MOBILITY ABILITY ESTIMATION DEVICE, MOBILITY ABILITY ESTIMATION SYSTEM, MOBILITY ABILITY ESTIMATION METHOD, AND PROGRAM

Abstract

In order to appropriately estimate mobility in everyday life, provided is a mobility estimation device, comprising: a data acquisition unit that acquires feature quantity data that include feature quantities to be used in estimating user mobility, and are extracted from sensor data relating to motion of the legs of the user; a storage unit that stores an estimation model for outputting a mobility index corresponding to input of the feature quantity data; an estimation unit that inputs the acquired feature quantity data into the estimation model and estimates user mobility in accordance with the mobility index output by the estimation model; and an output unit that outputs information relating to the estimated user mobility.

Description

[Technical Field]

[0001] The present disclosure relates to a mobility estimation device and the like that estimates mobility using sensor data related to foot movement. [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] Patent Document 2 discloses a gait analysis device that estimates walking ability based on acceleration measured by an accelerometer attached to the waist. The device of Patent Document 2 measures changes over time in acceleration of the waist in at least one of the up-down direction, the front-back direction, and the left-right direction while walking. The device of Patent Document 2 extracts a specific period during which a specific walking movement is performed while walking based on the changes over time in any of the accelerations. The device of Patent Document 2 calculates an estimated index related to walking ability while walking based on the changes over time in any of the accelerations during the specific period. The device of Patent Document 2 estimates walking ability using the relationship between the calculated estimated index, a pre-prepared estimated index, and walking ability.

[0005] Actions such as walking, climbing stairs, changing direction, stepping over something, and standing and sitting down are important in daily life. The ability to walk, climbing stairs, changing direction, stepping over something, standing and sitting down, etc. is called mobility. Mobility is closely related to quality of life (QoL). The TUG (Time Up and Go) test is a test to evaluate mobility. The TUG test consists of three parts: standing and sitting down, walking, and changing direction. The subject stands up from a seated position in a chair, walks toward a landmark 3 meters away, changes direction at the landmark, walks toward the chair they were sitting in, and sits down in that chair. The performance of the TUG test is evaluated by the time it takes to complete this series of actions.

[0006] Non-Patent Document 1 reports the results of examining the TUG test in healthy young people around 20 years old and healthy elderly people around 70 years old. Non-Patent Document 1 examines the proportions of each of the steps that make up the TUG test: standing up and sitting down, walking, and turning. In the examination in Non-Patent Document 1, for the healthy elderly people, the proportion of standing up and sitting down was 18% (percent), the proportion of turning around was 12%, and the proportion of walking back and forth was 70%.

[0007] Non-Patent Document 2 reports a case study in which muscle activity of the supporting lower limb during a change of direction was verified using a plantar pressure sensor and an electromyograph. Non-Patent Document 2 reports that a cross step is characterized by increased muscle activity in the gluteus medius, tensor fasciae latae, peroneus longus, and lateral head of the gastrocnemius. Non-Patent Document 2 also reports that a side step is characterized by increased muscle activity in the plantar flexor-internalis group (mainly the tibialis anterior) and medial head of the gastrocnemius. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] International Publication No. 2021 / 140658 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-125368 [Non-patent literature]

[0009] [Non-Patent Document 1] Chihiro Kurosawa, "Kinematic Analysis of the Timed Up and Go Test in Healthy Elderly Subjects," Doctoral Dissertation, International University of Health and Welfare, FY2016. [Non-patent document 2] Masanori Ito et al., "Changing direction during walking", Kansai Physical Therapy, Vol. 15, pp. 23-27, 2015. Summary of the Invention [Problem to be solved by the invention]

[0010] The method of Patent Document 1 estimates the progression state of hallux valgus using gait feature amounts of characteristic parts extracted from data acquired by a sensor attached to footwear. Patent Document 1 does not disclose estimating mobility ability using gait feature amounts of characteristic parts extracted from data acquired by a sensor attached to footwear.

[0011] The method of Patent Document 2 estimates the walking ability of a subject based on acceleration measured by an accelerometer attached to the subject's waist. The method of Patent Document 2 estimates walking ability such as walking speed, stride length, knee extension force, and dorsiflexion force based on the calculated estimated indices. The method of Patent Document 2 estimates the walking ability of a subject based on acceleration measured by an accelerometer attached to the waist. The method of Patent Document 2 estimates walking ability based on waist movement, but is unable to verify lower limb muscle strength based on foot movement.

[0012] As in Non-Patent Document 1, the TUG test can be used to evaluate mobility in detail, including standing and sitting, walking, and turning. Furthermore, as in Non-Patent Document 2, the use of a plantar pressure sensor or an electromyograph can be used to evaluate turning, which is included in the movement of mobility. However, Non-Patent Documents 1 and 2 do not disclose a method for evaluating mobility in everyday life.

[0013] An object of the present disclosure is to provide a mobility estimation device and the like that can appropriately estimate mobility in daily life. [Means for solving the problem]

[0014] A mobility estimation device according to one aspect of the present disclosure includes a data acquisition unit that acquires feature data including features used to estimate a user's mobility, extracted from sensor data relating to the user's foot movements; a memory unit that stores an estimation model that outputs a mobility index according to input of the feature data; an estimation unit that inputs the acquired feature data into the estimation model and estimates the user's mobility according to the mobility index output from the estimation model; and an output unit that outputs information relating to the estimated mobility of the user.

[0015] In one aspect of the mobility estimation method of the present disclosure, feature data including features used to estimate a user's mobility is acquired from sensor data related to the movement of the user's feet, the acquired feature data is input into an estimation model that outputs a mobility index according to the input of the feature data, the user's mobility is estimated according to the mobility index output from the estimation model, and information related to the estimated user's mobility is output.

[0016] A program according to one aspect of the present disclosure causes a computer to perform the following processes: acquiring feature data including features used to estimate a user's mobility, extracted from sensor data relating to the user's foot movements; inputting the acquired feature data into an estimation model that outputs a mobility index according to the input of the feature data; estimating the user's mobility according to the mobility index output from the estimation model; and outputting information relating to the estimated user's mobility. [Effects of the Invention]

[0017] According to the present disclosure, it is possible to provide a mobility estimation device and the like that can appropriately estimate mobility in daily life. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a block diagram showing an example of the configuration of a mobility 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 a mobility estimation system according to a 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 mobility estimation device included in a mobility estimation system according to a first embodiment. [Figure 11] FIG. 2 is a conceptual diagram for explaining a TUG (Time Up and Go) test for evaluating mobility, which is an estimation target of the mobility estimation system according to the first embodiment. [Figure 12]1 is a table relating to specific examples of feature amounts extracted by the gait measurement device included in the mobility estimation system according to the first embodiment in order to estimate the results of the TUG test (TUG completion time). [Figure 13] 10 is a graph showing the correlation between a feature value F1 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 14] 10 is a graph showing the correlation between a feature value F2 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 15] 10 is a graph showing the correlation between a feature value F3 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 16] 10 is a graph showing the correlation between a feature value F4 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 17] 10 is a graph showing the correlation between a feature value F5 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 18] 10 is a graph showing the correlation between a feature value F6 extracted by the gait measurement device included in the mobility estimation system according to the first embodiment and the actually measured TUG time required. [Figure 19] 1 is a block diagram showing an example of estimation of a TUG required time (mobility index) by a mobility estimation device included in a mobility estimation system according to a first embodiment. FIG. [Figure 20] This is a graph showing the correlation between the estimated TUG time estimated using an estimation model generated by learning with gender, age, height, weight, and walking speed as explanatory variables and the measured TUG time. [Figure 21] 10 is a graph showing the correlation between the estimated value of the TUG required time estimated by the mobility estimation device included in the mobility estimation system according to the first embodiment and the measured value of the TUG required time. [Figure 22]5 is a flowchart for explaining an example of the operation of the gait measurement device included in the mobility estimation system according to the first embodiment. [Figure 23] 5 is a flowchart for explaining an example of the operation of the travel ability estimation device included in the travel ability estimation system according to the first embodiment. [Figure 24] FIG. 1 is a conceptual diagram for explaining an application example of a mobility estimation system according to a first embodiment. [Figure 25] FIG. 10 is a block diagram showing an example of the configuration of a learning system according to a second embodiment. [Figure 26] 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 27] 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 28] FIG. 10 is a block diagram showing an example of the configuration of a mobility estimation device according to a third embodiment. [Figure 29] 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

[0019] 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.

[0020] (First embodiment) First, a mobility estimation system according to a first embodiment will be described with reference to the drawings. The mobility estimation system of this embodiment measures sensor data related to foot movements according to a user's walking. The mobility estimation system of this embodiment uses the measured sensor data to estimate the mobility of the user.

[0021] In this embodiment, an example of estimating mobility ability is the score on a TUG (Time Up and Go) test. In this embodiment, the score on the TUG test is evaluated based on the time it takes to stand up from a chair, walk to a landmark, change direction, and sit back down on the chair (also referred to as the TUG time). The TUG time is the score value of the TUG test. The shorter the TUG time, the higher the score on the TUG test. The method of this embodiment can also be applied to the scores on tests related to mobility ability other than the TUG test.

[0022] (composition) FIG. 1 is a block diagram showing an example of the configuration of a mobility estimation system 1 according to this embodiment. The mobility estimation system 1 includes a gait measurement device 10 and a mobility estimation device 13. In this embodiment, an example will be described in which the gait measurement device 10 and the mobility estimation device 13 are configured as separate pieces of hardware. For example, the gait measurement device 10 is attached to the footwear of a subject (user) whose mobility is to be estimated. For example, the functions of the mobility estimation device 13 are installed in a mobile device carried by the subject (user). Below, the configurations of the gait measurement device 10 and the mobility estimation device 13 will be described separately.

[0023] [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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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).

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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 section 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. 7 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.

[0038] 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. 8, 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%.

[0039] 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%.

[0040] 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.

[0041] 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).

[0042] 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 amounts used to estimate mobility from the walking waveform data for one step gait cycle. The extraction unit 123 extracts feature amounts 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 amounts used to estimate mobility are extracted will be described later.

[0043] FIG. 9 is a conceptual diagram illustrating the extraction of feature quantities for estimating mobility 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).

[0044] 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.

[0045] The feature amount data output unit 127 outputs the feature amount data for each walking phase cluster generated by the generation unit 125. The feature amount data output unit 127 outputs the feature amount data of the generated walking phase cluster to the mobility ability estimation device 13, which uses the feature amount data.

[0046] [Mobility Ability Estimation Device] 10 is a block diagram showing an example of the configuration of the mobility estimation device 13. The mobility estimation device 13 has a data acquisition unit 131, a storage unit 132, an estimation unit 133, and an output unit 135.

[0047] 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).

[0048] The storage unit 132 stores an estimation model that estimates the TUG time required as a mobility index using feature amount data extracted from the walking waveform data. The storage unit 132 stores an estimation model that has learned the relationship between the feature amount data related to the TUG time required for multiple subjects and the TUG time required. For example, the storage unit 132 stores an estimation model that estimates the TUG time required, which has been learned for multiple subjects. The TUG time required is affected by age. Therefore, the storage unit 132 may store an estimation model according to attribute data related to age.

[0049] Figure 11 is a conceptual diagram for explaining the TUG test. The subject stands up from a seated position in a chair and walks toward the location of a landmark. When the subject reaches the location of the landmark, he or she changes direction at the landmark and walks toward the chair where he or she was previously sitting. When the subject returns to the chair, he or she sits down in it. Measurement begins when the subject stands up from the chair, turns around at the landmark, and ends when the subject sits back down in the chair. The time taken for this series of actions is the TUG time.

[0050] Mobility ability can be evaluated based on the time required to complete the TUG. According to Non-Patent Document 1, if the time required for the TUG is 7.4 seconds or more for men and 7.5 seconds or more for women, the person is considered to be a specific elderly person (Non-Patent Document 1: Kurosawa Chihiro, "Kinematic Analysis of the Timed Up and Go Test in Healthy Elderly People," International University of Health and Welfare Doctoral Dissertation, FY2016). The evaluation criteria for mobility ability based on the time required for the TUG listed here are merely guidelines and may be set according to the situation.

[0051] The estimation model may be stored in the storage unit 132 at the time of shipping the product from the factory or at the time of calibration before the mobility 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.

[0052] The estimation unit 133 acquires feature data from the data acquisition unit 131. The estimation unit 133 uses the acquired feature data to estimate the TUG time required as mobility ability. 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 according to the mobility ability (TUG time required) 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.

[0053] The output unit 135 outputs the estimation result of the mobility ability by the estimation unit 133. For example, the output unit 135 displays the estimation result of the mobility ability on the screen of the mobile terminal of the subject (user). For example, the output unit 135 outputs the estimation result to an external system or the like that uses the estimation result. There are no particular limitations on the use of the mobility ability output from the mobility ability estimation device 13.

[0054] For example, the mobility 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. For example, the mobile device is a portable communication device with a communication function, such as a smartphone, a smart watch, or a mobile phone. For example, the mobility estimation device 13 is connected to the mobile device via a wired connection, such as a cable. For example, the mobility estimation device 13 is connected to the mobile device via wireless communication. For example, the mobility 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 mobility estimation device 13 may conform to standards other than Bluetooth (registered trademark) or WiFi (registered trademark). The estimation result of mobility may be used by an application installed on the mobile device. In this case, the mobile device executes processing using the estimation result using application software, etc., installed on the mobile device.

[0055] [TUG time estimation] Next, we will explain the correlation between TUG duration and feature data, using a verification example. Figure 12 is a correspondence table summarizing the features used to estimate TUG duration. The correspondence table in Figure 12 associates feature numbers, gait waveform data from which the features are extracted, gait phases (%) from which gait phase clusters are extracted, and related muscles. TUG duration is correlated with the quadriceps, gluteus medius, and tibialis anterior. Therefore, feature values ​​F1 to F5 extracted from gait phases in which these features appear are used to estimate TUG duration.

[0056] The TUG test consists of three parts: standing and sitting, walking, and turning. Standing and sitting primarily involve the tibialis anterior, gastrocnemius, quadriceps, and biceps femoris muscles. Walking performance is primarily related to stride length, walking speed, and cadence. Cadence is the number of steps per minute. Turning involves the muscles used in cross steps and side steps. The muscles involved in cross steps and side steps are disclosed in Non-Patent Document 2 (Non-Patent Document 2: Ito Masanori et al., "Turning Movements During Walking," Kansai Physical Therapy, Vol. 15, pp. 23-27, 2015). The gluteus medius, tensor fasciae latae, peroneus longus, and lateral head of the gastrocnemius are involved in the cross step. The side step involves the plantar flexor-internalis muscles (mainly the tibialis anterior) and medial head of the gastrocnemius. The characteristics of the muscles involved in turning are manifested in specific gait phases. The characteristics of the gluteus medius are apparent from 0-25% of the walking phase. The characteristics of the tensor fasciae latae are apparent from 0-45% and 85-100% of the walking phase. The characteristics of the peroneus longus are apparent from 10-50% of the walking phase. The characteristics of the tibialis anterior are apparent from 0-10% and 57-100% of the walking phase. The characteristics of the gastrocnemius are apparent from 10-50% of the walking phase.

[0057] 13 to 18 show the results of verifying the correlation between the time required for TUG and feature data. Figures 13 to 18 show the results of verification conducted on a total of 62 subjects, consisting of 27 men and 35 women aged 60 to 85. Figures 13 to 18 also show the results of verifying the correlation between estimated values ​​estimated using feature values ​​extracted from walking while wearing footwear equipped with gait measurement device 10 and measured values ​​(true values) of the time required for TUG.

[0058] The feature F1 is extracted from the gait phase 64-65% section of the walking waveform data Ax, which is related to the time-series data of lateral acceleration (X-direction acceleration). The gait phase 64-65% is included in the initial swing phase T5. The feature F1 mainly includes features related to the movement of the quadriceps femoris during standing and sitting movements. Figure 13 shows the results of verifying the correlation between the feature F1 and the TUG time required. The horizontal axis of the graph in Figure 13 represents normalized angular velocity. The correlation coefficient R between the feature F1 and the TUG time required was -0.333.

[0059] Feature F2 is extracted from the 57-58% section of the walking phase of the walking waveform data Gx, which is related to the time series data of angular velocity in the sagittal plane (around the X-axis). The 57-58% walking phase is included in the early swing phase T4. Feature F2 mainly includes features related to the movement of the quadriceps femoris, which is related to the kick-off velocity of the foot. Figure 14 shows the results of verifying the correlation between feature F2 and TUG time. The horizontal axis of the graph in Figure 1 represents normalized angular velocity. The correlation coefficient R between feature F2 and TUG time was 0.338.

[0060] Feature F3 is extracted from the gait phase 19-20% section of the gait waveform data Gy, which is related to the time series data of angular velocity in the coronal plane (around the Y-axis). Gait phase 19-20% is included in mid-stance phase T2. Feature F3 mainly includes features related to the movement of the gluteus medius muscle during changes of direction. Figure 15 shows the results of verifying the correlation between feature F3 and TUG time. The horizontal axis of the graph in Figure 15 represents normalized angular velocity. The correlation coefficient R between feature F3 and TUG time was -0.377.

[0061] Feature F4 is extracted from the 12-13% gait phase of the gait waveform data Ez, which is related to the time series data of angular velocity in the horizontal plane (around the Z axis). Gait phase 12-13% corresponds to the beginning of mid-stance phase T2. Feature F4 mainly includes features related to the movement of the gluteus medius muscle during changes of direction. Figure 16 shows the results of verifying the correlation between feature F4 and TUG duration. The horizontal axis of the graph in Figure 16 represents normalized angular velocity. The correlation coefficient R between feature F4 and TUG duration was -0.360.

[0062] Feature F5 is extracted from the gait phase 74-75% section of the gait waveform data Ez, which is related to the time series data of angular velocity in the horizontal plane (around the Z axis). The gait phase 74-75% corresponds to the beginning of the mid-swing phase T6. Feature F5 mainly includes features related to the movement of the tibialis anterior muscle during standing and sitting and direction changes. Figure 17 shows the results of verifying the correlation between feature F5 and TUG time. The horizontal axis of the graph in Figure 17 represents normalized angular velocity. The correlation coefficient R between feature F5 and TUG time was 0.324.

[0063] Feature F6 is extracted from the 76-80% gait phase section of the gait waveform data Ey, which is related to the time series data of angles (postural angles) in the coronal plane (around the Y-axis). The 76-80% gait phase is included in the mid-swing phase T6. Feature F6 mainly includes features related to the movement of the tibialis anterior muscle during standing and sitting and turning. Figure 18 shows the results of verifying the correlation between feature F6 and TUG time. The horizontal axis of the graph in Figure 18 represents the angle in the coronal plane (around the Y-axis). The correlation coefficient R between feature F6 and TUG time was 0.302.

[0064] FIG. 19 is a conceptual diagram showing an example in which feature quantities F1 to F6 extracted from sensor data measured while a user is walking are input to estimation model 151, which is constructed in advance to estimate the TUG time required as a mobility function. In response to the input of feature quantities F1 to F6, estimation model 151 outputs the TUG time required, which is a mobility function index. For example, estimation model 151 is generated by learning using training data in which feature quantities F1 to F6 used to estimate the TUG time required are used as explanatory variables and the TUG time required 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 the TUG time required, which is an index of mobility function, is output in response to the input of feature quantity data for estimating the TUG time required. For example, estimation model 151 may be a model that estimates the TUG time required using attribute data (age) as an explanatory variable in addition to feature quantities F1 to F6 used to estimate the TUG time required.

[0065] For example, an estimation model for estimating the TUG required time using a multiple regression prediction method is stored in storage unit 132. For example, parameters for estimating the TUG required time T are stored in storage unit 132 using the following equation 1. T=a1×F1+a2×F2+a3×F3+a4×F4+a5×F5+a6×F6+a0...(1) In the above formula 1, F1, F2, F3, F4, F5, and F6 are feature quantities for each walking phase cluster used to estimate the TUG required time, as shown in the correspondence table in FIG. 12. a1, a2, a3, a4, a5, and a6 are coefficients by which F1, F2, F3, F4, F5, and F6 are multiplied. a0 is a constant term. For example, a0, a1, a2, a3, a4, a5, and a6 are stored in the storage unit 132.

[0066] Next, we will show the results of evaluating the estimation model 151 generated using the measurement data of the 62 subjects described above. Here, we compare a verification example (Fig. 20) in which mobility (TUG time required) is estimated using the subject's attributes (including walking speed) with a verification example (Fig. 21) in which mobility (TUG time required) is estimated using the subject's gait features. Figs. 20 and 21 show the results of testing the estimation model generated using the measurement data of 61 subjects using the measurement data of the remaining subject using the LOSO (Leave-One-Subject-Out) method. Figs. 20 and 21 show the results of performing LOSO on all (62) subjects, and comparing the predicted values ​​obtained by the test with the measured values ​​(true values). The LOSO test results are shown in terms of the intraclass correlation coefficient (ICC), mean absolute error (MAE), and coefficient of determination (R). 2 The intraclass correlation coefficient (ICC) was used to evaluate inter-rater reliability.

[0067] Figure 20 shows the results of testing an estimation model of a comparative example that was trained using training data with gender, age, height, weight, and walking speed as explanatory variables and time required for TUG as the objective variable. The estimation model of the comparative example had an intraclass correlation coefficient (ICC(2, 1)) of 0.44, a mean absolute error (MAE) of 0.69, and a coefficient of determination (R 2 The verification results in Figure 20 show that the intraclass correlation coefficient ICC(2, 1) is relatively high, partly because walking speed, which has a significant impact on walking and accounts for 70% of the movements in the TUG test, is included as an explanatory variable.

[0068] 21 shows the verification results of the estimation model 151 of this embodiment, which was trained using training data with the features F1 to F6 and age as explanatory variables and the time required for TUG as the objective variable. The estimation model 151 of this embodiment has an intraclass correlation coefficient ICC(2, 1) of 0.686, a mean absolute error MAE of 0.62, and a coefficient of determination R 2was 0.48. 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 and walking speed.

[0069] In the verification results shown in Figure 22, walking speed, which significantly influences walking and accounts for 70% of the movements in the TUG test, is not included as an explanatory variable. However, the verification results shown in Figure 22, which do not use walking speed as an explanatory variable, have a higher intraclass correlation coefficient (ICC(2, 1)) than the verification results shown in Figure 20, which use walking speed as an explanatory variable. While the effects of walking speed may be included in features F1 to F6, 30% of the movements in the TUG test are standing up, sitting down, and turning. In other words, TUG test scores are significantly influenced not only by walking but also by movements such as standing up, sitting down, and turning. In other words, while walking speed is an important factor in TUG test scores, without features representing standing up, sitting down, and turning, TUG test scores cannot be estimated with high accuracy.

[0070] (operation) Next, the operation of mobility estimation system 1 will be described with reference to the drawings. Here, we will explain gait measurement device 10 and mobility estimation device 13 included in mobility estimation system 1 individually. Regarding gait measurement device 10, we will explain the operation of feature amount data generation unit 12 included in gait measurement device 10.

[0071] [Gait measurement device] Fig. 22 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. 22, the feature amount data generation unit 12 will be described as the subject of the operation.

[0072] In FIG. 22, first, the feature amount data generator 12 acquires time-series data of sensor data relating to foot movements (step S101).

[0073] 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.

[0074] 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).

[0075] Next, the feature data generator 12 extracts feature amounts from the normalized walking waveform based on the walking phases used to estimate mobility (step S104). For example, the feature data generator 12 extracts feature amounts to be input to a pre-constructed estimation model.

[0076] Next, the feature data generator 12 uses the extracted feature to generate a feature for each walking phase cluster (step S105).

[0077] 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).

[0078] Next, the feature amount data generating unit 12 outputs the generated feature amount data to the mobility estimation device 13 (step S107).

[0079] [Mobility Ability Estimation Device] Fig. 23 is a flowchart for explaining the operation of the mobility estimation device 13. In the explanation following the flowchart of Fig. 23, the mobility estimation device 13 will be described as the subject of the operation.

[0080] In FIG. 23, first, the mobility estimation device 13 acquires feature amount data generated using sensor data related to leg movements (step S131).

[0081] Next, the mobility estimation device 13 inputs the acquired feature amount data into an estimation model for estimating mobility (TUG required time) (step S132).

[0082] Next, the mobility estimation device 13 estimates the mobility of the user according to the output (estimated value) from the estimation model (step S133). For example, the mobility estimation device 13 estimates the TUG time required by the user as the mobility.

[0083] Next, the mobility estimation device 13 outputs information related to the estimated mobility (step S134). For example, the mobility is output to a terminal device (not shown) carried by the user. For example, the mobility is output to a system that executes processing using the mobility.

[0084] (Application example) Next, application examples according to this embodiment will be described with reference to the drawings. In the application examples below, a mobility 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 mobility.

[0085] Fig. 24 is a conceptual diagram showing an example of displaying the estimation result by mobility estimation device 13 on the screen of mobile terminal 160 carried by a user walking while wearing shoes 100 on which gait measurement devices 10 are placed. Fig. 24 shows an example of displaying information corresponding to the estimation result of mobility using feature amount data corresponding to sensor data measured while the user was walking on the screen of mobile terminal 160.

[0086] FIG. 24 illustrates an example in which information according to an estimated value of the time required for TUG, which is mobility ability, is displayed on the screen of mobile device 160. In the example of FIG. 24, the estimated value of the time required for TUG is displayed on the display unit of mobile device 160 as the estimation result of mobility ability. Also in the example of FIG. 24, information on the estimation result of mobility ability, such as "Your mobility ability is declining," is displayed on the display unit of mobile device 160 in accordance with the estimated value of the time required for TUG, which is mobility ability. Also in the example of FIG. 24, recommendation information according to the estimation result of mobility ability, 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 the time required for TUG, which is mobility ability. A user who has checked the information displayed on the display unit of mobile device 160 can practice training that will lead to an increase in mobility ability by exercising while referring to the video of Training A in accordance with the recommendation information.

[0087] As described above, the mobility estimation system of this embodiment includes a gait measurement device and a mobility 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 data of the sensor data related to foot movement. The feature data generation unit extracts gait waveform data for one walking cycle from the time-series data of the 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 amounts used for estimating mobility from a walking phase cluster composed of at least one temporally consecutive walking phase. The feature data generation unit generates feature data including the extracted feature amounts. The feature data generation unit outputs the generated feature data.

[0088] The mobility estimation device includes a data acquisition unit, a memory unit, an estimation unit, and an output unit. The data acquisition unit acquires feature data including features used to estimate the user's mobility, extracted from sensor data related to the user's foot movements. The memory unit stores an estimation model that outputs a mobility index according to input of the feature data. The estimation unit inputs the acquired feature data into the estimation model to estimate the user's mobility. The output unit outputs information related to the estimated mobility.

[0089] The mobility estimation system of this embodiment estimates the mobility of a user using feature amounts extracted from sensor data related to the user's foot movements. Therefore, the mobility estimation system of this embodiment can appropriately estimate mobility in daily life without using any equipment for measuring mobility.

[0090] In one aspect of the present embodiment, the data acquisition unit acquires feature data including feature amounts extracted from gait waveform data generated using time-series data of sensor data related to foot movement. The data acquisition unit acquires feature data including feature amounts used to estimate a score value of a sit-to-stand test as a mobility index. According to this aspect, by using the sensor data related to foot movement, mobility ability can be appropriately estimated in daily life without using any equipment for measuring mobility ability.

[0091] In one aspect of this embodiment, the storage unit stores an estimation model generated by learning using training data related to multiple subjects. The estimation model is generated by learning using training data in which feature amounts used to estimate mobility indexes are explanatory variables and the mobility indexes of the multiple subjects are objective variables. The estimation unit inputs feature amount data acquired about the user into the estimation model. The estimation unit estimates the user's mobility based on the user's mobility index output from the estimation model. According to this aspect, mobility can be appropriately estimated in daily life without using any equipment for measuring mobility.

[0092] In one aspect of this embodiment, the storage unit stores an estimation model trained using explanatory variables including the subject's attribute data (age). The estimation unit inputs feature data and attribute data (age) related to the user into the estimation model. The estimation unit estimates the user's mobility based on the user's mobility index output from the estimation model. In this aspect, the mobility is estimated including attribute data (age) that affects mobility. Therefore, according to this aspect, mobility can be measured with higher accuracy.

[0093] 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 a model generated by learning using training data in which feature quantities extracted from gait waveform data of multiple subjects are used as explanatory variables and mobility indexes of multiple subjects are used as objective variables. For example, feature quantities related to gluteus medius activity extracted from mid-stance phase are included in the explanatory variables. For example, feature quantities related to quadriceps femoris activity extracted from a section from early swing phase to early swing phase are included in the explanatory variables. For example, feature quantities related to tibialis anterior activity extracted from mid-swing phase are included in the explanatory variables. The estimation unit inputs feature quantity data acquired during the user's walking into the estimation model. The estimation unit estimates the user's mobility based on the user's mobility index output from the estimation model. According to this aspect, a mobility level more suited to physical activity can be estimated using an estimation model trained with feature quantities related to muscle activity that affects mobility.

[0094] In one aspect of this embodiment, the storage unit stores estimation models generated by learning using training data for multiple subjects, in which multiple feature quantities extracted from gait waveform data are used as explanatory variables and the subject's mobility related to a mobility ability index are used as a response variable. For example, the explanatory variables include feature quantities extracted from the early swing phase of gait waveform data of lateral acceleration. For example, the explanatory variables include feature quantities extracted from the early swing phase of gait waveform data of angular velocity in the sagittal plane. For example, the explanatory variables include feature quantities extracted from the early mid-stance phase and the early mid-swing phase of gait waveform data of angular velocity in the horizontal plane. For example, the explanatory variables include feature quantities extracted from the mid-swing phase of gait waveform data of angle in the coronal plane. The data acquisition unit acquires feature data including feature amounts extracted according to the user's gait. For example, the data acquisition unit acquires feature amounts for the early swing phase of gait waveform data of lateral acceleration. For example, the data acquisition unit acquires feature amounts for the early swing phase of gait waveform data of angular velocity in the sagittal plane. For example, the data acquisition unit acquires feature amounts for the early mid-stance phase and the early mid-swing phase of gait waveform data of angular velocity in the horizontal plane. For example, the data acquisition unit acquires feature amounts for the early mid-stance phase and the early mid-swing phase of gait waveform data of angular velocity in the horizontal plane. The estimation unit inputs the acquired feature data into an estimation model. The estimation unit estimates the user's mobility ability based on the user's mobility ability index output from the estimation model. According to this aspect, by using an estimation model trained with feature amounts extracted from gait waveform data including features according to muscle activity that affects mobility, it is possible to estimate mobility that is more suited to physical activity using sensor data related to foot movement.

[0095] In one aspect of this embodiment, the mobility estimation device is implemented in a terminal device having a screen viewable by a user. For example, the mobility estimation device displays information related to mobility estimated based on the user's foot movements on the screen of the terminal device. For example, the mobility estimation device displays recommendation information corresponding to the mobility estimated based on the user's foot movements on the screen of the terminal device. For example, the mobility estimation device displays a video related to training for strengthening body parts related to mobility on the screen of the terminal device as recommendation information corresponding to the mobility estimated based on the user's foot movements. According to this aspect, by displaying mobility estimated based on features extracted from sensor data related to the user's foot movements on a screen viewable by the user, the user can confirm information corresponding to their own mobility.

[0096] (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 mobility in response to input of feature amounts by learning using feature amount data extracted from sensor data measured by a gait measurement device.

[0097] (composition) FIG. 25 is a block diagram showing an example of the configuration of learning system 2 according to this embodiment. Learning system 2 includes gait measurement device 20 and learning device 25. Gait measurement device 20 and learning device 25 may be connected by wire or wirelessly. Gait measurement device 20 and learning device 25 may be configured as a single device. Alternatively, gait measurement device 20 may be removed from the configuration of learning system 2, and learning system 2 may be configured with only learning device 25. Although FIG. 25 shows only one gait measurement device 20, one gait measurement device 20 may be provided for each foot (two in total). Alternatively, learning device 25 may be configured to perform learning without being connected to gait measurement device 20, using feature data that has been generated in advance by gait measurement device 20 and stored in a database.

[0098] 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 gait 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 the mobility ability to be estimated. Gait measurement device 20 transmits the generated feature data to learning device 25. 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.

[0099] 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 mobility ability 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.

[0100] [Learning device] Next, details of the learning device 25 will be described with reference to the drawings. Fig. 26 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.

[0101] 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).

[0102] 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 from sensor data measured according to the foot movements of the subject as explanatory variables and a data set in which the subject's required time for TUG is used as training data to learn. For example, the learning unit 253 generates an estimation model that estimates the required time for TUG according to input feature data, learned from multiple subjects. For example, the learning unit 253 generates an estimation model according to attribute data (age). For example, the learning unit 253 generates an estimation model that estimates the required time for TUG as mobility ability, using feature data extracted from sensor data measured according to the foot movements of the subject and the subject's attribute data (age) as explanatory variables. The learning unit 253 stores the estimation models learned from multiple subjects in the storage unit 255.

[0103] 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.

[0104] The learning unit 253 may perform learning using walking waveform data for one step walking 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 a correct value of the mobility ability to be estimated as a response 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.

[0105] Fig. 27 is a conceptual diagram illustrating learning for generating an estimation model. Fig. 27 is a conceptual diagram showing an example in which learning unit 253 learns a data set of feature amounts F1 to F6, which are explanatory variables, and TUG time required (mobility ability index), which is a response variable, as training data. For example, learning unit 253 learns data related to a plurality of subjects and generates an estimation model that outputs (estimated value) related to TUG time required (mobility ability index) in response to input of feature amounts extracted from sensor data.

[0106] The storage unit 255 stores estimation models trained on a plurality of subjects. For example, the storage unit 255 stores estimation models for estimating mobility trained on a plurality of subjects. For example, the estimation models stored in the storage unit 255 are used to estimate mobility by the mobility estimation device 13 of the first embodiment.

[0107] 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 step cycle from the time-series sensor data and normalizes the extracted gait waveform data. From the normalized gait waveform data, the gait measurement device extracts feature amounts used to estimate the user's mobility 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.

[0108] 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 mobility 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.

[0109] The learning system of this embodiment generates an estimation model using feature data measured by a gait measurement device. Therefore, according to this aspect, it is possible to generate an estimation model that allows appropriate estimation of mobility in daily life without using any equipment for measuring mobility.

[0110] (Third embodiment) Next, a mobility estimation device according to a third embodiment will be described with reference to the drawings. The mobility estimation device of this embodiment has a simplified configuration of the mobility estimation device included in the mobility estimation system of the first embodiment.

[0111] 28 is a block diagram showing an example of the configuration of a mobility estimation device 33 according to this embodiment. The mobility estimation device 33 includes a data acquisition unit 331, a storage unit 332, an estimation unit 333, and an output unit 335.

[0112] The data acquisition unit 331 acquires feature data including feature amounts used to estimate the user's mobility index, extracted from sensor data related to the user's foot movement. The storage unit 332 stores an estimation model that outputs a mobility index according to input of the feature data. The estimation unit 333 inputs the acquired feature data into the estimation model and estimates the user's mobility according to the mobility index output from the estimation model. The output unit 335 outputs information related to the estimated mobility.

[0113] As described above, in this embodiment, the mobility of a user is estimated using feature amounts extracted from sensor data related to the movement of the user's feet. Therefore, according to this embodiment, the mobility of a user can be appropriately estimated in daily life without using any equipment for measuring mobility.

[0114] (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. 29 as an example. Note that the information processing device 90 in Fig. 29 is an example configuration for executing control and processing according to each embodiment, and does not limit the scope of the present disclosure.

[0115] As shown in Fig. 29, 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. 29, 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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. 29 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.

[0124] The components of each embodiment may be combined in any manner, and may be realized by software or by a circuit.

[0125] 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.

[0126] 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 data including feature amounts used to estimate the user's mobility, the feature amounts being extracted from sensor data related to the user's foot movements; a storage unit that stores an estimation model that outputs a mobility ability 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 mobility of the user in accordance with the mobility ability index output from the estimation model; and an output unit that outputs information related to the estimated mobility of the user. (Appendix 2) The data acquisition unit A mobility ability estimation device as described in Appendix 1, which acquires the feature data including features used to estimate the performance value of a TUG (Time Up and Go) test as the mobility ability index, extracted from walking waveform data generated using time series data of the sensor data regarding foot movement. (Appendix 3) The storage unit storing the estimation model generated by learning using training data for a plurality of subjects, the training data having feature quantities used to estimate the mobility ability index as explanatory variables and the mobility ability indexes of the plurality of subjects as objective variables; The estimation unit A mobility estimation device as described in Appendix 2, which inputs the feature data acquired about the user into the estimation model and estimates the mobility of the user according to the mobility index of the user output from the estimation model. (Appendix 4) The storage unit storing the estimation model trained using explanatory variables including the ages of the plurality of subjects; The estimation unit A mobility estimation device as described in Appendix 3, which inputs the feature data and age of the user into the estimation model and estimates the mobility of the user based on the mobility index of the user output from the estimation model. (Appendix 5) The storage unit storing the estimation model generated by learning using training data in which, with respect to the walking waveform data of the plurality of subjects, a feature amount related to activity of the gluteus medius extracted from mid-stance phase, a feature amount related to activity of the quadriceps femoris extracted from the period from early swing phase to early swing phase, and a feature amount related to activity of the tibialis anterior extracted from mid-swing phase are used as explanatory variables, and the mobility ability indexes of the plurality of subjects are used as objective variables; The estimation unit 5. A mobility estimation device according to claim 3 or 4, which inputs the feature data acquired in response to the user's walking into the estimation model, and estimates the mobility of the user in response to the mobility index of the user output from the estimation model. (Appendix 6) The storage unit the estimation model is generated by learning using training data in which, for a plurality of the subjects, explanatory variables are the feature amount extracted from the early swing phase of the gait waveform data of lateral acceleration, the feature amount extracted from the early swing phase of the gait waveform data of angular velocity in the sagittal plane, the feature amount extracted from the mid-stance phase of the gait waveform data of angular velocity in the coronal plane, the feature amount extracted from the early mid-stance phase and the early mid-swing phase of the gait waveform data of angular velocity in the horizontal plane, and the feature amount extracted from the mid-swing phase of the gait waveform data of angle in the coronal plane, and the training data is stored; and the estimation model is generated by learning using training data in which the mobility index of the plurality of the subjects is used as a response variable. The data acquisition unit Acquire the feature amount data extracted in response to the user's walking, including a feature amount of the lateral acceleration in the walking waveform data at an early swing stage, a feature amount of the angular velocity in the sagittal plane in the walking waveform data at an early swing stage, a feature amount of the angular velocity in the coronal plane in the mid-stance stage of the walking waveform data, a feature amount of the angular velocity in the horizontal plane in the early mid-stance stage and the early mid-swing stage of the walking waveform data, and a feature amount of the angle in the coronal plane in the mid-swing stage of the walking waveform data; The estimation unit A mobility estimation device as described in Appendix 5, which inputs the acquired feature data into the estimation model and estimates the mobility of the user according to the mobility index of the user output from the estimation model. (Appendix 7) The estimation unit estimating information about the mobility of the user in response to the mobility index estimated for the user; The output unit 7. A mobility estimation device according to any one of appendices 3 to 6, which outputs information relating to the estimated mobility. (Appendix 8) A mobility estimation device according to any one of Supplementary Notes 1 to 7; 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 to be used in estimating the mobility ability from a walking phase cluster formed by at least one walking phase that is consecutive in time, generates feature data including the extracted feature data, and outputs the generated feature data to the mobility ability estimation device. (Appendix 9) The mobility estimation device includes: implemented in a terminal device having a screen viewable by the user, 9. A mobility estimation system according to claim 8, wherein information about the mobility estimated according to the user's foot movements is displayed on a screen of the terminal device. (Appendix 10) The mobility estimation device includes: 10. A mobility estimation system according to claim 9, wherein recommendation information according to the mobility estimated according to the user's foot movements is displayed on a screen of the terminal device. (Appendix 11) The mobility estimation device includes: A mobility estimation system as described in Appendix 10, which displays on the screen of the terminal device a video related to training for strengthening body parts related to the mobility ability as the recommendation information according to the mobility ability estimated based on the user's foot movement. (Appendix 12) The computer acquiring feature data including feature amounts used to estimate the mobility of the user, the feature amounts being extracted from sensor data relating to the user's foot movements; inputting the acquired feature amount data into an estimation model that outputs a mobility ability index according to the input of the feature amount data; estimating the mobility of the user according to the mobility index output from the estimation model; A mobility estimation method that outputs information about the estimated mobility of the user. (Appendix 13) acquiring feature data including feature amounts used to estimate the user's mobility, the feature amounts being extracted from sensor data relating to the user's foot movements; a process of inputting the acquired feature amount data into an estimation model that outputs a mobility ability index according to the input of the feature amount data; a process of estimating the mobility ability of the user according to the mobility ability index output from the estimation model; and outputting information relating to the estimated mobility of the user. [Explanation of symbols]

[0127] 1. Mobility Estimation System 2. Learning System 10, 20 Gait measurement device 11 Sensors 12 Feature data generation unit 13 Mobility 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 features used to estimate a score value of a TUG (Time Up and Go) test as a mobility ability index indicating the user's mobility, the feature data being extracted from walking waveform data generated using time-series data of sensor data related to the user's foot movements; a storage means for storing an estimation model that uses, as explanatory variables, feature values ​​related to gluteus medius activity extracted from mid-stance phase, feature values ​​related to quadriceps femoris activity extracted from the period from early swing to early swing phase, and feature values ​​related to tibialis anterior activity extracted from mid-swing phase, with respect to the gait waveform data of a plurality of subjects, and that uses the mobility performance indexes of the plurality of subjects as objective variables, and that outputs the mobility performance indexes in response to input of the feature value data; an estimation means for inputting the feature amount data acquired regarding the user into the estimation model and estimating the mobility ability of the user in accordance with the mobility ability index output from the estimation model; and an output means for outputting information relating to the estimated mobility of the user.

2. The storage means storing the estimation model trained using explanatory variables including the ages of the plurality of subjects; The estimation means The mobility estimation device according to claim 1 , wherein the feature data and age of the user are input into the estimation model, and the mobility of the user is estimated based on the mobility index of the user output from the estimation model.

3. The storage means the estimation model is generated by learning using training data in which, for a plurality of the subjects, explanatory variables are the feature amount extracted from the early swing phase of the gait waveform data of lateral acceleration, the feature amount extracted from the early swing phase of the gait waveform data of angular velocity in the sagittal plane, the feature amount extracted from the mid-stance phase of the gait waveform data of angular velocity in the coronal plane, the feature amount extracted from the early mid-stance phase and the early mid-swing phase of the gait waveform data of angular velocity in the horizontal plane, and the feature amount extracted from the mid-swing phase of the gait waveform data of angle in the coronal plane, and the training data is stored; and the estimation model is generated by learning using training data in which the mobility index of the plurality of the subjects is used as a response variable. The data acquisition means Acquire the feature amount data extracted in response to the user's walking, including a feature amount of the lateral acceleration in the walking waveform data at an early swing stage, a feature amount of the angular velocity in the sagittal plane in the walking waveform data at an early swing stage, a feature amount of the angular velocity in the coronal plane in the mid-stance stage of the walking waveform data, a feature amount of the angular velocity in the horizontal plane in the early mid-stance stage and the early mid-swing stage of the walking waveform data, and a feature amount of the angle in the coronal plane in the mid-swing stage of the walking waveform data; The estimation means The mobility estimation device according to claim 1 , wherein the acquired feature data is input into the estimation model, and the mobility of the user is estimated according to the mobility index of the user output from the estimation model.

4. The mobility estimation device according to any one of claims 1 to 3; a gait measurement device having: a sensor that is attached to footwear of a user who is a target of mobility estimation, measures spatial acceleration and spatial angular velocity, generates sensor data related to foot movement using the measured spatial acceleration and spatial angular velocity, and outputs the generated sensor data; and feature data generation means that acquires time-series data of the sensor data including gait features, extracts gait waveform data for one step cycle from the time-series data of the sensor data, normalizes the extracted gait waveform data, extracts feature amounts used for estimating the mobility ability from a walking phase cluster formed by at least one temporally consecutive walking phase, generates feature data including the extracted feature amounts, and outputs the generated feature data to the mobility estimation device.

5. The mobility estimation device includes: implemented in a terminal device having a screen viewable by the user, The mobility estimation system according to claim 4 , wherein the information about the mobility estimated in accordance with the foot movements of the user is displayed on a screen of the terminal device.

6. The mobility estimation device includes: The mobility estimation system according to claim 5 , wherein recommendation information according to the mobility estimated according to the user's foot movements is displayed on a screen of the terminal device.

7. The computer Acquire feature data including features used to estimate a score value of a Time Up and Go (TUG) test as a mobility ability index indicating the user's mobility, the feature data being extracted from walking waveform data generated using time-series data of sensor data related to the user's foot movements; inputting the feature data acquired for the user into an estimation model that uses, as explanatory variables, feature values ​​related to gluteus medius activity extracted from mid-stance phase, feature values ​​related to quadriceps femoris extracted from the period from early swing to early swing phase, and feature values ​​related to tibialis anterior activity extracted from mid-swing phase for the walking waveform data of a plurality of subjects, and that outputs the mobility ability index in response to input of the feature value data, and estimating the mobility of the user according to the mobility index output from the estimation model; A mobility estimation method that outputs information about the estimated mobility of the user.

8. A process of acquiring feature data including features used to estimate a score value of a TUG (Time Up and Go) test as a mobility ability index indicating the user's mobility, the feature data being extracted from walking waveform data generated using time-series data of sensor data related to the user's foot movements; a process of inputting the feature amount data acquired for the user into an estimation model that is generated by learning using training data that uses, as explanatory variables, feature amounts related to gluteus medius activity extracted from the mid-stance phase, feature amounts related to quadriceps femoris activity extracted from the period from the early-swing phase to the early swing phase, and feature amounts related to tibialis anterior activity extracted from the mid-swing phase of the walking waveform data of a plurality of subjects, and that uses the mobility ability indexes of the plurality of subjects as objective variables, and that outputs the mobility ability index in response to the input of the feature amount data; a process of estimating the mobility ability of the user according to the mobility ability index output from the estimation model; and outputting information relating to the estimated mobility of the user.

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