JP2020028311A - Inversion analysis system and analysis method - Google Patents

Abstract

To provide a system and a method for analyzing factors of inversion by analyzing abnormality on a foot and a leg of a subject.SOLUTION: A system comprises: a device (100) comprising a function for determining a barycenter, an arch, and a bone axis of a foot of a subject M on the basis of a force applied to a prescribed position of a sole; a device (200) comprising a function for determining a skeleton model, a kinematic analysis result and abnormality of a part from a sole to an upper part of a heel (foot part); a device (300) comprising a function for measuring pressure between a toe and adjacent toe (pressure between toes); and a device (400) comprising a function for measuring muscle force for extending a space between both legs and muscle force for holding an object by both legs.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for comprehensively analyzing the factors that cause young and old to fall.

Falling while walking or running is a phenomenon that can occur regardless of age or gender.
However, falling can lead to major accidents and, in the case of elderly people, can cause serious damage and directly cause massive damage, for example, so-called "bedridden" Often.
For this reason, various investigations have been conducted on what kind of state the player falls down.

Here, as one of the causes of falling, an organic factor of an individual, for example, an abnormality in a foot, a portion from a sole to an upper part of a heel, for example, below a knee (hereinafter, referred to as a “foot” in the present specification). , Abnormalities around the hip joints, so-called "muscles around the hips" and the like.
However, for example, regarding an abnormality in a foot and an abnormality in a foot, an effective analysis technique itself has not been proposed.
Conventionally, it has not been performed to comprehensively analyze the sole, the foot, the vicinity of the hip joint, and the “circumference of the hips” to prevent a fall.

The inventor has proposed a technique for measuring muscle strength between toes (see Patent Document 1), and also has proposed a technique for measuring muscle strength sandwiching the knee and muscle strength for expanding the knee (see Patent Document 2). .
However, in such a technique, it is not intended that the muscle force between the toes and / or the muscle force sandwiching the knee and the muscle force for expanding the knee are combined with other indices to comprehensively analyze and contribute to fall prevention. .

JP 2003-175021 A JP-A-2006-54996

  The present invention has been proposed in view of the above-described problems of the related art, and provides a system and a method capable of analyzing an abnormality in a subject's foot, leg, or the like, and comprehensively analyzing a cause of a fall. It is an object.

  A fall analysis system (10) according to the present invention is a device (a sole) that has a function of determining a center of gravity (of the subject M), an arch, and a bone axis of a foot from a force (shear force, pressure) acting on a predetermined position of the sole. Measurement system 100), a skeletal model from the sole (of the subject M) to the upper part of the heel (for example, below the knee) (hereinafter referred to as “foot”), a motion analysis result, and a function of determining abnormalities (A toe determination system 200), a device having a function of measuring a pressure between a toe and a toe adjacent thereto (pressure between toes) (inter-toe pressure measuring device 300), and both legs The apparatus has a function (leg strength measuring device 400) having a function of measuring a muscle force sandwiched between the legs and a muscle force for widening an interval between both legs.

In the fall analysis method of the present invention, a force (shear force, pressure) acting on a predetermined position of the sole is measured, and a point (foot) from the sole (of the subject M) to above the heel (for example, below the knee) is measured. Photographing the toe, measuring the pressure between the toes and the toes adjacent thereto (pressure between the toes), and measuring the muscular strength between the two legs and the muscular strength for widening the interval between the two legs (step S1);
From the force (shearing force, pressure) acting on a predetermined position on the sole, the center of gravity (of the subject M), the arch, the bone axis of the foot, and the abnormality are determined, and the sole (from the subject M) above the heel (for example, below the knee). From the data (still image data, moving image data, and X-ray photograph data) taken up to the point (foot), the skeletal model, the motion analysis result, and the abnormality are determined, and the pressure between the toe and the adjacent toe ( From the pressure between the toes), the overall muscular strength of the part below the knee (of the subject M) is determined, and the adductor muscles of the hip joint (of the subject M), Determining a muscular strength of the abductor muscles (a so-called "total muscular strength of the muscles around the hips") (step S2);
Center of gravity, arch, bone axis of foot (of subject M), skeletal model at a position (foot) from sole to upper part of heel (for example, below the knee), result of motion analysis, part below knee (of subject M) Falls during walking or running from the total muscle strength of the subject, the muscle strength of the adductor and abductor muscles of the hip joint (of subject M) (the so-called total strength of the muscles around the hips) There is a step of determining a risk (step S3).

In the present invention, a device (a sole measurement system 100) having a function of determining the center of gravity, arch, and bone axis of the foot (of the subject M) is a member (110L, 110R: for example, an insole or a shoe) that the sole of the foot contacts. , L (1), R (1), L (2), R (2),... L (7), R (7) in FIG. 2 (1) to (7)) and a sensor (1 to 7: shear force sensor, pressure sensor) for measuring a force (shear force, pressure) acting on the sensor ((1) to (7)) It is preferable to have a control device (a block 120 for determining the center of gravity, arch, and bone axis of bone) having a function of determining the presence / absence of an abnormality based on the output of (1).
Here, the sensor includes a calcaneal ridge (position 1), a cubic bone (position 2), a fifth metatarsal head (position 3), It is preferably provided at a position corresponding to the metatarsal head (position 5), the middle cuneiform bone (position 6), and the center of the lateral arch (position 7).
Further, it is preferable that the sensor is also provided on the thumb contact surface (position 4).

  In the present invention, a skeletal model from the sole (of the subject M) to a position above the heel (for example, below the knee) (referred to as “foot” in the present specification), a motion analysis result, and a function of determining an abnormality are provided. The device (foot determination system 200) includes an imaging location (201: for example, a table) on which the subject M is mounted and an imaging device (202, 203) that relatively moves at a constant speed in the circumferential direction of the imaging location (201). ), And an analysis device (skeleton model creation and motion analysis blocks 210, 211) to which image data (still image data, moving image data, X-ray photograph, X-ray photograph) from the imaging device (202, 203) are input, The analysis device (210, 211) determines a determination target (for example, from the sole of the subject (M) to above the heel, for example, below the knee) based on image data (still image data, X-ray photograph, X-ray photograph). Locations: the ability to create skeleton model of the foot), what has the function of analyzing the motion of the skeletal model on the basis of the skeleton model and the image data (moving image data) is preferable.

Further, the imaging device (202) is preferably an optical device (for example, a camera) having a function of capturing a still image and a function of capturing a moving image.
Alternatively, the imaging device (203) includes a device (203A: for example, an X-ray irradiating device) having a function of irradiating a light beam having a human body transmitting ability, and an image (X-ray photograph: X-ray photograph) using the light beam having the human body transmitting capability. ) Is preferably combined with a device (3B: for example, an X-ray camera) having a function of capturing an image.

According to the present invention having the above-described configuration, the center of gravity (of the subject M), the arch, the bone axis of the foot, and the apparatus (the sole measurement system 100) having a function of determining the center of gravity, the arch, and the bone axis of the foot Determine the relevant anomalies,
The apparatus (feet determination system 200) having a function of determining the skeletal model, the motion analysis result, and the abnormality determines the skeleton model of the (subject M), the motion analysis result, and the abnormality determined thereby,
A device (inter-toe pressure measurement device 300) having a function of measuring the pressure between the toes and the adjacent toes (pressure between the toes) is used to comprehensively measure the part below the knee (of the subject M). Determine your muscle strength
A device (leg strength measurement device 400) having a function of measuring the muscle strength sandwiched between the legs and the muscle strength for widening the interval between the legs (leg strength measurement device 400) is used to measure the muscle strength of the adductor and abductor muscles of the hip joint (of the subject M) Overall strength)
By determining the abnormality, it is possible to determine the risk of the (subject M) falling during walking or running.

Then, "whether or not the center of gravity line of the subject (M) is normal", "how much abnormal if the center of gravity line is not normal", and "the arch (vertical arch, outer arch, horizontal arch) of the subject (M) are "Normal or not", "How abnormal if the arch is not normal", "Whether the foot bone axis of the subject (M) is normal", "How much abnormal if the foot bone axis is not normal" ”,“ Is the arch hardness (flexibility) normal? ”,“ Is a flat foot or a high arch ”,“ Whether the heel is everted, ”“ Whether the heel is everted ”, etc. "Whether there is an abnormality in the skeleton of the subject's (M) foot (above the sole and above the heel, for example, below the knee)", If so, where is the abnormality and what is the numerical value of the abnormality? ”(Bone of subject M) Model and motion analysis results), "What is the ability to control the posture in the front-rear direction" (related to the muscle strength of the part below the knee of the subject M), and "How much is the posture control ability in the lateral direction?" (I.e., muscular strength in muscles around the hips) can be used to determine the risk of falling of the subject.
Then, after comprehensively determining the fall risk of the subject (M), if the fall risk is high, it is possible to present an exercise, equipment used, and the like for improving the fall risk.

It is an explanatory view showing the outline of the embodiment of the present invention. It is a functional block diagram of a control device in an embodiment. 6 is a flowchart illustrating a procedure of analysis according to the embodiment. It is an explanatory view of a sole measurement system in an embodiment. It is a figure which shows the skeleton of a human foot. It is explanatory drawing which shows a foot arch. It is explanatory drawing which shows the reason for using a shearing force sensor. It is a figure showing an example in which the bone above the heel is deformed. FIG. 5 is a block diagram illustrating an example of a center-of-gravity / arch / bone bone axis determination block of the sole measurement system of FIG. 4. It is a flowchart which shows an example of a process in the bone axis determination block of a center of gravity / arch / bone. It is a flowchart which shows the other example of the process in the bone axis determination block control apparatus of a center of gravity / arch / bone. It is a flowchart which shows another example of the process in the bone axis determination block of a center of gravity / arch / bone. It is a flowchart which shows another example of a process in the bone axis determination block of a center of gravity / arch / bone. It is an explanatory view of a foot judgment system in an embodiment. FIG. 15 is a functional block diagram illustrating a skeleton model creation and motion analysis block of the foot determination system of FIG. 14. It is a flowchart which shows the control of the foot determination system of FIG. It is explanatory drawing which shows the modification of the foot part determination system of FIG. It is explanatory drawing which shows another foot part determination system from FIG. FIG. 19 is a functional block diagram showing a skeleton model creation and motion analysis block of the foot determination system of FIG. 18. It is a flowchart which shows the control of the foot determination system of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
First, an outline of an embodiment of the present invention will be described with reference to FIG.
In FIG. 1, a fall analysis system indicated by reference numeral 10 includes a sole measurement system 100, a foot determination system 200, a toe pressure measurement device 300, a leg strength measurement device 400, a control device 20, and a display device 22. I have.

The sole measurement system 100 measures a force (shear force, pressure) acting on a predetermined position of a member (for example, an insole or a shoe) with which the sole contacts (in FIG. 1, reference numerals (1) to (7)). The outputs from the sensors (1) to (7) are transmitted to the control device 20 via a transmission line CL100.
The foot determination system 200 includes an imaging device 202 that relatively moves (includes both constant-velocity movement and non-uniform-velocity movement) relative to the imaging location (1: for example, a table) on which the subject M is mounted and the circumferential direction of the imaging location 1. (203, 203A, 203B), and image data (still image data, moving image data) from the imaging device 202 (203, 203A, 203B) is transmitted to the control device via the transmission line CL200. Here, the imaging device has a device 203A (for example, an X-ray irradiator) having a function of irradiating a light beam having a human body transmitting ability, and an image (X-ray photograph: X-ray photograph) using the light beam having a human body transmitting capability is taken. A combination of a device 203B (for example, an X-ray camera) having the function of performing

The inter-toe pressure measuring device 300 has a function of measuring the pressure between the toes and the toes adjacent thereto (pressure between the toes), and is a conventionally known technique (for example, the technique of Patent Document 1). Is applicable.
The leg strength measuring device 400 has a function of measuring a muscle force sandwiched between both legs and a muscle force for widening an interval between both legs. A conventionally known technique (for example, the technique of Patent Document 2) can be applied to the leg strength measuring device 400 as well.
In FIG. 1, the control device or the analysis device in the systems 100 and 200 is included in the control device 20.

The control device 20 will be described with reference to FIG.
The control device 20 includes a center-of-gravity / arch / foot bone axis determination block 120, a skeleton model creation and motion analysis block 210, a longitudinal posture control determination block 50, a lateral posture control determination block 60, and a fall risk determination block. 70. For details of the center-of-gravity / arch / foot bone axis determination block 120, the skeleton model creation and motion analysis block 210, the longitudinal posture control determination block 50, and the lateral posture control determination block 60, refer to FIG. It will be described later.
In FIG. 2, the fall prevention guidance block 90 is provided outside the control device 20. However, the fall prevention guidance block 90 may be configured as a part of the control device 20.

The measurement results of the sensors (1) to (7) in the sole measurement system 100 are input to the center of gravity / arch / foot bone axis determination block 120 via a signal transmission line CL100. “(1) to (7)” in the signal transmission line CL100 means the measurement results of the sensors (1) to (7). As will be described later with reference to FIG. 4, wireless transmission of the measurement results of the sensors (1) to (7) is performed, and the signal transmission line CL100 indicates wireless transmission of information.
The center of gravity / arch / foot bone axis determination block 120 determines the center of gravity, arch and foot bone axis based on the measurement results of the sensors (1) to (7), and determines the determined center of gravity, arch and foot bone. It has a function to determine the subject's abnormality from the axis. At the same time, it has a function of transmitting the determined center of gravity, arch, bone axis of the foot, and the abnormality of the subject to the fall risk determination block 70 via the signal transmission line CL102.

The skeleton model creation and motion analysis block 210 receives image data (still image data, moving image data, X-ray photograph, X-ray photograph) from the foot determination system 200 via the signal transmission line CL200, and receives the subject's foot (foot). It has a function of determining or acquiring a skeletal model from the back to above the heel, for example, below the knee), performing a motion analysis from the skeletal model, and determining an abnormality in the subject's foot.
Further, it has a function of transmitting the abnormality of the subject obtained by the skeletal model, the motion analysis, and the like to the fall risk determination block 70 via the CL 202.

The fore-aft direction control determination block 50 is based on the pressure between the toes and the adjacent toes (pressure between toes) measured by the inter-toe pressure measurement device 300 via the signal transmission line CL300. It has a function of comprehensively determining the muscular strength of the part below the knee of the subject.
Here, the muscle strength of the part below the knee of the subject is closely related to the ability of the human to control the posture in the front-rear direction, and the posture control in the front-rear direction of the human is an important parameter for falling. That is, by comprehensively judging the muscular strength of the part below the knee of the subject, it becomes possible to estimate or judge the posture control ability of the human in the front-rear direction, which is an important parameter related to falling.
The longitudinal posture control determination block 50 also has a function of transmitting the overall muscular strength of the part below the knee of the subject to the fall risk determination block 70 via the signal transmission line CL302.

The lateral posture control determination block 60 determines the adductor muscle of the hip joint and the adductor muscle of the hip joint based on the force input through the signal transmission line CL400 between the knee of the subject and the force for widening the distance between the legs (measured by the leg force measurement device 400). It has a function of comprehensively determining the muscle strength of the so-called "around the buttocks" such as the abductor muscle.
Muscle strength in the so-called "hip circumference" muscles is related to human lateral posture control ability, and human lateral posture control ability is also an important parameter for falling. In other words, it is possible to estimate or determine the ability of the subject to control the posture in the lateral direction, which is an important parameter related to the fall, from the muscle strength of the muscles “around the hips” of the subject.
The lateral posture control determination block 60 also has a function of transmitting the total muscle strength of the muscles “around the buttocks” of the subject to the fall risk determination block 70 via the signal transmission line CL402.

The fall risk determination block 70 receives the subject's center of gravity, arch, and foot bone axis transmitted from the center of gravity, arch, and foot bone axis determination block 120, and the abnormality determined thereby, and the skeleton model creation and motion analysis block 210. The transmitted skeletal model of the subject, the motion analysis result, the abnormality determined thereby, the total muscular strength of the part below the knee of the subject transmitted from the longitudinal posture control determination block 50, and the lateral posture control It has a function of comprehensively determining the risk of the subject falling over while walking or running, based on the total muscle strength of the muscles “around the buttocks” of the subject transmitted from the determination block 60. The determination will be described later with reference to FIG.
Then, the fall risk determination block 70 transmits a comprehensive determination result of the risk of the subject falling during walking or running to the fall prevention guidance block 90 via the signal transmission line CL72, or from the signal transmission line CL72. It has a function of transmitting to the display device (display) 22 via the branched signal transmission line CL74.

The determination by the fall risk determination block 70 is determined on a case-by-case basis using a conventionally known software technique in consideration of the characteristics of the person to be measured.
The fall risk determination block 70 is, for example, an information processing device such as a computer, but is not limited thereto. For example, an expert or an operator having medical knowledge makes necessary judgments and presents for improvement based on information and data from the control unit 120 and the display unit 22 for the bone axis determination block 120 for the center of gravity, arch, and bone. Including cases.

The display device 22 has a function of displaying the determination result of the fall risk determination block 70 and transmitting the displayed image data to the fall prevention guidance block 90.
The fall prevention guidance block 90 receives the determination result transmitted from the fall risk determination block 70, the image data transmitted from the display device 22, and improves the fall risk based on the received data. For presenting exercises and equipment to be used.

The content presented by the fall prevention guidance block 90 is determined on a case-by-case basis by using a conventionally known software technique in consideration of the characteristics of the person to be measured. Here, the fall prevention guidance block 90 is, for example, an information processing device such as a computer, but is not limited thereto. In the same manner as the fall risk determination block 70, for example, an expert or an operator having medical knowledge provides a necessary determination and a presentation for improvement based on information and data from the fall risk determination block 70 and the display device 30. Including the case of performing.
Similarly, the fall risk determination block 70 is not limited to an information processing device such as a computer, but can be configured by an expert or an operator having medical knowledge.
The fall prevention guidance block 90 also has a function of feeding back the presentation contents to the control device 20 via the signal transmission line CL76.

An example of control in the illustrated embodiment will be described mainly with reference to FIG.
In step S1 in FIG. 3, measurement by the sensors (1) to (7) is performed by the center-of-gravity / arch / foot bone axis determination block 120.
In the foot determination system 200, a still image and a moving image of the subject's foot are captured. The foot determination system 200 may take an X-ray photograph and an X-ray photograph in some cases.
In the inter-toe pressure measuring device 300, the pressure between the toes and the toes adjacent thereto (the pressure between the toes) is measured.
The leg strength measuring device 400 measures the force of pinching the subject's knee and the force of widening the distance between both legs.
Then, the process proceeds to step S2.

In step S2, the center of gravity, arch, and bone axis determination block 120 determines the center of gravity, the arch, and the bone axis of the foot from the measurement results of the sensors (1) to (7) of the sole measurement system 100. The subject's abnormality is determined from the center of gravity, the arch, and the bone axis of the foot.
Further, based on the image data (still image data, moving image data, X-ray photograph, X-ray photograph) from the foot determination system 200, the skeleton model creation and motion analysis block 210 determines the skeleton model of the subject's foot or Obtain and analyze the motion from the skeletal model to determine abnormalities in the toes of the subject. Further, the pressure between the toes measured by the inter-toe pressure measuring device 300 and the toes adjacent thereto (the pressure between the toes) From the pressure), the longitudinal direction control determination block 50 comprehensively determines the muscular strength of the part below the knee of the subject.
Then, based on the force of pinching between the subject's knees and the force of widening the distance between the two legs measured by the leg force measurement device 400, the lateral posture control determination block 60 determines the so-called " Judging the muscle strength of muscles comprehensively.
Then, the process proceeds to step S3.

In step S3, the fall risk determination block 70 determines the subject's center of gravity, arch, and bone axis of the subject, the abnormality determined by the subject, the subject's skeletal model, the result of the motion analysis, the subject's knee, and the subject's knee. The risk of the subject falling over while walking or running is determined with reference to the overall muscle strength of the part below and the total muscle strength of the muscles “around the buttocks” of the subject.
For example, "whether the subject's center of gravity line is normal", "how much abnormal if the center of gravity line is not normal", "whether the subject's arch (vertical arch, outer arch, horizontal arch) is normal""If the arch is not normal, how abnormal is it?", "Whether the subject's foot bone axis is normal", "If the foot bone axis is not normal, how much is abnormal", "The hardness of the arch" (Flexibility) is normal, "is it a flat foot or a high arch", "is the heel varus" or "is the heel varus"? Related),
The position and the numerical value (related to the subject's skeletal model and the motion analysis result) of abnormalities in the skeleton of the subject's foot (part from the sole above the heel, for example, below the knee),
The ability to control the posture in the front-rear direction (related to the muscle strength of the part below the knee of the subject)
Lateral posture control ability (so-called “muscle strength around the buttocks”),
In consideration of all of the above, the fall risk of the subject is determined.
Then, the process proceeds to step S4.

In step S4, when the fall risk is high, the fall prevention guidance block 90 presents exercises, equipment used, and the like for improving the risk.
For example, in the case of "flat feet", a device such as forming an arch on the insole (providing a device for improving flat feet) is presented.
If the knee is twisted during walking (a pronation moment is generated) and it is highly likely that the knee will be rubbed in the future and complain of knee pain, (E.g., pronation moment is generated) by presenting a device that facilitates the inward movement of the bone axis of the foot, and exercises to promote the inward movement of the bone axis of the foot, and / or In a shoe or an insole, the movement of the heel is restricted by adjusting the height of the outside of the shoe, the inside of the shoe, or the height of the heel itself, thereby approaching a normal center of gravity line.
When the heel is hard and does not bend outward and there is a risk of causing pain, an insole or shoe with a gap on the outside of the heel is presented.
In addition, based on the position of the abnormality in the skeleton of the subject's foot (the portion from the sole to the upper part of the heel, for example, below the knee) and its numerical value, a device for preventing difficulty in walking and running due to the abnormality is presented.
Further, when the ability of the posture control in the front-rear direction is inferior or when the ability of the control of the posture control in the lateral direction is reduced, a tool or a gymnastics for improving the ability is presented.

Alternatively, in step S4, the fall prevention guidance block 90 receives the comparison result transmitted from the comparison block 210H of the skeleton model creation and motion analysis block 210, and based on the comparison result, improves, treats, and suppresses abnormalities of the foot. Provide suitable equipment and exercise to do.
Here, the fall prevention guidance block 90 receives the data related to quantification and quantification of the degree of abnormality in the abnormal part transmitted from the skeleton model creation and movement analysis block 210, and improves the abnormality of the foot based on the data. It is possible to present a device or exercise suitable for treatment, suppression, and the like.
Further, in the fall prevention guidance block 90, the analysis result levels of the skeleton model creation and motion analysis block 210 (image data analysis level, stereoscopic image analysis level, skeleton model analysis level, stereoscopic image motion analysis level, skeleton model motion analysis level) are set. Accordingly, equipment and exercises for improving, treating, and suppressing abnormalities of the foot can be presented.
Then, in step S4, the fall prevention instruction block 90 determines the ability to control the posture in the front-rear direction based on the muscular strength of the part below the knee of the subject and the ability to control the lateral posture based on the muscular strength "around the hips" of the subject. In consideration of the above, a device that does not cause the subject to fall down, or exercises or exercises that can compensate for weak muscular strength or ability are presented.

According to the fall analysis system 10 shown in FIGS. 1 to 3, the center of gravity, the arch, and the bone axis of the foot of the subject, the abnormality determined thereby, and the skeletal model of the subject, the motion analysis result, and the abnormality determined thereby. Considering the total muscle strength of the part below the subject's knees and the total muscle strength of the subject's "buttock" muscles, and taking into account abnormalities therein, while the subject is walking or running The risk of falling can be determined.
Then, "whether or not the subject's center of gravity line is normal", "how much abnormal if the center of gravity line is not normal", "whether or not the subject's arch (vertical arch, outer arch, horizontal arch) is normal", "If the arch is not normal, how abnormal is it?", "Whether the subject's foot bone axis is normal", "If the foot bone axis is not normal, how much is abnormal", "The hardness of the arch" (Flexibility) is normal, "is it a flat foot or a high arch", "is the heel varus" or "is the heel varus"? Related),
The position and the numerical value (related to the subject's skeletal model and the motion analysis result) of abnormalities in the skeleton of the subject's foot (part from the sole above the heel, for example, below the knee),
The ability to control the posture in the front-rear direction (related to the muscle strength of the part below the knee of the subject)
Lateral posture control ability (so-called “muscle strength around the buttocks”),
By determining the abnormality in all of the above, the fall risk of the subject can be determined.
After the fall risk of the subject is comprehensively determined, if the fall risk is high, exercises, equipment used, and the like for improving the fall risk can be presented.

Next, the sole measurement system 100 will be described in detail with reference to FIGS.
In FIG. 4, the sole measurement system 100 includes an insole (or shoes), which is a member with which the sole of the foot contacts, and determines a center of gravity, an arch, and a bone axis of a bone via a signal transmission line CL100 (including wireless). Information can be transmitted to the control device 120.
The insole (or shoe) is constituted by an insole 110R for the right foot and an insole 110L for the left foot. In each of the insoles 110R and 110L, seven predetermined positions (R1) to (R7) and (L1) to (L7). Are provided with sensors R1 to R7 and L1 to L7. In FIG. 1, the "predetermined position" or the "sensor" installed at the predetermined position is represented by the same reference numeral, and is represented by reference numerals (R1) to (R7) and (L1) to (L7), respectively. ing.

The measurement results obtained by the sensors R1 to R7 and L1 to L7 are transmitted to the center of gravity, arch, and bone axis determination block 120 by radio (line).
In FIG. 4, arrows SR1 and SL1 (wireless signal lines) indicate how the measurement results are wirelessly transmitted from the sensors R1 and L1 (representing each sensor) to the block 120.
When transmitting the respective measurement results from the sensors R1 to R7 and L1 to L7 to the block 120, it is also possible to perform the transmission by wire.

Next, the installation positions of the sensors R1 to R7 and L1 to L7 will be described with reference to FIG.
FIG. 5 shows the right foot (the position of the sensors (1) to (7) in the insole 110R for the right foot or the shoe), but the position of the sensor in the insole 110L (or the shoe) for the left foot or the left foot is shown in FIG. The position is symmetrical to the position indicated by.
The positions of the sensors 1 to 7 (the sensors R1 to R7, but hereinafter referred to as "sensors 1 to 7" for the sake of simplicity) are defined from the skeleton structure of the side of the human foot. Therefore, FIG. 5 shows the skeleton of the foot (FIG. 5 shows the skeleton of the right foot).

The position where the sensor 1 is arranged (indicated by reference numeral (1) in FIG. 5) is the calcaneal ridge. More desirably, position (1) is the center of the heel bone.
When determining the position (1), when the calcaneous ridge protrudes outward (the fifth metatarsal side in FIG. 5, that is, the little finger side), the amount (the amount displaced outward) is measured. The position is set as possible. Normally, if the calcaneous ridge protrudes, it is located on the outside of the foot (the little finger side) and does not come off on the inside of the foot (the first metatarsal side, that is, the thumb side in FIG. 5).
The position where the sensor 2 is arranged (the position indicated by reference numeral (2) in FIG. 5) is a position corresponding to the cubic bone. However, it may be slightly outside the center of the cubic bone (the little finger side: the area of the fifth metatarsal bone).

The position where the sensor 3 is arranged (indicated by reference numeral (3) in FIG. 5) is a position corresponding to the fifth metatarsal head.
In order to analyze the state at the time of walking, it is necessary to measure the force acting on “the part where weight is applied during walking”. The fifth metatarsal head, which is the base of the fifth metatarsal, is a "point where weight is applied when walking".
Here, even if the position where the sensor 3 is disposed is shifted to the opposite side of the fifth metatarsal head to the opposite side of the toe by about 1/3, the force acting on the “point where weight is applied during walking” can be measured. So there is no problem.
However, since the weight is not applied to the fifth distal bone (bone on the toe side), it is inconvenient to mount the sensor at a position shifted to the fifth distal bone side (toe side) from the fifth metatarsal head.

The position where the sensor 4 is disposed (indicated by reference numeral (4) in FIG. 5) is the thumb contact surface, that is, the region where the tip of the thumb reaches the ground when walking. The reason why the sensor 4 is arranged at the position (4) is that it is necessary to measure the force acting on the position (4) in order to determine the strength of kicking out during walking.
Here, there is an individual difference as to which part of the toe the bone (first peripheral bone) extends. Therefore, the position (4) is not specified by the name of the bone, but is specified as the “thumb contact surface” as described above.
If the position of the sensor 4 deviates from the thumb contact surface, the strength of kicking out during walking cannot be measured, which is inconvenient.
As will be described later, the measurement results of the sensor 4 disposed at the position (4) are not used to specify (determine) the “foot bone axis”, “arch”, and “centroid line”.

The position where the sensor 5 is arranged (indicated by reference numeral (5) in FIG. 5) is a position corresponding to the first metatarsal head.
It is the part of the so-called "thumb ball" that gains weight when walking. For this reason, it is necessary to keep the attachment position of the sensor 5 from deviating from the “thumb ball”. This is because the weight is applied to the thumb ball.

The position where the sensor 6 is arranged (the position indicated by reference numeral (6) in FIG. 5) is a position corresponding to the intermediate wedge-shaped bone.
The position where the sensor 6 is arranged is sandwiched between a straight line Lα connecting the position (1) where the sensor 1 is arranged and the second finger (forefinger) and a straight line Lβ connecting the position (1) and the fourth finger (ring finger). What is necessary is just the area | region of three wedge-shaped bones in the area | region which set.
Here, the area on the thumb side of the straight line Lα connecting the position (1) and the second finger (the index finger) may be arched, so it is inconvenient to install the sensor 6. On the other hand, the area on the little finger side of the straight line Lβ connecting the position (1) and the fourth finger (ring finger) may overlap with the position (2), so that the installation of the sensor 6 is also inconvenient. It is. For these reasons, the arrangement position of the sensor 6 is determined as described above.

As shown in FIG. 6, there are three types of foot arches: a vertical arch AR1, an outer arch AR2, and a horizontal arch AR3. The vertical arch AR1 extends from near the position (1) representing the calcaneous ridge in FIG. 5 to near the position (5) representing the first metatarsal head, and the outer arch AR2 is shown in FIG. It extends from the vicinity of the position (1) representing the bone ridge to the vicinity of the position (3) representing the fifth metatarsal head. Further, the lateral arch AR3 extends from the vicinity of the position (5) representing the first metatarsal head to the vicinity of the position (3) representing the fifth metatarsal head in FIG. By the arches AR1 to AR3, it is possible to absorb the impact on the sole when walking or the like.
In order to specify the arch of the foot, it is necessary to refer to the measurement results at positions other than the positions (2) and (6) (for example, positions (1) and (3)).
Further, from the measurement results of the positions (6) and (2) (and the measurement results of the other positions (1) and (3), etc.), the center of gravity (the center of pressure of the sole at the moment: the center of gravity) The locus can be specified (determined) as the “center of gravity line”.

The measurement result of the force (pressure, shear force) acting on the position (6) measured by the sensor 6 and the measurement result of the force (pressure, shear force) acting on the position (2) measured by the sensor 2 Three types of “flat feet”, “normal”, and “high arch” can be determined.
For each of "flat feet", "normal" and "high arch", the measurement results of the force (pressure or shear force) acting at position (6) and the measurement of the force (pressure or shear force) acting at position (2) The magnitude relation of the results is different. That is,
Flat foot: force acting on position (2) ≒ force acting on position (6), or
Force acting on position (2) ≦ force acting on position (6) Normal: force acting on position (2)> force acting on position (6) High arch: force acting on position (2), position (6) ) Are not detected.
This will be described later with reference to FIG.

In FIG. 5, the positions where the sensor 7 is arranged (indicated by (7) in FIG. 5) are the second metatarsal head (the base of the second finger (index finger)) and the third metatarsal head (the third finger ( It is located in the area between the base part) of the middle finger).
Here, the barycenter line passes along a line connecting the heel and the second finger (line Lα in FIG. 5). Therefore, it is inconvenient to provide the sensor 7 in a region on the first finger side (thumb side) from the second finger.
On the other hand, the area on the little finger side with respect to the third finger (middle finger) deviates from the center of gravity line, and thus it is inconvenient to provide the sensor 7. Further, since the weight is related to the inside of the center line of the foot, if the position (7) of the sensor 7 is outside the center line of the foot, the weighted state cannot be detected.

According to the system 100 described with reference to FIGS. 4 to 6, the sensors 1 to 7 arranged at the above-described positions (1) to (7) measure the force acting on the positions, thereby making the measuring device. Can be measured not only when standing at a predetermined position, but also when walking.
Items that can be found by measuring the forces acting on the positions (1) to (7) and analyzing the force by the block 120 are shown below (in addition to specifying the type of the arch).
First, since there is an individual difference in the flexibility of the foot, there is also an individual difference in the flexibility of the arch shown in FIG.
By analyzing the measurement results at the positions (2), (6) and (7), the flexibility of the arch can be determined. Depending on the flexibility of the arch, the "high arch" may be "flat feet" when walking and standing, and may be "flat feet" when walking (the arch may be soft). Alternatively, there is a case where the state is “normal” when standing and standing still, but “high arch” when walking (when the arch is hard).

As will be described later with reference to FIG. 10, by analyzing the measurement results at the positions (2), (6), and (7), the center of gravity (the pressure center of the sole at the moment) and the arch shape can be appropriately adjusted. I understand.
Here, when the forces acting on the positions (2), (6) and (7) are not measured, for example, when only the forces acting on the positions (1), (3) and (5) are measured, in the first place It is impossible to identify the arch.
The illustrated system 100 measures the arch force by measuring the forces acting on positions (2), (6), (7) in addition to the forces acting on positions (1), (3), (5). It allows for identification. That is, the vertical arch AR1 and the outer arch AR2 can be determined based on the measurement results at the positions (2) and (6), and the state of the arch can be grasped from the vertical arch AR1. Further, the measurement of the positions (3), (7), and (5) makes it possible to specify the horizontal arch AR3. In other words, the measurement result at the position (7) is indispensable for determining the lateral arch AR3.

Next, regarding the identification of the center of gravity line, conventionally, pressure sensors are installed only at the positions (1), (3) and (5), and the load distribution at the positions (1), (3) and (5) is The center of gravity was specified on the assumption that the ratio would be 3: 1: 2.
However, in the illustrated embodiment, sensors (sensors 2, 6, 7) are also installed at positions (2), (6), and (7). Then, the forces (pressure, shear force) acting on the positions (2), (6), and (7) are also measured to accurately determine the center of gravity (COP), and the locus of the center of gravity, which is the locus thereof, is accurately specified. ing. This point will also be described later with reference to FIG.

Here, the “foot bone axis” will be described.
The “foot bone axis” is an axis that passes through the position (1) representing the calcaneous ridge and the talus, and the shear force is applied to the positions (1), (2), (3), (5), and (7). By providing the sensors 1, 2, 3, 5, and 7 and analyzing the measurement results, it is possible to accurately grasp the movement in the “foot bone axis”. This will also be described later with reference to FIG.
Positions (1), (2), (3), (5), and (7) are the parts that move greatly in the sole, and if these five shear forces are determined, the movement of the "foot bone axis" is analyzed. easy. By analyzing the movement of the "foot bone axis" by analyzing the shearing force at the positions (1), (2), (3), (5), and (7), the displacement of the calcaneus and the like during walking can be obtained. And movement speed, force (change of load), direction, torsion, etc. can be evaluated.
In addition, the movement of the bone axis of the foot depends on the flexibility of the sole joint.

It is preferable to dispose a “shear force sensor” instead of a pressure sensor at the positions (1), (2), (3), (5), and (7). The reason will be described with reference to FIG.
In order to measure the forces acting on the positions (1), (2), (3), (5), and (7) and to perform the above-described analysis, in FIG. It is necessary to measure the force indicated by the arrow AH at the lower end (including the force in the direction perpendicular to the paper surface). Therefore, it is preferable to install a shear force sensor capable of measuring such a force at the positions (1), (2), (3), (5), and (7).
As shown in FIG. 7B, the pressure sensor can measure only the vertical load (symbol P) on the vertical axis SH2. Therefore, it is inconvenient to measure the forces acting on the positions (1), (2), (3), (5), and (7).

As described above, by analyzing the measurement results of the shear force acting on the positions (1), (2), (3), (5), and (7), the movement of the “foot bone axis” can be accurately determined. I can grasp it. For example, it can be determined from the bone axis of the foot whether or not the heel bone is everted.
For example, when the arch is hard and the bone axis of the foot does not move inward, a load is applied to the positions (2) and (3), and the knee is twisted (a pronation moment occurs) during walking, and the future This can lead to a so-called "rubbing knee" and complain of knee pain. On the other hand, in the illustrated embodiment, it is possible to determine whether a load is applied to the positions (2) and (3), and determine whether there is a risk of complaining of knee pain. This will also be described later with reference to FIG.

In FIG. 8 showing an example of a state above the heel, reference lines L5L and L5R represent the central axis (shown by broken lines) of the leg L which is continuous with the bone axis of the foot F (shown by solid lines). As shown by the reference lines L5L and L5R, when the heel is bent (valgus), the heel is hard (the range of motion of the joint around the heel is limited) and the heel is bent outward (the little finger side). Therefore, the numerical value of the shear force at the position (1) becomes small. In a case as shown in FIG. 8 (a state in which the heel is hard and does not bend outward), stress may be applied to the knee and pain may occur.
In such a case, in the shoe or the insole, by adjusting the height of the outside of the shoe, the inside of the shoe, or the height of the heel itself, the movement of the heel can be restricted and the center of gravity can be approximated. . Therefore, knee pain is also reduced. This will be described later with reference to FIG.

Here, the value of the pressure at the position (4) has no relation to the specification of the arch, the bone axis of the leg, and the center of gravity line.
When the pressure value at the position (4) is large, it means that the toes are effectively used during walking and the force to kick the ground is large. In other words, if the toes are used effectively when walking and the force to kick the ground is large, and other conditions are the same, the stride is large, the walking speed is high, and the clearance (toe and ground contact surface during walking) The distance between them is also large. Therefore, walking is stable and there is little danger of falling during walking.
In other words, the measurement result of the position (4) is used for determining the walking function and determining the possibility of falling during walking.

The configuration and function (operation) of the center of gravity / arch / bone bone axis determination block 120 shown in FIG. 4 will be described with reference to FIGS.
In FIG. 9 showing the functional blocks of the center of gravity / arch / bone bone axis determination block controller 120 shown in FIG. 9, the center of gravity / arch / bone bone axis determination block controller 120 (portion surrounded by a broken line) determines the center of gravity point. It has a block 120A, a center-of-gravity line determination block 120B for determining a center-of-gravity line which is a locus of the center of gravity, an arch determination block 120C, a bone axis determination block 120D, a determination block 120E, and a storage block 120F. Reference numerals 120I and 120O in FIG. 9 indicate an input interface and an output interface, respectively.
As described with reference to FIG. 2, the control unit 120 for determining the center of gravity, the arch, and the bone axis of the bone is connected to the fall risk determination block 70 by the information signal line IL110. At the same time, the center-of-gravity / arch / bone bone axis determination block control device 120 is connected to the display device 22 by the information signal line IL109.

The center-of-gravity point determination block 120A receives measurement signals (positions (1), (2), (3), (3), (3) from the sensors 1, 2, 3, 5, 6, and 7 via the input interface 120I and the information signal line IL101. 5), (6), and (7) have a function of receiving pressure or shear force measurement results) and obtaining a center of gravity (COP).
Information on the center of gravity (the center of pressure of the sole at the moment) determined by the center of gravity determination block 120A is transmitted to the center of gravity determination block 120B via the information signal line IL102.
When the center of gravity (COP) is determined in the center of gravity determination block 120A, the center of gravity (COP) is determined on a case-by-case basis by using a conventionally known software technique in consideration of the characteristics of the person to be measured. The same applies to the later-described barycentric line determination block 120B, arch determination block 120C, and bone axis determination block 120D.

The center-of-gravity line determination block 120B has a function of receiving information on the center-of-gravity point (COP) from the center-of-gravity point determination block 120A via the information signal line IL102, and determining a center-of-gravity line which is a locus of the center-of-gravity point.
The information of the barycentric line determined in the barycentric line determination block 120B is transmitted to the determination block 120E via the information signal line IL103.

The arch determination block 120C receives the measurement signals (positions (1), (2), (3), (3), 5), (6), and (7) have a function of receiving pressure and shear force (measured values) and determining an arch based on the received values.
In the arch determination block 120C, the position and shape of each of the vertical arch AR1, the outer arch AR2, and the horizontal arch AR3 constituting the arch are specified, and the arch is determined.
Information on the vertical arch AR1, the outer arch AR2, and the horizontal arch AR3 determined in the arch determination block 120C is transmitted to the determination block 120E via the information signal line IL105.

The bone axis determination block 120D includes measurement signals (positions (1), (2), (3), and (5)) from the sensors 1, 2, 3, 5, and 7 via the input interface 120I and the information signal line IL106. , (7), the function of determining the foot bone axis by grasping the movement of the foot bone axis.
Information on the bone axis of the foot determined in the bone axis determination block 120D is transmitted to the determination block 120E via the information signal line IL107.

The storage block 120F stores data (normal values) when it is considered that the barycentric point, the barycentric line, the arch, and the bone axis of the foot are so-called "normal". This is transmitted to the determination block 120E via the reference block 120E, and is referred to when making a determination by the determination block 120E.
In addition to the normal value data, the storage block 120F stores a threshold value of a load acting on the positions (2) and (3), a threshold value of a shear force applied to the position (1), and the like. .
Here, the threshold value of the load acting on the positions (2) and (3) is used in the determination block 120E to determine the hardness (flexibility) of the arch. Then, the threshold value of the shear force applied to the position (1) is used in the determination block 120E to determine whether or not the heel is everted.

The determination block 120E has a function of comparing the normal value data of the barycentric line (received from the storage block 120F) to determine whether or not the barycentric line determined in the barycentric line determination block 120B is normal, and a function of the barycentric line not being normal. In this case, it has a function of determining how much abnormality is (how much deviation from a normal state) (see steps S102 and S103 in FIG. 10).
The determination result of the determination block 120E is transmitted to the display device 122 via the output-side interface 120O and the information signal line IL109 and displayed. At the same time, it is transmitted to the falling risk determination block 70 via the output side interface 120O and the information signal line IL110.

The determination block 120E determines whether the arch (vertical arch AR1, outer arch AR2, horizontal arch AR3) determined by the arch determination block 120C is normal, as compared with the normal value data of the arch (received from the storage block 120F). And a function of determining how much the arch is abnormal when the arch is not normal (how much the arch is deformed compared to the normal arch) (step S102 in FIG. 10). See S103).
The determination block 120E compares the measured value of the load applied to the positions (2) and (3) with the threshold value of the load (received from the storage block 120F) to determine the hardness (flexibility) of the arch. It has a judgment function. This function will be described later with reference to FIG.
Further, the determination block 120E compares the measured value of the force acting on the position (2) with the measured value of the force acting on the position (6), and determines the type of the arch (“flat foot”, “normal”, “high arch”). Has the function of determining This function will be described later with reference to FIG.
The result of the determination regarding the arch by the determination block 120E is transmitted to and displayed on the display device 22 via the output-side interface 120O and the information signal line IL109. At the same time, it is transmitted to the falling risk determination device 70 via the output side interface 120O and the information signal line IL110.

The determination block 120E includes a function of comparing the normal value data of the bone axis (received from the storage block 120F) with the function of determining whether or not the bone axis of the foot determined in the bone axis determination block 120D is normal. When the axis is not normal, it has a function of determining the degree of abnormality (how much the bone axis of the foot is deformed compared to the case where it is normal) (steps S102 and S103 in FIG. 10). reference).
Further, the determination block 120E compares the measured value of the shear force applied to the position (1) with a threshold value of the shear force (received from the storage block 120F) for determining whether the heel is eversion. And has a function of determining whether or not the heel is everted. This function will be described later with reference to FIG.
The result of the determination regarding the bone axis by the determination block 120E is transmitted to the display device 22 via the output side interface 120O and the information signal line IL109 and displayed. At the same time, it is transmitted to the falling risk determination device 70 via the output side interface 120O and the information signal line IL110.
When executing the control described below with reference to FIGS. 11, 12, and 13, the measurement signals from the sensors 1, 2, 3, 5, 6, and 7 are transmitted via the input interface 120I and the information signal line IL111. Is sent to the decision block 120E. In other words, in the control described below with reference to FIGS. 11, 12, and 13, the measurement signals from the sensors 1, 2, 3, 5, 6, and 7 include the centroid point determination block 120A, the centroid line determination block 120B, The arch determination block 120C and the bone axis determination block 120D do not pass.

The display device 22 has a function of displaying the determination result transmitted from the determination block 120E.
Specifically, "whether the subject's center of gravity line is normal", "how much abnormal if the center of gravity line is not normal", "whether the subject's arch (vertical arch, outer arch, horizontal arch) is normal , "If the arch is not normal, how much is abnormal", "Is the subject's foot bone axis normal?", "If the foot bone axis is not normal, how much is abnormal" It has a function to display including data.
In addition, the display device 22 determines “the hardness (flexibility) of the arch”, “the type of the arch (flat foot, normal, high arch)”, and “whether or not the heel is everted” as the determination result of the determination block 120E. , And a function of displaying image data.
The display device 22 also has a function of transmitting the image data to the overturn prevention guidance block 90 via the information transmission line CL76 (FIG. 2).

  2, the fall prevention guidance block 90 receives the determination result transmitted from the fall risk determination block 70 and the image data transmitted from the display device 22, and based on the received data, determines that the determination result is “not normal”. In this case, it has a function of presenting exercises, tools to be used, and the like for improving the situation (see FIGS. 10 to 13).

An example of an abnormal analysis of a foot by the control unit 120 for determining a center of gravity, an arch, and a bone axis of a bone will be described mainly with reference to FIG. 10.
The flowchart of FIG. 10 measures the forces acting on the positions (1), (2), (3), (5), (6), and (7), and, based on the measurement results, the center of gravity (the pressure center of the sole). ), Determine the center of gravity line, arch, and bone axis of the foot, determine whether the center of gravity line, arch, and bone axis of the foot are normal. ing.
In FIG. 10, in step S101, the forces acting on the positions (1), (2), (3), (5), (6), and (7) by the sensors 1, 2, 3, 5, 6, and 7 are determined. measure. Then, the process proceeds to step S102.

In step S102, forces (pressure, shear) acting on the positions (1), (2), (3), (5), (6), and (7) in step S1 in the center-of-gravity point determination block 120A (FIG. 9). Based on the measurement result of the force), the center of gravity (the center of pressure of the sole) is determined, and the center of gravity, which is the locus of the center of gravity, is determined in the center of gravity determination block 120B (FIG. 9).
In step S102, the measurement results of the forces acting on the positions (1), (2), (3), (5), (6), and (7) in step S101 in the arch determination block 120C (FIG. 9). Are determined on the basis of, the arches (vertical arches, outer arches, and lateral arches). Further, in step S102, in the bone axis determination block 120D (FIG. 9), the positions (1), (2), (3), The bone axis of the foot is determined based on the measurement results of the forces acting on (5) and (7).

Next, in step S103, the center of gravity line, the arch (the vertical arch AR1, the outer arch AR2, and the horizontal arch AR3) and the bone axis of the foot determined in step S102 are stored in the normal center of gravity stored in the storage block 120F (FIG. 9). It is compared with the data of the line, the arch, and the bone axis, and based on the comparison result, it is determined whether the center of gravity line, the arch, and the bone axis of the subject are normal. If the subject is abnormal, the degree of the abnormality is determined.
In step S104, when any of the subject's center of gravity line, arch, or bone axis is determined to be abnormal in step S103, the exercise is designed and determined so as to suppress and improve the abnormality and to use appropriate exercises, Present. Then, the control ends.

Another example of the abnormal analysis of the foot by the bone axis determination block control device 120 for the center of gravity, the arch, and the bone will be described mainly with reference to FIG.
As described above with reference to FIG. 6, based on the measurement results of the forces acting on the positions (6) and (2), the types of the subject's arch in relation to the vertical arch AR1 are “flat feet” and “normal”. , And “high arch”. here,
Force acting on position (2) ≒ force acting on position (6), or
If the force acting on the position (2) ≦ the force acting on the position (6), the subject is a flat foot,
If the force acting on the position (2)> the force acting on the position (6), the subject is a “normal” foot that is neither a flat foot nor a high arch,
If neither the force acting on the position (2) nor the force acting on the position (6) is detected, the subject is classified as a “high arch”.
FIG. 11 shows a control (process) for determining using such a relationship.

In FIG. 11, in step S111, the force (for example, pressure and shear force is also possible) acting on the positions (2) and (6) is measured by the sensors 2 and 6. Then, the process proceeds to step S112.
In step S112, the force acting on the position (2) measured in step S111 is compared with the magnitude of the force acting on the position (6), and the force acting on the position (2) acts on the position (6). It is determined whether it is greater than the force to perform.
As a result of the comparison in step S112, if the force acting on the position (2) is larger than the force acting on the position (6) ("Yes" in step S112), the process proceeds to step S113.
In step S113, the arch of the subject does not correspond to a flat foot or a high arch, and is determined to be “normal”, and the control ends.

As a result of the comparison in step S112, the force acting on the position (2) is substantially equal to the force acting on the position (6), or the force acting on the position (2) is smaller than the force acting on the position (6). In this case (step S112 is “No (position (2) ≦ position (6))”), the process proceeds to step S114.
In step S114, it is determined that the arch of the subject corresponds to “flat feet”. In this case, in the fall prevention guidance block 90 (FIG. 2), it is possible to present a device such as forming an arch on the insole (providing a device for improving flat feet).
As a result of the comparison in step S112, when both the force acting on the position (2) and the force acting on the position (6) are not detected (step S112 is “No (position (2), the force at the position (6) is detected). ))), The process proceeds to step S115.
In step S115, it is determined that the arch of the subject corresponds to the “high arch”, and the control ends.
Although not shown in FIG. 11, in various determinations regarding the arch, other positions (1), (3), (5), and (7) other than (2) and (6) may be used as necessary. It is necessary to refer to the measurement results of the forces (pressure, shear force) acting on the surface. The same applies to the control of FIGS. 12 and 13 described later.

Another example of the abnormal analysis of the foot by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
As described above, when the arch is hard and the bone axis of the foot does not move inward, a large load is applied to the positions (2) and (3), and the knee is twisted during walking (pronation moment is generated). In the future, there is the danger that the so-called "knee rubs" may be present and complain of knee pain.
The flowchart of FIG. 12 determines whether or not there is such a fear. Therefore, the forces acting on the positions (2) and (3) are measured, and if the measured force is large, a judgment such as "the arch is hard and the knee may be twisted during walking" is performed. At the same time, the present invention proposes exercises and equipment for suppressing "twisting of the knee during walking (generating a pronation moment)".

In FIG. 12, in step S121, forces (pressure and shear force) acting on the positions (2) and (3) are measured by the sensors 2 and 3. Then, the process proceeds to step S122.
In step S122, it is determined whether or not a large load is applied to the positions (2) and (3) based on the forces acting on the positions (2) and (3) measured in step S121. Such a determination is based on, for example, the measurement results of the forces acting on the positions (2) and (3), various data when the knee is twisted (a pronation moment occurs) during walking, and the measurement data of the subject. This is performed by comparing with a comprehensively determined threshold value.
When it is determined in step S122 that a large load (to be dealt with) is applied to the positions (2) and (3) (“Yes” in step S122), the process proceeds to step S123.
On the other hand, if it is determined in step S122 that a large load (to be dealt with) is not applied to the positions (2) and (3) ("No" in step S122), the control is ended.

In step S123 (when it is determined that a large load (to be dealt with) is applied to the positions (2) and (3)), “the arch is hard and the bone axis of the foot does not move inward (therefore, the O-leg) And the legs bend outwards. " Then, the process proceeds to step S124.
In step S124, the subject determines that "the knee is twisted during walking (a pronation moment is generated)" at present or in the future, and therefore, the subject is in a state of "so-called" knee rubbing "in the future. They may complain of knee pain. "
Then, the process proceeds to step S125.

In step S125, an improvement measure or a countermeasure is presented for a case where the knee is twisted (a pronation moment is generated) during walking, and there is a possibility that a so-called "knee rubs" in the future and there is a possibility of complaining of knee pain. .
For example, to control torsion of the knee during walking (generation of pronation moment) and prevent future knee pain, a device that allows the bone axis of the foot to move inward, Exercise is provided to suppress movement to the inside and to encourage movement inward. For example, in a shoe or an insole, by adjusting the outer height, the inner height, or the height of the heel itself, the movement of the heel can be limited to approximate a normal center of gravity line. Therefore, knee pain is also reduced.
Step S125 includes the case where not only the information processing apparatus but also an expert or a doctor presents the results of determination in steps S123 and S124 and presents them.

Still another example of the foot abnormality analysis by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
When the heel is bent (valgus) as shown in FIG. 8, the heel is hard and does not bend outward (the little finger side), so that the numerical value of the shear force at the position (1) becomes small.
In the flowchart of FIG. 13, the shear force acting on the position (1) is measured, and when the shear force is small, it is determined that the heel is bent (valgus) and the heel is not bent outward. Then, the gymnastics and equipment to be used are presented.

In FIG. 13, in step S131, the shear force acting on the position (1) is measured by the sensor 1. Then, the process proceeds to step S132.
In step S132, it is determined whether the shearing force acting on the position (1) measured in step S131 is equal to or smaller than the threshold value N. Here, the threshold value N is comprehensively determined based on accumulated data on valgus and measurement data of the subject.
In step S132, when the shearing force acting on the position (1) is equal to or smaller than the threshold value N (“Yes” in step S132), the process proceeds to step S133.
On the other hand, if the shearing force acting on the position (1) is larger than the threshold value N in step S132 ("No" in step S132), the control ends.

In step S133 (when the shearing force acting on the position (1) is equal to or less than the threshold value N), the subject's "heel is bent (valgus), and the heel is hard and does not bend outward (little finger side). State. " Then, the process proceeds to step S134.
Here, when the heel is hard and does not bend outward, stress may be applied to the knee and pain may occur. Therefore, in step 1S34, an improvement measure or a countermeasure is presented in a case where the heel is hard and does not bend outward, so that stress is applied to the knee and pain may occur.
In step S134, for example, an insole or shoe with a gap outside the heel is presented. In a shoe or an insole, by adjusting the height of the outside of the shoe, the inside of the shoe, or the height of the heel itself, the movement of the heel can be restricted to approximate the normal center of gravity line. Therefore, knee pain is also reduced.

Although not shown, the sole measurement system 100 can also improve hallux valgus.
In the case of hallux valgus or its tendency, a large load is applied to the position (7) and the ground is strongly kicked at the position (3). Therefore, the force of kicking the ground at the position (5) is suppressed, shoes and insoles are devised so that the load at the position (7) is appropriate, and a device is proposed, or the ground at the position (5) is removed. It is possible to propose an exercise program in which the kicking force is suppressed and the load related to the position (7) becomes appropriate.

The sole measurement system 100 and the center of gravity, arch, and bone axis determination block control device 120 determine the center of gravity of the foot, the arch, and the bone axis of the foot, and determine the trajectory of the center of gravity of the foot, the “foot center of gravity line”. Is obtained and compared with normal data, it is possible to determine the presence or absence of various abnormalities (abnormalities other than knee osteoarthritis and valgus thumb) that cannot be determined only by the foot pressure distribution. Then, it is possible to propose a device or exercise that corrects or suppresses the abnormality. In particular, if the child is in the middle of growth, such as an elementary school student or a junior high school student, there is a high possibility that various abnormalities will be resolved by the above-mentioned exercises and equipment and the state will be normal.
In other words, according to the embodiment, as parameters for judging various abnormalities other than osteoarthritis and valgus thumb, using a parameter other than foot pressure distribution such as a foot center of gravity line, an arch, and a foot bone axis. I have.

In the sole measurement system 100 and the center-of-gravity / arch / bone bone axis determination block control device 120, the sensors 1 to 7 detect the calcaneal ridge (position 1), the cubic bone (position 2), and the fifth metatarsal head (position). 3) Since the first metatarsal head (position 5), the middle cuneiform bone (position 6), and the center of the lateral arch (position 7) were provided, the center of gravity of the foot, the arch, and the bone axis of the foot were determined. It can be determined accurately.
Then, the "foot center of gravity line" which is the locus of the center of gravity of the foot can also be easily obtained.

In the sole measurement system 100 and the center of gravity / arch / bone bone axis determination block controller 120, the sensors 1 to 7 are provided on members that contact the soles such as shoes or soles that contact the subject's feet. The structure that comes into contact with the subject can be reduced in size.
Therefore, unlike the large-sized apparatus, no extra stress is applied to the person to be measured, and accurate measurement can be performed. Further, if the apparatus is miniaturized, it is possible to directly measure the force (shear force or pressure) acting on the above-mentioned position while exercising (for example, during walking). There is no need to estimate the sole pressure during walking from the sole pressure in a stationary state as in the related art.
In particular, in the case shown in FIG. 4, since the outputs of the sensors 1 to 7 are wirelessly transmitted to the center-of-gravity / arch / bone bone axis determination block control device 120, the measurement results are transmitted by wire. In comparison, the measurement result is easily transmitted while the subject is exercising (for example, walking), and the analysis is easily performed.

Here, when the pressure value on the thumb contact surface (position 4) is large, it means that the toe is effectively used during walking and the force to kick the ground is large. That is, if the pressure value on the thumb contact surface (position 4) is large, it means that the toes are effectively used during walking and the force to kick the ground is large. Therefore, if other conditions are the same, when the pressure value on the thumb contact surface (position 4) is large, the stride is large, the walking speed is fast, and the clearance (the distance between the toe and the contact surface) is large. Become. Therefore, walking is stable and there is little danger of falling during walking.
In the sole measurement system 100, since the sensor 4 is provided on the thumb contact surface (position 4), in addition to the abnormality of the foot, the walking function can be determined, and the possibility of falling during walking can be determined.

Then, in the sole measurement system 100 and the bone axis determination block control device 120 for the center of gravity, the arch, and the bone, the subject can determine whether the subject is “flat foot”, “normal”, It can be specified which of the “high arches” corresponds (FIG. 8).
Furthermore, from the measured values of the forces acting on the positions (2) and (3), it is possible to determine whether or not “the knee is twisted during walking when the arch is hard”, and exercises and equipment used to suppress it Can also be presented together (FIG. 12).
In addition, from the measured value of the shear force acting on the position (1), it can be determined whether or not “the heel is bent (valgus) and the heel is not bent outward”. Thus, it is possible to present a tool for use to suppress it (FIG. 13).
Here, FIG. 8 shows the case of varus, but the sole measurement system and the center of gravity, arch, and bone axis determination block control device 120 can cope with varus.

Next, the foot determination system 200 will be described in detail with reference to FIGS.
First, the foot determination system 200 will be described with reference to FIGS.
In FIG. 14, the foot determination system 200 includes a platform 201 which is an imaging location where both feet of the subject M can be placed, an imaging device 202 (for example, a camera: the same applies hereinafter) which captures an image of the subject M, and an imaging device 202 ( A skeletal model creation and motion analysis block 210 which is an analysis device for analyzing image data of the subject M photographed by a camera.
A rail 204 is arranged concentrically with the table 201 around the table 201 (imaging location). A camera 202 is movably installed on the rail 204.

Although not clearly shown, the camera 202 is provided with a drive mechanism (running mechanism), and the drive mechanism (not shown) moves the camera 202 on the rail 204 as shown by an arrow AR. Move fast. Here, the movement may be uneven speed or intermittent.
The camera 202 moves at a predetermined interval (or a predetermined time) while moving on the rail 204 at a constant speed, for example, every time the camera 202 moves by a distance corresponding to a central angle of 30 ° of the concentric rail 204 (rail The camera 202 captures a still image at that moment (every time the camera 2 moves by a circumferential interval equal to 12 in the circumferential direction on the 204).
Although not shown, the camera 202 shoots from a position approximately 30 ° upward from the horizontal direction, not from a position directly beside the top surface of the table 201 (horizontal position: the same position in the vertical direction). Is preferred. The same applies to moving images. This is because if the image is taken from a position approximately 30 ° above the horizontal direction with respect to the top surface of the table 201, it is easy to take an image of the ankle of the subject M, and it is easy to obtain the characteristic points of the foot.
The surface (particularly, the top surface) of the table 201 is preferably provided with a geometric pattern (for example, a so-called “mosaic pattern”) so as not to disturb the characteristic points of the foot.

Here, the camera 202 has a function of shooting a moving image as well as a function of shooting a still image.
For example, the subject M placed on the table 201 has a state in which the soles are in close contact with the table (a so-called “solid foot” state) and a state in which the heel is raised as much as possible (a so-called “toe standing” state). repeat. The camera 202 captures a still image while moving on the rail 204 around the table 201, and the subject M has a state in which the soles of the feet are in close contact with the table (solid feet) and a state in which the heel is lifted up as much as possible ( This is shot as a movie showing how to repeat toe standing).
Although not shown, a portion corresponding to the toe of the subject M's foot on the table 201 may be configured to be movable downward, and the operation of the subject M raising and lowering the toe may be photographed as a still image and a moving image. Since the operation of raising and lowering the toes is not muscle-driven, it is preferable to determine a skeletal abnormality.

Here, instead of using one camera 202 having a function of shooting a moving image at the same time as shooting a still image, a plurality of (for example, two) cameras are prepared, and one camera is mounted on the rail 204. May be configured to capture still images at equal intervals while moving the camera, and the other camera may capture moving images while moving on the rails 204.
In the above description, it is described that the camera 202 is moving at a constant speed around (on the rail 204) around the table 201, but the camera 202 is fixed at a predetermined position (fixed point) and May be caused to rotate at a constant speed (that is, rotate). Also in this case, the movement may be uneven speed or intermittent movement.

The still image data and the moving image data captured by the camera 202 are transmitted to the skeleton model creation and motion analysis block 210.
Here, as shown in FIG. 14, when the camera 202 is installed on the rail 204 and captures a still image and a moving image while moving on the rail 204, the camera 202 and the skeleton model creation and motion analysis block 210 Connected wirelessly. In this case, the still image data and the moving image data are wirelessly transmitted from the camera 202 to the skeleton model creation and motion analysis block 210. In FIG. 14, the camera 202 and the skeleton model creation and motion analysis block 210 are connected by a signal line SR, but the signal line SR includes both wireless and wired lines. The data is transmitted to the model creation and motion analysis block 210 wirelessly or by wire.
Although not shown, when the camera 202 is fixed to a fixed point and the table 201 is rotated at a constant speed (rotation) at the fixed position, the still image data and the moving image data are wired (for example, for signal transmission). Cable) to the skeleton model creation and motion analysis block 210. Also in this case, it is possible to transmit data wirelessly.

The skeleton model creation and motion analysis block 210 shown in FIG. 14 will be described with reference to FIGS.
In FIG. 15 (functional block diagram), a skeleton model creation and motion analysis block 210 surrounded by a broken line includes a three-dimensional image creation block 210A, a three-dimensional image motion analysis block 210B, a skeleton model creation block 210C, a skeleton model motion analysis block 210D, It has an abnormal site identification block 210E, an abnormal site quantification block 210F, a storage block 210F, and a comparison block 210H. Reference numerals 210I and 210O indicate an input-side interface and an output-side interface, respectively.

The skeleton model creation and motion analysis block 210 is connected to the display device 22 via the information signal lines IL216 and IL219, and is connected to the fall risk determination block 70 via the information signal lines IL216, 217, IL219 and 220. I have.
In FIG. 15, the type of information transmitted and received between the blocks via the information signal line is indicated by a symbol “A” for still image data, a symbol “B” for moving image data, and a symbol “C” for stereoscopic image data. ], And the skeleton model data is indicated by a symbol “D”.

The stereoscopic image creation block 210A receives the still image data shot by the camera 202 via the input side interface 210I and the information signal line IL201, and based on the still image data, the foot of the subject M (from the sole to the heel). (For example, below the knee) (see step S203 in FIG. 16).
The still image data is, for example, a still image of the foot of the subject M (from the sole to the upper part of the heel and below the knee), and is an image relating to the state of the solid foot, the state of the toe, and the state between them. Includes images while moving the toes up and down.

When a stereoscopic image is created in the stereoscopic image creation block 210A, for example, existing (commercially available) software is used. Then, in consideration of the characteristics and the like of the subject M, it is created while processing on a case-by-case basis.
In other blocks described later (stereoscopic image motion analysis block 210B, skeleton model creation block 210C, skeleton model motion analysis block 210D, abnormal site specifying block 210E, abnormal site quantification block 210F, storage block 210G, and comparison block 210H). Similar to the image creation block 210A, necessary processing is executed while taking into consideration the characteristics of the subject M and the like, and using existing (commercially available) software, on a case-by-case basis.
The three-dimensional image data created by the three-dimensional image creation block 210A is transmitted to the three-dimensional image motion analysis block 210B via the information signal line IL202, and further transmitted to the skeleton model creation block 210C via the information signal line IL203. The signal is transmitted to the abnormal site specifying block 210E via the signal line IL204.

The three-dimensional image motion analysis block 210B receives the three-dimensional image data from the three-dimensional image creation block 210A via the information signal line IL202, and the moving image data captured by the camera 202 via the input side interface 210I and the information signal line IL205 ( The subject M receives moving image data that repeats a solid foot state and a toe state on the platform 1 or moving image data that repeats a toe-up / down motion) on the platform 1, and based on the three-dimensional image data and the moving image data, (See, for example, step S206 in FIG. 16) to perform a motion analysis (for example, to determine whether there is an abnormality in the heel raising / lowering and toe raising / lowering motion). By analyzing the movement of the stereoscopic image, it is possible to more accurately determine the presence or absence of a foot abnormality or the location of a foot abnormality.
The motion analysis data of the stereoscopic image analyzed by the stereoscopic image motion analysis block 210B is transmitted to the comparison block 210H via the information signal line IL206, and the skeletal model motion is transmitted via the information signal line IL207 branched from the information signal line IL206. Sent to analysis block 210D.

The skeleton model creation block 210C receives the stereoscopic image data from the stereoscopic image creation block 210A via the information signal line IL203, and also receives the skeleton data from the storage block 210G via the information signal line IL208. It has a function of receiving various types of skeleton data and creating a skeleton model of the subject's foot (a three-dimensional image of the skeleton of the foot) based on the stereoscopic image data and the skeleton data (FIG. 16). Step S207).
The skeleton model data created in the skeleton model creation block 210C is transmitted to the abnormal site specifying block 210E via the information signal line IL209, and is transmitted to the skeleton model motion analysis block 210D via the information signal line IL210.

The skeleton model motion analysis block 210D receives the skeleton model data from the skeleton model creation block 210C via the information signal line IL210, and converts the moving image data captured by the camera 202 via the input side interface 210I and the information signal line IL211. It has a function of receiving and analyzing the movement of the skeleton model based on the skeleton model data and the moving image data (see step S208 in FIG. 16). Since the movement of the skeletal model is analyzed, unlike the CT scanner, it is possible to more accurately determine the presence or absence of a foot abnormality or the location of a foot abnormality.
Note that, in order for the skeleton model motion analysis block 210D to analyze the motion of the skeleton model, in addition to the skeleton model data and the moving image data, the three-dimensional image motion analysis block 210B transmits the three-dimensional Analysis data may be obtained.
The motion analysis data of the skeleton model analyzed in the skeleton model motion analysis block 210D is transmitted to the comparison block 210H via the information signal line IL212.

The abnormal part specifying block 210E receives image data (still image data and moving image data) captured from the camera 202 via the input interface 210I and the information signal line IL213, and receives the image data (still image data and moving image data). ) Has the function of specifying the presence or absence of an abnormality in the foot of the subject M and the abnormal site (see step S205 in FIG. 16).
The abnormal site specifying block 210E receives the stereoscopic image data from the stereoscopic image creation block 210A via the information signal line IL204, and refers to the subject by referring to the stereoscopic image data in addition to the image data (still image data and moving image data). It is also possible to identify the presence or absence of an abnormality and the abnormal part in the foot of M (see step S205 in FIG. 16).

The abnormal site identification block 210E receives the skeleton model data from the skeleton model creation block 210C via the information signal line IL209, and also refers to the skeleton model data to identify the presence / absence of an abnormality and the abnormal site in the foot of the subject M. You can do it. By using this skeletal model, it is possible to determine a foot abnormality that could not be determined only with a still image and a moving image.
Data relating to the abnormal part specified in the abnormal part specifying block 210E is transmitted to the abnormal part quantifying block 210F via the information signal line IL214.

The abnormal part quantification block 210F receives data on the abnormal part from the abnormal part identification block 210E via the information signal line IL214, and quantifies and quantifies the degree of abnormality in the abnormal part based on the data on the abnormal part. Has a function.
Here, the abnormal part quantification block 210F receives the image data captured by the camera 2 via the input interface 210I, the information signal line IL213, and the information signal line IL215 branched from the information signal line IL213, and In some cases, the degree of abnormality in an abnormal part is quantified and quantified based on image data (still image data, moving image).

The data relating to the quantification and quantification of the degree of abnormality determined in the abnormal part quantification block 210F is transmitted to the display device 22 via the information signal line IL216 and the output side interface 210O, and the information signal line IL216 and the output The information is transmitted to the falling risk determination block 70 via the side interface 210O and the information signal line IL217.
The storage block 210G stores data of a normal foot and skeleton model (normal value data: for example, moving image data of a person having a normal skeleton), and the normal value data is transmitted via the information signal line IL218. The data is transmitted to the comparison block 210H and is used for comparison by the comparison block 210H.
Further, in the storage block 210G, for example, various data of the existing foot skeleton is stored, and the skeleton data is transmitted to the skeleton model creation block 210C via the information signal line IL208, and the skeleton generated by the skeleton model creation block 210C. Used for model creation.

The comparison block 210H receives the motion analysis data of the skeleton model from the skeleton model motion analysis block 210D via the information signal line IL212, and receives the normal foot and skeleton model data from the storage block 210G via the information signal line IL218. It has a function of receiving moving image data (normal value data) and comparing the motion analysis data of the skeletal model with the normal value data (see step S209 in FIG. 16).
The comparison block 210H receives the motion analysis data of the stereoscopic image from the stereoscopic image motion analysis block 210B via the information signal line IL206, and receives the normal foot moving image data from the storage block 210G via the information signal line IL218. (Normal value data), and has a function of comparing the motion analysis data of the stereoscopic image with the normal value data.
The comparison result between the motion analysis data of the skeleton model and the normal value data in the comparison block 210H and the comparison result between the motion analysis data of the stereoscopic image and the normal value data are displayed on the display device via the information signal line IL219 and the output interface 210O. The signal is transmitted to the falling risk determination block 70 via the information signal line IL219 and the output side interface 210O information signal line IL220.

The display device 22 has a function of displaying data relating to quantification and quantification of the degree of abnormality in the abnormal part transmitted from the abnormal part quantification block 210F of the skeleton model creation and motion analysis block 210.
Further, the display device 22 has a function of displaying the comparison result transmitted from the comparison block 210H of the skeleton model creation and motion analysis block 210.
For example, regarding the result of quantitatively and numerically determining whether or not the subject's foot is abnormal and the degree of the abnormality, the image analysis result by the abnormal part quantification block 210F, the stereoscopic image analysis result, and the skeleton model analysis result are compared. The stereoscopic image motion analysis result and the skeleton model motion analysis result by the block 210H are displayed.

The fall prevention guidance block 90 shown in FIG. 2 receives the comparison result transmitted from the comparison block 210H of the skeletal model creation and motion analysis block 210, and improves, treats, and suppresses abnormalities of the foot based on the comparison result. (See step S210 in FIG. 16).
The fall prevention guidance block 90 receives the data related to quantification and quantification of the degree of abnormality in the abnormal part transmitted from the abnormal part quantification block 210F of the skeleton model creation and motion analysis block 210, and based on the data, Appropriate equipment and exercise for improving, treating, and controlling the abnormalities of the part can also be presented.
In the fall prevention guidance block 90, the abnormality of the foot is improved according to each analysis level (image data analysis level, stereoscopic image analysis level, skeleton model analysis level, stereoscopic image motion analysis level, skeleton model motion analysis level), Equipment and exercises to control can be presented.

Blocks 210A to 210H of the skeleton model creation and motion analysis block 210 shown in FIG. 15 are configured by an information processing device such as a computer. However, the blocks 210A to 210H may be configured by an operator having specialized knowledge or other specialists.
As described above, the fall prevention instruction block 90 that presents a device and exercise suitable for improving, treating, and suppressing abnormalities of the foot is also configured by an information processing machine such as a computer. It is possible to use an operator or other expert with sufficient knowledge as the fall prevention guidance block 90.

The control in the foot determination system 200 shown in FIGS. 14 and 15 will be described mainly with reference to FIG.
In FIG. 16, in step S201, the camera 202 captures a still image of the foot of the subject M (location from the sole to above the heel and below the knee). Then, the subject M is placed on the table 201 (an imaging location, FIG. 14), and an image of repeating the state of the solid foot and the state of standing on the toes (or repeating the raising and lowering of the toes) is taken.
Here, at the same time as capturing a still image in step S201, a moving image is captured in step S204. Step S204 will be described later.
The shooting of a still image and a moving image is performed in the manner described with reference to FIG.
After the shooting of the still image in step S201, the process proceeds to step S202.

In step S202, it is determined whether or not the shooting of the still image in step S201 has been completed, and whether the still image has been shot 360 degrees or the entire circumference of the rail 204.
If the shooting of the still image has not been completed ("No" in step S202), the process returns to step S201, and the shooting of the still image is continued. If the shooting of the still image has been completed ("Yes" in step S202), the process proceeds to step S203.
In step S203, a stereoscopic image is created based on the photographed still images (steps S201 and S202) in the stereoscopic image creation block 210A (FIG. 15) of the skeleton model creation and motion analysis block 210.

In step S204, which is executed simultaneously with the photographing of the still image in step S201, a moving image of the foot of the subject M (a location from the sole to above the heel and below the knee) (the subject M is A moving image of repeating the state of the foot and the state of the toes, or raising and lowering the toes) is taken.
The moving image shooting is also as described with reference to FIG.
Step S204 may be temporally before or after step S201.

In step S205, in the abnormal part specifying block 210E (FIG. 15), the presence or absence and abnormal part of the foot of the subject M are specified based on the still images captured in steps S201 and S202 and the moving image captured in step S204. .
In addition, in step S205, the presence or absence of an abnormality and the abnormal part in the foot of the subject M can be specified by the abnormal part specifying block 210E with reference to the stereoscopic image created in step S203 in addition to the still image and the moving image. .
Further, in step S205, the abnormal part quantification block 210F (FIG. 15) quantifies the degree of abnormality in the abnormal part based on the still image and the moving image based on the data on the abnormal part specified in the abnormal part specifying block 210E. , Can also be quantified.

In step S206, in the stereoscopic image motion analysis block 210B (FIG. 15), motion analysis of the stereoscopic image is performed based on the stereoscopic image created in step S203 and the moving image captured in step S204.
Although not explicitly shown in FIG. 15, the result of the motion analysis of the stereoscopic image in step S206 is compared with the normal foot moving image (normal value) stored in the storage block 210G (FIG. 15) (see step S209). Thus, it is possible to clarify a device or exercise suitable for improving, treating, or suppressing an abnormality of the foot.

In step S207, in the skeleton model creation block 210C, the three-dimensional image created in step S203 and the skeleton data stored in the storage block 210G (for example, various data of the existing skeleton of the foot) are used to determine the foot of the subject M. (A three-dimensional image of the skeleton of the foot) is created.
In addition, in step S207, referring to the created skeletal model (in addition to the still images captured in steps S201 and S202 and the moving image captured in step S204), in the abnormal site specifying block 210E, the abnormality in the foot of the subject M is determined. After specifying the presence / absence and the abnormal part, the abnormal part is quantified and quantified in the abnormal part in the abnormal part of the foot of the subject M in the abnormal part quantification block 210F.

In step S208, in the skeleton model motion analysis block 210D, the motion of the skeleton model is analyzed based on the skeleton model created in step S207 and the moving image captured in step S204. In the motion analysis of the skeleton model, the motion analysis data of the stereoscopic image created in step S206 can be referred to in addition to the skeleton model and the moving image.
In step S209, in the comparison block 210H, the motion analysis result (analysis data) of the skeleton model analyzed in step S208 is compared with the motion (moving image data, normal value) of the normal skeleton model stored in the storage block 210G.
Although not explicitly shown in FIG. 16, the result of comparison between the movement of the skeletal model in step S209 and the movement (normal value) of the normal skeletal model, the presence / absence of abnormalities in the foot of the subject M in steps S205 and S207, and the abnormal site The results of the quantification and quantification of the degree of abnormality in the abnormal part are displayed on the display device 22 (FIG. 2).

In step S210, in the fall prevention guidance block 90 (FIG. 2), the abnormality of the foot is improved, treated, and suppressed based on the comparison result of the movement of the skeletal model and the normal movement of the foot (normal value) in step S209. Provide suitable equipment and exercise to do.
Although not explicitly shown in FIG. 16, in the fall prevention guidance block 90, based on the results of the quantification and quantification of the degree of abnormality in the abnormal part in steps S205 and S207, the abnormality of the foot is improved, treated, Appropriate equipment and exercise for suppression can also be presented.

In the foot determination system 200 of FIGS. 14 and 15, a three-dimensional image of the foot of the subject M is created based on the photographed still image, and the three-dimensional image and data of the existing skeletal model are used. A skeleton model of the foot (a three-dimensional image of the skeleton of the foot) can be created.
Then, while visually recognizing the skeletal model, it is possible to determine the presence / absence of an abnormality, to specify an abnormal part, and to digitize the abnormality. Become. At the same time, it is possible to quantify or quantify the abnormality at the abnormal part (using the skeleton model).
Further, based on the photographed still image and moving image, it is possible to specify, digitize, and quantify the presence / absence of an abnormality in the foot of the subject M and the abnormal site with reference to the stereoscopic image.

The foot determination system 200 in FIGS. 14 and 15 analyzes the motion in the skeletal model based on the skeletal model and the captured moving image (the subject M repeats the solid foot state and the toe standing state on the platform 1). I can do it. By analyzing the movement of the skeletal model and comparing it with normal movement, it is possible to more accurately determine whether there is a foot abnormality or where a foot abnormality exists, as in the case of applying CT scanning technology. Can be done.
As a result, devices and exercises suitable for improving, treating, and suppressing abnormalities of the foot can be presented more effectively than those based on conventional two-dimensional data.

Further, the foot determination system 200 of FIGS. 14 and 15 can analyze the motion in the stereoscopic image using the stereoscopic image data and the moving image data.
By analyzing the movement of the stereoscopic image and comparing the movement with the normal movement, it is possible to determine whether or not the foot is abnormal or where the foot is abnormal. When an abnormality is present, it is possible to present a device or exercise suitable for improving, treating, or suppressing the abnormality of the foot.
Further, as described above, it is possible to specify, quantify, and quantify the presence / absence of an abnormality in the foot of the subject M based on the skeletal model, the photographed still image, the moving image, and the stereoscopic image, and the abnormal site. Using the data of the specified abnormal part, the numerical value of the abnormal part, and the quantified data, it is possible to present a device or exercise suitable for improving, treating, or suppressing an abnormality of the foot.

In the foot determination system 200 of FIGS. 14 and 15, a still image obtained by photographing the foot of the subject M from all directions without using a light beam having a human body transmission capability (for example, so-called “X-ray”) is used. To create a three-dimensional image, and analyze the movement of the three-dimensional image using the three-dimensional image and the moving image. As a result, it is possible to more accurately determine the presence or absence of a foot abnormality or the location where a foot abnormality is present, as compared to a conventional diagnosis based on a two-dimensional image.
Then, a skeleton image of the foot of the subject M can be obtained using the three-dimensional image in the same manner as in the case where the CT scanning technique is used. In this case, unlike the case where so-called “X-rays” are used, there is no need to handle radioactive materials, so that there is no problem of exposure to operators and the like.

Next, a modified example of the foot determination system 200 shown in FIGS. 14 and 15 will be described with reference to FIG.
In the foot determination system 200 of FIGS. 14 and 15, the camera 202 moves around the table 201, or the camera 201 is fixed to a fixed point and the table 201 is rotated, so that one or more (for example, Still images and moving images are taken by the (two) cameras on the entire circumference of the foot of the subject M (for example, 12 locations arranged at equal intervals in a circular shape whose central angle changes by 30 °).
On the other hand, in the modification of FIG. 17, the camera 202 or the table 201 (the foot of the subject M on the table) is fixed without rotating (the position of the table 201 and the camera 202 does not change relative to each other). And a plurality of cameras (e.g., 12 cameras arranged at regular intervals in the circumferential direction at a central angle θ of 30 °) fixedly arranged at equal intervals in the circumferential direction. I have.
In other words, in the modified example of FIG. 17, only the subject M on the table 201 is moving, and the subject M is in a state in which the soles are in close contact with the table and the toe is standing, as in the first embodiment. The state is repeated, or the state of raising and lowering the toe is repeated.
Reference numeral 204A in FIG. 17 is a virtual line extending in the circumferential direction, and twelve cameras 202 are arranged at equal intervals on the virtual line 204A. In FIG. 17, illustration of the skeleton model creation and motion analysis block 210 (see FIG. 1) is omitted.

In the modification of FIG. 17, all of the plurality of cameras (for example, 12 cameras) capture a still image and capture a moving image. Therefore, a rail 204 (FIG. 14) and a drive mechanism (running mechanism) that are arranged to move the camera 202 concentrically with the base 201 are unnecessary.
Other configurations and operational effects in the modification of FIG. 17 are the same as those of the foot determination system 200 shown in FIGS. 14 to 16.

A foot determination system different from the foot determination system 200 of FIGS. 14 to 16 will be described with reference to FIGS.
The camera 202 used in the foot determination system 200 shown in FIGS. 14 to 16 has a capability of capturing a still image or a moving image, but cannot capture an image using a light beam having a human body transmission capability.
18 to 20, on the other hand, photographs of the skeleton of the foot of the subject are taken using light beams having a human body transmitting ability, for example, so-called "X-rays".
The differences between the foot determination system of FIGS. 18 to 20 and the foot determination system 200 of FIGS. 14 to 16 will be mainly described below. Note that in the foot determination system of FIGS. 18 to 20, the same components as those of the foot determination system 200 of FIGS.

In FIG. 18, the foot determination system 201 of FIGS. 18 to 20 includes a platform 201 configured so that the subject M can place both feet, and an imaging device 203 (an X-ray irradiation mechanism 203A) that captures an image of the subject M. And a X-ray camera 203B), and a skeleton model creation and motion analysis block 211 for analyzing image data of the subject M captured by the imaging device 203. Here, the imaging device 203 has a device 203A (X-ray irradiating mechanism) having a function of irradiating a light beam having a human body transmitting ability and a function of taking an image (X-ray photograph: X-ray photograph) using the light beam having a human body transmitting ability. And an apparatus 203B (X-ray camera) having
Although not shown, also in the foot determination system 201 of FIGS. 18 to 20, the imaging device 203 (203A, 203B) is positioned directly beside the top surface of the table 201 (horizontal position: the same in the vertical direction). It is preferable to take an image from a position about 30 ° upward from the horizontal direction instead of the position (1). The same applies to moving images. This is because if the image is taken from a position approximately 30 ° above the horizontal direction with respect to the top surface of the table 201, it is easy to take an image of the ankle of the subject M, and it is easy to obtain the characteristic points of the foot.
In the foot determination system 201 shown in FIGS. 18 to 20, it is not necessary to add a geometric pattern to the surface (particularly, the top surface) of the table 201.

A rail 204 is arranged concentrically with the table 201 around the table 201, and on the rail 204, an X-ray irradiation mechanism 203A and an X-ray camera 203B are movably provided. The X-ray irradiation mechanism 203A and the X-ray camera 203B have a driving mechanism (traveling mechanism), and the X-ray irradiation mechanism 203A and the X-ray camera 203B move on the rail 204 at a constant speed by the driving mechanism (arrow AR). ). In the foot determination system 201 shown in FIGS. 18 to 20, such movement is not limited to constant-velocity movement, but may be non-uniform movement or intermittent movement.
Here, the relative positions of the X-ray irradiation mechanism 203A and the X-ray camera 203B are point-symmetric with respect to the base 201 on the rail 204. Therefore, when X-rays are irradiated from the X-ray irradiation mechanism 203A, the X-ray camera 203B produces an X-ray photograph of the foot of the subject M placed on the table 201 (from the sole to above the heel, for example, below the knee). Be photographed.

  Similarly to the foot determination system 200 of FIGS. 14 to 17, for example, at predetermined intervals, the X-ray irradiation mechanism 203A and the X-ray camera 203B move by a distance corresponding to the central angle of the concentric rail 204 of 30 °. Every time, that is, every time the X-ray irradiation mechanism 203A and the X-ray camera 203B move by a circumferential interval that divides the rail into 12 equal parts, the X-ray irradiation mechanism 203A and the X-ray camera 203B change the X-ray at that moment. You can take photos (still images).

The X-ray camera 203B has a function of taking an X-ray photograph as a still image and a function of taking a normal moving image.
For example, the subject M placed on the table 201 has a state in which the soles are in close contact with the table (a so-called “solid foot” state) and a state in which the heel is raised as much as possible (a so-called “toe standing” state). repeat. The X-ray irradiating mechanism 203A and the X-ray camera 203B move on the rail 204 around the table 201 to take an X-ray photograph as a still image while the subject M keeps the sole in close contact with the table (solid foot). ) And a state in which the heel is raised as much as possible (toe standing) is photographed as a moving image.
Although not shown, also in the foot determination system 201 of FIGS. 18 to 20, the portion corresponding to the toe of the subject M's foot on the table 201 is configured to be movable downward, and the subject M raises and lowers the toe. May be photographed by an X-ray photograph and a moving image.

Here, instead of using one X-ray camera 203B having a function of capturing a moving image at the same time as capturing an X-ray photograph as a still image, another camera for capturing a moving image other than X-rays is provided. You can do it. In such a case, the X-ray irradiation mechanism 203A and the X-ray camera 203B move on the rail 204 to take X-ray photographs at equal intervals, and the other camera moves on the rail to take a moving image. Be composed.
In the above description, it is described that the X-ray irradiation mechanism 203A and the X-ray camera 203B (and the video camera) move at a constant speed around the table 201. The line camera 203B (and the camera for capturing a moving image) may be fixed at a fixed point, and the table 201 may be rotated at a constant speed (that is, rotated) at the fixed position. Also in this case, the movement may be uneven speed or intermittent movement.

X-ray photograph data and moving image data, which are still images captured by the imaging device 203 (the X-ray irradiation mechanism 203A and the X-ray camera 203B), are transmitted to the skeleton model creation and motion analysis block 211.
Here, as shown in FIG. 18, when an X-ray irradiation mechanism 203A and an X-ray camera 203B are installed on a rail 204 and an X-ray photograph and a moving image are taken while moving on the rail 204, the X-ray irradiation The mechanism 203A, the X-ray camera 203B, and the skeleton model creation and motion analysis block 211 are wirelessly connected, and the X-ray photograph data and the moving image data are wirelessly transmitted from the X-ray camera 203B to the skeleton model creation and motion analysis block 211. . In FIG. 18, an image in which the X-ray photograph data and the moving image data are transmitted to the skeleton model creation and motion analysis block 211 is indicated by a signal line SR.
On the other hand, although not shown, when the X-ray irradiation mechanism 203A and the X-ray camera 203B are fixed at a fixed point and the table 201 is rotated at a constant speed (rotation) at the fixed position, the X-ray photograph data It is also possible to send the moving image data to the analysis device 211 by wire (for example, a signal transmission cable). Of course, the X-ray photograph data and the moving image data can be transmitted to the analyzer 211 wirelessly.

The analysis device 211 shown in FIG. 18 will be described with reference to FIGS.
In the foot determination system 200 of FIGS. 14 to 17, a light beam or the like having a human body transmitting ability is not used for capturing an image of the subject M. In contrast, in the foot determination system 201 of FIG. 18, an X-ray photograph of the subject's ankle is taken using the X-ray irradiation mechanism 203A and the X-ray camera 203B.
Therefore, in the foot determination system 201, the skeletal model of the subject M can be directly created from the X-ray photograph taken from the entire circumference of the foot of the subject M, and the motion analysis of the skeletal model can be performed. Thus, the presence or absence of a foot abnormality or the location of a foot abnormality can be accurately determined. Therefore, in the skeleton model creation and motion analysis block 211 of the foot determination system 201, the stereoscopic image creation block 210A and the stereoscopic image motion analysis block in the skeleton model creation and motion analysis block 210 of the foot determination system 200 in FIGS. It does not have a block corresponding to 210B.

In FIG. 19 showing the skeleton model creation and motion analysis block 211 of the foot determination system 201, the skeleton model creation and motion analysis block 211 (portion surrounded by a broken line) includes a skeleton model creation block 211A and a skeleton model motion analysis block 211B. , An abnormal site identification block 211C, an abnormal site quantification block 211D, a storage block 211E, and a comparison block 211F. Reference numerals 211I and 211O indicate an input-side interface and an output-side interface, respectively.
The skeleton model creation and motion analysis block 211 is connected to the display device 22 via information signal lines IL229 and IL232, and is connected to the fall risk determination block 70 via information signal lines IL229, 230, IL232 and 233. Have been.
In FIG. 19, the information transmitted and received between the blocks via the information signal line IL is indicated by the symbol “A” for the X-ray photograph data, indicated by the symbol “B” for the moving image data, and indicated by the symbol “B” for the skeleton model data. Indicated by "D".

The skeleton model creation block 211A receives the X-ray photograph data captured by the X-ray camera 203B via the input side interface 211I and the information signal line IL221, and based on the X-ray photograph, the foot (foot sole) of the subject M It has a function of creating a skeletal model of the skeleton model from the top to the upper part of the heel, for example, below the knee (see step S213 in FIG. 20).
When a skeleton model is created in the skeleton model creation block 211A, the skeleton model is created on a case-by-case basis using existing and commercially available software in consideration of the characteristics and the like of the subject M.
Various functional blocks 211A to 211F of the skeleton model creation and motion analysis block 211 shown in FIG. 19 are configured by an information processing device such as a computer. However, the various functional blocks 211A to 211F can also be configured by an operator having specialized knowledge.

The control in the foot determination system 201 will be described mainly with reference to FIG.
Since the foot determination system 201 does not create a stereoscopic image, it does not execute the processing corresponding to steps S203 and S206 in FIG.
In FIG. 20, in step S211, an X-ray photograph (still image) of the foot of the subject M (a location from the sole to above the heel and below the knee) is taken by the X-ray irradiation mechanism 203A and the X-ray camera 203B.
In step S212, it is determined whether or not the radiograph has been taken over 360 degrees.
If the X-ray photography has not been completed for 360 degrees ("No" in step S212), the process returns to step S211. If 360 degrees has been completed ("Yes" in step S212), the process proceeds to step S213. In step S213, in the skeleton model creation block 211A (FIG. 19) of the skeleton model creation and motion analysis block 211, the X-ray photographs taken in steps S211 and S212 (the entire circumference of the rail 204 concentric with the table 201 on which the subject M is located). A skeletal model is created based on the

In FIG. 20, in step S214 performed at the same time as step S211 or with a slight time lag, a moving image of the foot of the subject M (from the sole to the upper part of the heel and below the knee) is photographed. Then, the process proceeds to step S215.
In step S215, in the abnormal part specifying block 211C (FIG. 19), the subject M is determined based on the X-ray photograph taken in steps S211 and S212 and the moving image taken in step S14, or based on the skeleton model created in step S213. Identify the presence or absence of abnormalities in the foot and the abnormal site.
In step S215, in the abnormal part quantification block 211D (FIG. 19), a numerical value of the degree of abnormality in the abnormal part is obtained based on the data on the abnormal part specified in the abnormal part specifying block 211C or directly on the X-ray photograph and the moving image. And quantification. Then, the process proceeds to step S216.

In step S216, the skeleton model motion analysis block 211B analyzes the motion of the skeleton model based on the skeleton model created in step S213 and the moving image captured in step S214. Then, the process proceeds to step S217.
In step S217, in the comparison block 211F, the motion analysis result (analysis data) of the skeleton model analyzed in step S216 is compared with the motion (moving image data, normal value) of the normal skeleton model stored in the storage block 211E. Then, the process proceeds to step S218.
Although not explicitly shown in FIG. 20, as a result of the comparison between the movement of the skeletal model in step S217 and the movement (normal value) of the normal skeletal model, the presence / absence of abnormalities in the foot of the subject M and abnormalities in the abnormal sites and abnormal sites in step S215 The result of quantification and quantification of the degree is displayed on the display device 22 (FIG. 19).

  In step S218, in the fall prevention guidance block 90 (FIG. 2), based on the comparison result between the movement of the skeletal model in step S217 and the normal movement of the foot (normal value), or the degree of abnormality in the abnormal part in step S215 Based on the results of the quantification and quantification of the above, a device or exercise suitable for improving, treating, or suppressing abnormalities of the foot is presented.

Since the foot determination system 201 of FIGS. 18 to 20 uses the X-ray irradiation mechanism 203A and the X-ray camera 203B, it is easy to obtain an X-ray photograph taken from the entire circumference of the foot of the subject M. Can be done. Then, the skeletal model of the subject M can be easily created directly from the X-ray photograph, similarly to the case where the CT scanner is used.
In addition, unlike the CT scanner, the movement of the skeletal model in the foot of the subject M can also be analyzed. Therefore, the presence of the abnormality in the subject M and the quantitative analysis of the abnormality become more accurate, and Suitable equipment and exercise can be presented.

Other configurations and operational effects of the foot determination system 201 of FIGS. 18 to 20 are the same as those of the foot determination system 200 of FIGS. 13 to 17.
In the foot determination systems 200 and 201, a type in which an imaging device (such as a camera) moves on a rail is illustrated, but a type in which the imaging device does not move on a rail, for example, the imaging device floats from the ground or flies. A type that moves by moving is also applicable.

It should be noted that the illustrated embodiment is merely an example, and is not a description to limit the technical scope of the present invention.
For example, in the illustrated embodiment, the center of gravity / arch / foot bone axis determination block 120, the skeleton model creation and motion analysis block 210 (211), the longitudinal posture control determination block 50, the lateral posture control determination block 60, the fall risk An input / output interface is provided for each of the determination blocks 70, and the control device 20 is not provided with an input / output interface. However, the input / output interface is provided in the control device 20, and the center of gravity / arch / foot bone axis determination block 120, the skeleton model creation and motion analysis block 210 (211), the longitudinal posture control determination block 50, and the lateral posture control determination block 60, the input / output interface may be omitted for each of the fall risk determination blocks 70.
In the illustrated embodiment, each of the centroid / arch / foot bone axis determination block 120 and the skeleton model creation / motion analysis block 210 (211) includes the storage blocks 120F, 210G, and 211E. It is also possible to provide a single storage block at 20 and configure the single storage block to play the storage blocks 120F, 210G, 211E shown.

1 to 7 Sensors (1) to (7) Sensor position 10 Fall analysis system 100 Foot measurement systems 110L and 110R Insoles 120 Center of gravity / arch Bone axis determination block 200 for the bones Foot determination system 201 Table 202 Camera 203A X-ray irradiation device 203B X-ray camera 300 Toe pressure measurement device 400 ... Leg strength measuring device M ... Subject

Claims (8)

  A device that has the function of determining the center of gravity, arch, and bone axis of the foot from the force acting on the predetermined position of the sole, and the function of determining the skeletal model of the point from the sole to the upper part of the heel, the motion analysis result, and the abnormality A device having a function of measuring a pressure between a toe and an adjacent toe, and a device having a function of measuring a muscular force sandwiching between both legs and a muscle force for widening an interval between the two legs. Fall analysis system.   A device having a function of determining a center of gravity, an arch, and a bone axis of a foot includes a member that contacts the sole of the foot, a sensor that measures a force acting on a predetermined position of the member, and an abnormality based on an output from the sensor. The fall analysis system according to claim 1, further comprising a control device having a function of determining the presence / absence of a fall.   The sensor is provided at a position corresponding to a calcaneal ridge, a cuboid, a fifth metatarsal head, a first metatarsal head, a middle cuneiform bone, and a center of the lateral foot arch of the member with which the sole of the foot contacts. The fall analysis system according to claim 2.   4. The fall analysis system according to claim 3, wherein the sensor is also provided on a thumb contact surface.   A device having a function of determining a skeletal model, a motion analysis result, and an abnormality in a portion from the sole to the upper side of the heel is provided with an imaging device, an imaging device that relatively moves at a constant speed in a circumferential direction of the imaging location, and an imaging device. An analysis device to which image data is input from the device, the analysis device has a function of creating a skeleton model to be determined based on the image data, and analyzes a movement of the skeleton model based on the skeleton model and the image data. The fall analysis system according to any one of claims 1 to 4, which has a function of performing a fall.   6. The fall analysis system according to claim 5, wherein the imaging device is an optical device having a function of capturing a still image and a function of capturing a moving image.   The fall analysis system according to claim 5, wherein the imaging device is a combination of a device having a function of irradiating a light beam having a human body transmission capability and a device having a function of capturing an image using a light beam having a human body transmission capability. Measure the force acting on a specific position on the sole, take a picture of the area from the sole to the upper part of the heel, measure the pressure between the toe and the adjacent toe, muscle strength between the legs and the distance between the legs Measuring the strength of the muscles
Determine the center of gravity, the arch, the bone axis of the foot, and the abnormality from the force acting on the predetermined position of the sole, and determine the skeletal model, the motion analysis result, and the abnormality from the data taken from the sole to the upper part of the heel, From the pressure between the toe and the adjacent toe, the overall muscle strength of the lower part from the knee is determined, and the muscle strength between the two legs and the muscle strength to widen the interval between the two legs are used to determine the adductor and abductor muscles of the hip joint. Determining muscle strength;
From the center of gravity, the arch, the bone axis of the foot, the skeletal model at the point from the sole to the upper part of the heel, the results of the motion analysis, the total muscle strength of the lower part from the knee, the adductor muscle of the hip joint, and the muscle strength of the abductor muscle A fall analysis method comprising a step of determining a risk of falling during walking or running.

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