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WO2018159731A1 - Système d'analyse de marche - Google Patents

Système d'analyse de marche Download PDF

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Publication number
WO2018159731A1
WO2018159731A1 PCT/JP2018/007679 JP2018007679W WO2018159731A1 WO 2018159731 A1 WO2018159731 A1 WO 2018159731A1 JP 2018007679 W JP2018007679 W JP 2018007679W WO 2018159731 A1 WO2018159731 A1 WO 2018159731A1
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WIPO (PCT)
Prior art keywords
footwear
analysis unit
contact
walking
diagnosis system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/007679
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English (en)
Japanese (ja)
Inventor
大地 岡部
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Japan Healthcare Inc
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Japan Healthcare Inc
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Filing date
Publication date
Application filed by Japan Healthcare Inc filed Critical Japan Healthcare Inc
Publication of WO2018159731A1 publication Critical patent/WO2018159731A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
    • A43D1/02—Foot-measuring devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Definitions

  • the present invention relates to a system that can analyze walking.
  • the object of the present invention is to provide a walking diagnosis system that can appropriately grasp the walking situation of a subject.
  • the object of the present invention is to provide a walking diagnosis system capable of presenting appropriate advice based on the grasped walking situation of the subject.
  • the present invention is basically based on the knowledge that a walking situation of a subject can be analyzed by analyzing the walking situation from footwear having a sensor, and appropriate advice can be given to each subject. is there.
  • the walking diagnosis system of the present invention is a footwear 1 and 3 corresponding to left and right feet, sensors 5 and 7 attached to the footwear, and footwear that transmits sensing data detected by the sensors 5 and 7 to an external device. And a transmission unit 11 attached thereto.
  • the external device has an analysis unit. This analysis unit uses the sensing data received by the external device, (1) Inclination of the footwear in the left-right direction when each of the left and right feet lands, (2) Time difference between heel contact and toe contact, and (3) Analysis of one or more of the direction of movement when the left and right feet each land and the difference in the orientation of the left and right feet by doing, Evaluate the walking situation of the subject.
  • the analysis part Furthermore, using the sensing data received by the external device, the maximum inclination of the buttocks when each of the left and right feet is separated from the ground is determined, and the subject's kick is evaluated from the maximum inclination of the calculated buttocks. There may be.
  • the sensing data received by the external device may be used to evaluate the subject's rhythm by obtaining a grounding time interval, which is the time interval until the next grounding after the left and right feet are grounded. .
  • the left / right balance of the subject may be evaluated by comparing the contact time intervals of the left and right feet using the sensing data received by the external device.
  • the analysis part Furthermore, using the sensing data received by the external device, (1) Time interval from buttocks contact to toe contact, (2) Interval of time from toe contact to heel-off, Obtain one or more of (3) the time interval from the toes to the toes and (4) the time from the toes to the buttocks. One or both of the left and right balances may be evaluated.
  • the sensing data received by the external device may be used to determine the subject's trip from the change in footwear acceleration and footwear movement, and the number of trips that the subject may have tripped over a predetermined period may be obtained. Good.
  • the walking evaluation score of the subject may be obtained from any one or two or more of the subject's landing, walking stability, kicking out, rhythm, and left / right balance.
  • the external device is A storage unit that records advice information to the subject based on the analysis result of the analysis unit;
  • the walking diagnosis system may further include an output unit that displays advice information to the subject.
  • the present invention can provide a walking diagnosis system that can appropriately grasp the walking situation of a subject.
  • the present invention can provide a walking diagnosis system capable of presenting appropriate advice based on the grasped walking situation of the subject.
  • FIG. 1 is a block diagram of the walking diagnosis system of the present invention.
  • FIG. 2 is a conceptual diagram showing the inclination of the footwear in the left-right direction.
  • FIG. 2A is a diagram illustrating a state in which the heel for the left foot is inclined leftward, there is no inclination, and the heel is inclined rightward.
  • FIG. 2B shows the inclination ( ⁇ ) of the footwear in the left-right direction.
  • FIG. 3 is a conceptual diagram for explaining a time difference between heel contact and toe contact (toe contact).
  • FIG. 3 (a) shows an example of dredging contact
  • FIG. 3 (b) shows an example where landing is performed with good timing.
  • FIG. 4 is a conceptual diagram for explaining a deviation between the traveling direction and the left and right feet when each of the left and right feet lands.
  • FIG. 4A shows that the right foot is inclined outward from the traveling direction (clockwise direction), the right foot is substantially coincident with the traveling direction, and the right foot is inward from the traveling direction (counterclockwise direction). Shows what is tilted.
  • FIG. 4B shows a deviation between the traveling direction and the left and right feet.
  • the direction of the foot may be, for example, a straight line connecting the heel (or the rearmost part of the foot) and the tip of a specific finger (for example, the middle finger).
  • FIG. 5 is a conceptual diagram showing the evaluation of stability.
  • FIG. 5 (a) shows inward (left side) and normal, FIG.
  • FIG. 6 is a conceptual diagram for explaining the maximum inclination of the heel portion when the left and right heel portions are separated from the ground.
  • FIG. 6A shows a desirable kicking out state with a large inclination
  • FIG. 6B is a conceptual diagram of kicking out with a small inclination.
  • FIG. 7 is an example of an output screen of the mobile terminal.
  • FIG. 1 is a block diagram of the walking diagnosis system of the present invention. As shown in FIG. 1, this system transmits footwear 1 and 3 corresponding to left and right feet, sensors 5 and 7 attached to the footwear, and sensing data detected by the sensors 5 and 7 to an external device. And a transmission unit 11 attached to the footwear.
  • An example of the external device is the smartphone 19.
  • the external device may be any device that can receive information from not only the smartphone but also the transmission unit 11 or the smartphone, perform various calculations, and transmit the information.
  • the external device further includes an output unit 17 such as a storage unit and a monitor.
  • footwear 1 and 3 are shoes, leather shoes, high heels, sports shoes, clogs, slippers, sandals, boots, and socks.
  • sensors 5 and 7 attached to footwear are a 6-axis sensor, a (3-axis) gyro sensor, and a (3-axis) acceleration sensor.
  • the 6-axis sensor is a sensor that can detect acceleration, direction, and rotation, and can also calculate a moving distance and a moving speed.
  • Another example of the sensor 5 is a sensor that senses pressure, a geomagnetic sensor, or a GPS (global positioning system) sensor.
  • An example of the transmission unit 11 is an antenna.
  • the transmission unit 11 is connected to the sensors 5 and 7 so that the sensing information can be received from the sensors 5 and 7. And the transmission part 11 transmits the sensing data which received sensing information from the sensors 5 and 7 toward an external device.
  • Sensing data includes the acceleration data and angular velocity data of the subject observed by the sensor according to the type of sensor.
  • the footwear 1 and 3 may be provided with a power source for supplying power to the sensor and the antenna, a switch for switching ON / OFF of the power source, a sensor, the antenna, and a control unit for controlling the power source.
  • An example of an external device is a computer.
  • the computer has an input unit, an output unit, a control unit, a calculation unit, and a storage unit. Then, the control program stored in the storage unit is read, and the control unit issues various commands. Further, the control unit reads various data stored in the storage unit, and causes the calculation unit to perform various calculations using the read data and data input from the input unit. Data obtained by the arithmetic processing performed by the arithmetic unit is appropriately stored in the storage unit and output from the output unit.
  • the input unit is an element for entering various data in the computer. Examples of the input unit are a keyboard, an interface, and an antenna.
  • the control program may be realized by hardware, may be a computer-readable program stored in the storage unit, or may be a computer-readable program recorded on a recording medium such as a CD-ROM. May be.
  • the external device has an analysis unit.
  • This analysis unit uses the sensing data received by the external device, (1) Inclination of the footwear in the left-right direction when each of the left and right feet lands, (2) Time difference between heel contact and toe contact, and (3) Analysis of one or more of the direction of movement when the left and right feet each land and the difference in the orientation of the left and right feet To evaluate the walking situation of the subject. This evaluation is mainly an evaluation of the landing situation of the subject.
  • sensing data includes acceleration and gyro data.
  • the analysis unit analyzes these data, and analyzes that either the left or right footwear touches the ground until the moving speed changes from the lower side to the upper side or when the position of the sensor is low.
  • FIG. 2 is a conceptual diagram showing the inclination of the footwear in the left-right direction.
  • FIG. 2A is a diagram illustrating a state in which the heel for the left foot is inclined leftward, there is no inclination, and the heel is inclined rightward.
  • FIG. 2B shows the inclination ( ⁇ ) of the footwear in the left-right direction.
  • the footwear is shown using high heels. However, footwear is not local to high heels.
  • the horizontal inclination of footwear is defined as 0 ° when the footwear is installed vertically downward.
  • the storage unit stores data on the inclination and evaluation of footwear in the left-right direction and evaluation points.
  • the evaluation and evaluation points are, for example, ⁇ and 100 points when the inclination is 0 to 5 °, ⁇ and 70 points when the inclination is 5 ° to 10 °, and 50 points when the inclination is 10 ° to 15 °.
  • an analysis part reads an evaluation and an evaluation score from a memory
  • the analysis unit may obtain a difference between the leftward inclination and the rightward inclination to obtain the left / right balance of the subject.
  • the storage unit stores evaluation regarding the difference and balance between the inclination to the left and the inclination to the right, and data regarding the evaluation point.
  • the evaluation and evaluation points are, for example, ⁇ and 100 points when the difference is 0 to 5 °, ⁇ and 70 points when the difference is 5 ° to 10 °, and 50 points when the difference is 10 ° to 15 °.
  • the analysis unit obtains the difference between the inclination to the left and the inclination to the right by using data on the inclination to the left and the inclination to the right.
  • the analysis unit reads the evaluation and the evaluation score according to the difference between the inclination in the left direction and the inclination in the right direction from the storage unit. In this way, the analysis unit can obtain a balance (balance at the time of ground contact) based on the inclination to the left and the inclination to the right.
  • the storage unit stores a threshold value regarding a difference between the leftward inclination and the rightward inclination
  • the analysis unit stores the threshold value and the difference between the obtained leftward inclination and the rightward inclination.
  • an alert indicating that the left / right balance is not good may be output.
  • this balance may obtain
  • FIG. 3 is a conceptual diagram for explaining a time difference between heel contact and toe contact (toe contact).
  • FIG. 3 (a) shows an example of dredging contact
  • FIG. 3 (b) shows an example where landing is performed with good timing.
  • the heel contact may be determined as heel contact when the rearmost part of the shoe touches the ground. If the footwear has a heel part such as a high heel, the heel contact will occur when the heel part contacts the ground. You may judge.
  • the toe contact may be the timing at which the front part of the shoe (the part in which the toe is accommodated) first contacts the ground.
  • the time from the state of FIG. 3A to the state of FIG. 3B may be the time difference between the heel contact and the toe contact.
  • the analysis unit grasps that the footwear on either the left or right foot first touched the ground from the data on acceleration or gyro when the footwear on the left or right touches the ground. This can be analyzed, for example, by using data to determine whether a part of the footwear is located near the ground or by determining a change in speed. For example, when the first grounded part is the fingertip part (front half part of the foot), the analysis unit stores the time when the fingertip part of the footwear is grounded in the storage unit. The analysis unit uses the data to analyze that the heel portion of the footwear is grounded. In addition, the analysis unit causes the storage unit to store the time when the heel portion of the footwear contacts the ground.
  • the analysis unit reads the time when the fingertip part of the footwear touches the ground and the time when the heel part of the footing touches the ground stored in the storage unit, and obtains a difference between them, thereby obtaining the heel grounding and the toes. Find the time difference from the ground.
  • the analysis unit stores the obtained time difference between the heel contact and the toe contact in the storage unit.
  • the storage unit stores evaluations and evaluation points based on the time difference between heel contact and toe contact.
  • the analysis unit reads, from the storage unit, evaluations and evaluation points corresponding to the obtained time difference between the heel contact and the toe contact using the data regarding the time difference between the obtained heel contact and the toe contact. In this way, the analysis unit analyzes the balance of walking (whether the time difference between the heel and the toe contact is too large) based on the difference between the heel contact and the toe contact.
  • FIG. 4 illustrates the difference between the direction of travel and the orientation of the left and right feet when each of the left and right feet lands. It is a conceptual diagram for.
  • FIG. 4A shows that the right foot is inclined outward from the traveling direction (clockwise direction), the right foot is substantially coincident with the traveling direction, and the right foot is inward from the traveling direction (counterclockwise direction). Shows what is tilted.
  • FIG. 4B shows a deviation between the traveling direction and the left and right feet.
  • the direction of the foot may be, for example, a straight line connecting the heel (or the rearmost part of the foot) and the tip of a specific finger (for example, the middle finger).
  • the traveling direction can be grasped by a gyro sensor or the like.
  • the analysis unit grasps the traveling direction of each of the left and right footwear from the data on acceleration and gyro when the left and right footwear touches the ground.
  • the analysis unit can analyze heel contact and toe contact as described above.
  • the analysis unit obtains the direction of the footwear (the direction of the footwear at the time of ground contact) from one or both of the heel contact and the toe contact from the data.
  • the analysis unit obtains an angle formed by the obtained traveling direction of the left and right footwear and the direction of the footwear at the time of ground contact (the traveling direction and the angle formed by the footwear).
  • the analysis unit appropriately stores the obtained traveling direction and the angle formed by the footwear in the storage unit.
  • the analysis unit can determine the deviation between the direction of travel when the left and right feet land and the direction of the left and right feet (the angle between the travel direction and the footwear). It should be straight or have an outward angle of 0 ° to 10 ° with respect to the direction of travel. For example, if you land inward for 20 ° or more, walk in the inner crotch, land for 30 ° or more outward. For example, an alert may be output to the subject as a crab crotch walking.
  • the evaluation unit and evaluation points based on the direction of travel and the angle formed by the footwear are stored in the storage unit.
  • the analysis unit reads, from the storage unit, evaluations and evaluation points corresponding to the calculated direction of travel and the angle between the footwear, using data regarding the direction of travel and the angle between the footwear. In this way, the analysis unit analyzes the balance of walking (whether or not the foot can be straightened) based on the direction of travel and the angle formed by the footwear.
  • the analysis unit may store the inclination of the footwear in the left-right direction when each of the left and right feet previously obtained landed in the storage unit a plurality of times.
  • FIG. 5 is a conceptual diagram showing the evaluation of stability.
  • FIG. 5 (a) shows inward (left side) and normal
  • FIG. 5 (b) shows normal and outward fall
  • FIG. 5 (c) shows the wobble.
  • the wobble angle is the same as the inclination of the footwear in the left-right direction described above.
  • storage part memorize
  • the inclination, evaluation and evaluation point of the footwear in the left-right direction may be used as they are.
  • An example of the threshold value for wobble is to be determined when both inward and outward falls are recognized during a certain number of steps.
  • the analysis unit reads, for example, the inclination of the footwear in the left-right direction when each of the left and right feet for a predetermined number of consecutive times has landed.
  • the fluctuation of the tilt is more than a certain threshold on both sides of the infall and the outer fall, it is assumed that there is wobble.
  • the analysis part is also.
  • the number of the slopes exceeding the threshold value and the maximum angle may be obtained to obtain a wobble value.
  • the wobble value is stored in the storage unit. In this way, the balance (stability) of walking is evaluated.
  • the storage unit stores evaluations based on wobble values and evaluation points.
  • the analysis unit reads the evaluation and the evaluation score corresponding to the obtained wobble value from the storage unit, using the data related to the obtained wobble value. In this way, the analysis unit analyzes the balance (stability) of walking based on the wobble value.
  • the analysis unit uses the sensing data received by the external device to determine the maximum inclination of the hips when each of the left and right hips is separated from the ground, and the subject's kicking is determined from the calculated maximum inclination. You may evaluate.
  • the maximum inclination when the left and right heels are separated from the ground means the maximum angle between the back of the footwear and the ground when the left and right heels are separated from the ground.
  • FIG. 6 is a conceptual diagram for explaining the maximum inclination of the heel portion when the left and right heel portions are separated from the ground.
  • FIG. 6A shows a desirable kicking out state with a large inclination
  • FIG. 6B is a conceptual diagram of kicking out with a small inclination.
  • the analysis unit grasps the timing of heel contact and toe contact. The case where the footwear is higher than the footwear position at that timing is when each of the left and right buttock leaves the ground.
  • the analysis unit obtains and stores the inclination of the buttocks using this data. Then, the stored inclination of the buttock is read, the read inclinations of the buttock are compared, and the largest inclination is stored in the storage unit as the maximum inclination of the buttock.
  • the maximum inclination of the buttock may be obtained every time from the toe separation to the buttock contact and stored in the storage unit. In this way, the maximum inclination of the buttocks when the left and right feet are separated from the ground is obtained.
  • the storage unit stores evaluations and evaluation points based on the maximum inclination of the buttocks.
  • the analysis unit reads the evaluation and the evaluation score corresponding to the obtained maximum inclination of the buttock from the storage unit, using the data regarding the determined maximum inclination of the buttock. In this way, the analysis unit analyzes the balance of walking (kicking out) based on the maximum inclination of the buttocks.
  • the evaluation points based on the balance of walking (kicking out) based on the maximum inclination of the buttocks thus obtained are xR4 and xL4 .
  • the angle formed by the traveling direction and the kicking direction can be obtained by the same concept as in FIG. 4, and can be evaluated by the same processing as in FIG.
  • the rhythm analysis unit evaluates the subject's rhythm by using the sensing data received by the external device to determine the contact time interval, which is the time interval from the time when the left and right feet touch the ground until the next contact. May be. This interval can be said to evaluate the timing of each step.
  • the grounding may be a buttock grounding or a toe grounding. As described above, the analysis unit obtains and stores the timing of buttocks contact (toe contact). The analysis unit may obtain the contact time interval using the stored timing of the buttocks contact (toe contact). And the analysis part should just memorize
  • the analysis unit reads the contact time interval at a predetermined number of steps from the storage unit.
  • the storage unit stores statistical values, evaluations based on the statistical values, and evaluation points.
  • the analysis unit reads the evaluation and evaluation score corresponding to the calculated statistical value from the storage unit using the calculated statistical value (eg, dispersion or deviation of the contact time interval). In this way, the analysis unit analyzes the walking balance (rhythm) based on the statistical values.
  • the calculated statistical value eg, dispersion or deviation of the contact time interval
  • the analysis part The left / right balance of the subject may be evaluated by comparing the contact time intervals between the left and right feet using the sensing data received by the external device. This comparison may be obtained, for example, by obtaining an average value of a plurality of contact time interval values obtained as described above, and the analysis unit comparing the left and right average values.
  • the storage unit stores evaluations and evaluation values corresponding to the comparison values (for example, the difference between the average values), and the analysis unit can read the evaluations and evaluation values from the storage unit based on the 13 comparison values obtained. That's fine.
  • the analysis part Furthermore, using the sensing data received by the external device, (1) Time interval from buttocks contact to toe contact, (2) Interval of time from toe contact to heel-off, Obtain one or more of (3) the time interval from the toes to the toes and (4) the time from the toes to the buttocks. One or both of the left and right balances may be evaluated.
  • This can be basically obtained by the analysis unit in the same manner as described above, and the evaluation and the evaluation value can be read from the storage unit. That is, by using the sensing data, the analysis unit can obtain the timing of the buttock grounding, the toe grounding, the heel-off, and the toe-off.
  • the analysis unit stores the obtained timing in the storage unit, reads the stored timing, obtains a time interval by taking the difference, and stores the obtained time interval in the storage unit. Since the storage unit stores evaluations and evaluation points corresponding to the time intervals, the analysis unit can read the evaluations and evaluation points corresponding to the obtained time intervals from the storage unit.
  • the evaluation points can be combined with x R5 , x L5 and x A3 and can be used as different evaluation points, or can be used instead of x R5 , x L5 and x A3 .
  • the analysis unit further uses the sensing data received by the external device to determine the subject's trip from changes in the acceleration of the footwear and changes in the movement of the footwear, and obtains the number of trips that the subject has tripped over a predetermined period It may be.
  • the maximum acceleration in the direction opposite to the advancing direction exceeded the threshold during a certain period of time before each landing on the right and left hips and before landing again, for example, half of the time when the foot was away In this case, it is judged that the legs have collided with each other or the ground and have ruc.
  • the storage unit stores evaluations based on the number of trips and evaluation points.
  • the analysis unit reads the evaluation and the evaluation score corresponding to the obtained number of trips from the storage unit using the data related to the obtained trip count. In this way, the analysis unit analyzes the balance of walking (stumbling) based on the number of trips.
  • the analysis unit may obtain a walking evaluation score of the subject from any one or two or more of the landing, walking stability, kicking out, rhythm, and left / right balance of the subject.
  • the storage unit stores the coefficient of each evaluation item. This factor can be changed.
  • an analysis part reads each evaluation score memorize
  • An analysis part calculates
  • analysis unit can determine the P, for example, as follows.
  • + P a 11 x R1 + a 12 x L1 + a 21 x R2 + a 22 x L2 + a 31 x R3 + a 32 x L3 + a 41 x R4 + a 42 x L4 + a 51 x R5 + a 52 x L5 + a 61 x R6 + a 62 x L6 + A 7 x A1 + a 8 x A2 + a 9 x A3
  • the storage unit stores comments and videos according to the evaluation points of each evaluation item. Then, the analysis unit reads the evaluation points of each evaluation item stored in the storage unit, compares them, and obtains the evaluation item having the lowest value or a predetermined number of evaluation items having the lowest value. The analysis unit reads out comments and moving images corresponding to the evaluation points from the storage unit using the obtained evaluation items and evaluation points, and transmits them to the terminal 19 of the subject.
  • the storage unit may store information (email address) of the terminal 19 of the subject.
  • the external device may be configured to download a stored comment or video in response to a request from the terminal 19 of the subject.
  • test subject's terminal 19 is a mobile terminal such as a mobile phone of the test subject.
  • Another example of the subject's terminal 19 is a computer that the subject can view.
  • FIG. 7 shows an example of the output screen of the mobile terminal.
  • the subject's landing, walking stability, kicking out, rhythm and left / right balance scores are displayed on the chart.
  • a comment corresponding to the measured evaluation or evaluation score is read from the storage unit and displayed on the display unit. This comment is displayed, for example, in order of walking stability, kicking out, rhythm, and left / right balance every day, and one item can be improved per day.
  • the present invention can be used in technical fields such as IoT, for example. Moreover, this invention can also be provided as applications, such as a smart phone.

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Abstract

Le problème décrit par la présente invention est de produire un système de diagnostic de marche apte à déterminer de manière appropriée un état de marche d'un sujet. La solution selon l'invention porte sur un système de diagnostic de marche comprenant des chaussures (1, 3) correspondant respectivement aux pieds gauche et droit, des capteurs (5, 7) fixés aux chaussures, et une unité de transmission (11) fixée aux chaussures en vue de transmettre des données de détection détectées par les capteurs (5, 7) à un dispositif externe. Le dispositif externe comporte une unité d'analyse qui évalue l'état de marche du sujet en utilisant les données de détection en vue d'analyser une, deux ou plus inclinaisons quelconques des chaussures à gauche ou à droite lorsque chacun des pieds gauche et droit touchent le sol, une différence temporel entre un contact de sol de talon et un contact de sol d'orteil, et un décalage entre la direction de progression et les orientations des pieds gauche et droit lorsque chacun des pieds gauche et droit touchent le sol.
PCT/JP2018/007679 2017-03-03 2018-03-01 Système d'analyse de marche Ceased WO2018159731A1 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113712536A (zh) * 2020-05-26 2021-11-30 李昀儒 基于步态分析的不平衡预警方法及穿戴装置
JP2022013405A (ja) * 2020-07-03 2022-01-18 日本電気株式会社 推定装置、推定方法、プログラム
JP2022151997A (ja) * 2021-03-29 2022-10-12 地方独立行政法人青森県産業技術センター 荷重バランス表示システムおよびプログラム

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