JP6908436B2 - Footwear and system - Google Patents

Description

This disclosure relates to footwear and systems.

Conventionally, shoes that reduce the risk of falling during walking have been known. Elderly people with weakened muscles may fall because their toes cannot be pulled up sufficiently and their toes come into contact with the ground or stairs. For example, Patent Document 1 discloses a shoe in which an ankle belt integrally formed with the shoe and a toe portion of the shoe are connected by an elastic body.

Japanese Unexamined Patent Publication No. 2006-141747

It would be advantageous if the wearer, such as the elderly, could reduce the risk of falling while preventing the wearer's muscle strength from being reduced by an appropriate load during walking.

An object of the present disclosure made in view of such circumstances is to provide footwear and systems that are beneficial to the safety and health of the wearer.

The footwear according to one embodiment is
With a weight
A drive unit for moving the weight is provided.
The center of gravity of this footwear can be moved by the driving unit moving the weight.
The drive unit rotates based on the weight applied to the footwear.

The system according to one embodiment is
With the terminal device
Footwear that can communicate with the terminal device, includes a weight and a driving unit that moves the weight, and the driving unit can move the weight to move the center of gravity .
The drive unit rotates based on the load on the footwear, and the footwear and the footwear
including.
In this system
The terminal device acquires at least one piece of information about the wearer's movements of the footwear, the wearer's vital signs, and the wearer's myoelectric potential.
The drive unit moves the weight based on the information acquired by the terminal device.

According to one embodiment, footwear and systems that are beneficial to the safety and health of the wearer can be provided.

It is a schematic block diagram of the footwear which concerns on one Embodiment. It is a schematic block diagram of the terminal device which communicates with footwear in the system which concerns on one Embodiment. It is a figure exemplifying the relationship between the position of the center of gravity of the footwear and the muscle output of the wearer. It is a figure which illustrates the pulse wave detected by a vital sensor. It is a figure which illustrates the relationship between exercise intensity and blood lactate concentration. FIG. 6A is a diagram illustrating a time change of the myoelectric potential detected by the myoelectric sensor. FIG. 6B is a diagram showing the average frequency at predetermined time intervals of FIG. 6A. It is a figure which illustrates the relationship between the value based on the sensor data, and the 1st and 2nd threshold values. It is a figure which shows the 1st structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the center of gravity movement mechanism which concerns on 1st structural example. It is a figure explaining the operation of the footwear which concerns on one Embodiment. It is a figure which shows the 2nd structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the center of gravity movement mechanism which concerns on the 2nd configuration example. It is a figure which shows the 3rd structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the center of gravity movement mechanism which concerns on 3rd structural example. It is a figure which shows the 4th structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the center of gravity movement mechanism which concerns on 4th structural example. It is a figure which shows the 5th structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the center of gravity movement mechanism which concerns on 5th structural example. It is a figure explaining the 6th structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a figure which shows the 7th structural example of the center of gravity movement mechanism of the footwear which concerns on one Embodiment. It is a flowchart which illustrates the process about the movement of the center of gravity of the footwear by a controller. It is a schematic block diagram of the footwear which concerns on another embodiment. It is a schematic block diagram of the terminal device which communicates with footwear by the system which concerns on another embodiment. It is a schematic block diagram of the footwear which concerns on still another embodiment. It is a schematic block diagram of the terminal device which communicates with footwear by the system which concerns on another embodiment.

[First Embodiment]
(Footwear composition)
FIG. 1 shows a schematic configuration of footwear 1 according to the first embodiment. The center of gravity of the footwear 1 according to the present embodiment moves, for example, based on the degree of fatigue of the wearer. In particular, as will be described later, the footwear 1 according to the present embodiment is provided with a weight, and the center of gravity can be moved by moving the weight. The footwear 1 according to the present embodiment constitutes a system for moving the center of gravity (hereinafter, referred to as a system according to the present embodiment) together with the terminal device 2 (see FIG. 2) that communicates with the footwear 1.

As shown in FIG. 1, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12, a storage 13, and a notification unit 16. Here, the footwear 1 according to the present embodiment is a walking shoe. However, footwear 1 is not limited to walking shoes. The footwear 1 may be, for example, athletic shoes other than walking shoes, leather shoes, boots, pumps, or the like. Further, the footwear 1 may be sandals such as sports sandals, boots, or the like. Further, the center of gravity moving mechanism 11, the communication unit 12, the storage 13 and the notification unit 16 are provided, for example, on the sole portion or the insole of the footwear 1. Further, FIG. 1 is an example. Footwear 1 does not have to include all of the components shown in FIG. Further, the footwear 1 may include components other than those shown in FIG.

The center of gravity moving mechanism 11 is a mechanism capable of moving the center of gravity of the footwear 1. The center of gravity moving mechanism 11 can move the center of gravity to the heel side or the toe side of the footwear 1. That is, where the center of gravity is located just in the middle of the toes and heels of general footwear, the center of gravity moving mechanism 11 can move the center of gravity and bias it to either side. In the present embodiment, the center of gravity moving mechanism 11 moves the center of gravity according to an instruction to move the center of gravity received by the communication unit 12 (hereinafter, referred to as a center of gravity moving instruction). In the present embodiment, the center of gravity moving mechanism 11 includes two liquid bags provided on the toe side and the heel side of the footwear 1, respectively, and a tube connecting these liquid bags. Further, the center of gravity moving mechanism 11 includes a tube pump 110 that moves the liquid in one liquid bag to the other liquid bag via a tube (see FIG. 8). The center of gravity moving mechanism 11 rotates the roller of the tube pump 110 to move the liquid according to the center of gravity moving instruction. For example, the tube pump 110 moves the liquid in the liquid bag on the toe side to the liquid bag on the heel side, so that the center of gravity of the footwear 1 moves to the heel side. Then, since the toe side of the footwear 1 becomes lighter than before the movement of the liquid, the wearer of the footwear 1 (hereinafter, simply referred to as “wearer”) can easily pull up the toe. The specific configuration of the footwear 1 will be described later.

The communication unit 12 is an interface for communication. The footwear 1 can communicate with the terminal device 2 (see FIG. 2) by including the communication unit 12. In the present embodiment, the communication unit 12 communicates according to the wireless communication standard. Wireless communication standards include, for example, communication standards for cellular phones such as 2G, 3G and 4G. Communication standards for cellular phones include, for example, LTE (Long Term Evolution) and W-CDMA (Wideband Code Division Multiple Access). Communication standards for cellular phones include, for example, CDMA2000 and PDC (Personal Digital Cellular). Communication standards for cellular phones include, for example, GSM (registered trademark) (Global System for Mobile communications) and PHS (Personal Handy-phone System). In addition, wireless communication standards include, for example, WiMAX (Worldwide Interoperability for Microwave Access), IEEE802.11, Bluetooth (registered trademark), and Bluetooth (registered trademark) Low Energy. In addition, wireless communication standards include, for example, IrDA (Infrared Data Association) and NFC (Near Field Communication). The communication unit 12 can support one or more of the above-mentioned communication standards. Here, the communication unit 12 can also communicate with the terminal device 2 (see FIG. 2) by wire.

The storage 13 stores data as a storage unit. The data stored in the storage 13 may include the center of gravity movement instruction received by the communication unit 12. Further, the data stored in the storage 13 may include the detection value of the sensor 24 (see FIG. 2) received by the communication unit 12. Further, the data stored in the storage 13 may include intermediate data or result data of an operation executed by the center of gravity moving mechanism 11 when the center of gravity is moved. Further, the storage 13 may temporarily store the data, or may store the data forever until it is deleted by the wearer or the like. The storage 13 may be composed of any storage device such as a semiconductor storage device and a magnetic storage device. Further, the storage 13 may be composed of a plurality of types of storage devices. Further, the storage 13 may have a configuration in which a portable storage medium such as a memory card and a reading device for the storage medium are combined.

The storage 13 may store a program loaded in the center of gravity moving mechanism 11. For example, the center of gravity moving mechanism 11 includes a processor, and the processor may execute operation control of the tube pump 110 (see FIG. 8) by a program loaded from the storage 13. Here, the program may be stored in the storage 13 via the communication by the communication unit 12. The storage 13 may store a predetermined threshold value described later.

The notification unit 16 notifies the wearer that the footwear 1 or the wearer is in a predetermined state. The notification unit 16 includes, for example, at least one of a light, a speaker, and a vibration motor. When the notification unit 16 includes a light, the notification unit 16 can emit light to the wearer. The light may be, for example, an LED (Light Emitting Diode) light. Further, when the notification unit 16 includes a speaker, the notification unit 16 can emit a sound to the wearer. Further, when the notification unit 16 includes a vibration motor, the notification unit 16 can generate vibration to the wearer. Here, the predetermined state of the footwear 1 may be, for example, a state in which the center of gravity moving mechanism 11 moves the center of gravity. Further, the predetermined state of the wearer may be, for example, a state in which the degree of fatigue exceeds the standard. As an example, when the notification unit 16 includes a light and a speaker, the notification unit 16 may notify the wearer that the center of gravity moving mechanism 11 will move the center of gravity from now on by emitting light and sound.

(Configuration of terminal device)
FIG. 2 shows a schematic configuration of the terminal device 2. In the system according to the present embodiment, the terminal device 2 estimates the degree of fatigue of the wearer and generates an instruction to move the center of gravity. Further, the terminal device 2 transmits the generated center of gravity movement instruction to the footwear 1.

As shown in FIG. 2, the terminal device 2 includes a communication unit 22, a storage 23, a sensor 24, and a controller 25. In the present embodiment, the terminal device 2 is a wearable terminal worn by the wearer. The wearable terminal is a wristband type worn on the wearer's wrist. As another example, the wearable terminal may be a ring type worn on a finger, a glasses type worn on a face, a hat type worn on a head, or a clothing type worn on a body. Here, the terminal device 2 is not limited to the wearable terminal. The terminal device 2 may be, for example, a smartphone, a tablet terminal, a feature phone, or the like. Further, the terminal device 2 may be, for example, a PDA, a portable music player, a game machine, an electronic book reader, a home electric appliance, or the like. Further, FIG. 2 is an example. The terminal device 2 may include only a part of the components shown in FIG. Further, the terminal device 2 may include components other than those shown in FIG. Further, the terminal device 2 is not limited to one device. That is, the terminal device 2 may be composed of a plurality of devices.

The communication unit 22 is an interface for communicating with the footwear 1. In the present embodiment, the communication unit 22 communicates according to the wireless communication standard. The communication unit 22 can support one or more of the communication standards described in the communication unit 12 of the footwear 1. Here, the communication unit 22 can also communicate with the footwear 1 by wire. Further, in the present embodiment, the communication unit 22 can receive GPS signals from GPS (Global Positioning System) satellites.

The storage 23 stores programs and data as a storage unit. The storage 23 stores intermediate data and processing results (for example, an instruction to move the center of gravity) of the processing of the controller 25. Further, the storage 23 stores the value (data) detected by the sensor 24. In the present embodiment, the storage 23 stores the GPS signal received by the communication unit 22. Further, the storage 23 may store the wearer's data (for example, height, weight, gender, age, etc.). In the present embodiment, the data from the sensor 24 and the communication unit 22 are stored in the storage 23 via the controller 25. The storage 23 may be composed of any storage device such as a semiconductor storage device and a magnetic storage device. The storage 23 may be composed of a plurality of types of storage devices. Further, the storage 23 may have a configuration in which a portable storage medium such as a memory card and a reading device for the storage medium are combined.

The program stored in the storage 23 includes an application executed in the foreground or background, and a control program that supports the operation of the application. The application causes the controller 25 to perform, for example, a process of causing the sensor 24 to detect, for example, at least one of the wearer's movements, vital signs and myoelectric potentials. The control program is, for example, a battery management program that manages the remaining battery level of the terminal device 2.

The sensor 24 detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this embodiment, the sensor 24 includes a motion sensor, a vital sensor and a myoelectric sensor. That is, in the present embodiment, the sensor 24 detects the wearer's movement, the wearer's vital signs, and the wearer's myoelectric potential. Here, the sensor 24 may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 24 may be provided with yet another detection device (for example, an ultraviolet sensor or the like).

(Motion sensor)
The motion sensor directly or indirectly detects the wearer's movement. The motion sensor is composed of, for example, an acceleration sensor, a gyro sensor, a barometric pressure sensor, and an illuminance sensor.

Accelerometers detect the direction and magnitude of acceleration acting on the wearer. The acceleration sensor is, for example, a three-axis (three-dimensional) type that detects acceleration in the x-axis direction, the y-axis direction, and the z-axis direction. The type of accelerometer is not limited. The accelerometer may be, for example, a piezoresistive type. Further, the acceleration sensor may be, for example, a capacitance type. Further, the acceleration sensor may be, for example, a piezoelectric element (piezoelectric type) or a MEMS (Micro Electro Mechanical Systems) type based on a heat detection type.

The gyro sensor detects the angular velocity based on the wearer's movements. The gyro sensor is a three-axis type vibrating gyro sensor that detects the angular velocity from the deformation of the structure due to the Coriolis force acting on the vibrating arm, for example. Here, the structure may be made of a piezoelectric material such as quartz or piezoelectric ceramics. Further, the gyro sensor may be formed by MEMS (Micro Electro Mechanical Systems) technology using the structure as a material such as silicon. Further, the gyro sensor may be an optical gyro sensor.

The barometric pressure sensor detects the atmospheric pressure (atmospheric pressure) around the wearer. The barometric pressure sensor is, for example, a resistance change type sensor that converts a barometric pressure change into a resistance value. The barometric pressure sensor may be, for example, a capacitance type sensor that converts a change in barometric pressure into a change in electrostatic charge. Further, the barometric pressure sensor may be, for example, a crystal oscillation frequency type sensor that converts a pressure change into an oscillation frequency.

The illuminance sensor detects the illuminance of the wearer's ambient light. The illuminance sensor may be, for example, one using a photodiode or one using a phototransistor.

The acceleration sensor, gyro sensor, pressure pressure sensor, and illuminance sensor constituting the motion sensor output the detected acceleration data, angular velocity data, pressure pressure data, and ambient light illuminance data to the storage 23, respectively. The controller 25 grasps the movement of the wearer based on the data output by the motion sensor.

(Vital sensor)
The vital sensor (biological sensor) detects vital signs (biological information) from the wearer. In the present embodiment, the vital sensor is attached to the test site of the wearer to detect vital signs. In this embodiment, vital signs include at least one of pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate and blood glucose levels.

The vital sensor includes a light emitting unit and a light receiving unit. The light emitting unit irradiates the measurement light according to the control of the controller 25, for example. The measurement light is light that can detect the vital signs of the test site. The measurement light is, for example, infrared light. The light emitting unit may be, for example, an LED. The light emitting unit may be, for example, a semiconductor laser including a VCSEL (Vertical Cavity Surface Emitting Laser).

The light receiving unit receives scattered light with respect to the measurement light emitted by the light emitting unit. The light receiving unit outputs a photoelectric conversion signal of the received scattered light to the storage 23. The controller 25 acquires a photoelectric conversion signal from the storage 23. Then, the controller 25 measures the vital signs based on the intensity of the scattered light received by the light receiving unit. The light receiving unit is, for example, a PD (Photodiode).

For example, the infrared light emitted by the light emitting portion is absorbed by hemoglobin in the blood. Therefore, the more blood flows, the less scattered light is received by the light receiving unit. The scattered light received by the light receiving unit fluctuates according to the pulse. In addition, the pulse wave of the wearer can be measured based on the change in the scattered light received by the light receiving unit. Then, from the pulse wave, for example, information such as a pulse rate, a pulse pressure, and a change in blood pressure can be obtained. For example, the vital sensor may measure the blood flow rate by utilizing the Doppler shift of the scattered light scattered in the living tissue when the laser beam is irradiated to the test site.

The vital sensor outputs vital signs to the storage 23. The controller 25 grasps the state of the wearer based on the vital signs output by the vital sensor.

(Myoelectric sensor)
The myoelectric sensor detects the condition of the wearer's muscles. In the present embodiment, the myoelectric sensor is attached to the wearer's leg to detect myoelectric potential (potential on the skin surface) non-invasively. Typically, the myoelectric sensor detects the myoelectric potential value (myoelectric value) of the wearer of the footwear 1.

The myoelectric sensor outputs the detected myoelectric potential to the storage 23 together with the detection time information. The controller 25 acquires the myoelectric potential from the storage 23. Then, the controller 25 generates an electromyogram and grasps the state change of the muscles of the wearer's leg. The myoelectric sensor may measure type I muscles (slow muscles). An example of a site having many type I muscles (slow muscles) is the calf. Further, the myoelectric sensor may measure type II muscles (fast muscles). An example of a site having many type II muscles (fast muscles) is the shin. The myoelectric sensor may be worn, for example, on the shin. Here, in general, when the wearer exercises, the state of type II muscles (fast muscles) whose main energy source is sugar is more likely to change than that of type I muscles (slow muscles). Therefore, the myoelectric sensor may be worn on the shin.

(controller)
The controller 25 estimates the wearer's degree of fatigue based on at least one of the wearer's movements, the wearer's vital signs and the wearer's electromyogram. Here, the movement of the wearer can be detected by the motion sensor worn on the wearer. In addition, the wearer's vital signs can be detected by a vital sensor worn on the wearer. Further, the electromyogram of the wearer can be detected by the electromyogram sensor worn on the wearer. That is, the controller 25 estimates the wearer's fatigue level based on the output of at least one of the motion sensor, vital sensor, and myoelectric sensor worn on the wearer. Here, the degree of fatigue is a numerical value of the degree of fatigue. In the present embodiment, the more tired the wearer is, the larger the value of the degree of fatigue becomes. In this way, the terminal device 2 can acquire at least one piece of information on the movement of the wearer of the footwear 1, the vital signs of the wearer, and the myoelectric potential of the wearer.

Further, the controller 25 determines whether or not to move the center of gravity of the footwear 1 based on the degree of fatigue. For example, the controller 25 generates a center of gravity movement instruction for moving the center of gravity when the degree of fatigue satisfies a predetermined condition. Then, the controller 25 causes the communication unit 22 to transmit the center of gravity movement instruction to the footwear 1. In addition, the controller 25 can instruct the footwear 1 to emit at least one of light, sound, and vibration, depending on the degree of fatigue. For example, the controller 25 can include in the center of gravity movement instruction that the notification unit 16 emits light and sound to the wearer before moving the center of gravity. Further, for example, the controller 25 can instruct the wearer to emit light, sound, or vibration separately from the instruction to move the center of gravity.

(Fatigue)
In the present embodiment, the controller 25 of the terminal device 2 estimates the degree of fatigue as described below. Further, the controller 25 generates an instruction to move the center of gravity according to the estimated degree of fatigue. The center of gravity movement instruction is transmitted to the footwear 1 by the communication unit 22. The center of gravity moving mechanism 11 of the footwear 1 moves the center of gravity of the footwear 1 to the toe side or the heel side according to the center of gravity moving instruction received by the communication unit 12. That is, the center of gravity of the footwear 1 moves based on the degree of fatigue of the wearer estimated by the controller 25.

When the wearer gets tired, the toes cannot be pulled up sufficiently, and the toes may come into contact with the ground or stairs and fall. The controller 25 estimates the degree of fatigue of the wearer by calculating the degree of fatigue. Then, when the controller 25 determines that the wearer is tired, the controller 25 transfers the load applied to the muscle required for pulling up the toes to another muscle. For example, when the controller 25 determines that the wearer is tired, the controller 25 moves the center of gravity of the footwear 1 to the heel side. Then, the wearer's toes are easily pulled up.

FIG. 3 is a diagram illustrating the relationship between the position of the center of gravity of the footwear 1 and the muscle output of the wearer. The horizontal axis is the muscle output required to pull up the toes, and the maximum muscle output of the wearer who measured the data in FIG. 3 is set to 100. The greater the muscle output, the greater the load on the wearer. The appearance probability represents the distribution of muscle output when the data of FIG. 3 is measured. For example, at the center of gravity of the toes (when the center of gravity of the footwear 1 is on the toe side), the probability of appearance of walking with a muscle output of 40 or less is less than 40%. On the other hand, at the time of the center of gravity of the heel (when the center of gravity of the footwear 1 is on the heel side), the probability of appearance of walking with a muscle output of 40 or less exceeds 90%. Further, according to FIG. 3, at the center of gravity of the heel, 50% of the total walking (appearance probability 0.5) requires less than 20 muscle output.

As is clear from FIG. 3, by moving the center of gravity of the footwear 1 to the heel side, the muscle output required for pulling up the toes can be reduced, and the load on the foot muscles of the wearer can be reduced. The controller 25 may move the center of gravity of the footwear 1 to the heel side when it is determined that the wearer is tired. On the contrary, by moving the center of gravity of the footwear 1 to the toe side, the muscle output required for pulling up the toe can be increased, and the load on the wearer can be increased. When the controller 25 determines that the wearer has recovered (not tired), the controller 25 may move the center of gravity of the footwear 1 to the toe side to train the wearer's muscle strength with an appropriate load. Here, the muscle output required for walking includes the muscle output required for pulling up the toes. Also, the wearer's foot muscles include the muscles needed to pull up the toes.

(First estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the movement of the wearer. The movement of the wearer is detected by the motion sensor among the sensors 24. The controller 25 acquires the data (sensor data) output by the sensor 24.

As the first estimation method of the degree of fatigue, the controller 25 calculates the number of steps per unit time, the time required for one step, the walking speed, the stride length, the amount of foot lift, and the walking variation from the acquired sensor data. Here, the sensor data used for calculating the number of steps per unit time or the like may be an instantaneous value. Further, in order to improve the accuracy of estimation, statistical values (for example, average value, median value, etc.) at a predetermined time may be used for this sensor data.

The controller 25 calculates the number of steps per unit time (for example, 1 minute) based on the acceleration data and the measurement time of the acceleration data, for example. Further, the controller 25 may calculate the time required for each step from the reciprocal of the number of steps per unit time. Further, the controller 25 may perform Fast Fourier Transform (FFT) on the acceleration data, extract a specific frequency, and calculate the time required for each step.

The controller 25 can obtain the position information and the locus of the terminal device 2 based on, for example, a GPS signal. Then, the controller 25 can calculate the walking speed and the stride length from the position information and the locus of the terminal device 2 (that is, the position information and the locus of the wearer).

The controller 25 can estimate the amount of foot lift based on the calculated walking speed, stride length, and wearer's data acquired from the storage 23. The amount of foot lift is the maximum value of the distance from the ground of the foot lifted during walking. The range of the amount of foot lift according to the stride is statistically determined from the wearer's height, weight, gender, age, etc. Then, the controller 25 can estimate the amount of foot lift based on the walking speed.

Further, the controller 25 can calculate the walking variation based on, for example, acceleration data. Gait variation indicates variation in rhythm when the wearer walks. The controller 25 calculates the walking variation by calculating the difference between the total value of the accelerations in the x-axis direction, the y-axis direction, and the z-axis direction from the immediately preceding value for each step. The controller 25 may calculate the walking variation by calculating the difference from the immediately preceding value for each step in the vertical direction (z-axis direction) of the toe, for example. Further, the controller 25 may calculate the walking variation from the time variation of the frequency extracted by the FFT. Further, the controller 25 may calculate the standard deviation or the coefficient of variation of the calculated value as the walking variation.

Here, the controller 25 can estimate the place where the wearer is walking from the data of the barometric pressure sensor and the illuminance sensor, for example. For example, the controller 25 may presume that the wearer is outdoors when the illuminance is brighter than a predetermined brightness (eg, 10000 lux). The illuminance sensor may include an ultraviolet sensor. When the value of the ultraviolet sensor is larger than a predetermined value, it may be estimated that the wearer is outdoors. Further, for example, the controller 25 may estimate from the change in atmospheric pressure whether the wearer is walking on a flat ground, going up and down stairs, or climbing a mountain. The controller 25 may adjust the calculated value of the walking data according to the estimated place where the wearer is walking. For example, the controller 25 may make corrections so that the amount of foot lift is larger when the wearer determines that he / she is climbing a mountain.

The controller 25 can estimate the degree of fatigue based on the number of steps per unit time. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of decrease or the rate of decrease of the number of steps per unit time from the reference value increases. As an example, the controller 25 sets the fatigue level to 0 when the number of steps per minute is equal to or greater than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the number of steps per minute decreases by 0.1 step from the reference value. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the number of steps per minute decreases by 1% from the reference value. Here, the reference value may be determined using data on the wearer's initial gait (when the wearable terminal is first worn). As another example, the reference value may be determined using statistical values (eg, mean, median, etc.) of data on multiple gaits when the wearer is not tired.

The controller 25 can estimate the degree of fatigue based on the time required for each step. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of increase or the rate of increase from the reference value of the time required for one step increases. As an example, the controller 25 sets the fatigue level to 0 when the time required for one step is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point for every 0.1 second increase in the time required for each step. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the time required for one step increases by 1% from the reference value.

The controller 25 can estimate the degree of fatigue based on the walking speed. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in walking speed increases. As an example, the controller 25 sets the degree of fatigue when the walking speed is equal to or higher than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the walking speed decreases by 0.1 [m / sec]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the walking speed decreases by 1% from the reference value.

The controller 25 can estimate the degree of fatigue based on the stride length. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of decrease in stride increases. As an example, the controller 25 sets the degree of fatigue when the stride is equal to or greater than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the stride is reduced by 1 [cm]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the stride length decreases by 1% from the reference value.

The controller 25 can estimate the degree of fatigue based on the amount of foot lift. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount of decrease in the amount of foot lift or the rate of decrease increases. As an example, the controller 25 sets the degree of fatigue when the amount of foot lift is equal to or greater than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the amount of foot lift decreases by 0.1 [cm]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the amount of foot lift decreases by 1% from the reference value.

The controller 25 can estimate the degree of fatigue based on the walking variation. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase in walking variation increases. As an example, the controller 25 sets the degree of fatigue to 0 when the walking variation is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the walking variation increases by 1% from the reference value.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity to the heel side when the fatigue degree estimated based on the movement of the wearer satisfies the first condition. In the present embodiment, the first condition is that it is larger than the first threshold value. Further, the controller 25 generates a center of gravity movement instruction for moving the center of gravity to the toe side when the fatigue degree estimated based on the movement of the wearer satisfies the second condition. In the present embodiment, the second condition is that it is smaller than the second threshold value. Here, the first threshold value is a threshold value used for determining that the wearer is tired and there is a risk of falling. The second threshold value is a threshold value used for determining that the wearer is not tired and there is no risk of falling. Further, the second threshold value may be a threshold value used for determining that the wearer has recovered from fatigue and the risk of falling is low. The second threshold is set to be equal to or lower than the first threshold. For example, the first threshold may be set to 20 points. Further, for example, the second threshold value may be set to 5 points.

(Second estimation method of fatigue level)
The controller 25 can estimate the degree of fatigue based on the wearer's vital signs. The vital sign of the wearer is detected by the vital sensor of the sensors 24. The controller 25 acquires the data (sensor data) output by the sensor 24.

As a second estimation method of the degree of fatigue, the controller 25 uses at least one of the vital signs obtained from the acquired sensor data, such as pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate level, and blood glucose level. Estimate the degree of fatigue based on. Here, the vital signs used for estimating the degree of fatigue may be instantaneous values. However, in order to improve the accuracy of estimation, this vital sign may be a statistical value (for example, average value, median value, etc.) at a predetermined time.

A pulse is a beating that is periodically caused by the beating of the heart. The pulse wave is a diagram of changes in the pulsation (pulse) of blood vessels accompanying the ejection of blood from the heart. Blood pressure is the pressure inside a blood vessel. FIG. 4 is a diagram illustrating a pulse wave. Further, the horizontal axis of FIG. 4 is time, and the vertical axis is the output value (voltage value) of PD. As shown in FIG. 4, for example, the pulse can be obtained from the peak interval of the pulse wave. The change of state of the wearer can be estimated from the number of times the heart beats (pulse rate or heart rate) within a predetermined time (for example, 1 minute). Further, a predetermined blood pressure (for example, systolic blood pressure and diastolic blood pressure) may be estimated from the maximum value, the minimum value, and the amplitude value (pulse pressure) of the pulse wave.

Blood flow is the amount of blood flowing through a blood vessel within a predetermined time (for example, 1 minute). Body temperature and respiratory rate are the temperature of the body and the number of breaths within a predetermined time (eg, 1 minute), respectively. In the present embodiment, the lactate level is a blood lactate level. That is, the lactate level is the concentration of lactate in the blood. Blood sugar level is the concentration of glucose (glucose) in the blood.

The controller 25 can estimate the degree of fatigue based on the pulse rate. As exercise intensity increases, heart rate increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of the pulse increases. As an example, the controller 25 sets the degree of fatigue when the pulse is equal to or less than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the pulse increases by 1 [times / min]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the pulse increases by 1% from the reference value. Here, the reference value may be set by the method described in the first estimation method of the degree of fatigue, for example, setting based on the data when the wearer first wears the wearable terminal.

The controller 25 can estimate the degree of fatigue based on the pulse wave. For example, the controller 25 may calculate the acceleration pulse wave by differentiating the obtained pulse wave twice. The low frequency components (eg, components below 0.15 Hz) contained in the acceleration pulse wave reflect sympathetic nerve function. Further, the high frequency component (for example, a component of 0.15 Hz or higher) contained in the acceleration pulse wave reflects the parasympathetic nerve function. The controller 25 may obtain the ratio (LF / HF) obtained by dividing the low frequency component by the high frequency component and associate it with the degree of fatigue. For example, when the ratio (LF / HF) is larger than 2, it is determined that the patient is in a fatigued state. As an example, the controller 25 sets the fatigue level to 0 when the ratio (LF / HF) is 2 or less. Then, when the ratio (LF / HF) is larger than 2, the controller 25 may increase the degree of fatigue by 1 point for every 0.1 increase.

The controller 25 can estimate the degree of fatigue based on the blood pressure. As exercise intensity increases, blood pressure increases with increased heart rate, myocardial contractility, and vascular resistance. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of blood pressure increases. As an example, the controller 25 sets the degree of fatigue when the blood pressure is equal to or lower than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood pressure increases by 5 [mmHg]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the blood pressure rises by 1% from the reference value. Here, the controller 25 may use, for example, systolic blood pressure in the above determination. As another example, the controller 25 may use diastolic blood pressure in the above determination.

The controller 25 can estimate the degree of fatigue based on the blood flow. As the exercise intensity increases, the blood flow increases as the heart rate increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of increase in blood flow from the reference value increases. As an example, the controller 25 sets the degree of fatigue when the blood flow is equal to or less than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood flow volume increases by 1% from the reference value.

The controller 25 can estimate the degree of fatigue based on the body temperature. Body temperature rises as exercise intensity increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase from the reference value of body temperature increases. As an example, the controller 25 sets the degree of fatigue when the body temperature is equal to or lower than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the body temperature rises by 0.1 [° C.]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the body temperature increases by 0.3% from the reference value.

The controller 25 can estimate the degree of fatigue based on the respiratory rate. As exercise intensity increases, respiratory rate increases. For example, the controller 25 may calculate so that the degree of fatigue increases as the amount or rate of increase of the respiratory rate from the reference value increases. As an example, the controller 25 sets the degree of fatigue to 0 when the respiratory rate is equal to or less than the reference value. Then, the controller 25 may increase the degree of fatigue by 1 point each time the respiratory rate increases by 1 [times / min]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the respiratory rate increases by 5% from the reference value.

The controller 25 can estimate the degree of fatigue based on the lactic acid value. FIG. 5 is a diagram illustrating the relationship between exercise intensity and blood lactate concentration (lactic acid level). In the example of FIG. 5, the horizontal axis indicates the magnitude of exercise intensity. Further, in the example of FIG. 5, the vertical axis indicates the blood lactate concentration (lactic acid value). When the exercise intensity exceeds the lactate threshold LT, the lactate level rises. As an example, the controller 25 sets the degree of fatigue to 0 when the lactic acid value is equal to or less than the reference value (about 1.7 [mmol / liter] in the example of FIG. 5) corresponding to the lactate threshold LT. Then, the controller 25 may increase the degree of fatigue by 1 point each time the lactic acid value increases by 0.1 [mmol / liter]. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the lactic acid value increases by 10% from the reference value.

The controller 25 can estimate the degree of fatigue based on the blood glucose level. When the wearer exercises, blood glucose is taken up by the muscles and the blood sugar level drops. For example, the controller 25 may calculate so that the degree of fatigue increases as the rate of decrease of the blood glucose level from the reference value increases. As an example, the controller 25 sets the degree of fatigue when the blood glucose level is equal to or higher than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the blood glucose level decreases by 1% from the reference value.

Similar to the first estimation method of fatigue degree, the controller 25 moves the center of gravity to the heel side when the fatigue degree estimated based on the wearer's vital signs is larger than the first threshold value. Generate a move instruction. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the value is smaller than the second threshold value.

(Third estimation method of fatigue)
The controller 25 can estimate the degree of fatigue based on the wearer's electromyogram. The controller 25 generates an electromyogram from the myoelectric potential detected by the myoelectric sensor, and grasps the state change of the muscles of the wearer's leg.

An electromyogram shows changes in action potentials (myoelectric potentials) generated from muscle fibers. When the wearer becomes tired, the time interval between periodic changes in myoelectric potential increases. That is, the average frequency when the electromyogram is frequency-analyzed decreases as the muscles become tired. Of the two types of muscles called fast muscles and slow muscles, the activity of the fast muscles that generate high frequency components decreases during fatigue, so the average frequency becomes low. Therefore, the controller 25 can estimate the degree of fatigue from the change in the average frequency in the electromyogram.

FIG. 6A is a diagram illustrating a time change of the myoelectric potential detected by the myoelectric sensor. The controller 25 acquires the time change of the myoelectric potential from the storage 23. Then, the controller 25 obtains the average frequency every predetermined time (for example, 3 seconds). FIG. 6B is a diagram showing the average frequency for each predetermined time obtained by the controller 25. As an example, the controller 25 sets the degree of fatigue when the average frequency is equal to or higher than the reference value to 0. Then, the controller 25 may increase the degree of fatigue by 1 point each time the average frequency decreases by 1 Hz from the reference value. Further, for example, the controller 25 may increase the degree of fatigue by 1 point each time the average frequency decreases by 1% from the reference value. Here, the reference value may be set by the method described in the first estimation method of the degree of fatigue, for example, setting based on the data when the wearer first wears the wearable terminal.

Here, as another estimation method, the controller 25 may estimate the degree of fatigue without using the reference value. In this estimation method, the controller 25 obtains the amount of decrease or the rate of decrease of the average frequency at predetermined time intervals as compared with the immediately preceding average frequency. Then, the controller 25 increases or decreases the degree of fatigue according to the obtained reduction amount or reduction rate. For example, the controller 25 sets the initial value at the start of fatigue estimation to 0. The controller 25 reduces the degree of fatigue when the average frequency rises above the immediately preceding average frequency. However, the lower limit of the degree of fatigue is 0. Then, when the average frequency decreases from the immediately preceding average frequency, the controller 25 increases the degree of fatigue according to the amount of decrease or the rate of decrease.

The controller 25 moves the center of gravity to the heel side when the fatigue degree estimated based on the wearer's electromyogram is larger than the first threshold value, as in the first and second estimation methods of the fatigue degree. Generate the first center of gravity movement instruction. Further, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when the value is smaller than the second threshold value.

(Adjustment of reference value and threshold value)
In this embodiment, the controller 25 estimates the wearer's fatigue during exercise using at least one of the first to third fatigue estimation methods. As described above, the controller 25 uses the reference value when estimating the degree of fatigue. Further, the controller 25 uses the first threshold value and the second threshold value when generating the center of gravity movement instruction. The footwear 1 according to the present embodiment can adjust at least one of a reference value, a first threshold value, and a second threshold value as described below.

FIG. 7 is a diagram illustrating daily changes in the degree of fatigue. In the example of FIG. 7, the horizontal axis indicates the number of days. The vertical axis indicates the magnitude of the value based on the sensor data (in this embodiment, the degree of fatigue on a daily basis). The controller 25 obtains statistical data regarding the degree of fatigue as shown in FIG. 7 by calculation, and determines whether or not the reference value, the first threshold value, and the second threshold value are appropriate.

The controller 25 obtains a statistical value of the degree of fatigue on a daily basis. In the example of FIG. 7, the controller 25 averages the values larger than the first threshold value among the fatigue degrees for one day and calculates the value d1 based on the first sensor data. Further, the controller 25 averages the values smaller than the second threshold value among the fatigue degrees for one day, and calculates the value d2 based on the second sensor data. Here, the controller 25 calculates the value d2 based on the second sensor data only for the day when the value d1 based on the first sensor data exists. Then, the controller 25 calculates the value d3 based on the third sensor data by averaging all the fatigue degrees for one day for the day when the value d1 based on the first sensor data does not exist.

For example, the controller 25 acquires the sensor data for one day at the timing when the date changes, and updates the data for the daily change in the degree of fatigue as shown in FIG. 7. Here, the start of the day does not have to be based on 0 o'clock. For example, with reference to 10:00 pm, the period from 10:00 pm on the previous day to 10:00 pm on today may be the day when the first determination and the second determination are executed.

The controller 25 can easily grasp the following state of the wearer from the daily change in the degree of fatigue as shown in FIG. 7. In the example of FIG. 7, on the 3rd, 4th, 6th, and 8th days, there is a value d1 based on the first sensor data larger than the first threshold value. The controller 25 can see that on these days the wearer was tired to the extent that it was difficult to raise his toes. Further, on the 3rd and 8th days, there is a value d2 based on the second sensor data smaller than the second threshold value. On the 3rd and 8th days, the controller 25 can grasp that the fatigue, which was difficult to raise the wearer's toes, has recovered thereafter.

When the controller 25 finishes acquiring the sensor data for one month (for example, when the month changes), the controller 25 determines whether or not the number of days in which the value d1 based on the first sensor data has existed is larger than the third threshold value. The third threshold is a threshold for determining whether at least one of the reference value, the first threshold and the second threshold needs to be modified. In this embodiment, the third threshold is set to half the number of days in a month (eg, 15 days). When the number of days in which the value d1 based on the first sensor data has existed is greater than the third threshold value, that is, when the value d1 frequently exceeds the first threshold value, the controller 25 determines the reference value, the first threshold value, and the second threshold value. Determine that the threshold is not appropriate. Then, the controller 25 rewrites at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23. For example, if the controller 25 determines that the first threshold and the second threshold are too low, they may set them to higher values. Further, for example, the controller 25 may adjust the reference value when it is determined that the current reference value causes the fatigue degree to be estimated excessively large.

In this embodiment, the third determination is performed monthly. Here, the third determination may be executed every predetermined number of days instead of one month. For example, the predetermined number of days may be 20 days. The third threshold may change according to a predetermined number of days. For example, when the predetermined number of days is 20 days, the third threshold value may be, for example, 10 days.

(Center of gravity movement mechanism)
Hereinafter, a configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described more specifically.

<First configuration example>
FIG. 8 is a diagram showing a first configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. The center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment is provided on the bottom portion (sole portion) of the footwear 1. In the example shown in FIG. 8, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 8, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 8A is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1. Further, FIG. 8B is a perspective view showing the center of gravity moving mechanism 11 from the bottom side of the footwear 1.

FIG. 9 is a diagram showing only the center of gravity moving mechanism 11 according to the first configuration example in the footwear 1 shown in FIG. Both FIGS. 9 (A) and 9 (B) show the center of gravity moving mechanism 11 when the footwear 1 is viewed from above, that is, when the footwear 1 is viewed in the negative direction of the Z axis.

As shown in FIGS. 8 and 9, the center of gravity moving mechanism 11 according to the first configuration example includes a tube pump 110, a liquid bag 111A on the toe side, and a liquid bag 111B on the heel side. Further, as shown in FIG. 9, the tube pump 110 includes a tube 112 connected to the liquid bag 111A on the toe side and the liquid bag 111B on the heel side, and a roller 114 for delivering the liquid passing through the tube. A motor 116 for rotating the roller 114 and a motor 116 are provided. In this configuration example, the liquid is water. However, the liquid is not limited to water. For example, a liquid having a higher specific density than water and having a viscosity may be used. The liquid may be, for example, oil.

In the first configuration example, the tube 112 is deformed into a crushed shape when an external force is applied, and is restored to the original shape when the external force is removed. The tube 112 may be made of a material that is flexible and has the property of restoring shape, such as vinyl chloride or nylon. Due to the flexibility of the tube 112, even if the footwear 1 is deformed, the tube 112 is also deformed according to the deformation of the footwear 1. Therefore, when the wearer of the footwear 1 walks or the like, the risk of the center of gravity moving mechanism 11 becoming defective or damaged can be reduced.

As shown in FIG. 9, the roller 114 may have an arm that is rotationally driven by the motor 116. As shown in FIG. 9, by providing a mechanism in which the tip of each arm rotates freely, it is possible to reduce the friction between the tip of each arm and the tube 112 when the roller 114 rotates. The roller 114 itself may be made of a relatively rigid material so that the motor 116 can reliably rotate the roller 114. On the other hand, each arm of the roller 114 and the rotation mechanism at the tip of each arm can have any hardness and shape as long as the tube 112 can be crushed. The number of arms included in the roller 114 is not limited to two as shown in FIG. 9, and may be any number of one or more.

The motor 116 rotates and drives the roller 114. In the first configuration example, the motor 116 is driven by electric power. The motor 116 can be any motor as long as it rotationally drives the roller 114. The motor 116 includes, for example, a servo motor or a stepping motor. The electric power of the motor 116 is supplied from the inside or the outside of the footwear 1. For example, the electric power of the motor 116 may be supplied from a battery provided at an arbitrary portion of the footwear 1. Further, for example, the electric power of the motor 116 may be supplied from a battery provided outside the footwear 1 via a cable or the like.

The center of gravity moving mechanism 11 according to the first configuration example receives a center of gravity moving instruction from the communication unit 22 of the terminal device 2 via the communication unit 12. The center of gravity moving mechanism 11 controls the rotation of the motor 116 of the tube pump 110 according to the center of gravity moving instruction. As shown in FIG. 9, as the motor 116 rotates, the roller 114 rotates forward or reverse while crushing the tube 112. When the roller 114 rotates while crushing the tube 112, the liquid in the tube 112 moves, so that the liquid moves between the liquid bag 111A on the toe side and the liquid bag 111B on the heel side. In this way, the center of gravity moving mechanism 11 can move the center of gravity of the footwear 1 to the toe side or the heel side. Further, the center of gravity moving mechanism 11 stops the rotation of the motor 116 of the tube pump 110 when the movement of the center of gravity is completed. Further, the center of gravity moving mechanism 11 can change the speed at which the center of gravity of the footwear 1 moves by changing the rotation speed of the motor 116.

For example, as shown in FIG. 9A, it is assumed that the rotation of the motor 116 is controlled to rotate the roller 116 counterclockwise. In this case, as the roller 116 rotates while crushing the tube 112 according to the rotation of the motor 116, the liquid in the tube 112 moves from the liquid bag 111A toward the liquid bag 111B. By this operation, the amount of liquid in the liquid bag 111B increases as much as the amount of liquid in the liquid bag 111A decreases. In this way, the center of gravity moving mechanism 11 can move the center of gravity to the heel side of the footwear 1. Here, the center of gravity moved by the center of gravity moving mechanism 11 may be the center of gravity of the center of gravity moving mechanism 11 or the center of gravity of the footwear 1.

When the amount of liquid in the liquid bag 111A decreases, the pressure inside the liquid bag 111A becomes negative. Further, when the amount of liquid in the liquid bag 111B increases, the pressure in the liquid bag 111B becomes positive. If the materials of the liquid bag 111A and the liquid bag 111B are easily deformed according to the pressure in the liquid bag, the liquid can easily move between the liquid bag 111A and the liquid bag 111B. Therefore, in this configuration example, at least one of the liquid bag 111A and the liquid bag 111B, or both of them may be made of a flexible material. The flexible material can be, for example, a material such as low density or high density polyethylene and vinyl chloride.

By including a flexible bag in at least one of the liquid bag 111A and the liquid bag 111B, the liquid can be easily moved between the liquid bag 111A and the liquid bag 111B. Further, since at least one of the liquid bag 111A and the liquid bag 111B has flexibility, even if the footwear 1 is deformed, the liquid bag 111A and / or the liquid bag 111B is also deformed according to the deformation of the footwear 1. Therefore, when the wearer of the footwear 1 walks or the like, the risk of the center of gravity moving mechanism 11 becoming defective or damaged can be reduced.

On the other hand, for example, as shown in FIG. 9B, it is assumed that the rotation of the motor 116 is controlled to rotate the roller 116 clockwise. In this case, as the roller 116 rotates while crushing the tube 112 according to the rotation of the motor 116, the liquid in the tube 112 moves from the liquid bag 111B toward the liquid bag 111A. By this operation, the amount of liquid in the liquid bag 111A increases as much as the amount of liquid in the liquid bag 111B decreases. In this way, the center of gravity moving mechanism 11 can move the center of gravity to the toe side of the footwear 1.

As described above, in this configuration example, the footwear 1 includes a mechanism 11 for moving the center of gravity. also. In this configuration example, the footwear 1 includes a first space 111A and a second space 111B. Then, in this configuration example, the mechanism 11 for moving the center of gravity moves the center of gravity by moving the fluid substance between the first space 111A and the second space 111B. Here, in this configuration example, the fluid substance is a liquid such as water or oil. In this configuration example, the fluid substance may include a gel. In this configuration example, the fluid material may include at least one of powder, granules, sand, iron sand, beads, and ferrofluid. Further, in this configuration example, the footwear 1 includes a pump such as a tube pump 110 that moves a fluid substance between the first space 111A and the second space 111B. Further, at least one of the first space 111A and the second space 111B may include a bag having flexibility.

The center of gravity moving mechanism 11 according to the first configuration example described above includes a toe-side liquid bag 111A as a first space and a heel-side liquid bag 111B as a second space. Here, the first space and / or the second space does not necessarily have to be configured as a liquid bag of a member separate from the footwear 1. For example, at least one of the first space and the second space may be a space formed in the bottom of the footwear 1. In this case, for example, the sole portion of the footwear 1 may be made of a material such as rubber, and a space may be formed inside the sole portion. Further, for example, at least one of the first space and the second space may be formed in the insole of the footwear 1. In this case, for example, the insole may be laid in the footwear 1 and a space may be formed inside the insole.

FIG. 10 is a diagram illustrating the operation of the footwear 1 according to the first embodiment. For example, it is assumed that a relatively large amount of liquid is stored in the liquid bag 111A on the toe side by moving the liquid from the liquid bag 111B on the heel side to the liquid bag 111A on the toe side. In this case, the center of gravity of the center of gravity moving mechanism 11 moves to the toe side of the footwear 1. Therefore, the center of gravity of the footwear 1 also moves from the heel side to the toe side. Therefore, in this case, as shown in FIG. 10A, when the wearer of the footwear 1 relaxes the ankle force, the toe side of the footwear 1 is lowered. In this way, the footwear 1 increases the load on the wearer by moving the center of gravity to the toe side. Therefore, since the wearer of the footwear 1 can train the muscle strength required for pulling up the toes, it is possible to suppress a decrease in the muscle strength required for walking.

On the other hand, when the leg muscles become tired as the wearer of the footwear 1 keeps walking, the toes cannot be pulled up sufficiently and the toes tend to come into contact with the ground or stairs. If the wearer of footwear 1 continues walking in this state, the risk of falling increases. Therefore, in this case, the liquid is moved from the liquid bag 111A on the toe side to the liquid bag 111B on the heel side so that a relatively large amount of liquid can be stored in the liquid bag 111B on the heel side. In this case, the center of gravity of the center of gravity moving mechanism 11 moves to the heel side of the footwear 1. Therefore, the center of gravity of the footwear 1 also moves from the toe side to the heel side. Therefore, in this case, as shown in FIG. 10B, even when the wearer of the footwear 1 relaxes the ankle force, the toe side of the footwear 1 is in a raised state. By moving the center of gravity of the footwear 1 to the heel side in this way, the wearer of the footwear 1 can easily pull up the toes sufficiently, and the toes are less likely to come into contact with the ground or stairs. Therefore, the footwear 1 can reduce the risk of the wearer falling.

<Second configuration example>
Next, a second configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. The second configuration example simplifies the above-mentioned first configuration example. Hereinafter, the same description as in the first configuration example described above will be simplified or omitted as appropriate.

FIG. 11 is a diagram showing a second configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. In the example shown in FIG. 11, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 11, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 11A is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1. Further, FIG. 11B is a perspective view showing the center of gravity moving mechanism 11 from the bottom side of the footwear 1.

FIG. 12 is a diagram showing only the center of gravity moving mechanism 11 according to the second configuration example in the footwear 1 shown in FIG. FIG. 12A shows the center of gravity moving mechanism 11 when the footwear 1 is viewed from above, that is, when the footwear 1 is viewed in the negative direction of the Z axis. Further, FIGS. 12 (B) and 12 (C) show the center of gravity moving mechanism 11 when the footwear 1 is viewed from the side, that is, when the footwear 1 is viewed in the positive direction of the Y axis.

As shown in FIGS. 11 and 12, the center of gravity moving mechanism 11 according to the second configuration example includes a valve 120, a liquid bag 111A on the toe side, and a liquid bag 111B on the heel side. Further, as shown in FIG. 12, the valve 120 and the liquid bag 111A on the toe side are connected by a tube 112A. Similarly, the valve 120 and the liquid bag 111B on the heel side are connected by a tube 112B. In the second configuration example, the liquid moves between the liquid bag 111A on the toe side and the liquid bag 111B on the heel side via the tubes 112A and 112B and the valve 120. In this configuration example as well, the liquid is water. However, the liquid is not limited to water, and for example, a liquid having a higher specific density than water and being viscous, such as oil, may be used.

In this configuration example, the liquid bag 111A and the liquid bag 111B can have the same configuration as the first configuration example. Further, in this configuration example, the tube 112A and the tube 112B can have the same configuration as the tube 112 of the first configuration example.

The valve 120 switches between an open state in which the liquid passes and a closed state in which the liquid does not pass. As the valve 120, any valve 120 can be adopted as long as it has a configuration capable of switching between a state in which the liquid passes and a state in which the liquid does not pass. For example, the valve 120 may be configured to be able to switch between an open state and a closed state by electric power in response to a control signal from the controller 25 and the like. In this case, the valve 120 may be driven by electric power supplied from the inside or the outside of the footwear 1 as in the tube pump 110 of the first configuration example. Further, the valve 120 may be configured so that the open state / closed state can be manually switched according to the operation by the wearer of the footwear 1, for example.

As shown in FIG. 12A, when the valve 120 is in the closed state, the liquid does not move between the liquid bag 111A and the liquid bag 111B. Therefore, when the valve 120 is in the closed state, neither the amount of liquid stored in the liquid bag 111A nor the amount of liquid stored in the liquid bag 111B changes. In this case, the center of gravity of the center of gravity moving mechanism 11 does not move.

As shown in FIG. 12B, when the valve 120 is in the open state, the liquid can move between the liquid bag 111A and the liquid bag 111B. Therefore, when the valve 120 is in the open state, when the force P shown in FIG. 12B is applied, the liquid moves from the liquid bag 111A to the liquid bag 111B. When the liquid moves from the liquid bag 111A to the liquid bag 111B, the center of gravity of the center of gravity moving mechanism 11 moves toward the heel side liquid bag 111B, and the center of gravity of the footwear 1 also moves toward the heel side. In this case, the force P can be exerted by, for example, the wearer of the footwear 1 strongly stepping on the toe side while wearing the footwear 1. That is, when the wearer of the footwear 1 is tired by continuing walking or the like, he / she can move the center of gravity of the footwear 1 by switching the valve 120 to the open state and strongly stepping on the toe side. After moving the center of gravity of the footwear 1, the wearer of the footwear 1 can maintain the state after moving the center of gravity of the footwear 1 by closing the valve 120.

When the force P shown in FIG. 12C is applied when the valve 120 is in the open state, the liquid moves from the liquid bag 111B to the liquid bag 111A. When the liquid moves from the liquid bag 111B to the liquid bag 111A, the center of gravity of the center of gravity moving mechanism 11 moves toward the toe-side liquid bag 111A, and the center of gravity of the footwear 1 moves toward the toe side. In this case, the force P can be exerted by, for example, the wearer of the footwear 1 strongly stepping on the heel side while wearing the footwear 1. That is, the wearer of the footwear 1 can move the center of gravity of the footwear 1 by switching the valve 120 to the open state and stepping on the heel side strongly when the fatigue is recovered by taking a break or the like. After moving the center of gravity of the footwear 1, the wearer of the footwear 1 can maintain the state after moving the center of gravity of the footwear 1 by closing the valve 120.

<Third configuration example>
Next, a third configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. FIG. 13 is a diagram showing a third configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. In the example shown in FIG. 13, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 13, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 13A is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1. Further, FIG. 13B is a perspective view showing the center of gravity moving mechanism 11 from the bottom side of the footwear 1.

FIG. 14 is a diagram showing only the center of gravity moving mechanism 11 according to the third configuration example in the footwear 1 shown in FIG. 14 (A) and 14 (B) show the center of gravity moving mechanism 11 when the footwear 1 is viewed from above, that is, when the footwear 1 is viewed in the negative direction of the Z axis.

As shown in FIGS. 13 and 14, in the center of gravity moving mechanism 11 according to the third configuration example, the liquid bag 111A on the toe side and the liquid bag 111B on the heel side correspond to one space portion. In the third configuration example, the liquid bag 111A and the liquid bag 111B may be connected via a tube as in the first and second configuration examples, but are integrally formed as shown in FIGS. 13 and 14. You may. The portion formed by integrally forming the liquid bag 111A and the liquid bag 111B can have the same configuration as the liquid bag 111A and the liquid bag 111B of the first and second configuration examples.

As shown in FIG. 14, the center of gravity moving mechanism 11 according to the third configuration example includes an electromagnet 130 and a magnetic fluid 132 inside the liquid bag 111A on the toe side and the liquid bag 111B on the heel side.

The electromagnet 130 can be made of any magnet as long as it is a magnet that generates a magnetic force when energized. In the third configuration example, the center of gravity moving mechanism 11 includes an electromagnet 130A on the toe side and an electromagnet 130B on the heel side. In FIGS. 13 and 14, three electromagnets 130A on the toe side and three electromagnets 130B on the heel side are installed, but an arbitrary number of one or more electromagnets may be installed.

In the third configuration example, the center of gravity moving mechanism 11 switches between a state in which a magnetic force is generated in the electromagnet 130A on the toe side and a state in which a magnetic force is generated in the electromagnet 130B on the heel side. For example, the center of gravity moving mechanism 11 may switch between generating a magnetic force on the magnet 130A and generating a magnetic force on the electromagnet 130B in response to a control signal from the controller 25 and the like. In this case, similarly to the tube pump 110 of the first configuration example, the electromagnet 130A or the electromagnet 130B may generate a magnetic force by the electric power supplied from the inside or the outside of the footwear 1. Further, the center of gravity moving mechanism 11 may switch which of the electromagnet 130A and the electromagnet 130B generates the magnetic force according to the operation of the switch by, for example, the wearer of the footwear 1.

In the third configuration example, the magnetic fluid 132 moves between the liquid bag 111A on the toe side and the liquid bag 111B on the heel side. In this configuration example, the magnetic fluid can be any magnetic fluid. The magnetic fluid is not limited to a liquid one, and may be, for example, iron sand, a magnetic powder or granular material, or a magnetic bead.

As shown in FIG. 14A, when the electromagnet 130B on the heel side generates a magnetic force, the magnetic fluid 132 moves toward the liquid bag 111B. When the magnetic fluid 132 moves toward the liquid bag 111B, the center of gravity of the center of gravity moving mechanism 11 moves toward the heel side liquid bag 111B, and the center of gravity of the footwear 1 also moves toward the heel side. While the electromagnet 130B on the heel side generates a magnetic force, the center of gravity of the footwear 1 is maintained on the heel side.

As shown in FIG. 14B, when the electromagnet 130A on the toe side generates a magnetic force, the magnetic fluid 132 moves toward the liquid bag 111A. When the magnetic fluid 132 moves toward the liquid bag 111B, the center of gravity of the center of gravity moving mechanism 11 moves toward the toe-side liquid bag 111A, and the center of gravity of the footwear 1 moves toward the toe side. While the electromagnet 130A on the toe side generates a magnetic force, the center of gravity of the footwear 1 is maintained on the toe side.

As described above, in this configuration example, the footwear 1 includes an electromagnet 130 that moves a fluid substance between the first space 111A and the second space 111B. In this configuration example, the fluid substance has magnetism. In this case, the fluid material comprises at least one of iron sand, beads, and ferrofluid.

<Fourth configuration example>
Next, a fourth configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. FIG. 15 is a diagram showing a fourth configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. In the example shown in FIG. 15, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 15, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 15A is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1. Further, FIG. 15B is a perspective view showing the center of gravity moving mechanism 11 from the bottom side of the footwear 1.

FIG. 16 is a diagram showing only the center of gravity moving mechanism 11 according to the fourth configuration example in the footwear 1 shown in FIG. 16 (A) to 16 (C) show the center of gravity moving mechanism 11 when the footwear 1 is viewed from above, that is, when the footwear 1 is viewed in the negative direction of the Z axis. The center of gravity moving mechanism 11 according to the fourth configuration example is substantially the same as in FIGS. 16 (A) to 16 (C) when the footwear 1 is viewed from the side, that is, when viewed in the positive direction of the Y axis. It can be configured.

As shown in FIGS. 15 and 16, in the center of gravity moving mechanism 11 according to the fourth configuration example, unlike the first to third configuration examples described above, the liquid bag 111A on the toe side and the liquid bag on the heel side 111B is not provided. As shown in FIGS. 15 and 16, the center of gravity moving mechanism 11 according to the fourth configuration example includes a weight 140, a ball screw 142, and a motor 144.

The weight 140 can be made of any material having a mass, but can be miniaturized by using a material having a large specific gravity. A ball screw 142 penetrates the weight 140. The hole through which the ball screw 142 penetrates in the weight 140 is threaded. The material of the weight 140 is not limited, but it is desirable that the weight 140 is configured to have sufficient strength to maintain the thread cutting.

The ball screw 142 penetrates the weight 140. The ball screw 142 is threaded within the range in which the weight 140 moves. The position of the weight 140 can be moved by rotating the ball screw 142 about the longitudinal direction.

The motor 144 rotationally drives the ball screw 142. In the fourth configuration example, the motor 144 is driven by electric power. The motor 144 can be any motor as long as it rotationally drives the ball screw 142. The motor 144 can be configured to include, for example, a servo motor, a stepping motor, or the like. The electric power of the motor 144 is supplied from the inside or the outside of the footwear 1. For example, the electric power of the motor 144 may be supplied from a battery provided at an arbitrary position on the footwear 1. Further, for example, the electric power of the motor 144 may be supplied from a battery provided outside the footwear 1 via a cable or the like.

The center of gravity moving mechanism 11 according to the fourth configuration example can move the weight 140 along a guide such as a guide rail by rotating the ball screw by the motor 144.

As shown in FIG. 16A, when the weight 140 is located on the toe side, the center of gravity of the center of gravity moving mechanism 11 is located on the toe side, and the center of gravity of the footwear 1 is located on the toe side. Here, when the motor 144 is driven to rotate the ball screw 142 clockwise when viewed from the negative direction of the X-axis in the positive direction, the weight 140 moves in the negative direction of the X-axis.

As shown in FIG. 16B, when the weight 140 is located near the center of the center of gravity moving mechanism 11 in the longitudinal direction, the center of gravity of the center of gravity moving mechanism 11 is located near the center, and the center of gravity of the footwear 1 is also located near the center. do. Here, when the motor 144 is further driven to rotate the ball screw 142 clockwise when viewed from the negative / negative direction of the X-axis in the positive direction, the weight 140 further moves in the negative direction of the X-axis.

As shown in FIG. 16C, when the weight 140 is located on the heel side, the center of gravity of the center of gravity moving mechanism 11 is located toward the heel, and the center of gravity of the footwear 1 is also located toward the heel. In this way, the center of gravity moving mechanism 11 according to the fourth configuration example can move the center of gravity from the toe to the heel.

Here, when the motor 144 is driven to rotate the ball screw 142 counterclockwise (counterclockwise) when viewed in the positive direction from the negative / negative direction of the X axis, the weight 140 moves in the positive direction of the X axis. Therefore, the center of gravity moving mechanism 11 according to the fourth configuration example can also move the center of gravity from the heel to the toe. In this configuration example, the weight 140 moves to the toe side of the footwear 1 or the heel side of the footwear 1.

As described above, in this configuration example, the footwear 1 includes a weight 140 and a drive unit 144 for moving the weight 140. Further, the footwear 1 can move the center of gravity of the footwear 1 by moving the weight 140 by the drive unit 144. Further, as shown in FIG. 15, in this configuration example, the weight 140 may be moved within the bottom of the footwear 1. In this configuration example, the drive unit 144 may be, for example, a power-driven motor 144. In this case, the drive unit 144 moves the weight 140 by the rotation of the drive unit 144.

Further, in the present configuration example, the drive unit 144 may move the weight 140 based on at least one of the movement of the wearer of the footwear 1, the vital signs of the wearer, and the myoelectric potential of the wearer. Further, in this configuration example, the footwear 1 may include a controller 15. In this case, when the controller 15 detects at least one of the predetermined movement of the wearer of the footwear 1, the predetermined vital sign of the wearer of the footwear 1, and the predetermined myoelectric potential of the wearer of the footwear 1, the drive unit 144 Controls to move the weight 140. Further, the controller 15 may detect at least one of a predetermined movement of the wearer of the footwear 1, a predetermined vital sign of the wearer of the footwear 1, and a predetermined myoelectric potential of the wearer of the footwear 1. In this case, the controller 15 may control the drive unit 144 to move the weight 140 when it is determined that the detected value satisfies the predetermined condition.

Further, when the footwear 1 can communicate with the terminal device 2 described above, the drive unit 144 may move the weight 140 based on the information acquired by the terminal device 2. Here, the information acquired by the terminal device 2 may be, for example, at least one of the movement of the wearer of the footwear 1, the vital signs of the wearer, and the myoelectric potential of the wearer.

As a modification of the fourth configuration example, the weight 140 may be moved by the manual operation of the wearer of the footwear 1 without adopting the electric power driven motor 144. In this case, the drive unit may be a ball screw 142 driven by human power. For example, the weight 140 may be made movable by the wearer of the footwear 1 rotating the ball screw 142 by himself / herself without the motor 144. Further, as another modification of the fourth configuration example, the wearer of the footwear 1 may be able to move the weight 140 by his / her own manual operation without providing the motor 144 and the ball screw 142.

<Fifth configuration example>
Next, a fifth configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. Hereinafter, the same description as in the above-described fourth configuration example will be simplified or omitted as appropriate. FIG. 17 is a diagram showing a fifth configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. In the example shown in FIG. 17, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 17, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 17A is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1. Further, FIG. 17B is a perspective view showing the center of gravity moving mechanism 11 from the bottom side of the footwear 1.

FIG. 18 is a diagram showing only the center of gravity moving mechanism 11 according to the fifth configuration example in the footwear 1 shown in FIG. 18 (A) to 18 (C) show the center of gravity moving mechanism 11 when the footwear 1 is viewed from above, that is, when the footwear 1 is viewed in the negative direction of the Z axis.

As shown in FIGS. 17 and 18, the center of gravity moving mechanism 11 according to the fifth configuration example is not provided with the liquid bag 111A on the toe side and the liquid bag 111B on the heel side, as in the fourth configuration example. As shown in FIGS. 17 and 18, the center of gravity moving mechanism 11 according to the fifth configuration example includes a weight 140, a hawser 150, a pulley 152, and a motor 154.

The weight 140 can have the same configuration as the weight 140 of the fourth configuration example. However, in the fifth configuration example, the weight 140 is fixed to a part of the hawser 150 so that the position of the weight 140 moves according to the movement of the hawser 150.

The hawser 150 can be made of any rope-like or string-like material, such as rope, nylon, or rubber. It is not essential that the hawser 150 be elastic. However, since the hawser 150 has elasticity, it is possible to reduce the play of the hawser 150. Therefore, the elastic hawser 150 can move the position of the weight 140 satisfactorily without slipping. By fixing the weight 140 to a part of the hawser 150, the position of the weight 140 can be moved by moving the hawser 150.

The pulley 152 can be made of any material having a strength suitable for transmitting power, such as aluminum or plastic. As shown in FIG. 18, the center of gravity moving mechanism 11 according to the fifth configuration example includes a pulley 152A and a pulley 152B. The pulley 152B rotates by transmitting the power of the motor 154. As the pulley 152B rotates, the hawser 150 linearly moves the weight 140 between the pulley 152A and the pulley 152B.

The motor 154 rotationally drives the pulley 152B. Also in the fifth configuration example, the motor 154 is driven by electric power. The motor 154 can be any motor as long as it rotationally drives the pulley 152B. The motor 144 can be configured to include, for example, a servo motor, a stepping motor, or the like. The electric power of the motor 154 is supplied from the inside or the outside of the footwear 1.

In the center of gravity moving mechanism 11 according to the fifth configuration example, the motor 154 rotationally drives the pinion gear 156 to transmit the rotational movement of the pinion gear 156 to the gear of the pulley 152B. However, the center of gravity moving mechanism 11 according to the fifth configuration example is not limited to the configuration shown in FIGS. 17 and 18, and has various configurations as long as the position of the weight 140 can be moved by driving the motor 156. be able to.

In the center of gravity moving mechanism 11 according to the fifth configuration example, the position of the weight 140 can be moved by converting the rotational motion of the pulley 152B driven by the motor 154 into the linear motion of the hawser 150.

As shown in FIG. 18A, when the weight 140 is located on the toe side, the center of gravity of the center of gravity moving mechanism 11 is located on the toe side, and the center of gravity of the footwear 1 is located on the toe side. Here, when the motor 154 is driven to rotate the pinion gear 156 clockwise when viewed from the Z-axis positive direction to the negative direction, the weight 140 moves in the X-axis negative direction.

As shown in FIG. 18B, when the weight 140 is located near the center of the center of gravity moving mechanism 11 in the longitudinal direction, the center of gravity of the center of gravity moving mechanism 11 is located near the center, and the center of gravity of the footwear 1 is also located near the center. do. Here, when the motor 144 is further driven to rotate the ball screw 142 clockwise when viewed from the negative positive direction of the Z axis in the negative direction, the weight 140 further moves in the negative direction of the X axis.

As shown in FIG. 18C, when the weight 140 is located on the heel side, the center of gravity of the center of gravity moving mechanism 11 is located toward the heel, and the center of gravity of the footwear 1 is also located toward the heel. In this way, the center of gravity moving mechanism 11 according to the fifth configuration example can move the center of gravity from the toe to the heel.

Here, when the motor 154 is driven to rotate the pinion gear 156 counterclockwise (counterclockwise) when viewed from the Z-axis positive direction to the negative direction, the weight 140 moves in the X-axis positive direction. Therefore, the center of gravity moving mechanism 11 according to the fifth configuration example can also move the center of gravity from the heel to the toe.

In the center of gravity moving mechanism 11 according to the fourth configuration example, it is assumed that it is difficult to configure the mechanism for moving the position of the weight 140 with a flexible material. When the center of gravity moving mechanism 11 according to the fourth configuration example cannot be made of a flexible material, the footwear 1 is less likely to be deformed in the portion incorporating the center of gravity moving mechanism 11. On the other hand, in the center of gravity moving mechanism 11 according to the fifth configuration example, a flexible material can be used except for the pulley 152 and the motor 154 (pinion gear 156). Therefore, the center of gravity moving mechanism 11 according to the fifth configuration example can be made of a flexible material as a whole, and the footwear 1 is easily deformed even in the portion where the center of gravity moving mechanism 11 is built. Therefore, the center of gravity moving mechanism 11 according to the fifth configuration example can reduce the risk of malfunction or breakage, and can provide the wearer of the footwear 1 with a comfortable fit.

As a modification of the fifth configuration example, the wearer of the footwear 1 may be able to move the weight 140 by his / her own manual operation without adopting the electric power driven motor 154.

<6th configuration example>
Next, a sixth configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. The center of gravity moving mechanism 11 according to the sixth configuration example moves the position of the weight 140 in the center of gravity moving mechanism 11 according to the fifth configuration example described above without using the motor 154. Therefore, the same description as in the fifth configuration example described above will be simplified or omitted as appropriate.

The center of gravity moving mechanism 11 according to the sixth configuration example employs a drive mechanism using a spring in place of the motor 154 in the center of gravity moving mechanism 11 shown in FIGS. 17 and 18.

In the sixth configuration example, a movable mechanism as shown in FIG. 19A is incorporated in the heel portion of the footwear 1. The movable mechanism shown in FIG. 19A is configured such that the stepping portion 160 is closed with respect to the fixed portion 162 by the force of the foot of the wearer of the footwear 1. Therefore, the movable portion 164 connects the stepping portion 160 and the fixed portion 162 so as to be movable with each other. The movable portion 164 can be a rotating mechanism that shares a shaft between the stepping portion 160 and the fixed portion 162. Further, the fixing portion 162 is, for example, a portion fixed in the vicinity of the sole portion of the footwear 1. Further, the movable portion 164 includes a mechanism such as a spring that gives a restoring force to the stepping portion 160 and the fixed portion 162. Therefore, when the force P shown in FIG. 19A is applied, the stepping portion 160 closes with respect to the fixed portion 162, but when the force P shown in FIG. 19A is weakened or eliminated, the stepping portion 160 closes. It returns to the original position with respect to the fixed portion 162.

The movable mechanism shown in FIG. 19A includes a rack 168 in the stepping portion 160. The rack 168 is configured to mesh with the pinion 170 of the power storage mechanism shown in FIG. 19 (B). In particular, the rack 168 of the movable mechanism shown in FIG. 19 (A) is configured to rotate the pinion 170 of the power storage mechanism shown in FIG. 19 (B) only when the force P shown in FIG. 19 (A) is applied. do. That is, when the stepping portion 160 shown in FIG. 19 (A) is restored, the rack 168 is configured so as not to rotate the pinion 170 of the power storage mechanism shown in FIG. 19 (B). When the wearer of the footwear 1 steps on or walks normally, the pinion 170 of the power storage mechanism shown in FIG. 19 (B) is used in order to repeatedly act the force P shown in FIG. 19 (A). It can always be rotated in the same direction.

The power storage mechanism shown in FIG. 19B can store power by winding the mainspring 172 in response to the rotation of the pinion 170. When the wearer of footwear 1 steps on or walks normally, the pinion 170 of the power storage mechanism shown in FIG. 19B is constantly rotated by the rack 168. Therefore, in the power storage mechanism shown in FIG. 19B, if a predetermined amount of power or more is accumulated, the pinion 170 is configured to idle more than that, even if the mainspring 172 is not excessively wound. good.

Then, the power storage mechanism shown in FIG. 19B can rotate the pinion gear 174 by releasing the power stored in the mainspring 172. The power storage mechanism shown in FIG. 19B may be configured such that the rotation of the pinion gear 174 is normally stopped and the rotation of the pinion gear 174 is started in response to an operation of the wearer of the footwear 1, for example.

Since the power storage mechanism shown in FIG. 19B is powered by the spring 172, the pinion gear 174 is rotated in only one direction. Therefore, in the sixth configuration example, the power reversing mechanism as shown in FIG. 19C may be provided.

In the power reversing mechanism shown in FIG. 19C, the pulley 152B and the hawser 150 can be configured in the same manner as in the fifth configuration example. On the other hand, the power reversing mechanism shown in FIG. 19C includes a reverse gear 158 that meshes with the gear of the pulley 152B. Further, in the power reversing mechanism shown in FIG. 19C, the pinion gear 174 is configured to be movable in the direction S1 or the direction S2 shown in FIG. 19C. The movement of the pinion gear 174 may be configured to be manually movable in the direction S1 side or the direction S2 side according to an operation by, for example, the wearer of the footwear 1. The pinion gear 174 shown in FIG. 19C is the pinion gear 174 of the power storage mechanism shown in FIG. 19B.

The pinion gear 174 shown in FIG. 19C is configured to mesh with the gear of the pulley 152B when moved to the direction S1 side. Further, the pinion gear 174 shown in FIG. 19C is configured to mesh with the reverse gear 158 when moved to the direction S2 side. With such a configuration, for example, when the pinion gear 174 shown in FIG. 19C rotates clockwise, if the pinion gear 174 is moved clockwise, the hawser 150 moves the weight 140 to the heel side of the footwear 1. On the other hand, in this case, if the pinion gear 174 shown in FIG. 19C is moved to the direction S2 side, the hawser 150 moves the weight 140 to the toe side of the footwear 1.

As described above, in this configuration example, the drive unit may rotate based on the load on the footwear 1. In this configuration example, the drive unit may be a power storage mechanism using, for example, a spring, instead of a power-driven motor.

<7th configuration example>
Next, a seventh configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment will be described. FIG. 20 is a diagram showing a seventh configuration example of the center of gravity moving mechanism 11 of the footwear 1 according to the present embodiment. In the example shown in FIG. 20, the center of gravity moving mechanism 11 is shown by allowing the footwear 1 to pass through. In FIG. 20, the center of gravity moving mechanism 11 is shown by a broken line. FIG. 20 is a perspective view showing the center of gravity moving mechanism 11 from the oblique direction of the footwear 1.

As shown in FIG. 20, the center of gravity moving mechanism 11 according to the seventh configuration example includes accommodating portions 180 on the toe side and the heel side of the footwear 1, respectively. The accommodating portion 180 can be formed as a hole capable of accommodating the rod-shaped weight 182 shown in FIG. 80. The accommodating portion 180 may be a through hole, a hole with one closed, or a hole with a lid. Further, the accommodating portion 180 can have various shapes according to the shape of the weight 182.

In the example shown in FIG. 20, two accommodating portions are provided for each of the accommodating portion 180A on the toe side and the accommodating portion 180B on the heel side. However, in the center of gravity moving mechanism 11 according to this configuration example, the toe side accommodating portion 180A and the heel side accommodating portion 180B may each be provided with an arbitrary number of accommodating portions of one or more.

As described above, in the seventh configuration example, the wearer of the footwear 1 can move the weight 182 by his / her own manual operation.

In the center of gravity moving mechanism 11 according to the seventh configuration example, the weight on the toe side of the footwear 1 and the weight on the heel side of the footwear 1 are reduced by inserting and removing the weight 182 into and out of the respective accommodating portions 180. Each can be adjusted. For example, when the wearer of the footwear 1 feels tired while walking, he / she can take out the weight 182 inserted in the accommodating portion 180A on the toe side and insert it into the accommodating portion 180B on the heel side.

(flowchart)
FIG. 21 is a flowchart illustrating a process related to the movement of the center of gravity of the footwear 1 executed by the controller 25 in the system according to the present embodiment.

The controller 25 of the terminal device 2 worn on the wearer acquires the data (sensor data) detected by the sensor 24 (step S1).

When the value based on the sensor data exceeds the first threshold value (Yes in step S2), the controller 25 notifies the user (step S3). In the present embodiment, the value based on the sensor data is the degree of fatigue estimated using at least one of the above-mentioned first to third estimation methods. Further, in the present embodiment, the notification to the user is a notification using the notification unit 16. For example, the controller 25 notifies the user by sending an instruction to emit light to the notification unit 16 via the communication unit 12 and the communication unit 22. Here, the notification to the user may be changed according to the degree of fatigue. For example, when the degree of fatigue greatly exceeds the first threshold value, the volume of the notification to the user may be louder than in the case where it is not.

The controller 25 proceeds to the process of step S5 when the value based on the sensor data does not exceed the first threshold value (No in step S2).

The controller 25 moves the center of gravity of the footwear 1 to the heel side after notifying the user (warning) (step S4). More specifically, the controller 25 generates a first center of gravity movement instruction that moves the center of gravity to the heel side to help the tired wearer raise his toes. Then, the controller 25 sends the first center of gravity movement instruction to the center of gravity moving mechanism 11 via the communication unit 12 and the communication unit 22. The center of gravity moving mechanism 11 moves the liquid from the liquid bag 111A on the toe side to the liquid bag 111B on the heel side in accordance with the first center of gravity moving instruction to move the center of gravity of the footwear 1.

The controller 25 notifies the user when the value based on the sensor data does not exceed the first threshold value and is less than the second threshold value (Yes in step S5) (step S6). In the present embodiment, the controller 25 cannot proceed to the process of step S6 until after the value (fatigue degree) based on the sensor data exceeds the first threshold value. That is, the controller 25 determines whether or not the wearer has recovered from fatigue by the process of step S5. Since the notification to the user in step S6 is the same as in step S3, detailed description thereof will be omitted.

The controller 25 returns to the process of step S1 when the value based on the sensor data does not exceed the first threshold value and is equal to or higher than the second threshold value (No in step S5).

The controller 25 moves the center of gravity of the footwear 1 to the toe side after notifying the user (warning) (step S7). In the present embodiment, the controller 25 generates a second center of gravity movement instruction that moves the center of gravity toward the toes in order to give an appropriate load to the wearer who has recovered from fatigue. Then, the controller 25 sends a second center of gravity movement instruction to the center of gravity moving mechanism 11 via the communication unit 12 and the communication unit 22. The center of gravity moving mechanism 11 moves the liquid from the liquid bag 111B on the heel side to the liquid bag 111A on the toe side in accordance with the second center of gravity moving instruction, and moves the center of gravity of the footwear 1.

After the process of step S5 or S7, the controller 25 notifies the user when the number of times the value based on the sensor data exceeds the first threshold value exceeds the third threshold value (Yes in step S8). (Step S9). In the present embodiment, the notification to the user in step S9 is the same as in step S3, and therefore detailed description thereof will be omitted.

The controller 25 returns to the process of step S1 when the number of times the value based on the sensor data exceeds the first threshold value does not exceed the third threshold value (No in step S8).

After the process of step S9, the controller 25 updates at least one of the reference value, the first threshold value, and the second threshold value stored in the storage 23 (step S10). In the present embodiment, the controller 25 determines that at least one of the set reference value and threshold value is not appropriate because the number of times the fatigue level exceeds the first threshold value exceeds the third threshold value, and determines that value. To fix.

As described above, the footwear 1 according to the present embodiment includes the center of gravity moving mechanism 11 for moving the center of gravity. Then, the center of gravity can be moved based on the degree of fatigue of the wearer. In addition, the system according to the present embodiment includes footwear 1 and a terminal device 2 that acquires at least one of a wearer's movement, vital signs, and an electromyogram. In the system according to the present embodiment, the degree of fatigue can be estimated based on at least one of the wearer's movement, vital signs, and electromyogram acquired from the terminal device 2 by the communication unit 12.

In the footwear 1 and the system according to the present embodiment, the degree of fatigue of the wearer may be estimated. The greater the degree of fatigue, the easier it is for the toes to come into contact with the ground or stairs, and the higher the risk of the wearer falling. The footwear 1 includes, for example, a center of gravity moving mechanism 11 that moves the center of gravity based on the degree of fatigue of the wearer. Therefore, the footwear 1 can reduce the risk of falling by moving the center of gravity to the heel side, for example, when the degree of fatigue is large, and making it easier for the wearer to pull up the toes. Further, in the case of footwear 1, for example, when the degree of fatigue is small, the center of gravity can be returned to the toe side to give an appropriate load to the wearer. As described above, the footwear 1 and the system according to the present embodiment can adjust the load on the wearer according to the risk of falling.

Further, in the present embodiment, the degree of fatigue can be estimated regardless of which sensor data of the motion sensor, vital sensor, and myoelectric sensor is used. Therefore, in determining the movement of the center of gravity of the footwear 1, for example, the same threshold value can be used, and unified handling is possible.

[Second Embodiment]
The footwear 1 and the system according to the second embodiment will be described. The structure of the footwear 1 and the system of the present embodiment is the same as that of the first embodiment. Therefore, the same description as in the first embodiment will be simplified or omitted as appropriate. In this embodiment, the controller 25 moves the center of gravity of the footwear 1 without estimating the degree of fatigue.

The sensor 24 of the terminal device 2, which is a wearable terminal, detects at least one of the wearer's movement, vital signs, and myoelectric potential. Also in this embodiment, the sensor 24 includes a motion sensor, a vital sensor, and a myoelectric sensor. The footwear 1 according to the present embodiment moves the center of gravity based on the movement of the wearer. Further, the footwear 1 according to the present embodiment moves the center of gravity based on the vital signs of the wearer. Further, the footwear 1 according to the present embodiment moves the center of gravity based on the electromyogram of the wearer.

(Movement of the center of gravity based on the movement of the wearer)
A case where the center of gravity of the footwear 1 moves based on the movement of the wearer will be described. In the first embodiment, the wearer's movement detected by the motion sensor relates to the state of the wearer's movement, particularly the walking state, which is closely related to the degree of fatigue. In the present embodiment, the controller 25 moves the center of gravity of the footwear 1 based on the wearer's movement, that is, the body movement, which is not limited to the state of exercise. Therefore, the wearer can intentionally move the center of gravity of the footwear 1 by performing a specific movement.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the wearer's movement detected by the motion sensor satisfies a predetermined condition. The predetermined conditions include a first condition and a second condition. When the wearer's movement satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the wearer's movement satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

For example, the first condition may be that the wearer swiftly swings his arm backwards in a stationary state without walking. Further, for example, the first condition may be that the wearer brings the heel portion of the footwear 1 into contact with the ground a plurality of times in succession without walking. Further, for example, the first condition may be that the wearer squats down and brings his / her hand into contact with the footwear 1 without walking. The controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side when it is determined that the first condition is satisfied based on the detection value of the motion sensor.

For example, the second condition may be that the wearer quickly swings his arm forward in a stationary state without walking. Further, for example, the second condition may be that the toe portion of the footwear 1 is brought into contact with the ground a plurality of times in succession without the wearer walking. The controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side when it is determined that the second condition is satisfied based on the detection value of the motion sensor.

Further, in the present embodiment, the controller 25 moves the center of gravity of the footwear 1 based on the state of movement (particularly the walking state) calculated from the movement of the wearer detected by the motion sensor. The walking state includes at least one of the number of steps per unit time, the time required for one step, the walking speed, the stride length, the amount of foot lift, and the walking variation.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the wearer's walking state satisfies a predetermined condition. When the wearer's walking state satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the walking state of the wearer satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may make it a first condition that the walking state of the wearer is larger than the first threshold value. Further, the controller 25 may make it a second condition that the walking state of the wearer is smaller than the second threshold value. Unlike the first embodiment, the first threshold value and the second threshold value in the present embodiment are set according to the type of walking state of the wearer. The value relating to the walking state of the wearer used for comparison with the first threshold value and the second threshold value may be an instantaneous value. However, in order to improve the accuracy of the determination, it is preferable that a statistical value (for example, an average value, a median value, etc.) at a predetermined time is used as the value related to the walking state.

The first condition of the controller 25 may be that the number of steps per unit time (for example, 1 minute) is significantly reduced from the reference value by more than 5 steps. Further, the controller 25 may set the second condition that the amount of decrease in the number of steps per unit time from the reference value becomes smaller than 3 steps after the first condition is satisfied. Here, 5 steps correspond to the first threshold. Also, 3 steps correspond to the second threshold.

The first condition of the controller 25 may be that the time required for each step is greatly increased from the reference value by more than 1.0 second. Further, the controller 25 may set the second condition that the amount of increase in the time required for one step from the reference value becomes smaller than 0.8 seconds after the first condition is satisfied. Here, 1.0 second corresponds to the first threshold value. Also, 0.8 seconds corresponds to the second threshold.

The first condition of the controller 25 may be that the walking speed is significantly reduced from the reference value by more than 1.0 [m / sec]. Further, the controller 25 may set the second condition that the amount of decrease in the walking speed from the reference value becomes smaller than 0.3 [m / sec] after the first condition is satisfied. Here, 1.0 [m / sec] corresponds to the first threshold value. Further, 0.3 [m / sec] corresponds to the second threshold value.

The first condition of the controller 25 may be that the stride length is significantly reduced by more than 10 [cm] from the reference value. Further, the controller 25 may set the second condition that the amount of decrease in the stride length from the reference value becomes smaller than 3 [cm] after the first condition is satisfied. Here, 10 [cm] corresponds to the first threshold value. Further, 3 [cm] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of foot lift is significantly reduced from the reference value by more than 2 [cm]. Further, the controller 25 may set the second condition that the amount of decrease in the amount of foot lift from the reference value becomes smaller than 1 [cm] after the first condition is satisfied. Here, 2 [cm] corresponds to the first threshold value. Further, 1 [cm] corresponds to the second threshold value.

The first condition of the controller 25 may be that the walking variation has increased more than 10% from the reference value. Further, the controller 25 may set the second condition that the amount of increase in walking variation from the reference value becomes smaller than 3% after the first condition is satisfied. Here, 10% corresponds to the first threshold. Also, 3% corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the movement of the wearer.

(Movement of the center of gravity based on the wearer's vital signs)
A case where the center of gravity of the footwear 1 moves based on the vital signs of the wearer will be described. In the first embodiment, the degree of fatigue calculated based on vital signs is used for determining the movement of the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the vital signs to determine that the center of gravity of the footwear 1 is moved more directly.

The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the vital signs detected by the vital sensor satisfy a predetermined condition. The predetermined conditions include a first condition and a second condition. When the vital signs satisfy the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the vital signs satisfy the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may make it a first condition that the difference from the normal state (reference value) of the wearer's vital signs is larger than the first threshold value. Further, the controller 25 may make it a second condition that the difference from the normal state (reference value) of the wearer's vital signs is smaller than the second threshold value. Unlike the first embodiment, the first threshold value and the second threshold value in the present embodiment are set according to the type of vital signs. The values of vital signs used for comparison with the first threshold and the second threshold may be instantaneous values. However, in order to improve the accuracy of the determination, it is preferable that a statistical value (for example, an average value, a median value, etc.) at a predetermined time is used as the value of this vital sign.

In this embodiment, vital signs include at least one of pulse, pulse wave, blood pressure, blood flow, body temperature, respiratory rate, lactate and blood glucose levels.

The first condition of the controller 25 may be that the amount of increase in the pulse from the reference value is larger than 20 [times / min]. Further, the controller 25 may set the second condition that the amount of increase in the pulse from the reference value becomes smaller than 6 [times / min] after the first condition is satisfied. Here, 20 [times / min] corresponds to the first threshold value. Further, 6 [times / min] corresponds to the second threshold value.

The controller 25 calculates the acceleration pulse wave by, for example, second-order differentializing the pulse wave, and obtains the ratio (LF / HF) of the low frequency component divided by the high frequency component. Then, the controller 25 may have the first condition that the ratio (LF / HF) is larger than 2. Further, the controller 25 may set that the ratio (LF / HF) becomes smaller than 2 after the first condition is satisfied as the second condition. In this example, the first threshold and the second threshold are both 2.

The first condition of the controller 25 may be that the amount of increase in blood pressure from the reference value is larger than 30 [mmHg]. Further, the controller 25 may set the second condition that the amount of increase in blood pressure from the reference value becomes smaller than 10 [mmHg] after the first condition is satisfied. Here, 30 [mmHg] corresponds to the first threshold value. Further, 10 [mmHg] corresponds to the second threshold value.

The first condition of the controller 25 may be that the rate of increase in blood flow from the reference value is greater than 10%. Further, the controller 25 may set the second condition that the rate of increase of the blood flow rate from the reference value becomes smaller than 3% after the first condition is satisfied. Here, 10% corresponds to the first threshold. Also, 3% corresponds to the second threshold.

The first condition of the controller 25 may be that the amount of increase in body temperature from the reference value is larger than 1 [° C.]. Further, the controller 25 may set the second condition that the amount of increase in the body temperature from the reference value becomes smaller than 0.3 [° C.] after the first condition is satisfied. Here, 1 [° C.] corresponds to the first threshold value. Further, 0.3 [° C.] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of increase in the respiratory rate from the reference value is larger than 15 [times / min]. Further, the controller 25 may set the second condition that the amount of increase in the respiratory rate from the reference value becomes smaller than 5 [times / min] after the first condition is satisfied. Here, 15 [times / min] corresponds to the first threshold value. Further, 5 [times / min] corresponds to the second threshold value.

The first condition of the controller 25 may be that the amount of increase in the lactic acid value from the reference value is larger than 0.5 [mmol / liter]. Further, the controller 25 may set the second condition that the amount of increase in the lactic acid value from the reference value becomes smaller than 0.2 [mmol / liter] after the first condition is satisfied. Here, 0.5 [mmol / liter] corresponds to the first threshold. Further, 0.2 [mmol / liter] corresponds to the second threshold value.

The first condition of the controller 25 may be that the rate of decrease of the blood glucose level from the reference value is larger than 15%. Further, the controller 25 may set the second condition that the rate of decrease of the blood glucose level from the reference value becomes smaller than 5% after the first condition is satisfied. Here, 15% corresponds to the first threshold. Also, 5% corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the vital signs of the wearer.

(Movement of the center of gravity based on the wearer's EMG)
A case where the center of gravity of the footwear 1 moves based on the electromyogram of the wearer will be described. In the first embodiment, the degree of fatigue calculated based on the electromyogram was used for determining the movement of the center of gravity of the footwear 1. In the present embodiment, the controller 25 uses the electromyogram more directly for determining the movement of the center of gravity of the footwear 1.

The controller 25 generates an electromyogram based on the myoelectric potential detected by the myoelectric sensor. The controller 25 generates a center of gravity movement instruction for moving the center of gravity when the electromyogram satisfies a predetermined condition. The predetermined conditions include a first condition and a second condition. When the electromyogram satisfies the first condition, the controller 25 generates a first center of gravity movement instruction for moving the center of gravity to the heel side. Further, when the electromyogram satisfies the second condition, the controller 25 generates a second center of gravity movement instruction for moving the center of gravity to the toe side.

Here, the controller 25 may make it a first condition that the difference from the normal state (reference value) of the value based on the wearer's electromyogram is larger than the first threshold value. Further, the controller 25 may make it a second condition that the difference from the normal state (reference value) of the value based on the wearer's electromyogram is smaller than the second threshold value. The electromyographic values used for comparison with the first threshold and the second threshold may be instantaneous values. However, in order to improve the accuracy of the determination, it is preferable that a statistical value (for example, an average value, a median value, etc.) at a predetermined time is used as the value based on this electromyogram.

The controller 25 calculates the average frequency for each predetermined time from the wearer's electromyogram. In the present embodiment, the value based on the wearer's electromyogram is the average frequency for each predetermined time (hereinafter, simply referred to as "average frequency"). The first condition of the controller 25 may be that the amount of decrease in the average frequency from the reference value is larger than 10 Hz. Further, the controller 25 may set the second condition that the amount of decrease in the average frequency from the reference value becomes smaller than 3 Hz after the first condition is satisfied. Here, 10 Hz corresponds to the first threshold value. Also, 3 Hz corresponds to the second threshold.

Here, as in the first embodiment, the controller 25 may set a third threshold value and adjust at least one of the reference value, the first threshold value, and the second threshold value. Further, as in the first embodiment, the controller 25 may instruct the notification unit 16 to emit at least one of light, sound, and vibration according to the electromyogram of the wearer.

As described above, the footwear 1 according to the present embodiment includes the center of gravity moving mechanism 11 capable of moving the center of gravity. In addition, the system according to the present embodiment includes footwear 1 and a terminal device 2 that acquires at least one of a wearer's movement, vital signs, and an electromyogram. In this embodiment, the center of gravity moves based on at least one of the wearer's movements, vital signs and electromyogram.

In this embodiment as well, as in the first embodiment, the load on the wearer can be adjusted according to the risk of falling. Further, the system according to the present embodiment can also be used for determining the movement of the center of gravity of the footwear 1 with respect to values based on the wearer's movement, vital signs, and electromyogram, which are not related to the degree of fatigue. For example, it is possible to move the center of gravity of the footwear 1 by the movement of "quickly swinging the arm backward in the stopped state".

(Other embodiments)
Although the present disclosure has been described with reference to the drawings and embodiments, it should be noted that those skilled in the art can easily make various modifications and modifications based on the present disclosure. It should be noted, therefore, that these modifications and modifications are within the scope of this disclosure. For example, the functions included in each means or each step can be rearranged so as not to be logically inconsistent, and a plurality of means or steps can be combined or divided into one. be.

(First modification)
In the system according to the first and second embodiments described above, the terminal device 2 includes the sensor 24. The terminal device 2 was a wearable terminal worn by the wearer. In the system including the footwear 1 according to the first modification, the footwear 1 includes the sensor 14. And the terminal device 2 does not include the sensor 24.

FIG. 22 shows a schematic configuration of footwear 1 according to this modified example. As shown in FIG. 22, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12, a storage 13, a sensor 14, and a notification unit 16. The center of gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 can have the same configurations as those in the first and second embodiments.

Further, FIG. 23 shows a schematic configuration of the terminal device 2 of the system according to the present modification. As shown in FIG. 23, the terminal device 2 includes a communication unit 22, a storage 23, and a controller 25. In this modification, the terminal device 2 does not have to be a wearable terminal. In this modification, the terminal device 2 is, for example, a smartphone.

The sensor 14 of the footwear 1 corresponds to the sensor 24 in the above embodiment. That is, the sensor 14 detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this modification, the sensor 14 includes a motion sensor, a vital sensor, and a myoelectric sensor. Here, the sensor 14 may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 14 may be provided with yet another detection device (for example, an ultraviolet sensor or the like).

Here, when the sensor 14 includes a vital sensor, the sensor 14 may be provided on the footwear 1 so that the wearer comes into contact with the wearer's foot when the footwear 1 is worn. Further, the sensor 14 may be arranged so as to contact at least one of the wearer's sole, instep and ankle. For example, when the footwear 1 is a high-cut shoe, the sensor 14 may be provided at the shoe opening so as to come into contact with the ankle. Further, for example, the sensor 14 may be provided on the surface of the insole of the footwear 1 so as to come into contact with the sole of the foot.

Further, when the sensor 14 includes a myoelectric sensor, the sensor 14 may be provided on the footwear 1 so as to come into contact with the wearer's foot when the wearer wears the footwear 1. In addition, the sensor 14 may be placed in contact with at least one location on the wearer's calf and shin. For example, if the footwear 1 is a boot, the sensor 14 may be provided in contact with the calf and shin.

In this modification, at least one of vital signs and myoelectric potential can be detected only by the wearer wearing footwear 1 without wearing a wearable terminal or the like. Further, in the present modification, when the sensor 14 includes the motion sensor, it is possible to detect the fine movement of the footwear 1. Therefore, in this modified example, it becomes possible to more accurately detect the movement of the wearer regarding walking.

(Second modification)
In the system according to the first modification, the footwear 1 includes a sensor 14. And the terminal device 2 does not include the sensor 24. In the system including the footwear 1 according to the second modification, the footwear 1 further includes a controller 15. In this modification, the controller 15 executes a part or all of the processing executed by the controller 25 of the terminal device 2 in the above embodiment.

FIG. 24 shows a schematic configuration of footwear 1 according to this modified example. As shown in FIG. 22, the footwear 1 includes a center of gravity moving mechanism 11, a communication unit 12, a storage 13, a sensor 14, a controller 15, and a notification unit 16. The center of gravity moving mechanism 11, the communication unit 12, the storage 13, and the notification unit 16 are the same as those in the first and second embodiments. Further, the sensor 14 is the same as the first modification. Further, the configuration of the terminal device 2 of this modified example is the same as that of the first modified example (see FIG. 23).

The controller 15 may acquire sensor data from the sensor 14 and estimate the degree of fatigue based on at least one of the wearer's movements, vital signs and electromyogram. Further, the controller 15 may estimate the walking state calculated based on the movement of the wearer based on the output of the motion sensor. Further, the controller 15 may estimate the walking state calculated based on the movement of the wearer based on the output of the vital sensor. Further, the controller 15 may generate an electromyogram based on the output of the myoelectric sensor.

In this modification, the processing load of the controller 25 of the terminal device 2 can be reduced by the controller 15 executing the processing related to the movement of the center of gravity of the footwear 1. Further, in the present modification, as described above, when the controller 15 estimates the fatigue degree or the walking state, the sensor data output from the sensor 14 is communicated between the footwear 1 and the terminal device 2. No need. Therefore, the load of communication processing of the footwear 1 and the terminal device 2 can be reduced.

(Third modification example)
In the system according to the first and second embodiments described above, the terminal device 2 is composed of one device. In the system including the footwear 1 according to the third modification, the terminal device 2 is composed of a plurality of devices.

25 (A) and 25 (B) show a schematic configuration of the terminal device 2 of the system according to the present modification. In this modification, the terminal device 2 is composed of a first terminal device 2A and a second terminal device 2B. As shown in FIG. 25A, the first terminal device 2A includes a communication unit 22A, a storage 23A, and a controller 25A. Further, as shown in FIG. 25B, the second terminal device 2B includes a communication unit 22B, a storage 23B, and a sensor 24B.

The second terminal device 2B is, for example, a wearable terminal worn by a wearer. The first terminal device 2A is, for example, a smartphone. The first terminal device 2A and the second terminal device 2B communicate with each other using the communication unit 22A and the communication unit 22B. Further, at least one of the first terminal device 2A and the second terminal device 2B also communicates with the footwear 1. Although the first terminal device 2A and the second terminal device 2B are physically different devices, they cooperate with each other to execute the same processing as the terminal device 2 in the above embodiment. Further, the configuration of the footwear 1 of this modified example is the same as that of the first and second embodiments (see FIG. 1).

The sensor 24B included in the second terminal device 2B corresponds to the sensor 24 in the above embodiment. That is, the sensor 24B detects at least one of the wearer's movements, vital signs and myoelectric potentials. In this modification, the sensor 24B includes a motion sensor, a vital sensor, and a myoelectric sensor. Here, the sensor 24B may include only a part of the motion sensor, the vital sensor, and the myoelectric sensor. Further, the sensor 24B may be provided with yet another detection device (for example, an ultraviolet sensor or the like).

For example, when the sensor 24B includes a myoelectric sensor, the second terminal device 2B may be a sock or supporter type wearable terminal. At this time, the myoelectric sensor is provided on the wearer's socks or supporters. The sock or supporter contacts the wearer's calf and shin. Therefore, the myoelectric sensor can accurately detect the myoelectric potential.

The second terminal device 2B temporarily stores the sensor data detected by the sensor 24B in the storage 23B. Then, the second terminal device 2B outputs necessary sensor data from the communication unit 22B. The first terminal device 2A acquires sensor data from the second terminal device 2B by the communication unit 22A. The first terminal device 2A temporarily stores the acquired sensor data in the storage 23A. Then, the controller 25A of the first terminal device 2A executes a process related to the movement of the center of gravity of the footwear 1 based on the acquired sensor data.

In this modification, the terminal device 2 is composed of a physically separable first terminal device 2A and a second terminal device 2B. Therefore, in this modification, it is possible to arrange the second terminal device 2B including the sensor 24B away from the first terminal device 2A including the controller 25A that executes the process related to the movement of the center of gravity of the footwear 1. be. Therefore, in this modification, the second terminal device 2B, which is a wearable terminal, can be mounted at a relatively free position. Further, since the number of components of the second terminal device 2B can be reduced, it is possible to reduce the weight of the second terminal device 2B worn by the wearer.

(others)
Further, an electromyogram may be used instead of the myoelectric sensor in the above-described embodiment and modification. The electromyogram may generate, for example, an electromyogram and output the electromyogram data to the controller 25 or the like. In addition, the vital sensors in the above embodiments and modifications output vital signs. Here, the vital sensor may output data capable of calculating vital signs to the controller 25 or the like. At this time, the controller 25 or the like may calculate the vital signs based on the output of the vital sensor. For example, the controller 25 acquires a photoelectric conversion signal of scattered light received by the light receiving unit of the vital sensor. Then, the controller 25 may calculate the vital signs based on the intensity of the scattered light. Further, when the footwear 1 is provided with an illuminance sensor as the sensor 14, for example, the controller 25 can accurately grasp the raising and lowering of the wearer's foot from the change in illuminance. At this time, the controller 25 can more accurately calculate the amount of foot lift of the wearer and the like.

Many aspects of this disclosure are presented as a series of actions performed by a computer system or other hardware capable of executing program instructions. In each embodiment, the various operations or control methods are performed, for example, by dedicated circuits implemented in program instructions (software) (eg, individual logic gates interconnected to perform a particular function). Please note. Also note that in each embodiment, the various operations or control methods are performed, for example, by logical blocks and / or program modules executed by one or more processors. One or more processors that execute logical blocks and / or program modules and the like include, for example, one or more microprocessors and CPUs (Central Processing Units). Further, such a processor includes, for example, an ASIC (Application Specific Integrated Circuit) and a DSP (Digital Signal Processor). Further, such a processor includes, for example, a PLD (Programmable Logic Device) and an FPGA (Field Programmable Gate Array). Such processors also include controllers, microcontrollers, microprocessors, and other devices designed to perform the functions described herein. In addition, such a processor includes a combination of the above specific examples. The embodiments shown herein are implemented, for example, by hardware, software, firmware, middleware, microcode, or a combination thereof. The instruction may be program code or a code segment to perform the required task. The instructions can then be stored on a machine-readable non-temporary storage medium or other medium. A code segment may represent any combination of procedures, functions, subprograms, programs, routines, subroutines, modules, software packages, classes or instructions, data structures or program statements. A code segment sends and / or receives information, data arguments, variables or stored contents with another code segment or hardware circuit, thereby connecting the code segment with the other code segment or hardware circuit. ..

Further, the storages 13, 23, 23A and 23B can be further configured as a computer-readable tangible carrier (medium) composed of the categories of solid state memory, magnetic disk and optical disk. Such media may store an appropriate set or data structure of computer instructions, such as a program module, for causing a processor to perform the techniques disclosed herein. Computer-readable media include portable computer disks, RAM (Random Access Memory) and ROM (Read-Only Memory). A computer-readable medium includes an EPROM (Erasable Programmable Read-Only Memory). In addition, a computer-readable medium includes an EEPROM (Electrically Erasable Programmable Read-Only Memory). Computer-readable media also include rewritable and programmable ROMs such as flash memory or other tangible storage media capable of storing information or combinations of any of the above embodiments. Memory can be provided inside and / or outside the processor or processing unit. As used herein, the term "memory" means any type of long-term memory, short-term memory, volatile, non-volatile or other memory. That is, "memory" is not limited to any particular type and / or number. Further, the type of medium in which the storage is stored is not limited.

1 Footwear 2 Terminal device 2A First terminal device 2B Second terminal device 11 Center of gravity movement mechanism 12 Communication unit 13 Storage 14 Sensor 15 Controller 16 Notification unit 22, 22A, 22B Communication unit 23, 23A, 23B Storage 24, 24B Sensor 25, 25A Controller 110 Tube Pump 111A, 111B Liquid Bag 112 Tube 114 Roller 116 Motor 120 Valve 130 Electromagnet 132 Magnetic Fluid 140 Weight 142 Ball Screw 144 Motor 150 Towing Line 152 Pulley 154 Motor 156 Pinion Gear 158 Reverse Gear 160 Step 162 Fixing Part 164 Movable part 168 Rack 170 Pinion 172 Zenmai spring 174 Pinion gear 180 Storage part 182 Weight

Claims (9)

With a weight
Footwear including a drive unit for moving the weight.
The center of gravity can be moved by moving the weight by the driving unit .
The drive unit is a footwear that rotates based on a load on the footwear. The footwear according to claim 1, wherein the weight moves to the toe side of the footwear or the heel side of the footwear. The footwear according to claim 1 or 2, wherein the weight moves within the bottom of the footwear. The footwear according to any one of claims 1 to 3, wherein the drive unit moves the weight by rotation of the drive unit. The drive unit moves the weight based on at least one of the movement of the wearer of the footwear, the vital signs of the wearer, and the myoelectric potential of the wearer, according to any one of claims 1 to 4. The listed footwear. When at least one of the predetermined movement of the wearer of the footwear, the predetermined vital sign of the wearer of the footwear, and the predetermined myoelectric potential of the wearer of the footwear is detected, the drive unit moves the weight. The footwear according to any one of claims 1 to 5 , further comprising a controller for controlling the footwear. Claims 1 to 6 , further comprising at least one of a motion sensor for detecting the movement of the wearer, a vital sensor for detecting the vital signs of the wearer, and a myoelectric sensor for detecting the myoelectric value of the wearer. Footwear listed in either. The footwear according to any one of claims 1 to 7 , further comprising a notification unit that emits at least one of light, sound, and vibration. With the terminal device
Footwear that can communicate with the terminal device, includes a weight and a driving unit that moves the weight, and the driving unit can move the weight to move the center of gravity .
The drive unit rotates based on the load on the footwear, and the footwear and the footwear
Is a system that includes
The terminal device acquires at least one piece of information about the wearer's movements of the footwear, the wearer's vital signs, and the wearer's myoelectric potential.
The drive unit is a system that moves the weight based on the information acquired by the terminal device.

Images