Determining device and posture control device

Abstract

A determination device (100) includes a shaking detector (10) that detects shaking when a person moves and a controller (20). A frequency spectrum analysis is performed by decomposing shaking data output from the shaking detector (10) into frequency components. In a frequency spectrum obtained by the frequency spectrum analysis, a first peak value, a second peak value, and a third peak value appear in order from low to high frequencies. The controller (20) determines a state of the person's body based on the first peak value, the second peak value, and the third peak value.

Description

Technical Field

[0001] This invention relates to a determination device and a posture control device. Background Technology

[0002] If we can know a person's body state and posture in real time with high precision, we can obtain useful information in a wide variety of fields. For example, Patent Document 1 describes a technique for estimating a person's walking state and posture based on signals from an accelerometer installed on the human body.

[0003] Existing technical documents:

[0004] Patent documents:

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-41155. Summary of the Invention

[0006] The problem the invention aims to solve:

[0007] As an example, the subject of this invention is to provide a determination device that can determine the state of a person's body more simply and with higher accuracy than before.

[0008] Solution methods:

[0009] The aspect determination device of the present invention includes: a sway detector for detecting swaying during human movement; and a controller that performs spectral analysis by decomposing swaying data output from the sway detector into frequency components, wherein a first peak, a second peak, and a third peak appear in the spectrum obtained by the spectral analysis in order of frequency from low to high, and the controller determines the state of the human body based on the first peak, the second peak, and the third peak.

[0010] The effects of the invention:

[0011] The determination device of one aspect of the present invention achieves the effect of determining the state of a person's body more simply and with higher accuracy than before. Attached Figure Description

[0012] Figure 1 This is a diagram illustrating an example of a human body modeling while walking;

[0013] Figure 2A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [1];

[0014] Figure 2B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [1];

[0015] Figure 3A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [2];

[0016] Figure 3B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [2];

[0017] Figure 4A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [3];

[0018] Figure 4B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [3];

[0019] Figure 5 This is a diagram illustrating an example of the location of a person's center of gravity;

[0020] Figure 6 This is a diagram showing an example of the determination device in the first embodiment;

[0021] Figure 7 It is shown Figure 6 A diagram illustrating an example of the installation of a shaking detector;

[0022] Figure 8 This is a flowchart illustrating an example of the operation of the determination device in the first embodiment.

[0023] Figure 9A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 20 minutes after the start of the experiment [3]’s walking;

[0024] Figure 9B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 20 minutes after the start of the experiment [3]’s walking;

[0025] Figure 10A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 40 minutes after the start of the experiment [3]’s walking;

[0026] Figure 10B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 40 minutes after the start of the experiment [3]’s walking;

[0027] Figure 11AThis is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the start of the experiment [3]’s walking;

[0028] Figure 11B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the start of the experiment [3]’s walking;

[0029] Figure 12A This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the subject [3] started walking, and after the subject [3] had just rested and obtained water.

[0030] Figure 12B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the subject [3] started walking, and after the subject [3] had just rested and obtained water.

[0031] Figure 13 This is a diagram showing an example of a posture control device in a second embodiment. Detailed Implementation

[0032] [The process of obtaining a determination device of one aspect of the present invention]

[0033] The inventors have been engaged in the research and development of theoretical derivation of the position of the three-dimensional center of gravity (hereinafter, sometimes simply referred to as the center of gravity) on vehicles (e.g., container trucks) in the logistics industry using a sway detector installed on the vehicle. Some of the results have been disclosed in existing patents (e.g., Japanese Patent No. 4517107).

[0034] However, during such research and development, the inventors noticed that the above results are useful in determining the state of a person's body.

[0035] Specifically, in everything, there must exist a three-dimensional center of gravity (center of mass). Moreover, if an object's center of gravity is stable relative to disturbances, the object can maintain its posture. This is also true for humans. That is, it can be considered that the state of a person's body is closely related to the physical phenomenon of whether or not their center of gravity is stable relative to disturbances.

[0036] For example, assuming that a person's center of gravity is supported by muscles and bones, and that the body is bilaterally symmetrical, the human body can be viewed as a bilaterally symmetrical spring structure, and thus comprehensively modeled. If this assumption is reasonable, the location of a person's center of gravity can be determined based on the theories disclosed in the aforementioned existing patents.

[0037] First, a model of the human body during walking is constructed, and spectral analysis of the swaying data during walking is performed by measuring the swaying data. Then, the position of the human center of gravity is derived based on the theory disclosed in the aforementioned existing patent.

[0038] <Modeling of the human body during walking (spring construct)>

[0039] Figure 1 This is a diagram illustrating an example of a model of a person's body while walking.

[0040] According to the following reference 1,

[0041] Reference 1: Nurses' Complete Disease Category Series, Plastic Surgery, Chapter 1: Anatomy and Functions of Bones, Nerves and Skeletal Muscles, RECRUIT (C) Recruit Medical CAreer Co., Ltd.

[0042] The human body is supported by the lower limbs, which extend from the upper thighs. The lower limbs are designed for lateral rotation, making them a spring-like structure. The spine, located above the lower limbs, supports the upper body from the chest. The spine consists of 24 vertebrae and is supported by muscles such as the abdominal muscles, thus allowing for lateral rotation. From the collarbone upwards, muscles support the head, and the cervical vertebrae (the upper part of the spine) allow for lateral rotation of the head.

[0043] Therefore, the inventors believe that, as Figure 1 As shown, when a person walks, the body maintains its posture by the center of gravity GL of the entire body supported by the lower limb spring platform L, the center of gravity GM of the upper chest supported by the spine spring platform M, and the center of gravity GT of the head supported by the clavicle spring platform T. It is reasonable to model the human body when walking as shown in the figure.

[0044] <Spectral Analysis of Shaking Data>

[0045] The following subjects [1], [2], and [3] (hereinafter sometimes referred to as the subjects) wore engineering helmets equipped with sway detectors and walked on a flat road to obtain sway data output from the sway detectors. Specifically, the angular velocity data of the subjects' swaying during walking in the transverse direction (i.e., the width direction of the subjects' bodies) orthogonal to the subjects' walking direction and the acceleration data of the subjects' swaying during walking in the longitudinal direction (hereinafter sometimes referred to as the vertical direction) under the influence of gravity were measured.

[0046] Subjects [1]: Women in their early twenties (short and thin)

[0047] Subjects [2]: Males in their early 20s (tall and thin)

[0048] Subjects [3]: Men in their late 50s (of medium build, neither fat nor thin)

[0049] Figure 2A and Figure 2B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [1].

[0050] Figure 3A and Figure 3B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [2].

[0051] Figure 4A and Figure 4B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector during the walking of the subject [3].

[0052] Here, in Figure 2A , Figure 3A and Figure 4A In the diagram, the horizontal axis represents frequency (Hz), and the vertical axis represents angular velocity (deg / s). The angular velocity data is decomposed into frequency components to illustrate the spectral analysis results. Figure 2A , Figure 3A and Figure 4A In this study, the peak frequency of the angular velocity was specifically determined. This peak frequency was obtained by performing a Fourier transform on the time-series angular velocity data measured by the shaking detector, and was caused by the lateral swaying of the subjects' center of gravity during their walking.

[0053] exist Figure 2B , Figure 3B and Figure 4B In the diagram, the horizontal axis represents frequency (Hz), and the vertical axis represents acceleration (G). The results of the acceleration spectrum analysis are presented by decomposing the acceleration data into frequency components. That is, in Figure 2B , Figure 3B and Figure 4B In this study, the peak frequency of acceleration was specifically determined. This peak frequency was obtained by performing a Fourier transform on the time-series acceleration data measured by the sway detector, which was caused by the swaying in the vertical direction of the subjects' center of gravity during walking.

[0054] Furthermore, shaking the detector cannot completely eliminate mutual interference between sensitivity axes, therefore... Figure 2A , Figure 3A and Figure 4AThe spectrum of angular velocities shown contains disturbances in acceleration caused by swaying in the direction perpendicular to the subjects' center of gravity, and vice versa. Therefore, in Figure 2A and Figure 2B , Figure 3A and Figure 3B ,as well as Figure 4A and Figure 4B In the process, some waveforms caused by the aforementioned mutual interference were observed.

[0055] like Figure 2A , Figure 3A and Figure 4A As shown, in the spectrum obtained through spectral analysis, the first angular velocity peak PD1, the second angular velocity peak PD2, and the third angular velocity peak PD3 appear in order from low to high frequency. Moreover, the amplitudes (the values ​​of the angular velocities on the vertical axis of the figure) corresponding to the first angular velocity peak PD1, the second angular velocity peak PD2, and the third angular velocity peak PD3 decrease in that order.

[0056] Also, such as Figure 2B , Figure 3B and Figure 4B As shown, in the spectrum obtained through spectral analysis, the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 appear in order of increasing frequency. Moreover, the amplitudes (the acceleration values ​​on the vertical axis of the figure) corresponding to the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak decrease in that order.

[0057] Based on experience, when a person walks, the chest and head hardly feel any swaying, while the lower limbs sway more significantly (amplitude).

[0058] Furthermore, theoretically, the greater the mass of an object vibrating due to external forces, the slower the vibration of its center of gravity. That is, the greater the mass of such an object, the lower the frequency of its center of gravity swaying.

[0059] Based on the above, taking into account Figure 1 When modeling the human body, since the overall weight of the subjects' bodies supported by the lower limb spring platform L is the largest, it can be considered that the first peak angular velocity PD1 and the first peak acceleration PG1 are peaks caused by the swaying of the center of gravity GL in the upper part of the lower limbs when the person is walking.

[0060] Furthermore, since the head supported by the clavicle spring base T has the smallest weight, it can be assumed that the peak value of the third angular velocity PD3 and the peak value of the third acceleration PG3 are peak values ​​caused by the swaying of the center of gravity GT of the human head when walking.

[0061] Furthermore, since the weight of the chest supported by the spinal spring platform M is between the two weights mentioned above, it can be considered that the second angular velocity peak PD2 and the second acceleration peak PG2 are peaks caused by the swaying of the center of gravity GM in the upper part of the chest of a person walking.

[0062] Table 1 (below) shows the peak frequencies caused by the swaying of the center of gravity when subjects [1], [2] and [3] walk, based on the above assumptions.

[0063] [Table 1]

[0064] ,

[0065] <Derivation of the position of a person's center of gravity>

[0066] Next, based on the disclosure of the aforementioned existing patent (Patent No. 4517107), the positions of the three centers of gravity GL, GM and GT of a person walking are derived.

[0067] According to the aforementioned prior art, the height of the center of gravity on the paired spring structures is represented by the following formula (1). In addition, in the case of healthy individuals without lower limb impairment, since there is usually no displacement of the center of gravity in the lateral direction orthogonal to the direction of walking, the formula for representing the displacement of the center of gravity disclosed in the aforementioned prior art is not considered.

[0068] ,

[0069] In equation (1), l: height of center of gravity, α: center angle of rocking, b: width of spring base, v′: frequency of acceleration, v: frequency of angular velocity, g: gravitational acceleration, and π: pi. Furthermore, the derivation of equation (1) can be easily understood by referring to the aforementioned existing patents, therefore, the explanation is omitted.

[0070] In general, in the case of healthy individuals without lower limb impairment, since there is usually no lateral displacement of the center of gravity as described above, the swaying center angle α can be considered zero (α = 0). Therefore, equation (1) can be simplified to equation (2) as follows.

[0071] ,

[0072] Here, by substituting the frequencies recorded in Table 1 above into Equation (2), the height L1 of the center of gravity GL of the lower limb spring base L can be derived for each subject (refer to...). Figure 5 ), the height L2 of the center of gravity GM from the spinal spring base M (refer to Figure 5 ), and the height L3 of the center of gravity GT from the clavicle spring base T (refer to Figure 5 ).

[0073] However, in equation (2), in order to obtain the height of the center of gravity, the width b of the spring platform needs to be known.

[0074] According to the aforementioned reference 1, the width of the hip joint is equal to the shoulder width (the point where the clavicle and scapula intersect), which corresponds to the center of the muscle aggregation on both sides. Therefore, in the lower limb spring base L, the spine spring base M, and the clavicle spring base T, the width B1 of the lower limb spring base L (refer to...) Figure 5 ) and the width B3 of the clavicle spring base T (refer to Figure 5 They are almost identical.

[0075] In contrast, since the area of ​​the spinal spring base M is the assembly of abdominal muscles themselves, and it tightens towards the spine, the width B2 of the spinal spring base M (refer to...) Figure 5 It is slightly smaller than the widths B1 and B3 mentioned above. By analogy with the description in Reference 1, it can be assumed that the width B2 of the spinal spring base M is about 95% of the widths B1 and B3 mentioned above.

[0076] From the above, for each subject, for example by measuring the width B3 of the spring base T in the clavicle region, the width b of the spring base in equation (2) can be obtained.

[0077] Thus, for each subject, the following values ​​were obtained: height L1 from the lower limb spring base L to the center of gravity GL, height L2 from the spine spring base M to the center of gravity GM, and height L3 from the clavicle spring base T to the center of gravity GT.

[0078] Experimental subjects [1]: L1 = 0.141m, L2 = 0.133m, L3 = 0.134m

[0079] Subjects [2]: L1 = 0.150m, L2 = 0.150m, L3 = 0.150m

[0080] Experimental subjects [3]: L1 = 0.146m, L2 = 0.144m, L3 = 0.144m

[0081] The above center of gravity height demonstrates that, taking into account the general physique of an adult, the three peaks appearing in the spectrum obtained through the above spectral analysis are the following data: in order of frequency from low to high, the peak caused by the swaying of the center of gravity GL in the upper part of the lower limbs of a person walking, which is located closer to the position of the spinal spring base M; the peak caused by the swaying of the center of gravity GM in the upper part of the chest of a person, which is located closer to the position of the clavicle spring base T; and the peak caused by the swaying of the center of gravity GT in the head of a person.

[0082] Therefore, it can be considered that the three peaks appearing in the spectrum obtained through the above spectral analysis are useful information in determining the state of a person's body.

[0083] That is, the determination device of the first aspect of the present invention includes: a shaking detector for detecting shaking when a person moves; and a controller that performs spectrum analysis by decomposing the shaking data output from the shaking detector into frequency components, and in the spectrum obtained by the spectrum analysis, a first peak, a second peak, and a third peak appear in order of frequency from low to high, and the controller determines the state of the person's body based on the first peak, the second peak, and the third peak.

[0084] Based on the above structure, the determination device of this form can determine the state of a person's body more simply and with higher accuracy than before.

[0085] For example, in recent years, in the civil engineering industry, the accumulation of fatigue in high-temperature and high-humidity environments during summer has led to problems such as deteriorating worker health, reduced work efficiency, and increased errors. Furthermore, while methods for assessing fatigue levels include measuring blood sugar and heart rate, these data are significantly influenced by individual lifestyle habits, making it difficult to definitively indicate fatigue levels using standardized numerical values ​​or indicators. Additionally, traditional medical assessments relying on detailed hospital examinations cannot measure the accumulation of fatigue in real time, thus making them unsuitable for determining fatigue levels in civil engineering or logistics industries.

[0086] Here, people often experience swaying due to fatigue or lack of sleep. For example, if fatigue begins during certain tasks, swaying is more likely when walking. Moreover, there are situations where, as fatigue accumulates, the swaying becomes significant, and walking becomes difficult.

[0087] Through in-depth research, the inventors determined a clear difference in the swaying of a person when there is no accumulated fatigue in the normal state and when there is accumulated fatigue in the abnormal state. They discovered that based on the relationship between the amplitude of the peak caused by horizontal swaying in the above-mentioned spectrum, it is possible to determine the degree of fatigue in real time and with high precision. The following embodiment of the present invention was conceived.

[0088] That is, in the second aspect of the determination device of the present invention, the shaking detector is equipped with an angular velocity sensor that detects the angular velocity of the shaking of a person in a horizontal direction orthogonal to the direction of gravity. The first peak, the second peak, and the third peak each include a first angular velocity peak, a second angular velocity peak, and a third angular velocity peak, respectively. The controller determines the fatigue level of the person based on the magnitude relationship between the first amplitude corresponding to the first angular velocity peak, the second amplitude corresponding to the second angular velocity peak, and the third amplitude corresponding to the third angular velocity peak.

[0089] Here, in the third aspect of the determination device of the present invention, the first angular velocity peak value is the peak value caused by the horizontal swaying of the center of gravity located in the upper part of the lower limbs; the second angular velocity peak value is the peak value caused by the horizontal swaying of the center of gravity located in the upper part of the chest; and the third angular velocity peak value is the peak value caused by the horizontal swaying of the center of gravity located in the head.

[0090] Based on the above structure, this type of determination device can appropriately determine a person's fatigue level based on a general benchmark related to the swaying of a person's center of gravity, which is not easily affected by personal lifestyle habits. Furthermore, this type of determination device can be used, for example, in construction sites or logistics sites, where workers can simply wear a sway detector to determine their fatigue level in real time.

[0091] Here, as mentioned above, since the state of a person's body is considered to be closely related to physical phenomena such as whether the center of gravity is stable relative to disturbances, the inventors further studied the three peak frequencies that appeared in the spectrum obtained by the above-mentioned spectrum analysis.

[0092] <The resonance phenomenon caused by the swaying of the center of gravity>

[0093] First, in this specification, the vibration phenomenon of an object is defined as follows. Vibration phenomena are broadly classified into the following two types.

[0094] One scenario involves different forced vibrations causing their natural periods to overlap, resulting in an unstable increase in amplitude. In this case, the vibrating system becomes unstable and may lead to damage. This phenomenon is called unstable resonance.

[0095] In contrast, when a forced vibration excites another initially stationary object, the object begins to sway according to its own natural period. However, since it does not possess any motion element (forced vibration), the degree of vibration is stable, non-divergent, and smooth. This phenomenon is called stable resonation.

[0096] Here, Table 1 above also records the multiples of other peak frequencies relative to the peak frequency caused by the swaying of the center of gravity GL.

[0097] From Table 1, it is easy to understand that the following two clear correlations (1) and (2) are formed between the peak frequencies caused by the swaying of the subjects' centers of gravity GL, GM, and GT:

[0098] (1) The ratio of the peak frequencies of acceleration to integer multiples. That is, in the form that the peak frequency of acceleration caused by the swaying of the center of gravity GM is about twice the peak frequency of acceleration caused by the swaying of the center of gravity GL, and the peak frequency of acceleration caused by the swaying of the center of gravity GT is about three times the peak frequency of acceleration caused by the swaying of the center of gravity GL, respectively related to the peak frequency of acceleration;

[0099] (2) The ratio of the peak frequency of the angular velocity to an odd multiple. That is, the peak frequency of the angular velocity caused by the swaying of the center of gravity GM is about 3 times that of the peak frequency of the angular velocity caused by the swaying of the center of gravity GL, and the peak frequency of the angular velocity caused by the swaying of the center of gravity GT is about 5 times that of the peak frequency of the angular velocity caused by the swaying of the center of gravity GL, respectively, are related to the peak frequency of the angular velocity.

[0100] The above facts imply a resonance of swaying in the center of gravity GL, swaying in the center of gravity GM, and swaying in the center of gravity GT. The reasons are as follows.

[0101] According to reference 2, “Waken Sanshu, Mathematics for Physics, 6-4 Forced Vibration, Iwanami Shoten, pp. 168”, when the root frequency of the source of the sway is set as f0, when the restoring force is applied to the sway at other frequencies different from the root frequency f0, if there exists an integer n that makes the following equation (3) hold, then the sway at other frequencies also becomes significant, but the sway at the root frequency f0 is greater.

[0102] As described above, the phenomenon is called resonance. That is, the shaking caused by resonance refers to a passive and finite-sized shaking that corresponds to the root frequency in an integer multiple. Furthermore, since the energy source of the shaking caused by resonance is only the root shaking, the magnitude of the shaking caused by resonance is finite and does not diffuse.

[0103] ,

[0104] Furthermore, from correlation (1) and correlation (2), it can be understood that the peak frequencies caused by the swaying of the subjects' centers of gravity GL, GM and GT clearly show the relationship of equation (3).

[0105] Furthermore, as explained above, the center of gravity GL is located closer to the lower part of the spinal spring platform M; the center of gravity GM is located closer to the lower part of the clavicle spring platform T. Therefore, the spinal spring platform M and the clavicle spring platform T do not affect the swaying of the center of gravity corresponding to the other spring platforms below them.

[0106] Furthermore, because lighter mass results in a smaller and faster sway of the center of gravity, the swaying of the centers of gravity GM and GT resonates at integer multiples of their peak frequencies when the center of gravity GL sways. Consequently, the center of gravity GM sways faster but less than the center of gravity GL, and the center of gravity GT sways faster but less than the center of gravity GM. This demonstrates that in human movement, the body's balance is maintained autonomously.

[0107] Furthermore, as shown in Table 1, since the peak frequency of the angular velocity of the center of gravity GL is approximately half the peak frequency of the acceleration of the center of gravity GL, under the conditions of integer multiples and odd multiples of the frequency ratios described in related (1) and related (2), the swaying of the three centers of gravity is unlikely to resonate with each other, at least in the low frequency region of several Hz to tens of Hz. This is in Figure 2A and Figure 2B , Figure 3A and Figure 3B ,as well as Figure 4A and Figure 4B This is also clearly shown in the text. Furthermore, as mentioned above, resonance refers to the phenomenon where the combined amplitude of vibrations from different frequency sources is mathematically infinite or indeterminate at a specific frequency. Because the amplitude of the vibration is infinite or indeterminate, resonance can ultimately lead to the destruction of the vibration system, and therefore must be avoided at all costs. Thus, resonance is different from sympathetic resonance, which is a passive response with a finite amplitude relative to a vibration source.

[0108] In fact, in any of the subjects' data, the peak frequencies of angular velocity and acceleration in the spectrum did not overlap. This is proof that humans avoid resonance and utilize resonance effectively during movement.

[0109] Therefore, it can be assumed that the center of gravity GL, center of gravity GM, and center of gravity GT of a person resonate while maintaining their independence, thereby appropriately maintaining the person's posture. That is, even when the center of gravity GL of the whole body, supported by the lower limb spring base L, sways due to vigorous movements of the lower limbs caused by human actions (e.g., walking, working, etc.), the swaying of the center of gravity GM of the upper chest, supported by the spinal spring base M, is stabilized compared to the swaying of the center of gravity GL through the aforementioned resonance phenomenon. Furthermore, the swaying of the center of gravity GT of the head, supported by the clavicle spring base T, is stabilized compared to the swaying of the center of gravity GM through the aforementioned resonance phenomenon. In reality, a person feels almost no swaying in the chest and head when walking.

[0110] Through in-depth research, the inventors discovered an appropriate criterion for judging human fatigue by understanding the resonance of swaying in a person's center of gravity as described above, and conceived of the following aspect of the present invention.

[0111] That is, the determination device of the fourth aspect of the present invention may also be, in the determination device of the third aspect, in which the controller determines that the fatigue level of a person is normal when the first amplitude, the second amplitude and the third amplitude decrease in sequence.

[0112] That is, under the above circumstances, it can be considered that the normal level of a person's posture is maintained by the resonance of the center of gravity GL, center of gravity GM and center of gravity GT while maintaining their independence from each other.

[0113] Furthermore, the determination device of the fifth aspect of the present invention may also be, in the determination device of the third aspect, in which the controller determines the fatigue level of a person to be at the warning level when the first amplitude is less than the second amplitude but greater than the third amplitude, and the first amplitude is greater than the average value of the second amplitude and the third amplitude.

[0114] That is, in the above situation, a comparison is made between the first amplitude corresponding to the swaying of the body's center of gravity GL caused by the movement of the lower limbs due to human actions (e.g., walking, working, etc.) and the second amplitude corresponding to the swaying of the center of gravity GM located in the upper chest area caused by human actions. Due to the swaying of the person, the second amplitude of the latter is greater than the first amplitude of the former. However, in this stage, since the first amplitude is greater than the average of the second and third amplitudes, it can be considered that the center of gravity GL, center of gravity GM, and center of gravity GT exist in a state of maintaining the alertness level of the person's posture by resonating while maintaining independence from each other. In addition, the average of the second and third amplitudes is equivalent to the maximum amplitude when the swaying directions of the center of gravity GM and center of gravity GT are consistent.

[0115] Furthermore, the sixth aspect of the determination device of the present invention may also be, in the third aspect of the determination device, in which the controller determines that the fatigue level of a person is abnormal when the first amplitude is less than or equal to the second amplitude but greater than the third amplitude, and the first amplitude is less than or equal to the average of the second and third amplitudes.

[0116] That is, under the above conditions, a comparison is made between the first amplitude corresponding to the swaying of the body's center of gravity GL caused by lower limb movements due to human actions (e.g., walking, working, etc.) and the second amplitude corresponding to the swaying of the center of gravity GM in the upper chest caused by human actions. Due to human swaying, the second amplitude of the latter is greater than the first amplitude of the former. Furthermore, the first amplitude is less than the average of the second and third amplitudes. In this state, it can be considered that the center of gravity GM and center of gravity GT do not resonate with the movements of the lower limbs, resulting in an abnormal level where it is difficult for the person to maintain balance autonomously during movements.

[0117] [The process of obtaining a posture control device of one aspect of the present invention]

[0118] and Figure 5 As shown, the centers of gravity GL, GM, and GT are the same, and it can be easily inferred that even in humanoids capable of walking upright on two legs, there are three centers of gravity.

[0119] Here, through in-depth research, the inventors discovered that by utilizing the resonance phenomenon of the swaying center of gravity described above, it is possible to appropriately control the posture of a character-like figure during movement, and thus conceived of the following aspect of the present invention.

[0120] That is, the posture control device of the seventh aspect of the present invention is a device for controlling the posture of a humanoid figure capable of walking upright on two legs, comprising: a sway detector for detecting swaying during the movement of the humanoid figure; and a controller.

[0121] By decomposing the shaking data output from the shaking detector into frequency components and performing spectral analysis, the resulting spectrum shows a first peak, a second peak, and a third peak in ascending order of frequency.

[0122] The first, second, and third peaks are each caused by the swaying of the three centers of gravity existing in the humanoid figure.

[0123] The controller controls the posture of the character by making the swaying of the three centers of gravity resonate with each other.

[0124] The posture control device of the eighth aspect of the present invention may also be, in the posture control device of the seventh aspect, include a shaking detector comprising: an angular velocity sensor that detects the angular velocity of the shaking of the humanoid figure during movement in a horizontal direction orthogonal to the direction of gravity (hereinafter referred to as the vertical direction); and an acceleration sensor that detects the acceleration of the shaking of the humanoid figure during movement in the vertical direction.

[0125] The first peak, the second peak, and the third peak each include a first angular velocity peak and a first acceleration peak, a second angular velocity peak and a second acceleration peak, and a third angular velocity peak and a third acceleration peak, respectively.

[0126] The first, second, and third peak angular velocities are caused by the horizontal swaying of the three centers of gravity of the humanoid figure, respectively.

[0127] The first, second, and third acceleration peaks are caused by the vertical swaying of the three centers of gravity of the humanoid figure, respectively.

[0128] The controller controls the posture of the character by making the horizontal swaying of the three centers of gravity resonate with each other at odd multiples, while simultaneously making the vertical swaying of the three centers of gravity resonate with each other at integer multiples.

[0129] Based on the above structure, the posture control device of this form can appropriately control the posture of the humanoid figure by utilizing the resonance phenomenon of swaying at the three centers of gravity of the humanoid figure. That is, it can maintain the posture of the humanoid figure with the same natural balance as a human.

[0130] Furthermore, it can be argued that the posture control device of this form, compared with the past, can reduce the number of sensors required to maintain the posture of the humanoid figure, and at the same time simplify the control structure of the humanoid figure.

[0131] Hereinafter, specific examples of various aspects of the present invention will be described with reference to the accompanying drawings. The specific examples described below represent only one example of each of the above-described aspects. Therefore, the shapes, constituent elements, arrangement positions of constituent elements, and connection methods shown below are not limited to the above-described aspects unless they are described in the claims. Furthermore, constituent elements not described in the independent claims representing the highest-level concept of this aspect will be described as arbitrary constituent elements. Also, in the drawings, components marked with the same symbols are sometimes omitted from description. Furthermore, for ease of understanding, the drawings schematically represent each constituent element, and the shapes and size ratios are sometimes not accurately represented. Furthermore, in the operations described below, the order of each step can be changed as needed. Furthermore, other known steps can be added as needed.

[0132] (First implementation form)

[0133] [Device Structure]

[0134] Figure 6 This is a diagram showing an example of the determination device in the first embodiment.

[0135] like Figure 6As shown, the determination device 100 includes: a shaking detector 10; a transmitter 15; and a controller 20.

[0136] The shake detector 10 is a sensor that detects swaying during human movement. Furthermore, the shake detector 10 may have built-in functions such as converting analog signal data to digital signals, filtering to remove unwanted signals, and amplifying signals; however, these functions are well-known and will not be described further. Additionally, the shake detector 10 may also be equipped with a microprocessor to control the aforementioned functions.

[0137] Here, in the determination device 100 of this embodiment, the sway detector 10 includes an angular velocity sensor that detects the angular velocity of a person's swaying motion in a horizontal direction orthogonal to the direction of gravity (hereinafter referred to as the vertical direction). The angular velocity sensor can be of any structure as long as it can detect the angular velocity of such swaying motion.

[0138] For example, an angular velocity sensor can be a vibratory or capacitive gyroscope sensor. A gyroscope sensor can be a single-axis sensor, a dual-axis sensor, or a triaxial sensor.

[0139] Furthermore, the sway detector 10 is configured such that by installing it on a person, an angular velocity sensor detects the angular velocity of the person's horizontal swaying during movement, but the installation location is not particularly limited. For example, in the case of workers in the civil engineering industry installing the sway detector 10 on-site, such as... Figure 7 As shown, it can be easily secured to the head of the engineering helmet worn by the worker.

[0140] Furthermore, in addition to the aforementioned angular velocity sensor, the sway detector 10 also includes an acceleration sensor. The acceleration sensor can be of any structure, as long as it can detect the swaying acceleration caused by a person's movement in the vertical direction.

[0141] Transmitter 15 wirelessly transmits the shaking data output from shake detector 10 to receiver of controller 20. Transmitter 15 can be of any structure as long as it is capable of wirelessly transmitting such shaking data to receiver of controller 20. For example, transmitter 15 can be a Bluetooth (registered trademark) transmitter.

[0142] Here, as mentioned above, it can be considered that the state of a person's body is closely related to physical phenomena such as whether the center of gravity is stable relative to disturbances.

[0143] In this embodiment of the determination device 100, the shaking data output from the shaking detector 10 is decomposed into frequency components and subjected to spectrum analysis (Fourier transform). In the spectrum obtained by spectrum analysis, a first peak, a second peak, and a third peak appear in order of frequency from low to high. The controller 20 determines the state of the human body based on the first peak, the second peak, and the third peak.

[0144] Specifically, for example, when a person walks, such as Figure 2A , Figure 3A and Figure 4A As shown, the first peak, second peak, and third peak each include a first angular velocity peak PD1, a second angular velocity peak PD2, and a third angular velocity peak PD3, respectively. Furthermore, the first angular velocity peak PD1 is formed by the center of gravity GL located in the upper part of the lower limbs of the human body (refer to...). Figure 5 The peak value of the second angular velocity PD2 is caused by the horizontal swaying of the chest, and is caused by the center of gravity GM located in the upper part of the chest (refer to...). Figure 5 The peak value of the third angular velocity PD3 is caused by the horizontal swaying of the head, and is caused by the center of gravity GT (refer to the center of gravity GT of the head) located in the human head. Figure 5 The peak value is caused by horizontal shaking.

[0145] At this time, the controller 20 is based on the first amplitude A corresponding to the first angular velocity peak PD1. l The second amplitude A corresponding to the peak value of the second angular velocity PD2 m And the third amplitude A corresponding to the peak third angular velocity PD3 t The relative sizes of the two [items] are used to determine a person's level of fatigue.

[0146] As an example, controller 20 could also be configured to operate at the first amplitude A. l Second amplitude A m and the third amplitude A t If A decreases sequentially (i.e., as the first criterion), then... l >A m >A t In the case of [a specific condition], a person's fatigue level is determined to be at a normal level.

[0147] That is, under the above circumstances, as mentioned above, it can be considered that the normal level of a person's posture is maintained by resonating with each other while maintaining independence from one another.

[0148] Furthermore, as an example, controller 20 in the first amplitude A l For the second amplitude A m Below and greater than the third amplitude A t And the first amplitude A lGreater than the second amplitude A m and the third amplitude A t In the case of the average value (i.e., as the second criterion, A) m ≧A l >A t And A l > (A) m +A t In the case of 1 / 2), the fatigue level of a person is determined to be the alert level.

[0149] Here, the second amplitude A m and the third amplitude A t The average value is equivalent to the maximum amplitude when the swaying directions of the center of gravity GM and the center of gravity GT are consistent.

[0150] That is, in the above case, the first amplitude A corresponds to the swaying of the body's center of gravity GL caused by the movement of the lower limbs due to human actions (e.g., walking, working, etc.). l And the second amplitude A corresponding to the swaying of the center of gravity GM located in the upper chest caused by human movement. m In comparison, due to human movement, etc., the second amplitude A of the latter... m The first amplitude A of the former l That's all. However, during this stage, due to the first amplitude A... l Greater than the second amplitude A m and the third amplitude A t The average value of the center of gravity GL, center of gravity GM and center of gravity GT is considered to be a state in which the alertness level of a person's posture is maintained by resonating while maintaining mutual independence.

[0151] Furthermore, as an example, controller 20 in the first amplitude A l For the second amplitude A m Below and greater than the third amplitude A t And the first amplitude A l For the second amplitude A m and the third amplitude A t In cases where the average value is below (i.e., as the third criterion, A) m ≧A l >A t And A l ≦(A m +A t In the case of 1 / 2), the person's fatigue level is judged to be abnormal.

[0152] That is, under the above conditions, the first amplitude A corresponds to the swaying of the body's center of gravity GL caused by the movement of the lower limbs due to human actions (e.g., walking, working, etc.). LAnd the second amplitude A corresponding to the swaying of the center of gravity GM located in the upper chest caused by human movement. m In comparison, due to human movement, etc., the second amplitude A of the latter... m The first amplitude A of the former l That's all. Also, the first amplitude A... l Reaching the second amplitude A m and the third amplitude A t Below the average value. In this state, it can be considered that the center of gravity GM and center of gravity GT do not resonate with the movement of the lower limbs, which is an abnormal level in which it is difficult for a person to maintain the body's balance autonomously during movement.

[0153] Furthermore, the first, second, and third judgment criteria related to the fatigue level of the person mentioned above are examples, and are not limited to this example. For example, it is also possible that the controller 20, in the first amplitude A... l For the second amplitude A m Below, and the second amplitude A m The third amplitude A t In the following cases (i.e., as the fourth criterion, A) l ≦A m ≦A t In the case of [a specific situation], a person's fatigue level is determined as the emergency response level.

[0154] The controller 20 includes, for example, an arithmetic circuit (not shown) and a storage circuit (not shown) storing a program for performing the above-mentioned determination. Examples of arithmetic circuits include an MPU (Microprocessor Unit) and a CPU (Central Processing Unit). Examples of storage circuits include a memory. The controller 20 can be composed of a single controller performing centralized control, or it can be composed of multiple controllers cooperating to perform distributed control. Furthermore, in addition to executing the determination criteria of the controller 20, the program may also have the function of performing spectrum analysis (Fourier transform) by decomposing the shaking data output from the shaking detector 10 into frequency components.

[0155] Furthermore, the controller 20 may also include an operation setting device and a notification device (not shown). An operation setting device could be, for example, a keyboard. A notification device could be, for example, a display alarm or a sound alarm used by the operator to identify the controller 20's determination. The display alarm could be a display panel, lights, etc., but is not limited to these. The sound alarm could be, for example, a speaker, but is not limited to these. Such a controller 20 could also include a portable information terminal (e.g., a personal computer), but is not limited to these.

[0156] [action]

[0157] Next, an example of the operation of the determination device in the first embodiment will be described with reference to the accompanying drawings.

[0158] Figure 8 This is a flowchart illustrating an example of the operation of the determination device in the first embodiment.

[0159] Alternatively, the following actions can also be performed by reading the program from the storage circuit of the controller 20 through the controller 20's arithmetic circuit. However, it is not necessarily required that the controller 20 perform the following actions. The operator may also perform some of the actions.

[0160] For example, when workers are working on-site in the civil engineering industry, they begin their work by wearing an engineering helmet equipped with a vibration detector 10.

[0161] First, in step S1, angular velocity data output from the angular velocity sensor of the shaking detector 10 is sampled in a timely manner.

[0162] Next, in step S2, spectral analysis is performed by decomposing the angular velocity data into frequency components (FFT processing of the angular velocity data). Thus, as... Figure 2A , Figure 3A and Figure 4A As shown, in the spectrum obtained through spectral analysis, the first angular velocity peak PD1, the second angular velocity peak PD2, and the third angular velocity peak PD3 appear in order from low to high frequency. Therefore, the first amplitude A corresponding to the first angular velocity peak PD1 is specifically determined. l The second amplitude A corresponding to the peak value of the second angular velocity PD2 m The third amplitude A corresponding to the peak third angular velocity PD3 t (Step S3).

[0163] Next, in step S4, the first amplitude A obtained in step S3 is determined. l Second amplitude A m and the third amplitude A t Does the size relationship between them satisfy the first criterion (A)? l >A m >A t ).

[0164] If the aforementioned size relationship satisfies the first determination criterion (if "yes" is met in step S4), then in step S5, the worker's fatigue level is determined to be at a normal level. At this time, the notification device of the controller 20 is used to notify the worker that their fatigue level is at a normal level. After the notification, the actions following step S1 can also be restarted in step S1 as appropriate.

[0165] If the above-mentioned size relationship does not meet the first judgment criterion (if "no" is given in step S4), proceed to the next step 6.

[0166] In step S6, the first amplitude A obtained in step S3 is determined. l Second amplitude A m and the third amplitude A t Does the size relationship between them satisfy the second criterion (A)? m ≧A l >A t And A l > (A) m +A t ) / 2).

[0167] If the aforementioned size relationship satisfies the second determination criterion (if step S6 is "yes"), in step S7, the operator's fatigue level is determined to be at the warning level. At this time, the notification device of the controller 20 is used to notify the operator that the operator's fatigue level is at the warning level. After the notification, the actions following step S1 can also be restarted in step S1 as appropriate.

[0168] If the above size relationship does not meet the second judgment criterion (if step S6 is "No"), proceed to the next step 8.

[0169] In step S8, the first amplitude A obtained in step S3 is determined. l Second amplitude A m and the third amplitude A t Does the size relationship between them satisfy the third criterion (A)? m ≧A l >A t And A l ≦(A m +A t ) / 2).

[0170] If the aforementioned size relationship satisfies the third determination criterion (if step S8 is "yes"), then in step S7, the worker's fatigue level is determined to be abnormal. At this time, the notification device of the controller 20 is used to notify the worker that their fatigue level is abnormal.

[0171] After the above notification and if the above size relationship does not meet the third determination criterion (if step S8 is "No"), the actions after step S1 can be restarted in a timely manner in step S1.

[0172] [experiment]

[0173] An example of applying the first, second, and third criteria described above to determine the fatigue level of the test subject [3] while walking will be explained. Specifically, in the hot and humid summer, the test subject [3] wore an engineering helmet with a fixed shaking detector 10 and carried a backpack with a controller 20 while walking, thereby measuring the shaking data output from the shaking detector 10.

[0174] Figure 9A and Figure 9B This is a figure showing an example of the results of analyzing the shaking data output from the shaking detector 20 minutes after the start of the experiment [3].

[0175] Figure 10A and Figure 10B This is a diagram showing an example of the results of analyzing the shaking data output from the shaking detector 40 minutes after the start of the experiment [3]'s walking.

[0176] Figure 11A and Figure 11B This is a figure showing an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the start of the experiment [3]'s walking.

[0177] Figure 12A and Figure 12B The figure shows an example of the results of analyzing the shaking data output from the shaking detector 60 minutes after the subject [3] started walking, and after the subject [3] had just rested and obtained water.

[0178] in addition, Figure 9A , Figure 10A , Figure 11A and Figure 12A The horizontal axis, vertical axis, and peak frequency are related to Figure 4A The same applies, therefore the explanation is omitted. Also, Figure 9B , Figure 10B , Figure 11B and Figure 12B The horizontal axis, vertical axis, and peak frequency are related to Figure 4B Since they are the same, the explanation is omitted.

[0179] Here, as Figure 9A , Figure 10A , Figure 11A and Figure 12A As shown, in the spectrum obtained through spectral analysis, the first angular velocity peak PD1, the second angular velocity peak PD2, and the third angular velocity peak PD3 appear in order of increasing frequency. Table 2 below shows the first amplitude A corresponding to the first angular velocity peak PD1, based on the elapsed time from the start of the subject's [3] walking. lThe second amplitude A corresponding to the peak value of the second angular velocity PD2 m and the third amplitude A corresponding to the peak third angular velocity PD3 t .

[0180] [Table 2]

[0181] ,

[0182] First, such as Figure 9A As shown in Table 2, 20 minutes after the start of the experiment [3]'s walking, the first amplitude A l Second amplitude A m and the third amplitude A t The values ​​are “2.131”, “1.652”, and “0.958”, respectively. These values ​​meet the first criterion (A). l >A m >A t ).

[0183] This result implies that when the subjects [3] walk, the center of gravity GL, center of gravity GM and center of gravity GT in the subjects [3] resonate while maintaining their independence, thereby properly maintaining the human posture.

[0184] Therefore, during this phase, the fatigue level caused by walking in the subjects [3] was determined to be at a normal level.

[0185] In addition, such as Figure 9B As shown, in the spectrum obtained through spectrum analysis, the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 appear in order of frequency from low to high.

[0186] Next, as Figure 10A As shown in Table 2, 40 minutes after the start of the experiment [3]'s walking, the first amplitude A l Second amplitude A m and the third amplitude A t The values ​​are “2.132”, “2.141”, and “1.136”, respectively. These values ​​meet the second criterion (A). m ≧A l >A t And A l > (A) m +A t ) / 2).

[0187] This result means that when the subject [3] walks, due to the subject [3]'s swaying, etc., the second amplitude A m Become the first amplitude A l That's all. However, this result also means that, due to the first amplitude A...l Greater than the second amplitude A m and the third amplitude A t The average value of the center of gravity GL, center of gravity GM and center of gravity GT in the subject [3] resonates while maintaining their independence, thereby maintaining the person's posture.

[0188] Therefore, in this phase, the fatigue level caused by walking in the subjects [3] was determined as the alert level.

[0189] In addition, such as Figure 10B As shown, in the spectrum obtained through spectral analysis, the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 appear in order of frequency from low to high. These are relative to... Figure 9B No change was observed in the peak values ​​shown.

[0190] Next, as Figure 11A As shown in Table 2, 60 minutes after the start of the experiment [3]'s walking, the first amplitude A l Second amplitude A m and the third amplitude A t The values ​​are “1.653”, “2.154”, and “1.280”, respectively. These values ​​meet the third criterion (A). m ≧A l >A t And A l ≦(A m +A t ) / 2).

[0191] This result means that when the subject [3] walks, due to the subject [3]'s swaying, etc., the second amplitude A m Become the first amplitude A l That's all. Furthermore, this result means that, due to the first amplitude A... l Reaching the second amplitude A m and the third amplitude A t The average value is below that of the subjects [3]. Therefore, the center of gravity GM and center of gravity GT of the subjects [3] do not resonate with the movement of the lower limbs, and the subjects [3] have difficulty maintaining their balance on their own while walking.

[0192] Therefore, during this phase, the fatigue level caused by walking in the subjects [3] was determined to be abnormal.

[0193] Furthermore, as shown in 11B, in the spectrum obtained through spectral analysis, the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 appear in order of frequency from low to high. These are relative to... Figure 9B No change was observed in the peak values ​​shown.

[0194] Next, as Figure 12A As shown in Table 2, 60 minutes after the start of the experiment [3], and immediately after the experiment [3] had rested and obtained water, the first amplitude A l Second amplitude A m and the third amplitude A t The values ​​are “1.742”, “1.353”, and “0.568”, respectively. These values ​​meet the first criterion (A). l >A m >A t ).

[0195] This result implies that when the subjects [3] walk, the center of gravity GL, center of gravity GM and center of gravity GT in the subjects [3] resonate while maintaining their independence, thereby properly maintaining the human posture.

[0196] Therefore, during this phase, the fatigue caused by walking in the subjects [3] was recovered through sufficient rest, thus determining that the fatigue of the subjects [3] returned to normal levels.

[0197] In addition, such as Figure 12B As shown, in the spectrum obtained through spectral analysis, the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 appear in order of frequency from low to high. These are relative to... Figure 9B No change was observed in the peak values ​​shown.

[0198] As described above, the determination device 100 of this embodiment can determine the state of a person's body more simply and with higher accuracy than before.

[0199] For example, in recent years, in the civil engineering industry, the accumulation of fatigue in high-temperature and high-humidity environments during summer has led to problems such as deteriorating worker health, reduced work efficiency, and increased errors. Furthermore, while methods for assessing fatigue levels include measuring blood sugar and heart rate, these data are significantly influenced by individual lifestyle habits, making it difficult to definitively indicate fatigue levels using standardized numerical values ​​or indicators. Additionally, traditional medical assessments relying on detailed hospital examinations cannot measure the accumulation of fatigue in real time, thus making them unsuitable for determining fatigue levels in civil engineering or logistics industries.

[0200] In contrast, the determination device 100 of this embodiment can appropriately determine a person's fatigue level based on a general standard related to the swaying of a person's center of gravity, which is not easily affected by personal lifestyle habits. Furthermore, the determination device 100 of this embodiment can easily and in real time determine a worker's fatigue level simply by having the worker wear a sway detector 10, for example, in construction sites or logistics sites.

[0201] (Modified example)

[0202] In this embodiment, the controller 20 is described as determining the fatigue level of a person by using the sway detector 10 to detect the swaying of a person's center of gravity caused by the person's movements (e.g., walking, working, etc.).

[0203] However, the controller 20 can also determine, for example, a person's health status by using the sway detector 10 to detect the swaying that exists in a person's center of gravity caused by the person's movements (e.g., walking, working, etc.).

[0204] Specifically, for example, compared to healthy individuals, the center of gravity GL of the body supported by the lower limb spring seat L in unhealthy obese individuals tends to be closer to the center of gravity GM of the upper chest supported by the spinal spring seat M. Furthermore, compared to healthy individuals, the position of the lower limb spring seat L and the center of gravity GL are often closer in unhealthy obese individuals. Therefore, by decomposing the swing data output from the swing detector 10 into frequency components and performing spectral analysis (Fourier transform), in the spectrum obtained from the spectral analysis, when the first peak, second peak, and third peak appear in ascending order of frequency, these peaks are considered different in unhealthy obese individuals and healthy individuals.

[0205] Therefore, the controller 20 can determine a person's health status based on the first peak, the second peak, and the third peak.

[0206] In addition to the features described above, the determination device 100 of this modified example may be the same as the determination device 100 of the first embodiment.

[0207] (Second implementation form)

[0208] Figure 13 This is a diagram showing an example of a posture control device in a second embodiment.

[0209] like Figure 13 As shown, the posture control device 200 includes: a shaking detector 10; a transmitter 15; and a controller 20A.

[0210] Here, the description of the shaking detector 10 and the transmitter 15 is omitted because they are the same as in the first embodiment.

[0211] As mentioned above, with Figure 5 Similarly, it can be easily deduced that even in bipedal humanoids capable of walking upright, there are three centers of gravity, as shown by the center of gravity GL, center of gravity GM, and center of gravity GT.

[0212] In this embodiment of the posture control device 200, when the character moves, the swaying data output from the sway detector 10 worn on the character is decomposed into frequency components and subjected to spectrum analysis (Fourier transform). Thus, in the spectrum obtained through spectrum analysis, the first peak, the second peak, and the third peak, appearing in ascending order of frequency, are peaks caused by the swaying of the three centers of gravity present in the character (not shown), respectively. The controller 20A controls the posture of the character in a manner that resonates with the swaying of the three centers of gravity present in the character.

[0213] Specifically, the first peak, the second peak, and the third peak each include a first angular velocity peak PD1 and a first acceleration peak PG1, a second angular velocity peak PD2 and a second acceleration peak PG2, and a third angular velocity peak PD3 and a third acceleration peak PG3, respectively. Moreover, the first angular velocity peak PD1, the second angular velocity peak PD2, and the third angular velocity peak PD3 are peaks caused by horizontal swaying at the respective three centers of gravity of the humanoid figure, and the first acceleration peak PG1, the second acceleration peak PG2, and the third acceleration peak PG3 are peaks caused by vertical swaying at the respective three centers of gravity of the humanoid figure.

[0214] At this time, the controller 20A controls the posture of the humanoid figure by causing the horizontal swaying of each of the three centers of gravity to resonate with each other at odd multiples, while simultaneously causing the vertical swaying of each of the three centers of gravity to resonate with each other at integer multiples. Alternatively, in this case, the controller 20A controls the posture of the humanoid figure by making it difficult for the horizontal and vertical swaying of the three centers of gravity to resonate. This is achieved, for example, by offsetting the frequency corresponding to the lowest frequency of the horizontal swaying from the frequency corresponding to the lowest frequency of the vertical swaying by a predetermined frequency. As an example, the former frequency may be approximately half the latter frequency.

[0215] The controller 20A includes, for example, an arithmetic circuit (not shown) and a storage circuit (not shown) for storing a program used to perform the aforementioned posture control. Examples of arithmetic circuits include an MPU (Microprocessor Unit) and a CPU (Central Processing Unit). Examples of storage circuits include a memory. The controller 20A can be composed of a single controller performing centralized control, or it can be composed of multiple controllers cooperating to perform distributed control.

[0216] As described above, the posture control device 200 of this embodiment can appropriately control the posture of the humanoid by utilizing the resonance phenomenon of the swaying of the three centers of gravity existing in the humanoid. That is, it can maintain the posture of the humanoid with the same natural balance as a human.

[0217] Furthermore, it can be considered that the posture control device 200 of this embodiment can reduce the number of sensors required to maintain the posture of the humanoid character compared to the past, and at the same time simplify the control structure of the humanoid character.

[0218] Furthermore, the first embodiment, its variations, and the second embodiment can be combined with each other as long as they do not exclude each other.

[0219] Furthermore, based on the foregoing description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the foregoing description should be interpreted as illustrative only, provided to teach those skilled in the art the best mode of carrying out the invention. Details of its construction and / or function may be substantially changed without departing from the spirit of the invention.

[0220] Industrial availability

[0221] One aspect of the present invention can be used in a determination device that can determine a person’s physical condition more simply and with higher accuracy than before.

[0222] Symbol Explanation

[0223] 10: Shaking detector;

[0224] 15: Transmitter;

[0225] 20: Controller;

[0226] 20A: Controller;

[0227] 100: Determining device;

[0228] 200: Posture control device;

[0229] GL: Center of gravity;

[0230] GM: Center of gravity;

[0231] GT: Center of gravity;

[0232] L: Lower limb spring base;

[0233] M: Spinal spring base;

[0234] T: Clavicle spring base.

Claims

1. A determination device characterized by comprising: Possessing: a shake detector that detects a shake at the time of movement of a person; and a controller, spectrum analysis is performed by decomposing shake data output from the shake detector into frequency components, and in a frequency spectrum obtained by the spectrum analysis, in order from low to high frequencies, a first peak value, a second peak value, and a third peak value caused by a shake in the center of gravity of the person appear, the controller determines a state of holding of a posture of the person based on the first peak value, the second peak value, and the third peak value, the shake detector has an angular velocity sensor that detects an angular velocity of a shake in a horizontal direction orthogonal to a direction of action of gravity at the time of movement of the person, the first peak value, the second peak value, and the third peak value each include a first angular velocity peak value, a second angular velocity peak value, and a third angular velocity peak value, respectively, the first angular velocity peak value is a peak value caused by a shake in the horizontal direction of the center of gravity of an upper portion of a lower limb of the person, the second angular velocity peak value is a peak value caused by a shake in the horizontal direction of the center of gravity of an upper portion of a chest of the person, and the third angular velocity peak value is a peak value caused by a shake in the horizontal direction of the center of gravity of a head of the person, the controller determines a degree of fatigue of the person based on a magnitude relationship between a first amplitude corresponding to the first angular velocity peak value, a second amplitude corresponding to the second angular velocity peak value, and a third amplitude corresponding to the third angular velocity peak value.

2. The determination device according to claim 1, wherein the controller determines that the degree of fatigue of the person is at a normal level when the first amplitude, the second amplitude, and the third amplitude decrease in order.

3. The determination device according to claim 1, wherein the controller determines that the degree of fatigue of the person is at a warning level when the first amplitude is equal to or less than the second amplitude and greater than the third amplitude, and the first amplitude is greater than an average of the second amplitude and the third amplitude.

4. The determination device according to claim 1, wherein the controller determines that the degree of fatigue of the person is at an abnormal level when the first amplitude is equal to or less than the second amplitude and greater than the third amplitude, and the first amplitude is equal to or less than an average of the second amplitude and the third amplitude.

5. A posture control device characterized by comprising: is a posture control device that controls a posture of a humanoid that can walk on two feet upright, and possesses: a shake detector that detects a shake at the time of movement of the humanoid; and a controller, spectrum analysis is performed by decomposing shake data output from the shake detector into frequency components, and in a frequency spectrum obtained by the spectrum analysis, in order from low to high frequencies, a first peak value, a second peak value, and a third peak value appear, the shake detector has an angular velocity sensor that detects an angular velocity of a shake in a horizontal direction orthogonal to a direction of action of gravity, i.e., a vertical direction, at the time of movement of the humanoid, and an acceleration sensor that detects an acceleration of a shake in the vertical direction at the time of movement of the humanoid, The first peak, the second peak, and the third peak each include a first angular velocity peak and a first acceleration peak, a second angular velocity peak and a second acceleration peak, and a third angular velocity peak and a third acceleration peak, respectively, The first angular velocity peak is a peak caused by a horizontal direction sway of a first center of gravity present on an upper portion of a lower limb of the humanoid, the second angular velocity peak is a peak caused by a horizontal direction sway of a second center of gravity present on an upper portion of a chest of the humanoid, and the third angular velocity peak is a peak caused by a horizontal direction sway of a third center of gravity present on a head of the humanoid, The first acceleration peak is a peak caused by a vertical direction sway of the first center of gravity, the second acceleration peak is a peak caused by a vertical direction sway of the second center of gravity, and the third acceleration peak is a peak caused by a vertical direction sway of the third center of gravity, The controller controls the posture of the humanoid in such a manner that the respective horizontal direction sways of the first center of gravity, the second center of gravity, and the third center of gravity resonate with each other at an odd multiple of a frequency ratio, while the respective vertical direction sways of the first center of gravity, the second center of gravity, and the third center of gravity resonate with each other at an integer multiple of a frequency ratio.

Images