Walking assist device and computer program

Abstract

This walking assist device incorporates a function to adjust the heel height based on the user's walking pattern, thereby suppressing user discomfort from changing heel height while simultaneously improving stride length and walking speed, and reducing fatigue. [Solution] The system is configured to acquire the wearer's walking state and control the heel height adjustment unit 5 located on the sole of the wearer's shoe, thereby adjusting the heel height, which is the relative height of the heel to the toes on the sole of the wearer's foot, based on the wearer's walking state.

Description

Technical Field

[0001] The present invention relates to a walking assist device and a computer program for assisting a user's walking.

Background Art

[0002] Conventionally, when a wearer walks wearing shoes, as one means of assisting (promoting) the wearer's walking, by adjusting the height of the heel of the shoes particularly when the wearer walks, the walking is promoted. For example, in Japanese Patent Application Laid-Open No. 2009-101107, a shoe is disclosed in which an air chamber with an adjustable height is arranged in the sole portion on the heel side, and by adjusting the amount of air injected into the air chamber, the height of the heel with respect to the toe can be adjusted, and a technique for promoting walking by straight-legged walking by compensating for the insufficient height for straight-legged walking is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, as a means of improving walking speed or reducing fatigue, in addition to the method of performing straight-legged walking as described in Patent Document 1 above, there is a known method of increasing the potential energy that fluctuates during walking and using the increased potential energy as kinetic energy to improve stride length and walking speed. More specifically, similar to Patent Document 1 above, by raising the heel during walking, a difference in height is created between the heel and the toes, increasing the potential energy due to the movement of the center of gravity during walking. This increases the kinetic energy of the swing phase (the period when the foot is not touching the ground), and as a result, stride length increases and walking speed improves. Furthermore, since the improvement in stride length is due to the influence of potential energy, it is also possible to reduce fatigue.

[0005] However, while raising the heels while walking can be expected to improve stride length and walking speed as described above, it can also cause discomfort to the user. Unconditionally raising and lowering the heels may even cause problems with the user's walking.

[0006] The present invention was made to solve the aforementioned problems of the conventional invention, and aims to provide a walking assist device and computer program that, by having a function to adjust the heel height based on the user's walking state, suppresses the user's discomfort from changing the heel height, while also improving stride length and walking speed depending on the running state, and reducing fatigue. [Means for solving the problem]

[0007] To achieve the above objective, the walking assist device according to the present invention includes a walking state acquisition unit that acquires the user's walking state, a heel height adjustment unit that is located on the sole of the user's shoes and adjusts the heel height, which is the relative height of the heel to the toes on the sole of the user's foot, and a control unit that controls the heel height adjustment unit based on the user's walking state. Furthermore, "walking conditions" include, for example, walking speed, walking acceleration, the condition of the walking surface (slope, unevenness), the user's fatigue level, and whether or not they stop walking. Furthermore, "walking" is defined as any movement the user makes using their own feet, regardless of speed, so it includes situations that would generally be considered running.

[0008] Furthermore, the computer program according to the present invention is a computer program for assisting a user's walking. Specifically, the computer functions as a walking state acquisition means for acquiring the user's walking state, and a heel height control means for adjusting the heel height, which is the relative height of the heel to the toes on the sole of the user's foot, based on the user's walking state, by controlling a heel height adjustment unit located on the sole of the shoes worn by the user. [Effects of the Invention]

[0009] According to the walking assist device and computer program of the present invention having the above configuration, by providing a function to adjust the heel height based on the user's walking state, it is possible to suppress the user's discomfort from changing the heel height. On the other hand, by adjusting the heel height depending on the running state, it is possible to increase the potential energy that fluctuates during walking, and it is expected that the increased potential energy will be converted into kinetic energy to improve stride length and walking speed. Furthermore, it is also possible to reduce the feeling of fatigue. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of the walking assist shoe according to this embodiment. [Figure 2] This is a diagram illustrating the heel height adjustment mechanism. [Figure 3] This diagram illustrates the walking assistance function in walking assistance shoes. [Figure 4] This is a block diagram showing the configuration of a walking assist device. [Figure 5] This is a flowchart of the walking support processing program according to this embodiment. [Figure 6] This diagram illustrates an example of setting an upper limit for heel height based on the wearer's walking speed. [Figure 7]This diagram illustrates an example of setting the heel height correction amount for each step based on the wearer's walking acceleration. [Figure 8] This diagram illustrates an example of setting the heel height correction amount for each step based on a combination of the wearer's walking speed and walking acceleration. [Figure 9] This diagram illustrates an example of setting an upper limit for heel height based on the gradient of the road surface the wearer is walking on. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments of the walking assist device 1 according to the present invention will be described in detail with reference to the drawings. First, the schematic configuration of the walking assist shoe 2 equipped with the walking assist device 1 according to this embodiment will be described using Figure 1. Figure 1 is a schematic configuration diagram of the walking assist shoe 2 according to this embodiment. Although Figure 1 shows only the walking assist shoe 2 for the right foot, the walking assist shoe 2 for the left foot will have a symmetrical and identical structure.

[0012] As shown in Figure 1, the walking assist shoe 2 basically consists of an upper part 3 that covers the instep and heel of the wearer's (user's) foot, and a sole 4 that is the base part that comes into contact with the sole of the wearer's foot.

[0013] Here, the sole 4, particularly near the heel, includes a heel height adjustment unit 5 that adjusts the relative height of the heel to the toes on the wearer's sole (hereinafter referred to as heel height), a control unit 6 that performs various calculations based on input information and controls the heel height adjustment unit 5, a communication device 7 that communicates with a communication terminal held by the wearer of the walking assist shoe 2, a 6-axis sensor 8 that can detect acceleration and angular velocity in three axes (front / back, left / right, up / down), and a battery 9 that serves as a power source. However, the control unit 6, communication device 7, 6-axis sensor 8, and battery 9 do not necessarily have to be placed near the heel of the sole 4, and may be placed on the sole 4 or upper 3 other than near the heel. The walking assist device 1 includes the heel height adjustment unit 5, control unit 6, communication device 7, 6-axis sensor 8, and battery 9.

[0014] Next, among the elements included in the walking assist device 1, first, the heel height adjustment unit 5 will be described with reference to FIG. 2. Note that FIG. 2 is a schematic view particularly showing the heel height adjustment unit 5 from the side. Here, as shown in FIG. 2, the heel height adjustment unit 5 is disposed in an internal space 11 formed inside the vicinity of the heel of the sole 4, which is the sole of the wearer, and has a structure called a so-called lifting jack. Specifically, it includes an upper plate 12, a lower plate 13, a frame 14 that is attached in a crosswise pair between the upper plate 12 and the lower plate 13, a motor 15 that is an actuator driven and controlled by the control unit 6, and an outer member 16 fixed to the lower plate 13.

[0015] As shown in FIG. 2, the heel height adjustment unit 5 is configured such that the distance between the upper plate 12 and the lower plate 13 can be changed by adjusting the angle of the intersecting frames 14. One end of each of the frames 14 is rotatably and movably attached to the upper plate 12 and the lower plate 13 in the front-rear direction. The upper surface of the upper plate 12 is fixed to the heel portion of the sole 4, while the lower surface of the lower plate 13 is fixed to the outer member 16. The outer member 16 is supported so as to be movable in the vertical direction in the internal space 11. That is, adjusting the distance between the upper plate 12 and the lower plate 13 also corresponds to adjusting the heel height of the walking assist shoes 2.

[0016] On the other hand, the motor 15 can adjust the angle of the frames 14 arranged in a crosswise manner in the heel height adjustment unit 5 by rotational driving. For example, when the motor 15 is driven in a predetermined direction, the angle of the frames 14 (with respect to the horizontal direction) becomes larger, the distance between the upper plate 12 and the lower plate 13 widens, and the heel height of the walking assist shoes 2 increases. On the other hand, when the motor 15 is driven in the direction opposite to the predetermined direction, the angle of the frames 14 (with respect to the horizontal direction) becomes smaller, the distance between the upper plate 12 and the lower plate 13 narrows, and the heel height of the walking assist shoes 2 decreases. However, there are upper and lower limits to the adjustable distance between the upper plate 12 and the lower plate 13.

[0017] That is, in the walking assist device 1 of the present embodiment, the control unit 6 can adjust the heel height of the walking assist shoes 2 to an arbitrary height by controlling the motor 15.

[0018] Incidentally, for the above-described heel height adjustment unit 5, a space is provided inside the sole 4. However, it may be arranged between the outsole and the insole (the upper surface of the outsole). In the present embodiment, a lifting jack mechanism is adopted as a mechanism for adjusting the heel height. However, as long as the heel height can be adjusted, other mechanisms may be adopted. For example, a mechanism using pneumatic pressure may be used. Specifically, a bag body such as an airbag is arranged in the internal space 11, and a pump is arranged instead of the motor 15. Then, the heel height can be adjusted by controlling the amount of air injected into the bag body using the pump and the air pressure adjustment valve.

[0019] In addition to the above-described heel height adjustment unit 5, a cushioning member for absorbing shock may be arranged on the sole 4 of the walking assist shoes 2. The cushioning member has a shape adapted to the shape of the heel portion of the shoe. For example, it is formed of an airbag, urethane foam, silicon, sponge, gel material, cotton, etc., and its shape changes when an external load, more specifically, a load from the wearer's sole located above, is applied. Specifically, it has a function of being compressed in the vertical direction to relieve shock when a load is applied from above. It may also be a member having a resilience (i.e., a restoring force) against displacement, such as a spring or rubber.

[0020] Generally, when a person walks, weight is first placed on the heel when the sole of the foot makes contact with the ground, then gradually shifting towards the toes, and finally the weight-bearing toes leave the ground. This process is repeated. During walking, for example, a vertical shift of the center of gravity of about 2-3 cm occurs. The potential energy generated by this shift in the center of gravity is converted into kinetic energy to generate propulsion. Therefore, as shown in Figure 3, by raising the heel height during walking using the heel height adjustment part 5, a height difference with the toes is created, which increases the amount of vertical shift in the center of gravity and increases the potential energy generated by the center of gravity shift during walking. This increases the kinetic energy of the swing phase (the period when the foot is not touching the ground), and as a result, it is expected that stride length will increase and walking speed will improve. Furthermore, since the improvement in stride length is due to the influence of potential energy, it is also possible to reduce fatigue.

[0021] However, while raising the heel height using the heel height adjustment unit 5 during walking can be expected to improve stride length and walking speed as described above, it can also cause discomfort to the user. Therefore, in the walking assist device 1 of this embodiment, the heel height is adjusted depending on the wearer's walking state. For example, when the wearer is standing still or walking at a low speed, raising the heel height is likely to cause discomfort to the wearer, and it is also difficult to obtain the effect of improving stride length and walking speed, so the heel height is not raised. On the other hand, when the wearer is walking at a certain speed or higher, raising the heel height is less likely to cause discomfort to the wearer, and it is also expected to improve stride length and walking speed, so the heel height is raised. However, even when raising the heel height, it is controlled to change it gradually in stages rather than making a large change all at once.

[0022] On the other hand, the control unit 6 is an electronic control unit that controls the entire walking assist device 1, and is equipped with a CPU as a processing unit and control device, and RAM used as working memory for various calculation processes. In addition to controlling the heel height adjustment unit 5 mentioned above, the control unit 6 also has the function of acquiring the user's walking state by communicating with sensors and external terminals provided by the walking assist shoes 2. In other words, the control unit 6 also functions as a walking state acquisition unit.

[0023] As shown in Figure 4, the control unit 6 is connected to the motor 15 provided in the heel height adjustment unit 5 described above, and by transmitting a control signal, it is possible to control the motor 15 (i.e., adjust the heel height as shown in Figure 2).

[0024] Furthermore, the communication device 7 is a device for wireless communication such as Bluetooth (registered trademark), and by setting up pairing on the communication terminal 20 held by the wearer of the walking assist shoes 2, communication between the walking assist shoes 2 and the communication terminal 20 becomes possible.

[0025] Furthermore, the communication terminal 20 can be any terminal with communication capabilities, and may include not only smartphones but also tablet terminals, personal computers, etc.

[0026] Furthermore, the 6-axis sensor 8 is a sensor capable of detecting inertial force in a total of 6 axes, including acceleration in 3 axes (forward / backward, left / right, and up / down) and angular velocity in 3 axes. By integrating the detected values, it is also possible to detect walking speed in addition to acceleration, and it is also possible to identify the condition of the walking surface (slope, unevenness). In this embodiment, the control unit 6 acquires the wearer's walking state using the detection results of the 6-axis sensor 8 and adjusts the heel height based on the acquired walking state. The "wearer's walking state" includes, for example, walking speed, walking acceleration, the condition of the walking surface (slope, unevenness), the user's fatigue level, and whether or not walking has stopped. Details will be described later.

[0027] The battery 9 is a rechargeable battery used as a power source for each of the electronic components, such as the control unit 6, communication device 7, 6-axis sensor 8, and motor 15, and can be a lithium-ion battery or a nickel-metal hydride battery, for example. The battery 9 can be charged using a charger (not shown), for example, but the walking assist shoe 2 may also be equipped with a separate means for charging the battery 9 (for example, a solar charger). Alternatively, a small primary battery such as a button cell may be used as the power source for the walking assist shoe 2 instead of the battery 9.

[0028] Next, the walking support processing program executed by the control unit 6 in the walking assist device 1 according to the above embodiment will be described with reference to Figure 5. Figure 5 is a flowchart of the walking support processing program according to the above embodiment. Here, the walking support processing program is executed after the power of the walking assist device 1 is turned ON, and is a program that adjusts the heel height based on the wearer's walking state. Furthermore, the program shown in the flowchart in Figure 5 below is stored in the memory of the control unit 6 and executed by a processing unit such as a CPU.

[0029] First, in step 1 (hereinafter abbreviated as S), the control unit 6 acquires the wearer's running state based on the detection results of the 6-axis sensor 8. The 6-axis sensor 8 is a sensor capable of detecting acceleration in 3 axes (forward / backward, left / right, up / down) and angular velocity in 3 axes, and the control unit 6 acquires the wearer's current walking state based on these acceleration and angular velocity values ​​and displacement patterns. In particular, in this embodiment, the control unit 6 acquires whether the running state is "stopped (walking speed = 0)", "moving uphill", "moving downhill", or "walking (walking speed > 0)", and if walking, it acquires the walking speed and walking acceleration. Furthermore, it acquires whether the wearer's left and right feet are in the swing phase (period when the feet are not touching the ground) or the stance phase (period when the feet are touching the ground). In addition, if moving uphill or downhill, it acquires the angle (%) of the slope.

[0030] Next, in S2, the control unit 6 sets the upper limit of the heel height and the amount of heel height correction for each step based on the wearer's running state acquired in S1. Here, the "upper limit of the heel height" is the upper limit of the heel height that is recommended to be set for the wearer's current running state, and the control unit 6 controls the heel height adjustment unit 5 within a range where the heel height does not exceed the upper limit. However, in this embodiment, when changing the heel height of the walking assist shoe 2, it is done during the swing phase (the period when the foot is not touching the ground), but an upper limit is set on the amount of heel height displacement per step in order to not cause discomfort to the wearer. For example, even if there is a difference of 5 mm between the current heel height and the upper or lower limit of the heel height, the heel height is not displaced by 5 mm at once, but rather displaced in steps by a predetermined height (for example, 1 mm) with each step. The "amount of heel height correction" set in S2 corresponds to the amount of displacement per step when performing this stepwise displacement.

[0031] The following provides specific examples of how to set the upper limit of heel height and the correction amount for heel height per step based on the wearer's walking condition in S2. For example, Figure 6 shows an example of setting the upper limit of heel height based on the wearer's walking speed. As shown in Figure 6, when setting the upper limit of heel height based on the wearer's walking speed, the faster the walking speed, the higher the upper limit of heel height should be set. Also, when the walking speed is 0 km / h, i.e., when the wearer is stopped, the upper limit of heel height should be 0 mm, and when the walking speed is less than 1.5 km / h, i.e., when walking at a very slow speed, the upper limit of heel height should also be 0 mm. Note that the upper limit of heel height shown in Figure 6 is shown with the minimum heel height that can be set in the heel height adjustment unit 5 as 0 (reference value). For example, 5 mm indicates that it is 5 mm higher than the minimum heel height that can be set in the heel height adjustment unit 5. The reason for setting the upper limit of heel height in the manner shown in Figure 6 is as follows. In other words, when the wearer is standing still or walking at a slow speed, raising the heel height is likely to cause discomfort to the wearer, and it is also unlikely to improve stride length or walking speed. Therefore, the heel height should not be raised. On the other hand, when the wearer is walking at a certain speed or faster, raising the heel height is less likely to cause discomfort to the wearer, and it is also likely to improve stride length and walking speed. Therefore, the heel height should be raised in accordance with the walking speed.

[0032] Figure 7 shows an example of setting the heel height correction amount for each step based on the wearer's walking acceleration. Note that a positive acceleration value indicates acceleration in the direction of increasing velocity, and the larger the absolute value, the greater the increase in walking speed. On the other hand, a negative acceleration value indicates acceleration in the direction of decreasing velocity (also called deceleration), and the larger the absolute value, the greater the decrease in walking speed. Furthermore, regarding the heel height correction amount for each step, a positive value indicates that the heel height is corrected by that amount in the direction of increasing heel height, and a negative value indicates that the heel height is corrected by that amount in the direction of decreasing heel height. As shown in Figure 7, when setting the heel height correction amount for each step based on the wearer's walking acceleration, if the acceleration is positive (walking speed increases), a correction amount that increases the heel height is set, and if the acceleration is negative (walking speed decreases), a correction amount that decreases the heel height is set. Furthermore, the larger the absolute value of the walking acceleration, the larger the heel height correction amount for each step should be set. Also, if the absolute value of the walking acceleration is less than 0.5 m / s², that is, if the walking speed does not change or changes only slightly, the heel height correction amount for each step should be set to 0 mm. The reason for setting the heel height correction amount for each step in the manner shown in Figure 7 is as follows: In other words, when the wearer is walking at a constant speed or with a speed change close to constant, there is little need to adjust the heel height, and the wearer is likely to feel discomfort if the heel height is changed, so the heel height should not be adjusted. On the other hand, when the wearer is accelerating or decelerating significantly, there is a greater need to adjust the heel height to match the changing speed. Furthermore, in such situations, the wearer is less likely to feel discomfort even when the heel height is changed, so the heel height should be changed as much as possible in accordance with the magnitude of the acceleration.

[0033] Figure 8 shows an example of setting the heel height correction amount for each step based on the wearer's walking speed and walking acceleration. Note that if the acceleration is a positive value, it is acceleration in the direction of increasing speed, and the larger the absolute value, the greater the increase in walking speed. On the other hand, if the acceleration is a negative value, it is acceleration in the direction of decreasing speed (also called deceleration), and the larger the absolute value, the greater the decrease in walking speed. Furthermore, regarding the heel height correction amount for each step, a positive value indicates that the heel height is corrected by that amount in the direction of increasing heel height, and a negative value indicates that the heel height is corrected by that amount in the direction of decreasing heel height. As shown in Figure 8, when setting the heel height correction amount for each step based on the combination of the wearer's walking speed and walking acceleration, if the acceleration is positive (walking speed increases), a correction amount that increases heel height is set, and if the acceleration is negative (walking speed decreases), a correction amount that decreases heel height is set. Furthermore, the faster the walking speed and the larger the absolute value of the walking acceleration, the larger the heel height correction amount for each step should be set. In addition, if the walking speed is 0 km / h, i.e., stopped, or if the walking speed is less than 1.5 km / h, or if the absolute value of the walking acceleration is less than 0.5 m / s², i.e., if the walking speed has not changed or has changed only slightly, the heel height correction amount for each step should be set to 0 mm. The reason for setting the heel height correction amount for each step in the manner shown in Figure 8 is as follows. In other words, when the wearer is standing still, walking at a slow speed, or walking at a constant speed or with near-constant speed changes, there is little need to adjust the heel height, and the wearer is likely to feel discomfort if the heel height is changed, so the heel height should not be adjusted. On the other hand, when the wearer is walking at a certain speed or above, and is accelerating or decelerating significantly, there is a high need to adjust the heel height to match the changing speed, and in such situations, the wearer is less likely to feel discomfort even if the heel height is changed, so the heel height should be changed as much as possible to match the walking speed and the magnitude of acceleration.

[0034] On the other hand, Figure 9 shows an example of setting the upper limit of heel height based on the gradient of the road surface on which the wearer is walking. As shown in Figure 9, when setting the upper limit of heel height based on the gradient of the road surface on which the wearer is walking, the upper limit of heel height should generally be set higher the greater the uphill gradient. Also, for nearly flat road surfaces (gradient less than 1%) or if there is a gradient but it is a downhill slope, the upper limit of heel height should be set to 0 mm. Note that the upper limit of heel height shown in Figure 9 is shown with the minimum heel height that can be set in the heel height adjustment unit 5 as 0 (reference value). For example, 5 mm indicates that it is 5 mm higher than the minimum heel height that can be set in the heel height adjustment unit 5. The reason for setting the upper limit of heel height in the manner shown in Figure 9 is as follows: In other words, when the wearer is walking on a flat road surface, the load due to the gradient of the road surface is small, so the heel height should not be raised. In particular, when the wearer is walking on a downhill slope, raising the heel height increases the risk of falling, so the heel height should not be raised. On the other hand, when the wearer is walking on an uphill slope of a certain degree or greater, the load due to the slope of the road surface is significant, and raising the heel height can be expected to improve stride length and walking speed on uphill slopes. Therefore, the heel height should be raised in accordance with the slope.

[0035] Next, in S3, the control unit 6 determines whether the wearer is walking (walking speed > 0) based on the wearer's running state acquired in S1. However, very slow walking may not be considered walking, and the control unit may determine whether the walking speed is above a threshold (e.g., 1 km / h).

[0036] If it is determined that the wearer is walking (S3: YES), the process proceeds to S4 to adjust the heel height using the heel height adjustment unit 5. Conversely, if it is determined that the wearer is stationary (S3: NO), the process returns to S1 without adjusting the heel height using the heel height adjustment unit 5.

[0037] Next, in S4, the control unit 6 determines, based on the wearer's running state acquired in S1, whether the wearer's left and right feet are in the swing phase (the period when the feet are not touching the ground) or the stance phase (the period when the feet are touching the ground). Note that the determination in S4 is performed for each of the left and right feet.

[0038] If it is determined that either the wearer's left or right foot is in the swing phase (S4: YES), the system proceeds to S5 to adjust the heel height of the walking assist device 1 corresponding to the foot in the swing phase using the heel height adjustment unit 5. Conversely, if it is determined that neither the wearer's left or right foot is in the swing phase (S4: NO), the system returns to S1 without adjusting the heel height using the heel height adjustment unit 5.

[0039] In this embodiment, the walking assist device 1 is installed at the positions of the left and right soles of the wearer's feet, but the processing from S5 onward is performed on the walking assist device 1 corresponding to the foot that was determined to be in the swing phase in S4.

[0040] First, in S5, the control unit 6 determines whether the heel height correction amount for each step, set in S2, is a positive value. A positive value for the heel height correction amount for each step indicates that the heel height will be corrected by that amount in the direction of increasing the heel height, and as mentioned above, it is set based on the wearer's running condition (S2). For example, in the example shown in Figure 7, a positive value is set as the heel height correction amount for each step when the walking acceleration is 0.75 m / s² or more, and in the example shown in Figure 8, a positive value is set when the walking speed is 2 km / h or more and the walking acceleration is 1.0 m / s² or more.

[0041] Then, if it is determined that the heel height correction amount for each step set in S2 is a positive value (S5: YES), the process proceeds to S6. Conversely, if it is determined that the heel height correction amount for each step set in S2 is not a positive value (S5: NO), the process proceeds to S8.

[0042] In S6, the control unit 6 obtains the current heel height adjusted by the heel height adjustment unit 5. It then determines whether the current heel height is less than the upper limit set in S2.

[0043] If it is determined that the current heel height is less than the upper limit set in S2 (S6: YES), the process proceeds to S7 to adjust the heel height using the heel height adjustment unit 5. Conversely, if it is determined that the current heel height has reached the upper limit set in S2 (S6: NO), the process returns to S1 without adjusting the heel height using the heel height adjustment unit 5.

[0044] In S7, the control unit 6 drives the motor 15 by an amount of rotation corresponding to the correction amount set in S2. The motor is driven in a direction that increases the heel height. As a result, as shown in Figure 2, the angle of the frame 14 of the heel height adjustment unit 5 becomes larger, the gap between the upper plate 12 and the lower plate 13 widens, and the heel height of the walking assist shoe 2 increases by the correction amount set in S2. The correction amount set in S2 is the amount of heel height controlled for each swing phase, i.e., each step. As long as a positive value is set as the correction amount, the process in S7 is repeatedly executed with each step, and the adjustment ends when the heel height reaches the upper limit (S6:NO).

[0045] On the other hand, in S8, the control unit 6 determines whether the heel height correction amount for each step set in S2 is a negative value. A negative value for the heel height correction amount for each step indicates that the heel height will be corrected by that amount in the direction of decreasing the heel height, and as mentioned above, it is set based on the wearer's running condition (S2). For example, in the example shown in Figure 7, a negative value is set as the heel height correction amount for each step when the walking acceleration is -0.75 m / s² or less, and in the example shown in Figure 8, a negative value is set when the walking speed is 2 km / h or more and the walking acceleration is -1.0 m / s² or less.

[0046] Then, if it is determined that the heel height correction amount for each step set in S2 is a negative value (S8: YES), the process proceeds to S9. On the other hand, if it is determined that the heel height correction amount for each step set in S2 is not a negative value, i.e., 0 (S8: NO), the process returns to S1 without performing any heel height adjustment by the heel height adjustment unit 5.

[0047] In S9, the control unit 6 obtains the current heel height adjusted by the heel height adjustment unit 5. It then determines whether the current heel height is greater than the lower limit. The lower limit is the minimum heel height that can be adjusted by the heel height adjustment unit 5.

[0048] If it is determined that the current heel height is greater than the lower limit (S9: YES), the process proceeds to S10 to adjust the heel height using the heel height adjustment unit 5. On the other hand, if it is determined that the current heel height has reached the lower limit (S9: NO), the heel height cannot be lowered any further, so the process returns to S1 without adjusting the heel height using the heel height adjustment unit 5.

[0049] In S10, the control unit 6 drives the motor 15 by an amount of rotation corresponding to the correction amount set in S2. The motor is driven in the opposite direction to that in S7 and is a rotational direction that lowers the heel height. As a result, as shown in Figure 2, the angle of the frame 14 of the heel height adjustment unit 5 becomes smaller, the gap between the upper plate 12 and the lower plate 13 narrows, and the heel height of the walking assist shoe 2 is lowered by the correction amount set in S2. The correction amount set in S2 is the amount of heel height controlled for each swing phase, i.e., each step, so as long as a negative value is set as the correction amount, the process in S10 is repeatedly executed with each step, and the adjustment is terminated when the heel height reaches the lower limit (S9:NO).

[0050] According to the above walking support processing program, when the wearer's walking speed is increasing (accelerating), the heel height is gradually increased within a range where the current heel height does not exceed the upper limit. When the wearer's walking speed is decreasing (decelerating), the heel height is gradually decreased within a range where the current heel height does not fall below the lower limit. The upper limit is set to a recommended value based on the walking speed and the gradient of the road surface.

[0051] Furthermore, the processes S1 to S10 described above are basically repeated until the power to the walking assist device 1 is turned off.

[0052] Furthermore, the control unit 6 can operate the communication device 7 to establish a communication state with the communication terminal 20 held by the wearer of the walking assist shoes 2 via a communication means such as Bluetooth. In particular, it establishes a communication state for both the right and left walking assist shoes 2. The necessary identification information (e.g., address) for communication is stored in memory.

[0053] Furthermore, when connected to the communication terminal 20 as described above, the wearer can make various settings related to the walking assist device 1 by operating the communication terminal 20. Specifically, it is possible to set whether or not to adjust the heel height of the walking assist shoes 2 being worn. In addition, in S2, the upper limit of the heel height and the amount of heel height correction for each step are automatically set by the device based on the wearer's running state, but the wearer may also set any desired value for at least one of the upper limit of the heel height and the amount of heel height correction for each step by operating the communication terminal 20. It is also possible to set the lower and upper limits of the applicable values.

[0054] As described in detail above, according to the walking assist device 1 and the computer program executed by the walking assist device 1 according to this embodiment, the walking state of the wearer is acquired (S1), and the heel height adjustment unit 5 located on the sole of the shoes worn by the wearer is controlled to adjust the heel height, which is the relative height of the heel to the toes on the sole of the wearer's foot, based on the wearer's walking state (S3~S8). This makes it possible to suppress discomfort for the wearer when the heel height is changed. On the other hand, by adjusting the heel height depending on the running state, it is possible to increase the potential energy that fluctuates during walking, and it is expected that the increased potential energy will be converted into kinetic energy to improve stride length and walking speed. It is also possible to reduce fatigue. Furthermore, the control unit 6 acquires the wearer's walking speed as part of their walking condition, and controls the heel height adjustment unit 5 based on the wearer's walking speed, making it possible to adjust the heel height while considering the walking speed. For example, in situations where heel height adjustment should not be made, such as when the pedestrian is stopped, the wearer can avoid adjusting the heel height, thereby reducing discomfort. On the other hand, in situations where an improvement in stride length or walking speed can be expected, such as when walking at a relatively fast pace, adjusting the heel height can be expected to have the desired effect. Furthermore, the control unit 6 sets an upper limit for heel height based on the wearer's walking speed (S2), and controls the heel height adjustment unit 5 to adjust the heel height with each step within a predetermined correction unit range, so as not to exceed the upper limit. The faster the wearer's walking speed, the higher the upper limit for heel height is set, so by adjusting the heel height in stages, it is possible to suppress discomfort for the wearer caused by heel height adjustments. In addition, the faster the walking speed, the greater the heel height can be adjusted, so a particularly good effect on improving stride length and walking speed can be expected. Furthermore, the wearer's walking acceleration is acquired as part of their walking state (S2), and a correction amount is set based on at least one of the wearer's walking speed and walking acceleration. The faster the wearer's walking speed or the larger the absolute value of the walking acceleration, the larger the correction amount is set. Therefore, by adjusting the heel height in stages, it is possible to suppress discomfort for the wearer caused by adjusting the heel height. In addition, by changing the heel height as much as possible in accordance with the magnitude of the walking speed and walking acceleration, the effects of adjusting the heel height can be expected.

[0055] [Note] The embodiments described above also disclose the following inventions. In the following description, the names and expressions of corresponding components in the embodiments, as well as the reference numerals used in the drawings, are indicated in parentheses for reference. However, the components of each invention are not limited to these indications.

[0056] (Invention A) A gradient acquisition unit (6) acquires the gradient of the road surface on which the user walks, A heel height adjustment unit (5) is located on the sole of the shoe worn by the user and adjusts the heel height, which is the relative height of the heel to the toes on the sole of the user's foot. A walking assist device (1) having a control unit (6) that controls the heel height adjustment unit based on the gradient of the road surface on which the user walks.

[0057] According to this, the heel height is adjusted based on the gradient of the road surface the wearer is walking on. For example, in situations where raising the heel height would not significantly improve stride length or walking speed, it is possible to reduce discomfort for the wearer by not raising the heel height. On the other hand, for example, if the wearer is walking on an uphill slope of a certain magnitude or greater, raising the heel height can be expected to improve stride length and walking speed.

[0058] It should be noted that the present invention is not limited to the embodiments described above, and various improvements and modifications are possible without departing from the spirit of the invention. For example, in this embodiment, the wearer's running state is acquired using the 6-axis sensor 8, but other sensors provided by the walking assist shoe 2 (e.g., GPS, gyro sensor) may also be used as a means of acquiring the wearer's running state. Furthermore, if communication is possible between the wearer wearing the walking assist shoe 2 and the communication terminal 20 they possess, it is also possible to acquire the wearer's running state from the communication terminal 20.

[0059] Furthermore, in this embodiment, the wearer's running state is acquired in particular as walking speed, walking acceleration, and the gradient of the road surface being walked on, but other information may also be acquired as the running state. For example, the wearer's fatigue level, health condition, etc.

[0060] Furthermore, in the example shown in Figure 7 of this embodiment, the amount of heel height correction for each step is set based on the wearer's walking acceleration, but the amount of heel height correction for each step may also be set based on the wearer's walking speed. In that case, the faster the wearer's walking speed, the larger the amount of heel height correction for each step should be set.

[0061] Furthermore, although the walking assist device 1 is installed inside the sole 4 of the walking assist shoe 2 in this embodiment, the walking assist device 1 portion may be detached from the walking assist shoe 2 and made detachable. For example, it is possible to make only the heel portion of the sole 4 detachable. [Explanation of symbols]

[0062] 1…Walking assist device, 2…Walking assist shoe, 3…Upper, 4…Sole, 5…Heel height adjustment unit, 6…Control unit, 7…Communication device, 8…6-axis sensor

Claims

1. A walking state acquisition unit that acquires the user's walking state, A heel height adjustment unit is located on the sole of the shoe worn by the user and adjusts the heel height, which is the relative height of the heel to the toes on the sole of the user's foot. A walking assist device having a control unit that controls the heel height adjustment unit based on the user's walking state.

2. The walking state acquisition unit acquires the user's walking speed as the user's walking state, The walking assist device according to claim 1, wherein the control unit controls the heel height adjustment unit based on the user's walking speed.

3. The control unit, Based on the user's walking speed, the upper limit of the heel height is set. The heel height adjustment unit is controlled to adjust the heel height with each step within a predetermined correction unit, so as not to exceed the upper limit. The walking assist device according to claim 2, wherein the faster the user's walking speed, the higher the value set as the upper limit of the heel height.

4. The walking state acquisition unit acquires the user's walking acceleration as the user's walking state, The control unit, The correction amount is set based on at least one of the user's walking speed and walking acceleration. The walking assist device according to claim 3, wherein a larger value is set as the correction amount the faster the user's walking speed or the larger the absolute value of the walking acceleration.

5. Computers, A means for acquiring the user's walking state, A heel height control means adjusts the heel height, which is the relative height of the heel to the toes on the sole of the user's foot, based on the user's walking state by controlling the heel height adjustment part located on the sole of the shoe worn by the user, A computer program designed to make something function.

Images