A support device for posture stabilization, a method for setting up the support device for posture stabilization, and a support system for posture stabilization.

Abstract

To provide a posture stabilization aid that can reduce individual differences in the effectiveness of posture stabilization. [Solution] The posture stabilization auxiliary device 1 is a posture stabilization auxiliary device that reproduces a simulated light touch contact in order to stabilize the posture of a user 30, and comprises a stimulator 2 that is attached to the user's body and stimulates the user's skin, and a control unit 10 that controls the operation of the stimulator, and the stimulator comprises a first operating element that reproduces a simulated light touch contact by applying a first stimulus of an intensity higher than the user's sensory threshold to the user's skin, a second operating element that applies a second stimulus of an intensity lower than the user's sensory threshold to the user's skin, and a test element that applies a plurality of test stimuli of different intensities, including an intensity lower than the user's sensory threshold to the user's skin, and the control unit is configured to set the second stimulus based on the user's response to the test stimulus.

Description

Technical Field

[0001] The present invention relates to an auxiliary device for posture stabilization, a method for setting an auxiliary device for posture stabilization, and an auxiliary system for posture stabilization.

Background Art

[0002] Conventionally, there is a device that stabilizes a user's posture by reproducing a pseudo light touch contact. Patent Document 1 discloses an auxiliary device for posture stabilization including a housing that can be attached to a part of a user's body and a stimulation applying unit that is provided integrally with the housing and applies a stimulation to the part where the housing is attached.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, when the sensitivity of the user etc. differs with respect to the stimulation for light touch contact, individual differences may occur in the effect of posture stabilization. It is desirable to be able to reduce individual differences in the effect of posture stabilization.

[0005] An object of the present invention is to provide an auxiliary device for posture stabilization, a method for setting an auxiliary device for posture stabilization, and an auxiliary system for posture stabilization that can reduce individual differences in the effect of posture stabilization.

Means for Solving the Problems

[0006] The present invention provides a posture stabilization aid that reproduces a simulated light touch contact in order to stabilize the posture of a user, comprising: a stimulator attached to the user's body and stimulating the user's skin; and a control unit that controls the operation of the stimulator, wherein the stimulator comprises: a first operating element that reproduces a simulated light touch contact by applying a first stimulus of an intensity higher than the user's sensory threshold to the user's skin; a second operating element that applies a second stimulus of an intensity lower than the user's sensory threshold to the user's skin; and a test element that applies a plurality of test stimuli of different intensities, including an intensity lower than the user's sensory threshold, to the user's skin, wherein the control unit is configured to set the second stimulus based on the user's response to the test stimuli. [Effects of the Invention]

[0007] The posture stabilization assist device according to the present invention has the effect of reducing individual differences in the effectiveness of posture stabilization. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram of an auxiliary device for posture stabilization according to an embodiment. [Figure 2] This figure shows an auxiliary device for posture stabilization according to an embodiment. [Figure 3] This figure shows the operating conditions of the stimulator according to the embodiment. [Figure 4] This figure shows an example of the intensity of the stimulus according to the embodiment. [Figure 5] This is a flowchart of the setting mode according to the embodiment. [Figure 6] This figure shows an example of an acquisition mode according to the embodiment. [Figure 7] This figure shows the acquisition modes using a posturography system. [Figure 8] This figure shows the measurement results of center of gravity sway. [Figure 9] This is a flowchart of the acquisition mode according to the embodiment. [Figure 10] This figure shows an example of the intensity of the stimulus according to the embodiment. [Figure 11] This figure shows an example configuration of an auxiliary device for posture stabilization according to the embodiment. [Modes for carrying out the invention]

[0009] The following describes in detail, with reference to the drawings, an auxiliary device for posture stabilization, a method for setting the auxiliary device for posture stabilization, and an auxiliary system for posture stabilization according to embodiments of the present invention. However, the present invention is not limited by these embodiments. Furthermore, the components in the following embodiments include those that are easily conceivable by those skilled in the art or that are substantially identical.

[0010] [Embodiment] The embodiments will be described with reference to Figures 1 to 11. This embodiment relates to an auxiliary device for posture stabilization, a method for setting up the auxiliary device for posture stabilization, and an auxiliary system for posture stabilization. Figure 1 is a block diagram of the auxiliary device for posture stabilization according to the embodiment, and Figure 2 is a diagram showing the auxiliary device for posture stabilization according to the embodiment.

[0011] As shown in Figures 1 and 2, the posture stabilization auxiliary device 1 according to this embodiment includes a stimulator 2 and a control unit 10. The posture stabilization auxiliary device 1 is a device that reproduces a simulated light touch contact in order to stabilize the posture of the user 30, which will be described later.

[0012] The stimulator 2 is a device that is attached to the user 30's body and stimulates the user 30's skin. The stimulator 2 can be attached to any part of the user 30's body. For example, the stimulator 2 can be attached to the user 30's hands, arms, feet, neck, head, etc. The configuration of the stimulator 2 may differ depending on the part to which it is attached.

[0013] The posture stabilization aid 1 shown in Figure 2 comprises a housing 22, a stimulator 2, an acceleration sensor 3, a control unit 10, an input unit 4, and a band 21. When attached to a user 30, the stimulator 2 is configured to stimulate the skin of the user 30's wrist. The housing 22 houses the stimulator 2, the acceleration sensor 3, and the control unit 10. The band 21 is configured to be worn on the user 30's arm to attach the housing 22 to the arm. The band 21 may be a band with hook-and-loop fasteners, an elastic band containing rubber or the like, or any other type of band. The housing 22 is fixed to the band 21 and attached to the user 30's body by the band 21. The illustrated housing 22 has a rectangular shape in plan view.

[0014] The stimulator 2 comprises a first vibrator 23A and a second vibrator 23B, which are independent vibrators 23, and a vibrator control unit 24. The first vibrator 23A is the first operating element and delivers a first stimulus to the user 30's skin at an intensity higher than the user 30's sensory threshold. The second vibrator 23B is the second operating element and delivers a second stimulus to the user 30's skin at an intensity lower than the user 30's sensory threshold. The second vibrator 23B is also configured to operate as a test element. As a test element, the second vibrator 23B delivers test stimuli of multiple different intensities, including an intensity lower than the user 30's sensory threshold, to the user 30's skin. The stimulator 2, the acceleration sensor 3, and the control unit 10 may be located on the same substrate. The vibrator control unit 24 communicates with the control unit 10. The vibrator control unit 24 receives commands from the control unit 10 and operates the first vibrator 23A and the second vibrator 23B based on the commands.

[0015] The vibrator 23 is, for example, an eccentric motor that generates vibrations. The vibrator 23 generates vibrations by, for example, rotating its rotor with a drive signal generated by a drive circuit. The vibrations from the vibrator 23 are transmitted to the user 30's skin via the housing 22. If clothing is interposed between the housing 22 and the user 30's skin, the vibrations from the vibrator 23 are transmitted to the user 30's skin via the housing 22 and the clothing.

[0016] The acceleration sensor 3 of this embodiment is a vibration type acceleration sensor, and detects the acceleration of the housing 22 in three orthogonal directions. The detection signal of the acceleration sensor 3 is output to the control unit 10.

[0017] The control unit 10 controls the operation of the stimulation device 2. The stimulation device 2 and the control unit 10 are configured to be able to communicate with each other by wired communication or wireless communication. When the control unit 10 is disposed inside the housing 22, the stimulation device 2 is controlled by the control unit 10 by wired communication. The input unit 4 is an operation unit that receives an operation by the user 30, and is disposed on the housing 22. The input unit 4 is, for example, a button.

[0018] FIG. 3 is a diagram showing the operating conditions of the stimulation device according to the embodiment. The auxiliary device 1 for posture stabilization according to the embodiment sets a virtual sphere having a hollow spherical virtual wall IW having impedance characteristics centered on the trunk of the user 30 as shown in FIG. 3. The auxiliary device 1 for posture stabilization vibrates the vibrator 23 with an intensity corresponding to the reaction force generated when the housing 22 enters the virtual wall IW.

[0019] As shown in FIG. 1, the control unit 10 includes a communication unit 40, a first control unit 50, and a second control unit 60. The communication unit 40 performs at least one of wired communication and wireless communication with the stimulation device 2. The first control unit 50 and the second control unit 60 can each communicate with other devices via the communication unit 40. The communication targets via the communication unit 40 are, for example, the stimulation device 2, the acceleration sensor 3, the input unit 4, and the external device 70. The external device 70 may be a smartphone or a mobile terminal of the user 30, may be a server on the cloud, or may be a position detection device such as a motion capture device. The control unit 10 can use a smartphone or a mobile terminal as the external device 70 as means for outputting a message to the user 30 and receiving an operation from the user 30.

[0020] The first control unit 50 controls the first vibrator 23A, which is the first operating element of the stimulator 2. The first operating element reproduces a simulated light touch contact by applying a stimulus of a higher intensity than the user's sensory threshold to the user's skin. The sensory threshold is the threshold of stimulus intensity that the user can recognize / perceive when a stimulus is applied to the user. The second control unit 60 controls the second vibrator 23B, which is the second operating element of the stimulator 2. The second operating element applies a second stimulus of a lower intensity than the user's sensory threshold to the user's skin. The second control unit 60 also controls the second vibrator 23B, which is the test element of the stimulator 2. The test element applies test stimuli of multiple different intensities, including an intensity lower than the user's sensory threshold, to the user's skin. The posture stabilization auxiliary device 1 according to this embodiment can reduce individual differences in the effect of simulated light touch contact by applying a second stimulus of an appropriate intensity to the user's skin.

[0021] As shown in Figure 1, the first control unit 50 includes a data receiving unit 51, an intensity calculation unit 52, and a signal output unit 53.

[0022] The data receiving unit 51 sequentially receives information on the acceleration detection results from the acceleration sensor 3.

[0023] The intensity calculation unit 52 calculates the vibration intensity of the first oscillator 23A based on the detection results of the acceleration sensor 3. The intensity calculation unit 52 identifies the momentum (physical change) of the housing 22 and calculates the vibration intensity so that the first oscillator 23A vibrates in accordance with the sign reversal of the velocity vector. The calculated vibration intensity is pre-set to be a stimulus of a higher intensity than the user 30's sensory threshold.

[0024] The calculated vibration intensity is the vibration intensity of the first operating element that reproduces a simulated light touch contact. The stimulator 2 operates the first vibrator 23A according to the signal received from the signal output unit 53, generating vibrations. By receiving the vibration stimulation generated by the first vibrator 23A, the user 30 can obtain the sensation of touching an object at the location of the virtual wall IW. This reproduced simulated light touch contact can help stabilize the user 30's posture.

[0025] The posture stabilization aid 1 of this embodiment aims to reduce individual differences by using a second operating element that provides a second stimulus to the user 30. The intensity of the second stimulus is set to an intensity lower than the user 30's sensory threshold.

[0026] The second stimulus aims to improve the user 30's tactile sensitivity through stochastic resonance. By applying noise (the second stimulus) of appropriate intensity below the sensory threshold to the body, the sensory input signal is amplified, and the response is improved. In this embodiment, this phenomenon is utilized to improve the user 30's responsiveness to the light touch contact stimulus and reduce individual differences in the effect on postural stabilization.

[0027] As described below, the posture stabilization assist device 1 according to this embodiment is configured to allow the intensity of the stimulus in the second operating element to be set to a strength appropriate to the user. This makes it possible to reduce individual differences in the effectiveness of posture stabilization with the posture stabilization assist device 1 of this embodiment.

[0028] As shown in Figure 1, the second control unit 60 includes an intensity setting unit 61 and a signal output unit 62. The intensity setting unit 61 sets the intensity of the second stimulus based on a value stored in a non-volatile memory or the like. The intensity setting unit 61 is also configured to store the setting value determined in the acquisition mode or setting mode, which will be described later, as the intensity of the second stimulus in the non-volatile memory or the like.

[0029] Figure 4 shows an example of operation by the posture stabilization auxiliary device 1 according to this embodiment. In the graph of Figure 4, the horizontal axis represents time t, and the vertical axis represents the intensity Am of stimulation by the stimulator 2. The intensity Am of stimulation is, for example, the amplitude of vibration generated by the vibrator 23. Figure 4 shows the first command value Cv1, which is the command value of the stimulation intensity in the first operating element, and the second command value Cv2, which is the command value of the stimulation intensity in the second operating element.

[0030] The first command value Cv1 is set by the intensity calculation unit 52 of the first control unit 50. In the example in Figure 4, at time t1, the housing 22 enters the virtual wall IW, and the value Am1 is set as the value of the first command value Cv1. Then, at time t2, when the housing 22 enters the virtual wall IW again, the value Am2 is set as the value of the first command value Cv1.

[0031] The second command value Cv2 is set by the intensity setting unit 61 of the second control unit 60. The value of the second command value Cv2 is an intensity lower than the user 30's sensory threshold Amt. Note that the sensory threshold Amt is different for each user 30. In this embodiment, the value Am0 of the second command value Cv2 is set to an intensity lower than the sensory threshold Amt for each user 30. The signal output unit 62 outputs a signal to the stimulator 2 indicating the intensity set by the intensity setting unit 61. The stimulator 2 operates the second vibrator 23B according to the signal received from the signal output unit 62 and generates vibration.

[0032] The waveform of the vibration of the second oscillator 23B in the second stimulus is, for example, a white noise waveform. In this case, the stimulator 2 vibrates the oscillator 23 with a drive signal having a white noise waveform. The waveform of the vibration of the oscillator 23 in the second stimulus may be a periodic waveform instead of white noise. In this case, the waveform of the drive signal may be a periodic pulse wave, a sine wave, or any other periodic waveform. The waveform of the vibration of the oscillator 23 in the second stimulus may include multiple waveforms with different periods.

[0033] The light touch contact stimulus, the second stimulus, and the test stimulus may be generated by a single oscillator 23 instead of being generated by two different oscillators 23A and 23B. That is, the first operating element, the second operating element, and the test element may be a single operating element. If multiple stimuli are generated by a single oscillator 23, the drive signal for the light touch contact and the drive signal for the second stimulus or test stimulus may be combined and applied to the single oscillator 23.

[0034] The posture stabilization auxiliary device 1 starts the second operating element before the execution of the first operating element, for example. In the example in Figure 4, stimulation by the second operating element starts at time t0. Time t0 may be, for example, the timing when the posture stabilization auxiliary device 1 starts operating according to the posture stabilization program, the timing when the data receiving unit 51 starts acquiring acceleration data from the acceleration sensor 3, or any other predetermined timing. The data receiving unit 51 may also start acquiring acceleration data after stimulation by the second operating element has started.

[0035] The value Am0 of the second command value Cv2 is set according to the user 30. The value Am0 of the second command value Cv2 is set, for example, based on the result of measuring the user 30's sensory threshold Amt. In this case, the control unit 10 is configured to execute a setting mode for setting the intensity of the stimulus in the second operating element. The value Am0 of the second command value Cv2 set by the setting mode is the user 30's sensory threshold Amt multiplied by a coefficient X less than 1.

[0036] An example of a setting mode will be described with reference to Figure 5. The setting mode is started, for example, in response to an operation by user 30. The setting mode is started when the start button, which is an input unit 4 located on the housing 22, is pressed. In the setting mode, the second oscillator 23B, as a test element, delivers test stimuli of multiple different intensities, including intensities lower than the user 30's sensory threshold, to the user 30's skin. In the setting mode, the lower limit of the test stimulus that user 30 can detect is measured, and the intensity of the stimulus in the second operating element is set based on this lower limit. The waveform of the vibration of the second oscillator 23B in the test stimulus is, for example, the same as the waveform of the second stimulus. However, the waveform of the test stimulus may be different from the waveform of the second stimulus.

[0037] When the start button is pressed, in step S10, the control unit 10 instructs the user 30 to "press the button when you feel vibration." This instruction may be given by voice or on the LCD display. After step S10 is completed, the system proceeds to step S20.

[0038] In step S20, the control unit 10 vibrates the second vibrator 23B at an initial vibration intensity value, applying a test stimulus to the user 30's skin. The initial vibration intensity value is, for example, the lower limit of the selectable vibration intensity. The vibration intensity selection in setting mode is, for example, 11 steps from 0 to 1.0 in increments of 0.1. In this case, the initial vibration intensity value may be 0. The control unit 10 vibrates the second vibrator 23B for a predetermined T seconds. The vibration time T is, for example, 3 seconds. In setting mode, the drive signal for vibrating the second vibrator 23B is the drive signal for the test stimulus. After step S20 is executed, the process proceeds to step S30.

[0039] In step S30, the control unit 10 determines whether or not a button press has been detected. The button to be detected in step S30 may be the same button as the start button, or it may be a different button. If the determination in step S30 is positive, the process proceeds to step S50; if the determination is negative, the process proceeds to step S40.

[0040] In step S40, the control unit 10 increases the vibration intensity of the second oscillator 23B and causes the second oscillator 23B to vibrate for T seconds. The increase in vibration intensity is, for example, 0.1. Once step S40 is performed, the process proceeds to step S30.

[0041] In step S50, the control unit 10 stops the vibration of the second oscillator 23B. Once step S50 is performed, the process proceeds to step S60.

[0042] In step S60, the control unit 10 determines the user 30's sensory threshold. The sensory threshold Amt is the vibration intensity of the second vibrator 23B when the user 30 presses the button. The sensory threshold Amt determined in step S60 is determined by the stimulator 2. test This is the lower limit at which the user 30 can detect the stimulus. Once step S60 is executed, the process proceeds to step S70.

[0043] In step S70, the control unit 10 determines the SR intensity. The SR intensity is the intensity of the second stimulus, which is the vibration intensity that aims to improve sensitivity through the stochastic resonance phenomenon (SR). The SR intensity is the value obtained by multiplying the sensory threshold Amt determined in step S60 by a coefficient X that is less than 1. For example, if the sensory threshold Amt determined in step S60 is 0.4 and the coefficient X is 0.6, the calculated value of the SR intensity is 0.24.

[0044] The coefficient X is set, for example, based on a database of test results for multiple subjects. The coefficient X may also be a value corresponding to the age of user 30. In this case, the age-dependent coefficient X is set based on the test results for subjects of that age from the test results recorded in the database. The coefficient X may also be set according to environmental conditions such as temperature and humidity. In this case, it is preferable that the database records values ​​such as temperature and humidity when the test results for the subjects were obtained. The coefficient X may also be set according to the body fat percentage and muscle mass of user 30. In this case, it is preferable that the database records values ​​such as the body fat percentage and muscle mass of the subjects.

[0045] The value of coefficient X may be, for example, 0.6, 0.75, any value between 0.6 and 0.75, or a value selected from a range that includes the interval between 0.6 and 0.75. The value of coefficient X may also be a value less than 0.6. When step S70 is executed, the process proceeds to step S80. Note that the value of coefficient X may be changeable by user 30 from the value determined in step S70.

[0046] In step S80, the control unit 10 writes the SR intensity to a non-volatile memory or the like. If multiple users 30 use one posture stabilization auxiliary device 1, multiple SR intensities for each user 30 may be stored. Once step S80 is executed, the processing according to this flowchart is completed. The control unit 10 uses the determined SR intensity as the intensity of the second stimulus in the second operating element.

[0047] According to the setting mode, the intensity of the stimulus in the second operating element can be set to a value based on the user 30's response to the test stimulus. By setting the intensity of the second stimulus based on the user 30's response, sensitivity improvement due to stochastic resonance is more easily achieved. Therefore, with the posture stabilization auxiliary device 1 according to this embodiment, individual differences in the posture stabilization effect are suppressed. Figure 5 illustrates a method of gradually increasing the vibration intensity, but it may also be set by decreasing it, or by using both the increasing method (ascending method) and the decreasing method (descending method).

[0048] In addition, an external device 70 may be used in the setting mode. In this case, the posture stabilization auxiliary device 1 executes the setting mode while communicating with the external device 70. The external device 70 may be the user 30's smartphone or mobile terminal, or it may be a computer system such as a PC. The control unit 10 executes the setting mode in cooperation with an application program running on the smartphone or the like.

[0049] If an external device 70 is used, the setting mode may be started by user 30's operation on the external device 70. Instructions to user 30 may also be given by the external device 70, and user 30's operation when vibration is felt may be directed to the external device 70. The external device 70 may display the operating status of the stimulator 2 on its screen. For example, the external device 70 may display the intensity of the currently set test stimulus on its screen, or otherwise indicate the progress of the setting mode to user 30.

[0050] The posture stabilization support device 1 may be configured to perform an acquisition mode. The acquisition mode is a mode in which a set value is acquired by communication from an external device. This set value is based on the user's 30 response to a test stimulus. The set value is calculated, for example, based on the measurement results from the center of gravity sway meter 300. The control unit 10 acquires the set value by wireless communication with the center of gravity sway meter 300, for example, as shown in Figure 6. In this case, the posture stabilization support device 1 and the center of gravity sway meter 300 constitute the posture stabilization support system 100.

[0051] Figure 7 shows the measurement process using the center of gravity sway meter 300 to calculate the set value. The user 30 stands on the center of gravity sway meter 300 while wearing the posture stabilization support device 1. During measurement, the posture stabilization support device 1 performs both a first stimulus by the first movement element and a test stimulus by the test element.

[0052] User 30 maintains a tandem stance (standing with the first toe of one foot touching the heel of the other foot) as much as possible while standing with their eyes closed on the plate of the center of gravity sway meter 300. The center of gravity sway meter 300 records the direction and magnitude of User 30's postural sway at predetermined intervals.

[0053] Figure 8 shows a plot of the measurement results obtained by the center of gravity sway meter 300. Figure 8 is a schematic diagram of the trajectory 310 showing the measurement results. The center of gravity sway meter 300 measures and records the center of gravity position, which has coordinate values ​​in the direction of the orthogonal first axis X and second axis Y. Therefore, the trajectory 310 is a trajectory in the XY plane.

[0054] The center of gravity sway meter 300 determines the degree of postural sway based on the trajectory 310. The degree of postural sway is determined, for example, by the area of ​​the frame 320 surrounding the trajectory 310. The frame 320 is a rectangular frame. The size of the frame 320 is determined by the maximum and minimum values ​​in the direction of the first axis X and the maximum and minimum values ​​in the direction of the second axis Y in the trajectory 310. If the area of ​​the frame 320 is small, the degree of postural sway is determined to be small, and if the area of ​​the frame 320 is large, the degree of postural sway is determined to be large.

[0055] Figure 9 shows an example flowchart of the acquisition mode using the center of gravity sway meter 300. When the measurement start button of the posture stabilization support device 1 is pressed, in step S400, the control unit 10 sets the intensity of the test stimulus to an initial value. The initial value of the stimulus intensity is, for example, the lower limit of the selectable vibration intensity. The vibration intensity selection in the acquisition mode is, for example, 11 steps from 0 to 1.0 in increments of 0.1. In this case, the initial value of the vibration intensity may be 0. The maximum intensity of the test stimulus is set to an intensity lower than the user 30's sensory threshold. The upper limit of the intensity is set, for example, based on a database of test results for multiple subjects. The upper limit of the intensity may also be set based on the user 30's sensory threshold Amt, which has been measured in advance by the setting mode. After step S400 is performed, the process proceeds to step S410.

[0056] In step S410, the control unit 10 performs a measurement of postural sway while providing a first stimulus by the first operating element and a test stimulus by the test element. The control unit 10 provides the test stimulus to the user 30 and controls the stimulator 2 to provide a light touch contact stimulus to the user 30 according to the position of the stimulator 2. The control unit 10 also commands the posturograph 300 to perform postural sway measurement. The posturograph 300 continues to record changes in the center of gravity position, for example, until a predetermined measurement time has elapsed. Once step S410 is performed, the process proceeds to step S420.

[0057] In step S420, the center of gravity sway meter 300 saves the center of gravity sway data. The location where the center of gravity sway data is saved is, for example, the memory of the center of gravity sway meter 300. When the center of gravity sway meter 300 has finished saving the center of gravity sway data, it notifies the posture stabilization auxiliary device 1. After step S420 is performed, the process proceeds to step S430.

[0058] In step S430, the control unit 10 determines whether the intensity of the test stimulus has reached its maximum intensity. If the determination in step S430 is positive, the process proceeds to step S450; otherwise, the process proceeds to step S440.

[0059] In step S440, the control unit 10 increases the intensity of the test stimulus and proceeds to step S410.

[0060] In step S450, the control unit 10 stops the vibration of the stimulator 2. Once step S450 is completed, the process proceeds to step S460.

[0061] In step S460, the control unit 10 performs an analysis of the center of gravity sway data. The data analysis may be performed by the center of gravity sway meter 300 or by the control unit 10. In the analysis of the center of gravity sway data, an index of the center of gravity sway is calculated. The index of the center of gravity sway may be, for example, the area of ​​the frame 320, or it may be a numerical value or rank indicating the degree of center of gravity sway according to the area of ​​the frame 320. When step S460 is performed, the process proceeds to step S470.

[0062] In step S470, the control unit 10 compares the index at each intensity of the test stimulus. Once step S470 is performed, the process proceeds to step S480.

[0063] In step S480, the control unit 10 extracts the setting conditions that resulted in the minimum sway. The control unit 10 extracts the intensity of the test stimulus when the degree of center of gravity sway was at its minimum. Once step S480 is performed, the process proceeds to step S490.

[0064] In step S490, the control unit 10 determines the optimal intensity of the second stimulus. The control unit 10 determines the intensity extracted in step S480 as the set value for the stimulus in the second operating element. Once step S490 is performed, the process proceeds to step S500.

[0065] In step S500, the control unit 10 writes the optimal intensity value to a non-volatile memory or the like. Once step S500 is executed, the process according to this flowchart is completed. Note that the change in stimulus intensity may be a decreasing method instead of the increasing method shown in Figure 9, or it may be a random change.

[0066] The acquisition mode may be initiated by an operation on the center of gravity sway meter 300. In this case, the acquisition mode is initiated by an operation on a button or the like on the center of gravity sway meter 300. The acquisition mode may be performed with the center of gravity sway meter 300 as the master unit and the posture stabilization auxiliary device 1 as the slave unit. In this case, a command is sent from the center of gravity sway meter 300 to the posture stabilization auxiliary device 1 to start the acquisition mode. In addition, a command is sent from the center of gravity sway meter 300 to the posture stabilization auxiliary device 1 to change the intensity of the test stimulus.

[0067] The center of gravity sway meter 300 may transmit set values ​​to the posture stabilization auxiliary device 1 via a computer system, smartphone, or cloud server. In this case, the command to the center of gravity sway meter 300, as well as the storage and analysis of the center of gravity sway data, may be performed by a computer system, smartphone, cloud server, etc. The posture stabilization auxiliary device 1 can acquire set values ​​from a computer system, smartphone, cloud server, etc.

[0068] The device used to measure the user's (user's) postural sway is not limited to the center of gravity sway meter (300). Postural sway may be measured by a 3-axis accelerometer, a motion capture device, or other devices. The posture stabilization support device (1) may obtain setting values ​​for the intensity of the second stimulus directly from these devices, or via a computer system, smartphone, cloud server, etc. In this case, the posture stabilization support system (100) may consist of the posture stabilization support device (1) and a device for measuring postural sway.

[0069] The timing of the start of stimulation by the second operating element is not limited to before the execution of stimulation by the first operating element. For example, as shown in Figure 10, stimulation by the second operating element may start in conjunction with the start of stimulation by the first operating element. In Figure 10, the posture stabilization auxiliary device 1 starts operating at time t0. At this time, the value of the second command value Cv2 is set to 0, and stimulation by the second operating element does not start. Subsequently, at time t1, the housing 22 enters the virtual wall IW. The control unit 10 sets the first command value Cv1 for light touch contact to value Am1, and the second command value Cv2 to value Am0. As a result, stimulation by the second operating element starts in conjunction with the start of stimulation by the first operating element.

[0070] In Figure 10, the second command value Cv2 is maintained at value Am0 from time t1 onward. That is, after the light touch contact stimulation begins, the stimulation by the second operating element continues. Alternatively, the stimulation by the second operating element may end in conjunction with the end of the light touch contact stimulation.

[0071] Stimulation by the second operating element may be started or stopped based on at least one of the position, velocity, or acceleration of the stimulator 2. The control unit 10 may stop stimulation by the second operating element while the stimulator 2 is in the vicinity of the user 30's torso, and start stimulation by the second operating element when the stimulator 2 moves away from the user 30's torso.

[0072] The control unit 10 may stop the stimulation by the second operating element while the magnitude of the velocity of the stimulator 2 is less than a lower limit, and start the stimulation by the second operating element when the magnitude of the velocity becomes equal to or greater than the lower limit. The control unit 10 may stop the stimulation by the second operating element while the magnitude of the acceleration of the stimulator 2 is less than a lower limit, and start the stimulation by the second operating element when the magnitude of the acceleration becomes equal to or greater than the lower limit.

[0073] The index of postural sway calculated by the posturography meter 300 may be the total trajectory length of the trajectory 310 instead of the area of ​​the frame 320. In this case, a shorter total trajectory length indicates a lower degree of postural sway, while a longer total trajectory length indicates a higher degree of postural sway. The index of postural sway may also be an index different from either the area of ​​the frame 320 or the total trajectory length.

[0074] The vibrator 23 is not limited to those that generate vibrations using a motor such as an eccentric motor. The vibrator 23 may also be an actuator that generates vibrations using a piezoelectric element or the like.

[0075] The stimulator 2 may provide electrical stimulation to the user 30's skin instead of vibrational stimulation, or it may provide other types of stimulation. The stimulator 2 may provide both vibrational stimulation and electrical stimulation to the user 30's skin.

[0076] In the stimulator 2, the device that provides the first stimulus and the device that provides the second stimulus may be arranged separately. For example, in the stimulator 2 of Figure 2, in addition to the housing 22, a second housing may be placed on the band 21. In this case, the housing 22 may house the first oscillator 23A for the first stimulus, and the second housing may house the second oscillator 23B for the second stimulus.

[0077] When the stimulator 2 is attached to the user 30's hand, it may be attached to the user 30's finger. In this case, the stimulator 2 may be configured as a ring having a housing 22 and a ring fixed to the housing 22. The stimulator 2 may be configured as a wearable device that is attached to the user 30's body, such as a glove. The stimulator 2 may be attached to the user 30's body or clothing.

[0078] The posture stabilization aid 1 may have a second stimulator in addition to the stimulator 2 shown in Figure 2. In this case, the second stimulator may be placed at a location other than the wrist. The distance between the stimulator 2 and the second stimulator in Figure 2 is set so that the second stimulus reaches the stimulation site of the light touch contact. That is, the stimulator 2 and the second stimulator are positioned so that the two stimuli overlap. The second stimulus may be transmitted via muscles and tendons, or via the skin surface. The second stimulator may be placed on the fingers of the user 30. The second stimulator may be a device that reproduces light touch contact by the first stimulus of the first vibrator 23A. In this case, the stimulator 2 in Figure 2 may perform the second stimulus by the second vibrator 23B.

[0079] The timing of the execution of the setting mode is not limited to when user 30 performs a voluntary operation. For example, the control unit 10 may automatically execute the setting mode based on a predetermined schedule or event. The control unit 10 may perform SR intensity calibration on a daily, weekly, monthly, or yearly schedule. When the conditions for executing the setting mode are met based on the schedule or event, the control unit 10 may prompt user 30 to reset the SR intensity.

[0080] The means for detecting the position of the stimulator 2 is not limited to the acceleration sensor 3. The posture stabilization auxiliary device 1 may have, for example, a first sensor 80 and a second sensor 90 having positioning functions, as shown in Figure 11. The first sensor 80 is positioned, for example, on the torso of the user 30. The second sensor 90 is positioned on the housing 22, etc. The first sensor 80 and the second sensor 90 can communicate wirelessly with the control unit 10. Based on the positioning results of the two sensors 80 and 90, the control unit 10 can calculate the relative position of the stimulator 2 with respect to the torso of the user 30.

[0081] As described above, the posture stabilization auxiliary device 1 according to this embodiment is a device that reproduces a simulated light touch contact in order to stabilize the posture of user 30, and comprises a stimulator 2 and a control unit 10. The stimulator 2 is attached to the body of user 30 and provides stimulation to user 30's skin. The control unit 10 controls the operation of the stimulator 2. The stimulator 2 comprises a first operating element, a second operating element, and a test element. The first operating element reproduces a simulated light touch contact by providing a first stimulus of a higher intensity than user 30's sensory threshold Amt to user 30's skin. The second operating element provides a second stimulus of a lower intensity than user 30's sensory threshold Amt to user 30's skin. The test element provides a plurality of test stimuli of different intensities, including an intensity lower than user 30's sensory threshold Amt, to user 30's skin.

[0082] The control unit 10 is configured to set a second stimulus based on the user 30's response to the test stimulus. The posture stabilization aid 1 according to this embodiment sets a second stimulus based on the user 30's response to the test stimulus. Therefore, the posture stabilization aid 1 according to this embodiment can reduce individual differences in the effectiveness of posture stabilization.

[0083] The posture stabilization assist device 1 according to this embodiment has a communication unit 40 for communicating with an external device. The control unit 10 is configured to execute an acquisition mode. The acquisition mode is a mode in which a set value based on the user 30's response to a test stimulus is acquired from an external device via communication. The control unit 10 can set the intensity of the stimulus in the second operating element based on the acquired set value. The user 30's response to the test stimulus is, for example, the measurement result of the user 30's center of gravity sway while using the posture stabilization assist device 1. When the set value is acquired from an external source, it becomes possible to simplify the functions of the posture stabilization assist device 1 and to miniaturize it.

[0084] The control unit 10 of this embodiment is configured to execute a setting mode for setting the intensity of stimulation in the second operating element. In the setting mode, the control unit 10 measures the lower limit of the test stimulation from the stimulator 2 that the user 30 can detect, and sets the intensity of stimulation in the second operating element based on the lower limit. The posture stabilization auxiliary device 1, which is capable of executing the setting mode, can independently set the intensity of stimulation according to the user 30.

[0085] The control unit 10 may be configured to control the stimulator 2 to start the second action element before or during the execution of the first action element. The control unit 10 configured in this way can appropriately exert the effect of reducing individual differences through the second stimulus. It is preferable that the control unit 10 controls the stimulator 2 so that the stimulation of the first action element and the stimulation of the second action element overlap.

[0086] The method for setting the posture stabilization aid according to this embodiment includes a measurement step and a setting step. In the measurement step, the posture stabilization aid 1 is attached to the user 30 and operated, and the change in the user 30's center of gravity is measured while changing the intensity of the test stimulus. The measurement step corresponds, for example, to steps S400 to S450 in Figure 9. The setting step is to set the intensity of the second stimulus in the second operating element based on the results of measuring the change in the user 30's center of gravity. The setting step corresponds, for example, to steps S460 to S500 in Figure 9. According to the setting method according to this embodiment, individual differences in the posture stabilization effect of the posture stabilization aid 1 can be reduced.

[0087] The posture stabilization support system 100 according to this embodiment includes a posture stabilization support device 1 and a center of gravity sway meter 300. The posture stabilization support device 1 provides the user 30 with a simulated light touch contact stimulus. The center of gravity sway meter 300 measures the change in the user 30's center of gravity position when using the posture stabilization support device 1. The posture stabilization support device 1 includes the above-mentioned stimulation device 2 and a control unit 10 that controls the operation of the stimulation device 2. The control unit 10 sets a second stimulus based on the measurement results from the center of gravity sway meter 300. The posture stabilization support system 100 according to this embodiment can reduce individual differences in the posture stabilization effect of the posture stabilization support device 1.

[0088] The contents disclosed in the above embodiments can be combined and implemented as appropriate. [Explanation of Symbols]

[0089] 1: Auxiliary device for posture stabilization 2: Stimulator 3: Accelerometer 4: Input section 10: Control Unit 21: Band, 22: Cabinet 23: Oscillator, 23A: First Oscillator, 23B: Second Oscillator, 24: Oscillator Control Unit 30: User 40: Communications Department 50: First control unit, 51: Data receiving unit, 52: Intensity calculation unit, 53: Signal output unit 60: Second control unit, 61: Intensity setting unit, 62: Signal output unit 70: External equipment 100: Support system for posture stabilization 300: Center of gravity sway meter Amt: Sensory threshold Cv1: First command value, Cv2: Second command value

Claims

1. A posture stabilization aid that simulates light touch contact in order to stabilize the user's posture, A stimulator attached to the user's body and stimulating the user's skin, A control unit that controls the operation of the stimulator, Equipped with, The stimulator comprises a first operating element that applies a first stimulus of an intensity higher than the user's sensory threshold to the user's skin to simulate a light touch contact; a second operating element that applies a second stimulus of an intensity lower than the user's sensory threshold to the user's skin; and a test element that applies a plurality of test stimuli of different intensities, including an intensity lower than the user's sensory threshold, to the user's skin. The control unit is configured to set a second stimulus based on the user's response to the test stimulus. A posture stabilization aid characterized by the following features.

2. It has a communication unit that communicates with external devices, The control unit is configured to execute an acquisition mode in which it acquires a set value based on the user's response to the test stimulus from an external device via communication. The control unit sets the intensity of the stimulus in the second operating element based on the acquired setting value. The auxiliary device for posture stabilization according to claim 1.

3. The control unit is configured to execute a setting mode for setting the intensity of the stimulus in the second operating element. In the setting mode, the control unit measures the lower limit of the test stimulus from the stimulator that the user can detect, and sets the intensity of the stimulus in the second operating element based on the lower limit. The auxiliary device for posture stabilization according to claim 1.

4. The control unit controls the stimulator to start the second operating element before or during the execution of the first operating element. The auxiliary device for posture stabilization according to claim 1.

5. The steps include: attaching the posture stabilization aid described in claim 1 to the user and operating it, and measuring the change in the user's center of gravity while changing the intensity of the test stimulus; The steps include setting the intensity of the second stimulus in the second operating element based on the results of measuring the change in the user's center of gravity, including, How to set up a support device for posture stabilization.

6. A posture-stabilizing assistive device that provides the user with a simulated light touch contact stimulus, A center of gravity sway meter that measures the change in the user's center of gravity when using the aforementioned posture stabilization aid, Equipped with, The aforementioned auxiliary device for stabilizing posture is A stimulator attached to the user's body and stimulating the user's skin, A control unit that controls the operation of the stimulator, Includes, The stimulator comprises a first operating element that applies a first stimulus of an intensity higher than the user's sensory threshold to the user's skin to simulate a light touch contact; a second operating element that applies a second stimulus of an intensity lower than the user's sensory threshold to the user's skin; and a test element that applies a plurality of test stimuli of different intensities, including an intensity lower than the user's sensory threshold, to the user's skin. The control unit sets the second stimulus based on the measurement results from the center of gravity sway meter. A posture stabilization support system characterized by the following features.

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