JP6534010B2 - Auxiliary device for posture stabilization - Google Patents

Description

The present invention relates to an auxiliary equipment for posture stabilization to be used to stabilize the posture of the user.

Motor dysfunction such as Parkinson's disease increases postural sway and causes fall accidents. In view of the fact that the fall in the standing balance ability is a major cause of the fall accident, it is necessary to support human's posture control function.
On the other hand, Non-Patent Document 1 shows that in the posture control ability of the somatosensory system, lightly touching the fixed point with a fingertip reduces the fluctuation in the upright posture significantly. This phenomenon is called LTC (Light Touch Contact).

J. J. Jeka, Light Touch Contact as a Balance Aid, "Physical Therapy", 1997

  However, in order to obtain the effect of the LTC, there is a problem that this effect can not be obtained in a place without mechanical support since it is necessary to contact the fixed point of the fingertip.

The present invention has been made to solve the above-mentioned problems, and is an auxiliary device for posture stabilization that reproduces a pseudo light touch contact in order to stabilize the posture of the user, and is a body of the user. The casing is provided integrally with the casing , the casing being mountable to a part of the casing, the casing speed, the acceleration of the casing, the reference portion which is a portion different from the portion where the casing is mounted. Stimulus which stimulates the site where the housing is attached according to at least one of the distance to and the direction of the normal vector from the inner wall of the virtual sphere centered on the reference site toward the housing And a provision unit.

  In the present invention, the reference site is a trunk of the user.

The front Symbol stimulating unit Te present invention smell, the distance from the reference position to said housing when at least a predetermined threshold value, characterized in providing a stimulus to the site.

The front Symbol stimulating unit Te present invention odor is characterized by irritating the distance longer strong stimulus from the reference site to the housing to said site.

The front Symbol stimulating unit Te present invention odor is characterized by providing a strong stimulus as acceleration is higher of said housing to said site.

Further, according to the present invention, the speed of the casing, the acceleration of the casing, and a portion different from the portion on which the casing is mounted , based on an imaging unit configured to capture the user and an image captured by the imaging unit. And a physical quantity calculation unit for calculating at least one of a distance from the reference site to the housing and a direction of a normal vector directed from the inner wall of the virtual sphere centered on the reference site to the housing The stimulus applying unit may stimulate the site to which the housing is attached according to at least one of the velocity, the acceleration, the distance, and the direction of the normal vector calculated by the physical quantity calculating unit. It is characterized by giving.

  According to the present invention, since the stimulus applying unit provided in the casing stimulates the user according to the physical quantity related to the displacement of the casing, the LTC can be realized without mechanical support.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the structure of the attitude | position stabilization assistance system which concerns on the 1st Embodiment of this invention. It is a figure which shows the calculation method of the intensity | strength of the vibrator | oscillator which concerns on the 1st Embodiment of this invention. It is a schematic block diagram showing composition of a computing device concerning a 1st embodiment of the present invention. It is a flowchart which shows operation | movement of the attitude | position stabilization auxiliary system which concerns on the 1st Embodiment of this invention. It is the schematic which shows the structure of the attitude | position stabilization assistance system which concerns on the 2nd Embodiment of this invention. It is a photograph which shows the appearance of the test subject at the time of experiment concerning the example of the present invention. It is a figure which shows the measurement data of the VLTC task which concerns on a present Example. It is a figure which shows the measurement data during 10 [s] for every task which concerns on a present Example. It is a figure which shows an example of the COP locus | trajectory between 60 [s] obtained for every task which concerns on a present Example. It is a figure which shows the evaluation index value for every task which concerns on a present Example.

First Embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic view showing the configuration of a posture stabilization support system 1 according to a first embodiment of the present invention.
The posture stabilization assist system 1 is a system that assists the stabilization of the user's posture by providing stimulation to the user's fingertip to realize the LTC. The posture stabilization assist system 1 includes an assist device 100, a motion capture device 200 (imaging unit), a calculation device 300, and an amplifier 400.

The auxiliary device 100 includes a housing 110 attachable to the user's fingertip and a vibrator 120 provided in the housing 110. The vibrator 120 in the present embodiment is an example of a stimulation applying unit, and when the vibrator 120 vibrates, the vibrator 120 stimulates the user's fingertip.
The motion capture device 200 analyzes an image obtained by capturing a user, calculates the position of the housing 110, and outputs position information to the calculation device 300. The said positional information is a value of the three-dimensional absolute coordinate system which made the predetermined position in space the origin. The motion capture device 200 may calculate the position of the housing 110 by detecting a marker attached to the housing 110, or may recognize the position of the housing 110 by recognizing the housing 110 as a marker. It may be calculated.
The computing device 300 calculates the distance, velocity, and acceleration from the user's trunk to the housing 110, and generates a signal for vibrating the vibrator 120 of the auxiliary device 100.
The amplifier 400 vibrates the vibrator 120 by amplifying a signal calculated by the calculation device 300 and outputting the signal to the vibrator 120.

Here, a method of calculating the strength of the vibrator 120 will be described.
FIG. 2 is a diagram showing a method of calculating the strength of the vibrator 120 according to the first embodiment.
In the posture stabilization support system 1 according to the first embodiment, as shown in FIG. 2A, a virtual sphere which is a hollow spherical virtual wall having impedance characteristics centering on the trunk of the user is disposed. Assuming that, the vibrator 120 is vibrated at an intensity corresponding to the reaction force generated when the housing 110 intrudes into the wall. In this way, the posture stabilization assist system 1 can present the user with the LTC against a virtual wall.

In the first embodiment, based on the model shown in FIG. 2 (B), the reaction force _Fo (t) generated when the case 110 intrudes into the wall is calculated based on the equation (1).

Here, dX _o (t) indicates a normal vector from the inner wall of the virtual sphere centered on the user's trunk at time t to the housing 110. The normal vector indicates the distance and direction between the inner wall of the virtual sphere and the housing 110. That, _dX o 1 derivative in which _dX o '(t) of (t) indicates the speed of the housing 110 at time t, _dX o'' a second derivative of dX _o (t) is the time The acceleration of the housing 110 at t is shown. Also, _Mo is a constant indicating virtual inertia. Also, B _o is a constant indicating an imaginary viscosity. Further, K _o is a constant indicating virtual stiffness.

FIG. 3 is a schematic block diagram showing the configuration of a computing device 300 according to the first embodiment of the present invention.
The calculation device 300 includes a position reception unit 301, a torso position recording unit 302, a torso position storage unit 303, a vector calculation unit 304, a vector storage unit 305, a velocity calculation unit 306, an acceleration calculation unit 307, an intensity calculation unit 308, and a signal. An output unit 309 is provided. Here, the vector calculation unit 304, the velocity calculation unit 306, and the acceleration calculation unit 307 are an example of a physical quantity calculation unit.

The position reception unit 301 sequentially receives the position information of the housing 110 from the motion capture device 200.
The torso position recording unit 302 records the position information of the case 110 received by the position receiving unit 301 in the torso position storage unit 303 when the user places the case 110 on the torso.
The trunk position storage unit 303 stores position information of the user's trunk (reference portion).

The vector calculation unit 304 uses the position indicated by the position information stored in the torso position storage unit 303 and the position indicated by the latest position information received by the position reception unit 301 to use the user's A normal vector dX _o (t) from the inner wall of a virtual sphere centered on the trunk to the casing 110 is calculated and recorded in the vector storage unit 305.

  Here, X (t) is a vector from the position indicated by the position information stored in the trunk position storage unit 303 to the position indicated by the latest position information stored in the housing 110 position storage unit. Also, r is the radius of the inner wall of the phantom sphere.

The vector storage unit 305 stores the normal vectors calculated by the vector calculation unit 304 in time series.
The velocity calculation unit 306 calculates the velocity of the housing 110 by differentiating the latest predetermined number of normal vectors stored in the vector storage unit 305.
The acceleration calculation unit 307 calculates the acceleration of the housing 110 by performing second-order differentiation on the latest predetermined number of normal vectors stored in the vector storage unit 305.

The strength calculation unit 308 calculates the strength of the vibration of the vibrator 120 based on the above equation (1), using the calculation results of the distance calculation unit, the velocity calculation unit 306, and the acceleration calculation unit 307.
The signal output unit 309 outputs a signal indicating the intensity calculated by the intensity calculation unit 308 to the amplifier 400.

Next, the operation of the posture stabilization auxiliary system 1 according to the first embodiment of the present invention will be described.
FIG. 4 is a flowchart showing the operation of the posture stabilization auxiliary system 1 according to the first embodiment of the present invention.
First, the user places the case 110 on the trunk and instructs the computing device 300 to perform calibration (step S1). As a method of the instruction of calibration, a switch is provided in advance in the housing 110, and a method of outputting the instruction to the computing device 300 by pressing the switch or an assistant different from the user calculates The instruction may be output by pressing a button provided on the device 300. Next, the torso position recording unit 302 of the computing device 300 records the position information received by the position receiving unit 301 from the motion capture device 200 when receiving the calibration instruction in the torso position storage unit 303 (see FIG. Step S2).
Thus, the computing device 300 can perform calibration of position information by using the position of the user's trunk as a reference.

  When the torso position recording unit 302 records the position information indicating the position of the user's torso in the torso position storage unit 303, the position receiving unit 301 receives new position information from the motion capture device 200 (step S3). Next, the vector calculation unit 304 calculates a vector from the position indicated by the position information stored in the torso position storage unit 303 to the position indicated by the position information received by the position reception unit 301 (step S4). Next, the vector calculation unit 304 calculates a normal vector from the inner wall of the virtual sphere centering on the trunk of the user to the casing 110 based on the equation (2) (step S5).

  Next, the vector calculation unit 304 records the calculated normal vector in the vector storage unit 305 (step S6). Next, the velocity calculation unit 306 calculates a vector indicating the velocity of the housing 110 by applying a differential filter to the latest predetermined number of normal vectors stored in the vector storage unit 305 (step S7). Further, the acceleration calculation unit 307 calculates a vector indicating the acceleration of the housing 110 by applying the differential filter twice for the latest predetermined number of normal vectors stored in the vector storage unit 305 (step S8).

  Next, the strength calculation unit 308 determines whether the direction of the normal vector calculated by the vector calculation unit 304 is the direction of separating from the user's trunk (step S9). If the strength calculation unit 308 determines that the direction of the normal vector is the direction facing the user's trunk (step S9: NO), the case 110 has not reached the inner wall of the virtual sphere, so the vibrator is The strength of the vibration of 120 is set to 0 (step S10).

On the other hand, when the strength calculation unit 308 determines that the direction of the normal vector is the direction away from the user's trunk (step S9: YES), the strength of the vibration of the vibrator 120 is calculated based on the equation (1). Is calculated (step S11).
Then, the signal output unit 309 causes the amplifier 400 to output a signal indicating the intensity calculated in step S9 or step S10 by the intensity calculation unit 308 to the auxiliary device 100 (step S12). Thereby, vibrator 120 of auxiliary device 100 can give a user a vibration stimulus according to a reaction force when it contacts an inner wall of a virtual sphere.

  Next, the computing device 300 determines whether or not the input of the process termination request has been received from the outside by an operation by a user or the like, an interrupt process, or the like (step S13). If the computing device 300 determines that the input of the termination request from the outside has not been received (step S13: NO), the processing returns to step S3 and continues the processing. On the other hand, when the computing device 300 determines that the input of the termination request from the outside has been received (step S13: YES), the processing is terminated.

  Thus, according to the first embodiment, the auxiliary device 100 stimulates a portion where the housing 110 is attached according to the physical quantity related to the displacement of the housing 110. Thereby, auxiliary device 100 can realize LTC without mechanical support.

Second Embodiment
Next, a second embodiment of the present invention will be described.
In the first embodiment of the present invention, the case where the position of the housing 110 is specified by the image captured by the motion capture device 200 has been described. In the second embodiment of the present invention, the wireless sensor 500 is used to specify the position of the housing 110.

FIG. 5 is a schematic view showing the configuration of a posture stabilization support system 1 according to a second embodiment of the present invention.
The posture stabilization auxiliary system 1 according to the second embodiment includes a wireless sensor 500A having a positioning function and a wireless sensor 500B in place of the motion capture device 200. For example, a UWB (Ultra-wide band) -BAN (Body Area Network) sensor can be used as the wireless sensor 500A and the wireless sensor 500B. The wireless sensor 500A is attached to the trunk of the user, and the wireless sensor 500B is provided to the auxiliary device 100. The wireless sensor 500A, the wireless sensor 500B, and the computing device 300 are connected by wireless communication.
Further, in the posture stabilization auxiliary system 1 according to the second embodiment, the amplifier 400 is incorporated in the auxiliary device 100.

  Then, the computing device 300 acquires position information from the wireless sensor 500A and the wireless sensor 500B, and transmits a signal generated by the process similar to that of the first embodiment to the wireless sensor 500B by wireless communication. Then, the wireless sensor 500 </ b> B outputs the signal received from the computing device 300 to the vibrator 120 via the amplifier 400. Thereby, the assisting device 100 can assist the user's posture stabilization.

  As described above, according to the second embodiment, the posture stabilization auxiliary system 1 can perform posture stabilization assistance without providing the motion capture device 200.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to the above-described ones, and various design changes can be made without departing from the scope of the present invention. It is possible.
For example, in the embodiment described above, although the case where the vibrator 120 is used as an example of the stimulus applying unit has been described, the present invention is not limited thereto. For example, a conductor providing electrical stimulation, a gyro mechanism, a tactile display or other configuration for providing stimulation may be used.

  Moreover, although embodiment mentioned above demonstrated the case where an auxiliary | assistant apparatus was mounted | worn with a user's finger tip, it is not restricted to this, An auxiliary | assistant apparatus may be a thing mounted | worn with another site | part.

  In the embodiment described above, the case is described where the strength calculation unit 308 calculates the strength of the vibration of the vibrator 120 based on the distance and direction from the trunk to the housing 110 and the speed and acceleration of the housing 110. However, the invention is not limited to this, and the strength may be calculated using at least one of the physical quantities related to the displacement of the housing 110. For example, the strength calculation unit 308 may calculate the strength of the vibration of the vibrator 120 using only the distance from the trunk to the housing 110, or the vibration of the vibrator 120 using only the acceleration of the housing 110. The strength of may be calculated. As a result of the experiment, it is known that the effect of the LTC can be obtained particularly when the distance from the trunk to the housing 110 is used and when the acceleration of the housing 110 is used.

  The above-described computing device 300 has a computer system inside. The operation of each processing unit described above is stored in the form of a program in a computer-readable recording medium, and the above-described processing is performed by the computer reading and executing this program. Here, the computer readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory or the like. Alternatively, the computer program may be distributed to a computer through a communication line, and the computer that has received the distribution may execute the program.

  Further, the program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

Here, an example of the posture stabilization auxiliary system 1 according to the first embodiment of the present invention will be described.
In order to confirm the effectiveness of the posture stabilization assist system 1, the effect of the posture stabilization assistance according to the first embodiment was verified on nine healthy university students (22.8 ± 1.30 years old). The size of posture fluctuation was measured using a three-axis acceleration sensor (MA3 = 04 Ac, Microstone) and a force plate (TF-4060, Tech Technical Sales).

FIG. 6 is a photograph showing the appearance of a subject during an experiment according to an example of the present invention.
In the test subject, the auxiliary device 100 and the reflection marker were attached near the second and third fingers of the right hand, and the three-axis acceleration sensor was fixed to the skin surface near the seventh cervical spine and right sacrum with medical tape. In this experiment, the subjects were instructed to maintain the posture of the tandem (with the first finger of the left foot on the heel of the right foot) in a closed position with the eyes closed on the force plate as much as possible. I have run a task.
(A) Task to take a tandem posture naturally with both hands not touching the body (NC)
(B) A task of waving to touch the inner wall of a virtual sphere (no tactile feedback, NF)
(C) Task to receive steady-state constant-frequency, constant-frequency stimulation at fingertips (vibration amplitude values Amax, CS)
(D) A task (LTC) to keep the paper (297 × 210 cm) taped on the hanger rack lightly touched
(E) A task (VLTC) to be stimulated by the auxiliary device 100 according to the first embodiment

In the present embodiment, in order to evaluate the stability of the posture, the ten evaluation indexes shown below are used.
(1) Posture holding time T
(2) Posture fluctuation size R _s near the neck
(3) Posture fluctuation size R _h near the waist
(4) Root mean square deviation M _r
(5) Body center of gravity speed M _v
(6) Front pare fluctuation width W _x
(7) sagittal fluctuation width W _y
(8) Rectangular area S _w
(9) Standard deviation area S _σ
(10) Subjective evaluation L _{v of} subject

Note that the attitude holding time T is the time when the tandem attitude can be maintained on the force plate, and the number of data n (n = 1, 1) measured from the force plate (sampling frequency: f _p [Hz]) while the attitude is maintained. It is defined by Formula (3) shown below using ..., N).

The size of posture fluctuation during posture maintenance is the average of the root sum of squares calculated from each axis component of the acceleration sensor (sampling frequency: f _a [Hz]) attached near the seventh cervical spine (neck) and right sacrum (hip) The values were used as R _s and R _h (where R _s and R _h are accelerations near the seventh cervical spine and the right sacrum, respectively).

The indices (4) to (9) are generally used for evaluation of center of gravity sway, and the center of pressure (COP) coordinates (x _n , y _n ) (x _n ) (x _n ) measured from the force plate Is calculated using frontal plane coordinates and y _n is sagittal plane coordinates).

The root mean square deviation M _r is a variation from the average center of gravity, and the body center of gravity velocity M _r is defined by the following equations (4) and (5) as indices indicating the average velocity of motion.

However, X with a bar and Y with a bar show the average value of COP coordinates. Further, e ^x _{n and} e ^y _n indicate the amount of change of COP (e ^x _n = x _{n + 1-} x _n and e ^y _n = y _{n + 1-} y _n ).

The frontal plane fluctuation width W _x and the sagittal plane fluctuation width W _y respectively indicate the maximum displacement width in the frontal plane direction and the sagittal plane direction, and using the maximum value and the minimum value of the COP coordinates of each axis, respectively It is calculated by the following equation (6) and equation (7).

The rectangular area S _w is the area indicating the center of gravity movement range, and the standard deviation area S _σ is the movement area excluding the outliers, using the indices M _r and M _v determined by the equations (4) and (5) And (9) shown below.

However, σ _x and σ _y represent the standard deviation of COP coordinates.

Moreover, in order to evaluate a subject's subjectivity immediately after an experiment, evaluation by VAS (Visual Analogue Scale) was performed. Specifically, when a line segment is presented to the subject and the left end of the line segment is not stable at all, and the right end is very stable, how much the user's posture is stabilized corresponds to the position on the straight line Instructed to answer. The evaluation using is the distance from the left edge to the point where the subject has responded VAS value L _v.

In this embodiment, when performing VLTC task, as the coefficients of formula _{(1), M o = 1.0} [kg], B o = 10.0 [Ns / m], K o = 50.0 [N / M] was used. Further, the maximum value of the amplitude of the vibration by the vibrator 120 is 0.08 [V], and the gain by the amplifier 400 is 0.005 [V / m]. In addition, the distance r to the inner wall of the virtual sphere and the distance R to the outer wall indicate the position at which the subject says that the subject is most likely to touch the inner wall of the virtual sphere from the center of the trunk The value of the distance magnitude was used. Further, the sampling frequency of the motion capture device 200 is 100 [Hz].
In addition, when performing the LTC task, the hanger rack was installed at the position where the subject answered that the paper was the easiest to touch.

The sampling frequency of the signal measurement was 100 Hz for f _a and 5 kHz for f _p, and the vibration frequency of the oscillator 120 was 250 Hz which is considered to be most easily felt by humans. The number of trials was set to 11 for each task, and the posture was kept as high as possible with 60 [s] as the upper limit.

FIG. 7 is a diagram showing measurement data of the VLTC task according to the present embodiment.
FIG. 7 shows position information X (t) obtained from motion capture in the order from the top, Euclidean norm of position information | X (t) |, displacement | dX _o (t) |, velocity | dX _o '(t) | , Acceleration | dX _{o ′ ′} (t) |, virtual reaction force | F _o (t) |, and amplitude A _m (t) of the oscillator 120. The shaded area in FIG. 7 indicates a section in which the housing 110 is in contact with the inner wall of the virtual sphere.

  From FIG. 7, in the VLTC task, when the subject contacts the inner wall of the virtual sphere, the reaction force is calculated according to the magnitude of displacement, velocity and acceleration, and the vibration according to the magnitude of the reaction force is presented. It can be confirmed that the installation of virtual spheres and feedback of information can be performed.

FIG. 8 shows measurement data for 10 [s] for each task according to this embodiment, and from top to bottom three-dimensional positional information X ^x (t), X ^y (t), obtained from motion capture X ^z (t) represents the square sum root calculated from acceleration sensors attached to the seventh cervical spine and the right sacrum, and COP positions of the frontal plane coordinates and the sagittal plane coordinates.

  As shown in FIG. 8, the finger positions of the NF task and the VLTC task are periodically changing because they are waving their hands, and the square sum root of the acceleration waveform is more disturbed than the other tasks (NF, CS, LTC) Can be confirmed.

FIG. 9 is a view showing an example of a COP trajectory between 60 [s] obtained for each task according to the present embodiment. In FIG. 9, the horizontal axis indicates frontal plane coordinates, and the vertical axis indicates sagittal plane coordinates.
It can be seen from FIG. 9 that the area formed by the COP trajectory measured from the force plate is clearly smaller in the VLTC task than in the NC task, the NF task, and the CS task, and is close to the size of the area formed by the LTC task.

FIG. 10 is a diagram showing an evaluation index value for each task according to the present embodiment.
FIG. 10A shows evaluation index values normalized with the average value of the NC task. As a result of performing a multiple comparison test (Holm method) for each index, no significant difference for each task was obtained in the posture holding time T (Fig. 10 (a) (i)). Next, the average value R _s (Fig. 10 (a) (ii)) of the root sum square of the acceleration signal of the neck is 1.00 ± 0.26 for the NC task and 1.07 ± 0.31 for the VLTC task. became. In addition, the average value R _h (Fig. 10 (a) (iii)) of the sum of squares of acceleration signals of the waist is 1.00 ± 0.21 for the NC task and 1.09 ± 0.25 for the VLTC task. The

Referring to FIGS. 10 (a) (ii) and (iii), a significant increase in the VLTC task by 5% was observed for the NC task in R _h . This vibration can also be confirmed from FIG. 8 and it is suggested that the movement of the hand gesture greatly affected the body acceleration.
On the other hand, FIG. 10 (b) is a graph in which R _s and R _h are normalized by the average value of the NF task, but referring to FIG. 10 (b), with R _s and R _h , the NF task and the VLTC task There is a significant downward trend among them. From this, it can be seen that in the VLTC task, the increase in acceleration due to the hand movement is suppressed.

The average value of the index M _r (FIG. 10 (a) (iv)) representing the variation from the average center of gravity is 1.00 ± 0.23 (NC), 0.99 ± 0.22 (NF), and 1. 01 ± 0.24 (CS), 0.87 ± 0.19 (LTC), 0.90 ± 0.20 (VLTC). At this time, significant reductions were observed at the 0.1% and 5% significance levels for the LTC task and the VLTC task, respectively, compared to the NC task.

The average value of the body center of gravity velocity M _v (FIG. 10 (a) (v)) is 1.00 ± 0.11 (NC), 1.07 ± 0.14 (NF), 1.02 ± 0.15, respectively. (CS), 0.91 ± 0.13 (LTC), 1.03 ± 0.16 (VLTC), the LTC task only obtained a significant reduction to the NC task.

In the frontal plane fluctuation width W _x and the sagittal plane fluctuation width W _y (Fig. 10 (a) (vi), (vii)) representing the fluctuation width of COP, no significant decrease is found in the frontal plane direction for each task. However, a significant decrease was observed in the sagittal direction. In the two motion areas S _r and S _σ (FIG. 10 (a) (viii), (ix)), a significant decrease was observed between the NC task and the NC task. And the average value of VAS value L _v (FIG. 10 (a) (x)) which is a subject's subjective evaluation is 1.00 ± 0.47 (NC) and 0.85 ± 0.42 (NF), respectively. It became 1.16 ± 0.51 (CS), 2.34 ± 0.45 (LTC), and 1.92 ± 0.79 (VLTC).

Thus, for indicators other than R _s and R _h , no significant increase is observed between the NC task and the VLTC task. From this, it can be considered that although the hand movement in performing the VLTC task increases the apparent acceleration sway, the increase does not increase the sway itself.

From the results of this example, it was confirmed that the posture becomes stable when performing the LTC while the posture becomes unstable in the tandem posture in the state where the eyes are closed. Further, by using the posture stabilization assist system 1 according to the first embodiment of the present invention, the root mean square deviation M _r , the sagittal plane fluctuation width W _y , and the movement area It can be seen that S _w , S _σ ) decreases significantly.

In particular, M _r representing the degree of variations from the average center of gravity is observed to decline at the 5% significance level between the NC task and VLTC task. These reductions are similar to LTC. This phenomenon does not appear when there is no tactile feedback when shaking the hand (NF) or when applying a vibratory stimulus to the fingertip (CS), so it is due to the tactile feedback associated with its own motion It is guessed.

It is considered that the subject acquires afferent information by perceiving the coordinates in the three-dimensional space by tactile feedback, and an effect like LTC is obtained. A large change did not appear in the posture holding time T for each task, presumably because the subject's balance ability was high and there was no large fluctuation such that the center of gravity deviated from the support basal plane.
From the above results, it can be seen that the present invention can reduce the postural sway as well as the physical LTC.

  DESCRIPTION OF SYMBOLS 1 ... Attitude stabilization auxiliary system 100 ... Auxiliary device 110 ... Housing | casing 120 ... Vibrator 200 ... Motion capture apparatus 300 ... Calculation apparatus 301 ... Position reception part 302 ... Trunk position recording part 303 ... Trunk position storage part 304 ... Vector calculation Unit 305 ... Vector storage unit 306 ... Velocity calculation unit 307 ... Acceleration calculation unit 308 ... Strength calculation unit 309 ... Signal output unit 400 ... Amplifier 500 ... Wireless sensor

Claims (6)

An attitude stabilization auxiliary device that reproduces a pseudo light touch contact to stabilize the attitude of the user,
A housing attachable to a part of the user's body;
The velocity of the housing, the acceleration of the housing, the distance from the reference portion which is a portion different from the portion where the housing is mounted, to the housing, and the center of the reference portion are provided integrally with the housing. And a stimulus applying unit for applying a stimulus to a site where the housing is attached according to at least one of the direction of the normal vector from the inner wall of the virtual sphere to the housing. Auxiliary device for posture stabilization . The posture stabilizing auxiliary device according to claim 1 , wherein the reference portion is a trunk of the user . The posture stabilizing device according to claim 1 or 2 , wherein the stimulus applying unit applies a stimulus to the site when the distance from the reference site to the housing is equal to or more than a predetermined threshold. Auxiliary equipment . The stimulating unit from the reference position the described distance to the housing of the longer strong stimulus to any one of claims 1 to 3, characterized in that applied to the site posture stabilization for Auxiliary equipment . The posture stabilization auxiliary device according to any one of claims 1 to 4 , wherein the stimulation applying unit applies a stronger stimulation to the part as the acceleration of the casing is higher . An imaging unit for imaging the user;
The speed of the housing, the acceleration of the housing, the distance from the reference part which is a part different from the part on which the housing is mounted, and the distance from the reference part , based on the image captured by the imaging unit A physical quantity calculation unit for calculating at least one of the directions of normal vectors directed from the inner wall of a virtual sphere centered on
The stimulus applying unit applies a stimulus to a part on which the housing is attached according to at least one of the velocity, the acceleration, the distance, and the direction of the normal vector calculated by the physical quantity calculating unit. The auxiliary | assistant apparatus for attitude | position stabilization in any one of the Claims 1-5 characterized by the above-mentioned .