JP4611233B2 - Walking training support device - Google Patents

Description

  The present invention relates to a walking training support device that supports walking training performed to recover a walking function when the walking function is deteriorated due to aging, illness, injury, or the like.

  The walking training assisting device for improving the walking function includes a pressure distribution sensor that has a large number of pressure-sensitive sensors and enables a pressure-measured person to walk, and a patient (measured person) is placed on the pressure distribution sensor. ) Is known to measure the load and foot position applied to the sole when walking (see Patent Document 1). According to this technique, the load state of the sole of the person to be measured is digitized, the difference from the ideal load state can be grasped objectively, and walking training can be performed efficiently.

Japanese Unexamined Patent Publication No. 2000-308698 (FIGS. 1 and 2)

  In gait training, not only the patient walks normally, but also the gait where the heel side end of the foot that has stepped along the straight line drawn on the floor touches the toe side end of the other foot May walk. The walking with the next leg requires a more accurate walking motion than the normal walking. However, in the above-described technique, it is not assumed that the load state when the next leg walking is performed is accurately grasped.

  A main object of the present invention is to provide a walking training support device capable of accurately grasping a load state of a person to be measured when walking on the next leg.

Means for Solving the Problems and Effects of the Invention

  The walking training support device according to the present invention includes a pressure distribution sensor having a plurality of pressure detection regions for detecting pressure applied from a measurement person, and a foot that has been stepped along a reference straight line formed on the pressure distribution sensor. When the measurement subject walks on the pressure distribution sensor based on the instruction means for instructing the measurement subject to walk so that the heel side end portion contacts the toe side end portion of the other foot In addition, based on the output value corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor, the load state of the measurement subject on the pressure distribution sensor is analyzed. Analyzing means.

  According to the present invention, it is possible to accurately grasp the load state of the person to be measured when walking on the next leg by the analyzing means. Thereby, a to-be-measured person's walk training can be performed efficiently.

  In the present invention, the analysis means includes a one-foot center-of-gravity position calculating means for calculating a center-of-gravity position of one foot of the person to be measured on the pressure distribution sensor, and one foot of the person to be measured on the pressure distribution sensor; The one foot center of gravity moving speed calculating means for calculating the one foot center of gravity moving speed, which is the moving speed of the center of gravity position of the one foot calculated by the one foot center of gravity position calculating means, is preferably included. According to this, it is possible to accurately measure the degree of wobbling of each foot when the person to be measured walks on the next leg.

  Further, in the present invention, the analyzing means includes a centroid position calculating means for calculating a centroid position of the measurement subject on the pressure distribution sensor, and the plurality of pressure detections included in the pressure distribution data from the pressure distribution sensor. Comparison means for comparing an output value corresponding to the pressure detected in each of the regions with a threshold value, and detection by each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor by the comparison means. A first conversion means for converting the output value to a first predetermined value when a comparison result indicating that the output value corresponding to the pressure is equal to or greater than a threshold value is obtained from the pressure distribution sensor by the comparison means. When a comparison result is obtained that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data is smaller than the threshold value. And a second conversion means for converting the output values into a second predetermined value different from the first predetermined value, and an output from the measured person converted into the first predetermined value by the first conversion means. Based on the position of the center of gravity of the person to be measured when the pressure corresponding to the value and the output value converted to the second predetermined value by the second conversion means is applied to each of the plurality of pressure detection regions, A reference position calculating means for calculating a reference position serving as a reference for the position of the center of gravity of the measurement subject on the pressure distribution sensor; a center position calculated by the center of gravity position calculating means; and a reference position calculated by the reference position calculating means. A central displacement length calculating means for calculating a central displacement length as a relative distance every sampling time, and a total central displacement length obtained by integrating the central displacement lengths calculated by the central displacement length calculating means within the measurement time. Preferably it contains a total center displacement length calculating means for. According to this, by calculating the reference position for each sampling time within the measurement time, even when the subject's center of gravity position and the contact area with the measured person in the pressure distribution sensor change during walking on the foot, It is possible to calculate the total center displacement length having a high correlation with. This makes it possible to accurately measure the degree of wobbling when the person to be measured walks on the next leg.

  Further, in the present invention, the analyzing means calculates the center of gravity position calculating means for calculating the center of gravity position of the person to be measured on the pressure distribution sensor, and calculates the distance from the reference straight line to the center of gravity position as the movement time of the person to be measured. It is preferable to include specific linear time integration means for calculating a specific linear time integration value by integrating at. According to this, it is possible to accurately measure the amount of change in the center of gravity (the degree of stagger) that accompanies the walking time when the person to be measured walks on the next leg.

  At this time, the specific line time integration means calculates the distance from the reference straight line to the barycentric position when only one of the left and right feet of the person to be measured is arranged on the pressure distribution sensor based on the movement time. A specific line time integral value may be calculated by integration. According to this, since the specific line time integral value is calculated in a state in which the person to be measured is easily out of balance, the degree of wobbling when the person to be measured walks on the next leg can be measured more accurately.

  Alternatively, the specific straight line time integration means calculates the distance from the reference straight line to the gravity center position when the gravity center position calculated by the gravity center position calculation means is moving in a direction opposite to the movement direction of the measurement subject. The integral time integral value may be calculated by integrating with the moving time. According to this, since the specific line time integral value when the measurement subject is out of balance is calculated, it is possible to more accurately measure the degree of wobbling when the measurement subject walks on the next leg.

  Further, when the specific line time integration means has only one of the left and right feet of the person to be measured disposed on the pressure distribution sensor, the gravity center position calculated by the gravity center position calculation means is It is preferable to calculate a specific line time integral value by integrating the distance from the reference straight line to the position of the center of gravity with the movement time when moving in the direction opposite to the movement direction of the measurer. According to this, it is possible to more accurately measure the degree of wobbling when the person to be measured walks on the next leg.

  In addition, in the present invention, the analysis means calculates a shake index by multiplying the specific line time integral value calculated by the specific line time integration means by a ratio of a predetermined unit time to the moving time. It is preferable that the calculation means is included. According to this, it is possible to calculate a fluctuation index that is an indicator of the degree of wobbling that does not depend on the length of the movement time, and thus it is possible to accurately grasp the degree of wobbling of the measurement subject.

  In the present invention, it is preferable that at least one of the first predetermined time after the start of movement of the measurement subject and the second predetermined time before the end of movement is not included in the movement time. According to this, since measurement can be performed in a state where the person to be measured walks on the leg, the degree of stagger when the person to be measured walks on the leg can be measured more accurately. .

  In addition, in the present invention, the analyzing means calculates the center-of-gravity position calculating means for calculating the center-of-gravity position of the person to be measured on the pressure distribution sensor, and calculates the distance from the reference straight line to the center-of-gravity position of the center-of-gravity position. It is preferable to include specific linear distance integrating means for calculating a specific linear distance integrated value by integrating with a moving distance along the reference straight line. According to this, it is possible to accurately measure the amount of change in the center of gravity with the walking distance when the person to be measured walks on the next leg.

  Further, in the present invention, the analyzing means calculates a center-of-gravity position calculating means for calculating the center-of-gravity position of the person to be measured on the pressure distribution sensor, and a ratio line that is the maximum value of the distance from the reference straight line to the center-of-gravity position. It is preferable that specific linear distance maximum value calculating means for calculating the maximum distance value is included. According to this, the maximum value of the degree of wobbling when the person to be measured walks on the next leg can be measured.

  In addition, according to the present invention, the analysis means is the most distant from the reference straight line in the left direction with respect to the movement direction of the measurement subject, and the gravity center position calculation means for calculating the gravity center position of the measurement subject on the pressure distribution sensor. The specific straight line distance that calculates the maximum straight line distance maximum amplitude value by summing the distance to the barycentric position and the distance from the reference straight line to the barycentric position furthest away in the right direction with respect to the movement direction of the measurement subject. And a maximum amplitude calculating means. According to this, it is possible to easily measure the largest fluctuation when the measurement subject performs walking on the next leg.

<First Embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an external view showing a schematic configuration of the walking training support apparatus according to the first embodiment. FIG. 2 is a block diagram showing a schematic configuration of the walking training support apparatus of FIG.

  A walking training support apparatus 1 shown in FIG. 1 includes a sheet-like pressure distribution sensor 11, a pressure detection unit 12 connected to the pressure distribution sensor 11, a personal computer (personal computer) 20, a pressure detection unit 12, and a personal computer 20. And a connection unit 40 for connecting the two. The connection unit 40 includes an interface box 45 and an interface cable 46, and both ends thereof are connected to the pressure detection unit 12 and input / output interfaces (not shown) of the personal computer 20. The walking training support device 1 analyzes the load state of the measurement subject when the measurement subject performs a predetermined operation on the pressure distribution sensor 11.

  The pressure distribution sensor 11 includes a large number of pressure-sensitive sensors 11a that are pressure detection areas for detecting pressure applied from both feet of the measurement subject when the measurement subject stands on the grid. . The pressure detection unit 12 is connected to each of a number of pressure sensitive sensors 11a and detects the state of each pressure sensitive sensor 11a. In the present embodiment, the thickness of the pressure distribution sensor 11 is about 0.1 to 0.2 mm. Here, in this embodiment, the state of each pressure-sensitive sensor 11 a is represented by a digital output value of 0 to 255 corresponding to the pressure applied thereto, and the output value is output to the personal computer 20.

  Thus, in the present embodiment, a detection plate having sufficient rigidity for the person to be measured to stand on it is not necessary, and both feet of the person to be measured can be placed on the pressure distribution sensor 11. In addition, the magnitude | size of the pressure distribution sensor 11 is determined by the operation | movement content of the to-be-measured person on the pressure distribution sensor 11 at the time of measurement. The pressure distribution sensor 11 can be used as a single sheet, but a rubber sheet may be laminated for buffering from the viewpoint of protecting the sheet. Further, for the purpose of facilitating the setting on the floor, the sensor may be laminated on a metal or resin plate such as aluminum that holds the sensor.

  The personal computer 20 includes a display 21, a keyboard 25, a mouse 26, and a control unit 30 (see FIG. 2). Here, the control unit 30 generates a signal for controlling the operation of each part of the walking training support device 1, a hard disk storing a walking training support program and data for controlling various operations related to the walking training support device 1, and the like. Therefore, a CPU for executing various calculations, a RAM for temporarily storing data such as calculation results in the CPU, and the like are included.

  As shown in FIG. 2, the control unit 30 includes a pressure distribution data storage unit 132, an analysis unit 131, a gravity center position storage unit 138, a reference position storage unit 139, a center displacement length storage unit 140, and a display control unit. 142. In addition, a display 21, a keyboard 25, and a mouse 26 are connected to the control unit 30.

  The pressure distribution data storage unit 132 stores the pressure distribution data transmitted from the pressure detection unit 12 to the personal computer 20 via the connection unit 40. The pressure distribution data storage unit 132 stores pressure distribution data for each sample time within the measurement time for each of a large number of pressure sensitive sensors 11 a arranged in a grid pattern on the pressure distribution sensor 11. That is, the pressure distribution data of many pressure-sensitive sensors 11a at one detection time corresponding to each sample time is stored for the number of detection times. Accordingly, it is possible to grasp the temporal change in pressure detected by each pressure sensor 11a based on the pressure distribution data. Further, a temporal change in the pressure distribution detected by the pressure distribution sensor 11 can be detected.

  The analysis unit 131 analyzes the walking state when the measurement subject performs the next leg walking based on the pressure distribution data stored in the pressure distribution data storage unit 132. The operation content of the next leg walking will be described with reference to FIG. FIG. 3 is a diagram showing the operation content of walking on the next leg. In addition, the foot shape shown in the figure has shown the arrangement position of the to-be-measured person's leg arrange | positioned on the pressure distribution sensor 11. FIG. Moreover, the curve in the figure shows the locus of the center of gravity position of the measurement subject.

  As shown in FIG. 3, a straight line 11 c extending along the longitudinal direction is drawn at the center of the pressure distribution sensor 11 in the short direction. The next leg walking is a walking method in which the person to be measured walks along the straight line 11c formed on the pressure distribution sensor 11 so that the heel side end of the stepped foot is in contact with the toe side end of the other foot. It is. As described above, in walking on the leg, the subject's movement includes a state in which one of the feet of the person to be measured is separated from the pressure distribution sensor. That is, the position of the center of gravity of the measurement subject and the contact position of the sole change.

  Returning to FIG. 2, the analysis unit 131 includes a centroid calculation unit 133, a comparison unit 134, a conversion unit 135, a reference position calculation unit 136, a center displacement length calculation unit 137, and a parameter calculation unit 141. ing.

  The center-of-gravity calculation unit 133 calculates the center-of-gravity position of the measurement subject on the pressure distribution sensor 11 at each detection time based on the pressure distribution data stored in the pressure distribution data storage unit 132, and the calculated center-of-gravity position The information is stored in the storage unit 138.

  A calculation method of the center of gravity position in the center of gravity calculation unit 133 will be described with reference to FIG. FIG. 4 shows pressure distribution data detected by a number of pressure sensitive sensors 11a in a predetermined time. In the pressure distribution sensor 11 of the present embodiment, a large number of pressure-sensitive sensors 11a are arranged in m + 1 rows in the X-axis direction (left-right direction) and in n + 1 rows in the Y-axis direction (up-down direction). . Therefore, a large number of pressure-sensitive sensors 11a are arranged in a (m + 1) × (n + 1) lattice shape.

  Moreover, in FIG. 4, the pressure data detected by each pressure sensor 11a is shown by the symbol. For example, the pressure data detected by the pressure-sensitive sensor 11a corresponding to the u-th row in the X-axis direction and the v-th row in the Y-axis direction is a (u, v) (where u is 0 or more) m or less, and v is an integer of 0 to n.

  In this case, the center-of-gravity position Cfx in the X-axis direction is calculated by the following equation.

Formula 1

  Further, the center-of-gravity position Cfy in the Y-axis direction is calculated by the following equation.

Formula 2

  Returning to FIG. 2, the center-of-gravity calculation unit 133 includes a one-foot center-of-gravity calculation unit 133a. Based on the pressure distribution data stored in the pressure distribution data storage unit 132, the one leg center of gravity calculation unit 133a calculates the position of the center of gravity of each foot of the measurement subject on the pressure distribution sensor 11 at each detection time and calculates the calculated center of gravity. The position is stored in the barycentric position storage unit 138.

  The comparison unit 134 compares the output value detected by each pressure sensor 11a with the threshold value 1. As described above, the output value detected by each pressure-sensitive sensor 11a is represented by a digital output value from 0 to 255. When there is an output from each pressure sensor 11a, the output value is equal to or greater than the threshold value 1.

  The conversion unit 135 sets the output value to 1 (first predetermined value) when the comparison unit 134 obtains a comparison result that the output value detected by each pressure-sensitive sensor 11a is equal to or greater than the threshold value 1. When the comparison result that the output value detected by each pressure-sensitive sensor 11a is smaller than the threshold value 1 is obtained in the comparison unit 134, those output values are converted to 0 (second predetermined value). Is. Therefore, in the conversion unit 135, when the output value at each pressure sensor 11a is equal to or greater than the threshold 1, the output value is converted to 1, and when there is no output (0) at each pressure sensor 11a. The output value remains 0. Thus, in this embodiment, the output value of each pressure-sensitive sensor 11a is binarized and converted to either 0 or 1.

  FIG. 5 shows an example in which the output value when the measured person places both feet on the pressure distribution sensor 11 is binarized and converted. In FIG. 5, the region where the output value is converted to 0 is shown in white, and the region where the output value is converted to 1 is shown in black. Further, a reference position for measuring the degree of wobbling of the measurement subject is indicated by A, and a center of gravity position is indicated by B. Further, a center displacement length to be described later is indicated by C. As shown in FIG. 5, the output value of each pressure-sensitive sensor 11 a is binarized and converted, so that the contact area between the measurement subject's feet and the pressure distribution sensor 11 can be accurately represented. When the center position of the contact area and the gravity center position B coincide with each other, the stability is the highest, in other words, the stagger is the smallest. That is, the center position of the contact area is set as the reference position A for measuring the degree of wobbling, and the center displacement length C, which is the distance between the reference position A and the gravity center position B, is used as an index representing the degree of wobbling.

  Returning to FIG. 2, the reference position calculation unit 136 calculates the reference position of the person to be measured at each detection time and stores the calculated reference position in the reference position storage unit 139. As described above, the center position of the contact area between the person to be measured and the pressure distribution sensor 11 is calculated and used as the reference position. Then, the reference position Cpx in the X-axis direction is calculated by the following formula.

Formula 3

  Further, the reference position Cpy in the Y-axis direction is calculated by the following equation.

Formula 4

  Here, in Expression 3 and Expression 4, an output value after being converted by the conversion unit 135 is used as the pressure data a (u, v). That is, when the output value detected by each pressure sensor 11a is equal to or greater than the threshold value 1, all of the output values are set to 1. On the other hand, when the output value is smaller than the threshold value 1, those output values are set. Are all 0, and the reference position is calculated by Equation 3 and Equation 4. The calculated reference position is sequentially stored in the reference position storage unit 139. That is, for each detection time, the position of the center of gravity of the measurement subject is stored in the center of gravity position storage unit 138 and the reference position is stored in the reference position storage unit 139.

  The center displacement length calculation unit 137 corresponds to each detection time, and the distance between the centroid position (Cfx, Cfy) calculated by the centroid calculation unit 133 and the reference position (Cpx, Cpy) calculated by the reference position calculation unit 136. The center displacement length is calculated, and the calculated center displacement length is stored in the center displacement length storage unit 140 for each detection time. That is, the center displacement length is calculated by the number corresponding to each detection time within one measurement time. As described above, the center displacement length is an indicator of the degree of wobbling of the measurement subject (see C in FIG. 5).

  The parameter calculation unit 141 includes various parameters (in this embodiment, “total center displacement length”, “unit total center displacement length”, “total X center displacement length”, “unit total X center displacement length”, "Total Y Center Displacement Length", "Unit Total Y Center Displacement Length", "One Foot Center of Gravity Movement Speed", "Specific Line Time Integration Value", "Specific Line Distance Integration Value", and "Specific Line Distance Maximum Value") A total center displacement length calculation unit 141a, a unit total center displacement length calculation unit 141b, a one leg center of gravity moving speed calculation unit 141c, a specific line time integration calculation unit 141d, and a specific line distance integration calculation unit 141e, , A specific straight line distance maximum value calculation unit 141f.

  The total center displacement length calculation unit 141a calculates “total center displacement length”, “total X center displacement length”, and “total Y center displacement length”. The “total center displacement length” is obtained by integrating the center displacement lengths calculated so as to correspond to the respective detection times within one measurement time. The “total X center displacement length” is the length of the X direction component in the “total center displacement length”. The “total Y center displacement length” is the length of the Y direction component in the “total center displacement length”.

  The unit total center displacement length calculation unit 141b calculates “unit total center displacement length”, “unit total X center displacement length”, and “unit total Y center displacement length”. “Unit total center displacement length” is obtained by multiplying “total center displacement length” by a ratio of predetermined unit time to measurement time. The unit time may be any time. Similarly, “unit total X center displacement length” is obtained by multiplying “total X center displacement length” by a ratio of a predetermined unit time to measurement time, and “unit total Y center displacement length” is “total Y center displacement length”. The displacement length is multiplied by the ratio of a predetermined unit time to the measurement time. By comparing the “unit total center displacement length”, “unit total X center displacement length” and “unit total Y center displacement length”, even if the total center displacement length differs greatly depending on the person being measured, Can understand the typical walking state.

  The one-foot center-of-gravity moving speed calculation unit 141 c calculates a “one-foot center-of-gravity moving speed” based on the center-of-gravity position of each foot of the measurement subject stored in the center-of-gravity position storage unit 138. The “one leg center of gravity movement speed” will be described with reference to FIG. FIG. 6 is a diagram showing the locus of the center of gravity of one foot of the measurement subject on the pressure distribution sensor 11. As shown in FIG. 6, the “one-foot center-of-gravity moving speed” is the moving speed of the center-of-gravity position of each foot within the contact area of the person to be measured on the pressure distribution sensor 11 with one foot.

  The specific line time integration calculation unit 141 d calculates a “specific line time integration value” based on the center-of-gravity position of the measurement subject stored in the center-of-gravity position storage unit 138. The “specific line time integral value” will be described with reference to FIG. FIG. 7 is a diagram illustrating a change in the distance from the straight line 11c to the position of the center of gravity of the measurement subject as the walking time elapses. In FIG. 7, the vertical axis represents the measurement time, and the horizontal axis represents the distance from the straight line 11c to the center of gravity position of the measurement subject. As shown in FIGS. 3 and 7, when the person to be measured walks along the straight line 11c, the position of the center of gravity of the person to be measured changes with the walking of the person to be measured. For example, in FIG. 3 and FIG. 7, the position of the center of gravity of the measurement subject is displaced to the foot side where the measurement subject steps out each time the measurement subject steps out. As shown in FIG. 7, the “specific line time integral value” is obtained by integrating the distance from the straight line 11 c to the center of gravity position of the person to be measured by the walking time (movement time) of the person to be measured in one step measurement of walking on the leg. It is a thing.

  The specific line distance integration calculating unit 141e calculates a “specific line distance integrated value” based on the center-of-gravity position of the measurement subject stored in the center-of-gravity position storage unit 138. The “specific linear distance integral value” will be described with reference to FIG. FIG. 8 is a diagram illustrating a change in the distance from the straight line 11c to the position of the center of gravity of the measurement subject according to the walking distance. In FIG. 8, the vertical axis indicates the walking distance, and the horizontal axis indicates the distance from the straight line 11c to the center of gravity position of the measurement subject. As described above, when the person to be measured walks along the straight line 11c, the position of the center of gravity of the person to be measured changes with the walking of the person to be measured. As shown in FIG. 8, the “specific linear distance integral value” is obtained by integrating the distance from the straight line 11 c to the position of the center of gravity of the measurement subject with the walking distance (movement distance) of the measurement subject in one step of walking on the next leg. It is a thing.

  The maximum specific straight line distance calculation unit 141 f calculates a “maximum specific straight line distance” based on the center-of-gravity position of the measurement subject stored in the center-of-gravity position storage unit 138. As shown in FIGS. 7 and 8, the “maximum specific straight line distance value” is the maximum value of the distance from the straight line 11 c to the position of the center of gravity of the person to be measured in one footstep measurement.

  Returning to FIG. 2, as described above, the center-of-gravity position storage unit 138 calculates the center-of-gravity position calculated by the center-of-gravity calculation unit 133 and the center-of-gravity position of each foot calculated by the one foot center-of-gravity calculation unit 133 a for each detection time. It is something to remember. The reference position storage unit 139 stores the reference position calculated by the reference position calculation unit 136 for each detection time. Further, the center displacement length storage unit 140 stores the center displacement length calculated by the center displacement length calculation unit 137 for each detection time.

  The display control unit 142 causes the measurement subject to display the operation content of the next leg walking and the measurement result on the display 21. In other words, the display control unit 142 instructs the subject to walk on the next leg.

  That is, in the operation of the walking training support apparatus 1, first, the display control unit 142 causes the display 21 to display that the person to be measured is walking on the leg along the straight line 11 c on the pressure distribution sensor 11. The person to be measured walks on the next leg according to the instruction displayed on the display 21. When the walking of the person being measured is completed, the analysis unit 131 analyzes the walking state of the person to be measured and calculates each parameter. When the calculation of each parameter by the analysis unit 131 is completed, the display control unit 142 causes the display 21 to display the calculated parameter.

  An analysis result displayed on the display 21 by the display control unit 142 will be described with reference to FIG. FIG. 9 is a diagram showing the display contents of the analysis result of walking on the next leg. As shown in FIG. 9, the display control unit 142 displays the pressure distribution window 51 and the result display window 52 on the display 21.

  In the pressure distribution window 51, a pressure distribution 61 applied on the pressure distribution sensor 11 from both feet of the measurement subject is displayed based on the pressure distribution data stored in the pressure distribution data storage unit 132. Here, the pressure distribution 61 is displayed in an isobaric line shape, and is displayed according to a color scale that changes stepwise as the pressure value changes. Further, in the pressure distribution window 51, a locus 62 when the center of gravity of the measurement subject moves is drawn based on the center of gravity position data stored in the center of gravity position storage unit 138. Therefore, the operator can grasp the pressure distribution 61 and the trajectory 62 of the gravity center position of both feet of the measurement subject by looking at the pressure distribution window 51.

  In the result display window 52, “total center displacement length”, “unit total center displacement length”, “total X center displacement length”, “unit total X center displacement length”, “ The values of “Total Y Center Displacement Length”, “Unit Total Y Center Displacement Length”, “One Foot Center of Gravity Movement Speed”, “Specific Line Time Integration Value”, “Specific Line Distance Integration Value”, and “Specific Line Distance Maximum Value” respectively. Is displayed. By referring to these parameters, it is possible to objectively grasp the load state when the person to be measured walks on the next leg.

  Other measurement results are shown in FIG. 10A shows the pressure distribution window 51 when the degree of wobbling is larger than the measurement result shown in FIG. 9, and FIG. 10B shows the case where the degree of wobbling is larger than the measurement result shown in FIG. Each of the pressure distribution windows 51 is shown. As shown in FIG. 9, FIG. 10 (a) and FIG. 10 (b), the load state of the person to be measured changes greatly as the fluctuation degree of the person to be measured increases. That is, the fluctuation width of the trajectories 62, 62 ', 62 "is increased. Therefore, as the degree of fluctuation increases, the “specific line time integral value”, the “specific line distance integral value”, and the “specific line distance maximum value” increase.

  As explained above, according to the walking training support device 1 of the present embodiment, it is possible to accurately grasp the load state of the measurement subject when walking on the next leg. Thereby, since the to-be-measured person's walking state can be grasped | ascertained correctly, walking training can be performed efficiently.

  Further, the analysis unit 131 calculates the center position of the measurement subject and the reference position that is the center position of the contact area between the measurement subject and the pressure distribution sensor 11 based on the pressure distribution data at each detection time, Based on the calculated center-of-gravity position and the reference position, the center displacement length at each detection time and the total center displacement length obtained by integrating the center displacement length are calculated. In this way, since the reference coordinates are calculated for each detection time within the measurement time, when one leg of the person to be measured is separated from the pressure distribution sensor 11 during walking on the next foot, the position of the center of gravity and the contact position of the sole The center displacement length having a high correlation with the degree of wobbling can be calculated even when. Therefore, the “total center displacement length”, “unit total center displacement length”, “total X center displacement length”, “unit total X center displacement length” calculated by the parameter calculation unit 141 based on the center displacement length, “ From the “total Y center displacement length” and the “unit total Y center displacement length”, it is possible to accurately measure the degree of fluctuation of the measurement subject.

  Further, when the parameter calculation unit 141 calculates “unit total center displacement length”, “unit total X center displacement length”, and “unit total Y center displacement length”, the total center displacement length varies greatly depending on the person to be measured. Even so, it is possible to grasp the relative walking state.

  In addition, the one foot center of gravity moving speed calculation unit 141c calculates the “one foot center of gravity moving speed”, thereby accurately measuring the degree of wobbling of each foot when the person to be measured walks on the next leg.

  In addition, the specific line time integration calculation unit 141d calculates the “specific line time integration value”, thereby accurately measuring the degree of stagger associated with the walking time when the person to be measured walks on the next leg. .

  Furthermore, by calculating the “specific line distance integral value” by the specific line distance integration calculating unit 141e, it is possible to accurately measure the degree of wobbling associated with the walking distance when the person to be measured walks on the next leg. .

  In addition, the specific straight line distance maximum value calculation unit 141f calculates the “specific straight line distance maximum value”, whereby the maximum value of the degree of stagger when the measured person walks on the next leg can be measured.

<Second Embodiment>
Next, a second embodiment of the present invention will be described with reference to FIG. FIG. 11 is a block diagram illustrating a schematic configuration of the walking training support apparatus according to the second embodiment. In addition, what has the substantially same function as 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits the description.

  As shown in FIG. 11, the walking training support apparatus 201 includes a sheet-like pressure distribution sensor 11, a pressure detection unit 12 connected to the pressure distribution sensor 11, a personal computer (personal computer) 220 having a control unit 230, A connection unit 40 for connecting the pressure detection unit 12 and the personal computer 220 is provided.

  The control unit 230 includes a pressure distribution data storage unit 132, an analysis unit 231, a centroid position storage unit 138, and a display control unit 242. The analysis unit 231 includes a center-of-gravity calculation unit 133 and a parameter calculation unit 241.

  The parameter calculation unit 241 calculates various parameters (in this embodiment, “specific line time integral value”, “sway index”, and “specific line distance maximum amplitude value”) as measurement results, and the specific line time An integral calculation unit 241d, a shaking index calculation unit 241e, and a specific straight line distance maximum amplitude calculation unit 241f are included.

  The specific line time integration calculation unit 241 d calculates a “specific line time integration value” based on the center-of-gravity position of the measurement subject stored in the center-of-gravity position storage unit 138. The “specific line time integral value” will be described with reference to FIG. FIG. 12 is a diagram illustrating a change in the distance from the straight line 11c to the position of the center of gravity of the measurement subject as the walking time elapses. In FIG. 12, the vertical axis indicates the measurement time, and the horizontal axis indicates the distance from the straight line 11c to the position of the center of gravity of the measurement subject.

  As shown in FIG. 12, when the person to be measured walks on the next leg along the straight line 11c, the position of the center of gravity of the person to be measured changes with the walking of the person to be measured. The “specific line time integral value” of the present embodiment is the one in which only one of the left and right feet of the person to be measured is arranged on the pressure distribution sensor 11 in one gait walking measurement, and the position of the center of gravity. Is obtained by integrating the distance from the straight line 11c to the position of the center of gravity of the person to be measured with the effective time when moving in the direction opposite to the movement direction of the person to be measured. Here, the effective time is a time obtained by excluding t1 time (first predetermined time) after the start of movement and t2 time (second predetermined time) before the end of movement from the walking time. The effective time is set within a range in which the person to be measured can perform stable walking on the next leg. Note that any time can be set as the t1 time and the t2 time, and at least one of the t1 time and the t2 time may be zero.

  The shaking index calculation unit 241e calculates the “swing index” by multiplying the “specific line time integral value” calculated by the specific line time integration calculation unit 241d by the ratio of the unit time to the effective time. That is, the “swing index” is a “specific linear time integral value” per unit time. The unit time can be set arbitrarily.

  The specific straight line distance maximum amplitude calculation unit 241 f calculates a “specific straight line distance maximum amplitude value” based on the barycentric position of the measurement subject stored in the barycentric position 138. The “specific straight line distance maximum amplitude value” is the distance from the straight line 11c to the center of gravity most distant in the left direction with respect to the movement direction of the person being measured, and the most distant from the straight line 11c in the right direction with respect to the movement direction of the person being measured. This is the total distance to the center of gravity.

  The display control unit 242 causes the measurement subject to display the operation content of the walking on the next leg and the measurement result on the display 21. In other words, the display control unit 242 instructs the subject to walk on the next leg. In the operation of the walking training support apparatus 201, first, the display control unit 242 displays on the display 21 that the person to be measured performs a next leg walk along the straight line 11 c on the pressure distribution sensor 11. The person to be measured walks on the next leg according to the instruction displayed on the display 21. When the walking of the person being measured is completed, the analysis unit 231 analyzes the walking state of the person to be measured and calculates each parameter. When the calculation of each parameter by the analysis unit 231 is completed, the display control unit 242 displays the calculated parameter on the display 21.

  An analysis result displayed on the display 21 by the display control unit 242 will be described with reference to FIG. FIG. 13 is a diagram showing the display contents of the analysis result of walking on the next leg. As illustrated in FIG. 13, the display control unit 242 displays a pressure distribution window 151 and a result display window 252 on the display 21.

  The result display window 252 displays numerical values of “specific line time integral value”, “sway index”, and “specific line distance maximum amplitude value” calculated by the parameter calculation unit 241.

  As described above, according to the walking training support apparatus 201 of the present embodiment, it is possible to accurately grasp the load state of the measurement subject when the next leg is walked. Thereby, since the to-be-measured person's walking state can be grasped | ascertained correctly, walking training can be performed efficiently.

  Furthermore, the specific line time integration calculation unit 241d can calculate the “specific line time integration value”, thereby accurately measuring the degree of wobbling when the person to be measured walks on the leg. For this reason, a to-be-measured person's walk state can be grasped | ascertained more correctly.

  In addition, by calculating the “swing index”, the shaking index calculation unit 241e can calculate a shaking index that is an indicator of the degree of wobbling that does not depend on the length of travel time. For this reason, it is possible to accurately grasp the degree of fluctuation of the measurement subject.

  Further, by removing t1 time and t2 time from the walking time, the measurement can be performed in a state where the walking of the person to be measured is stable. For this reason, it is possible to more accurately measure the degree of fluctuation of the measurement subject.

  Furthermore, by calculating the “specific line distance maximum amplitude value” by the specific line distance maximum amplitude calculating unit 241f, it is possible to easily measure the largest fluctuation when the person to be measured walks on the next leg.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various design changes can be made as long as they are described in the claims. For example, in the first embodiment described above, in the conversion unit 135, when the output value detected by each pressure-sensitive sensor 11a is equal to or greater than the threshold value 1, it is converted to 1, and when the output value is smaller than the threshold value 1, Although converted to 0, the threshold is not limited to 1. Therefore, when the output value is a digital output value, the threshold value may be an integer of 2 or more. When the output value is an analog output value, the threshold value may be a number greater than 0 and less than 1, or a positive number greater than 1. Further, the first predetermined value converted when the output value is equal to or greater than the threshold value is not limited to 1, and may be other positive numbers. Similarly, the second predetermined value converted when the output value is smaller than the threshold value is not limited to 0, and may be other numbers.

  Further, in the first embodiment described above, the parameter calculation unit 141 performs “total center displacement length”, “unit total center displacement length”, “total X center displacement length”, “unit total X center displacement length”, “total Y “Center displacement length”, “Unit total Y center displacement length”, “One leg center of gravity movement speed”, “Specific line time integral value”, “Specific line distance integrated value” and “Specific line distance maximum value” are calculated. In the second embodiment described above, the parameter calculation unit 241 calculates the “specific line time integral value”, “swing index”, and “specific line distance maximum amplitude value”. May be configured to calculate a part of the parameters, or may be configured to calculate other parameters.

  In the above-described second embodiment, when the specific line time integration calculation unit 241d has only one of the left and right feet of the person to be measured disposed on the pressure sensor 11, the position of the center of gravity is the moving direction of the person to be measured. In this configuration, a “specific line time integral value” is calculated by integrating the distance from the straight line 11c when moving in the opposite direction to the position of the center of gravity of the measurement subject with the effective time. From the straight line 11c when only the left or right foot of the person to be measured is arranged on the pressure sensor 11 or when the position of the center of gravity is moving in the direction opposite to the movement direction of the person to be measured A “specific line time integral value” obtained by integrating the distance to the center of gravity position with the effective time may be calculated.

  In each of the embodiments described above, the display control units 142 and 242 function as instruction means for instructing the measurement subject to the operation content at the time of measurement by displaying the operation content on the display 21. The instruction means is not limited to such a configuration. For example, the configuration may be such that the operation content is instructed by sound, or the operator may directly instruct the operation content to the measurement subject.

It is an external view which shows schematic structure of the walking training assistance apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows schematic structure of the walking training assistance apparatus of FIG. It is the figure which showed the operation | movement content of the next leg walking in the walking training assistance apparatus shown in FIG. It is a figure which shows the pressure distribution data detected by the pressure sensor shown in FIG. It is a figure which shows the state by which the output value when a test subject has arrange | positioned both legs on the pressure distribution sensor shown in FIG. It is the figure which showed the locus | trajectory of the gravity center position of one leg | foot of a to-be-measured person on the pressure distribution sensor shown in FIG. It is the figure which showed the change of the distance of a to-be-measured person's gravity center position and the straight line with progress of walking time on the pressure distribution sensor shown in FIG. It is the figure which showed the change of the distance of a to-be-measured person's gravity center position and the straight line with progress of walking distance on the pressure distribution sensor shown in FIG. It is a figure which shows the display content of the measurement result by the display control part 142 shown in FIG. It is a figure which shows the display content of the other measurement result by the display control part 142 shown in FIG. It is a block diagram which shows schematic structure of the walking training assistance apparatus which concerns on 2nd Embodiment of this invention. It is the figure which showed the change of the distance of the gravity center position of a to-be-measured person and a straight line with progress of walking time on the pressure distribution sensor shown in FIG. It is a figure which shows the display content of a measurement result by the display control part shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Walking training assistance apparatus 11 Pressure distribution sensor 11a Pressure sensor (pressure detection area)
20 Personal computer 21 Display 30 Control unit 131, 231 Analysis unit (analysis means)
132 Pressure distribution data storage unit 133 Center of gravity calculation unit (center of gravity position calculation means)
133a One foot center of gravity calculation unit 134 comparison unit (comparison means)
135 Conversion unit (first conversion unit, second conversion unit)
136 Reference position calculation unit (reference position calculation means)
137 Center displacement length calculation unit (center displacement length calculation means)
138 Center of gravity position storage section 139 Reference position storage section 140 Center displacement length storage section (center displacement length calculation means)
141 Parameter calculation unit 141a Total center displacement length calculation unit 141b Unit total center displacement length calculation unit 141c One foot center of gravity moving speed calculation unit (one foot center of gravity moving speed calculation means)
141d Specific linear time integration calculation unit (specific linear time integration calculation means)
141e Specific linear distance integral calculating unit (specific linear distance integral calculating means)
141f Specific linear distance maximum value calculation unit (specific linear distance maximum value calculation means)
142 Display Control Unit (Instruction Unit)
241d Specific linear time integration calculation unit (specific linear time integration calculation means)
241e Shaking index calculation unit (swing index calculating means)
241f Specific linear distance maximum amplitude calculation unit (specific linear distance maximum amplitude calculation unit means)

Claims (9)

A pressure distribution sensor having a plurality of pressure detection regions for detecting the pressure applied from the person to be measured;
Instructing means for instructing the person to be measured to walk so that the heel side end portion of the foot stepped along the reference straight line formed on the pressure distribution sensor is in contact with the toe side end portion of the other foot;
Output corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor when the person to be measured walks on the pressure distribution sensor based on the instruction means Analysis means for analyzing the load state of the measurement subject on the pressure distribution sensor based on the value,
The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
Specific line time integration by integrating the distance from the reference straight line to the position of the center of gravity with the movement time of the person to be measured when only the left or right foot of the person to be measured is placed on the pressure distribution sensor. A walking training support apparatus comprising: a specific linear time integration means for calculating a value. A pressure distribution sensor having a plurality of pressure detection regions for detecting the pressure applied from the person to be measured;
Instructing means for instructing the person to be measured to walk so that the heel side end portion of the foot stepped along the reference straight line formed on the pressure distribution sensor is in contact with the toe side end portion of the other foot;
Output corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor when the person to be measured walks on the pressure distribution sensor based on the instruction means Analysis means for analyzing the load state of the measurement subject on the pressure distribution sensor based on the value,
The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
By integrating the distance from the reference straight line to the gravity center position when the gravity center position calculated by the gravity center position calculating means is moving in the direction opposite to the movement direction of the measurement subject by the movement time of the measurement subject. A walking training support device comprising: a specific line time integration means for calculating a specific line time integration value. A pressure distribution sensor having a plurality of pressure detection regions for detecting the pressure applied from the person to be measured;
Instructing means for instructing the person to be measured to walk so that the heel side end portion of the foot stepped along the reference straight line formed on the pressure distribution sensor is in contact with the toe side end portion of the other foot;
Output corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor when the person to be measured walks on the pressure distribution sensor based on the instruction means Analysis means for analyzing the load state of the measurement subject on the pressure distribution sensor based on the value,
The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
When only the left or right foot of the measurement subject is arranged on the pressure distribution sensor, the gravity center position calculated by the gravity center position calculation means moves in the direction opposite to the movement direction of the measurement subject. And a specific straight line time integration means for calculating a specific straight line time integral value by integrating the distance from the reference straight line to the center of gravity position with the movement time of the person being measured. Training support device. The analysis means is
The apparatus further comprises a shaking index calculating means for calculating a shaking index by multiplying the ratio linear time integrated value calculated by the ratio linear time integrating means by a ratio of a predetermined unit time to the moving time. The walking training support device according to any one of Items 1 to 3.   5. The moving time according to claim 1, wherein at least one of a first predetermined time after the measurement subject's movement starts and a second predetermined time before the movement ends is not included in the movement time. Walking training support device. A pressure distribution sensor having a plurality of pressure detection regions for detecting the pressure applied from the person to be measured;
Instructing means for instructing the person to be measured to walk so that the heel side end portion of the foot stepped along the reference straight line formed on the pressure distribution sensor is in contact with the toe side end portion of the other foot;
Output corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor when the person to be measured walks on the pressure distribution sensor based on the instruction means Analysis means for analyzing the load state of the measurement subject on the pressure distribution sensor based on the value,
The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
Specific linear distance integrating means for calculating a specific linear distance integral value by integrating the distance from the reference straight line to the barycentric position with the moving distance of the barycentric position along the reference straight line. Walking training support device. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
Comparison means for comparing an output value corresponding to a pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor with a threshold value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is equal to or greater than a threshold value is obtained by the comparison unit. First output means for converting the output value of the first output value to a first predetermined value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is smaller than the threshold is obtained by the comparison unit, Second conversion means for converting an output value into a second predetermined value different from the first predetermined value;
The pressure corresponding to the output value converted from the measured person to the first predetermined value by the first conversion means and the output value converted to the second predetermined value by the second conversion means is the plurality of pressures. A reference position calculating means for calculating a reference position serving as a reference for the position of the center of gravity of the measured person on the pressure distribution sensor based on the position of the center of gravity of the measured person when added to the detection region;
A center displacement length calculating means for calculating a center displacement length that is a relative distance between the center of gravity position calculated by the center of gravity position calculating means and the reference position calculated by the reference position calculating means;
7. A total center displacement length calculating means for calculating a total center displacement length obtained by integrating the center displacement lengths calculated by the center displacement length separation calculating means within a measurement time. The walking training support device according to any one of the above. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
Any one of claims 1 to 7, characterized in that it contains a specific linear distance maximum value calculating means for calculating the a maximum ratio linear distance maximum value of the distance from the reference line to the gravity center position The walking training support device according to claim 1. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
The distance from the reference straight line to the center of gravity position farthest left in the movement direction of the person to be measured and the distance from the reference straight line to the center of gravity position farthest in the right direction in the direction of movement of the person to be measured. The walking training support apparatus according to any one of claims 1 to 7 , further comprising specific linear distance maximum amplitude calculating means for calculating a specific linear distance maximum amplitude value by summing up.

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