FIG. 10 indicates the angular velocity about the vertical axis.
  • the exercise assistance system 1 executes at least one of the first control and the second control according to an exercise assistance program, for example.
  • the first control includes control for outputting risk information.
  • the second control includes control for outputting instruction information.
  • at least one of the first control and the second control is executed based on the operation of the operation unit 42.
  • the exercise assistance system 1 may execute the first control and the second control in parallel according to the exercise assistance program.
  • the control unit 41 reads the first state information in step S11. Specifically, the information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 21. Step S11 corresponds to the first step S1.
  • the control unit 41 calculates the state of the ankle in step S12. Specifically, the state calculation unit 41B calculates the state of the ankle according to the first state information. In other words, the state of the ankle is measured according to the first state information.
  • Step S12 corresponds to the second step S2.
  • the control unit 41 outputs the second state information in step S13. Specifically, the information output unit 41C outputs the second state information regarding the state of the ankle calculated in step S12 to the risk determination unit 41D. Step S13 corresponds to the third step S3.
  • the control unit 41 determines in step S14 whether or not the risk condition is satisfied. Specifically, the risk determination unit 41D determines whether or not the risk condition is satisfied, based on the relationship between the second state information and the preset threshold value. When it is determined in step S14 that the risk condition is not satisfied, the control unit 41 returns the process to step S11. When the control unit 41 determines in step S14 that the risk condition is satisfied, the control unit 41 proceeds to the process of step S15.
  • the control part 41 outputs risk information in step S15. Specifically, the information output unit 41C outputs risk information regarding the risk of sprain to the notification unit 43.
  • the notification unit 43 notifies the risk information.
  • the control unit 41 may repeatedly execute the first control including the processes of steps S11 to S15 during the period in which the exercise assistance system 1 is used. In the processing of steps S11 to S15 shown in FIG. 11, the processing of step S14 may be omitted.
  • the processing of steps S21 to S22 included in the second control is the same as the processing of steps S11 to S12 included in the first control.
  • the control unit 41 outputs the second state information in step S23. Specifically, the information output unit 41C outputs the second state information regarding the state of the ankle calculated in step S22 to the auxiliary calculation unit 41E. Step S23 corresponds to the third step S3.
  • the control unit 41 determines in step S24 whether or not the auxiliary condition is satisfied. Specifically, the auxiliary calculation unit 41E determines whether the auxiliary condition is satisfied based on the risk information. When it is determined in step S24 that the auxiliary condition is not satisfied, the control unit 41 returns the process to step S21. When the control section 41 determines in step S24 that the auxiliary condition is satisfied, the control section 41 proceeds to the process of step S25.
  • the control unit 41 calculates instruction information in step S25. Specifically, the auxiliary calculator 41E calculates the instruction information according to at least one of the first state information and the second state information. Step S25 corresponds to the fourth step S4.
  • the control unit 41 outputs the instruction information in step S26. Specifically, the information output unit 41C outputs the instruction information to the auxiliary block 30. Step S26 corresponds to the third step S3.
  • the voltage control unit 33 controls the electrodes 31A and 31B according to the instruction information. In one example, the voltage control unit 33 controls the electrodes 31A and 31B so that the peroneal muscles are activated according to the instruction information.
  • the control unit 41 may repeatedly execute the second control including the processes of steps S21 to S26 during the period in which the exercise assistance system 1 is used. In the processing of steps S21 to S26 shown in FIG. 12, at least one processing of steps S22 to S24 may be omitted.
  • Exercise person uses exercise support system 1 according to the following steps.
  • at least the first control is executed according to the exercise assistance program.
  • the exerciser turns on the power of the exercise assistance system 1 in step S31.
  • the reference values of the sensors included in the detection unit 21 and the reference values of the electrodes 31A and 31B are calibrated.
  • the exerciser performs pairing between the wearing body 10 and the terminal device 40 in step S32.
  • the detection block 20, the auxiliary block 30, and the terminal device 40 are paired according to the operation of the operation unit 42.
  • the exerciser wears the wear 11 on the lower limb L in step S33.
  • the exerciser performs various types of training in step S34.
  • the exerciser may set the content of the exercise assistance program executed by the exercise assistance system 1 by operating the operation unit 42 before performing the training. When the content of the exercise assistance program is not set, for example, the exercise assistance program similar to that at the time of previous use is executed.
  • step S35 the exercise assistance program is executed.
  • the control unit 41 executes the first control according to the exercise assistance program.
  • the notification unit 43 notifies the risk information regarding the risk of sprain.
  • the trainer assisting the exerciser confirms the risk information in step S36.
  • the trainer instructs, for example, training or a break suitable for the exerciser based on the risk information.
  • the exerciser may attach the wear 11 to the lower limb L before step S31 or step S32.
  • step S36 the exerciser may check the risk information.
  • various controls are executed according to the exercise assistance program, so that the exerciser can perform training according to the risk of sprain. Therefore, it is possible to suppress the occurrence of injury of the lower limb L (for example, ankle sprain). Further, when the second control is executed in accordance with the exercise assisting program, electric stimulation is applied so as to activate the peroneal muscles, and thus delay of muscle contraction of the peroneal muscles is unlikely to occur. Therefore, the risk of sprains is reduced.
  • a second form of the exercise assistance system detects the acceleration of the user's knee in the left-right axis direction by using an acceleration sensor provided on the wear worn on the user's thigh, and the detected user's knee is detected. Among the accelerations in the left-right axis direction of the knee, it is determined whether or not the inward acceleration is less than a threshold value. Electrical stimulation is applied to the semitendinosus muscle of the user using electrodes provided on the garment.
  • the knee condition can be preferably measured based on the acceleration of the knee in the left-right axis direction.
  • electrical stimulation is applied to the common peroneal nerve, which assists the lower limb movement according to the knee condition. it can.
  • a second form of the exercise assistance program receives, from the acceleration sensor, information about acceleration in the left-right axis direction of the user's knee detected by the acceleration sensor provided in the wear worn on the user's thigh. And a process of determining whether or not the inward acceleration of the knee of the user in the left-right axis direction exceeds a threshold value based on the information on the acceleration, and the inward acceleration is When it is determined to be less than the threshold value, the control information for applying electrical stimulation to the semitendinosus muscle of the user by the electrode of the auxiliary unit of the wear worn by the user is output to the auxiliary unit of the wear. And the processing to be performed.
  • the knee condition can be suitably measured based on the acceleration of the knee in the left-right axis direction.
  • electrical stimulation is applied to the common peroneal nerve, which assists the lower limb movement according to the knee condition. it can.
  • a second aspect of the control method of the exercise assistance system is a control method of the exercise assistance system including wear worn by the user, wherein the knee of the user detected by an acceleration sensor provided in the wear.
  • Information about the acceleration in the left-right axis direction of the user is acquired from the acceleration sensor, and whether or not the inward acceleration of the user's knee in the left-right axis direction exceeds a threshold value based on the information about the acceleration. If it is determined that the inward acceleration is less than the threshold value, the auxiliary part of the wear worn by the user is controlled to apply electrical stimulation to the semitendinosus muscle of the user. Output information.
  • the knee condition can be preferably measured based on the acceleration of the knee in the left-right axis direction.
  • electrical stimulation is applied to the common peroneal nerve, which assists the lower limb movement according to the knee condition. it can.
  • a further form of the exercise assistance program according to the present invention is a first step of reading first state information relating to the state of the lower limb detected by the detection unit, and a second step of calculating the state of the knee according to the first state information. And causing the control unit to execute a third step of outputting the second state information regarding the calculated knee state.
  • the knee condition can be measured.
  • the first state information including information on the acceleration of the lower limbs is read.
  • Knee condition is reflected in lower limb acceleration.
  • the information regarding the acceleration of the lower limbs is included in the first state information, it is possible to preferably measure the state of the knee.
  • the first state information including information about the acceleration of the three axes is read
  • the acceleration of the vertical axis and the left and right axes and the front-rear direction is read
  • the acceleration of the vertical axis and the left and right axes and the front-rear direction is calculated based on the relationship between the horizontal plane defined by the axis and the acceleration.
  • the stability of the knee can be determined.
  • the controller performs a fourth step of calculating instruction information for controlling an assisting unit that assists the exercise of the lower limbs according to at least one of the first state information and the second state information. Further, the instruction information is further output in the third step.
  • the instruction information for operating the assisting part to stabilize the knee condition is provided to at least one of the first condition information and the second condition information. Calculate according to.
  • the instruction information for operating the assisting portion so that the muscles of the lower limbs are activated immediately before the foot touches the ground is provided with the first state information and the The calculation is performed according to at least one of the second state information.
  • the stability of the knee is relatively low. According to the above exercise assistance program, the stability of the knee can be improved, for example, when the jumped athlete lands.
  • a further form of the exercise assistance system according to the present invention is a garment worn on a lower limb, the detection unit provided in the garment, a transmission unit that transmits the first state information detected by the detection unit, and An exercise support program is provided.
  • the knee condition can be measured.
  • the detection unit includes a thigh acceleration sensor that detects thigh acceleration.
  • the exercise assistance system 1 is used, for example, for training performed by an exerciser.
  • Training includes, for example, exercise of the lower limbs L related to general life and sports.
  • the movement of the lower limb L includes jump movement, side step movement, and the like.
  • the jumping motion is a motion in which both feet jump and bounce away from the ground contact surface.
  • An example of the ground plane is the ground.
  • the side step motion is a motion of moving one foot away from the ground contact surface.
  • Main components of the exercise assistance system 1 are the wearing body 50, the terminal device 40, and the exercise assistance program.
  • the mounting body 50 is mounted on the body.
  • the mounting body 50 includes a mounting body 50 for the left half body mounted on the left body and a mounting body 50 for the right body mounted on the right body.
  • the configuration of the wearing body 50 for the left half of the body is substantially the same as the configuration of the wearing body 50 for the right half of the body.
  • the function of the left-half body wearing body 50 is substantially the same as that of the right-half body wearing body 50.
  • the shape of the wearing body 50 for the left half of the body has a symmetrical relationship with the shape of the wearing body 50 for the right half of the body. In the following description, the left-half body wearing body 50 will be described in detail, and the description of the right-half body wearing body 50 will be omitted.
  • the main components of the mounting body 50 are the wear 51, the detection block 60 (see FIG. 15), and the auxiliary block 30 (see FIG. 15).
  • the wear 51 as a wearing body is worn on the lower limb L.
  • the wear 51 is attached to the lower leg L so as to be wrapped around the lower leg L.
  • the detection block 60 is provided in the wear 51, for example.
  • the auxiliary block 30 is provided in the wear 51, for example.
  • the auxiliary block 30 is provided on the wear 51 so as to contact the lower limb L.
  • the wear 51 includes a lower limb covering portion 52, a pair of winding portions 53, and an adjusting portion 54.
  • the lower limb covering portion 52 is a band that can be wrapped around the lower limb L.
  • the lower limb covering portion 52 includes a portion that contributes to tightening the lower limb L.
  • the pair of wrapping portions 53 are bands that can be wrapped around the lower limb covering portion 52 so as to cover the lower limb covering portion 52.
  • the pair of wrapping portions 53 includes portions that can be gripped to wrap the lower limb covering portion 52 around the lower limb L.
  • the pair of winding portions 53 are provided on the lower limb covering portion 52 and extend in the longitudinal direction of the lower limb covering portion 52.
  • the pair of winding parts 53 is provided integrally with the lower limb covering part 52, for example.
  • the adjusting part 54 has a structure capable of adjusting the wearing size of the lower limb covering part 52.
  • the mounting size defines the inner circumference of the lower limb covering part 52 when the lower limb covering part 52 is mounted on the lower limb L.
  • the mounting size of the lower limb covering part 52 is adjusted by the adjusting part 54, so that the strength with which the lower limb covering part 52 tightens the lower limb L is changed.
  • the adjuster 54 is composed of a surface fastener 55, for example.
  • the hook-and-loop fastener 55 includes a hook (not shown) and a loop 55A. The hook is provided on the outer surface 52B (see FIG. 14) of the lower limb covering portion 52, for example.
  • the loop 55A is provided on the inner surface 53A of the winding portion 53, for example.
  • the pair of wrapping portions 53 is wound around the lower limb covering portion 52 so that the lower limb covering portion 52 fits the lower limb L, and the loop 55A is attached to the hook, so that the wear 51 is properly attached to the lower limb L. To be done.
  • the wear 51 is attached to the thigh T.
  • the detection block 60 is provided, for example, on the inner surface 52A of the lower limb covering portion 52.
  • the detection block 60 may be provided on the outer surface 52B of the lower limb covering portion 52, or may be provided inside the cloth forming the lower limb covering portion 52.
  • the detection block 60 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the detection block 60 is configured to be capable of wirelessly communicating with the terminal device 40.
  • the auxiliary block 30 is provided, for example, on the inner surface 52A of the lower limb covering portion 52. In one example, the auxiliary block 30 is provided on the inner surface 52A of the lower limb covering portion 52 so that an auxiliary portion 31 (see FIG. 16) described later comes into contact with the body. In the example shown in FIG.
  • the auxiliary block 30 is provided on the inner surface 52A of the lower limb covering portion 52 so as to be arranged at the center of the lower limb covering portion 52. Elements other than the auxiliary portion 31 included in the auxiliary block 30 may be provided on the outer surface 52B of the lower limb covering portion 52, or may be provided inside the cloth forming the lower limb covering portion 52.
  • the auxiliary block 30 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the auxiliary block 30 is configured to be capable of wireless communication with the terminal device 40.
  • the terminal device 40 is provided separately from the wearing body 50.
  • the terminal device 40 includes at least one of a smart device and a personal computer.
  • the smart device includes at least one of a wearable device such as a smart watch, a smartphone, and a tablet computer.
  • the terminal device 40 includes a tablet computer.
  • the terminal device 40 can wirelessly communicate with the detection block 60 and the auxiliary block 30 by pairing with the detection block 60 and the auxiliary block 30. Communication elements required for pairing are included in each of the detection block 60, the auxiliary block 30, and the terminal device 40.
  • the terminal device 40 may be attached to the wear 51.
  • a specific configuration of the exercise assistance system 1 will be described with reference to FIG. In the exercise assisting system 1 shown in FIG. 16, one wearing body 50 is omitted.
  • the main components of the detection block 60 are the detection unit 61 and the transmission unit 62.
  • the detection unit 61 detects the state of the lower limb L.
  • the detection unit 61 includes a thigh acceleration sensor 61A that detects the acceleration of the thigh T.
  • the thigh acceleration sensor 61A has acceleration acting on the thigh acceleration sensor 61A along the direction in which the front-rear axis extends (hereinafter, acceleration in the front-rear axis direction), acceleration acting on the thigh acceleration sensor 61A along the direction in which the left-right axis extends (hereinafter, At least one of the acceleration in the horizontal axis direction) and the acceleration acting on the thigh acceleration sensor 61A along the direction in which the vertical axis extends (hereinafter referred to as vertical axis acceleration) is detected.
  • the front-rear axis means an imaginary line extending along the front-back direction of the body
  • the left-right axis means an imaginary line extending along the left-right direction of the body
  • the vertical axis means an imaginary line extending along the up-down direction of the body.
  • the thigh acceleration sensor 61A is a three-axis acceleration sensor that detects acceleration in the vertical axis direction and acceleration in the horizontal plane direction defined by the horizontal axis and the front-back axis.
  • the thigh acceleration sensor 61A is provided on the wear 11.
  • the thigh acceleration sensor 61A is provided on the wear 11 so as to be arranged near the knee when the wear 11 is attached to the thigh T.
  • the transmitter 62 transmits the first state information detected by the detector 61.
  • the first state information includes information on the acceleration of the lower limb L. Specifically, the first state information includes information about acceleration in the three axis directions.
  • the transmission unit 62 transmits the first state information detected by the thigh acceleration sensor 61A to the terminal device 40.
  • the main elements that make up the auxiliary block 30 are an auxiliary unit 31, a receiving unit 32, and a voltage control unit 33.
  • the auxiliary unit 31 assists the movement of the lower limb L.
  • the auxiliary portion 31 includes a first electrode 31A and a second electrode 31B.
  • the electrodes 31A and 31B apply electrical stimulation to the muscles of the thigh T, for example.
  • the electrodes 31A, 31B apply electrical stimulation to the hamstring or the gluteus maxims muscle of the thigh T.
  • the hamstring contains semitendinosus muscles.
  • the electrodes 31A and 31B apply electrical stimulation to the semitendinosus muscle of the thigh T.
  • the electrodes 31A and 31B are provided on the wear 11 so as to come into contact with a portion of the thigh T corresponding to the semitendinosus muscle when the wear 11 is attached to the thigh T.
  • An electric stimulus is applied to the semitendinosus muscle of the thigh T by flowing a current from one of the electrodes 31A and 31B toward the other.
  • the receiving unit 32 receives various kinds of information from the terminal device 40.
  • the receiving unit 32 receives various kinds of information regarding the control of the auxiliary unit 31.
  • the various kinds of information regarding the control of the auxiliary unit 31 include at least one of information regarding the timing of applying the electrical stimulation, information regarding the stimulation pattern of the electrical stimulation, and information regarding the intensity of the electrical stimulation.
  • the voltage controller 33 controls the electrodes 31A and 31B based on various information received by the receiver 32, for example.
  • the mounting body 50 further includes a power source 56 that supplies power to the detection block 60 and the auxiliary block 30.
  • the power supply 56 is provided in the wear 11, for example.
  • the power source 56 is electrically connected to the detection block 60 and the auxiliary block 30 by wire or wirelessly.
  • the power supply 56 supplies electric power to the electric elements forming the detection block 60 and the electric elements forming the auxiliary block 30.
  • the power source 56 includes a primary battery or a secondary battery.
  • the mounting body 50 may individually include a power supply that supplies power to the detection block 60 and a power supply that supplies power to the auxiliary block 30.
  • the configuration of the terminal device 40 is the same as that of the terminal device 40 of the first embodiment.
  • the main elements that configure the terminal device 40 are a control unit 41, an operation unit 42, a notification unit 43, and a power supply 44.
  • the control unit 41 includes one or more CPUs (Central Processing Units) or MPUs (Micro Processing Units).
  • the control unit 41 executes various controls based on at least one of the first state information and the operation information regarding the operation of the operation unit 42.
  • the control unit 41 includes an information reading unit 41A, a state calculation unit 41B, an information output unit 41C, a risk determination unit 41D, and an auxiliary calculation unit 41E.
  • the information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 61.
  • the information reading unit 41A outputs, for example, the first state information to the state calculation unit 41B and the auxiliary calculation unit 41E.
  • the state calculation unit 41B calculates the state of the knee according to the first state information.
  • the state calculation unit 41B determines the movement of the lower limb L according to the first state information, and calculates the state of the knee based on the relationship between the first state information and the movement of the lower limb L.
  • the state calculation unit 41B calculates the state of the knee based on the relationship between the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction defined by the left and right axes and the longitudinal axis.
  • the state calculation unit 41B outputs the calculation result regarding the state of the knee to the information output unit 41C.
  • the information output unit 41C outputs the second state information regarding the calculated state of the knee.
  • the information output unit 41C outputs, for example, the second state information to the risk determination unit 41D and the auxiliary calculation unit 41E.
  • the risk determination unit 41D determines the risk of damage to the anterior cruciate ligament (ACL) based on the second state information (hereinafter, “risk of the anterior cruciate ligament”). For example, when the risk condition is satisfied, the risk determination unit 41D outputs risk information regarding the risk of the anterior cruciate ligament to the information output unit 41C. The establishment of the risk condition suggests that the anterior cruciate ligament is likely to be damaged. The information output unit 41C outputs the risk information to the notification unit 43. The information output unit 41C may output information regarding the movement of the lower limb L to the notification unit 43, separately from the risk information. The risk determination unit 41D may output the risk information to the information output unit 41C regardless of whether or not the risk condition is satisfied.
  • the risk determination unit 41D determines whether or not a risk condition is satisfied, for example, based on the relationship between the second state information and a preset threshold value.
  • the threshold value is stored in a memory (not shown) mounted on the terminal device 40.
  • the threshold is at least one of: semitendinous muscle status, knee stability, injury history, jump height, number of jumps, speed of sidesteps, and number of sidesteps. It is prescribed based on.
  • the auxiliary calculation unit 41E calculates instruction information for controlling the auxiliary unit 31 that assists the movement of the lower limb L according to at least one of the first state information and the second state information. For example, when the auxiliary condition is satisfied, the auxiliary calculation unit 41E calculates the instruction information according to at least one of the first state information and the second state information. The auxiliary calculation unit 41E determines whether or not the auxiliary condition is satisfied, for example, based on the risk information. In one example, when the risk condition is satisfied, the auxiliary calculation unit 41E determines that the auxiliary condition is satisfied. The auxiliary calculation unit 41E outputs the calculated instruction information to the information output unit 41C. The information output unit 41C outputs the instruction information to the auxiliary block 30. The voltage control unit 33 controls the electrodes 31A and 31B according to the instruction information acquired via the receiving unit 32. The auxiliary calculator 41E may calculate the instruction information regardless of whether or not the auxiliary condition is satisfied.
  • the operation unit 42 is configured to be able to input information regarding the operation of the exercise assistance system 1, for example.
  • the notification unit 43 is configured to be able to notify information about the exercise assistance system 1, for example.
  • the notification unit 43 includes at least one of the speaker 43A and the display 43B.
  • the speaker 43A notifies the information regarding the exercise assistance system 1 by sound.
  • the display 43B notifies the information regarding the exercise assistance system 1 by an image.
  • the display 43B may be configured integrally with the operation unit 42. In this case, the display 43B is a touch panel display.
  • the power supply 44 supplies electric power to various electric elements that constitute the terminal device 40.
  • Exercise support system 1 executes various controls according to the exercise support program.
  • the exercise assistance program is calculated by a first step S1 of reading first state information regarding the state of the thigh T detected by the thigh acceleration sensor 61A, and a second step S2 of calculating the state of the knee according to the first state information.
  • the control unit 41 is caused to execute the third step S3 of outputting the second state information regarding the state of the knee. With the exercise support program, the knee condition can be measured.
  • the first state information including the information regarding the acceleration of the thigh T is read.
  • the first state information including the information about the acceleration in the three axis directions is read. Since the knee condition is reflected in the acceleration of the thigh T, the knee condition can be preferably measured.
  • the state of the knee is calculated based on the relationship between the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction defined by the horizontal axis and the longitudinal axis. The stability of the knee during the movement of the lower limb L is reflected in the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction. With the exercise support program, the stability of the knee can be determined.
  • the exercise assistance program further causes the control unit 41 to execute a fourth step S4 of calculating instruction information for controlling the electrodes 31A and 31B that assist the exercise of the thigh T according to at least one of the first state information and the second state information. ..
  • instruction information for operating the electrodes 31A and 31B so as to stabilize the knee state is calculated according to at least one of the first state information and the second state information.
  • instruction information for operating the electrodes 31A and 31B so that the semitendinosus muscles are activated immediately before the foot touches the ground is calculated according to at least one of the first state information and the second state information. ..
  • the timing immediately before the foot touches the ground is the timing before the moment when the foot touches the ground.
  • the timing when the foot moves in the direction toward the ground contact surface Immediately before the foot touches the ground, it is estimated based on, for example, the first state information.
  • the instruction information is further output. According to the exercise support program, since the electrical stimulation is applied so that the semitendinosus muscles are activated, the stability of the knee can be enhanced.
  • the graph shown in FIG. 17 shows an example of the relationship between the knee state (stable or unstable) and the first state information.
  • Jump movement is divided into, for example, three phases.
  • the jump motion is divided into takeoff, top, and landing.
  • the take-off is a period in which the knee is greatly bent, the knee is extended, and the foot separates from the ground contact surface.
  • the highest point is the period during which the body reaches the highest position in the jump exercise.
  • Landing is the period when the foot touches down from the air.
  • the detection result of the thigh acceleration sensor 61A corresponding to one lower limb L and the detection result of the thigh acceleration sensor 61A corresponding to the other lower limb L are substantially the same.
  • the graph shown in FIG. 17 shows an example of the detection result of the thigh acceleration sensor 61A corresponding to one lower limb L.
  • the broken line shown in FIG. 17 indicates that the value of the thigh acceleration sensor 61A is 0.
  • the forward acceleration is shown as positive and the backward acceleration is shown as negative.
  • the outward acceleration is shown as positive
  • the inward acceleration is shown as negative.
  • the downward acceleration is shown as positive and the upward acceleration is shown as negative.
  • the knee condition is unstable. Specifically, when the acceleration in the front-rear axis direction is less than the first acceleration, it is estimated that the bending of the knee is small and the load acting on the knee is high at the time of landing. Therefore, it is estimated that the risk of the anterior cruciate ligament is high when the acceleration in the front-rear axis direction is less than the first acceleration during the landing of the jump motion.
  • the acceleration in the left-right axis direction When the acceleration in the left-right axis direction is less than the second acceleration when the jumping motion takes off, it indicates that the knee condition is unstable. Specifically, when the acceleration in the left-right axis direction is less than the second acceleration, it is estimated that the load acting on the knee is high because the knee moves inward as the knee flexes at the time of departure. Therefore, it is estimated that the risk of the anterior cruciate ligament is high when the acceleration in the left-right axis direction is less than the second acceleration when the jumping motion is off the ground.
  • the acceleration in the left-right axis direction is less than the third acceleration when landing in a jumping motion, it indicates that the knee condition is unstable. Specifically, when the acceleration in the left-right axis direction is less than the third acceleration, it is estimated that the load acting on the knee is high because the knee moves inward as the knee flexes during landing. Therefore, it is estimated that the risk of the anterior cruciate ligament is high when the acceleration in the left-right axis direction is less than the third acceleration in the landing of the jump motion.
  • the graph shown in FIG. 18 shows an example of the relationship between the knee condition and the first condition information.
  • Side step motion is divided into three phases, for example.
  • the side step movement is divided into a first two-leg standing position, a one-leg standing position, and a second both-leg standing position.
  • the first two-leg standing position is a period in which both feet are in contact with the ground.
  • One-leg standing is a period in which one foot touches the ground and the other foot moves away from the touchdown surface.
  • the second leg standing is a period in which one foot is in contact with the ground and the other foot is in contact with the ground.
  • the graph shown in FIG. 18 shows the detection result of the thigh acceleration sensor 61A corresponding to the lower limb L (hereinafter, “moving lower limb”) moving in the side step motion by a solid line, and the thigh acceleration corresponding to the lower limb L that does not move in the side step motion.
  • the detection result of the sensor 61A is shown by a one-dot chain line.
  • the broken line shown in FIG. 18 indicates that the value of the thigh acceleration sensor 61A is 0.
  • the forward acceleration is shown as positive and the backward acceleration is shown as negative.
  • the outward acceleration is shown as positive
  • the inward acceleration is shown as negative.
  • the downward acceleration is shown as positive and the upward acceleration is shown as negative.
  • the knee condition is unstable. Specifically, when the acceleration in the left-right axis direction corresponding to the moving lower limb is less than the fourth acceleration, the knee moves inward with flexion of the knee when the moving lower limb touches the ground from the air, and therefore acts on the knee. It is presumed that the load is high. Therefore, it is estimated that the risk of the anterior cruciate ligament is high when the acceleration in the left-right axis direction corresponding to the moving lower limb is less than the fourth acceleration in the second leg standing of the side step motion.
  • the exercise assistance system 1 executes at least one of the first control and the second control according to an exercise assistance program, for example.
  • the first control includes control for outputting risk information.
  • the second control includes control for outputting instruction information.
  • at least one of the first control and the second control is executed based on the operation of the operation unit 42.
  • the exercise assistance system 1 may execute the first control and the second control in parallel according to the exercise assistance program.
  • the control unit 41 reads the first state information in step S31. Specifically, the information reading unit 41A reads the first state information regarding the state of the thigh T detected by the thigh acceleration sensor 61A. Step S31 corresponds to the first step S1.
  • the control unit 41 calculates the state of the knee in step S32. Specifically, the state calculation unit 41B calculates the state of the knee according to the first state information. In other words, the state of the knee is measured according to the first state information.
  • Step S32 corresponds to the second step S2.
  • the control unit 41 outputs the second state information in step S33. Specifically, the information output unit 41C outputs the second state information regarding the state of the knee calculated in step S32 to the risk determination unit 41D. Step S33 corresponds to the third step S3.
  • the control unit 41 determines in step S34 whether or not the risk condition is satisfied. Specifically, the risk determination unit 41D determines whether or not the risk condition is satisfied, based on the relationship between the second state information and the preset threshold value. When determining in step S34 that the risk condition is not satisfied, the control unit 41 returns the process to step S31. When the control section 41 determines in step S34 that the risk condition is satisfied, the control section 41 proceeds to the process of step S35.
  • the control part 41 outputs risk information in step S35. Specifically, the information output unit 41C outputs risk information regarding the risk of the anterior cruciate ligament to the notification unit 43. The notification unit 43 notifies the risk information.
  • step S31 to step S35 ends.
  • the control unit 41 may repeatedly execute the first control including the processes of steps S31 to S35 during the period in which the exercise assistance system 1 is used.
  • steps S31 to S35 shown in FIG. 19 the processing of step S34 may be omitted.
  • the processing of steps S41 to S42 included in the second control is the same as the processing of steps S31 to S32 included in the first control.
  • the control unit 41 outputs the second state information in step S43. Specifically, the information output unit 41C outputs the second state information regarding the state of the knee calculated in step S42 to the auxiliary calculation unit 41E. Step S43 corresponds to the third step S3.
  • the control unit 41 determines in step S44 whether or not the auxiliary condition is satisfied. Specifically, the auxiliary calculation unit 41E determines whether the auxiliary condition is satisfied based on the risk information. When it is determined in step S44 that the auxiliary condition is not satisfied, the control unit 41 returns the process to step S41. When the control section 41 determines in step S44 that the auxiliary condition is satisfied, the control section 41 proceeds to the process of step S45.
  • the control unit 41 calculates the instruction information in step S45. Specifically, the auxiliary calculator 41E calculates the instruction information according to at least one of the first state information and the second state information. Step S45 corresponds to the fourth step S4.
  • the control unit 41 outputs the instruction information in step S46. Specifically, the information output unit 41C outputs the instruction information to the auxiliary block 30. Step S46 corresponds to the third step S3.
  • the voltage control unit 33 controls the electrodes 31A and 31B according to the instruction information. In one example, the voltage control unit 33 controls the electrodes 31A and 31B according to the instruction information so that the semitendinosus muscle is activated immediately before the foot is grounded.
  • the control unit 41 may repeatedly execute the second control including the processes of steps S41 to S46 during the period in which the exercise assistance system 1 is used. In the processing of steps S41 to S46 shown in FIG. 20, at least one processing of steps S42 to S44 may be omitted.
  • Exercise person uses exercise support system 1 according to the following steps.
  • at least the first control is executed according to the exercise assistance program.
  • the exerciser turns on the power of the exercise assistance system 1 in step S51.
  • the reference value of the thigh acceleration sensor 61A and the reference values of the electrodes 31A and 31B are calibrated.
  • the exerciser performs pairing between the wearing body 50 and the terminal device 40 in step S52.
  • the detection block 60, the auxiliary block 30, and the terminal device 40 are paired according to the operation of the operation unit 42.
  • the exerciser wears the wear 11 on the thigh T in step S53.
  • the exerciser performs various types of training in step S54.
  • the exerciser may set the content of the exercise assistance program executed by the exercise assistance system 1 by operating the operation unit 42 before performing the training. When the content of the exercise assistance program is not set, for example, the exercise assistance program similar to that at the time of previous use is executed.
  • step S55 the exercise assistance program is executed.
  • the control unit 41 executes the first control according to the exercise assistance program.
  • the reporting unit 43 reports risk information regarding the risk of the anterior cruciate ligament.
  • the trainer assisting the exerciser confirms the risk information in step S56.
  • the trainer instructs, for example, training or a break suitable for the exerciser based on the risk information.
  • the exerciser may wear the wear 11 on the thigh T before step S51 or step S52.
  • step S56 the exerciser may check the risk information.
  • various controls are executed according to the exercise assistance program, so that the exerciser can perform training according to the risk of the anterior cruciate ligament. Therefore, it is possible to suppress the occurrence of injury of the lower limb L (eg, damage to the anterior cruciate ligament).
  • electrical stimulation is applied so as to activate the semitendinosus muscles, so that the valgus moment of the knee that affects the pain in the knee is reduced. Therefore, knee pain can be reduced.
  • the above description regarding the first and second embodiments is an example of a form that the exercise assisting program, the exercise assisting system, and the method for controlling the exercise assisting system according to the present invention can take, and is not intended to limit the form.
  • the exercise assisting program, the exercise assisting system, and the method of controlling the exercise assisting system according to the present invention are a combination of, for example, modified examples of the first and second embodiments described below and at least two modified examples that do not contradict each other. It can take the form.
  • control unit 41 of the first embodiment can be changed arbitrarily.
  • the control unit 41 is included in the server.
  • the wearing body 10 and the terminal device 40 communicate via the Internet.
  • the control unit 41 is provided on the mounting body 10.
  • the control unit 41 is provided in at least one of the first wear 12 and the second wear 18.
  • the control unit 41 may be configured integrally with at least one of the detection block 20 provided in the first wear 12 and the auxiliary block 30 provided in the second wear 18, or may be configured separately.
  • the detection block 20 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.
  • the auxiliary block 30 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.
  • control unit 41 of the second embodiment can be changed arbitrarily.
  • the control unit 41 is included in the server.
  • the wearing body 50 and the terminal device 40 communicate with each other via the Internet.
  • the control unit 41 is provided on the mounting body 50.
  • the control unit 41 is provided in the wear 51.
  • the control unit 41 may be configured integrally with at least one of the detection block 60 and the auxiliary block 30 provided in the wear 51, or may be configured separately.
  • the detection block 60 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.
  • the auxiliary block 30 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.
  • the auxiliary unit 31 includes a correction device that mechanically corrects the movement of the lower limb L.
  • the motion of the lower limb L is corrected by the correction device, so that the condition of the ankle and knee is easily stabilized.
  • the transmission unit 23 further includes a third transmission unit in addition to the first transmission unit 23A and the second transmission unit 23B.
  • the third transmitter is electrically connected to the sole pressure sensor 22.
  • the first state information transmitted by the third transmitter includes information about the pressure on the sole of the foot.
  • the third transmission unit transmits the first state information detected by the sole pressure sensor 22 to the terminal device 40.
  • the number of transmitting units 23 is one.
  • the transmitter 23 is electrically connected to the lower leg angular velocity sensor 21A, the lower leg acceleration sensor 21B, the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the sole pressure sensor 22.
  • the wearing body 10 does not include the wear 11.
  • the detection block 20 and the auxiliary block 30 are directly attached to the lower limb L.
  • the detection block 20 and the auxiliary block 30 are fixed to the lower limb L by winding a tape or the like around the lower limb L so as to cover the detection block 20 and the auxiliary block 30.
  • the mounting body 10 does not include the auxiliary block 30.
  • the exercise assistance system 1 can execute only the first control according to the exercise assistance program.
  • the detection unit 61 includes a thigh angular velocity sensor that detects the angular velocity of the thigh T, instead of or in addition to the thigh acceleration sensor 61A.
  • the detection unit 61 includes, instead of or in addition to the thigh acceleration sensor 61A, an electromyogram that measures an electromyogram of the thigh T.
  • the detection unit 61 includes a lower leg acceleration sensor that detects the lower leg acceleration, instead of or in addition to the thigh acceleration sensor 61A.
  • the detection unit 61 includes a lower leg angular velocity sensor that detects an angular velocity of the lower leg, instead of or in addition to the thigh acceleration sensor 61A.
  • the wear target of the wear 51 of the second embodiment can be arbitrarily changed.
  • the wear 51 is attached to the lower leg.
  • the wear 51 is attached to the upper arm.
  • the wear 51 has a shape according to the wearing target.
  • the configuration of the mounting body 50 of the second embodiment can be arbitrarily changed.
  • the mounting body 50 does not include the wear 51.
  • the detection block 60 and the auxiliary block 30 are directly attached to the thigh T.
  • the detection block 60 and the auxiliary block 30 are fixed to the thigh T by winding a tape or the like around the thigh T so as to cover the detection block 60 and the auxiliary block 30.
  • the mounting body 50 does not include the auxiliary block 30.
  • the exercise assistance system 1 can execute only the first control according to the exercise assistance program.
  • the configuration of the exercise assistance system 1 of the first and second embodiments can be arbitrarily changed.
  • the exercise assistance system 1 is equipped with artificial intelligence (AI).
  • AI artificial intelligence
  • the exercise assistance program includes artificial intelligence.
  • Artificial intelligence includes, for example, deep running using a multilayered neural network.
  • the exercise assisting program, exercise assisting system, and control method for the exercise assisting system according to the present invention can be used for various exercise assisting systems including those for home use and business use.

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Abstract

L'invention concerne un système d'aide à l'exercice qui : détecte une vitesse angulaire autour d'un axe avant-arrière d'un pied d'un utilisateur, à l'aide d'un capteur de vitesse angulaire disposé dans un premier vêtement porté sur le pied de l'utilisateur ; détermine si un angle de varus d'une cheville de l'utilisateur, calculé sur la base d'informations relatives à la vitesse angulaire autour de l'axe avant-arrière du pied de l'utilisateur, dépasse un seuil ; et communique une stimulation électrique au nerf péronier commun de l'utilisateur à l'aide d'une électrode prévue dans un second vêtement porté sur le membre inférieur de l'utilisateur, s'il est déterminé que l'angle de varus dépasse le seuil.
PCT/JP2019/051511 2018-12-27 2019-12-27 Programme d'aide à l'exercice, système d'aide à l'exercice et procédé de commande d'un système d'aide à l'exercice WO2020138456A1 (fr)

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