Training device, method and program

Abstract

A training device according to one embodiment comprises: a calculating unit that, on the basis of time-series data for body center of mass sway when a subject has performed a body motion, calculates features of posture sway when the subject has performed a motion for stabilizing posture when a sense of a different type from a strengthening-target sense that the subject depends upon in order to stabilize posture is not stimulated; and a stimulus presenting unit that determines an agonist muscle, being the target of stimulating the different type of sense, for reducing the features calculated by the calculating unit, and presents the stimulus provided to the different type of sense to the determined agonist muscle.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to a training device, a method, and a program. [Background technology]

[0002] Humans control their posture to stabilize their body posture, such as body sway, during basic movements such as standing or walking. Humans receive information from the outside world primarily through three sensory organs: vision (eyes), somatosensation (soles of the feet, etc.), and vestibular sensation (semicircular canals, etc.), and it is known that posture is stabilized when this information is properly integrated by the central nervous system of the brain, and it is known that each individual tends to rely on specific senses for sensory integration.

[0003] If this bias in sensory dependency continues for many years, the problem of postural control will become more difficult when the function of the highly dependent sensory organs declines with age in the future. Considering that the future decline in sensory function due to aging varies greatly from person to person and is difficult to predict, it is necessary to acquire skills that will enable one to maintain posture even if the function of any sense declines, that is, skills that will enable one to stabilize posture while increasing sensory dependence on each of vision, somatosensation, and vestibular sensation, in other words, motor skills that control sensory dependence, while one is still healthy. This allows the user to rely more on unimpaired senses to stabilize posture in unstable situations, such as on a soft floor.

[0004] Conventional training methods for promoting transitions to various sensory-dependent states include methods that apply disturbances through the sensory organs or the external environment, and standing on an unstable surface is one of them (see, for example, Non-Patent Document 1). [Prior art documents] [Non-patent literature]

[0005] [Non-Patent Document 1] Atsushi ITAYA; Tomohiro KIZUKA. Postural Control During Standing on an Unstable Board and the Weight of Somatosensory Inputs from Lower Extremities. Journal of the Society of Biomechanisms, 2010, 34.2: 142-148. Summary of the Invention [Problem to be solved by the invention]

[0006] However, the method of applying a disturbance through a sensory organ or the external environment as disclosed in Non-Patent Document 1 above has the following problems (1) and (2).

[0007] (1) It is difficult to induce the desired sensory-dependent changes. This (1) is a problem in that the movements in response to disturbances differ from person to person, resulting in sensory-dependent changes that differ from person to person, making it difficult to control the sensations that we want to strengthen. (2) No measures have been taken to reduce postural sway in response to external disturbances. This (2) is a problem that may lead to increased center of gravity sway in some individuals, even if the desired sensory-dependent changes are induced.

[0008] This invention has been made in light of the above circumstances, and its purpose is to provide a training device, method, and program that enables a subject to strengthen the senses that he or she relies on to stabilize his or her body posture. [Means for solving the problem]

[0009] A training device according to one aspect of the present invention includes a calculation unit that calculates, based on time-series data of the fluctuation of the center of gravity of the body when the subject performs a physical movement, a feature of the fluctuation of the body posture when the subject performs a movement to stabilize the body posture without providing a stimulus to a different type of sense from the sense to be strengthened on which the subject relies to stabilize the body posture, and a stimulus presentation unit that determines a prime mover muscle to which a stimulus to the different type of sense is to be provided in order to reduce the feature calculated by the calculation unit, and presents a stimulus to the determined prime mover muscle that provides the different type of sense.

[0010] A training method according to one aspect of the present invention includes: 1. A method performed by a training device, comprising: A calculation unit of the training device calculates, based on time-series data of the sway of the center of gravity of the body when the subject performs a physical movement, a feature amount of the sway of the body posture when the subject performs a movement to stabilize the body posture when no stimulation is given to a sense of a type different from the sense to be strengthened on which the subject relies to stabilize the body posture, and a stimulation presentation unit of the training device determines a primary actuator muscle to which a stimulation to the different sense type is to be given in order to reduce the feature amount calculated by the calculation unit, and presents a stimulation to the different sense type to the determined primary actuator muscle. [Effects of the Invention]

[0011] According to the present invention, it is possible to enhance the sensations that a subject relies on to stabilize their body posture. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing an example of functions related to a training device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of functions of the training device according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a block diagram showing an example of the functional configuration of the training device according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a block diagram showing an example of a functional configuration related to the sensory dependency measurement and evaluation process according to the first embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing an example of the procedure of the sensory dependency measurement and evaluation process according to the first embodiment of the present invention. [Figure 6] FIG. 6 is a block diagram showing an example of a functional configuration related to balance training processing (without stimulus intervention) according to the first embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing an example of the procedure of the balance training process (without stimulation intervention) according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a block diagram showing an example of a functional configuration related to the balance training process (with stimulus intervention) according to the first embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of the procedure of the balance training process (with stimulation intervention) according to the first embodiment of the present invention. [Figure 10] FIG. 10 is a block diagram showing an example of a functional configuration related to the retraining determination process according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart illustrating an example of a procedure for retraining determination processing according to the first embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of functions of a training device according to the second embodiment of the present invention. [Figure 13] FIG. 13 is a block diagram showing an example of the functional configuration of a training device according to the second embodiment of the present invention. [Figure 14] FIG. 14 is a block diagram showing an example of a functional configuration related to the sensory dependence measurement and evaluation process according to the second embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart showing an example of the procedure of the sensory dependence measurement and evaluation process according to the second embodiment of the present invention. [Figure 16]FIG. 16 is a block diagram showing an example of a functional configuration related to balance training processing (with EMS intervention) according to the second embodiment of the present invention. [Figure 17] FIG. 17 is a flowchart showing an example of the procedure of a balance training process (with EMS intervention) according to the second embodiment of the present invention. [Figure 18] FIG. 18 is a block diagram showing an example of a functional configuration related to the retraining determination process according to the second embodiment of the present invention. [Figure 19] FIG. 19 is a flowchart illustrating an example of a procedure for retraining determination processing according to the second embodiment of the present invention. [Figure 20] FIG. 20 is a block diagram showing an example of the hardware configuration of a training device according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of the present invention will be described below with reference to the drawings. (Common explanation) Here, matters common to the first and second embodiments described later will be explained.

[0014] FIG. 1 is a diagram showing an example of functions related to a training device according to an embodiment of the present invention. In one embodiment of the present invention, as shown in Figure 1, we will explain training of motor skills to control sensory dependence, which consists of balance training (S3) in which stimulation corresponding to body sway is intervened, balance training before and after this training without stimulation intervening (S2 (pre-balance training), S4 (post-balance training)), steps of measuring and evaluating sensory dependence before and after balance training without stimulation intervening (S1 (measurement and evaluation of sensory dependence before post-balance training), S5 (measurement and evaluation of sensory dependence after post-balance training)), and a step (S6) of comparing the results before and after balance training to determine whether retraining is necessary.

[0015] In addition, the balance training (S3) in which stimuli corresponding to body sway are intervened as described above includes a function to determine whether the state is stable or unstable based on the center of gravity sway previously obtained in S2, and to determine the threshold for presenting stimuli.

[0016] An embodiment of the present invention provides training of motor skills that control sensory dependency, incorporating balance training with intervention of external stimuli to correct movements during disturbances. Furthermore, in the stimulation intervention, parameters such as a threshold for stimulation presentation can be set for each individual based on the center of gravity sway acquired in advance.

[0017] Furthermore, by measuring and evaluating the degree of sensory dependence before and after balance training with the above-mentioned stimulation, balance training without the stimulation, and after balance training, it is possible to quantitatively confirm the learning status of the motor skills that control sensory dependence. Furthermore, by comparing the results before and after balance training to determine whether retraining is necessary, retraining can be repeated depending on the learning status, allowing for reliable progress in learning.

[0018] In addition, in the first embodiment described below, visual stimuli are used to teach the trainee the movements that should be performed in response to body sway, and the trainee can then voluntarily perform ankle joint movements in accordance with the stimuli, thereby strengthening the trainee's dependence on foot somatosensory sensation.

[0019] Furthermore, in the second embodiment described below, balance training involves electrical muscle stimulation (EMS (Electrical Muscle Stimulation)) of the ankle muscles in response to body sway, making it possible to correct ankle movement during disturbances and strengthen visual dependence.

[0020] (First embodiment) Next, a first embodiment will be described, which focuses on training a motor skill that strengthens somatosensory dependence. The background of the first embodiment will be described. Humans control their own posture to stabilize their body posture, for example, body sway, during basic movements such as standing or walking. Human posture control involves receiving information from the outside world mainly through three sensory organs: vision (eyes), somatic sensation in the feet (soles of the feet, areas around the ankles, etc.), and vestibular sensation (semicircular canals, etc.), and it is known that posture is stabilized by proper sensory integration of this information in the central nervous system of the brain, and it is known that each individual tends to rely on specific senses in sensory integration.

[0021] If this bias in sensory dependency continues for many years, the problem of postural control will become more difficult when the function of the highly dependent sensory organs declines with age in the future. Considering that future decline in sensory function due to aging varies greatly from person to person and is difficult to predict, it is necessary to acquire the skills to maintain posture even if any sense function declines, in other words, the motor skills to transition to a state of strong sensory dependence on vision, somatosensation in the feet, and vestibular sensation, while one is still healthy. This allows the user to rely more on unimpaired senses to stabilize posture in unstable situations, such as on a soft floor.

[0022] According to the above-mentioned Non-Patent Document 1, standing on an unstable surface has the effect of increasing visual dependence. Therefore, even if this training is applied, if visual function declines in the future, it is highly likely that postural stability will not be maintained in unstable situations. Therefore, in the first embodiment of the present invention, a form will be described that realizes training of skills to stabilize posture by increasing reliance on somatic sensation in the feet when standing on an unstable surface.

[0023] FIG. 2 is a diagram showing an example of functions of the training device according to the first embodiment of the present invention. In a first embodiment of the present invention, the RThis paper describes motor skill training that strengthens foot somatosensory dependency, which consists of a balance training step (S13) in which visual stimuli, which have the function of instructing the movements to be made in response to body sway, are intervened during training to stand on an unstable surface; balance training steps (S12 (pre-balance training), S14 (post-balance training)) before and after this training without visual stimuli; steps (S11, S15) of measuring and evaluating the degree of somatosensory dependency before and after this balance training without visual stimuli; and a step (S16) of comparing the results before and after the balance training to determine whether retraining is necessary.

[0024] The first embodiment of the present invention makes it possible to train motor skills that strengthen somatic sensory dependence in the feet by incorporating training in which visual stimuli with the function of instructing the exercises to be performed in response to body sway are intervened during training to stand on an unstable surface.

[0025] Furthermore, by using visual stimuli that instruct the trainee on the movements that should be performed in accordance with their body movements, the trainee can voluntarily perform ankle joint movements in accordance with the stimuli, thereby strengthening the trainee's dependence on somatic sensation in the feet.

[0026] Furthermore, by measuring and evaluating the degree of sensory dependence before and after balance training with the intervention of visual stimuli, balance training without the intervention of visual stimuli, and after balance training, it is possible to quantitatively confirm the learning state of motor skills that strengthen somatosensory dependence in the feet. Furthermore, by comparing the results before and after balance training to determine whether retraining is necessary, retraining can be repeated depending on the learning status, allowing for reliable progress in learning.

[0027] FIG. 3 is a block diagram showing an example of the functional configuration of the training device according to the first embodiment of the present invention. As shown in FIG. 3, a training system 100 according to the first embodiment of the present invention includes a floor reaction force meter 101, a motion capture system 102, a training device 103, a microcomputer 104, a monitor 105 for visual stimulation, and a server 106.

[0028] The force plate 101, motion capture system 102, and microcomputer 104 are connected to a training device 103, which is connected to a monitor 105 via the microcomputer 104. Of these, the force plate 101 measures the position of the center of foot pressure when the subject is standing, and this measurement result is used in the above steps S11 and S15, i.e., the steps of measuring and evaluating the degree of sensory dependence after balance training. The motion capture system 102, the microcomputer 104, and the monitor 105 are used in the above steps S12, S13, and S14, ie, the various balance training processing steps. The motion capture system 102 measures the position of a dedicated infrared reflective marker (sometimes simply referred to as a marker) attached to any location on the subject's body or an object. In response to the measured movement of the marker, a trigger signal, which is a control signal, is sent from the training device 103 to the microcomputer 104, and upon receiving this trigger signal, the microcomputer 104 sends a signal related to a visual stimulus to the monitor 105.

[0029] S11: Pre-training sensory dependency measurement and evaluation step FIG. 4 is a block diagram showing an example of a functional configuration related to the sensory dependency measurement and evaluation process according to the first embodiment of the present invention. S11 is a step of measuring and evaluating the degree of sensory dependency before balance training. As shown in Fig. 4, the floor reaction force meter 101 has a center of gravity sway measurement unit 201, and the training device 103 has a center of gravity sway evaluation unit 202 and a somatosensory dependency evaluation unit 203. The sensory dependency measurement and evaluation process S11 before balance training according to the first embodiment can be realized by these units 201 to 203.

[0030] FIG. 5 is a flowchart showing an example of the procedure of the sensation dependence evaluation process according to the first embodiment of the present invention. In S11, the subject first stands on both feet for 30 seconds (S11a) on the force reaction meter 101 (on a stable surface) and then stands on both feet for 30 seconds (S11b) on a soft mat placed on the force reaction meter 101 (on an unstable surface), repeating this cycle multiple times. Note that the standing time is an example and may be set to, for example, 60 seconds.

[0031] · Center of gravity sway measurement unit 201 The center of gravity sway measurement unit 201 measures the foot pressure center position (x t , y t ) and outputs the measurement result to the training device 103 (S11c). Similarly, the center of gravity sway measurement unit 201 measures the foot pressure center position (x t , y t ) and outputs the measurement result to the training device 103 (S11d).

[0032] Center of gravity sway evaluation unit 202 The center of gravity sway evaluation unit 202 is configured to estimate the center of foot pressure (x t , y t ) are input and stored in a storage device within the training device 103 as time series data of the foot pressure center position (S11e). The training device 103 uses this stored data to calculate the center of gravity sway s when standing on a stable surface. S and outputs the calculation result to the somatosensory dependence evaluation unit 203 (S11f).

[0033] Similarly, the center of gravity sway evaluation unit 202 calculates the center of foot pressure position (x t , y t ) are input and stored in the storage device within the training device 103 as time-series data of the foot pressure center position (S11g). The training device 103 uses this stored data to measure the center of gravity sway (s) when standing on an unstable surface. US and outputs the calculation result to the somatosensory dependence evaluation unit 203 (S11h).

[0034] In this embodiment, the center of gravity sway, that is, the center of gravity sway when standing on a stable surface, S and center of gravity sway when standing on an unstable surface US The root mean square (RMS) is calculated as follows:

[0035]

number

[0036] where x m , y m is the average value of the foot pressure center position, and n is the number of time samples. Note that other parameters such as the velocity of center of gravity sway or the rectangular area may also be used.

[0037] Somatosensory Dependence Evaluation Unit 203 The somatosensory dependency evaluation unit 203 measures the center of gravity sway s when standing on a stable surface. S and center of gravity sway when standing on an unstable surface US Based on these calculation results, the somatosensory dependency before training d p is calculated as shown in the following equation (2) (S11i).

[0038] d p =S US / S S …Formula (2) In this equation (2), d pThe larger the value, the stronger the dependence on somatosensory sensation.

[0039] In this embodiment, the somatosensory dependency calculated as described above before training is saved in the storage device of the training device 103 as the pre-training somatosensory dependency dp_pre.

[0040] S12: Pre-balance training step FIG. 6 is a block diagram showing an example of a functional configuration related to balance training processing (without stimulus intervention) according to the first embodiment of the present invention. S12 is a step of performing balance training without visual stimulation before balance training with visual stimulation. As shown in Fig. 6, the motion capture system 102 has a balance board height measurement unit 301 and a balance board sway evaluation unit 302. The balance training S12 without visual stimulation before balance training according to the first embodiment can be realized by these units 301 and 302.

[0041] FIG. 7 is a flowchart showing an example of the procedure of the balance training process (without stimulation intervention) according to the first embodiment of the present invention. In S12, the training task is to stand on one leg on a balance board that tilts only forward and backward, multiple times for 30 seconds each (S12a). This training task may be performed on a soft floor or other surface other than the balance board.

[0042] Next, as a preliminary step, a marker for motion capture measurement is attached to the front end of the balance board and electrically connected to the training device 103. In this embodiment, the fluctuation of the balance board is measured by measuring the height (h t It is also possible to attach markers to both ends of the balance board, calculate the angle, and use the change in this angle as the sway, or to attach multiple markers to the subject's pelvis and use the change in the calculated angle as the pelvic sway.

[0043] Balance board height measurement unit 301 The balance board height measurement unit 301 of the motion capture system 102 measures the height of the marker (h t ) and outputs the measurement result to the training device 103 (S12b).

[0044] Balance board vibration evaluation unit 302 The balance board vibration evaluation unit 302 calculates the height of the marker (h t ) is input and stored in the storage device of the training device 103 as "time series data of the height of the balance board" (S12c).

[0045] The balance board vibration evaluation unit 302 uses this stored data to estimate the balance board vibration S BB is calculated as in the following equation (3): In this embodiment, the root mean square (RMS) is used as the balance board oscillation.

[0046]

number

[0047] where h m is the average height of the balance board, and n is the number of time samples.

[0048] In this embodiment, the balance board sway acquired in the pre-training is S BB_pre and stored in the storage device of the training device 103.

[0049] S13: Balance training steps FIG. 8 is a block diagram showing an example of a functional configuration related to the balance training process (with stimulus intervention) according to the first embodiment of the present invention. S13 is a step of implementing balance training with visual stimulation intervention. As shown in FIG. 8 , the motion capture system 102 includes a balance board height measurement unit 401, the training device 103 includes a time-series data storage unit 402, an agonist muscle threshold determination unit 403, and an agonist muscle determination unit 404, and the microcomputer 104 includes a visual stimulation presentation unit 405. The balance training with visual stimulation intervention according to the first embodiment can be realized by these units 401 to 405. The time-series data storage unit 402 stores time-series data of the balance board fluctuation in the pre-training. In this training, the height of the balance board is measured and transmitted to the training device 103. A trigger is transmitted to the microcomputer 104 according to the measured value, and a visual stimulation is presented in response to the trigger.

[0050] FIG. 9 is a flowchart showing an example of the procedure of the balance training process (with stimulation intervention) according to the first embodiment of the present invention. In S13, the training task is to stand on one leg on a balance board that tilts only forward and backward, multiple times for 30 seconds each (S13a). This training task may be performed on a soft floor surface other than the balance board.

[0051] Next, as a preliminary preparation, a total of three channels are connected between the external trigger output device attached to the training device 103 and the microcomputer 104, and a monitor for visual stimulation is connected to the training device 103 via the microcomputer 104. The above three channels correspond to, for example, a channel that lights up "keep," a channel that lights up "up," and a channel that outputs "down."

[0052] Balance board height measurement unit 401 The balance board height measurement unit 401 of the motion capture system 102 measures the height (ht) of the marker and outputs the measurement result to the training device 103 as time-series data of the subject's current body movement (S13b).

[0053] A time series data storage unit 402 for balance board sway in pre-training The "time series data of balance board height" described in S12b and S12c is stored in the time series data storage unit 402 in the training device 103 as "time series data of balance board fluctuation in pre-training" and can be output to the agonist muscle threshold determination unit 403.

[0054] agonist muscle threshold determination unit 403 The prime mover threshold determination unit 403 inputs the "time series data of balance board sway in pre-training" stored in the time series data storage unit 402, and outputs thresholds h_ta and h_so to the prime mover determination unit 404 to determine the appropriate prime mover muscles for reducing balance board sway, i.e., the prime mover muscles that should be stimulated to stabilize the subject's posture. In this embodiment, when the height h of the front end of the balance board indicated by the time-series data of the subject's current body movement is equal to or less than a threshold value h_ta, the subject's tibialis anterior muscle (TA) is determined to be the appropriate prime mover by the prime mover determination unit 404. When the height h of the front end of the balance board indicated by the time-series data of the subject's current body movement is equal to or greater than a threshold value h_so, the subject's soleus (SO) is determined to be the appropriate prime mover by the prime mover determination unit 404. If the mean value of the time series data of the height h of the front end of the balance board is h_mean and the standard deviation of the time series data is h_std, the following equations (4) and (5) are defined.

[0055] h_ta = h_mean - h_std …Equation (4) h_so = h_mean + h_std …Equation (5)

[0056] Here, with regard to the height h of the front end of the balance board indicated by the time series data of the subject's current physical movement, in the region of "h_ta < h < h_so", that is, the region as described above where it is neither below the threshold h_ta nor above the threshold h_so, the subject is able to maintain a relatively level balance, and so the height of the front end of the balance board can be called the "stable region".

[0057] Furthermore, with regard to the height h of the front end of the balance board indicated by the time series data of the current body movement, in areas other than the above "h_ta < h < h_so", i.e., areas below the above threshold h_ta or above the threshold h_so, the balance board is tilted significantly, so the height h of the front end of the balance board can be called an "unstable area".

[0058] ·Major action muscle determination unit 404 The main activator muscle determination unit 404 is a balance board height measurement unit 401 The unit 404 receives time-series data of the subject's current body movement transmitted from the activator muscle threshold determination unit 403, and inputs this time-series data, the threshold output from the activator muscle threshold determination unit 403, and the height ht of the front end of the balance board at time t from the balance board height measurement unit 401, and determines whether the height of the front end of the balance board is in the stable region or the unstable region. In other words, it determines whether the movement of the subject to stabilize their body posture is stable enough not to require stimulation of the senses. If it is determined to be in the stable region, the activator muscle determination unit 404 sends a trigger to the microcomputer 104 through the channel that lights up the above-mentioned "keep."

[0059] If the region is determined to be an unstable region, the activator muscle determining unit 404 determines whether the appropriate activator muscle should be the tibialis anterior (TA) or the soleus (SO) (S13c). If the tibialis anterior muscle is determined to be an appropriate activator muscle, the activator muscle determination unit 404 transmits a trigger to the microcomputer 104 through the channel that lights up the "up" indicator. Furthermore, if the soleus muscle is determined to be an appropriate activator muscle, the activator muscle determination unit 404 transmits a trigger to the microcomputer 104 through the channel that outputs the above-mentioned "down."

[0060] Visual Stimulus Presentation Unit 405 When the microcomputer 104 receives the trigger signal transmitted when the unstable region is determined, the visual stimulus presentation unit 405 presents a visual stimulus that activates the agonist muscle corresponding to the trigger channel (S13d). The trainee confirms that the "up" light is lit and performs the action of raising the front end of the balance board, and confirms that the "down" light is lit and performs the action of lowering the front end of the balance board. Furthermore, when the microcomputer 104 receives the trigger signal transmitted when the unstable region is determined, the visual stimulus presentation unit 405 presents a visual stimulus corresponding to the trigger channel "keep" to maintain the stable region (S13e). The trainee confirms that the "keep" is lit and takes action to maintain the balance board in its current state. After S13d or S13e, the process returns to S13b with the time count being advanced.

[0061] S14: Post-balance training step S1 is a step of performing balance training without intervention after balance training with visual stimulation intervention, and is the same step as S12. The configuration and flowchart are as shown in Figures 6 and 7.

[0062] However, in S12 above, the balance board sway acquired in the pre-training was BB_pre In S14, the balance board sway acquired in the post-training is stored in the storage device of the training device 103. BB_post and stored in the storage device of the training device 103.

[0063] S15: Post-training sensory dependency evaluation step S15 is a step of measuring and evaluating the degree of sensory dependence after training, which is similar to S11. The configuration and flowchart are as shown in Figures 4 and 5.

[0064] However, in the above S11, the somatosensory dependency obtained before training was d p_pre In S15, the somatosensory dependency calculated after training is stored in the storage device of the training device 103 as d p_post and stored in the storage device of the training device 103.

[0065] S16: Retraining decision step FIG. 10 is a block diagram showing an example of a functional configuration related to the retraining determination process according to the first embodiment of the present invention. S16 shows the somatosensory dependency (d p_pre , d p_post ) and Balance Board Sway (S BB_pre , S BB_post ) and determine whether retraining of balance training is necessary. 10 As shown in FIG. 1, the training device 103 has a retraining determination unit 501, and S16 Retraining judgment department This can be achieved by 501.

[0066] FIG. 11 is a flowchart illustrating an example of a procedure for retraining determination processing according to the first embodiment of the present invention. ·Retraining judgment unit 501 In S16, the retraining assessment unit 501 first reads the balance board sway before and after the balance training and the somatosensory dependency before and after the balance training, which have been stored in advance in the storage device of the training device 103, and first compares the balance board sway before and after the balance training (S16a).

[0067] The retraining determination unit 501 determines whether the shaking of the balance board after the training has decreased compared to the shaking of the balance board before the training (S16b).

[0068] If the balance board sway after training is reduced compared to the balance board sway before training (S BB_pre > S BB_post ) (Yes in S16b), proceed to the next decision block. Otherwise (No in S16), retraining in S13 is performed.

[0069] If the determination in S16b above is Yes, the retraining determination unit 501 compares the read-out somatosensory dependence before and after the balance training (S16c).

[0070] When somatosensory dependency after training is stronger than that before training (d p_pre < d p_post If the answer is YES in S16c, the retraining determination unit 501 determines that the learning of the motor skill that strengthens somatosensory dependence has progressed, and ends the training. If not (NO in S16c), the retraining in S13 is performed.

[0071] (Second embodiment) Next, a second embodiment will be described, which focuses on training a motor skill that strengthens visual dependence. No. 2 The background of the embodiment will be described. Humans control their posture to stabilize their body posture, for example, body sway, during basic movements such as standing or walking. Human posture control involves receiving information from the outside world primarily through three sensory organs: vision (eyes), somatosensation (soles of the feet, etc.), and vestibular sensation (semicircular canals, etc.), and it is known that posture is stabilized by proper sensory integration of this information in the central nervous system of the brain, and that each individual tends to rely on specific senses in sensory integration.

[0072] If this bias in sensory dependency continues for many years, the problem of postural control will become more difficult when the function of the highly dependent sensory organs declines with age in the future. Considering that the future decline in sensory function due to aging varies greatly from person to person and is difficult to predict, it is necessary to acquire the skills to maintain posture even if the function of any sense declines, in other words, the motor skills to transition to a state of strong sensory dependence on each of the vision, somatosensation, and vestibular senses, while one is still healthy. This allows the user to rely more on unimpaired senses to stabilize posture in unstable situations, such as on a soft floor.

[0073] According to Non-Patent Document 1, standing on an unstable surface has the effect of strengthening visual dependence. However, in the case of a technique that applies a disturbance through the sensory organs or the external environment, as in Non-Patent Document 1, there is a problem that the movement in response to the disturbance varies from person to person, resulting in different sensory-dependent changes for each individual. Therefore, this is insufficient as a training method for motor skills that strengthen visual dependence. Therefore, in the second embodiment of the present invention, a form of training for motor skills that strengthens visual dependence is described, which incorporates training that intervenes external stimuli to correct movement during disturbance.

[0074] FIG. 12 is a diagram showing an example of functions of a training device according to the second embodiment of the present invention. The present invention 2 In the embodiment of FIG. 1 As shown in Figure 2, this paper describes motor skill training that strengthens visual dependence, which consists of a balance training step (S23) in which electrical muscle stimulation (EMS) is administered to the ankle muscles in response to body sway, balance training steps (S22 (pre-balance training) and S24 (post-balance training)) before and after this training without EMS intervention, steps (S21, S25) of measuring and evaluating the degree of sensory dependence before and after this balance training without EMS intervention, and a step (S26) of comparing the results before and after the balance training to determine whether retraining is necessary.

[0075] A second embodiment of the present invention allows for training of visually dependent motor skills incorporating training in which external stimuli are intervened to correct movements during disturbances.

[0076] Furthermore, balance training with EMS intervention for ankle muscles in response to body sway can correct ankle movement during disturbances and increase reliance on vision.

[0077] Furthermore, by measuring and evaluating the degree of sensory dependence before and after balance training with EMS intervention, and balance training without EMS intervention, it is possible to quantitatively confirm the learning state of motor skills that increase visual dependence.

[0078] Furthermore, by comparing the results before and after balance training to determine whether retraining is necessary, retraining can be repeated depending on the learning status, allowing for reliable progress in learning.

[0079] FIG. 13 is a block diagram showing an example of the functional configuration of a training device according to the second embodiment of the present invention. As shown in FIG. 13, a training system 100a according to the second embodiment of the present invention includes a floor reaction force meter 101, a motion capture system 102, a training device 103a, a microcomputer (microcomputer) 104a, an electrical stimulation device 105a, and a server 106.

[0080] The force plate 101, motion capture system 102, and microcomputer 104a are connected to a training device 103a, which is connected to an electrical stimulation device 105a via the microcomputer 104a. Of these, the force plate 101 measures the position of the center of foot pressure when the subject is standing, and this measurement result is used in the above steps S21 and S25, i.e., the steps of measuring and evaluating the degree of sensory dependence after balance training.

[0081] The motion capture system 102, the microcomputer 104a, and the electrical stimulation device 105a are used in the above steps S22, S23, and S24, that is, the various balance training steps.

[0082] Motion capture system 102 measures the position of a dedicated infrared reflective marker attached to any location on the body of a subject or an object. In response to the measured movement of the marker, a trigger is sent from training device 103a to microcomputer 104a, and upon receiving this trigger, microcomputer 104a sends a signal to electrical stimulation device 105a to start electrical stimulation.

[0083] S21: Pre-training sensory dependency measurement and evaluation step FIG. 14 is a block diagram showing an example of a functional configuration related to the sensory dependence measurement and evaluation process according to the second embodiment of the present invention. S21 is a step of evaluating the degree of sensory dependence before balance training. As shown in Fig. 14, the floor reaction force meter 101 has a center of gravity sway measurement unit 201, and the training device 103a has a center of gravity sway evaluation unit 202 and a visual dependence evaluation unit 203a, and the sensory dependence measurement and evaluation process S21 before balance training according to the second embodiment can be realized by these units 201 to 203a.

[0084] FIG. 15 is a flowchart showing an example of a procedure for a sensation dependence evaluation process according to the second embodiment of the present invention. In S21, the subject first stands on both feet with eyes open for 30 seconds (S21a) on the force plate 101 (stable surface) and then repeatedly stands on both feet with eyes closed for 30 seconds (S21b) on the force plate 101 (stable surface). Note that the standing time is an example and may be set to, for example, 60 seconds.

[0085] · Center of gravity sway measurement unit 201 The center of gravity sway measurement unit 201 measures the foot pressure center position (x t , y t ) and outputs the measurement result to the training device 103a (S21c).

[0086] Similarly, the center of gravity sway measurement unit 201 measures the foot pressure center position (x t , y t ) and outputs the measurement result to the training device 103a (S21d).

[0087] Center of gravity sway evaluation unit 202 The center of gravity sway evaluation unit 202 is configured to estimate the center of foot pressure (x t , y t The measurement results of (a) and (b) are input and stored in the storage device within the training device 103a as time-series data of the foot pressure center position (S21e). The training device 103a uses this stored data to calculate the center of gravity sway S when standing with eyes open. EO and outputs the calculation result to the visual dependence evaluation unit 203a (S21f).

[0088] Similarly, the center of gravity sway evaluation unit 202 calculates the center of foot pressure position (x t , y t ) are input and stored in the storage device within the training device 103a as time-series data of the foot pressure center position (S21g). The training device 103a uses this stored data to calculate the center of gravity sway S when standing with eyes closed. EC and outputs the calculation result to the visual dependence evaluation unit 203a (S21h).

[0089] In this embodiment, the center of gravity sway, that is, the center of gravity sway S EO and center of gravity sway when standing with eyes closed S EC The root mean square (RMS) is calculated as follows:

[0090]

number

[0091] Here, as in the above formula (1), x m , y mis the average value of the foot pressure center position, and n is the number of time samples. Note that other parameters such as the velocity of center of gravity sway or the rectangular area may also be used.

[0092] Visual Dependence Evaluation Unit 203a The visual dependence evaluation unit 203a measures the center of gravity sway S EO and center of gravity sway S when standing with eyes closed EC Based on these calculation results, the visual dependency before training d e is calculated as shown in the following equation (7) (S21i).

[0093] d e =S EC / S EO ...Formula (7) In this equation (7), d e The larger the value, the stronger the visual dependence. In this embodiment, the visual dependence calculated as above before training is used as d e_pre and stored in the storage device of the training device 103a.

[0094] S22: Pre-balance training step S22 is a step in which balance training without EMS intervention is carried out before balance training with EMS intervention (S23), and is the same step as S12 described in the first embodiment. The configuration and flowchart are as shown in Figures 6 and 7.

[0095] S23: Balance training steps FIG. 16 is a block diagram showing an example of a functional configuration related to balance training processing (with EMS intervention) according to the second embodiment of the present invention. S23 is a step in which balance training with EMS intervention is performed. As shown in Fig. 16, the motion capture system 102 has a balance board height measurement unit 401, the training device 103a has a time-series data storage unit 402, a master activator threshold determination unit 403, and a master activator determination unit 404, and the microcomputer 104a has an electrical stimulation presentation unit 405a. Balance training with EMS intervention according to the second embodiment can be realized by these units 401 to 405a. The time-series data storage unit 402 stores time-series data of balance board sway during pre-training.

[0096] FIG. 17 is a flowchart showing an example of the procedure of a balance training process (with EMS intervention) according to the second embodiment of the present invention. As a preliminary step for S23, electrical stimulation electrodes are attached to the tibialis anterior and soleus muscles of the subject's ankle joints and connected to the respective channels of the electrical stimulation device 105a. The electrical stimulation device 105a can present EMS to each muscle of the subject to contract the muscle. Furthermore, an external trigger output device attached to the training device 103a is connected to the microcomputer 104a via only two channels, and the electrical stimulation device 105a is connected to the training device 103a via the microcomputer 104. These two channels correspond to, for example, a channel for stimulating the tibialis anterior and a channel for stimulating the soleus. In this embodiment, EMS is presented to the tibialis anterior or soleus muscle of the subject in response to the movement of the balance board.

[0097] In S23, the training task is to stand on one leg on a balance board that tilts only forward and backward, multiple times for 30 seconds each (S23a). This training task may be performed on a soft floor surface other than the balance board.

[0098] Balance board height measurement unit 401 The balance board height measurement unit 401 of the motion capture system 102 measures the height (ht) of the marker and outputs the measurement result to the training device 103a (S23b).

[0099] Time series data of balance board sway during pre-training In this embodiment, the "time-series data of balance board height" described in S12b and S12c in the first embodiment is stored in the time-series data storage unit 402 in the training device 103a as "time-series data of balance board sway in pre-training" and can be output to the agonist muscle threshold determination unit 403.

[0100] agonist muscle threshold determination unit 403 The agonist threshold determination unit 403 inputs the "time series data of balance board vibration in pre-training" stored in the time series data storage unit 402, and outputs the thresholds h_ta and h_so for determining appropriate agonist muscles for reducing balance board vibration to the agonist threshold determination unit 404 along with the "time series data of balance board vibration in pre-training." In this embodiment, when the height h of the front end of the balance board is equal to or less than the threshold value h_ta, the activator muscle determination unit 404 determines that the subject's tibialis anterior muscle is the appropriate activator muscle. When the height h of the front end of the balance board is equal to or greater than the threshold value h_so, the activator muscle determination unit 404 determines that the subject's soleus muscle is the appropriate activator muscle. The relationship between the average value of the time series data of the height h of the front end of the balance board and the above threshold when the standard deviation of the time series data is h_mean and h_std, respectively, is shown in equations (4) and (5) described in the first embodiment.

[0101] Here, as in the first embodiment, in the region of "h_ta < h < h_so" where the height h of the front end of the balance board is, the balance can be maintained relatively horizontally, so the height of the front end of the balance board can be called the "stable region." Furthermore, with respect to the height h of the front end of the balance board, in areas other than the above "h_ta < h < h_so", the balance board is tilted significantly, so the height of the front end of the balance board can be called an "unstable area".

[0102] ·Major action muscle determination unit 404 The agonist muscle determination unit 404 compares the threshold value output from the agonist muscle threshold determination unit 403 with the height h of the front end of the balance board at time t from the balance board height measurement unit 401. t and determines whether the height of the front end of the balance board is in the stable region or the unstable region. If it is determined to be in the stable region, the activator muscle determination unit 404 does not send a trigger to the microcomputer 104a.

[0103] Furthermore, if it is determined to be an unstable region, the activator muscle determination unit 404 determines whether the appropriate activator muscle should be the tibialis anterior (TA) or the soleus (SO) (S23c), and transmits a trigger to a channel that stimulates the muscle determined to be the appropriate activator muscle.

[0104] Electrical stimulation presentation unit 405a When microcomputer 104a receives the trigger signal transmitted when the unstable region is determined, electrical stimulation presentation unit 405a presents EMS via electrical stimulation device 105a (S23d). When EMS is presented to the subject's tibialis anterior (TA), the subject involuntarily raises the front end of the balance board by dorsiflexing the ankle. When EMS is presented to the subject's soleus (SO), the subject involuntarily lowers the front end of the balance board by plantarflexing the ankle. After S23d or S23e, the process returns to S23b with the time count being advanced.

[0105] S24: Post-balance training step S24 is a step of implementing balance training without intervention after balance training with EMS intervention, and is the same step as S14 described in the first embodiment. The configuration and flowchart are as shown in Figures 6 and 7.

[0106] S25: Post-training sensory dependency evaluation step S25 is a step of measuring and evaluating the degree of sensory dependence after training, and is similar to S21. The configuration and flowchart are as shown in Figures 14 and 15.

[0107] However, in S21 above, the visual dependency obtained before training is d e_pre In S25, the visual dependence calculated after training is stored in the storage device of the training device 103a as d e_post and stored in the storage device of the training device 103a.

[0108] S26: Retraining decision step FIG. 18 is a block diagram showing an example of a functional configuration related to the retraining determination process according to the second embodiment of the present invention. S26 shows the visual dependence (d e_pre , d e_post ) and Balance Board Sway (S BB_pre , S BB_post 18, the training device 103a has a retraining determination unit 501a, and S26 can be realized by this 501a.

[0109] FIG. 19 is a flowchart illustrating an example of a procedure for retraining determination processing according to the second embodiment of the present invention. ·Retraining determination unit 501a In S26, the retraining assessment unit 501a first reads out the balance board sway before and after the balance training and the visual dependence before and after the balance training, which have been stored in advance in the storage device of the training device 103a (S26a), and first compares the balance board sway before and after the balance training.

[0110] The retraining determination unit 501 determines whether the shaking of the balance board after the training has decreased compared to the shaking of the balance board before the training (S26b).

[0111] If the balance board sway after training is reduced compared to the balance board sway before training (S BB_pre > S BB_post ) (Yes in S26b), proceed to the next decision block. Otherwise (No in S26), retraining in S23 is performed. If the determination in S26b above is Yes, the retraining determination unit 501 compares the read-out visual dependence before and after the balance training (S26c).

[0112] When visual dependence after training is stronger than before training (d e_pre < d e_post If the answer is "Yes" in S26c, the retraining determination unit 501 determines that the learning of the motor skill that strengthens visual dependence has progressed, and ends the training. If not (No in S26c), the retraining in S23 is performed.

[0113] Next, variations according to this embodiment will be described in the following (1) to (3). (1) The time-series data of the body movements in the pre-training or the calculation results of each degree of dependency stored in the time-series data storage unit 402 may be stored in advance in a storage device (not shown) in the server 106. In this case, as necessary, the activator muscle threshold determination unit 403 or the activator muscle determination unit 404 of the training device 103 makes a request for delivery (acquisition) of the stored data, or a so-called download request, to the server 106 via a communications network, and in response to this delivery request, a delivery unit (not shown) of the server 106 can deliver the stored data via the communications network to the training device 103 that has made the delivery request.

[0114] (2) The threshold determined by the agonist muscle threshold determining unit 403 may be stored in advance as threshold data in a storage device (not shown) in the server 105. In this case, as necessary, the activator muscle determination unit 404 of the training device 103 requests the server 106 to deliver the threshold data, i.e., requests a download, via the communications network, and the delivery unit of the server 106, in response to this delivery request, can deliver the stored threshold data via the communications network to the training device 103 that made the delivery request.

[0115] (3) The formula for determining the threshold determined by the agonist muscle threshold determination unit 403 is not limited to the single formula shown in the formulas (4) and (5) above, but may be configured so that the user can arbitrarily select from multiple types of thresholds, for example, a formula for professional players and a formula for amateur players. The formula for professional players is, for example, a formula that includes relatively complex parameters that professional players can handle, and the formula for amateur players is, for example, a formula that includes relatively simple parameters that amateur players can handle.

[0116] In one embodiment of the present invention as described above, an external stimulus is applied to correct movement during a disturbance, and the timing of the stimulus is determined from the center of gravity sway measured in advance for each individual subject, thereby controlling the sensory dependency of the subject in stabilizing their body posture.

[0117] FIG. 20 is a block diagram showing an example of the hardware configuration of a training device according to one embodiment of the present invention. figure 20 In the example shown in FIG. 1, the training device 103 according to the embodiment is configured by, for example, a server computer or a personal computer, and includes a hardware processor such as a CPU (Central Processing Unit). 6 1A. And this hardware processor 6 For 1A, program memory 6 1B, data memory 6 2. Input / output interface 6 3 and communication interface 6 4 is bus 6 1. The microcomputer 104 and the server 106 shown in FIG. 3The same applies to the training device 103a, the microcomputer 104a, and the electrical stimulation device 105a shown in FIG. 1, and the server 106 can be configured by the above-mentioned server computer.

[0118] Communication Interface 6 The device 4 includes, for example, one or more wireless communication interface units, enabling transmission and reception of information to and from a communication network NW. As the wireless interface, an interface that adopts a low-power wireless data communication standard such as a wireless LAN (Local Area Network) is used.

[0119] Input / Output Interface 6 3,Fig. 3 A floor reaction force meter 101, a motion capture system 102, a microcomputer 104, and other input and output devices (not shown) are connected to the system. Input / Output Interface 6 The training apparatus 103 can take in operation data input by a user or the like through an input device such as a keyboard, touch panel, touchpad, mouse, etc., and can output and display the output data to an output device including a display device using a liquid crystal or organic electroluminescence (EL) display, etc. The input and output devices may be devices built into the training apparatus 103, or may be input and output devices of other information terminals that can communicate with the training apparatus 103 via the network NW.

[0120] Program Memory 61B is a non-transitory tangible storage medium that is a combination of a non-volatile memory that can be written to and read from at any time, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and a non-volatile memory such as a ROM (Read Only Memory), and stores the programs necessary to execute various control processes, etc., according to one embodiment.

[0121] Data Memory 6 2 is a tangible storage medium, for example, a combination of the above-mentioned non-volatile memory and a volatile memory such as RAM (Random Access Memory), and is used to store various data acquired and created during various processing processes.

[0122] A training device 103 according to one embodiment of the present invention can be configured as a data processing device having the units shown in FIGS. 4 and 5 as software processing functional units.

[0123] The information storage units and time-series data storage unit 402 used as working memories by the units of the training device 103 are the data memory shown in FIG. 6 2. However, these configured storage areas are not essential components within the training device 103, and may be areas provided in a storage device such as an external storage medium such as a USB (Universal Serial Bus) memory, or a database server located in the cloud.

[0124] All of the above processing function units are program memories. 6 The program stored in 1B is executed by the above hardware processor. 61A and executes the program. Note that some or all of these processing functions may be realized in various other forms, including integrated circuits such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0125] The methods described in each embodiment may be stored as a program (software means) that can be executed by a computer on a recording medium such as a magnetic disk (e.g., a floppy disk, a hard disk, etc.), an optical disk (e.g., a CD-ROM, a DVD, an MO, etc.), or a semiconductor memory (e.g., a ROM, a RAM, a flash memory, etc.), or may be transmitted and distributed via a communication medium. The program stored on the medium also includes a configuration program that configures the software means (including not only execution programs but also tables and data structures) that the computer executes. The computer that realizes this device reads the program stored on the recording medium and, in some cases, configures the software means using the configuration program, and executes the above-described processing by having the operation controlled by this software means. The term "recording medium" as used herein is not limited to a storage medium for distribution, but also includes a storage medium such as a magnetic disk or semiconductor memory installed inside the computer or in a device connected via a network.

[0126] The present invention is not limited to the above-described embodiments, and various modifications can be made in the implementation stage without departing from the spirit of the invention. Furthermore, the embodiments may be implemented in appropriate combinations, in which case the combined effects can be obtained. Furthermore, the above-described embodiments include various inventions, and various inventions can be extracted by combining selected elements from the disclosed elements. For example, if the problem can be solved and the desired effect can be obtained even if some elements are deleted from all elements shown in the embodiments, the configuration from which these elements are deleted can be extracted as an invention. [Explanation of symbols]

[0127] 100,100a…Training System 101…Floor reaction force meter 102...Motion capture system 103, 103a...Training equipment 104, 104a...Microcomputer (MCU) 105...Monitor 105a...electrical stimulation device 106...Server 201...Center of gravity sway measurement unit 202...Center of gravity sway evaluation unit 203...Somatosensory Dependence Evaluation Unit 203a...Visual dependency evaluation unit 301, 401...Balance board height measurement section 302...Balance board vibration evaluation section 402...Time series data storage section 403...Movement muscle threshold determination unit 404…Main action muscle determination section 405...Visual stimulation presentation unit 405a...electrical stimulation presentation unit 501,501a...Retraining Judgment Department

Claims

1. a calculation unit that calculates a feature amount of sway of the body posture when the subject performs a movement to stabilize the body posture, based on time-series data of sway of the center of gravity of the body when the subject performs a body movement, without providing a stimulus to a sensation of a type different from the sensation to be reinforced that the subject relies on to stabilize the body posture; a stimulus presentation unit that determines a primary actuator muscle to which a stimulus for the different type of sense is to be applied in order to reduce the feature amount calculated by the calculation unit, and presents a stimulus for the different type of sense to the determined primary actuator muscle; A training device comprising:

2. The stimulus presentation unit determining whether the subject's movements for stabilizing the body posture are stable enough not to stimulate the different types of sensations based on time-series data of the body movements of the subject; When it is determined that the subject does not have the stability, a master activator muscle of the subject to which the stimulus for the different type of sensation is to be applied is determined, and the stimulus for the different type of sensation is presented to the determined master activator muscle.

10. The training device of claim 1.

3. the feature calculated by the calculation unit is stored in an external device connectable via a communication network; The stimulus presentation unit acquiring the feature amount stored in the external device via the communication network, determining a primary actuator muscle to which a stimulus for the different type of sense is to be applied in order to reduce the acquired feature amount, and presenting the stimulus for the different type of sense to the determined primary actuator muscle; 10. The training device of claim 1.

4. the dependent sensation is the subject's foot somatosensation; The stimulus presentation unit determining a primary activator muscle to be provided with a visual stimulus of the subject in order to reduce the feature amount calculated by the calculation unit, and moving the determined primary activator muscle to present the visual stimulus; 10. The training device of claim 1.

5. the dependent sense is the subject's vision; The stimulus presentation unit determining a prime mover muscle to which stimulation is to be applied to the ankle muscles of the subject in order to reduce the feature amount calculated by the calculation unit, and presenting stimulation to the ankle muscles for the determined prime mover muscle; 10. The training device of claim 1.

6. 1. A method performed by a training device, comprising: a calculation unit of the training device calculates, based on time-series data of the sway of the center of gravity of the body when the subject performs a body movement, a feature amount of the sway of the body posture when the subject performs a movement to stabilize the body posture without providing a stimulus to a sense of a type different from the sense to be strengthened that the subject relies on to stabilize the body posture; a stimulus presentation unit of the training device determines a motivating muscle to which a stimulus for the different type of sense is to be applied in order to reduce the feature amount calculated by the calculation unit, and presents the stimulus for the different type of sense to the determined motivating muscle. Training methods.

7. A program that causes a processor to function as the calculation unit and the stimulus presentation unit of the training device according to any one of claims 1 to 5.

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