Processing device, assisting device, processing method, and program

Abstract

To provide a processor which can estimate a phase in a walking cycle with an appropriate resolution, in an assist device for assisting walking of a user.SOLUTION: A processor includes: specification means for specifying a phase angle of an acceleration vector in a sagittal plane of a user on the basis of acceleration of the user; comparison means for comparing the range of the phase angle in each phase that is previously regulated in a walking cycle with a phase angle specified by the specification means; and estimation means for estimating the phase in the walking cycle on the basis of a comparison result compared by the comparison means.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present disclosure relates to a processing device, an assist device, a processing method, and a program.

Background Art

[0002] Assist suits are used in various fields such as agriculture, medicine, nursing care, and construction sites. As a related technology, Patent Document 1 discloses a technology related to an assist suit that reduces the load on a user's movement.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in an assist device including an assist suit that assists a user's walking, assistance is performed according to each phase in the walking cycle. Therefore, in an assist device that assists a user's walking, a technology capable of estimating the phase in the walking cycle with appropriate resolution is required.

[0005] Each aspect of the present disclosure aims to provide a processing device, an assist device, a processing method, and a program that can solve the above problems.

Means for Solving the Problems

[0006] To achieve the above object, according to one aspect of the present disclosure, a processing device The system includes: a determination means for determining the phase angle of an acceleration vector in the sagittal plane based on the y-axis acceleration component indicating the direction of acceleration at the user's center of gravity, and the z-axis acceleration component indicating vertical upward, as detected by a measuring device attached to the user's lower abdomen; a comparison means for comparing the phase angle determined by the determination means with a predetermined range of phase angles in each phase of the walking cycle; an estimation means for estimating the phase in the walking cycle based on the comparison result obtained by the comparison means; and a control means for controlling the object to be controlled with an assist rate corresponding to the phase in the walking cycle estimated by the estimation means. .

[0007] To achieve the above object, according to another aspect of the present disclosure, an assist device includes the above processing device and an object to be controlled by the processing device.

[0008] To achieve the above objective, according to another aspect of this disclosure, the processing method is: A processing method performed by a processing apparatus comprising a identifying means, a comparison means, an estimation means, and a control means, the identifying means determines the phase angle of an acceleration vector in the sagittal plane based on the y-axis acceleration component indicating the direction of travel of acceleration at the user's center of gravity detected by a measuring device attached to the user's lower abdomen, and the z-axis acceleration component indicating vertical upward; the comparison means compares the phase angle determined by the identifying means with a range of phase angles in each phase predetermined in the walking cycle; the estimation means estimates the phase in the walking cycle based on the comparison result performed by the comparison means; and the control means controls the object to be controlled with an assist rate corresponding to the phase in the walking cycle estimated by the estimation means. .

[0009] To achieve the above objectives, according to another aspect of this disclosure, the program is: The computer is instructed to perform the following actions: determine the phase angle of the acceleration vector in the sagittal plane based on the y-axis acceleration component indicating the direction of acceleration at the user's center of gravity detected by a measuring device attached to the user's lower abdomen, and the z-axis acceleration component indicating vertical upward direction; compare the determined phase angle with a predetermined range of phase angles for each phase in the walking cycle; estimate the phase in the walking cycle based on the comparison results; and control the controlled object with an assist rate corresponding to the estimated phase in the walking cycle. . [Effects of the Invention]

[0010] According to each aspect of this disclosure, an assist device for assisting a user's walking can estimate the phase in the walking cycle with appropriate resolution. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example of a user walking in one embodiment of the present disclosure. [Figure 2] This figure shows an example of an acceleration vector at the center of gravity of a user walking in one embodiment of the present disclosure. [Figure 3] This figure shows an example of the trajectory of the acceleration vector at the center of gravity of a user walking in one embodiment of the present disclosure. [Figure 4] This figure shows an example of each phase in the gait cycle according to one embodiment of the present disclosure. [Figure 5] This figure shows an example of the configuration of an assist device according to one embodiment of the present disclosure. [Figure 6] This figure illustrates the relationship between the phases in the walking cycle of the embodiments of this disclosure and the phase angle of the acceleration vector in the sagittal plane of the user. [Figure 7] This figure shows an example of the range of phase angles in each phase of the gait cycle stored by the memory unit according to the embodiment of this disclosure. [Figure 8] This figure shows an example of the assistance rate for each phase of the gait cycle stored in the memory unit according to the embodiment of this disclosure. [Figure 9] This figure shows an example of the processing flow of an assist device according to one embodiment of the present disclosure. [Figure 10]A diagram showing a processing device with a minimum configuration according to an embodiment of the present disclosure. [Figure 11] A diagram showing an example of a processing flow of a processing device with a minimum configuration. [Figure 12] A schematic block diagram showing the configuration of a computer according to at least one embodiment.

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments will be described in detail with reference to the drawings. <Embodiment> An assist device 1 according to an embodiment of the present disclosure is a device that assists a user's walking and can estimate the phase in a walking cycle with appropriate resolution.

[0013] (Walking cycle) The walking cycle is a division of a human's (in the embodiments of the present disclosure, the user's) walking, and is the period from the initial ground contact of the same-side foot (that is, one foot) of a human to the next initial ground contact. First, each phase in the walking cycle will be described. FIG. 1 is a diagram showing an example of a user's walking of the assist device 1 in an embodiment of the present disclosure. FIG. 2 is a diagram showing an example of an acceleration vector at the center of gravity of a user during walking in an embodiment of the present disclosure. FIG. 3 is a diagram showing an example of a locus of an acceleration vector at the center of gravity of a user during walking in an embodiment of the present disclosure. FIG. 4 is a diagram showing an example of each phase in a walking cycle in an embodiment of the present disclosure.

[0014] It is known that the center of gravity of a user during walking swings periodically up and down, back and forth, and left and right. In fields such as anatomy, the frontal plane, sagittal plane, and horizontal plane are defined. The frontal plane is a plane that divides the user during walking into front and back. The frontal plane may also be called the coronal plane and the like. The sagittal plane is a plane that penetrates the user during walking from front to back and divides the user into left and right. The horizontal plane is a plane that divides the user during walking into upper and lower. The horizontal plane may also be called the transverse plane and the like. The user of the assist device 1 shown in FIG. 1 is walking in the y-axis direction. Therefore, in the example of the user's walking shown in FIG. 1, the plane including the x-axis and the z-axis is the frontal plane, the plane including the y-axis and the z-axis is the sagittal plane, and the plane including the x-axis and the y-axis is the horizontal plane.

[0015] FIG. 2 shows the acceleration vector at the center of gravity of the user on the sagittal plane (that is, on the plane when the user during walking is viewed from the side) at a certain timing during stable walking. As shown in FIG. 2, the acceleration vector at the center of gravity of the user on the sagittal plane can be represented as a composite vector a obtained by combining the acceleration vector ay in the y-axis direction and the acceleration vector az in the z-axis direction at the center of gravity of the user. The above-described swing of the center of gravity of the user is caused by the interaction between the ground and the foot due to periodic landing during the user's walking. Therefore, it is possible to specify the phase in the walking cycle by analyzing the acceleration vector at the center of gravity of the user.

[0016] The locus of the acceleration vector at the center of gravity of the user during walking shown in FIG. 3 is obtained by connecting the acceleration vectors at the center of gravity of the user on the sagittal plane at each timing during walking. The center of gravity of the user during walking is near the lower abdomen of the user. And the locus of the acceleration vector at the center of gravity of the user on the sagittal plane during walking is a locus that rotates in the direction of the arrow counterclockwise with respect to the walking direction (the direction described as "front" in FIG. 3) as shown in FIG. 3.

[0017] The gait cycle, as shown in Figure 4, includes the stance phase and the swing phase. The stance phase is the period from when one of the user's feet touches the ground until the toes of that foot leave the ground. The swing phase is the period from when the toes of one of the user's feet leave the ground until that foot touches the ground again. Therefore, the trajectory of the acceleration vector at the center of gravity of a user walking stably on both feet is, as shown in Figure 4, a trajectory that rotates in the direction of the arrow shown in Figure 3 twice during the gait cycle.

[0018] Changes in the interaction between the user's feet and the ground correspond to inflection points in the trajectory of the acceleration vector shown in Figure 4. Since the inflection points are the points where the phase in the gait cycle changes, the period from one inflection point to the next when the trajectory of the acceleration vector is moved in the direction of the arrows constitutes one phase in the gait cycle. In the embodiments of this disclosure, as shown in Figure 4, three inflection points, Heel Contact (HC), Heel Off (HO), and Toe Off (TO), are determined by the combination of movements of the left and right feet. By determining these three inflection points, six phases are determined in the gait cycle, as shown in Figure 4: load response phase, mid-stance phase, terminal stance phase, pre-swing phase, mid-swing phase, and terminal swing phase.

[0019] The load response phase is the period from the initial contact of one foot to the moment the other foot leaves the ground. The mid-stance phase is the period from the moment the other foot leaves the ground to the moment the heel of one foot leaves the ground. The terminal stance phase is the period from the moment the heel of one foot leaves the ground to the initial contact of the other foot to the ground. The pre-swing phase is the period from the initial contact of the other foot to the moment one foot leaves the ground. The mid-swing phase is the period from the moment one foot leaves the ground to the moment the heel of the other foot leaves the ground. The terminal swing phase is the period from the moment the heel of the other foot leaves the ground to the initial contact of the other foot to the ground.

[0020] (Configuration of the assist device) Figure 5 shows an example of the configuration of an assist device 1 according to one embodiment of the present disclosure. As shown in Figure 5, the assist device 1 comprises an assist suit 10 (an example of a controlled object) and a processing device 20.

[0021] The assist suit 10 is a device that can be worn by a user. As shown in Figure 5, the assist suit 10 includes a measuring device 101 (an example of a detection means) and a drive device 102 (an example of a controlled object). The measuring device 101 can be worn on the user's lower abdomen and measures the user's acceleration in accordance with the user's movements. The measuring device 101 is, for example, a 3-axis acceleration sensor and detects acceleration in the x, y, and z axis directions.

[0022] The drive device 102 is a device that can be attached to the user's foot and has a mechanism for moving the user's foot. The drive device 102 assists the user's walking by moving the mechanism using energy such as electricity supplied from a battery as a power source. The drive device 102 is, for example, an actuator.

[0023] As shown in Figure 5, the processing unit 20 includes a storage unit 201, a specification unit 202 (an example of a specification means), a comparison unit 203 (an example of a comparison means), an estimation unit 204 (an example of an estimation means), and a control unit 205 (an example of a control means).

[0024] The memory unit 201 stores various information necessary for processing performed by the processing unit 20. For example, the memory unit 201 stores the range of phase angles in each phase predetermined in the walking cycle. Figure 6 is a diagram illustrating the relationship between the phases in the walking cycle of the embodiment of this disclosure and the phase angle φ of the acceleration vector in the user's sagittal plane. In Figure 6, the reference (i.e., 0 degrees) of the phase angle φ of the acceleration vector in the user's sagittal plane is the direction of the user's movement, i.e., the y-axis direction in the user's sagittal plane. In the sagittal plane, where the y-axis direction is leftward and the z-axis direction is upward, the phase angle φ is expressed as an angle of 0 degrees or more and less than 720 degrees (i.e., 0 degrees or more and less than 360 degrees for the first rotation corresponding to the trajectory of the acceleration vector during the stance phase in Figure 4, and 360 degrees or more and less than 720 degrees for the second rotation corresponding to the trajectory of the acceleration vector during the swing phase), with the clockwise direction being positive with respect to the y-axis direction, as shown in Figure 6. Furthermore, as shown in Figure 6, for example, each phase in the gait cycle can be associated with a range of phase angles φ relative to the y-axis direction. Specifically, for example, the load response phase in the stance phase can be associated with a range of phase angles φ between 45 degrees and less than 135 degrees, the mid-stance phase with a range of phase angles φ between 135 degrees and less than 225 degrees, the terminal stance phase with a range of phase angles φ between 225 degrees and less than 405 degrees (45 degrees of the second rotation), the pre-swing phase with a range of phase angles φ between 405 degrees and less than 495 degrees (135 degrees of the second rotation), the mid-swing phase with a range of phase angles φ between 495 degrees and less than 585 degrees (225 degrees of the second rotation), and the terminal swing phase with a range of phase angles φ between 585 degrees and 720 degrees (360 degrees of the second rotation), returning to 0 degrees and less than 45 degrees (hereinafter referred to as the range of 585 degrees and less than 45 degrees). The memory unit 201 only needs to store the phases and phase angle φ ranges in the gait cycle that have been associated in advance. Figure 7 shows an example of the phase angle ranges in each phase of the gait cycle stored by the memory unit 201 according to the embodiment of this disclosure.The memory unit 201 stores information such as the following: the load response phase in the stance phase of the gait cycle is associated with a phase angle φ of 45 degrees or more and less than 135 degrees; the mid-stance phase is associated with a phase angle φ of 135 degrees or more and less than 225 degrees; the terminal stance phase is associated with a phase angle φ of 225 degrees or more and less than 405 degrees; the pre-swing phase is associated with a phase angle φ of 405 degrees or more and less than 495 degrees; the mid-swing phase is associated with a phase angle φ of 495 degrees or more and less than 585 degrees; and the terminal swing phase is associated with a phase angle φ of 585 degrees or more and less than 45 degrees.

[0025] Furthermore, for example, the memory unit 201 stores an assist rate corresponding to each phase in the walking cycle. In one embodiment of this disclosure, the assist rate represents a ratio to the maximum force exerted. Figure 8 is a diagram showing an example of the assist rates for each phase in the walking cycle stored by the memory unit 201 according to an embodiment of this disclosure. In Figure 8, the assist rates for each phase include an assist rate for knee extension and an assist rate for hip extension or flexion. For example, in the case of a knee assist rate of 60% extension, the motor used in the knee portion of the assist suit 10, which is the controlled object, will be operated with a force of 60% of the motor's maximum force to assist the knee extension movement. Also, for example, in the case of a hip assist rate of 50% flexion, the motor used in the hip portion of the assist suit 10, which is the controlled object, will be operated with a force of 50% of the motor's maximum force to assist the hip flexion movement. The memory unit 201 stores, for example, the assist rates shown in Figure 8. Specifically, the memory unit 201 stores a knee assist rate of 60% extension and a hip assist rate of 50% flexion in association with the load response phase. The memory unit 201 also stores a knee assist rate of 100% extension and a hip assist rate of 100% extension in association with the mid-stance phase. The memory unit 201 also stores a knee assist rate of 100% extension and a hip assist rate of 100% extension in association with the terminal stance phase. The memory unit 201 also stores a knee assist rate of 60% extension and a hip assist rate of 50% extension in association with the pre-swing phase. The memory unit 201 also stores a knee assist rate of 0% and a hip assist rate of 100% flexion in association with the mid-swing phase. The memory unit 201 also stores a knee assist rate of 0% and a hip assist rate of 100% flexion in association with the terminal swing phase.

[0026] The identification unit 202 determines the phase angle of the acceleration vector in the sagittal plane of the user based on the acceleration detected by the measuring device 101 (an example of the user's acceleration in the assist device 1). For example, the identification unit 202 determines the phase angle of the acceleration vector at the user's center of gravity in the sagittal plane based on the time change of acceleration in the y-axis and z-axis directions at the user's center of gravity detected by the measuring device 101 attached to the user's lower abdomen.

[0027] The comparison unit 203 compares the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 with the phase angle identified by the identification unit 202. For example, if the phase angle identified by the identification unit 202 is 200 degrees, the comparison unit 203 compares the 200 degrees identified by the identification unit 202 with each of the ranges of phase angles φ in each phase of the gait cycle stored in the memory unit 201, in order. Then, the comparison unit 203 identifies the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202. For example, if the phase angle identified by the identification unit 202 is 200 degrees, and the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 is the range shown in Figure 7, the comparison unit 203 identifies the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202 as 135 degrees or more and less than 225 degrees.

[0028] The estimation unit 204 estimates the phase in the gait cycle based on the comparison results performed by the comparison unit 203. For example, if the phase angle identified by the identification unit 202 is 200 degrees, the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 is the range shown in Figure 7, and the comparison unit 203 identifies the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202 as 135 degrees or more and less than 225 degrees, then the estimation unit 204 estimates the phase in the gait cycle associated with the phase angle φ of 135 degrees or more and less than 225 degrees in the memory unit 201 as the mid-stance phase, as shown in Figure 7.

[0029] The control unit 205 controls the assist suit 10 with an assist rate corresponding to the phase in the gait cycle estimated by the estimation unit 204. For example, if the estimation unit 204 estimates the phase in the gait cycle to be mid-stance, the control unit 205 controls the assist suit 10 with a knee assist rate of 100% extension and a hip assist rate of 100% extension, which are associated with mid-stance in the memory unit 201, as shown in Figure 8. Specifically, for example, the control unit 205 transmits the assist rate corresponding to the phase in the gait cycle estimated by the estimation unit 204 to the assist suit 10. In this case, the drive unit 102 of the assist suit 10 receives the assist rate from the processing unit 20 and operates to use the received assist rate. In other words, the drive unit 102 assists the user's walking with the assist rate received from the processing unit 20.

[0030] (Processing performed by the assist device) Next, we will describe the processing performed by the assist device 1. Figure 9 is a diagram showing an example of the processing flow of the assist device 1 according to one embodiment of the present disclosure. Here, we will describe the processing of the assist device 1 with reference to the processing flow of the assist device 1 shown in Figure 9.

[0031] The measuring device 101 is attached to the user's lower abdomen and measures the user's acceleration in response to the user's movements. The identification unit 202 identifies the phase angle of the user's acceleration vector in the sagittal plane based on the acceleration detected by the measuring device 101 (step S1). For example, the identification unit 202 identifies the phase angle of the acceleration vector at the user's center of gravity in the sagittal plane based on the time change of acceleration in the y-axis and z-axis directions at the user's center of gravity detected by the measuring device 101 attached to the user's lower abdomen.

[0032] The comparison unit 203 compares the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 with the phase angle identified by the identification unit 202 (step S2). For example, if the phase angle identified by the identification unit 202 is 200 degrees, the comparison unit 203 compares the 200 degrees identified by the identification unit 202 with each of the ranges of phase angles φ in each phase of the gait cycle stored in the memory unit 201, in order. The comparison unit 203 then identifies the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202. For example, if the phase angle identified by the identification unit 202 is 200 degrees, and the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 is the range shown in Figure 7, the comparison unit 203 identifies the range of phase angles φ in each phase of the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202 as 135 degrees or more and less than 225 degrees.

[0033] The estimation unit 204 estimates the phase in the gait cycle based on the comparison results performed by the comparison unit 203 (step S3). For example, if the phase angle identified by the identification unit 202 is 200 degrees, the range of phase angles φ in each phase predetermined in the gait cycle stored in the memory unit 201 is the range shown in Figure 7, and the comparison unit 203 identifies the range of phase angles φ in each phase predetermined in the gait cycle stored in the memory unit 201 that includes the phase angle identified by the identification unit 202 as 135 degrees or more and less than 225 degrees, then the estimation unit 204 estimates the phase in the gait cycle associated with the phase angle φ of 135 degrees or more and less than 225 degrees in the memory unit 201 as the mid-stance phase, as shown in Figure 7.

[0034] The control unit 205 controls the assist suit 10 with an assist rate corresponding to the phase in the gait cycle estimated by the estimation unit 204 (step S4). For example, if the estimation unit 204 estimates the phase in the gait cycle to be mid-stance, the control unit 205 controls the assist suit 10 with a knee assist rate of 100% extension and a hip assist rate of 100% extension, which are associated with mid-stance in the memory unit 201, as shown in Figure 8. Specifically, for example, the control unit 205 transmits to the assist suit 10 the assist rate corresponding to the phase in the gait cycle estimated by the estimation unit 204. In the above description, the distinction between 0 to 360 degrees and 360 to 720 degrees within the range of 0 to 720 degrees identified by the identification unit 202 can be achieved by using one of the following two methods. The first method of distinction is to use the anterior-posterior relationship of the legs. The assist suit 10 can detect the posture of the lower limbs with sensors and can determine the anterior-posterior relationship of the feet and thighs. Therefore, at the time of landing (α = 45 degrees, 405 degrees), it is necessary to determine which foot is forward, and if "one foot" is forward, the phase angle φ is set to α, and if "the other foot" is forward, the phase angle φ is set to α + 360 degrees, and so on, determining the range from 0 to 360 degrees and from 360 to 720 degrees for each landing. The second method of determination uses the acceleration vector in the frontal plane. Since pedestrians also sway from side to side when walking, the lateral acceleration vector fluctuates each time the foot lands. At the time of landing, the acceleration vector reaches a peak, and from the sign of that peak, it is necessary to determine which foot has landed, and if it is determined that "one foot" has landed, the phase angle φ is set to α, and if it is determined that "the other foot" has landed, the phase angle φ is set to α + 360°, and so on, determining the range from 0 to 360 degrees and from 360 to 720 degrees for each landing.

[0035] The drive unit 102 of the assist suit 10 receives an assist rate from the processing unit 20 and operates to match the received assist rate. In other words, the drive unit 102 assists the user's walking using the assist rate received from the processing unit 20.

[0036] The assist device 1 according to one embodiment of the present disclosure has been described above. In the processing unit 20 of the assist device 1, the identification unit 202 identifies the phase angle of the user's acceleration vector in the sagittal plane based on the user's acceleration. The comparison unit 203 compares the phase angle range for each phase predetermined in the walking cycle with the phase angle identified by the identification unit 202. The estimation unit 204 estimates the phase in the walking cycle based on the comparison result performed by the comparison unit 203.

[0037] By doing so, the processing unit 20 can estimate the phases in the gait cycle with appropriate resolution in the assist device 1 that assists the user's walking.

[0038] In one embodiment of the assist device 1 of this disclosure, the measuring device 101 was described as being attachable to the user's lower abdomen, that is, the measuring device 101 is capable of detecting acceleration at the user's center of gravity. However, in another embodiment of the assist device 1 of this disclosure, the measuring device 101 may not be attachable to the user's lower abdomen. In such a case, the specific unit 202 may correct the phase angle of the acceleration vector based on the position where the measuring device 101 is attached with respect to the user's lower abdomen. Specifically, an acceleration sensor may be attached to the user's lower abdomen separately from the measuring device 101, and experiments or simulations may be performed in advance for measuring devices 101 at various positions with respect to the user's lower abdomen to determine the difference in acceleration detection results between the acceleration sensor attached to the user's lower abdomen and the measuring devices 101 at various positions with respect to that lower abdomen, and a correction value may be determined from that difference. The specific unit 202 may then estimate the acceleration vector at the user's center of gravity by correcting the acceleration measured by the measuring device 101 located elsewhere than the user's center of gravity using the previously determined correction value.

[0039] By doing so, the processing unit 20 can estimate the phases in the gait cycle with appropriate resolution even for the measuring device 101 that cannot be attached to the user's lower abdomen.

[0040] A minimal configuration of the processing unit 20 according to an embodiment of the present disclosure will be described. Figure 10 is a diagram showing the minimal configuration of the processing unit 20 according to an embodiment of the present disclosure. As shown in Figure 10, the minimal configuration of the processing unit 20 according to an embodiment of the present disclosure comprises a specific unit 202, a comparison unit 203, and an estimation unit 204.

[0041] The identification unit 202 identifies the phase angle of the user's acceleration vector in the sagittal plane based on the user's acceleration. The comparison unit 203 compares the phase angle identified by the identification unit 202 with a predetermined range of phase angles for each phase in the gait cycle. The estimation unit 204 estimates the phase in the gait cycle based on the comparison results obtained by the comparison unit 203.

[0042] Next, we will explain the processing of the minimally configured processing unit 20. Figure 11 is a diagram showing an example of the processing flow of the minimally configured processing unit 20. Here, we will explain the processing of the minimally configured processing unit 20 with reference to Figure 11.

[0043] The identification unit 202 identifies the phase angle of the user's acceleration vector in the sagittal plane based on the user's acceleration (step S11). The comparison unit 203 compares the phase angle identified by the identification unit 202 with a predetermined range of phase angles for each phase in the walking cycle (step S12). The estimation unit 204 estimates the phase in the walking cycle based on the comparison result performed by the comparison unit 203 (step S13). In this way, the processing unit 20 can estimate the phase in the walking cycle with appropriate resolution in an assist device that assists the user's walking.

[0044] Furthermore, the technique for estimating the phases in the gait cycle described above is applicable to embodiments other than those described above. For example, it is applicable to offline data analysis, and the phases in the gait cycle can be estimated in gait motion using motion capture data. In addition, the phases in the gait cycle can be estimated even for motion capture data that does not include floor (ground) force meter data. It is generally known that the motion of the center of gravity can be calculated from motion capture data of gait motion. Therefore, in this case, the phases in the gait cycle can be estimated by estimating the center of gravity of each body segment of the pedestrian from the motion capture data and calculating the acceleration of the center of gravity of the pedestrian's entire body.

[0045] In addition, the order of processing in the embodiments of this disclosure may be changed, as long as appropriate processing is performed.

[0046] While embodiments of this disclosure have been described, the above-mentioned assist device 1, assist suit 10, processing unit 20, and other control devices may have a computer device inside. The above-described processing steps are stored in program form on a computer-readable recording medium, and the above processing is performed when the computer reads and executes this program. A specific example of a computer is shown below.

[0047] Figure 12 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in Figure 12, the computer 5 comprises a CPU 6 (including a vector processor), main memory 7, storage 8, and interface 9. For example, the assist device 1, assist suit 10, processing unit 20, and other control devices are each implemented in the computer 5. The operation of each processing unit is stored in the storage 8 in the form of a program. The CPU 6 reads the program from the storage 8, loads it into the main memory 7, and executes the above processing according to the program. The CPU 6 also allocates storage areas in the main memory 7 corresponding to each of the above-mentioned storage units according to the program.

[0048] Examples of storage 8 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), magnetic disks, magneto-optical disks, CD-ROMs (Compact Disc Read Only Memory), DVD-ROMs (Digital Versatile Disc Read Only Memory), and semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. Furthermore, if this program is distributed to computer 5 via a communication line, computer 5, upon receiving the program, may expand it into main memory 7 and execute the above processing. In at least one embodiment, storage 8 is a tangible storage medium that is not temporary.

[0049] Furthermore, the above program may implement some of the functions described above. Moreover, the above program may be a file that can implement the above functions in combination with a program already recorded on the computer device, a so-called differential file (differential program).

[0050] While several embodiments of this disclosure have been described, these embodiments are illustrative and do not limit the scope of the disclosure. These embodiments may be modified in various ways, without departing from the gist of the disclosure. [Explanation of Symbols]

[0051] 1. Assist device 5. Computers 6..CPU 7. Main Memory 8. Storage 9. Interface 10. Assist Suit 20... Processing equipment 101... Measuring device 102... Drive unit 201...Storage section 202...Specific section 203...Comparison Section 204... Estimation section 205... Control Unit

Claims

1. A means for identifying the phase angle of an acceleration vector in the sagittal plane based on the acceleration component in the y-axis direction indicating the direction of acceleration propagation at the user's center of gravity, and the acceleration component in the z-axis direction indicating vertically upward, as detected by a measuring device attached to the user's lower abdomen. A comparison means for comparing the range of phase angles in each phase predetermined in the walking cycle with the phase angle specified by the specifying means, Based on the comparison results obtained by the comparison means, an estimation means for estimating the phase in the gait cycle, A control means that controls the object to be controlled with an assist rate corresponding to the phase in the walking cycle estimated by the estimation means, A processing device equipped with the following features.

2. A detection means that can be attached to the user's lower abdomen and is capable of detecting the acceleration, Equipped with, The aforementioned specifying means is, Based on the acceleration component detected by the detection means attached to the lower abdomen, the phase angle of the acceleration vector is determined. The apparatus according to claim 1.

3. The aforementioned specifying means is, Based on the position where the detection means is attached with respect to the lower abdomen, the phase angle of the acceleration vector is corrected. The apparatus according to claim 2.

4. A processing apparatus according to any one of claims 1 to 3, The object controlled by the aforementioned processing device, An assist device equipped with the following features.

5. A processing method performed by a processing apparatus comprising a specifying means, a comparison means, an estimation means, and a control means, The aforementioned identification means determines the phase angle of the acceleration vector in the sagittal plane based on the y-axis acceleration component indicating the direction of acceleration propagation at the user's center of gravity, detected by a measuring device attached to the user's lower abdomen, and the z-axis acceleration component indicating a vertically upward direction. The comparison means compares the range of phase angles in each phase predetermined in the walking cycle with the phase angle specified by the identification means, The estimation means estimates the phase in the gait cycle based on the comparison results performed by the comparison means, The control means controls the object to be controlled with an assist rate corresponding to the phase in the walking cycle estimated by the estimation means, A processing method that includes this.

6. On the computer, Based on the acceleration component in the y-axis direction indicating the direction of acceleration propagation at the user's center of gravity, and the acceleration component in the z-axis direction indicating vertically upward, detected by a measuring device attached to the user's lower abdomen, the phase angle of the acceleration vector in the sagittal plane is determined. This involves comparing the predetermined range of phase angles in each phase of the gait cycle with a specified phase angle, Based on the comparison results, the phases in the gait cycle are estimated, Controlling the object to be controlled with an assist rate corresponding to the phase in the estimated walking cycle, A program that executes the command.

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