Method for displaying shift of center of gravity during walking

Abstract

To provide a display method of center of gravity movement during walking, by which it can be known which part of the bottom a center of gravity is on, and how much body weight movement can be performed, even in a walking practice assist robot having a load sensor on a walking surface of a treadmill.SOLUTION: In the method for displaying the movement of the center of gravity during walking, a COP (CenterOfPressure) is obtained based on loads measured by a plurality of load sensors disposed on a tread mill and coordinates of the load sensors, and the COP coordinates (21A - 1 to 21A - m, 21B - 1 to 21B - m) and distributions (22A, 22B) of the loads measured by the plurality of load sensors are displayed in an overlapping manner.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for displaying the movement of the center of gravity during walking. [Background technology]

[0002] Patent Document 1 describes displaying the legs and COP (Center Of Pressure) on a schematic diagram. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-190880 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a walking training assist robot in which the load sensor is positioned on the walking surface of the treadmill rather than on the soles of the robot legs, although the lighter weight of the robot legs allows for a more natural gait, there is a problem in that it is not possible to determine which part of the soles of the feet the center of gravity is on or how much weight is being transferred. [Means for solving the problem]

[0005] In one embodiment, the method for displaying the movement of the center of gravity during walking is to display the COP superimposed on the image of the load distribution on the foot. [Effects of the Invention]

[0006] According to the method of displaying the center of gravity shift during walking disclosed herein, even for a walking training assist robot that has a load sensor on the walking surface of a treadmill, it is possible to see where on the bottom the center of gravity is located and how much weight has been shifted. [Brief explanation of the drawings]

[0007] [Figure 1]1 is a block diagram showing an example of a display device for displaying center of gravity shift during walking according to a first embodiment; [Figure 2] FIG. 3 is a diagram showing an example of a method for displaying the shift in the center of gravity during walking according to the first embodiment. [Figure 3] FIG. 10 is a diagram showing the measurement results of a load sensor mounted on the walking practice assist robot. DETAILED DESCRIPTION OF THE INVENTION

[0008] Embodiment 1 Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram showing an example of a display device for displaying center of gravity shift during walking according to embodiment 1. In Fig. 1, a display device 10 includes a load measurement unit 11, a load information analysis unit 12, a treadmill 13, and an image display unit 14.

[0009] The load measuring units 11-1 to 11-n are load sensors arranged on the treadmill (n is the number of load measuring units). For example, the load measuring units 11-1 to 11-n are arranged on the treadmill so as to correspond to two-dimensional XY coordinates. The load measuring units 11 detect the load on the feet while walking. The load measuring units 11 output the detected load to the load information analysis unit 12.

[0010] The load information analysis unit 12 calculates the load distribution and COP based on the load information obtained from the load measurement units 11-1 to 11-n and the coordinates of the load measurement units 11-1 to 11-n. Then, information is generated to display the COP superimposed on the load distribution image in the image display unit 14. The COP is calculated using the following equations (1) and (2).

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[0011] The treadmill 13 has load measuring units 11-1 to 11-n on the walking surface. A patient undergoes walking rehabilitation on the treadmill 13.

[0012] The image display unit 14 displays information in which the COP is superimposed on the load distribution image generated by the load information analysis unit 12. For example, the image display unit 14 is preferably a liquid crystal display or an organic EL display.

[0013] Next, a method for displaying the shift of the center of gravity during walking according to the first embodiment will be described. Fig. 2 is a diagram showing an example of a method for displaying the shift of the center of gravity during walking according to the first embodiment. In Fig. 2, the COP is represented by circles 21A-1 to 21A-m and 21B-1 to 21B-m (m is an arbitrary natural number). Also in Fig. 2, the load distribution is represented by figures 22A and 22B connected by a straight line. The circle representing the COP may actually change color (for example, turn redder) as the amount of COP shift approaches the foot length, so that the amount of weight shift can be visually recognized. That is, in Figure 2, the load distribution image and COP trajectory are displayed superimposed on each other. The dotted lines are grid lines. The letter R in the upper left corner indicates the right foot. For comparison, Figure 3 shows the measurement results of the load sensor installed in the walking training assist robot.

[0014] Figure 2A shows an example of a normal gait display. During a normal gait (right foot), the foot moves from heel strike to toe off.

[0015] As shown in Figure 2A, by overlaying the load distribution image and the COP trajectory, the therapist can visually confirm where the center of gravity is in the foot. In Figure 2A, it can be seen that the COP has shifted to the medial side.

[0016] The load distribution at the first contact point is displayed at a predetermined starting point.

[0017] In the case of a normal gait, weight is transferred from heel contact to toe-off, so both the load distribution and COP are drawn upward from the origin.

[0018] FIG. 2B is an example of a display of an abnormal gait.

[0019] During an abnormal gait (right foot), the toe strikes the ground and the foot then moves to heel-off. In the case of an abnormal gait such as toe-on-ground and heel-off, both the load distribution and COP are plotted downward from the starting point, so even therapists can visually identify the abnormal gait.

[0020] In this way, according to the method for displaying the center of gravity shift during walking in the first embodiment, even for a walking training assist robot that has a load sensor on the walking surface of a treadmill, it is possible to know where on the bottom the center of gravity is and how much weight has been shifted.

[0021] The present invention is not limited to the above-described embodiments and can be modified as appropriate without departing from the spirit of the present invention. For example, each element shown in the drawings as a functional block performing various processes can be configured in hardware by a CPU, memory, and other circuits, and in software by a program loaded into memory. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware, software, or a combination thereof, and the present invention is not limited to any of these.

[0022] The above-described program can be stored in and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program can also be supplied to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can be supplied to a computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path. [Explanation of symbols]

[0023] 10 Display device 11 Load measurement section 12 Load information analysis section 13 Treadmill 14 Image display section

Claims

[Claim 1] COP (Center of Pressure) is calculated based on the load measured by a plurality of load sensors arranged on the treadmill and the coordinates of the load sensors; A method for displaying the movement of the center of gravity during walking, in which the COP coordinates and the distribution of loads measured by the plurality of load sensors are displayed in an overlapping manner.

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