Attitude control device

Abstract

This posture control device comprises: a posture information detection unit (20); a tactile stimulus application unit (40) configured to apply a tactile stimulus to a somato-sensory receptor of a user; and an extrasensory stimulus application unit (50) configured to apply an extrasensory stimulus to the user. The posture information detection unit (20) is configured to detect ground-contact pressure at a plurality of points on the sole of a foot and to detect a change in posture on the basis of a temporal change in the detected ground-contact pressure. The extrasensory stimulus application unit (50) is configured to apply, to the user, an extrasensory stimulus that assists user posture control through sensory integration with the tactile stimulus applied by the tactile stimulus application unit (40), at a predetermined timing which is based on a detection result from the posture information detection unit (20).

Description

[Technical Field]

[0001] The present invention relates to an attitude control device. [Background technology]

[0002] Patent Document 1 discloses a cutaneous sensory stimulation device that applies cutaneous sensory stimulation to a user based on information about a change in posture output from a detection means capable of detecting the change in posture of the user. By applying cutaneous sensory stimulation to the user, the cutaneous sensory stimulation device of Patent Document 1 alerts the user to a change in posture or induces a desired movement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4690890 Summary of the Invention [Problem to be solved by the invention]

[0004] The cutaneous sensory stimulation device of Patent Document 1 makes the user aware of posture changes by providing cutaneous sensory stimulation, thereby encouraging the user to perform actions to maintain posture. However, posture control actions, such as maintaining posture, are often performed unconsciously by humans. The cutaneous sensory stimulation device of Patent Document 1 leaves room for improvement in encouraging unconscious posture control actions. [Means for solving the problem]

[0005] A posture control device that solves the above problem is a posture control device configured to assist a user's posture, and comprises a posture information detection unit, a tactile stimulus imparting unit configured to impart tactile stimuli to the user's somatosensory receptors, and an extra-tactile stimulus imparting unit configured to impart extra-tactile stimuli to the user, wherein the posture information detection unit is configured to detect ground contact pressure at multiple points on the sole of the foot and detect posture changes based on changes in the detected ground contact pressure over time, and the extra-tactile stimulus imparting unit is configured to impart the extra-tactile stimulus to the user at a predetermined timing based on the detection result of the posture information detection unit, which assists the user in controlling their posture by being sensorily integrated with the tactile stimulus imparted by the tactile stimulus imparting unit.

[0006] In one aspect of the posture control device, the extra-tactile stimulus applied by the extra-tactile stimulus application unit is at least one of an auditory stimulus and a visual stimulus. In one aspect of the posture control device, the extra-tactile stimulus applied by the extra-tactile stimulus application unit is a stimulus applied through the skin.

[0007] In one aspect of the posture control device, the extra-tactile stimulus application unit includes an extra-tactile stimulus actuator configured to generate an extra-tactile stimulus, and the extra-tactile stimulus actuator is arranged in a wearable device configured to be worn on a part of the user's foot beyond the ankle.

[0008] In one aspect of the posture control device, the tactile stimulus applying unit tenses the toes. Counter and toes lifted Counter Induce at least one of the reactions Ru vibration configured to grant the user Tachibana Equipped with a shock applying section.

[0009] One aspect of the posture control device is provided with a toe distance detection unit configured to detect the distance between the toe and the ground surface, Record The force applying unit applies force to the toe when the toe is lifted at least at one of the first timing and the second timing. CounterBefore inducing a response Record The first timing is a timing when the distance between the toe and the ground surface at the time of heel landing is equal to or less than a first threshold, and the second timing is a timing when the distance between the toe and the ground surface during the period from a predetermined time after toe-off to heel landing is equal to or less than a second threshold.

[0010] In one aspect of the posture control device, the tactile stimulation imparting unit includes an auxiliary stimulation imparting unit configured to impart at least one of tactile stimulation to the sole of the foot, namely, weak vibration that intensifies the tactile signal transmitted from the sole of the foot when the foot touches the ground based on stochastic resonance, and strong vibration that induces the firing of nerve impulses.

[0011] One aspect of the posture control device includes a posture determination unit configured to determine whether or not the walking state is abnormal based on the change in the center of gravity over time during walking calculated from the ground contact pressure detected by the posture information detection unit, and the auxiliary stimulus providing unit is configured to provide tactile stimulation to the sole of the foot when the determination result of the posture determination unit indicates an abnormal walking state.

[0012] In one aspect of the posture control device, the posture determination unit is configured to estimate the areas on the soles of the user's feet where the function of the somatosensory receptors is reduced, using a center of gravity change model configured to output an estimation result of the areas on the soles of the feet where the function of the somatosensory receptors is reduced in response to input of a change in the center of gravity over time when the user is walking, and the auxiliary stimulus providing unit is capable of independently providing tactile stimulation to multiple locations on the soles of the feet, and is configured to provide tactile stimulation to the areas where the function of the somatosensory receptors is estimated to be reduced by the posture determination unit. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram of the attitude control device. [Figure 2] FIG. 2 is an explanatory diagram of the wearable device. [Figure 3]FIG. 3 is an explanatory diagram of the arrangement of the pressure sensor, the stimulation actuator, and the auxiliary stimulation actuator. [Figure 4] FIG. 4 is an explanatory diagram of a walking cycle. [Figure 5] FIG. 5 shows waveform data representing the change over time in the detected values ​​for each part of the sole detected by the pressure sensor. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of the attitude control device will be described below. [Attitude control device] As shown in FIG. 1, the posture control device includes a wearable device 10 configured to be worn by a user, and an information processing device 11.

[0015] The wearable device 10 is a wearable item that includes a part that is worn on a part of the user's foot beyond the ankle. Examples of the wearable device 10 include shoes, socks, and insoles. As shown in FIG. 2, in this embodiment, a case where the wearable device 10 is a shoe will be described as an example. The information processing device 11 is, for example, a server, a PC (Personal Computer), a mobile phone such as a smartphone, or a tablet terminal.

[0016] 1, the wearable device 10 includes a transceiver 12. The information processing device 11 includes a transceiver 13. The transceiver 12 and the transceiver 13 have wired or wireless communication means and communicate with each other using a known communication method. An example of a known communication method is short-range wireless communication such as Bluetooth (registered trademark) communication.

[0017] The posture control device includes, as functional components, a posture information detection unit 20, a toe distance detection unit 30, a tactile stimulus application unit 40, and a non-tactile stimulus application unit 50. Each component will be specifically described below.

[0018] [Posture information detection section] 1, the posture information detection unit 20 includes a pressure sensor 21 provided in the wearable device 10, and a foot position detection unit 22, a center of gravity detection unit 23, a posture determination unit 24, and a posture information storage unit 25 provided in the information processing device 11. The foot position detection unit 22, the center of gravity detection unit 23, and the posture determination unit 24 may be configured as a circuit including: 1) one or more processors that operate according to a computer program (software); 2) one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC) that executes at least some of the various processes; or 3) a combination thereof. The posture information detection unit 20 detects posture information indicating changes in the user's posture based on pressure information detected by the pressure sensor 21.

[0019] (pressure sensor) The pressure sensor 21 is attached to the insole 10a of the shoe and detects the ground pressure applied to the sole of the user's foot.

[0020] As shown in FIG. 3, the pressure sensor 21 includes four types of sensors: a heel sensor 21a, a toe sensor 21b, an inner sensor 21c, and an outer sensor 21d. In the insole 10a, the heel sensor 21a is placed on the part of the heel where weight is applied, and detects pressure applied to the heel of the sole. The toe sensor 21b is placed on one of the parts of the base of the second to fourth toes where weight is applied, and detects pressure applied to the toes of the sole. The inner sensor 21c is placed inside the line L1 connecting the heel sensor 21a and the toe sensor 21b, on the part where weight is applied by the ball of the foot, and detects pressure applied to the inner part of the sole. The outer sensor 21d is placed outside the line L1, on the part where weight is applied by the ball of the little toe, and detects pressure applied to the outer part of the sole.

[0021] In other words, the heel sensor 21a and the toe sensor 21b are arranged to detect pressure at a first position and a second position spaced apart in the front-to-back direction on the sole of the foot, while the inner sensor 21c and the outer sensor 21d are arranged to detect pressure at a third position and a fourth position spaced apart in the left-to-right direction across a line L1 connecting the first position and the second position.

[0022] The pressure sensors 21 each independently detect pressure at each site on the sole of the foot at predetermined intervals. The predetermined interval is, for example, 5 to 30 milliseconds. A known pressure-sensitive sensor using a piezoelectric element or the like can be used as the pressure sensor 21. Considering the use of the pressure sensor 21, which is placed on the sole of the foot, it is preferable to use a capacitance-type sensor made of an elastomer using a dielectric elastomer, from the viewpoints of stretchability and durability. Examples of the dielectric elastomer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer.

[0023] An elastomer capacitance sensor is, for example, a multilayer structure including a sheet-like dielectric layer made of a dielectric elastomer and electrode layers disposed on both sides of the dielectric layer in the thickness direction. If necessary, an insulating layer may be laminated on the outermost layer of the capacitance sensor. An elastomer capacitance sensor expands or contracts due to pressure. This deformation changes the capacitance of the capacitor formed by the pair of electrode layers. The pressure acting on the dielectric elastomer is detected by determining this change in capacitance using a determination circuit or the like.

[0024] The dielectric elastomer constituting the dielectric layer is not particularly limited, and any dielectric elastomer used in known capacitance-type sensors can be used. Examples of the dielectric elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these dielectric elastomers may be used alone, or multiple types may be used in combination. The thickness of the dielectric layer is, for example, 20 to 200 μm.

[0025] Examples of materials constituting the electrode layer include conductive elastomers, carbon nanotubes, Ketjen Black (registered trademark), and vapor-deposited metal films. Examples of the conductive elastomers include conductive elastomers containing insulating polymers and conductive fillers.

[0026] Examples of the insulating polymer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used alone, or two or more of them may be used in combination. Examples of the conductive filler include carbon nanotubes, Ketjen Black (registered trademark), carbon black, and metal particles such as copper and silver. One of these conductive fillers may be used alone, or two or more of them may be used in combination. The thickness of the positive electrode and the negative electrode is, for example, 1 to 100 μm.

[0027] The insulating elastomer constituting the insulating layer is not particularly limited, and known insulating elastomers used in the insulating portions of known capacitance-type sensors can be used. Examples of the insulating elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating elastomers may be used alone, or multiple types may be used in combination. The thickness of the insulating layer is, for example, 10 to 100 μm. Furthermore, the thickness of the capacitance-type sensor is preferably, for example, 0.3 to 1.5 mm, from the viewpoint of ensuring flexibility and strength.

[0028] It is preferable that the elastomer capacitance sensor be composed of a polyrotaxane with a cross-linked dielectric elastomer, particularly a polyrotaxane with a cross-linked dielectric elastomer constituting the dielectric layer and electrode layer. In this case, the output curve showing the change in capacitance with respect to the change in pressure applied to the capacitance sensor is a logarithmic curve. Based on the Weber-Fechner law, which states that the magnitude of human sensation is proportional to the logarithm of the strength of the stimulus received, the change in detection sensitivity of the capacitance sensor with the above configuration in response to the magnitude of pressure approximates the sensory characteristics of humans. Therefore, when using the capacitance sensor with the above configuration, it is possible to obtain an output similar to that of the somatosensory receptors that sense pressure in human skin.

[0029] (Foot position detection unit, center of gravity detection unit, posture determination unit, and posture information storage unit) The foot position detection unit 22 calculates the current foot position in a walking cycle based on changes in pressure information, which is the detected value of the pressure sensor 21. As shown in FIG. 4, in this embodiment, a walking cycle refers to a period during walking from heel-contact to toe-contact and heel-off to toe-off. The current foot position in a walking cycle calculated by the foot position detection unit 22 is posture information that indicates a change in the user's posture. Note that, hereinafter, heel-contact may be referred to as heel-landing, and toe-landing may be referred to as toe-landing.

[0030] Fig. 5 is an example of waveform data showing the change over time in the detection values ​​for each part of the sole of one foot detected by each pressure sensor 21. In Fig. 5, the solid line indicates the detection value of the heel sensor 21a, the dashed line indicates the detection value of the toe sensor 21b, the two-dot chain line indicates the detection value of the inner sensor 21c, and the dashed line indicates the detection value of the outer sensor 21d.

[0031] The waveform data when walking is a waveform that periodically repeats sections where the pressure value is approximately constant and sections where the detection value changes. In the waveform data when walking, the sections where the detection value is approximately constant are sections where the feet are off the ground, and section A where the detection value is changing is the section where the feet are in contact with the ground.

[0032] The foot position detection unit 22 calculates the current foot position in the walking cycle based on the change over time in the detection values ​​detected by each pressure sensor 21. For example, the foot position detection unit 22 determines the timing of heel contact when the detection value of the heel sensor 21a becomes equal to or greater than a threshold value as the timing of heel-off, and determines the timing of heel-off when the detection value of the heel sensor 21a becomes equal to or less than the threshold value as the timing of heel-off. Similarly, the foot position detection unit 22 determines the timing of toe contact when the detection value of the toe sensor 21b becomes equal to or greater than the threshold value as the timing of toe-off. Furthermore, instead of the detection values ​​of the pressure sensors 21, the determination may be made based on the amount of change per unit time in the detection values ​​of the pressure sensors 21.

[0033] The center of gravity detection unit 23 calculates the two-dimensional coordinates (X(t), Y(t)) of the center of gravity for each detection time. X(t) is the left-right coordinate of the center of gravity at time t, and Y(t) is the front-back coordinate of the center of gravity at time t. The two-dimensional coordinates of the center of gravity can be obtained from the detection values ​​of the four pressure sensors 21 detected at the same detection time. The two-dimensional coordinates of the center of gravity detected by the center of gravity detection unit 23 are accumulated and stored in the posture information storage unit 25. The two-dimensional coordinates of the center of gravity calculated by the center of gravity detection unit 23 are posture information that indicates a change in the user's posture.

[0034] The posture determination unit 24 determines whether the user's walking state is abnormal based on the change in the center of gravity over time while the user is walking. The posture determination unit 24 makes the above determination using a center of gravity change model 25a stored in the posture information storage unit 25. The center of gravity change model 25a is configured to output an estimation result of whether the user's walking state is abnormal and an estimation result of the part of the sole where the function of the somatosensory receptors is impaired in response to an input of the change in the two-dimensional coordinate of the center of gravity over time while the user is walking. The center of gravity change model 25a can be constructed, for example, by learning the change in the two-dimensional coordinate of the center of gravity over time while the subject is walking, the test results of the subject's walking state, and the test results of the function of the somatosensory receptors on the sole of the subject's feet as training data.

[0035] In addition, people with unstable posture control when walking tend to have a large fluctuation in their center of gravity when walking. Also, people with reduced function of somatosensory receptors in certain parts of the soles of their feet tend to walk in a way that reduces or increases the load applied to the parts with reduced somatosensory receptor function, resulting in a characteristic change in the center of gravity over time. The center of gravity change model 25a utilizes this tendency.

[0036] The posture information storage unit 25 stores and accumulates the acquired pressure information and the two-dimensional coordinates of the center of gravity. The posture information storage unit 25 also stores a center of gravity change model 25a, and an execution program for controlling the execution of each process in the foot position detection unit 22, the center of gravity detection unit 23, and the posture determination unit 24.

[0037] [Toe distance detection section] 1, the toe distance detection unit 30 includes a toe sensor 31 provided in the wearable device 10, and a toe information processing unit 32 and a toe information storage unit 33 provided in the information processing device 11. The toe information processing unit 32 can be configured as a circuit including: 1) one or more processors that operate according to a computer program (software); 2) one or more dedicated hardware circuits such as an application-specific integrated circuit (ASIC) that executes at least some of the various processes; or 3) a combination thereof. Based on the toe position information detected by the toe sensor 31, the toe distance detection unit 30 calculates the distance between the toe and the ground surface at the timing of the gait cycle and determines whether the user is in a fall-prone state.

[0038] (Toe sensor) The toe sensor 31 is a sensor for detecting the position of the user's toes. The toe sensor 31 is attached to the sole of the shoe that is the wearing device 10 at a position corresponding to the toes.

[0039] The toe sensor 31 detects a value indicating the distance between the toe and the ground surface in a non-contact manner at predetermined time intervals. The predetermined time is, for example, 5 to 30 milliseconds. The toe sensor 31 can be a known non-contact sensor such as an optical sensor using a light-emitting element and a light-receiving element.

[0040] (Toe information processing unit and toe information storage unit) The toe information storage unit 33 stores an execution program for controlling the execution of each process in the toe information processing unit 32.

[0041] The toe information processing unit 32 calculates the distance between the toe and the ground surface at a predetermined timing in the walking cycle based on the calculation result of the foot position detection unit 22 and the detection value detected by the toe sensor 31. The toe information processing unit 32 then determines that a fall-inducing condition, which means a state in which a person is likely to stumble, has occurred when the distance between the toe and the ground surface satisfies either Condition 1 or Condition 2 below. Condition 1 above is that the distance between the toe and the ground surface at the time of heel strike is equal to or less than a predetermined first threshold. Condition 2 above is that the distance between the toe and the ground surface during the period from a predetermined time after toe-off to heel-landing is equal to or less than a predetermined second threshold. The first threshold, the second threshold, and the predetermined time can be set arbitrarily. The predetermined time is, for example, a time equivalent to 50 to 90% of the time required from the previous toe-off to the previous heel-landing.

[0042] [Tactile stimulation section] As shown in FIG. 1, the tactile stimulus applying unit 40 applies a stimulus to the somatosensory receptors of the user. ,thorn Gives intensity Ru thorn The device includes a stimulus applying unit 40a and an auxiliary stimulus applying unit 40b that applies an auxiliary sensory stimulus.

[0043] <Thorn Intense grant section> thorn The stress applying unit 40a is provided on the wearing device 10. Ru thorn The actuator 41 and the information processing device 11 are provided with Ru thorn Intense Treatment Department 42 and Bisashimi Equipped with a rapid memory unit 43 . thorn The processor 42 may be configured as a circuit including: 1) one or more processors that operate according to a computer program (software); 2) one or more dedicated hardware circuits such as an application-specific integrated circuit (ASIC) that executes at least some of the various processes; or 3) a combination thereof. . thorn The force applying section 40a ,thorn Based on the control signal output from the processing unit 42 Tesashi The vibration of the actuator 41 allows the user to Sting Gives intensity.

[0044] (thorn Geki Actuator) thorn The vibration actuator 41 applies vibration to a specific part of the user's body, causing the muscles to contract. Counter The attitude control device is an oscillator that induces a reaction. ,thorn The vibration of the actuator 41 induces the user's foot Counter It assists the user in controlling their posture by utilizing reflex actions based on their response.

[0045] Guided to assist the user in controlling their posture Counter For example, the muscle contracts in the direction that lifts the toes. Counter Then, tense your toes so that they are in a state of force. Counter Examples include:

[0046] In the shoe which is the wearable device 10 Ru thorn The arrangement of the actuator 41 is Counter It is set according to the type of response. Counter The response is to contract the muscles in the direction that lifts the toes. Counter If yes ,thorn The actuator 41 is disposed on the inner surface of the shoe in a position that comes into contact with the instep. Counter The response is to tense the toes. Counter If yes ,thorn The actuator 41 is disposed in the insole 10a of the shoe at a portion where the pad of the toe comes into contact.

[0047] In this embodiment, as an example, the muscles are contracted in the direction in which the toes are lifted. Counter and tense your toes. Counter As shown in FIG. 2, the wearable device 10 induces muscle contraction in a direction that lifts the toes. Counter The stimulus actuator 41 that induces the response is placed on the inner surface of the shoe in contact with the instep. Ru thorn3, the wearing device 10 has a shock actuator 41a. Counter Inducing a response Ru thorn The actuator 41 is disposed at the portion of the insole 10a where the pad of the toe comes into contact. Ru thorn It is equipped with a dynamic actuator 41b.

[0048] thorn The vibrator constituting the piezoelectric actuator 41 is not particularly limited as long as it can provide the desired vibration. Examples of the vibrator include sheet-shaped dielectric elastomer actuators (DEA), electroactive polymer actuators (EPA) such as ion-exchange polymer metal composites (IPMC), eccentric motors, linear resonant actuators, voice coil actuators, and piezoelectric actuators. . thorn The actuator 41 is powered by a power source such as a battery (not shown). Rasashi A driving unit (not shown) that applies a voltage to the actuator 41 is provided.

[0049] In addition, a sheet-shaped DEA is used as the vibrator. Ru thorn A vibration actuator 41 is particularly preferred. The DEA vibrates when a user touches its surface due to deformation, such as expansion and contraction, of the DEA. The DEA is a multilayer structure formed by laminating multiple layers of a sheet-like dielectric layer made of a dielectric elastomer and positive and negative electrodes as electrode layers arranged on both sides of the dielectric layer in the thickness direction. If necessary, an insulating layer is laminated on the outermost layer of the DEA. When a DC voltage is applied between the positive and negative electrodes, the DEA deforms in accordance with the magnitude of the applied voltage, compressing the dielectric layer in the thickness direction and expanding in the surface direction of the DEA, which is the direction along the surface of the dielectric layer.

[0050] The dielectric elastomer constituting the dielectric layer is not particularly limited, and any dielectric elastomer used in a known DEA can be used. Examples of the dielectric elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these dielectric elastomers may be used alone, or multiple types may be used in combination. The thickness of the dielectric layer is, for example, 20 to 200 μm.

[0051] Examples of materials constituting the electrode layer include conductive elastomers, carbon nanotubes, Ketjen Black (registered trademark), and vapor-deposited metal films. Examples of the conductive elastomers include conductive elastomers containing insulating polymers and conductive fillers.

[0052] Examples of the insulating polymer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used alone, or two or more of them may be used in combination. Examples of the conductive filler include carbon nanotubes, Ketjen Black (registered trademark), carbon black, and metal particles such as copper and silver. One of these conductive fillers may be used alone, or two or more of them may be used in combination. The thickness of the positive electrode and the negative electrode is, for example, 1 to 100 μm.

[0053] The insulating elastomer constituting the insulating layer is not particularly limited, and known insulating elastomers used in the insulating portion of known DEAs can be used. Examples of the insulating elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating elastomers may be used alone, or multiple types may be used in combination. The thickness of the insulating layer is, for example, 10 to 100 μm. Furthermore, the thickness of the DEA is preferably, for example, 0.5 to 1.5 mm, from the viewpoint of ensuring flexibility and strength.

[0054] (thorn Emergency response department and BisashimiGeki Memory Department) thorn In the intense memory section 43 ,thorn An execution program for controlling the execution of each process in the processing unit 42 is stored.

[0055] thorn The intense processing section 42 ,thorn Controlling the operation of the actuator 41 . thorn The current foot position calculated by the foot position detection unit 22, the determination result by the toe distance detection unit 30, and the determination result by the posture determination unit 24 are input to the acceleration processing unit .

[0056] thorn The shock processing unit 42 contracts the muscles in a direction to lift the toes at the timing when the toe distance detection unit 30 determines that the fall-inducing state is present. Counter To induce a response Sting A control signal that vibrates the actuator 41a stab The output is sent to the actuator 41a. ,thorn The impact applying unit 40a applies an impact when the toe is lifted at at least one of a first timing when the distance between the toe and the ground surface when the heel lands is equal to or less than a first threshold value, and a second timing when the distance between the toe and the ground surface during the period from when a predetermined time has elapsed since the toe lifted off until the heel lands is equal to or less than a second threshold value. Counter Inducing a response Ru vibration Give users the ability to

[0057] If the function of the foot muscles is impaired, the toes may land before the heels when walking, making it easier to stumble. . thorn The force is guided by the impulse applying portion 40a. Counter By lifting the toes at a predetermined timing, the user can be prevented from stumbling, and the user can be guided to walk in a way that first lands on the heel and then on the toes.

[0058] thornThe shock processing unit 42 tenses the toes at one or both of the timing of heel strike and the timing of toe strike when the posture determination unit 24 determines that the posture control of the user during walking is in an unstable state. Counter To induce a response Sting A control signal that vibrates the actuator 41a stab The toes are put in a tensed state, and the toe gripping force is strengthened when the toes touch the ground. This allows the soles of the user's feet to firmly support the weight of the user.

[0059] <Auxiliary stimulation unit> The auxiliary stimulus providing unit 40b includes an auxiliary stimulus actuator 44 provided in the wearable device 10, and an auxiliary stimulus processing unit 45 and an auxiliary stimulus storage unit 46 provided in the information processing device 11. The auxiliary stimulus processing unit 45 may be configured as a circuit including: 1) one or more processors that operate according to a computer program (software); 2) one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC) that executes at least some of the various processes; or 3) a combination thereof. The auxiliary stimulus providing unit 40b provides the auxiliary sensory stimulus to the user by vibrating the auxiliary stimulus actuator 44 based on a control signal output from the auxiliary stimulus processing unit 45.

[0060] (auxiliary stimulation actuator) The auxiliary stimulation actuator 44 is a vibrator that applies vibrations to the soles of the user's feet to enhance or complement the sensitivity of the somatosensory receptors in the soles. The posture control device enhances or complements the function of the somatosensory receptors in the soles of the user's feet through the vibrations of the auxiliary stimulation actuator 44, thereby assisting the user in controlling their posture.

[0061] The auxiliary stimulation actuator 44 can apply two types of vibration to the soles of the user's feet. The first vibration applied by the auxiliary stimulation actuator 44 is a weak vibration with an intensity below the threshold that can be detected by somatosensory receptors. The weak vibration applied to the soles of the user's feet by the auxiliary stimulation actuator 44 amplifies the tactile signal transmitted from the somatosensory receptors in the soles of the feet through the stochastic resonance phenomenon. This improves the sensitivity of the somatosensory receptors in the soles of the user's feet. Note that the stochastic resonance phenomenon is a phenomenon in which adding noise to a signal strengthens the signal under a certain probability, improving response.

[0062] The second vibration applied by the auxiliary stimulation actuator 44 is a vibration that induces the firing of nerve impulses and is a strong vibration that is stronger than a weak vibration. This strong vibration is, for example, a vibration that stimulates the sole of the foot with an intensity of 22 mN to 257 mN in the normal direction. The strong vibration applied to the sole of the user's foot by the auxiliary stimulation actuator 44 is applied to somatosensory receptors whose function is significantly impaired, thereby inducing the firing of nerve impulses from the somatosensory receptors. This compensates for the function of the impaired somatosensory receptors.

[0063] 3, one or more auxiliary stimulation actuators 44 are arranged in each of the toe region R1, central region R2, and heel region R3 of the sole of the insole 10a. The toe region R1 is an area forward of the front end of the arch of the plantar arch of the sole, the heel region R3 is an area behind the rear end of the arch of the plantar arch of the sole, and the central region R2 is an area between the toe region R1 and the heel region R3. The number and arrangement of the auxiliary stimulation actuators 44 are not particularly limited, but it is preferable that two or more auxiliary stimulation actuators are arranged dispersedly in each of the toe region R1, central region R2, and heel region R3.

[0064] The vibrator constituting the auxiliary stimulation actuator 44 is not particularly limited as long as it can impart the desired vibration. ,thornExamples of the auxiliary stimulation actuator include the same vibrator as exemplified for the auxiliary stimulation actuator 41. The auxiliary stimulation actuator 44 includes a drive unit (not shown) that applies a voltage to the auxiliary stimulation actuator 44 from a power source (not shown) such as a battery.

[0065] (auxiliary stimulus processing unit and auxiliary stimulus storage unit) The auxiliary stimulus storage unit 46 stores an execution program for controlling the execution of each process in the auxiliary stimulus processing unit 45.

[0066] The auxiliary stimulation processor 45 independently controls the operation of each auxiliary stimulation actuator 44. The auxiliary stimulation processor 45 outputs a control signal to each auxiliary stimulation actuator 44 to vibrate the auxiliary stimulation actuator 44 so that weak vibrations are constantly applied from all of the auxiliary stimulation actuators 44 to the user while the wearable device 10 is being worn.

[0067] The auxiliary stimulation processor 45 also receives the current foot position calculated by the foot position detector 22 and the determination result of the posture determiner 24. The determination result of the posture determiner 24 is input to the auxiliary stimulation processor 45 immediately after the determination. When the posture determiner 24 inputs the estimated result of a part of the sole where the function of the somatosensory receptors is reduced, the auxiliary stimulation processor 45 outputs a control signal to the auxiliary stimulation actuator 44 to vibrate the auxiliary stimulation actuator 44 so as to apply strong vibrations to the user that induce the firing of nerve impulses.

[0068] At this time, the auxiliary stimulation processing unit 45 controls a specific auxiliary stimulation actuator 44 located near the part of the sole indicated by the estimation result of the posture determination unit 24 so that strong vibration is applied instead of the above-mentioned fine vibration. The period during which the strong vibration is applied can be set arbitrarily. The period is, for example, the period until a user performs a cancellation operation or the period until a preset time has elapsed. After the period during which strong vibration is applied ends, the auxiliary stimulation processing unit 45 controls the specific auxiliary stimulation actuator 44 so that fine vibration is applied instead of the strong vibration.

[0069] [Extratactile stimulation section] 1 , the extratactile stimulus application unit 50 includes an extratactile stimulus actuator 51 provided in the wearable device 10, and an extratactile stimulus processing unit 52 and an extratactile stimulus storage unit 53 provided in the information processing device 11. The extratactile stimulus processing unit 52 may be configured as a circuit including: 1) one or more processors that operate according to a computer program (software); 2) one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC) that executes at least some of the various processes; or 3) a combination thereof. The extratactile stimulus application unit 50 applies an extratactile stimulus to the user by operating the extratactile stimulus actuator 51 based on a control signal output from the extratactile stimulus processing unit 52.

[0070] (Extratactile stimulation actuator) The extra-tactile stimulus actuator 51 applies extra-tactile stimuli to the user, which are stimuli received by sensory receptors responsible for senses other than touch. The extra-tactile stimuli include, for example, auditory stimuli, visual stimuli, olfactory stimuli, gustatory stimuli, and stimuli for somatic sensations other than touch. Examples of stimuli for somatic sensations other than touch include stimuli for superficial sensations such as thermal stimuli and electrical stimuli. The extra-tactile stimulus may also be a stimulus through deep sensations, such as auditory stimulation using bone conduction. Among these, the extra-tactile stimulus is preferably at least one of auditory stimulation and visual stimulation. The extra-tactile stimulus is preferably a stimulus through the skin, such as auditory stimulation using bone conduction.

[0071] The extra-tactile stimulus applied by the extra-tactile stimulus actuator 51 may be of only one type, or may be a combination of two or more different types. In other words, the posture control device may apply two different types of sensory stimuli, including the tactile stimulus applied by the tactile stimulus application unit 40, or may apply three or more different types of sensory stimuli.

[0072] Examples of the extratactile stimulus actuator 51 include a light-emitting device, a sound-emitting device, a heat-generating device, and an electrical stimulus generator. In this embodiment, as an example, a case will be described in which the extratactile stimulus actuator 51 is a light-emitting device 51a that provides visual stimulation and a sound-emitting device 51b that provides auditory stimulation via bone conduction. As shown in FIG. 2, the light-emitting device 51a is arranged on the upper surface of the shoe, which is the wearing device 10, so that light emitted from the light-emitting device 51a enters the user's field of vision. The sound-emitting device 51b is arranged on the inner surface of the shoe in contact with the ankle of the foot to provide auditory stimulation using bone conduction.

[0073] (Extratactile stimulus processing unit and extratactile stimulus memory unit) The extratactile stimulus storage unit 53 stores an execution program for controlling the execution of each process in the extratactile stimulus processing unit 52.

[0074] The extratactile stimulus processing unit 52 controls the operation of the extratactile stimulus actuator 51. Here, human posture control is not performed solely based on the input of tactile stimuli applied to the soles of the feet. In human posture control, the input tactile stimuli and extratactile stimuli such as visual and auditory stimuli input together with the tactile stimuli undergo sensory integration in the central nervous system. Then, actions to control posture are performed based on the integrated sensory information.

[0075] The extratactile stimulus processing unit 52 outputs a control signal to the extratactile stimulus actuator 51 to operate the extratactile stimulus actuator 51 so as to apply extratactile stimuli that assist posture control to the user. The extratactile stimuli applied by the extratactile stimulus processing unit 52 are extratactile stimuli that are sensorily integrated with tactile stimuli applied to the soles of the user's feet when walking, and are extratactile stimuli that have a favorable effect on actions for controlling posture that are performed based on the integrated sensory information.

[0076] Details of the extratactile stimulus, such as the type of extratactile stimulus applied to the user from the extratactile stimulus actuator 51, the magnitude of the output, and the timing of applying the extratactile stimulus, are individually set according to the state of posture control of the user. In other words, a test is conducted in advance on the user to measure the current state of posture control, and details of the extratactile stimulus suitable for improving the state of posture control are set according to the test results.

[0077] The extra-tactile stimulus processing unit 52 controls the extra-tactile stimulus actuator 51 so that an extra-tactile stimulus having content corresponding to the details of the set extra-tactile stimulus is applied. The details of the set extra-tactile stimulus are written in advance in an execution program stored in the extra-tactile stimulus storage unit 53.

[0078] As an example, let us consider a case of user A who has been diagnosed with unstable postural control in the above test regarding the current state of postural control due to a decrease in the function of somatosensory receptors, resulting in insufficient signals from tactile stimuli applied to the soles of his feet. When walking, user A perceives that he is still in the process of landing, even when his soles are firmly on the ground. As a result, user A is unable to properly perform the movements associated with landing while walking, resulting in an unstable gait.

[0079] For such user A, it is preferable to provide an extra-tactile stimulus that enhances the awareness of landing when the user A lands. An example of an extra-tactile stimulus that enhances the awareness of landing when the user A lands is an extra-tactile stimulus that enhances the tactile stimulus signal applied to the soles of the feet of the user A. By providing an extra-tactile stimulus that enhances the tactile stimulus signal at the time of landing by the extra-tactile stimulus providing unit 50, the user A can be more aware of the sensation at the time of landing, and as a result, the posture control of the user A is stabilized.

[0080] In this case, the system searches for and determines extra-tactile stimuli that will strengthen the tactile stimulus signals applied to the soles of User A. Then, it determines the intensity of the determined extra-tactile stimuli so that the tactile stimulus signals applied to the soles of User A are of appropriate strength. Through these processes, the system determines the details of the extra-tactile stimuli that are suitable for stabilizing User A's posture control.

[0081] Another example of an extra-tactile stimulus that enhances the awareness of landing upon landing is an extra-tactile stimulus that replaces or supplements the tactile sensation of landing. For example, the details of the extra-tactile stimulus are set so that a certain extra-tactile stimulus, such as sound or light, is generated each time the user lands while walking. In this case, as a result of the user A repeatedly receiving a certain extra-tactile stimulus each time the user lands while walking, the user A comes to recognize the timing of the input of the extra-tactile stimulus as the timing of landing, or to predict the timing of landing. In this way, the extra-tactile stimulus replaces or supplements the tactile sensation of landing of the user A, allowing the user A to recognize or predict the timing of landing. As a result, the user A's postural control is stabilized.

[0082] Next, the operation and effects of the attitude control device of this embodiment will be described. (1) The posture control device includes a posture information detection unit 20, a tactile stimulus application unit 40 configured to apply tactile stimuli to the user's somatosensory receptors, and an extra-tactile stimulus application unit 50 configured to apply extra-tactile stimuli to the user. The posture information detection unit 20 is configured to detect ground contact pressure at multiple points on the sole of the foot and detect posture changes based on changes in the detected ground contact pressure over time. The extra-tactile stimulus application unit 50 is configured to apply extra-tactile stimuli to the user at predetermined timing based on the detection results of the posture information detection unit 20, which are sensorily integrated with the tactile stimulus applied by the tactile stimulus application unit 40 to assist the user in posture control.

[0083] According to the above configuration, a combination of tactile and extratactile stimuli, which are stimuli of different sensory systems, is provided to the user. The extratactile stimuli provided to the user are adjusted so as to be sensorily integrated with the tactile stimuli provided by the tactile stimulus providing unit 40 during the user's posture control. By providing the user with the tactile and extratactile stimuli that are sensorily integrated during posture control at the appropriate timing, it is possible to intervene in the user's unconscious posture control and encourage specific movements based on the unconscious posture control. This makes it possible to provide diverse and effective assistance for stabilizing posture that is tailored to the user's posture control state.

[0084] (2) The extra-tactile stimulus applied by the extra-tactile stimulus application unit 50 is at least one of an auditory stimulus and a visual stimulus. Among extratactile stimuli, visual and auditory stimuli are particularly likely to be integrated with tactile stimuli in human postural control, and therefore have a significant impact on postural control. Therefore, when auditory and visual stimuli are applied, it is easier to adjust the user's postural control to stabilize it compared to when other extratactile stimuli are applied.

[0085] (3) The extra-tactile stimulus applied by the extra-tactile stimulus application unit 50 is a stimulus applied through the skin. According to the above configuration, the extra-tactile stimulus actuator 51, which is a component for generating extra-tactile stimuli in the extra-tactile stimulus application unit 50, can be worn in an inconspicuous position, such as inside clothes.

[0086] (4) The extratactile stimulus applying unit 50 includes an extratactile stimulus actuator 51 configured to generate an extratactile stimulus. The extratactile stimulus actuator 51 is disposed in the wearing device 10 configured to be worn on a part of the user's foot beyond the ankle.

[0087] According to the above configuration, the only device the user needs to wear is the wearable device 10 worn on the foot, which simplifies the wearing procedure required of the user. The device worn by the user does not block the user's eyes or ears, resulting in a posture control device that does not interfere with the acquisition of normal non-tactile information and auditory information obtained from the outside.

[0088] (5) The tactile stimulation unit 40 tenses the toes. Counter Inducing a response Ru vibration configured to grant users Tachibana It is provided with a pressure applying portion 40a. According to the above configuration, the gripping force on the toes is strengthened when the toes touch the ground, allowing the soles of the user to firmly support the weight of the user, thereby stabilizing the posture when landing.

[0089] (6) The tactile stimulus applying unit 40 is Counter Inducing a response Ru vibration configured to grant users Tachibana It is provided with a pressure applying portion 40a. According to the above configuration, it is possible to prevent stumbling due to insufficient lifting of the toes, thereby stabilizing posture when walking.

[0090] (7) The posture control device includes a toe distance detection unit 30 configured to detect the distance between the toe and the ground surface. . thorn The impact applying unit 40a applies an impact when the toe is lifted at at least one of a first timing when the distance between the toe and the ground surface when the heel lands is equal to or less than a first threshold value, and a second timing when the distance between the toe and the ground surface during the period from when a predetermined time has elapsed since the toe lifted off until the heel lands is equal to or less than a second threshold value. Counter Inducing a response Ru vibration It is configured to impart movement.

[0091] According to the above configuration, the user can be guided to walk in a manner that involves landing the heel first and then the toe. (8) The tactile stimulus applying unit 40 includes an auxiliary stimulus applying unit 40b configured to apply to the sole a weak vibration that intensifies the tactile signal transmitted from the sole when the foot touches the ground based on stochastic resonance.

[0092] According to the above configuration, tactile signals transmitted from the somatosensory receptors on the soles of the feet are amplified by the stochastic resonance phenomenon, which improves the state of unstable posture control caused by a lack of weak tactile signals necessary for posture control.

[0093] (9) The tactile stimulus applying unit 40 includes an auxiliary stimulus applying unit 40b configured to apply strong vibrations to the soles of the feet that induce the firing of nerve impulses. According to the above configuration, the strong vibration applied by the auxiliary stimulus application unit 40b complements the function of the somatosensory receptors whose function has deteriorated, thereby improving the state in which posture control is unstable due to the deterioration of the somatosensory receptors.

[0094] (10) The posture control device includes a posture determination unit 24 configured to determine whether or not the walking state is abnormal based on the change over time in the center of gravity during walking calculated from the ground contact pressure detected by the posture information detection unit 20. The auxiliary stimulus providing unit 40b is configured to provide a tactile stimulus to the sole of the foot when the determination result of the posture determination unit 24 indicates an abnormal walking state.

[0095] According to the above configuration, the auxiliary stimulus providing unit 40b can provide the tactile stimulus at an appropriate timing, thereby preventing the tactile stimulus from being provided more than necessary. (11) The posture determination unit 24 is configured to estimate the areas on the soles of the user's feet where the function of somatosensory receptors is reduced, using a center of gravity change model 25a configured to output an estimation result of the areas on the soles where the function of somatosensory receptors is reduced in response to an input of a time change in the center of gravity while the user is walking. The auxiliary stimulus providing unit 40b is capable of independently providing tactile stimulation to multiple locations on the soles of the feet, and is configured to provide tactile stimulation to the areas where the function of somatosensory receptors is estimated to be reduced by the posture determination unit 24.

[0096] According to the above configuration, the auxiliary stimulus providing unit 40b can provide a tactile stimulus locally to a region that requires assistance, which means that efficient assistance can be provided to a region where the function of somatosensory receptors is impaired.

[0097] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. The posture control device may include a second wearable device that is worn on a part of the user's foot that is different from the part beyond the ankle. An extratactile stimulus actuator 51 is disposed in the second wearable device. For example, when the extratactile stimulus actuator 51 applies an auditory stimulus, an example of the second wearable device is a wearable device such as earphones worn on the ears. When the extratactile stimulus actuator 51 applies a visual stimulus, an example of the second wearable device is a wearable device such as glasses worn on the head. The second wearable device may be of only one type, or of two or more types.

[0098] The information processing device 11 may be mounted on the wearable device 10. In the above embodiment, the auxiliary stimulation providing unit 40b provides weak vibrations to the user at all times while the wearable device 10 is worn, but the weak vibrations may be provided only for a specific period or timing. For example, similar to the strong vibrations that induce nerve impulse firing, the weak vibrations may be provided when the posture determination unit 24 inputs an estimation result of a site where the function of somatosensory receptors on the soles of the feet is reduced.

[0099] The auxiliary stimulation applying unit 40b applies weak vibrations from all auxiliary stimulation actuators 44, but it may apply weak vibrations only to specific parts of the sole. For example, when an estimation result of a part of the sole where the function of the somatosensory receptors is reduced is input, weak vibrations are applied only from specific auxiliary stimulation actuators 44 located near the part of the sole indicated by the estimation result of the posture determination unit 24.

[0100] In the above embodiment, the area on the sole of the foot where the function of the somatosensory receptors is reduced is estimated, but it is also possible to identify in advance the area on the sole of the user's foot where the function of the somatosensory receptors is reduced, and apply weak vibrations and / or strong vibrations to the identified area.

[0101] The auxiliary stimulus applying unit 40b may be configured to apply only either a weak vibration or a strong vibration that induces the firing of a nerve impulse. ·thorn One of the stimulus applying unit 40a and the auxiliary stimulus applying unit 40b may be omitted.

[0102] The posture control device may be configured to include a model generation unit that generates a trained stimulus application model constructed by machine learning of input / output patterns that reflect the posture control state of the individual user. In this case, it is preferable that the tactile stimulus application unit 40 and the extra-tactile stimulus application unit 50 use the stimulus application model generated by the model generation unit to determine details of the tactile stimulus to be applied and details of the extra-tactile stimulus to be applied.

[0103] For example, a memory unit is provided that accumulates and stores, for the same user, details of the tactile stimuli applied by the tactile stimulus application unit 40, details of the extra-tactile stimuli applied by the extra-tactile stimulus application unit 50, and data on the foot positions and the two-dimensional coordinates of the center of gravity when the tactile stimulus and the extra-tactile stimulus are applied. The stimulus application model is configured to learn the data accumulated in the memory unit and output details of the tactile stimuli applied by the tactile stimulus application unit 40 and details of the extra-tactile stimuli applied by the extra-tactile stimulus application unit 50 that are suitable for stabilizing posture control in response to the input two-dimensional coordinates of the center of gravity.

[0104] The posture state that can be assisted by the posture control device is not limited to walking, but may be any state in which posture control is performed based on tactile stimulation applied to the soles of the feet. For example, the posture control device may assist the user's posture when standing still.

Claims

1. A posture control device configured to assist a user's posture, a posture information detection unit; a tactile stimulus applying unit configured to apply a tactile stimulus to a somatosensory receptor of the user; an extra-tactile stimulus applying unit configured to apply an extra-tactile stimulus to a user; a toe distance detection unit configured to detect the distance between the toe and the ground surface; the posture information detection unit is configured to detect ground contact pressures at a plurality of points on the sole of the foot and to detect posture changes based on changes in the detected ground contact pressures over time; the extra-tactile stimulus imparting unit is configured to impart to the user the extra-tactile stimulus that assists posture control of the user by being sensorily integrated with the tactile stimulus imparted by the tactile stimulus imparting unit at a predetermined timing based on a detection result of the posture information detection unit, the tactile stimulus applying unit includes a stimulus applying unit configured to apply vibrations to the user at least one of a first timing and a second timing to induce a toe-lifting reaction; the first timing is a timing when a distance between the toe and the ground surface when the heel lands is equal to or shorter than a first threshold value; The second timing is a timing when the distance between the toe and the ground surface is equal to or less than a second threshold during the period from when the toe leaves the ground until when the heel lands.

2. The posture control device according to claim 1 , wherein the extra-tactile stimulus applied by the extra-tactile stimulus application unit is at least one of an auditory stimulus and a visual stimulus.

3. The posture control device according to claim 1 , wherein the extra-tactile stimulus applied by the extra-tactile stimulus application unit is at least one of a thermal stimulus applied through the skin, an electrical stimulus applied through the skin, and an auditory stimulus applied through the skin.

4. the extra-tactile stimulus applying unit includes an extra-tactile stimulus actuator configured to generate an extra-tactile stimulus; The posture control device according to any one of claims 1 to 3, wherein the extratactile stimulation actuator is disposed in a wearable device configured to be worn on a part of the user's foot beyond the ankle.

5. The posture control device according to any one of claims 1 to 4, wherein the tactile stimulation imparting unit is configured to impart vibrations to the user that induce a reaction of tensing the toes.

6. The posture control device according to any one of claims 1 to 5, wherein the tactile stimulation imparting unit is provided with an auxiliary stimulation imparting unit configured to impart at least one of tactile stimulation to the sole of the foot, the weak vibration that strengthens the tactile signal transmitted from the sole of the foot when the foot touches the ground based on stochastic resonance, and the strong vibration that induces the firing of a nerve impulse.

7. a posture determination unit configured to determine whether or not the walking state is abnormal based on a time change in the center of gravity during walking calculated from the ground contact pressure detected by the posture information detection unit, The posture control device according to claim 6 , wherein the auxiliary stimulus applying unit is configured to apply a tactile stimulus to the sole of the foot when the determination result of the posture determining unit indicates an abnormal walking state.

8. the posture determination unit is configured to estimate a part of the sole of the user's foot where function of the somatosensory receptors is reduced, using a center of gravity change model configured to output an estimation result of a part of the sole of the foot where function of the somatosensory receptors is reduced, in response to an input of a time change in the center of gravity of the user when walking; 8. The posture control device according to claim 7, wherein the auxiliary stimulus providing unit is capable of independently providing tactile stimuli to multiple locations on the sole of the foot, and is configured to provide tactile stimuli to areas where the posture determination unit estimates that the function of the somatosensory receptors is impaired.

Images