Muscle strength index estimation device, muscle strength index estimation system, muscle strength index estimation method, and program

Abstract

In order to appropriately estimate a muscular strength index in everyday life, this muscular strength index estimation device comprises: a data acquisition unit that acquires feature quantity data including a feature quantity that has been extracted from a feature of a user's gait and is used in estimating the muscular strength index of the user; a storage unit that stores an estimation model outputting a muscular strength index that is in accordance with an input of feature quantity data; an estimation unit that inputs the acquired feature quantity data to the estimation model and estimates the muscular strength index of the user; and an output unit that outputs information relating to the estimated muscular strength index.

Description

[Technical Field]

[0001] The present disclosure relates to a muscle strength indicator estimation device and the like that estimates a muscle strength indicator using data related to gait. [Background technology]

[0002] With growing interest in healthcare, services that provide information based on the characteristics contained in walking patterns (also called gait) are attracting attention. For example, technology is being developed that analyzes gait based on sensor data measured by sensors mounted on footwear such as shoes. The time-series data of sensor data reveals the characteristics of gait events (also called walking events) related to physical conditions.

[0003] Patent Document 1 discloses a device for detecting foot abnormalities based on the walking characteristics of a walker. The device in Patent Document 1 uses data acquired from a sensor attached to the footwear to extract gait features that are characteristic of the gait of a walker wearing the footwear. The device in Patent Document 1 detects abnormalities in a walker wearing the footwear based on the extracted gait features. For example, the device in Patent Document 1 extracts characteristic parts related to hallux valgus from gait waveform data for one stride cycle. The device in Patent Document 1 estimates the progression of hallux valgus using the gait features of the extracted characteristic parts.

[0004] For example, grip strength is an index for evaluating the overall muscle strength of the whole body (also called total whole-body muscle strength), and can also be an important index for evaluating frailty and the risk of falling. Non-Patent Document 1 discloses that there is a high correlation between grip strength and knee extension strength. Knee extension strength is an index of the muscle strength of the muscle group that extends the knee, such as the quadriceps.

[0005] Patent Document 2 discloses a leg strength estimation device that estimates information related to a subject's leg strength using measurement data from a communication-type grip strength meter. The device in Patent Document 2 calculates the individual's maximum leg extension strength / body weight data using the individual's maximum leg extension strength / body weight data and personal data. The device in Patent Document 2 calculates fall age data, which is the age at which the likelihood of falling increases, using the individual's maximum leg extension strength / body weight data and personal data. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2021 / 140658 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-221139 [Non-patent literature]

[0007] [Non-Patent Document 1] R. Bohannon, et al., “Grip and Knee Extension Muscle Strength Reflect a Common Construct among Adults”, Muscle Nerve, 2012 October, vol.46 (4), pp.555-558. Summary of the Invention [Problem to be solved by the invention]

[0008] The method of Patent Document 1 estimates the progression state of hallux valgus using gait feature quantities of characteristic parts extracted from data acquired by a sensor attached to footwear. Patent Document 1 does not disclose estimating grip strength using gait feature quantities of characteristic parts extracted from data acquired by a sensor attached to footwear.

[0009] The method of Patent Document 2 uses measurement data from a communication-type grip strength meter and input personal data to calculate the maximum leg extension muscle strength / body weight data of the individual. Because the method of Patent Document 2 requires measuring grip strength using a communication-type grip strength meter, it is not possible to appropriately estimate muscle strength indicators in daily life.

[0010] An object of the present disclosure is to provide a muscle strength indicator estimation device and the like that can appropriately estimate a muscle strength indicator in daily life. [Means for solving the problem]

[0011] A muscle strength index estimation device according to one aspect of the present disclosure includes a data acquisition unit that acquires feature data including features extracted from the characteristics of the user's gait and used to estimate the user's muscle strength index; a memory unit that stores an estimation model that outputs a muscle strength index in response to input of the feature data; an estimation unit that inputs the acquired feature data into the estimation model to estimate the user's muscle strength index; and an output unit that outputs information related to the estimated muscle strength index.

[0012] In one aspect of the muscle strength index estimation method of the present disclosure, feature data including features extracted from the user's gait characteristics and used to estimate the user's muscle strength index is acquired, the acquired feature data is input into an estimation model that outputs a muscle strength index according to the input feature data, thereby estimating the user's muscle strength index and outputting information related to the estimated muscle strength index.

[0013] A program according to one aspect of the present disclosure causes a computer to execute the following processes: acquiring feature data including features extracted from the characteristics of a user's gait and used to estimate the user's muscle strength index; inputting the acquired feature data into an estimation model that outputs a muscle strength index according to the input feature data, thereby estimating the user's muscle strength index; and outputting information related to the estimated muscle strength index. [Effects of the Invention]

[0014] According to the present disclosure, it is possible to provide a muscle strength indicator estimation device and the like that can appropriately estimate a muscle strength indicator in daily life. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a block diagram showing an example of the configuration of a muscle strength indicator estimation system according to a first embodiment. [Figure 2] 1 is a block diagram showing an example of the configuration of a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment. FIG. [Figure 3] FIG. 1 is a conceptual diagram showing an example of the arrangement of a gait measurement device according to a first embodiment. [Figure 4] FIG. 2 is a conceptual diagram for explaining an example of the relationship between a local coordinate system and a world coordinate system set in the gait measurement device according to the first embodiment. [Figure 5] FIG. 1 is a conceptual diagram for explaining a human body surface used in explaining the gait measurement device according to the first embodiment. [Figure 6] FIG. 1 is a conceptual diagram for explaining a walking cycle used in explaining the gait measurement device according to the first embodiment. [Figure 7] 3 is a graph for explaining an example of time-series data of sensor data measured by the gait measurement device according to the first embodiment. [Figure 8] FIG. 3 is a diagram for explaining an example of normalization of gait waveform data extracted from time-series data of sensor data measured by the gait measurement device according to the first embodiment. [Figure 9] FIG. 2 is a conceptual diagram for explaining an example of a walking phase cluster from which a feature amount data generation unit of the gait measurement device according to the first embodiment extracts feature amounts. [Figure 10] 1 is a block diagram showing an example of the configuration of a muscle strength indicator estimation device included in a muscle strength indicator estimation system according to a first embodiment. [Figure 11] 1 is a table showing specific examples of feature amounts extracted by the gait measurement device included in the muscle strength indicator estimation system according to the first embodiment in order to estimate the grip strength of a male. [Figure 12] 1 is a graph showing the correlation between a feature amount M1 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a man. [Figure 13] 10 is a graph showing the correlation between a feature amount M2 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a man. [Figure 14] 10 is a graph showing the correlation between a feature amount M3 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a man. [Figure 15] 10 is a graph showing the correlation between a feature amount M4 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a man. [Figure 16] FIG. 2 is a block diagram showing an example of estimation of a man's grip strength (muscle strength index) by the muscle strength index estimation device included in the muscle strength index estimation system according to the first embodiment. [Figure 17] 10 is a graph showing the correlation between estimated values ​​of grip strength estimated using an estimation model generated by learning using age and height as explanatory variables and measured values ​​of grip strength. [Figure 18] 1 is a graph showing the correlation between the estimated value of grip strength estimated by the muscle strength indicator estimation device included in the muscle strength indicator estimation system according to the first embodiment and the measured value of grip strength. [Figure 19] 1 is a table showing specific examples of feature amounts extracted by the gait measurement device included in the muscle strength indicator estimation system according to the first embodiment in order to estimate the grip strength of a woman. [Figure 20] 10 is a graph showing the correlation between a feature value F1 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a woman. [Figure 21] 10 is a graph showing the correlation between a feature value F2 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a woman. [Figure 22]10 is a graph showing the correlation between a feature value F3 extracted by a gait measurement device included in the muscle strength indicator estimation system according to the first embodiment and the actually measured grip strength of a woman. [Figure 23] FIG. 2 is a block diagram showing an example of estimation of a woman's grip strength (muscle strength index) by a muscle strength index estimation device included in the muscle strength index estimation system according to the first embodiment. [Figure 24] 10 is a graph showing the correlation between estimated values ​​of grip strength estimated using an estimation model generated by learning using age and height as explanatory variables and measured values ​​of grip strength. [Figure 25] 1 is a graph showing the correlation between the estimated value of grip strength estimated by the muscle strength indicator estimation device included in the muscle strength indicator estimation system according to the first embodiment and the measured value of grip strength. [Figure 26] FIG. 2 is a block diagram showing an example of estimation of knee extension force (muscle strength index) by a muscle strength index estimation device included in the muscle strength index estimation system according to the first embodiment. [Figure 27] 5 is a flowchart for explaining an example of the operation of the gait measurement device included in the muscle strength indicator estimation system according to the first embodiment. [Figure 28] 4 is a flowchart illustrating an example of the operation of the muscle strength indicator estimation device included in the muscle strength indicator estimation system according to the first embodiment. [Figure 29] FIG. 2 is a conceptual diagram for explaining an application example of the muscle strength indicator estimation system according to the first embodiment. [Figure 30] FIG. 2 is a conceptual diagram for explaining an application example of the muscle strength indicator estimation system according to the first embodiment. [Figure 31] FIG. 10 is a block diagram showing an example of the configuration of a learning system according to a second embodiment. [Figure 32] FIG. 10 is a block diagram showing an example of the configuration of a learning device included in a learning system according to a second embodiment. [Figure 33] FIG. 10 is a conceptual diagram for explaining an example of learning by a learning device included in a learning system according to a second embodiment. [Figure 34]FIG. 10 is a conceptual diagram for explaining another example of learning by a learning device included in a learning system according to the second embodiment. [Figure 35] FIG. 10 is a block diagram showing an example of the configuration of a muscle strength indicator estimation device according to a third embodiment. [Figure 36] FIG. 2 is a block diagram showing an example of a hardware configuration for executing control and processing in each embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. However, the embodiments described below are limited in a manner that is technically preferable for carrying out the present invention, but the scope of the invention is not limited to the following. In all drawings used to describe the following embodiments, the same reference numerals are used for similar parts unless otherwise specified. Furthermore, in the following embodiments, repeated explanations of similar configurations and operations may be omitted.

[0017] (First embodiment) First, a muscle strength indicator estimation system according to a first embodiment will be described with reference to the drawings. The muscle strength indicator estimation system of this embodiment measures sensor data related to foot movement in response to a user's walking. The muscle strength indicator estimation system of this embodiment estimates the user's muscle strength indicator using the measured sensor data. In this embodiment, grip strength and knee extension strength are estimated as examples of muscle strength indicators. Note that the sensor data is not limited to sensor data related to foot movement, as long as it includes features related to gait. For example, the sensor data may be sensor data including features related to gait measured using motion capture, smart apparel, or the like.

[0018] (composition) FIG. 1 is a block diagram showing an example of the configuration of a muscle strength indicator estimation system 1 according to this embodiment. The muscle strength indicator estimation system 1 includes a gait measurement device 10 and a muscle strength indicator estimation device 13. In this embodiment, an example will be described in which the gait measurement device 10 and the muscle strength indicator estimation device 13 are configured as separate pieces of hardware. For example, the gait measurement device 10 is installed in the footwear of a subject (user) whose muscle strength indicator is to be estimated. For example, the functions of the muscle strength indicator estimation device 13 are installed in a mobile terminal carried by the subject (user). Below, the configurations of the gait measurement device 10 and the muscle strength indicator estimation device 13 will be described separately.

[0019] [Gait measurement device] 2 is a block diagram showing an example of the configuration of gait measurement device 10. Gait measurement device 10 has sensor 11 and feature amount data generation unit 12. In this embodiment, an example is given in which sensor 11 and feature amount data generation unit 12 are integrated. Sensor 11 and feature amount data generation unit 12 may also be provided as separate devices.

[0020] 2, the sensor 11 has an acceleration sensor 111 and an angular velocity sensor 112. Fig. 2 shows an example in which the acceleration sensor 111 and the angular velocity sensor 112 are included in the sensor 11. The sensor 11 may include sensors other than the acceleration sensor 111 and the angular velocity sensor 112. Description of sensors other than the acceleration sensor 111 and the angular velocity sensor 112 that may be included in the sensor 11 will be omitted.

[0021] The acceleration sensor 111 is a sensor that measures acceleration in three axial directions (also called spatial acceleration). The acceleration sensor 111 measures acceleration (also called spatial acceleration) as a physical quantity related to foot movement. The acceleration sensor 111 outputs the measured acceleration to the feature data generation unit 12. For example, a piezoelectric, piezo-resistive, or capacitive sensor can be used as the acceleration sensor 111. There is no limitation on the measurement method of the sensor used as the acceleration sensor 111 as long as it can measure acceleration.

[0022] The angular velocity sensor 112 is a sensor that measures angular velocity (also called spatial angular velocity) around three axes. The angular velocity sensor 112 measures angular velocity (also called spatial angular velocity) as a physical quantity related to foot movement. The angular velocity sensor 112 outputs the measured angular velocity to the feature data generation unit 12. For example, a vibration type or capacitance type sensor can be used as the angular velocity sensor 112. There is no limitation on the measurement method of the sensor used as the angular velocity sensor 112 as long as it can measure angular velocity.

[0023] The sensor 11 is realized by, for example, an inertial measurement unit that measures acceleration and angular velocity. An example of an inertial measurement unit is an IMU (Inertial Measurement Unit). The IMU includes an acceleration sensor 111 that measures acceleration in three axial directions and an angular velocity sensor 112 that measures angular velocity around three axes. The sensor 11 may be realized by an inertial measurement unit such as a VG (Vertical Gyro) or an AHRS (Attitude Heading). The sensor 11 may also be realized by a GPS / INS (Global Positioning System / Inertial Navigation System). The sensor 11 may be realized by a device other than an inertial measurement unit as long as it can measure physical quantities related to foot movement.

[0024] FIG. 3 is a conceptual diagram showing an example in which gait measurement device 10 is placed inside shoe 100 of a right foot. In the example of FIG. 3, gait measurement device 10 is installed at a position corresponding to the back of the arch of the foot. For example, gait measurement device 10 is placed in an insole inserted into shoe 100. For example, gait measurement device 10 may be placed on the bottom of shoe 100. For example, gait measurement device 10 may be embedded in the body of shoe 100. gait measurement device 10 may or may not be detachable from shoe 100. gait measurement device 10 may be installed at a position other than the back of the arch of the foot as long as it can measure sensor data related to foot movement. gait measurement device 10 may also be installed in socks worn by the user or in an accessory such as an anklet worn by the user. gait measurement device 10 may also be attached directly to the foot or embedded in the foot. 3 shows an example in which the gait measurement device 10 is installed in the right shoe 100. The gait measurement device 10 may also be installed in the shoes 100 on both feet.

[0025] In the example of FIG. 3 , a local coordinate system is set with the gait measurement device 10 (sensor 11) as the reference, and includes an x-axis in the left-right direction, a y-axis in the front-back direction, and a z-axis in the up-down direction. The x-axis is positive to the left, the y-axis is positive backward, and the z-axis is positive upward. The directions of the axes set in the sensor 11 may be the same for the left and right feet, or may be different for the left and right feet. For example, when sensors 11 manufactured to the same specifications are placed in left and right shoes 100, the up-down directions (directions of the Z-axis) of the sensors 11 placed in the left and right shoes 100 are the same. In this case, the three axes of the local coordinate system set for the sensor data derived from the left foot and the three axes of the local coordinate system set for the sensor data derived from the right foot are the same for the left and right feet.

[0026] FIG. 4 is a conceptual diagram illustrating a local coordinate system (x-axis, y-axis, z-axis) set in gait measurement device 10 (sensor 11) installed on the backside of the arch of the foot, and a world coordinate system (x-axis, y-axis, z-axis) set with respect to the ground. In the world coordinate system (x-axis, y-axis, z-axis), when a user is standing upright and facing the direction of travel, the user's sideways direction is set as the x-axis direction (positive for left), the direction of the user's back is set as the y-axis direction (positive for backward), and the direction of gravity is set as the z-axis direction (positive for vertical upward). Note that the example in FIG. 4 conceptually illustrates the relationship between the local coordinate system (x-axis, y-axis, z-axis) and the world coordinate system (x-axis, y-axis, z-axis), and does not accurately illustrate the relationship between the local coordinate system and the world coordinate system, which changes according to the user's walking.

[0027] FIG. 5 is a conceptual diagram illustrating planes (also called human body planes) set for the human body. In this embodiment, a sagittal plane that divides the body into left and right, a coronal plane that divides the body into front and back, and a horizontal plane that divides the body horizontally are defined. As shown in FIG. 5, when the user is standing upright with the center line of the feet facing the direction of travel, the world coordinate system and the local coordinate system coincide. In this embodiment, a rotation in the sagittal plane about the x-axis as the rotation axis is defined as roll, a rotation in the coronal plane about the y-axis as the rotation axis is defined as pitch, and a rotation in the horizontal plane about the z-axis as the rotation axis is defined as yaw. Furthermore, a rotation angle in the sagittal plane about the x-axis as the rotation axis is defined as roll angle, a rotation angle in the coronal plane about the y-axis as the rotation axis is defined as pitch angle, and a rotation angle in the horizontal plane about the z-axis as the rotation axis is defined as yaw angle.

[0028] As shown in FIG. 2 , feature data generation unit 12 (also referred to as a feature data generation device) includes an acquisition unit 121, a normalization unit 122, an extraction unit 123, a generation unit 125, and a feature data output unit 127. For example, feature data generation unit 12 is implemented by a microcomputer or microcontroller that performs overall control of gait measurement device 10 and data processing. For example, feature data generation unit 12 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), flash memory, etc. The feature data generation unit 12 controls an acceleration sensor 111 and an angular velocity sensor 112 to measure angular velocity and acceleration. For example, feature data generation unit 12 may be implemented on the side of a mobile terminal (not shown) carried by the subject (user).

[0029] The acquiring unit 121 acquires acceleration in three axial directions from the acceleration sensor 111. The acquiring unit 121 also acquires angular velocities around three axes from the angular velocity sensor 112. For example, the acquiring unit 121 performs analog-to-digital conversion (AD conversion) on physical quantities (analog data) such as the acquired angular velocities and accelerations. The physical quantities (analog data) measured by the acceleration sensor 111 and the angular velocity sensor 112 may be converted into digital data by the acceleration sensor 111 and the angular velocity sensor 112, respectively. The acquiring unit 121 outputs the converted digital data (also referred to as sensor data) to the normalizing unit 122. The acquiring unit 121 may be configured to store the sensor data in a storage unit (not shown). The sensor data includes at least acceleration data converted into digital data and angular velocity data converted into digital data. The acceleration data includes acceleration vectors in the three axial directions. The angular velocity data includes angular velocity vectors around three axes. The acceleration data and angular velocity data are associated with the time when the data was acquired. The acquiring unit 121 may also apply corrections to the acceleration data and angular velocity data, such as correction for mounting error, temperature correction, and linearity correction.

[0030] The normalization unit 122 acquires sensor data from the acquisition unit 121. The normalization unit 122 extracts time series data for one walking cycle (also referred to as walking waveform data) from the time series data of accelerations in three axial directions and angular velocities around three axes included in the sensor data. The normalization unit 122 normalizes the time of the extracted walking waveform data for one walking cycle to a walking cycle of 0 to 100% (percent) (also referred to as first normalization). Timings such as 1% and 10% included in the 0 to 100% walking cycle are also referred to as walking phases. The normalization unit 122 also normalizes the first normalized walking waveform data for one walking cycle so that the stance phase is 60% and the swing phase is 40% (also referred to as second normalization). The stance phase is a period when at least a part of the sole of the foot is in contact with the ground. The swing phase is a period when the sole of the foot is off the ground. By subjecting the walking waveform data to second normalization, it is possible to suppress fluctuations in the walking phase from which feature values ​​are extracted due to the influence of disturbances.

[0031] FIG. 6 is a conceptual diagram illustrating a step cycle based on the right foot. The step cycle based on the left foot is similar to that of the right foot. The horizontal axis of FIG. 6 represents one step cycle of the right foot, starting from the point when the heel of the right foot hits the ground and ending from the point when the heel of the right foot hits the ground again. The horizontal axis of FIG. 6 is first normalized so that the step cycle is 100%. The horizontal axis of FIG. 6 is also second normalized so that the stance phase is 60% and the swing phase is 40%. One step cycle of one leg is roughly divided into a stance phase in which at least a portion of the sole of the foot is in contact with the ground, and a swing phase in which the sole of the foot is off the ground. The stance phase is further divided into a load response period T1, a mid-stance period T2, a final stance period T3, and an early swing period T4. The swing phase is further divided into an early swing period T5, a mid-swing period T6, and a final swing period T7. Note that FIG. 6 is an example and does not limit the periods that make up a walking cycle or the names of these periods.

[0032] As shown in Figure 6, multiple events (also called walking events) occur during walking. E1 represents the event in which the heel of the right foot touches the ground (heel contact: HC). E2 represents the event in which the toe of the left foot leaves the ground (opposite toe off: OTO) while the sole of the right foot is in contact with the ground. E3 represents the event in which the heel of the right foot rises (heel rise: HR) while the sole of the right foot is in contact with the ground (opposite heel strike: OHS). E5 represents the event in which the toe of the right foot leaves the ground (toe off: TO) while the sole of the left foot is in contact with the ground (toe off: TO). E6 represents the event in which the left and right feet cross (foot crossing: FA) while the sole of the left foot is in contact with the ground (foot adjacent). E7 represents the event where the tibia of the right foot is nearly perpendicular to the ground (Tibia Vertical: TV) with the sole of the left foot touching the ground. E8 represents the event where the heel of the right foot touches the ground (Heel Contact: HC). E8 corresponds to the end point of the walking cycle that begins with E1 and also corresponds to the starting point of the next walking cycle. Note that Figure 6 is an example and does not limit the events that occur during walking or the names of those events.

[0033] FIG. 7 is a diagram illustrating an example of detecting heel strike HC and toe lift TO from time series data (solid line) of forward acceleration (Y-direction acceleration). The timing of heel strike HC is the timing of the minimum peak immediately after the maximum peak that appears in the time series data of forward acceleration (Y-direction acceleration). The maximum peak that marks the timing of heel strike HC corresponds to the maximum peak of the gait waveform data for one step cycle. The interval between consecutive heel strikes HC is one step cycle. The timing of toe lift TO is the timing of the rise of the maximum peak that appears after the stance phase period during which no fluctuations appear in the time series data of forward acceleration (Y-direction acceleration). FIG. 6 also shows time series data (dashed line) of roll angle (angular velocity about the X-axis). The midpoint between the timing of the minimum roll angle and the timing of the maximum roll angle corresponds to the mid-stance phase. For example, parameters such as walking speed, stride length, circumduction, internal rotation / external rotation, and plantar flexion / dorsiflexion (also called gait parameters) can be determined using the mid-stance phase as a reference.

[0034] FIG. 8 is a diagram illustrating an example of gait waveform data normalized by the normalization unit 122. The normalization unit 122 detects heel strikes HC and toe lifts TO from time-series data of forward acceleration (Y-direction acceleration). The normalization unit 122 extracts the interval between successive heel strikes HC as gait waveform data for one step cycle. The normalization unit 122 converts the horizontal axis (time axis) of the gait waveform data for one step cycle into a gait cycle of 0 to 100% by first normalization. In FIG. 7, the gait waveform data after the first normalization is shown by a dashed line. In the gait waveform data (dashed line) after the first normalization, the timing of toe lifts TO is shifted from 60%.

[0035] In the example of FIG. 8, the normalization unit 122 normalizes the section from heel-strike HC, where the walking phase is 0%, to toe-off TO, which follows the heel-strike HC, to 0-60%. The normalization unit 122 also normalizes the section from toe-off TO to heel-strike HC, where the walking phase is 100%, to 60-100%. As a result, the gait waveform data for one step cycle is normalized into a section where the gait cycle is 0-60% (stance phase) and a section where the gait cycle is 60-100% (swing phase). In FIG. 8, the gait waveform data after the second normalization is shown by the solid line. In the gait waveform data after the second normalization (solid line), the timing of toe-off TO coincides with 60%.

[0036] 7 and 8 show an example in which gait waveform data for one walking cycle is extracted and normalized based on the traveling acceleration (Y-direction acceleration). With respect to accelerations / angular velocities other than the traveling acceleration (Y-direction acceleration), the normalization unit 122 extracts and normalizes gait waveform data for one walking cycle in accordance with the walking cycle of the traveling acceleration (Y-direction acceleration). The normalization unit 122 may also generate time series data of angles around three axes by integrating time series data of angular velocities around three axes. In this case, the normalization unit 122 extracts and normalizes gait waveform data for one walking cycle in accordance with the walking cycle of the traveling acceleration (Y-direction acceleration) for angles around three axes as well.

[0037] The normalization unit 122 may extract / normalize the gait waveform data for one step gait cycle based on acceleration / angular velocity other than the forward acceleration (Y-direction acceleration) (not shown in the drawings). For example, the normalization unit 122 may detect heel strike HC and toe lift TO from time series data of vertical acceleration (Z-direction acceleration). The timing of heel strike HC is the timing of a steep minimum peak that appears in the time series data of vertical acceleration (Z-direction acceleration). At the timing of the steep minimum peak, the value of vertical acceleration (Z-direction acceleration) becomes almost zero. The minimum peak that marks the timing of heel strike HC corresponds to the minimum peak of the gait waveform data for one step gait cycle. The section between consecutive heel strikes HC is one step gait cycle. The timing of toe-off TO is the timing of an inflection point in the time-series data of vertical acceleration (Z-direction acceleration) where the vertical acceleration (Z-direction acceleration) gradually increases after passing through a section of small fluctuations following the maximum peak immediately after heel-contact HC. The normalization unit 122 may also extract / normalize the gait waveform data for one walking cycle based on both the forward acceleration (Y-direction acceleration) and the vertical acceleration (Z-direction acceleration). The normalization unit 122 may also extract / normalize the gait waveform data for one walking cycle based on acceleration, angular velocity, angle, etc. other than the forward acceleration (Y-direction acceleration) and the vertical acceleration (Z-direction acceleration).

[0038] The extraction unit 123 acquires walking waveform data for one step gait cycle normalized by the normalization unit 122. The extraction unit 123 extracts feature quantities used to estimate a muscle strength index from the walking waveform data for one step gait cycle. The extraction unit 123 extracts feature quantities for each walking phase cluster from walking phase clusters that integrate temporally consecutive walking phases based on preset conditions. A walking phase cluster includes at least one walking phase. A walking phase cluster may also include a single walking phase. The walking waveform data and walking phases from which feature quantities used to estimate a muscle strength index are extracted will be described later.

[0039] FIG. 9 is a conceptual diagram illustrating the extraction of feature quantities for estimating a muscle strength index from walking waveform data for one step cycle. For example, the extraction unit 123 extracts temporally consecutive walking phases i to i+m as a walking phase cluster C (i and m are natural numbers). The walking phase cluster C includes m walking phases (components). That is, the number of walking phases (components) constituting the walking phase cluster C (also referred to as the number of components) is m. While FIG. 9 illustrates an example in which the walking phases are integer values, the walking phases may be subdivided to the nearest decimal point. When the walking phases are subdivided to the nearest decimal point, the number of components of the walking phase cluster C corresponds to the number of data points in the section of the walking phase cluster. The extraction unit 123 extracts feature quantities from each of the walking phases i to i+m. When the walking phase cluster C is composed of a single walking phase j, the extraction unit 123 extracts feature quantities from the single walking phase j (j is a natural number).

[0040] The generation unit 125 applies a feature composition formula to a feature (first feature) extracted from each of the walking phases constituting the walking phase cluster to generate a feature (second feature) of the walking phase cluster. The feature composition formula is a calculation formula set in advance for generating a feature of the walking phase cluster. For example, the feature composition formula is a calculation formula related to four arithmetic operations. For example, the second feature calculated using the feature composition formula is an integral average value, arithmetic mean value, slope, variance, etc. of the first feature in each walking phase included in the walking phase cluster. For example, the generation unit 125 applies, as the feature composition formula, a calculation formula for calculating the slope or variance of the first feature extracted from each of the walking phases constituting the walking phase cluster. For example, when a walking phase cluster is composed of a single walking phase, it is not possible to calculate the slope or variance, so a feature composition formula for calculating an integral average value, arithmetic mean value, etc. may be used.

[0041] The feature data output unit 127 outputs the feature data for each walking phase cluster generated by the generation unit 125. The feature data output unit 127 outputs the feature data of the generated walking phase cluster to the muscle strength indicator estimation device 13, which uses the feature data.

[0042] [Muscle strength index estimation device] 10 is a block diagram showing an example of the configuration of the muscle strength indicator estimation device 13. The muscle strength indicator estimation device 13 has a data acquisition unit 131, a storage unit 132, an estimation unit 133, and an output unit 135.

[0043] Data acquisition unit 131 acquires feature amount data from gait measurement device 10. Data acquisition unit 131 outputs the received feature amount data to estimation unit 133. Data acquisition unit 131 may receive the feature amount data from gait measurement device 10 via a wired connection such as a cable, or may receive the feature amount data from gait measurement device 10 via wireless communication. For example, data acquisition unit 131 is configured to receive the feature amount data from gait measurement device 10 via a wireless communication function (not shown) that complies with standards such as Bluetooth (registered trademark) or WiFi (registered trademark). Note that the communication function of data acquisition unit 131 may be compliant with standards other than Bluetooth (registered trademark) or WiFi (registered trademark).

[0044] The storage unit 132 stores an estimation model that estimates grip strength as a muscle strength index using feature amount data extracted from the walking waveform data. The storage unit 132 stores feature amount data related to the grip strength of multiple subjects and an estimation model that has learned the relationship with grip strength. For example, the storage unit 132 stores an estimation model that estimates grip strength that has been learned for multiple subjects. The walking phase cluster from which feature amount data used to estimate grip strength is extracted differs depending on gender. Therefore, the storage unit 132 may store an estimation model for men and an estimation model for women. In other words, the storage unit 132 may store estimation models according to attributes.

[0045] The storage unit 132 also stores an estimation model that uses the estimated grip strength to estimate knee extension strength as a muscle strength index. Non-Patent Document 1 discloses that there is a correlation between grip strength and knee extension strength (Non-Patent Document 1: R. Bohannon, et al., "Grip and Knee Extension Muscle Strength Reflect a Common Construct among Adults," Muscle Nerve, October 2012, vol. 46 (4), pp. 555-558.). For example, the storage unit 132 estimates knee extension strength corresponding to grip strength using the correlation shown in the graph in FIG. 1 of Non-Patent Document 1. The storage unit 132 may also store an estimation model that learns the relationship between feature data related to the knee extension strength of multiple subjects and the knee extension strength.

[0046] The estimation model may be stored in the storage unit 132 at the time of product shipment from the factory or at the time of calibration before the muscle strength indicator estimation system 1 is used by a user. For example, the estimation model may be stored in a storage device such as an external server. In this case, the estimation model may be used via an interface (not shown) connected to the storage device.

[0047] The estimation unit 133 acquires feature data from the data acquisition unit 131. The estimation unit 133 uses the acquired feature data to estimate a muscle strength index. The estimation unit 133 inputs the feature data to an estimation model stored in the storage unit 132. The estimation unit 133 outputs an estimation result corresponding to the muscle strength index output from the estimation model. When using an estimation model stored in an external storage device constructed in the cloud, a server, or the like, the estimation unit 133 is configured to use the estimation model via an interface (not shown) connected to the storage device.

[0048] The output unit 135 outputs the muscle strength index estimation result obtained by the estimation unit 133. For example, the output unit 135 displays the muscle strength index estimation result on the screen of the subject (user)'s mobile terminal. For example, the output unit 135 outputs the estimation result to an external system that uses the estimation result. There are no particular limitations on how the muscle strength index output from the muscle strength index estimation device 13 can be used.

[0049] For example, the strength index estimation device 13 is connected to an external system, such as a cloud or a server, via a mobile device (not shown) carried by the subject (user). The mobile device (not shown) is a portable communication device. Examples of the mobile device include a smartphone, a smart watch, a mobile phone, or other portable communication device with a communication function. For example, the strength index estimation device 13 is connected to the mobile device via a wired connection such as a cable. For example, the strength index estimation device 13 is connected to the mobile device via wireless communication. For example, the strength index estimation device 13 is connected to the mobile device via a wireless communication function (not shown) conforming to standards such as Bluetooth (registered trademark) or WiFi (registered trademark). Note that the communication function of the strength index estimation device 13 may also conform to standards other than Bluetooth (registered trademark) or WiFi (registered trademark). The strength index estimation results may be used by an application installed on the mobile device. In this case, the mobile device executes processing using the estimation results using application software or the like installed on the mobile device.

[0050] [Estimation of male grip strength] Next, we will explain the correlation between men's grip strength and feature data, using a verification example. Figure 11 is a correspondence table summarizing the feature values ​​used to estimate men's grip strength. The correspondence table in Figure 11 associates the feature value number, the gait waveform data from which the feature value is extracted, the gait phase (%) from which the gait phase cluster is extracted, and the associated muscles. For men, there is a correlation between quadriceps activity and grip strength. Therefore, to estimate men's grip strength, feature values ​​M1 to M4 extracted from the gait phases in which the characteristics of quadriceps activity are apparent are used.

[0051] 12 to 15 show the results of verifying the correlation between male grip strength and feature data. Regarding male grip strength, the correlation between the estimated value estimated using the feature data extracted from the walking of 27 male subjects in the age range of 60 to 85 years old while wearing footwear equipped with gait measurement device 10 and the measured value (true value) of grip strength using a grip strength meter was verified.

[0052] Feature M1 is extracted from the 3% section of the walking phase of the walking waveform data Ay, which is related to the time-series data of forward acceleration (Y-direction acceleration). The 3% walking phase is included in the load response period T1. Feature M1 mainly includes features related to the movement of the vastus lateralis, vastus intermedius, and vastus medialis muscles of the quadriceps femoris. Figure 12 shows the results of verifying the correlation between feature M1 and men's grip strength. The horizontal axis of the graph in Figure 12 represents normalized acceleration. The correlation coefficient R between feature M1 and men's grip strength was 0.524.

[0053] Feature M2 is extracted from the 59-62% section of the walking phase of the walking waveform data Ay, which is related to the time-series data of forward acceleration (Y-direction acceleration). The 59-62% walking phase is included in the early swing phase T4. Feature M2 mainly includes features related to the movement of the rectus femoris, one of the quadriceps muscles. Figure 13 shows the results of verifying the correlation between feature M2 and men's grip strength. The horizontal axis of the graph in Figure 13 represents normalized acceleration. The correlation coefficient R between feature M2 and men's grip strength was -0.498.

[0054] Feature M3 is extracted from the 59-62% section of the walking phase of the walking waveform data Az, which is related to the time-series data of vertical acceleration (Z-direction acceleration). The 59-62% walking phase is included in the early swing phase T4. Feature M3 mainly includes features related to the movement of the rectus femoris, one of the quadriceps muscles. Figure 14 shows the results of verifying the correlation between feature M3 and men's grip strength. The horizontal axis of the graph in Figure 14 represents normalized acceleration. The correlation coefficient R between feature M3 and men's grip strength was -0.549.

[0055] Feature M4 is the proportion of the period from heel contact to toe-off of the opposite foot (DST1) during the period when both feet are simultaneously on the ground (DST: Double Support Time). DST1 is the proportion of the period from heel contact to toe-off of the opposite foot during a stride cycle. Feature M4 mainly includes features attributable to the quadriceps femoris. Figure 15 shows the results of verifying the correlation between feature M4 and men's grip strength. The horizontal axis of the graph in Figure 15 represents normalized time. The correlation coefficient R between feature M4 and men's grip strength was -0.353.

[0056] FIG. 16 is a conceptual diagram showing an example in which feature quantities M1 to M4 extracted from sensor data measured while a user is walking are input to estimation model 151, which is constructed in advance to estimate a man's grip strength as a muscle strength index, and an estimated value of grip strength is output. Estimation model 151 (also referred to as a male estimation model) outputs grip strength, which is a muscle strength index, in response to the input of feature quantities M1 to M4. For example, estimation model 151 is generated by learning using training data in which feature quantities M1 to M4 used to estimate a man's grip strength are used as explanatory variables and the man's grip strength is used as a target variable. There are no limitations on the estimation result of estimation model 151, as long as an estimation result regarding grip strength, which is a muscle strength index, is output in response to the input of feature quantity data for estimating a man's grip strength. For example, estimation model 151 may be a model that estimates a man's grip strength using attributes such as age and height as explanatory variables in addition to feature quantities M1 to M4 used to estimate a man's grip strength.

[0057] For example, an estimation model for estimating a man's grip strength using a multiple regression prediction method is stored in the storage unit 132. For example, parameters for estimating a man's grip strength GM are stored in the storage unit 132 using the following equation 1. GM=a1×M1+a2×M2+a3×M3+a4×M4+a0...(1) In the above formula 1, M1, M2, M3, and M4 are feature quantities for each walking phase cluster used to estimate the grip strength of a man, as shown in the correspondence table of FIG. 11. a1, a2, a3, and a4 are coefficients by which M1, M2, M3, and M4 are multiplied. a0 is a constant term. For example, a0, a1, a2, a3, and a4 are stored in the storage unit 132.

[0058] Next, we will show the results of evaluating the estimation model 151 generated using the measurement data of the 27 male subjects described above. Here, we compare a verification example (Fig. 17) in which a muscle strength index (grip strength) was estimated using the attributes of the male subjects with a verification example (Fig. 18) in which a muscle strength index (grip strength) was estimated using the features of the male subjects' gait. Figs. 17 and 18 show the results of testing the estimation model generated using the measurement data of 26 subjects using the measurement data of the remaining subject using the LOSO (Leave-One-Subject-Out) method. Figs. 17 and 18 show the results of performing LOSO on all (27) subjects, and comparing the predicted values ​​obtained by the test with the measured values ​​(true values). The LOSO test results were calculated using the intraclass correlation coefficients (ICC), mean absolute error (MAE), and coefficient of determination (R). 2 The intraclass correlation coefficient (ICC) was used to evaluate inter-rater reliability.

[0059] Figure 17 shows the results of testing the estimation model of the comparative example, which was trained using training data with age, height, and weight as explanatory variables and male grip strength as the objective variable. The estimation model of the comparative example had an intraclass correlation coefficient ICC(2, 1) of 0.54, a mean absolute error MAE of 4.28, and a coefficient of determination R 2 was 0.32.

[0060] 18 shows the verification results of the estimation model 151 of this embodiment, which was trained using training data with the feature quantities M1 to M4, age, and height as explanatory variables and the grip strength of men as the objective variable. The estimation model 151 of this embodiment has an intraclass correlation coefficient ICC(2, 1) of 0.83, a mean absolute error MAE of 2.62, and a coefficient of determination R 2 was 0.68. That is, the estimation model 151 of this embodiment is more reliable, has a smaller error, and the dependent variable is sufficiently explained by the explanatory variables, compared to the estimation model of the comparative example. That is, according to the method of this embodiment, it is possible to generate an estimation model 151 that is more reliable, has a smaller error, and the dependent variable is sufficiently explained by the explanatory variables, compared to an estimation model that uses only attributes.

[0061] [Estimation of female grip strength] Next, we will explain the correlation between women's grip strength and feature data, using a verification example. FIG. 19 is a correspondence table summarizing the features used to estimate women's grip strength. The correspondence table in FIG. 19 associates feature numbers, gait waveform data from which the features are extracted, gait phases (%) from which gait phase clusters are extracted, and related muscles. For women, there is a correlation between the activity of the vastus lateralis, vastus intermedius, and vastus medialis muscles of the quadriceps and grip strength. Therefore, to estimate women's grip strength, feature values ​​F1 to F3 extracted from gait phases in which the activity characteristics of the vastus lateralis, vastus intermedius, and vastus medialis muscles are expressed are used.

[0062] 20 to 22 show the results of verifying the correlation between women's grip strength and feature data. Regarding women's grip strength, the correlation between the estimated value estimated using the feature values ​​extracted from the walking of 35 female subjects in the age range of 60 to 85 years old while wearing footwear equipped with gait measurement device 10 and the measured value (true value) of grip strength using a grip strength meter was verified.

[0063] The feature F1 is extracted from the 13% section of the walking phase of the walking waveform data Ax, which is related to the time-series data of lateral acceleration (X-direction acceleration). The 13% walking phase is included in the mid-stance phase T2. The feature F1 mainly includes features related to the movement of the vastus lateralis, vastus intermedius, and vastus medialis muscles of the quadriceps femoris. Figure 20 shows the results of verifying the correlation between the feature F1 and women's grip strength. The horizontal axis of the graph in Figure 20 represents normalized acceleration. The correlation coefficient R between the feature F1 and women's grip strength was 0.677.

[0064] Feature F2 is extracted from the 7-10% gait phase of the gait waveform data Gy, which is related to the time series data of angular velocity (pitch angular velocity) in the coronal plane (around the Y-axis). Gait phase 7-10% is included in the load response period T1. Feature F2 mainly includes features related to the movement of the vastus lateralis, vastus intermedius, and vastus medialis. Figure 21 shows the results of verifying the correlation between feature F2 and women's grip strength. The horizontal axis of the graph in Figure 21 represents the plantar angle in the coronal plane. The correlation coefficient R between feature F2 and women's grip strength was -0.465.

[0065] Feature F3 is the ratio of the period from heel contact to toe-off of the opposite foot to the period during which both feet are simultaneously on the ground (DST2: Double Support Time). DST2 is the ratio of the period from heel contact to toe-off of the opposite foot in a gait cycle. The sum of DST1 and DST2 corresponds to the period during which both feet are simultaneously on the ground in a gait cycle. Feature F3 mainly includes features related to the movements of the vastus lateralis, vastus intermedius, and vastus medialis. Figure 22 shows the results of verifying the correlation between feature F3 and women's grip strength. The horizontal axis of the graph in Figure 22 represents normalized time. The correlation coefficient R between feature F3 and women's grip strength was 0.296.

[0066] FIG. 23 is a conceptual diagram showing an example in which feature data extracted from sensor data measured while a user is walking is input to an estimation model 152 constructed in advance to estimate a woman's grip strength as a muscle strength index, and an estimated value of grip strength is output. The estimation model 152 (also referred to as a female estimation model) outputs grip strength, which is a muscle strength index, in response to the input of feature data. For example, the estimation model 152 is generated by learning using training data in which the feature data used to estimate a woman's grip strength is used as an explanatory variable and the woman's grip strength is used as a target variable. There are no limitations on the estimation result of the estimation model 152 as long as an estimation result regarding grip strength, which is a muscle strength index, is output in response to the input of feature data for estimating a woman's grip strength. For example, the estimation model 152 may be a model that estimates a woman's grip strength using attributes such as age and height as explanatory variables in addition to the feature data used to estimate a woman's grip strength.

[0067] For example, an estimation model for estimating a woman's grip strength using a multiple regression prediction method is stored in storage unit 132. For example, parameters for estimating a woman's grip strength GF are stored in storage unit 132 using the following equation 2. GF=b1×F1+b2×F2+b3×F3+b0...(2) The above formula 2 In the above, F1, F2, and F3 are feature quantities for each walking phase cluster used to estimate the grip strength of a woman, as shown in the correspondence table of FIG. 19. b1, b2, and b3 are coefficients by which F1, F2, and F3 are multiplied. b0 is a constant term. For example, b0, b1, b2, and b3 are stored in the storage unit 132.

[0068] Next, we will show the results of evaluating the estimation model 152 generated using the measurement data of the 35 female subjects described above. Here, we compare a verification example (Fig. 24) in which a muscle strength index (grip strength) was estimated using the attributes of the female subjects with a verification example (Fig. 25) in which a muscle strength index (grip strength) was estimated using the features of the female subjects' gait. Figs. 24 and 25 show the results of testing the estimation model generated using the measurement data of 34 subjects using the measurement data of the remaining subject using the LOSO (Leave-One-Subject-Out) method. Figs. 24 and 25 show the results of performing LOSO on all (35) subjects, and comparing the predicted values ​​obtained by the test with the measured values ​​(true values). The LOSO test results were calculated using the intraclass correlation coefficients (ICC), mean absolute error (MAE), and coefficient of determination (R). 2 The intraclass correlation coefficient (ICC) was used to evaluate inter-rater reliability.

[0069] Figure 24 shows the results of testing an estimation model of a comparative example that was trained using training data with age, height, and weight as explanatory variables and women's grip strength as the objective variable. The estimation model of the comparative example had an intraclass correlation coefficient ICC(2, 1) of 0.59, a mean absolute error MAE of 3.89, and a coefficient of determination R 2 was 0.38.

[0070] 25 shows the verification results of the estimation model 152 of this embodiment, which was trained using training data with the features F1 to F3, age, and height as explanatory variables and the grip strength of women as the objective variable. The estimation model 151 of this embodiment has an intraclass correlation coefficient ICC(2, 1) of 0.82, a mean absolute error MAE of 2.79, and a coefficient of determination R 2 was 0.68. That is, the estimation model 152 of this embodiment is more reliable, has a smaller error, and the dependent variable is sufficiently explained by the explanatory variables, compared to the estimation model of the comparative example. That is, according to the method of this embodiment, it is possible to generate an estimation model 152 that is more reliable, has a smaller error, and the dependent variable is sufficiently explained by the explanatory variables, compared to an estimation model that uses only attributes.

[0071] FIG. 26 shows estimation model 155 that outputs knee extension force as a muscle strength index in response to input of grip strength estimated using estimation model 151 for men or estimation model 152 for women. For example, estimation model 155 (also referred to as knee extension force estimation model) is a model that estimates knee extension force according to grip strength based on the correlation of the graph disclosed in FIG. 1 of Non-Patent Document 1. Using estimation model 155, knee extension force can be estimated as a muscle strength index using grip strength estimated using estimation model 151 for men or estimation model 152 for women. Note that estimation model 155 may be a model that has learned training data in which feature data of estimation model 151 for men or estimation model 152 for women is used as an explanatory variable and knee extension force is used as a response variable.

[0072] (operation) Next, the operation of muscle strength indicator estimation system 1 will be described with reference to the drawings. Here, we will explain separately gait measurement device 10 and muscle strength indicator estimation device 13 included in muscle strength indicator estimation system 1. Regarding gait measurement device 10, we will explain the operation of feature amount data generation unit 12 included in gait measurement device 10.

[0073] [Gait measurement device] Fig. 27 is a flowchart for explaining the operation of the feature amount data generation unit 12 included in the gait measurement device 10. In the explanation following the flowchart of Fig. 27, the feature amount data generation unit 12 will be described as the subject of the operation.

[0074] In FIG. 27, first, the feature amount data generator 12 acquires time-series data of sensor data relating to gait (step S101).

[0075] Next, the feature amount data generating unit 12 extracts gait waveform data for one gait cycle from the time series data of the sensor data (step S102). The feature amount data generating unit 12 detects heel strikes and toe lifts from the time series data of the sensor data. The feature amount data generating unit 12 extracts time series data of the sections between successive heel strikes as gait waveform data for one gait cycle.

[0076] Next, the feature amount data generating unit 12 normalizes the extracted walking waveform data for one step cycle (step S103). The feature amount data generating unit 12 normalizes the walking waveform data for one step cycle to a walking cycle of 0 to 100% (first normalization). Furthermore, the feature amount data generating unit 12 normalizes the ratio of the stance phase to the swing phase of the first normalized walking waveform data for one step cycle to 60:40 (second normalization).

[0077] Next, the feature data generating unit 12 extracts feature values ​​from the normalized walking waveform for the walking phases used to estimate the muscle strength index (step S104). For example, the feature data generating unit 12 extracts feature values ​​to be input to the estimation model constructed for each gender.

[0078] Next, the feature data generator 12 uses the extracted feature to generate a feature for each walking phase cluster (step S105).

[0079] Next, the feature amount data generator 12 integrates the feature amounts for each walking phase cluster to generate feature amount data for one walking cycle (step S106).

[0080] Next, the feature amount data generating unit 12 outputs the generated feature amount data to the muscle strength indicator estimation device 13 (step S107).

[0081] [Muscle strength index estimation device] Fig. 28 is a flowchart for explaining the operation of the muscle strength indicator estimation device 13. In the explanation following the flowchart of Fig. 28, the muscle strength indicator estimation device 13 will be described as the subject of the operation.

[0082] In FIG. 28, first, the muscle strength indicator estimation device 13 acquires feature amount data generated using sensor data related to gait (step S131).

[0083] Next, the muscle strength indicator estimation device 13 inputs the acquired feature amount data into an estimation model for estimating a muscle strength indicator (step S132).

[0084] Next, muscle strength indicator estimation device 13 estimates the user's muscle strength indicator based on the output (estimated value) from the estimation model (step S133). For example, muscle strength indicator estimation device 13 estimates the user's grip strength as the muscle strength indicator. For example, muscle strength indicator estimation device 13 estimates the user's knee extension strength as the muscle strength indicator. For example, muscle strength indicator estimation device 13 estimates the user's total whole-body muscle strength based on the estimated grip strength.

[0085] Next, the muscle strength indicator estimation device 13 outputs information about the estimated muscle strength indicator (step S134). For example, the muscle strength indicator is output to a terminal device (not shown) carried by the user, or to a system that executes processing using the muscle strength indicator.

[0086] (Application example) Next, application examples according to this embodiment will be described with reference to the drawings. In the application examples below, a muscle strength indicator estimation device 13 installed on a mobile device carried by a user uses feature amount data measured by a gait measurement device 10 attached to a shoe to estimate a muscle strength indicator.

[0087] 29 and 30 are conceptual diagrams showing an example of displaying the estimation results by the muscle strength indicator estimation device 13 on the screen of a mobile terminal 160 carried by a user walking while wearing shoes 100 on which a gait measurement device 10 is placed. 29 and 30 show an example of displaying, on the screen of the mobile terminal 160, information corresponding to the estimation results of a muscle strength indicator using feature amount data corresponding to sensor data measured while the user was walking.

[0088] FIG. 29 illustrates an example in which information corresponding to an estimated value of grip strength, which is a muscle strength index, is displayed on the screen of mobile device 160. In the example of FIG. 29, a score quantified according to a preset standard is displayed on the display unit of mobile device 160 as the estimation result of total whole-body muscle strength. Also, in the example of FIG. 29, information related to the estimation result of total whole-body muscle strength, such as "Your total whole-body muscle strength is declining," is displayed on the display unit of mobile device 160 in accordance with the estimated value of grip strength, which is a muscle strength index. Also, in the example of FIG. 29, recommendation information corresponding to the estimation result of total whole-body muscle strength, such as "Training A is recommended. Please watch the video below," is displayed on the display unit of mobile device 160 in accordance with the estimated value of grip strength, which is a muscle strength index. A user who has checked the information displayed on the display unit of mobile device 160 can practice training that will increase total whole-body muscle strength by exercising while referring to the video of Training A in accordance with the recommendation information.

[0089] FIG. 30 shows an example in which information according to an estimated value of knee extension force, which is a muscle strength index, is displayed on the screen of mobile device 160. In the example of FIG. 30, information on the estimation result of knee extension force, such as "Knee extension force is decreasing," is displayed on the display unit of mobile device 160 in accordance with the estimated value of knee extension force, which is a muscle strength index. For example, a score quantified according to a preset standard may be displayed on the display unit of mobile device 160 as the estimation result of knee extension force. Also, in the example of FIG. 30, recommendation information according to the estimation result of knee extension force, such as "Training B is recommended. Please watch the video below," is displayed on the display unit of mobile device 160 in accordance with the estimated value of knee extension force, which is a muscle strength index. A user who has checked the information displayed on the display unit of mobile device 160 can practice training that will increase their knee extension force by exercising while referring to the video of Training B in accordance with the recommendation information.

[0090] As described above, the muscle strength indicator estimation system of this embodiment includes a gait measurement device and a muscle strength indicator estimation device. The gait measurement device includes a sensor and a feature data generation unit. The sensor has an acceleration sensor and an angular velocity sensor. The sensor measures spatial acceleration using the acceleration sensor. The sensor measures spatial angular velocity using the angular velocity sensor. The sensor generates sensor data related to foot movement using the measured spatial acceleration and spatial angular velocity. The sensor outputs the generated sensor data to the feature data generation unit. The feature data generation unit acquires time-series sensor data related to foot movement. The feature data generation unit extracts gait waveform data for one walking cycle from the time-series sensor data. The feature data generation unit normalizes the extracted gait waveform data. From the normalized gait waveform data, the feature data generation unit extracts feature values ​​related to the muscle strength indicator to be estimated from a walking phase cluster composed of at least one temporally consecutive gait phase. The feature data generation unit generates feature data including the extracted feature values. The feature data generation unit outputs the generated feature data.

[0091] The muscle strength indicator estimation device includes a data acquisition unit, a storage unit, an estimation unit, and an output unit. The data acquisition unit acquires feature data including feature amounts used to estimate the user's muscle strength indicator, extracted from the characteristics of the user's gait. The storage unit stores an estimation model that outputs a muscle strength indicator in response to input feature data. The estimation unit inputs the acquired feature data into the estimation model to estimate the user's muscle strength indicator. The output unit outputs information related to the estimated muscle strength indicator.

[0092] The muscle strength indicator estimation system of this embodiment estimates a user's muscle strength indicator using feature quantities extracted from the user's gait characteristics. Therefore, the muscle strength indicator estimation system of this embodiment can appropriately estimate a muscle strength indicator in daily life without using any equipment for measuring muscle strength.

[0093] In one aspect of the present embodiment, the data acquisition unit acquires feature data including feature amounts used to estimate grip strength as a muscle strength index, the feature amounts being extracted from gait waveform data generated using time-series data of sensor data related to foot movement. According to this aspect, by using the sensor data related to foot movement, the muscle strength index can be appropriately estimated in daily life without using a device for measuring muscle strength.

[0094] In one aspect of this embodiment, the storage unit stores an estimation model generated by learning using training data for multiple subjects. The estimation model is generated by learning using training data in which feature values ​​used to estimate a muscle strength index related to grip strength extracted from gait waveform data are used as explanatory variables and the muscle strength index related to the subject's grip strength is used as a target variable. The estimation unit inputs feature value data acquired about the user into the estimation model to estimate the muscle strength index related to the user's grip strength. According to this aspect, a muscle strength index related to grip strength can be appropriately estimated in daily life without using a device for measuring grip strength.

[0095] In one aspect of this embodiment, the storage unit stores an estimation model trained using explanatory variables including the subject's age and height. The estimation unit inputs feature data, age, and height related to the user into the estimation model to estimate a muscle strength index related to the user's grip strength. In this aspect, the muscle strength index is estimated taking into account age and height, which affect the muscle strength index. Therefore, this aspect allows for more accurate measurement of the muscle strength index.

[0096] In one aspect of the present embodiment, the storage unit stores a male estimation model generated by learning using training data related to multiple male subjects. The male estimation model is a model generated by learning using training data in which feature amounts related to quadriceps activity extracted from the load response phase and early swing phase of gait waveform data are used as explanatory variables and a muscle strength index related to the male subject's grip strength is used as a response variable. The estimation unit inputs feature amount data acquired according to the male user's gait into the male estimation model to estimate the male user's muscle strength index. According to this aspect, by using a male estimation model customized for men, the male user's muscle strength index can be estimated with higher accuracy.

[0097] In one aspect of this embodiment, the storage unit stores a male estimation model generated by learning using training data for multiple male subjects, in which multiple feature values ​​extracted from gait waveform data are used as explanatory variables and a muscle strength index related to the male subjects' grip strength is used as a response variable. The explanatory variables include feature values ​​extracted from the load response phase of the gait waveform data of forward acceleration and feature values ​​extracted from the early swing phase of the gait waveform data of forward acceleration and vertical acceleration. The explanatory variables include feature values ​​related to the proportion of the period from heel strike to toe off of the opposite foot in a gait cycle. The data acquisition unit acquires feature data including feature values ​​extracted according to the male user's gait. The data acquisition unit acquires feature values ​​related to the load response phase of the gait waveform data of forward acceleration, feature values ​​related to the early swing phase of the gait waveform data of forward acceleration and vertical acceleration, and feature values ​​related to the proportion of the period from heel strike to toe off of the opposite foot in a gait cycle. The estimation unit inputs the acquired feature data into the male estimation model to estimate the male user's muscle strength index. According to this aspect, by using a male estimation model customized for men, the muscle strength index of a male user can be estimated with higher accuracy.

[0098] In one aspect of this embodiment, the storage unit stores a female estimation model generated by learning using training data related to multiple female subjects. The female estimation model is a model generated by learning using training data in which feature amounts related to quadriceps activity extracted from the load response period of gait waveform data are used as explanatory variables and a muscle strength index related to the female subject's grip strength is used as a response variable. The estimation unit inputs feature amount data acquired according to the female user's gait into the female estimation model to estimate the female user's muscle strength index. According to this aspect, by using a female estimation model customized for women, the female user's muscle strength index can be estimated with higher accuracy.

[0099] In one aspect of this embodiment, the storage unit stores a female estimation model generated by learning using training data for a plurality of female subjects, in which a plurality of feature quantities extracted from gait waveform data are used as explanatory variables and a muscle strength index related to the female subjects' grip strength is used as a response variable. A feature quantity extracted from the load response period of lateral acceleration gait waveform data and a feature quantity extracted from coronal plane angular velocity gait waveform data are used as explanatory variables. A feature quantity related to the proportion of the period from opposite heel-strike to toe-off in a gait cycle is used as an explanatory variable. The data acquisition unit acquires feature quantity data including the feature quantities extracted according to the female user's gait. The data acquisition unit acquires feature quantity data including a feature quantity related to the load response period of lateral acceleration gait waveform data, a feature quantity related to coronal plane angular velocity gait waveform data, and a feature quantity related to the proportion of the period from opposite heel-strike to toe-off in a gait cycle. The estimation unit inputs the acquired feature quantity data into the female estimation model to estimate the female user's muscle strength index. According to this aspect, by using an estimation model for women that is customized for women, the muscle strength index of a female user can be estimated with higher accuracy.

[0100] In one aspect of this embodiment, the estimation unit estimates a total whole-body muscle strength score based on the grip strength estimated for the user. The output unit outputs the estimated total whole-body muscle strength score. According to this aspect, it is possible to estimate a total whole-body muscle strength score based on a muscle strength index estimated based on gait characteristics without using a muscle strength measurement device.

[0101] In one aspect of the present embodiment, the storage unit stores a knee extension force estimation model that outputs knee extension force in response to input grip force, and the estimation unit inputs the grip force estimated for the user into the knee extension force estimation model to estimate the user's knee extension force as a muscle strength index. According to this aspect, knee extension force can be estimated in response to grip force estimated in response to gait characteristics, without using a device for measuring muscle strength.

[0102] In one aspect of this embodiment, the storage unit stores a knee extension force estimation model generated by learning using teacher data related to a plurality of subjects. The knee extension force estimation model is a model generated by learning using teacher data in which feature amounts used to estimate a muscle strength index related to knee extension force extracted from gait waveform data are used as explanatory variables and the muscle strength index related to the subject's knee extension force is used as a response variable. The estimation unit inputs the acquired feature amount data into the knee extension force estimation model and estimates the muscle strength index related to the user's knee extension force. According to this aspect, knee extension force can be estimated based on gait characteristics without using a device for measuring muscle strength.

[0103] In one aspect of this embodiment, the muscle strength indicator estimation device is implemented in a terminal device having a screen viewable by the user. For example, the muscle strength indicator estimation device displays information related to the muscle strength indicator estimated based on the user's foot movement on the screen of the terminal device. For example, the muscle strength indicator estimation device displays recommendation information related to the muscle strength indicator estimated based on the user's foot movement on the screen of the terminal device. For example, the muscle strength indicator estimation device displays a video related to training for strengthening a body part related to the muscle strength indicator on the screen of the terminal device as recommendation information related to the muscle strength indicator estimated based on the user's foot movement. According to this aspect, by displaying the muscle strength indicator estimated based on the user's gait characteristics on a screen viewable by the user, the user can check information related to their own muscle strength state.

[0104] (Second embodiment) Next, a learning system according to a second embodiment will be described with reference to the drawings. The learning system of this embodiment generates an estimation model for estimating muscle strength indicators in response to input of feature amounts by learning using feature amount data extracted from sensor data measured by a gait measurement device.

[0105] (composition) FIG. 31 is a block diagram showing an example of the configuration of a learning system 2 according to this embodiment. The learning system 2 includes a gait measurement device 20 and a learning device 25. The gait measurement device 20 and the learning device 25 may be connected by wire or wirelessly. The gait measurement device 20 and the learning device 25 may be configured as a single device. Alternatively, the gait measurement device 20 may be removed from the configuration of the learning system 2, and the learning system 2 may be configured with only the learning device 25. Although only one gait measurement device 20 is shown in FIG. 31, one gait measurement device 20 may be provided for each foot (two in total). Alternatively, the learning device 25 may be configured to perform learning without being connected to the gait measurement device 20, using feature data that has been generated in advance by the gait measurement device 20 and stored in a database.

[0106] Gait measurement device 20 is installed on at least one of the left and right feet. Gait measurement device 20 has the same configuration as gait measurement device 10 of the first embodiment. Gait measurement device 20 includes an acceleration sensor and an angular velocity sensor. Gait measurement device 20 converts measured physical quantities into digital data (also referred to as sensor data). Gait measurement device 20 generates walking waveform data for a normalized stride cycle from the time-series data of the sensor data. Gait measurement device 20 generates feature data used to estimate muscle strength indicators. Gait measurement device 20 transmits the generated feature data to learning device 25. Note that gait measurement device 20 may be configured to transmit the feature data to a database (not shown) accessed by learning device 25. The feature data stored in the database is used for learning by learning device 25.

[0107] The learning device 25 receives feature data from the gait measurement device 20. When feature data stored in a database (not shown) is used, the learning device 25 receives the feature data from the database. The learning device 25 performs learning using the received feature data. For example, the learning device 25 learns training data in which feature data extracted from gait waveform data of multiple subjects is used as an explanatory variable and a value related to a muscle strength index corresponding to the feature data is used as a target variable. There are no particular limitations on the learning algorithm performed by the learning device 25. The learning device 25 generates an estimation model trained using training data related to multiple subjects. The learning device 25 stores the generated estimation model. The estimation model trained by the learning device 25 may be stored in a storage device external to the learning device 25.

[0108] [Learning device] Next, details of the learning device 25 will be described with reference to the drawings. Fig. 32 is a block diagram showing an example of a detailed configuration of the learning device 25. The learning device 25 has a receiving unit 251, a learning unit 253, and a storage unit 255.

[0109] Receiving unit 251 receives feature amount data from gait measurement device 20. Receiving unit 251 outputs the received feature amount data to learning unit 253. Receiving unit 251 may receive feature amount data from gait measurement device 20 via a wired connection such as a cable, or may receive feature amount data from gait measurement device 20 via wireless communication. For example, receiving unit 251 is configured to receive feature amount data from gait measurement device 20 via a wireless communication function (not shown) that complies with standards such as Bluetooth (registered trademark) or WiFi (registered trademark). Note that the communication function of receiving unit 251 may be compliant with standards other than Bluetooth (registered trademark) or WiFi (registered trademark).

[0110] The learning unit 253 acquires feature data from the receiving unit 251. The learning unit 253 performs learning using the acquired feature data. For example, the learning unit 253 uses feature data extracted regarding the subject's gait as explanatory variables and learns a dataset using the subject's grip strength as training data, with the feature data extracted regarding the subject's gait as an explanatory variable. For example, the learning unit 253 generates an estimation model that estimates grip strength in response to input feature data, learned regarding multiple users. For example, the learning unit 253 generates an estimation model that estimates knee extension strength in response to input grip strength, learned regarding multiple subjects. For example, the learning unit 253 generates an estimation model that estimates knee extension strength in response to input feature data, learned regarding multiple subjects. For example, the learning unit 253 generates an estimation model for men and an estimation model for women. For example, the learning unit 253 generates an estimation model that estimates muscle strength indicators such as grip strength and knee extension strength, using feature data extracted regarding the subject's gait and attribute data including the subject's age and height as explanatory variables. The learning unit 253 stores the estimation model learned for a plurality of subjects in the storage unit 255.

[0111] For example, the learning unit 253 performs learning using a linear regression algorithm. For example, the learning unit 253 performs learning using a support vector machine (SVM) algorithm. For example, the learning unit 253 performs learning using a Gaussian process regression (GPR) algorithm. For example, the learning unit 253 performs learning using a random forest (RF) algorithm. For example, the learning unit 253 may perform unsupervised learning that classifies the subjects that generated feature amount data according to the feature amount data. There are no particular limitations on the learning algorithm performed by the learning unit 253.

[0112] The learning unit 253 may perform learning using walking waveform data for one step gait cycle as explanatory variables. For example, the learning unit 253 performs supervised learning using walking waveform data of acceleration in three axial directions, angular velocity around three axes, and angle around three axes (posture angle) as explanatory variables, and the correct value of the muscle strength index to be estimated as the objective variable. For example, if the walking phase is set in 1% increments in a walking cycle from 0 to 100%, the learning unit 253 performs learning using 909 explanatory variables.

[0113] Fig. 33 is a conceptual diagram illustrating learning for generating an estimation model for men. Fig. 33 is a conceptual diagram showing an example in which the learning unit 253 learns a data set of feature amounts M1 to M4, which are explanatory variables, and a muscle strength index, which is a response variable, as training data. For example, the learning unit 253 learns data on multiple male subjects and generates an estimation model that outputs (estimates) related to the muscle strength index of men in response to input of feature amounts extracted from sensor data.

[0114] Fig. 34 is a conceptual diagram illustrating learning for generating an estimation model for women. Fig. 34 is a conceptual diagram showing an example in which the learning unit 253 learns a data set of feature amounts F1 to F3, which are explanatory variables, and a muscle strength index, which is a response variable, as training data. For example, the learning unit 253 learns data on a plurality of female subjects and generates an estimation model that outputs (estimates) related to the muscle strength index of women in response to input of feature amounts extracted from sensor data.

[0115] The storage unit 255 stores estimation models trained on a plurality of subjects. For example, the storage unit 255 stores estimation models for estimating muscle strength indicators trained on a plurality of subjects. For example, the estimation models stored in the storage unit 255 are used to estimate muscle strength indicators by the muscle strength indicator estimation device 13 of the first embodiment.

[0116] As described above, the learning system of this embodiment includes a gait measurement device and a learning device. The gait measurement device acquires time-series sensor data related to foot movement. The gait measurement device extracts gait waveform data for one walking cycle from the time-series sensor data and normalizes the extracted gait waveform data. The gait measurement device extracts, from the normalized gait waveform data, feature amounts related to a muscle strength indicator to be estimated from a walking phase cluster composed of at least one temporally consecutive walking phase. The gait measurement device generates feature amount data including the extracted feature amounts. The gait measurement device outputs the generated feature amount data to the learning device.

[0117] The learning device has a receiving unit, a learning unit, and a storage unit. The receiving unit acquires feature data generated by the gait measurement device. The learning unit performs learning using the feature data. The learning unit generates an estimation model that outputs a muscle strength index in response to input of features (second feature amounts) of walking phase clusters extracted from time-series data of sensor data measured as the user walks. The estimation model generated by the learning unit is stored in the storage unit.

[0118] The learning system of this embodiment generates an estimation model using feature data measured by a gait measurement device, and therefore, according to this aspect, it is possible to generate an estimation model that allows muscle strength indicators to be appropriately estimated in daily life without using any equipment for measuring muscle strength.

[0119] (Third embodiment) Next, a muscle strength indicator estimation device according to a third embodiment will be described with reference to the drawings. The muscle strength indicator estimation device of this embodiment has a simplified configuration of the muscle strength indicator estimation device included in the muscle strength indicator estimation system of the first embodiment.

[0120] 35 is a block diagram showing an example of the configuration of a muscle strength indicator estimation device 33 according to this embodiment. The muscle strength indicator estimation device 33 includes a data acquisition unit 331, a storage unit 332, an estimation unit 333, and an output unit 335.

[0121] The data acquisition unit 331 acquires feature data including feature amounts extracted from the user's gait characteristics and used to estimate the user's muscle strength index. The storage unit 332 stores an estimation model that outputs a muscle strength index according to input feature data. The estimation unit 333 inputs the acquired feature data into the estimation model to estimate the user's muscle strength index. The output unit 335 outputs information related to the estimated muscle strength index.

[0122] As described above, in this embodiment, the muscle strength index of the user is estimated using feature amounts extracted from the characteristics of the user's gait. Therefore, according to this embodiment, the muscle strength index can be appropriately estimated in daily life without using any equipment for measuring muscle strength.

[0123] (Hardware) Here, a hardware configuration for executing control and processing according to each embodiment of the present disclosure will be described using an information processing device 90 in Fig. 36 as an example. Note that the information processing device 90 in Fig. 36 is an example configuration for executing control and processing according to each embodiment, and does not limit the scope of the present disclosure.

[0124] As shown in Fig. 36, an information processing device 90 includes a processor 91, a main storage device 92, an auxiliary storage device 93, an input / output interface 95, and a communication interface 96. In Fig. 36, interface is abbreviated as I / F (Interface). The processor 91, the main storage device 92, the auxiliary storage device 93, the input / output interface 95, and the communication interface 96 are connected to each other via a bus 98 so as to be able to communicate data with each other. The processor 91, the main storage device 92, the auxiliary storage device 93, and the input / output interface 95 are also connected to a network such as the Internet or an intranet via the communication interface 96.

[0125] The processor 91 loads a program stored in an auxiliary storage device 93 or the like into a main storage device 92. The processor 91 executes the program loaded into the main storage device 92. In this embodiment, a software program installed in the information processing device 90 may be used. The processor 91 executes control and processing according to each embodiment.

[0126] The main memory device 92 has an area in which programs are loaded. Programs stored in the auxiliary memory device 93 or the like are loaded into the main memory device 92 by the processor 91. The main memory device 92 is realized by a volatile memory such as a DRAM (Dynamic Random Access Memory). Furthermore, a non-volatile memory such as an MRAM (Magnetoresistive Random Access Memory) may be configured / added to the main memory device 92.

[0127] The auxiliary storage device 93 stores various data such as programs. The auxiliary storage device 93 is realized by a local disk such as a hard disk or flash memory. Note that it is also possible to configure the main storage device 92 to store various data, thereby omitting the auxiliary storage device 93.

[0128] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices via a network such as the Internet or an intranet based on standards and specifications. The input / output interface 95 and the communication interface 96 may be a common interface for connecting to external devices.

[0129] Input devices such as a keyboard, mouse, and touch panel may be connected to the information processing device 90 as needed. These input devices are used to input information and settings. When a touch panel is used as the input device, the display screen of the display device may also serve as the interface for the input device. Data communication between the processor 91 and the input devices may be mediated by an input / output interface 95.

[0130] The information processing device 90 may also be equipped with a display device for displaying information. When a display device is equipped, the information processing device 90 preferably includes a display control device (not shown) for controlling the display of the display device. The display device may be connected to the information processing device 90 via the input / output interface 95.

[0131] The information processing device 90 may also be equipped with a drive device. The drive device acts as an intermediary between the processor 91 and a recording medium (program recording medium) for reading data and programs from the recording medium, writing the processing results of the information processing device 90 to the recording medium, etc. The drive device may be connected to the information processing device 90 via an input / output interface 95.

[0132] The above is an example of a hardware configuration for enabling control and processing according to each embodiment of the present invention. Note that the hardware configuration in FIG. 36 is an example of a hardware configuration for executing control and processing according to each embodiment and does not limit the scope of the present invention. Furthermore, a program that causes a computer to execute control and processing according to each embodiment is also within the scope of the present invention. Furthermore, a program recording medium on which a program according to each embodiment is recorded is also within the scope of the present invention. The recording medium can be realized, for example, as an optical recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc). The recording medium may also be realized as a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. The recording medium may also be realized as a magnetic recording medium such as a flexible disk or other recording medium. When a program executed by a processor is recorded on a recording medium, the recording medium corresponds to a program recording medium.

[0133] The components of each embodiment may be combined in any manner, and may be realized by software or by a circuit.

[0134] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0135] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) a data acquisition unit that acquires feature amount data including feature amounts used to estimate a muscle strength index of the user, the feature amounts being extracted from the gait characteristics of the user; a storage unit that stores an estimation model that outputs the muscle strength index in response to input of the feature amount data; an estimation unit that inputs the acquired feature amount data into the estimation model and estimates the muscle strength index of the user; an output unit that outputs information related to the estimated muscle strength index. (Appendix 2) The data acquisition unit The muscle strength indicator estimation device according to claim 1, which acquires feature data including features used to estimate grip strength as the muscle strength indicator, extracted from walking waveform data generated using time-series data of sensor data related to foot movement. (Appendix 3) The storage unit storing the estimation model generated by learning using teacher data in which, for a plurality of subjects, feature quantities used to estimate the muscle strength index related to grip strength extracted from the walking waveform data are used as explanatory variables, and the muscle strength index related to grip strength of the subjects is used as a response variable; The estimation unit The muscle strength indicator estimation device according to claim 2, wherein the feature data acquired about the user is input to the estimation model to estimate the muscle strength indicator related to the grip strength of the user. (Appendix 4) The storage unit storing the estimation model trained using explanatory variables including the age and height of the subject; The estimation unit The muscle strength indicator estimation device according to claim 3, wherein the feature data, age, and height of the user are input into the estimation model to estimate the muscle strength indicator related to the grip strength of the user. (Appendix 5) The storage unit storing an estimation model for males generated by learning using training data for a plurality of male subjects, the training data having, as explanatory variables, feature quantities related to quadriceps muscle activity extracted from the load response phase and the early swing phase of the gait waveform data, and the muscle strength index related to the grip strength of the male subjects as a response variable; The estimation unit 5. The muscle strength indicator estimation device according to claim 3, wherein the feature data acquired in response to the walking of a male user is input into the male estimation model to estimate the muscle strength indicator of the male user. (Appendix 6) The storage unit the estimation model for males is generated by learning using training data in which, for a plurality of the male subjects, explanatory variables are a feature extracted from a load response phase of the gait waveform data of forward acceleration, a feature extracted from an early swing phase of the gait waveform data of forward acceleration and vertical acceleration, and a feature related to the ratio of the period from heel-contact to toe-off of the opposite foot in a gait cycle, and the muscle strength index related to the grip strength of the male subjects is used as a response variable; and The data acquisition unit acquire feature amount data extracted in response to the male user's walking, the feature amount including a load response period feature amount of the walking waveform data of forward acceleration, a pre-swing phase feature amount of the walking waveform data of forward acceleration and vertical acceleration, and a feature amount related to a ratio of a period from heel-contact to toe-off of the opposite foot in a gait cycle; The estimation unit The muscle strength indicator estimation device according to claim 5, wherein the acquired feature amount data is input into the male estimation model to estimate the muscle strength indicator of the male user. (Appendix 7) The storage unit storing an estimation model for females generated by learning using training data for a plurality of female subjects, the training data having, as explanatory variables, feature quantities related to quadriceps muscle activity extracted from the load response period of the walking waveform data, and the muscle strength index related to the grip strength of the female subjects as a response variable; The estimation unit 5. The muscle strength indicator estimation device according to claim 3, wherein the feature data acquired in response to the walking of a female user is input into the female estimation model to estimate the muscle strength indicator of the female user. (Appendix 8) The storage unit and storing the female estimation model generated by learning using training data for the plurality of female subjects, the training data having as explanatory variables a feature extracted from the load response period of the gait waveform data of lateral acceleration, a feature extracted from the gait waveform data of angular velocity in the coronal plane, and a feature related to the ratio of the period from heel-contact to toe-off of the opposite foot in a gait cycle, and the muscle strength index related to the grip strength of the female subjects as a response variable; The data acquisition unit Acquire the feature amount data, which are extracted in response to the female user's walking, and include a feature amount of the gait waveform data of lateral acceleration in a load response period, a feature amount of the gait waveform data of angular velocity in a coronal plane, and a feature amount related to a ratio of a period from heel-contact to toe-off of the opposite foot in a gait cycle; The estimation unit The muscle strength indicator estimation device according to claim 7, wherein the acquired feature data is input into the estimation model for women to estimate the muscle strength indicator of the female user. (Appendix 9) The estimation unit estimating a total body strength score according to the estimated grip strength of the user; The output unit 9. The muscle strength index estimation device according to claim 3, wherein the muscle strength index estimation device outputs a score of the estimated total muscle strength of the whole body. (Appendix 10) The storage unit storing a knee extension force estimation model that outputs knee extension force in response to grip force input; The estimation unit 10. The muscle strength indicator estimation device according to any one of appendices 3 to 9, wherein a grip force estimated for the user is input into the knee extension force estimation model to estimate the knee extension force of the user as the muscle strength indicator. (Appendix 11) The storage unit storing a knee extension force estimation model generated by learning using teacher data in which, for a plurality of subjects, feature quantities used to estimate the muscle strength index related to knee extension force extracted from the gait waveform data are used as explanatory variables, and the muscle strength index related to the knee extension force of the subjects is used as a response variable; The estimation unit 10. The muscle strength indicator estimation device according to any one of appendices 3 to 9, wherein the acquired feature data is input into the knee extension force estimation model to estimate the muscle strength indicator related to the knee extension force of the user. (Appendix 12) A muscle strength indicator estimation device according to any one of Supplementary Notes 1 to 11; a gait measurement device having a feature data generation unit that acquires time-series data of the sensor data including gait features, extracts gait waveform data for one step from the time-series data of the sensor data, normalizes the extracted gait waveform data, extracts feature data used to estimate the muscle strength index from a walking phase cluster formed by at least one temporally consecutive walking phase, generates feature data including the extracted feature data, and outputs the generated feature data to the muscle strength index estimation device. (Appendix 13) The muscle strength index estimation device includes: implemented in a terminal device having a screen viewable by the user, 13. The muscle strength indicator estimation system according to claim 12, wherein information relating to the muscle strength indicator estimated in accordance with the movement of the user's legs is displayed on a screen of the terminal device. (Appendix 14) The muscle strength index estimation device includes: The muscle strength indicator estimation system according to claim 13, wherein recommendation information according to the muscle strength indicator estimated according to the movement of the user's feet is displayed on a screen of the terminal device. (Appendix 15) The muscle strength index estimation device includes: A muscle strength index estimation system as described in Appendix 14, which displays a video on a screen of the terminal device relating to training for strengthening a body part related to the muscle strength index as the recommendation information according to the muscle strength index estimated according to the movement of the user's legs. (Appendix 16) The computer acquiring feature amount data including feature amounts used to estimate a muscle strength index of the user, the feature amount being extracted from the gait characteristics of the user; inputting the acquired feature amount data into an estimation model that outputs the muscle strength index according to the input of the feature amount data, and estimating the muscle strength index of the user; A muscle strength index estimation method that outputs information about the estimated muscle strength index. (Appendix 17) A process of acquiring feature amount data including feature amounts used to estimate a muscle strength index of the user, the feature amounts being extracted from the characteristics of the user's gait; a process of inputting the acquired feature amount data into an estimation model that outputs the muscle strength index according to the input of the feature amount data, and estimating the muscle strength index of the user; and outputting information relating to the estimated muscle strength index. [Explanation of symbols]

[0136] 1. Muscle strength index estimation system 2. Learning System 10, 20 Gait measurement device 11 Sensors 12 Feature data generation unit 13 Muscle strength index estimation device 25 Learning Device 111 Acceleration Sensor 112 Angular rate sensor 121 Acquisition Department 122 Normalization section 123 Extraction part 125 Generation part 127 Feature data output unit 131, 331 Data acquisition section 132, 332 storage section 133, 333 Estimation part 135, 335 output section 251 Receiving unit 253 Learning Department 255 Storage section

Claims

1. a data acquisition means for acquiring feature data including feature amounts used to estimate a muscle strength index of the user, the feature amounts being extracted from the gait characteristics of the user; a storage means for storing an estimation model for outputting the muscle strength index in response to input of the feature amount data; an estimation means for inputting the acquired feature amount data into the estimation model to estimate the muscle strength index of the user; an output means for outputting information related to the estimated muscle strength index; The data acquisition means Acquire feature amount data including feature amounts used to estimate grip strength as the muscle strength index, the feature amount data being extracted from walking waveform data generated using time-series data of sensor data related to the foot movements of the male user; The storage means storing an estimation model for males generated by learning using training data for a plurality of male subjects, the training data having, as explanatory variables, feature quantities related to quadriceps muscle activity extracted from the load response phase and the early swing phase of the gait waveform data, and the muscle strength index related to the grip strength of the male subjects as a response variable; The estimation means a muscle strength index estimation device that inputs the feature data acquired in response to the male user's walking into the male estimation model and estimates the muscle strength index related to the male user's grip strength;

2. The storage means the estimation model for males is generated by learning using training data in which, for a plurality of the male subjects, explanatory variables are a feature extracted from a load response phase of the gait waveform data of forward acceleration, a feature extracted from an early swing phase of the gait waveform data of forward acceleration and vertical acceleration, and a feature related to the ratio of the period from heel-contact to toe-off of the opposite foot in a gait cycle, and the muscle strength index related to the grip strength of the male subjects is used as a response variable; and The data acquisition means acquire feature amount data extracted in response to the male user's walking, the feature amount including a load response period feature amount of the walking waveform data of forward acceleration, a pre-swing phase feature amount of the walking waveform data of forward acceleration and vertical acceleration, and a feature amount related to a ratio of a period from heel-contact to toe-off of the opposite foot in a gait cycle; The estimation means The muscle strength indicator estimation device according to claim 1 , wherein the acquired feature amount data is input to the male estimation model to estimate the muscle strength indicator of the male user.

3. A data acquisition means for acquiring feature data including feature values ​​extracted from the gait characteristics of a user and used to estimate the muscle strength index of the user; a storage means for storing an estimation model for outputting the muscle strength index in response to input of the feature amount data; an estimation means for inputting the acquired feature amount data into the estimation model to estimate the muscle strength index of the user; an output means for outputting information related to the estimated muscle strength index; The data acquisition means acquiring feature amount data including feature amounts used to estimate grip strength as the muscle strength index, the feature amount data being extracted from walking waveform data generated using time-series data of sensor data relating to the female user's foot movements; The storage means storing an estimation model for females generated by learning using training data for a plurality of female subjects, the training data having, as explanatory variables, feature quantities related to quadriceps muscle activity extracted from the mid-stance phase and the load response phase of the gait waveform data, and the muscle strength index related to the grip strength of the female subjects as a response variable; The estimation means A muscle strength index estimation device that inputs the feature data acquired in response to the female user's walking into the female estimation model and estimates the muscle strength index related to the female user's grip strength.

4. The storage means and storing the female estimation model generated by learning using training data for the plurality of female subjects, the training data having as explanatory variables a feature extracted from the mid-stance phase of the gait waveform data of lateral acceleration, a feature extracted from the load response phase of the gait waveform data of angular velocity in the coronal plane, and a feature related to the proportion of the period from heel-contact to toe-off of the opposite foot in a gait cycle, and the muscle strength index related to the grip strength of the female subjects as a response variable; The data acquisition means Acquire the feature amount data, which are extracted in response to the female user's walking, and which include a feature amount of the lateral acceleration in the walking waveform data during a mid-stance phase, a feature amount of the angular velocity in the coronal plane during a load response phase of the walking waveform data, and a feature amount relating to a ratio of a period from heel-contact to toe-off of the opposite foot in a gait cycle; The estimation means The muscle strength indicator estimation device according to claim 3 , wherein the acquired feature amount data is input to the female estimation model to estimate the muscle strength indicator of the female user.

5. The muscle strength indicator estimation device according to any one of claims 1 to 4, a gait measurement device having a feature data generation means for acquiring time-series data of the sensor data including gait features, extracting gait waveform data for one step from the time-series data of the sensor data, normalizing the extracted gait waveform data, extracting feature data used for estimating the muscle strength index from a walking phase cluster formed by at least one temporally consecutive walking phase from the normalized gait waveform data, generating feature data including the extracted feature data, and outputting the generated feature data to the muscle strength index estimation device.

6. The muscle strength index estimation device includes: implemented in a terminal device having a screen viewable by the user, The muscle strength indicator estimation system according to claim 5 , wherein information about the muscle strength indicator estimated in accordance with the movement of the user's legs is displayed on a screen of the terminal device.

7. The muscle strength index estimation device includes: The muscle strength indicator estimation system according to claim 6 , wherein recommendation information corresponding to the muscle strength indicator estimated in accordance with the movement of the user's legs is displayed on a screen of the terminal device.

8. The computer acquiring feature amount data including feature amounts used to estimate grip strength as a muscle strength index of the user, the feature amount data being extracted from walking waveform data generated using time-series data of sensor data relating to the user's foot movement; If the user is a male user, the feature amount data acquired in response to the walking of the male user is input into an estimation model for males generated by learning using training data in which feature amounts related to activity of the quadriceps muscle extracted from the load response phase and the early swing phase of the walking waveform data are used as explanatory variables and the muscle strength index related to the grip strength of the male subject is used as a response variable, for a plurality of male subjects, to estimate the muscle strength index related to the grip strength of the male user; If the user is a female user, an estimation model for female subjects is generated by learning using training data in which feature amounts related to quadriceps muscle activity extracted from the mid-stance phase and the load response phase of the walking waveform data are used as explanatory variables, and the muscle strength index related to the grip strength of the female subjects is used as a target variable. The feature amount data acquired in response to the walking of the female user is input into the estimation model for female, thereby estimating the muscle strength index related to the grip strength of the female user; A muscle strength index estimation method that outputs information about the estimated muscle strength index.

9. A process of acquiring feature data including feature amounts used to estimate grip strength as a muscle strength index of the user, the feature amount being extracted from walking waveform data generated using time-series data of sensor data related to the user's foot movements; If the user is a male user, a process of estimating the muscle strength index related to the grip strength of the male user by inputting the feature amount data acquired in response to the walking of the male user into an estimation model for males generated by learning using teacher data in which feature amounts related to the activity of the quadriceps muscle extracted from the load response phase and the early swing phase of the walking waveform data for a plurality of male subjects are used as explanatory variables and the muscle strength index related to the grip strength of the male subjects is used as a target variable; If the user is a female user, a process of estimating the muscle strength index related to the grip strength of the female user by inputting the feature amount data acquired in response to the walking of the female user into an estimation model for female generated by learning using teacher data in which, for a plurality of female subjects, feature amounts related to the activity of the quadriceps muscle extracted from the mid-stance phase and the load response phase of the walking waveform data are used as explanatory variables and the muscle strength index related to the grip strength of the female subject is used as a target variable; and outputting information relating to the estimated muscle strength index.

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