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JP2009125270A - Walking motion analyzer - Google Patents

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JP2009125270A
JP2009125270A JP2007302856A JP2007302856A JP2009125270A JP 2009125270 A JP2009125270 A JP 2009125270A JP 2007302856 A JP2007302856 A JP 2007302856A JP 2007302856 A JP2007302856 A JP 2007302856A JP 2009125270 A JP2009125270 A JP 2009125270A
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walking
walking motion
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analysis
steady
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JP4937888B2 (en
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Yoshikane Nishimura
良周 西村
Tatsuya Takahashi
達也 高橋
Akihiro Michimori
章弘 道盛
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Panasonic Electric Works Co Ltd
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Abstract

【課題】歩行動作計測部で計測された被験者の歩行動作を、歩行動作分析部が、その計測された種々のパラメータから、たとえば歩行姿勢を評価したり、運動能力を評価したりする等の所期の目的に沿って分析するようにした歩行動作分析装置において、分析の精度や安定性を向上するとともに、分析条件を統一する。
【解決手段】定常歩行判定部１０を設け、その定常歩行判定部１０が、歩行動作計測部２における歩幅などの所定のパラメータの計測結果の時間変化などから、被験者が定常歩行中であるか否かを判定し、その判定結果を歩行動作分析部３に与え、該歩行動作分析部３に、定常歩行している間の計測結果のみで分析動作を行わせる。したがって、歩行動作分析の前段階の処理として、歩行が定常状態となる区間を求めることができ、分析の精度や安定性を向上することができるとともに、分析条件を統一することができる。
【選択図】図１An object of the present invention is to analyze a walking motion of a subject measured by a walking motion measuring unit such that a walking motion analysis unit evaluates a walking posture or an exercise ability from various measured parameters. In the walking motion analyzer that analyzes according to the purpose of the period, the analysis accuracy and stability are improved and the analysis conditions are unified.
A steady walking determination unit 10 is provided, and the steady walking determination unit 10 determines whether or not the subject is in a steady walking based on a temporal change in a measurement result of a predetermined parameter such as a stride in a walking motion measurement unit 2. The determination result is given to the walking motion analysis unit 3, and the walking motion analysis unit 3 is caused to perform the analysis operation only with the measurement result during steady walking. Therefore, as a process in the previous stage of the walking motion analysis, it is possible to obtain a section where the walking is in a steady state, improve the accuracy and stability of the analysis, and unify the analysis conditions.
[Selection] Figure 1

Description

本発明は、被験者の歩行動作を分析するための装置に関する。   The present invention relates to an apparatus for analyzing a walking motion of a subject.

近年、健康意識の高まりから、単に歩くだけでなく、如何に姿勢良く綺麗に歩くか、或いは如何にエクササイズ効果を高められるか等の歩き方の解析も行われている。   In recent years, not only walking, but also how to walk, such as how to walk beautifully with good posture or how to enhance exercise effect, has been performed due to the heightened health consciousness.

同様に、歩き方の解析では、特許文献１には、被験者装置の歩行計測部で計測された歩行データをネットワークを介して指導者装置に送信し、指導者装置では、被験者の歩行データを解析して、その解析結果を見た指導者が被験者を指導することで、遠隔で被験者の転倒予防の指導を行えるようにした転倒予防指導支援システムが提案されている。   Similarly, in the analysis of how to walk, in Patent Document 1, the walking data measured by the walking measurement unit of the subject device is transmitted to the instructor device via the network, and the instructor device analyzes the walking data of the subject. In addition, a fall prevention guidance support system has been proposed in which a leader who sees the analysis result teaches a subject so that the subject can remotely provide guidance for fall prevention.

また、特許文献２には、２次元圧力分布センサから歩行パラメータ（ストライド長、ステップ長、歩隔、遊脚時間等）を算出し、レーダーチャート表示を行う歩行パターン処理方法および装置が開示されている。
特開２００２−３４５７８６号公報 特開平９−９１４３７号公報 Further, Patent Document 2 discloses a walking pattern processing method and apparatus for calculating walking parameters (stride length, step length, step distance, swing leg time, etc.) from a two-dimensional pressure distribution sensor and displaying a radar chart. Yes.
JP 2002-345786 A Japanese Patent Laid-Open No. 9-91437

上述の従来技術は、歩行動作の計測・分析を目的として、歩行パラメータを算出して、その結果を表示している。しかしながら、一般的には、歩行開始から４歩目以降を分析対象区間としているが、上述の特許文献１，２には分析対象区間に関しての記述は特になく、分析精度が低かったり、或いは指導員や医師などが動作分析の対象区間を定めるので、煩雑になったり、被験者によって対象区間（すなわち条件）が異なる等の問題がある。   The above-described conventional technology calculates walking parameters and displays the results for the purpose of measuring and analyzing walking motion. However, in general, the fourth and subsequent steps from the start of walking are set as the analysis target section. However, the above Patent Documents 1 and 2 do not particularly describe the analysis target section, and the analysis accuracy is low, or the instructor or the like. Since doctors and the like determine the target section for motion analysis, there are problems such as complexity and different target sections (that is, conditions) depending on the subject.

本発明の目的は、歩行動作の分析の精度や安定性を向上するとともに、分析条件を統一することができる歩行動作分析装置を提供することである。   An object of the present invention is to provide a walking motion analysis device capable of improving the accuracy and stability of analysis of walking motion and unifying analysis conditions.

本発明の歩行動作分析装置は、歩行動作計測部での計測結果に基づいて、歩行動作分析部が被験者の歩行動作を分析するようにした歩行動作分析装置において、前記歩行動作計測部の計測結果から、被験者が定常歩行中であるか否かを判定し、その判定結果を前記歩行動作分析部に与える定常歩行判定部を有し、前記歩行動作分析部は、定常歩行している間の計測結果について前記歩行動作の分析を行うことを特徴とする。   The walking motion analysis device of the present invention is the walking motion analysis device in which the walking motion analysis unit analyzes the walking motion of the subject based on the measurement result of the walking motion measurement unit, the measurement result of the walking motion measurement unit From this, it is determined whether or not the subject is in steady walking, and the determination result is given to the walking motion analysis unit, and the walking motion analysis unit performs measurement during steady walking. Analysis of the walking motion is performed on the result.

上記の構成によれば、歩行動作計測部で計測された被験者の歩行動作を、歩行動作分析部が、その計測された種々のパラメータから、たとえば歩行姿勢を評価したり、運動能力を評価したりする等の所期の目的に沿って分析するようにした歩行動作分析装置において、定常歩行判定部を設ける。そして、その定常歩行判定部は、前記歩行動作計測部における歩幅などの所定のパラメータの計測結果の時間変化などから、被験者が定常歩行中であるか否かを判定し、その判定結果を前記歩行動作分析部に与え、該歩行動作分析部に、定常歩行している間の計測結果のみで分析動作を行わせる。   According to the above configuration, the walking motion analysis unit evaluates the walking motion of the subject measured by the walking motion measurement unit, for example, from the various parameters measured, and evaluates the exercise ability. In the walking motion analysis apparatus that analyzes in accordance with the intended purpose such as performing a steady walking determination unit. Then, the steady walking determination unit determines whether or not the subject is in a steady walking from the time change of the measurement result of a predetermined parameter such as a stride in the walking motion measurement unit, and the determination result is the walking This is given to the motion analysis unit, and the walking motion analysis unit is caused to perform the analysis operation only by the measurement result during steady walking.

したがって、歩行動作計測部から得られたデータを入力するだけで、歩行動作分析の前段階の処理として、歩行が定常状態となる区間を求めることができる。これによって、前記歩行動作分析部における歩行動作の分析の精度や安定性を向上することができるとともに、分析条件を統一することができる。   Therefore, only by inputting the data obtained from the walking motion measurement unit, a section where the walking is in a steady state can be obtained as a process before the walking motion analysis. Accordingly, the accuracy and stability of the walking motion analysis in the walking motion analysis unit can be improved, and the analysis conditions can be unified.

また、本発明の歩行動作分析装置では、前記定常歩行判定部は、前記歩行動作計測部の計測結果から、１歩毎の歩幅を算出し、毎歩の歩幅のばらつきが一定幅以内に収束すれば前記定常歩行と判定することを特徴とする。   In the walking motion analysis apparatus of the present invention, the steady walking determination unit calculates the step length for each step from the measurement result of the walking motion measurement unit, and the variation in the step length of each step converges within a certain range. It is characterized in that it is determined as the normal walking.

上記の構成によれば、歩行データの１歩毎の歩幅を算出すれば、簡便に定常状態となる区間を求めることができる。   According to said structure, if the step for every step of walk data is calculated, the area which will be in a steady state can be calculated | required easily.

さらにまた、本発明の歩行動作分析装置では、前記定常歩行判定部は、前記歩行動作計測部の計測結果から、１歩毎の関節角度の最大値を算出し、毎歩の関節角度の最大値が一定幅以内に収束すれば前記定常歩行と判定することを特徴とする。   Furthermore, in the walking motion analysis device of the present invention, the steady walking determination unit calculates the maximum value of the joint angle for each step from the measurement result of the walking motion measurement unit, and the maximum value of the joint angle for each step. Is converged within a certain range, it is determined that the normal walking is performed.

上記の構成によれば、歩行データの１歩毎の関節角度の最大値を算出すれば、簡便に定常状態となる区間を求めることができる。   According to said structure, if the maximum value of the joint angle for every step of walk data is calculated, the area which will be in a steady state can be calculated | required easily.

また、本発明の歩行動作分析装置は、前記ばらつきが所定時間を経過しても前記一定幅以内に収束しない場合に、異常歩行と判定し、報知を行う異常歩行判定部をさらに備えることを特徴とする。   In addition, the walking motion analysis device of the present invention further includes an abnormal walking determination unit that determines abnormal walking and notifies when the variation does not converge within the predetermined width even after a predetermined time has elapsed. And

上記の構成によれば、前記ばらつきが所定時間、たとえば全歩行区間において定常状態が出現しなければ、異常歩行判定部が異常歩行と判定し、指導者や医師などに報知する。   According to said structure, if the said dispersion | variation does not appear for a predetermined time, for example, all walk sections, an abnormal walk determination part will determine with an abnormal walk and will alert | report to a leader, a doctor, etc.

したがって、被験者の歩行異常の発見や、データの再計測に役立てることができる。また、計測時に被験者が心理的圧迫を感じた場合に異常歩行となることがあるので、計測時の被験者の心理状態を考慮した計測条件の設定に役立てることもできる。   Therefore, it can be used for discovery of abnormal gait of the subject and remeasurement of data. In addition, abnormal walking may occur when the subject feels psychological pressure at the time of measurement, which can be used for setting measurement conditions in consideration of the psychological state of the subject at the time of measurement.

本発明の歩行動作分析装置は、以上のように、歩行動作計測部で計測された被験者の歩行動作を、歩行動作分析部が、その計測された種々のパラメータから、たとえば歩行姿勢を評価したり、運動能力を評価したりする等の所期の目的に沿って分析するようにした歩行動作分析装置において、定常歩行判定部を設け、その定常歩行判定部が、前記歩行動作計測部における歩幅などの所定のパラメータの計測結果の時間変化などから、被験者が定常歩行中であるか否かを判定し、その判定結果を前記歩行動作分析部に与え、該歩行動作分析部に、定常歩行している間の計測結果のみで分析動作を行わせる。   As described above, the walking motion analysis apparatus of the present invention evaluates the walking motion of the subject measured by the walking motion measurement unit, and the walking motion analysis unit evaluates, for example, the walking posture from the various parameters measured. In the walking motion analysis device that analyzes according to the intended purpose such as evaluating athletic ability, a steady walking determination unit is provided, and the steady walking determination unit is a stride in the walking motion measuring unit, etc. From the time change of the measurement result of the predetermined parameter, it is determined whether or not the subject is in steady walking, the determination result is given to the walking motion analysis unit, and the walking motion analysis unit The analysis operation is performed only with the measurement result during the period.

それゆえ、歩行動作計測部から得られたデータを入力するだけで、歩行動作分析の前段階の処理として、歩行が定常状態となる区間を求めることができる。これによって、前記歩行動作分析部における歩行動作の分析の精度や安定性を向上することができるとともに、分析条件を統一することができる。   Therefore, only by inputting the data obtained from the walking motion measuring unit, a section where the walking is in a steady state can be obtained as a process in the previous stage of the walking motion analysis. Accordingly, the accuracy and stability of the walking motion analysis in the walking motion analysis unit can be improved, and the analysis conditions can be unified.

また、本発明の歩行動作分析装置は、以上のように、前記定常歩行判定部が、前記歩行動作計測部の計測結果から、１歩毎の歩幅を算出し、毎歩の歩幅のばらつきが一定幅以内に収束すれば前記定常歩行と判定する。   In the walking motion analysis apparatus of the present invention, as described above, the steady walking determination unit calculates the step length of each step from the measurement result of the walking motion measurement unit, and the variation in the step length of each step is constant. If it converges within the width, it is determined as the steady walking.

それゆえ簡便に定常状態となる区間を求めることができる。   Therefore, it is possible to easily obtain a section in a steady state.

さらにまた、本発明の歩行動作分析装置は、以上のように、前記定常歩行判定部が、前記歩行動作計測部の計測結果から、１歩毎の関節角度の最大値を算出し、毎歩の関節角度の最大値が一定幅以内に収束すれば前記定常歩行と判定する。   Furthermore, in the walking motion analysis device of the present invention, as described above, the steady walking determination unit calculates the maximum value of the joint angle for each step from the measurement result of the walking motion measurement unit. If the maximum value of the joint angle converges within a certain range, it is determined that the walking is normal.

それゆえ、簡便に定常状態となる区間を求めることができる。   Therefore, it is possible to easily obtain a section in a steady state.

また、本発明の歩行動作分析装置は、以上のように、前記ばらつきが所定時間、たとえば全歩行区間において定常状態が出現しなければ、異常歩行判定部が異常歩行と判定し、指導者や医師などに報知する。   In addition, as described above, the walking motion analysis apparatus of the present invention determines that the abnormal walking determination unit determines abnormal walking if the variation does not appear for a predetermined time, for example, in all walking sections, and the instructor or doctor Notify them.

それゆえ、被験者の歩行異常の発見や、データの再計測に役立てることができる。また、計測時に被験者が心理的圧迫を感じた場合に異常歩行となることがあるので、計測時の被験者の心理状態を考慮した計測条件の設定に役立てることもできる。   Therefore, it can be used for finding abnormal gait of the subject and re-measurement of data. In addition, abnormal walking may occur when the subject feels psychological pressure at the time of measurement, which can be used for setting measurement conditions in consideration of the psychological state of the subject at the time of measurement.

［実施の形態１］
図１は、本発明の実施の一形態に係る歩行動作分析装置１の電気的構成を示すブロック図である。この歩行動作分析装置１は、大略的に、歩行動作計測部２で計測された被験者の歩行動作を、歩行動作分析部３が、その計測された種々のパラメータから、所期の目的に沿って分析を行い、その分析結果を表示部４に表示するようにしたものである。注目すべきは、本実施の形態では、前記歩行動作計測部２の計測結果が入力され、歩幅などの所定のパラメータの計測結果の時間変化などから、被験者が定常歩行中であるか否かを判定し、その判定結果を前記歩行動作分析部３に与えることで、該歩行動作分析部３に、定常歩行している間の計測結果のみで分析動作を行わせる定常歩行判定部１０が設けられていることである。 [Embodiment 1]
FIG. 1 is a block diagram showing an electrical configuration of a walking motion analysis apparatus 1 according to an embodiment of the present invention. This walking motion analysis apparatus 1 roughly represents the test subject's walking motion measured by the walking motion measurement unit 2 according to the intended purpose from the various parameters measured by the walking motion analysis unit 3. An analysis is performed, and the analysis result is displayed on the display unit 4. It should be noted that in the present embodiment, the measurement result of the walking motion measurement unit 2 is input, and it is determined whether or not the subject is in steady walking from the time change of the measurement result of a predetermined parameter such as a stride. By determining and providing the determination result to the walking motion analysis unit 3, the walking motion analysis unit 3 is provided with a steady walking determination unit 10 that performs an analysis operation only with a measurement result during steady walking. It is that.

前記歩行動作計測部２には、たとえば３次元や２次元のモーションキャプチャ、或いは足圧分布測定器などを用いることができる。前記定常歩行判定部１０は、たとえば図２（ｂ）で示すような歩行データから１歩毎の歩幅Ｗ１を算出する、或いは図３（ｃ）で示すような歩行データから１歩毎の関節角度（図３（ｃ）の例では上腕の角度θ１）を算出する歩行パラメータ算出部１１と、前記歩行パラメータ算出部１１で求められた歩幅や関節角度が所定の幅Ｗ，θの閾値と比較する比較部１２と、前記比較部１２での比較結果から、逐次測定された前記歩幅Ｗや関節角度θ１が前記所定の幅Ｗ，θ以内に収束すれば、被験者が定常歩行していると判定し、前記歩行動作分析部３に分析のトリガを与える判定部１３とを備えて構成される。図２および図３は、４歩目〜１７歩目が前記所定の幅Ｗ，θ以内となり、定常歩行であることを示している。   For the walking motion measuring unit 2, for example, a three-dimensional or two-dimensional motion capture or a foot pressure distribution measuring device can be used. The steady walking determination unit 10 calculates, for example, the step width W1 for each step from the walking data as shown in FIG. 2B, or the joint angle for each step from the walking data as shown in FIG. The walking parameter calculation unit 11 that calculates the upper arm angle θ1 in the example of FIG. 3C and the stride and joint angle obtained by the walking parameter calculation unit 11 are compared with thresholds of predetermined widths W and θ. From the comparison result between the comparison unit 12 and the comparison unit 12, if the step W and the joint angle θ <b> 1 sequentially measured converge within the predetermined widths W and θ, it is determined that the subject is walking normally. And a determination unit 13 that gives an analysis trigger to the walking motion analysis unit 3. 2 and 3 show that the 4th to 17th steps are within the predetermined widths W and θ and that the walking is a steady walking.

ここで、前記所定の幅Ｗは、たとえば被験者の下肢長に応じて、たとえばその３０％以下に設定するなど、被験者の身体特性を考慮した値に設定される。収束判断は、たとえば前後の１歩分の歩幅の差Ｗ１を取り、それが所定の幅Ｗ以内であることが条件となる。歩幅Ｗ１に関しては、種々の算出方法があるが、３次元（２次元）モーションキャプチャの場合であれば、図２（ａ）のように、右脚外果に装着されたマーカのＸ座標と、１歩後の左脚外果に装着されたマーカのＸ座標との差Ｗ１を算出することで求めることができる。勿論、左脚から右脚でもよい。また、足圧分布測定器の場合であれば、前記特許文献２にあるように、足圧塊領域の歩行方向に対して、最後部、最先端部、中心、または重心の座標の歩行方向成分につき、１歩毎の差を算出すれば歩幅を求めることができる。前記歩幅以外に１歩毎に得られる長さのパラメータとしては、ステップ長や歩隔などを用いることができ、時間のパラメータとしては、遊脚時間を用いることができる。   Here, the predetermined width W is set to a value in consideration of the physical characteristics of the subject, for example, set to 30% or less, for example, according to the length of the lower limb of the subject. The convergence determination is made on condition that, for example, a step difference W1 for one step before and after is taken and within a predetermined width W. There are various calculation methods for the stride W1, but in the case of three-dimensional (two-dimensional) motion capture, as shown in FIG. 2 (a), the X coordinate of the marker attached to the right leg outer fruit, It can be obtained by calculating the difference W1 from the X coordinate of the marker attached to the left leg outer fruit after one step. Of course, the left leg may be the right leg. In the case of a foot pressure distribution measuring device, as described in Patent Document 2, the walking direction component of the coordinates of the rearmost part, the most advanced part, the center, or the center of gravity with respect to the walking direction of the foot pressure mass area Therefore, if the difference for each step is calculated, the stride can be obtained. In addition to the step length, a step length, a step interval, or the like can be used as a length parameter obtained for each step, and a free leg time can be used as a time parameter.

また、前記関節角度での収束判断も、該関節角度θ１〜θ４が前記所定の幅θ以内の変動に収束すれば定常状態と判断することができる。ここで所定の幅θは、関節可動域に応じて、たとえばその３０％以下に設定するなど、被験者の身体特性を考慮した値に設定される。収束判断は、前後１歩分の関節角度の差θ１〜θ４を取り、それが前記所定の幅θ以内であることが条件となる。関節角度θ１〜θ４に関しては、３次元（２次元）モーションキャプチャの場合においては、各マーカ座標から該当する関節角度を算出することができる。たとえば図３（ａ）のように、上腕角度θ１、股関節角度θ２、膝関節角度θ３、足関節角度θ４などの最大・最小値の変動を定常歩行の判断に用いることができる。図３（ｂ）は、２歩分の上腕角度θ１の変動を示し、最大値・最小値を検出している。ここでは、上腕角度θ１の毎歩の最大値をプロットしたものが図３（ｃ）である。   Further, the convergence determination at the joint angle can also be determined as a steady state if the joint angles θ1 to θ4 converge to fluctuations within the predetermined width θ. Here, the predetermined width θ is set to a value in consideration of the physical characteristics of the subject, for example, set to 30% or less according to the range of motion of the joint. The determination of convergence is based on the condition that a difference in joint angles θ1 to θ4 for one step before and after is taken and is within the predetermined width θ. Regarding the joint angles θ1 to θ4, in the case of three-dimensional (two-dimensional) motion capture, the corresponding joint angle can be calculated from each marker coordinate. For example, as shown in FIG. 3A, fluctuations in the maximum and minimum values such as the upper arm angle θ1, the hip joint angle θ2, the knee joint angle θ3, and the ankle joint angle θ4 can be used for the determination of the steady walking. FIG. 3B shows the fluctuation of the upper arm angle θ1 for two steps, and the maximum value and the minimum value are detected. Here, FIG. 3C is a plot of the maximum value of each step of the upper arm angle θ1.

前記歩行動作分析部３は、前記定常歩行判定部１０での定常歩行判定をトリガとして、その定常歩行している間を分析範囲として、その分析範囲のパラメータのみから、たとえば歩行姿勢を評価したり、運動能力（筋力、柔軟性等）を評価したりする等の所期の目的に沿って分析を行い、その分析結果を表示部４に表示する。すなわち、通常の歩行では、歩行開始（過渡状態）、一定した歩行（定常状態）、歩行終了（過渡状態）の流れを含むみ、歩行動作分析においては、これらのうち定常状態を分析対象区間と設定することが適切であるので、前記定常歩行判定部１０は、歩行動作分析部３に、過渡状態のデータを使用させず、定常歩行の状態のデータのみで分析を行わせる。   The walking motion analysis unit 3 uses the steady walking determination in the steady walking determination unit 10 as a trigger, evaluates the walking posture from only the parameters of the analysis range, for example, while the steady walking is the analysis range, The analysis is performed according to the intended purpose such as evaluation of exercise ability (muscle strength, flexibility, etc.), and the analysis result is displayed on the display unit 4. In other words, normal walking includes the flow of walking start (transient state), constant walking (steady state), and end of walking (transient state). In walking motion analysis, the steady state is the analysis target section. Since the setting is appropriate, the steady walking determination unit 10 causes the walking motion analysis unit 3 to perform analysis using only the data of the steady walking state without using the transient state data.

このように構成することで、定常歩行判定部１０は、歩行動作計測部２から得られたデータを入力するだけで、歩行動作分析部３での歩行動作分析の前段階の処理として、歩行が定常状態となる区間を求めることができる。これによって、前記歩行動作分析部３における歩行動作の分析の精度や安定性を向上することができるとともに、分析条件を統一することができる。   By configuring in this way, the steady walking determination unit 10 simply inputs the data obtained from the walking motion measurement unit 2, and walking is performed as a process in the previous stage of the walking motion analysis in the walking motion analysis unit 3. A section in a steady state can be obtained. Accordingly, the accuracy and stability of the walking motion analysis in the walking motion analysis unit 3 can be improved, and the analysis conditions can be unified.

また、前記定常歩行判定部１０は、前記歩行動作計測部２の計測結果から、１歩毎の歩幅Ｗ１や関節角度θ１〜θ４の振幅の最大値を算出し、毎歩のばらつきが一定幅Ｗ，θ以内に収束すれば定常歩行と判定することで、歩行データの１歩毎の歩幅を算出すれば、簡便に定常状態となる区間を求めることができる。   The steady walking determination unit 10 calculates the maximum value of the step width W1 for each step and the amplitudes of the joint angles θ1 to θ4 from the measurement result of the walking motion measurement unit 2, and the variation of each step has a constant width W. , Θ, it is determined that the walking is steady, and if the step length of each step of the walking data is calculated, a section in a steady state can be easily obtained.

なお、歩行動作分析部３での歩行動作の分析は、表示部４に表示された定常歩行区間のモーションキャプチャの画像から指導員が見て判定するなど、該歩行動作分析部３が前記指導員の判定材料を提供するだけで、必ずしも自機で判定を行わなくてもよい。   The walking motion analysis unit 3 analyzes the walking motion by the instructor from the motion capture image of the steady walking section displayed on the display unit 4. It is not always necessary to make the determination by itself by providing the material.

［実施の形態２］
図４は、本発明の実施の他の形態に係る歩行動作分析装置２１の電気的構成を示すブロック図である。この歩行動作分析装置２１は、前述の歩行動作分析装置１に類似し、対応する部分には同一の参照符号を付して示し、その説明を省略する。注目すべきは、この歩行動作分析装置２１では、前記定常歩行判定部１０における比較部１２での比較結果が異常歩行判定部２０にも与えられ、前記歩幅Ｗや関節角度θ１〜θ４のばらつきが所定時間を経過しても、たとえば全歩行区間において、前記一定幅Ｗ，θ以内に収束しない場合に、異常歩行と判定し、表示部４から前記指導員や医師などに、画像やアラーム音などで報知を行うことである。 [Embodiment 2]
FIG. 4 is a block diagram showing an electrical configuration of the walking motion analyzer 21 according to another embodiment of the present invention. This walking motion analysis device 21 is similar to the above-described walking motion analysis device 1, and corresponding portions are denoted by the same reference numerals and description thereof is omitted. It should be noted that in this walking motion analysis device 21, the comparison result in the comparison unit 12 in the steady walking determination unit 10 is also given to the abnormal walking determination unit 20, and the variation in the stride W and the joint angles θ1 to θ4 occurs. Even if the predetermined time elapses, for example, when the entire walking section does not converge within the predetermined widths W and θ, it is determined as abnormal walking, and an image or an alarm sound is displayed from the display unit 4 to the instructor or doctor. It is to notify.

このように構成することで、被験者の歩行異常の発見や、データの再計測に役立てることができる。また、計測時に被験者が心理的圧迫を感じた場合に異常歩行となることがあるので、計測時の被験者の心理状態を考慮した計測条件の設定に役立てることもできる。   By comprising in this way, it can use for discovery of a test subject's gait abnormality, and re-measurement of data. In addition, abnormal walking may occur when the subject feels psychological pressure at the time of measurement, which can be used for setting measurement conditions in consideration of the psychological state of the subject at the time of measurement.

本発明の実施の一形態に係る歩行動作分析装置の電気的構成を示すブロック図である。It is a block diagram which shows the electrical constitution of the walking movement analyzer which concerns on one Embodiment of this invention. 歩行動作を見るパラメータとして歩幅を用いる場合のデータの計測方法および計測結果の一例を示す図である。It is a figure which shows an example of the measurement method of a data in case a stride is used as a parameter which looks at walking motion, and a measurement result. 歩行動作を見るパラメータとして関節角度を用いる場合のデータの計測方法および計測結果の一例を示す図である。It is a figure which shows an example of the measurement method of a data in the case of using a joint angle as a parameter which looks at walking motion, and a measurement result. 本発明の実施の他の形態に係る歩行動作分析装置の電気的構成を示すブロック図である。It is a block diagram which shows the electrical constitution of the walking movement analyzer which concerns on the other form of implementation of this invention.

符号の説明Explanation of symbols

１，２１ 歩行動作分析装置
２ 歩行動作計測部
３ 歩行動作分析部
４ 表示部
１０ 定常歩行判定部
１１ 歩行パラメータ算出部
１２ 比較部
１３ 判定部
２０ 異常歩行判定部 DESCRIPTION OF SYMBOLS 1,21 Walking motion analyzer 2 Walking motion measurement part 3 Walking motion analysis part 4 Display part 10 Steady walking determination part 11 Walking parameter calculation part 12 Comparison part 13 Determination part 20 Abnormal walking determination part

Claims (4)

歩行動作計測部での計測結果に基づいて、歩行動作分析部が被験者の歩行動作を分析するようにした歩行動作分析装置において、
前記歩行動作計測部の計測結果から、被験者が定常歩行中であるか否かを判定し、その判定結果を前記歩行動作分析部に与える定常歩行判定部を有し、
前記歩行動作分析部は、定常歩行している間の計測結果について前記歩行動作の分析を行うことを特徴とする歩行動作分析装置。 On the basis of the measurement result in the walking motion measuring unit, the walking motion analyzing unit analyzes the walking motion of the subject,
From the measurement result of the walking motion measurement unit, it is determined whether or not the subject is in steady walking, and has a steady walking determination unit that gives the determination result to the walking motion analysis unit,
The walking motion analysis device is characterized in that the walking motion analysis unit analyzes the walking motion with respect to a measurement result during steady walking. 前記定常歩行判定部は、前記歩行動作計測部の計測結果から、１歩毎の歩幅を算出し、毎歩の歩幅のばらつきが一定幅以内に収束すれば前記定常歩行と判定することを特徴とする請求項１記載の歩行動作分析装置。   The steady walking determination unit calculates a step length for each step from the measurement result of the walking motion measurement unit, and determines that the normal walking is performed when variation in the step length of each step converges within a certain width. The walking motion analyzer according to claim 1. 前記定常歩行判定部は、前記歩行動作計測部の計測結果から、１歩毎の関節角度の最大値を算出し、毎歩の関節角度の最大値が一定幅以内に収束すれば前記定常歩行と判定することを特徴とする請求項１記載の歩行動作分析装置。   The steady walking determination unit calculates the maximum value of the joint angle for each step from the measurement result of the walking motion measurement unit, and if the maximum value of the joint angle for each step converges within a certain range, The walking motion analyzer according to claim 1, wherein the walking motion analyzer is determined. 前記ばらつきが所定時間を経過しても前記一定幅以内に収束しない場合に、異常歩行と判定し、報知を行う異常歩行判定部をさらに備えることを特徴とする請求項２または３記載の歩行動作分析装置。   4. The walking motion according to claim 2, further comprising: an abnormal walking determining unit that determines that the walking is abnormal and notifies when the variation does not converge within the predetermined width even after a predetermined time has elapsed. Analysis equipment.
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