Induction device

Abstract

To provide an inducing device capable of excellently inducing a user to change the direction of walking of the user.SOLUTION: An inducing device (1) according to the present disclosure is an inducing device for inducing a user to change direction in walking of the user, and includes a detection unit (2) configured to detect a supporting leg of the user, a determination unit (3) configured to determine whether the supporting leg of the user is a right leg or a left leg of the user, a setting unit (4) configured to set a direction of change in walking of the user, a turning force generation unit attached to a preset first part of the user and configured to cause a trunk of the user to turn, and a control unit (8) configured to control the turning force generation unit based on a determination result of the supporting leg of the user and the direction of change in walking of the user.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an induction device, for example, an induction device that induces a user to change the direction of their walking. [Background technology]

[0002] For example, the induction device of Patent Document 1 is configured to control four fluid actuators arranged to surround the part worn by the user, thereby applying pressure to specific locations to cause slight movements toward the surface of the user's skin, thereby inducing a rotational movement of the part worn by the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-42974 Summary of the Invention [Problem to be solved by the invention]

[0004] The applicant has found the following problem: The induction device of Patent Document 1 is configured to induce a rotational movement of the part worn by the user, but there is room for consideration of, for example, what should be the basis for control when inducing the user to change the direction of their walking.

[0005] The present disclosure has been made in consideration of such problems, and provides an induction device that can effectively induce a user to change the direction of their walking. [Means for solving the problem]

[0006] An induction device according to one aspect of the present disclosure is an induction device that induces a user to change the direction of walking, a detection unit that detects the user's supporting leg; a determination unit that determines whether the supporting leg of the user is the right leg or the left leg of the user; A setting unit that sets a turning direction of the user's walking; a rotation force generating unit that is attached to a predetermined first part of the user and causes a rotation of the trunk of the user; a control unit that controls the rotational force generating unit based on the determination result of the user's supporting leg and the direction of change in walking direction of the user; Equipped with.

[0007] The inducing device includes a flexion / extension force generating unit that is attached to a predetermined second part of the user and causes lateral bending of the user, It is preferable that the control unit controls the bending and stretching force generating unit based on the determination result of the user's supporting leg and the direction in which the user is turning while walking.

[0008] In the above-described induction device, when the supporting leg of the user is aligned with the direction of the change in the user's walking direction, the control unit controls the rotational force generating unit so that the user's trunk rotates in a direction equal to the direction of the change in the user's walking direction, and controls the flexion / extension force generating unit so that the user's trunk laterally flexes toward the direction of the change in the user's walking direction; When the user's supporting leg and the user's turning direction of walking are different, it is preferable that the control unit controls the rotational force generating unit so that the user's trunk rotates in the opposite direction to the user's turning direction of walking, and controls the flexion / extension force generating unit so that the user's trunk laterally flexes in the opposite direction to the user's turning direction of walking.

[0009] In the above-mentioned induction device, it is preferable that the first part is either a combination of a part at a height equal to the user's xiphoid joints and the user's knee when the user is in a standing position, or a combination of a part at a height equal to the user's shoulders and the user's pelvis.

[0010] In the inducing device described above, the first part is either a combination of a part at a height equal to the xiphoid of the user and the user's knee, or a combination of a part at a height equal to the user's shoulder and the user's pelvis, when the user is in a standing posture; When the first part is a combination of a part at a height equal to the xiphoid of the user and the knee of the user, the second part is the oblique muscles of the user and the erector spinae group of the user, or the flank of the user, When the first part is a combination of a part at a height equal to the shoulders of the user and the pelvis of the user, the second part is preferably the shoulders of the user. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to effectively induce a user to change the direction of their walking. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 2 is a block diagram showing the configuration of a control system of the induction device according to the embodiment. [Figure 2] FIG. 1 is a diagram for explaining the human descending kinetic chain. [Figure 3] FIG. 10 is a flowchart illustrating a process for inducing a user to change the direction of walking using the induction device according to the embodiment. [Figure 4] FIG. 1 is a diagram for explaining classification of changes in walking direction. [Figure 5] FIG. 1 is a diagram illustrating a step turn and a spin turn. DETAILED DESCRIPTION OF THE INVENTION

[0013] Specific embodiments to which the present disclosure is applied will be described in detail below with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings have been simplified as appropriate for clarity of explanation.

[0014] The induction device of this embodiment can be used to induce a user to change the direction of their walking. First, the configuration of the induction device of this embodiment will be described. Figure 1 is a block diagram showing the configuration of a control system of the induction device of this embodiment.

[0015] 1, the induction device 1 includes, for example, a detection unit 2, a determination unit 3, a setting unit 4, a first rotational force generation unit 5, a second rotational force generation unit 6, a bending and extension force generation unit 7, and a control unit 8. The detection unit 2 detects the supporting leg of the user.

[0016] 1, the detection unit 2 includes a first load sensor 2a and a second load sensor 2b. The first load sensor 2a and the second load sensor 2b may be disposed, for example, on the soles of the user's left and right shoes. However, the detection unit 2 may be, for example, an acceleration sensor attached to the user's leg or an external camera, as long as it can detect the user's supporting leg.

[0017] The determination unit 3 determines whether the user's supporting leg is the right leg or the left leg based on the detection result of the detection unit 2. The determination unit 3 can determine the user's supporting leg based on, for example, an increase or decrease in the detection results of the first load sensor 2a and the second load sensor 2b.

[0018] The setting unit 4 sets the direction in which the user will turn when walking. The setting unit 4 may be configured, for example, with a touch panel of a mobile device, and may be operated by a companion accompanying the user. The direction in which the user will turn when walking may be, for example, a right turn or a left turn.

[0019] The first rotational force generating unit 5 and the second rotational force generating unit 6 may be any means for generating a kinetic chain, such as a device that causes the user to rotate by supinating the left and right rear feet of the user, respectively, a device that causes the user to rotate by electrical stimulation, or a device that causes the user to rotate by using the hanger reflex, such as the induction device of Patent Document 1.

[0020] Here, Figure 2 is a diagram for explaining the human descending kinetic chain. As shown in Figure 2, when a person changes direction while walking, the kinetic chain occurs in the order of head → trunk → limbs. In other words, the closer you are to the position where the kinetic chain starts, the greater the impact on the person's movement.

[0021] Furthermore, when a person moves, there are points where each joint moves and points where it stops, and the axis of movement is formed at the point where it stops, so adding external input to the point where it stops will allow the person to move more naturally.

[0022] In this case, the place where a person stops when making a movement corresponds to, for example, a combination of a part at the same height as the person's navel (e.g., the navel or elbow), the knee, and the hind legs when the person is standing, or a combination of a part at the same height as the person's shoulder (e.g., the shoulder, armpit, or manubrium), the pelvis, and the hind legs.

[0023] Taking these into consideration, for example, the first rotational force generating unit 5 may be attached to a part at the same height as the user's navel, and the second rotational force generating unit 6 may be attached to the user's left and right knees, so that the user's trunk can be rotated around an axis that is close to the head where the kinetic chain begins and that connects two points where the person stops when moving. Alternatively, the first rotational force generating unit 5 may be attached to a part at the same height as the user's shoulders, and the second rotational force generating unit 6 may be attached to the user's pelvis.

[0024] In this case, for example, when causing the user's trunk to rotate to the right, a part at the same height as the user's navel is rotated to the right by the first rotational force generating unit 5, while the user's right knee is rotated outward by the second rotational force generating unit 6, and the user's left knee is rotated inward by the second rotational force generating unit 6.

[0025] On the other hand, for example, when causing the user's trunk to rotate to the left, a part at the same height as the user's navel is rotated to the left by the first rotational force generating unit 5, while the user's right knee is internally rotated by the second rotational force generating unit 6, and the user's left knee is externally rotated by the second rotational force generating unit 6.

[0026] Alternatively, for example, when causing the user's trunk to rotate to the right, a part at the same height as the user's shoulders can be rotated to the right by the first rotational force generating unit 5, while the user's pelvis can be rotated to the right by the second rotational force generating unit 6.

[0027] On the other hand, for example, to rotate the user's trunk to the left, a part at the same height as the user's shoulders may be rotated to the left by the first rotational force generating unit 5, while the user's pelvis may be rotated to the left by the second rotational force generating unit 6. These movements can be performed by controlling the fluids in the four fluid actuators using the inducing device of Patent Document 1, for example, to rotate each part of the user.

[0028] In this way, in this embodiment, the user's trunk is rotated using the first rotational force generating unit 5 and the second rotational force generating unit 6, with the axis that is close to the head where the kinetic chain begins and that connects two points where the person stops when moving as the rotation axis.This makes it easy to effectively rotate the user's trunk, and also allows the user's trunk to rotate naturally.

[0029] The flexion / extension force generating unit 7 may be any means for lateral flexing the trunk, such as a device that generates a stimulus to contract muscles that lateral flex the user's trunk, a device that generates a stimulus to contract muscles on one side of the user's shoulder (e.g., the trapezius muscle), or a device having actuators that respectively expand and contract the left and right sides of the user's trunk.

[0030] For example, when the first rotational force generating unit 5 is attached to a part at a height equal to the user's navel and the second rotational force generating unit 6 is attached to the user's left and right knees, the flexion and extension force generating unit 7 may be attached to the user so as to generate a stimulus that contracts one of the user's left and right oblique abdominal muscles and erector spinae muscle group.

[0031] Alternatively, for example, when the first rotational force generating unit 5 is attached to a part at a height equal to the user's navel and the second rotational force generating unit 6 is attached to the user's left and right knees, the flexion / extension force generating unit 7 may be attached to the user so as to be able to extend and contract the left and right sides of the user's trunk, respectively.

[0032] On the other hand, when the first rotational force generating unit 5 is attached to a part at the same height as the user's shoulders and the second rotational force generating unit 6 is attached to the user's pelvis, the bending and extension force generating unit 7 may be attached to the user so as to contract the left and right trapezius muscles, respectively. This allows the bending and extension force generating unit 7 to cause lateral bending of the user's trunk.

[0033] The control unit 8 controls the first rotational force generating unit 5, the second rotational force generating unit 6, and the bending / extending force generating unit 7 based on the determination result of the user's supporting leg and the user's walking turning direction. As will be described in detail later, for example, when the user's supporting leg and the user's walking turning direction are the same, the control unit 8 induces the user to make a step turn (i.e., a side step) to change their walking direction. On the other hand, when the user's supporting leg and the user's walking turning direction are different, the control unit 8 induces the user to make a spin turn (i.e., a cross step) to change their walking direction.

[0034] Next, a flow of inducing a user to change the direction of walking will be described using the inducing device 1 of this embodiment. Fig. 3 is a flowchart for explaining a flow of inducing a user to change the direction of walking using the inducing device of this embodiment.

[0035] Fig. 4 is a diagram for explaining the classification of changes in walking direction. Fig. 5 is a diagram for explaining step turns and spin turns. In Fig. 5, the foot in the supporting leg state at the start of induction is indicated by a black stamp, and the leg movement order when changing direction of walking is indicated by 1 to 3.

[0036] Here, for example, it is assumed that the companion has set in advance, via the setting unit 4, either a right turn or a left turn as the direction in which the user will turn when walking. In this state, the determination unit 3 determines whether the user's supporting leg is the right leg or the left leg of the user based on the detection result of the detection unit 2 (S1). Then, the control unit 8 determines, for example, whether the direction in which the user will turn when walking, set by the companion via the setting unit 4, is a right turn or a left turn (S2).

[0037] As shown in Figure 4, changes in walking direction can be classified into right turns (right leg / right) when the right leg is the supporting leg and the left leg is the swing leg, left turns (right leg / left) when the right leg is the supporting leg and the left leg is the swing leg, right turns (left leg / right) when the left leg is the supporting leg and the right leg is the swing leg, and left turns (left leg / left) when the left leg is the supporting leg and the right leg is the swing leg.

[0038] Next, the control unit 8 determines which of the categories of gait change the user falls into based on the determination result of the determination unit 3 and the direction of the change in gait (S3). When the gait changes direction toward the supporting leg, able-bodied people often change direction by stepping, which causes rotation and lateral bending of the trunk in the same direction as the change in gait direction.

[0039] Therefore, as shown in the diagram on the right side of Figure 5, when the user's supporting leg is the right leg and the user's walking direction is to turn right (right leg / right), the control unit 8 induces the user to change direction of walking to the right by a step turn.

[0040] In detail, the control unit 8 controls the first rotational force generating unit 5 and the second rotational force generating unit 6 so that the user's trunk rotates to the right, and also controls the bending / extension force generating unit 7 so that the user's trunk bends to the right (S4).

[0041] On the other hand, if the user's supporting leg is the left leg and the user's walking direction is to turn left (left leg / left), the control unit 8 induces the user to change direction of walking to the left by a step turn.

[0042] In detail, the control unit 8 controls the first rotational force generating unit 5 and the second rotational force generating unit 6 so that the user's trunk rotates to the left, and also controls the bending / extension force generating unit 7 so that the user's trunk bends to the left (S5).

[0043] Furthermore, when a gait direction is changed to the swing leg side, able-bodied people often change direction by a spin turn, which causes rotation and lateral bending of the trunk in the direction opposite to the direction of the change in gait. Therefore, as shown in the left diagram of Figure 5, when the user's supporting leg is the left leg and the user's gait direction is a right turn (left leg / right), the control unit 8 induces the user's movement to change the gait direction to the right by a spin turn.

[0044] In detail, the control unit 8 controls the first rotational force generating unit 5 and the second rotational force generating unit 6 so that the user's trunk rotates to the left, and also controls the bending / extension force generating unit 7 so that the user's trunk bends to the left (S6).

[0045] On the other hand, if the user's supporting leg is the right leg and the user's walking direction is to turn left (right leg / left), the control unit 8 induces the user to change the direction of their walking to the left by making a spin turn.

[0046] In detail, the control unit 8 controls the first rotational force generating unit 5 and the second rotational force generating unit 6 so that the user's trunk rotates to the right, and also controls the bending / extension force generating unit 7 so that the user's trunk bends to the right (S7).

[0047] This control may be continued until the supporting leg passes through a swing leg state and then returns to a supporting leg state, as shown in Fig. 5. This effectively induces the user to change the direction of their walking based on the supporting leg and the direction of their walking change.

[0048] In this way, the induction device 1 of this embodiment controls the first rotational force generating unit 5, the second rotational force generating unit 6, and the flexion and extension force generating unit 7 based on the judgment result of the judgment unit 3 and the walking direction change set via the setting unit 4, and can effectively induce the user to change the direction of walking.

[0049] Furthermore, in the induction device 1 of this embodiment, when the user's supporting leg and the turning direction of the user's walking are the same, the user is induced to change his / her walking direction by a step turn, and when the user's supporting leg and the turning direction of the user's walking are different, the user is induced to change his / her walking direction by a spin turn. Therefore, the user can be induced to walk in the same way as a healthy person.

[0050] Furthermore, in the induction device 1 of this embodiment, the first rotational force generating unit 5 and the second rotational force generating unit 6 are located close to the head where the kinetic chain begins, and rotate the user's trunk around an axis connecting two points where the person stops when performing a movement, making it easier to effectively rotate the user's trunk and allowing the user's trunk to rotate naturally.

[0051] Furthermore, the induction device 1 of this embodiment causes the user's trunk to bend laterally by the bending and extension force generating unit 7, and therefore can effectively generate a kinetic chain when the user rotates the trunk.

[0052] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the present disclosure. For example, although the inducing device 1 in the above embodiment is provided with the bending and stretching force generating unit 7, it may be omitted. For example, the induction device 1 of the above embodiment may be able to induce the user to change his / her walking direction, and may set the user's walking direction in association with the user's supporting leg via the setting unit 4. Furthermore, the user's walking direction may be set to change based on map information or the like when the user approaches a predetermined position. [Explanation of symbols]

[0053] 1 Inducer 2 detection unit, 2a first load sensor, 2b second load sensor 3 Judgment section 4. Settings 5. First rotational force generating section 6 Second rotational force generating section 7. Bending and extension force generating part 8 Control Unit

Claims

1. An inducement device that induces a user to change the direction of walking, a detection unit that detects the user's supporting leg; a determination unit that determines whether the supporting leg of the user is the right leg or the left leg of the user; A setting unit that sets a turning direction of the user's walking; a rotation force generating unit that is attached to a predetermined first part of the user and causes a rotation of the trunk of the user; a control unit that controls the rotational force generating unit based on the determination result of the user's supporting leg and the direction of change in walking direction of the user; An induction device comprising:

2. a bending / extension force generating unit that is attached to a predetermined second part of the user and causes lateral bending of the user; The inducing device according to claim 1 , wherein the control unit controls the bending and stretching force generating unit based on a determination result of the user's supporting leg and a direction in which the user is turning while walking.

3. When the supporting leg of the user and the turning direction of the user's walking are the same, the control unit controls the rotation force generating unit so that the trunk of the user rotates in a direction equal to the turning direction of the user's walking, and controls the flexion and extension force generating unit so that the trunk of the user flexes laterally toward the turning direction of the user's walking, 3. The induction device of claim 2, wherein when the user's supporting leg and the user's turning direction of walking are different, the control unit controls the rotational force generating unit so that the user's trunk rotates in a direction opposite to the user's turning direction of walking, and controls the flexion / extension force generating unit so that the user's trunk laterally flexes in a direction opposite to the user's turning direction of walking.

4. 4. The induction device according to claim 1, wherein the first part is either a combination of a part at a height equal to the user's xiphoid process and the user's knee when the user is in a standing position, or a combination of a part at a height equal to the user's shoulder and the user's pelvis when the user is in a standing position.

5. the first part is either a combination of a part at a height equal to a xiphoid of the user and the user's knee, or a combination of a part at a height equal to a shoulder of the user and the user's pelvis, when the user is in a standing posture; When the first part is a combination of a part at a height equal to the xiphoid of the user and the knee of the user, the second part is the oblique abdominal muscles and erector spinae group of the user, or the flank of the user, The induction device according to claim 2 , wherein when the first part is a combination of a part at a height equal to the shoulders of the user and the pelvis of the user, the second part is the shoulders of the user.

Images