Plantar control system, control method, and program

Abstract

The present technology relates to a plantar control system, a control method, and a program that enable control of an intervention mechanism for the plantar to be performed in accordance with a state of a user. A plantar control system of one aspect of the present technology controls an intervention mechanism in accordance with a state of a user estimated on the basis of sensor data at a specific site of a foot of the user, and adjusts the height of each position of the plantar. The present technology can be applied to a shoe-type device.

Description

Sole control system, control method, and program

[0001] The present technology relates to a sole control system, a control method, and a program, and particularly relates to a sole control system, a control method, and a program that control an intervention mechanism for a sole according to a user's condition.

[0002] Conventionally, shoes, soles, and insoles (footplates) having sole heights and irregularities corresponding to respective purposes have been developed, such as assisting human movement and reducing pain from specific diseases. For example, there are shoes with thick soles for cushioning the impact of landing during running, insoles that support the arch of the foot for pain relief in patients suffering from hallux valgus and flat feet, and lateral wedge-shaped footplates for patients suffering from knee osteoarthritis.

[0003] Patent Documents 1 to 3 disclose insoles having shapes and inclined surfaces that can reduce the load on the knee joint and enable smooth walking.

[0004] Japanese Patent Application Laid-Open No. 2019-210580, Japanese Patent Application Laid-Open No. 2015-208398, Japanese Patent Application Laid-Open No. 2005-304583

[0005] It is necessary to appropriately select a product having required functions in accordance with the condition of a disease or the like. Since the shape of each person's foot and the symptoms of the disease are different, it takes time and effort to select the optimal product from among various products.

[0006] The present technology has been made in view of such circumstances, and controls the intervention mechanism for the sole according to the user's condition.

[0007] It should be noted that the description of this problem does not preclude the existence of other problems.

[0008] A sole control system according to one aspect of the present technology includes an intervention control unit that controls an intervention mechanism to adjust the height of each position of the sole in accordance with the user's condition estimated based on sensor data of a specific part of the user's foot.

[0009] In one aspect of this technology, the intervention mechanism is controlled to adjust the height of various positions on the sole of the foot according to the user's condition, which is estimated based on sensor data from specific parts of the user's foot.

[0010] This figure shows an example of the overall configuration of the orthotic device. This figure shows an example of the cross-sectional configuration of the orthotic device. This is a plan view showing an example of the arrangement of each component of the orthotic device. This figure shows an example of the arrangement of the air balloon. This is a block diagram showing an example of the functional configuration of the orthotic device. This is a flowchart showing the processing of the plantar control system. This is a flowchart showing the mode determination process performed in step S120 of Figure 6. This is a flowchart showing the normal walking process performed in step S139 of Figure 7. This is a flowchart showing the pain emergency avoidance mode process performed in step S141 of Figure 7. This is a flowchart showing the plantar pain relief mode process performed in step S142 of Figure 7. This is a flowchart showing the run mode process performed in step S143 of Figure 7. This is a flowchart showing the slope mode process performed in step S144 of Figure 7. This is a flowchart showing the chair mode process performed in step S146 of Figure 7. This is a flowchart showing the notification process performed in step S149 of Figure 7. This figure shows another example of the cross-sectional configuration of the orthotic device.

[0011] The following describes the configurations for implementing this technology. The explanation will proceed in the following order: 1. Overview of the technology 2. Structure of the orthotic device 3. About the air pressure adjustment mode 4. Processing of the orthotic device 5. Modifications

[0012] <<Overview of this technology>> This technology relates to an orthotic device having a sole that can change the shape of the sole of the foot to any desired shape. The shape of the sole of the foot is changed by adjusting the height of each part using an air balloon.

[0013] An orthotic device according to one embodiment of this technology has the function of estimating the user's state, including temporal and spatial parameters of walking, based on data acquired by sensors, and automatically adjusting the height of each part of the sole to a height appropriate for the user's state. Temporal and spatial parameters include information such as gait, walking cycle time, and stride length. The user's state includes, for example, the user's walking state represented by the temporal and spatial parameters, and the user's actions.

[0014] By automatically adapting to the user's foot shape, this technology eliminates the need for users to manually select the optimal product. Normally, users need to appropriately select products such as soles and insoles that have the necessary functions based on the desired features or symptoms of their condition. Because each person's foot shape and condition differ, selecting the best product from a variety of options can be time-consuming. This technology eliminates that hassle.

[0015] The necessary functions vary from person to person. For example, patients in the early stages of osteoarthritis of the knee may need lateral wedge-type foot orthoses to correct lower limb alignment. They may also need thick soles to absorb impact during walking. Thus, there are many combinations of necessary functions, and it is difficult to address each of them. This technology makes it possible to easily provide the necessary combinations of functions.

[0016] Typically, once a user begins using a product tailored to their specific medical condition, they will continue using the same product for several months to several years. To achieve optimal results, it is necessary to regularly monitor changes in the user's lower limb condition and product wear, and perform maintenance accordingly. This technology eliminates the need for such maintenance and makes it possible to continuously provide the appropriate effects.

[0017] <<Configuration of the foot orthotic device>> <Overall configuration of the foot orthotic device> Referring to Figures 1 to 3, the hardware configuration of the foot orthotic device 100 to which this technology is applied will be described.

[0018] Figure 1 shows an example of the overall configuration of the orthotic device 100. Figure 2 shows an example of the cross-sectional configuration of the orthotic device 100. Figure 3 is a plan view showing an example of the arrangement of each component of the orthotic device 100. Note that Figure 3 shows the configuration as viewed from the sole side of the shoe. The configurations shown in Figures 1 to 3 are for the orthotic device 100 for the right foot. The orthotic device 100 for the left foot has a configuration that is symmetrical to the configurations shown in Figures 1 to 3.

[0019] As shown in Figure 2, the orthotic device 100 has a layered structure consisting of a foot pressure sensor 111, a plate 112 as an upper plate, and an air balloon 113, in that order from the top surface that contacts the sole of the user's foot. Another plate 112 as a bottom plate is provided between the air balloon 113 and the sole of the orthotic device 100.

[0020] The foot pressure sensor 111 is composed of a pressure distribution sensor capable of measuring the pressure (load) applied to various positions on the sole of the foot, which are specific parts of the user's body. The foot pressure sensor 111 is a sensor capable of detecting pressure at least at three locations: the ball of the big toe, the little toe, and the heel. Preferably, the foot pressure sensor 111 is composed of sensors capable of detecting pressure at 100 or more locations so that the COP (Center of Pressure) during walking can be detected.

[0021] To prevent injury caused by ankle flexion during walking, the foot pressure sensor 111 is positioned to avoid the metatarsophalangeal joint (MP joint) and the flex point (ball joint) of the shoe. The foot pressure sensor 111 may also be made of a flexible and stretchable material that can withstand repeated flexion.

[0022] A flexible layer (not shown) made of sponge, gel, or the like is laminated on the upper surface of the foot pressure sensor 111. To increase the durability of the foot pressure sensor 111, the interface between the flexible layer and the foot pressure sensor 111 is configured to slide, either by not bonding them together or by only partially bonding them together.

[0023] The plate 112 is formed to bend at the MP joint. The plate 112, which is placed beneath the foot pressure sensor 111, is made of a hard rubber or similar material that has sufficient hardness not to interfere with the detection of foot tilt. This makes it possible to transmit minute changes in height / tilt caused by the air balloon 113 to the sole of the user's foot. Furthermore, it becomes possible for the foot pressure sensor 111 to detect these minute changes.

[0024] The air balloon 113 is an intervention mechanism configured to allow adjustment of the height and tilt of the sole and to make the shoe fit the shape of the foot. The air balloon 113 consists of one or more air balloons whose air pressure can be adjusted. Specifically, the air balloon 113 is divided into multiple sections and placed on the sole of the foot. By controlling the air pressure inside the air balloon 113 by injecting and releasing air, the height and tilt of the sole of the foot can be changed. Side balloons 113s are positioned near both the outer and inner ankles. Details of the arrangement and number of air balloons 113, including the side balloons 113s, will be described later.

[0025] For example, an air volume control mechanism for controlling the amount of air in the air balloon 113 is provided in areas where the air balloon 113 is not placed (the part corresponding to the arch of the foot in the example of Figure 3) or on the top surface of the foot.

[0026] The foot orthotic device 100 further includes an air pump 114 for injecting air into the air balloon 113, a drive circuit 115 for driving the air pump 114, an air pressure sensor 116 for measuring the air pressure inside the air balloon 113, a control board 117, and a secondary battery 118 as an air volume control mechanism.

[0027] Air from the air pump 114 is supplied via the tube 121 to a valve 122 provided for each air balloon 113. The valve 122 is connected to the control board 117 by drive wiring 123 and, according to the control of the control board 117, sends air from the air pump 114 to each air balloon 113. The air pressure from the air pump 114 is measured by the air pressure sensor 124, and data indicating the measurement result is output to the control board 117. The control board 117 controls the drive circuit 115 based on the air pressure measured by the air pressure sensor 124 to drive the air pump 114.

[0028] As shown in Figure 1, the control board 117 is equipped with a PMIC (Power Management Integrated Circuit) 131, an MPU (Micro Processing Unit) 132, and an IMU (Inertial Measurement Unit) 133.

[0029] The PMIC 131 controls the power supply from the secondary battery 118 to each part. The MPU 132 adjusts the air pressure of each air balloon 113 by controlling the drive circuit 115 and each valve 122 based on foot pressure information from the foot pressure sensor 111 and inertial information from the IMU 133. The IMU 133 senses the movement of the foot and acquires information on the movement state and posture such as the foot angle at a specific part of the foot as inertial information. The IMU 133 is installed at a location corresponding to the foot movement to be sensed. For example, when sensing inversion / eversion of the foot, the IMU 133 is installed near the ankle (malleolus), and when sensing the foot angle, the IMU 133 is installed at at least one of the heel and toe positions.

[0030] <Arrangement and number of air balloons> At least one air balloon 113 is provided so as to correct the lower limb alignment by changing the relative height of the outer and inner sides of the sole of the foot.

[0031] Figure 4 shows an example of the arrangement of the air balloons 113.

[0032] Figure 4A shows an example of the arrangement of four air balloons 113. The arch support balloon 113a is an air balloon for maintaining the transverse arch of the foot, and the arch support balloon 113b is an air balloon for maintaining the medial longitudinal arch of the foot. The calf balloon 113c is an air balloon for adjusting the height of the outer (calf) side of the heel, and the tibial balloon 113d is an air balloon for adjusting the height of the inner (tibial) side of the heel. With this arrangement of air balloons 113, it is possible to maintain the transverse arch and medial longitudinal arch while correcting lower limb alignment, as well as other conditions such as foot alignment and hallux valgus.

[0033] Figure 4B shows an example of the arrangement of multiple air balloons 113, which are air balloons 113e. For example, the air balloons 113e are 2 cm x 2 cm and 4 cm in diameter. ２ They have a certain surface area and are arranged in a matrix pattern over the area corresponding to the sole of the foot. This arrangement of air balloons 113 makes it possible to address a wider variety of foot diseases and conditions.

[0034] Furthermore, the air balloon 113 is positioned to avoid the metatarsophalangeal joint (MP joint) and the flex point (ball joint) of the shoe, so as not to interfere with the flexion movement of the foot joints during walking.

[0035] <Example of Functional Configuration of Foot Orthotics> Figure 5 is a block diagram showing an example of the functional configuration of the foot orthotic 100. Components identical to those described above are denoted by the same reference numerals. Duplicate explanations are omitted as appropriate. Figure 5 also shows the configuration of the external terminal 180. The foot orthotic 100 and the external terminal 180 constitute a foot control system.

[0036] Figure 5 shows the configuration of the foot orthotic device 100, including the foot pressure sensor 111, air balloon 113, and IMU 133 described above, as well as a control unit 150 and an air balloon control unit 160. The control unit 150 and the air balloon control unit 160 are implemented, for example, in an MPU 132 that executes a predetermined program.

[0037] The control unit 150 is configured to include a walking state calculation unit 151, an air pump voltage control unit 152, a storage unit 153, and a communication unit 154.

[0038] The walking state calculation unit 151 is configured to include a gait calculation unit 151A, a KAM calculation unit 151B, and a behavior estimation unit 151C.

[0039] The gait calculation unit 151A calculates gait state parameters, which are parameters related to the user's walking state, based on sensor data supplied from the foot pressure sensor 111 and the IMU 133. The gait state parameters are temporal and spatial parameters of walking, such as gait, gait cycle time, and stride length.

[0040] For example, while walking is taking place, sensor data acquired by the foot pressure sensor 111 and the IMU 133 is repeatedly input at a predetermined interval. In the gait calculation unit 151A, walking state parameters indicating the walking state at each timing are calculated each time sensor data is input.

[0041] The KAM calculation unit 151B calculates the KAM (knee joint varus moment) based on sensor data supplied from the foot pressure sensor 111 and the IMU 133. The KAM information obtained by the KAM calculation unit 151B is also appropriately included in the walking state parameters.

[0042] The behavior estimation unit 151C estimates the user's behavior based on sensor data and walking state parameters.

[0043] Thus, the walking state calculation unit 151 functions as a state estimation unit that estimates the user's state, including the user's walking state and user behavior, based on sensor data from at least one of the foot pressure information from the foot pressure sensor 111 and the inertial information from the IMU 133. The air pressure adjustment mode is determined according to the estimated user state.

[0044] In the foot orthosis 100, a plurality of types of air pressure adjustment modes are preset in advance. Information on the air pressure adjustment mode determined by the walking state calculation unit 151 is supplied to the air pump voltage control unit 152. Based on the air pressure adjustment mode determined by the walking state calculation unit 151, the air pressure of each air balloon 113 is adjusted to, for example, reduce the knee joint varus moment (KAM). The air pressure adjustment mode will be described later.

[0045] The air pump voltage control unit 152 controls intervention on the user's foot by the air balloons 113 based on the air pressure adjustment mode determined by the walking state calculation unit 151. The air pump voltage control unit 152 controls the air balloon control unit 160 to adjust the air pressure of the air balloons 113.

[0046] As described above, the air pump voltage control unit 152 functions as an intervention control unit that controls the air balloon 113 serving as an intervention mechanism and the air balloon control unit 160 to adjust the height of each position of the sole according to the user's condition. The adjustment of the air balloon 113 by the air pump voltage control unit 152 is repeatedly performed while the user is active.

[0047] The storage unit 153 is configured by a memory such as a RAM (Random Access Memory) or a flash memory. In the storage unit 153, log data such as results of intervention control performed by the air pump voltage control unit 152 and various settings used for the intervention control are stored as user data. Sensor data output from the foot pressure sensor 111 and the IMU 133 is also stored in the storage unit 153.

[0048] The communication unit 154 is a communication module that performs wireless communication with an external terminal 180. The communication unit 154 supplies information transmitted from the external terminal 180 to each unit of the control unit 150 including the storage unit 153. The communication unit 154 also transmits information supplied from each unit of the control unit 150 to the external terminal 180.

[0049] The air balloon control unit 160 is configured to include an air pressure information acquisition unit 161, an air pump control unit 162, and a valve control unit 163.

[0050] The air pressure information acquisition unit 161 acquires air pressure information indicating the air pressure of each balloon of the air balloon 113 from the air pressure sensor 116 and supplies it to the air pump control unit 162.

[0051] The air pump control unit 162 drives the air pump 114 according to the control of the air pump voltage control unit 152 and controls the supply of air to the air balloon 113. Air pressure information supplied from the air pressure information acquisition unit 161 is used to drive the air pump 114 as appropriate.

[0052] The valve control unit 163 controls the valve 122 in accordance with the control of the air pump 114 by the air pump control unit 162, and adjusts the air pressure of each air balloon 113.

[0053] The external terminal 180 consists of information processing terminals such as smartphones, tablet devices, wearable devices, and PCs (Personal Computers). The external terminal 180 is configured to include a communication unit 181 for communicating with the orthotic device 100, a setting information input unit 182 used for inputting various setting information for the orthotic device 100, and a display unit 183 for displaying information received from the orthotic device 100. The height of the sole of the orthotic device 100 can also be adjusted by operating the external terminal 180 and inputting setting information according to the patient's symptoms. The external terminal 180 can be operated by the patient themselves or by a third party such as a physical therapist or prosthetist / orthotist.

[0054] <<About Air Pressure Adjustment Modes>> The air pressure adjustment mode is determined, for example, by a trained machine learning model. The walking state calculation unit 151 uses the machine learning model, which takes information such as walking state parameters and sensor data stored in the memory unit 153 as input, to calculate the reliability of each air pressure adjustment mode (normal walking, pain emergency avoidance, plantar pain relief, running, slope, chair, notification). Here, "reliability of each mode" is a continuous value (usually expressed in the range of 0 to 1, or a similar index) that indicates the likelihood of each mode being applicable. The variation in reliability over the most recent short period is stabilized by a moving average of the most recent N steps, etc. The selection of the air pressure adjustment mode is made by comparing the reliability with a separately defined threshold, according to the determination order (priority) in the flowchart described later, referring to Figure 7.

[0055] <1. Normal Walking Mode (KAM Reduction Mode)> (1) Overview The normal walking mode is the air pressure adjustment mode used during normal walking.

[0056] (2) Determination conditions for normal walking mode Based on the reliability of each mode and the results of processing in the flowchart in Figure 7, if it is determined that the system does not fall under any of the other air pressure adjustment modes, the normal walking mode is adopted.

[0057] (3) Intervention method The air pressure of each air balloon 113 is adjusted to reduce mechanical stress during walking, such as KAM (for example, to the smallest possible level).

[0058] <2. Pain Emergency Avoidance Mode> (1) Overview Pain Emergency Avoidance Mode is an air pressure adjustment mode used when the user experiences knee or foot pain while walking. In Pain Emergency Avoidance Mode, the air pressure is adjusted to shift the point of load within the knee and ankle joints. Pain Emergency Avoidance Mode prioritizes emergency relief and changes in condition over long-term mechanical stress reduction.

[0059] (2) Criteria for determining the pain emergency avoidance mode The pain emergency avoidance mode is adopted when the reliability of the pain emergency avoidance mode among the reliability of each mode increases and it is determined that the predetermined criteria are met according to the processing of the flowchart in Figure 7.

[0060] For example, during walking, if a significant pressure decrease is detected immediately after either the left or right foot lands, compared to the pressure in the previous walking pattern, it is estimated that the user suddenly experienced severe pain. Similarly, if the walking speed decreases immediately after the detection of a significant pressure decrease, or if the balance between the stance phase and swing phase is disrupted, resulting in a shorter stance phase for the leg on the side where the pressure decrease occurred, it is also estimated that the user suddenly experienced severe pain.

[0061] (3) Intervention Method The air pressure of each air balloon 113 is adjusted so that the pressure distribution is different from the pressure distribution when it is estimated that the walking state is one in which the lower limbs are experiencing pain. For example, the air pressure is adjusted so that the air pressure distribution is the furthest from the air pressure distribution set during normal walking mode within a predetermined range. An adjustment range is predetermined to prevent extreme air pressure distributions.

[0062] <3. Plantar Pain Relief Mode> (1) Overview The plantar pain relief mode is an air pressure adjustment mode used to reduce the burden on the plantar fascia in response to pain in the soles of the feet that gradually develops due to prolonged walking or standing work.

[0063] (2) Conditions for determining the plantar pain relief mode The reliability of the plantar pain relief mode increases when the walking state calculation unit 151 detects any of the following changes compared to the previous walking pattern, and the transition to the plantar pain relief mode is determined according to the flowchart in Figure 7. - When the output of the IMU 133 shows a change that causes a decrease in walking speed after walking for a predetermined time or longer. - When the output of the foot pressure sensor 111 shows an unnatural walking pattern that reduces pressure on the heel, ball of the foot, or little toe after standing for a predetermined time or longer.

[0064] (3) Intervention Method The air pressure of each air balloon 113 is adjusted to increase the overall air pressure and approximate the shape of a thick-soled rocker bottom. This increases cushioning and allows walking without bending the metatarsophalangeal joint (MP joint) too much, thereby reducing the stretching and contraction of the plantar fascia and minimizing the burden on the foot.

[0065] <4. Run Mode (a mode designed for mild osteoarthritis of the knee that allows running)> (1) Overview When considering the use of the foot orthotic device 100 in daily life, the user may run temporarily. Run Mode is an air pressure adjustment mode used when running temporarily.

[0066] (2) Conditions for determining run mode The walking state calculation unit 151 detects both of the following changes simultaneously compared to the previous walking pattern, and the reliability of run mode is increased, and the transition to run mode is determined according to the flowchart in Figure 7. - When the ratio of stance time and swing time calculated based on the output of IMU 133 changes so that the ratio of stance time for both feet becomes smaller, indicating a change to a state where both feet are not on the ground at the same time. - When the output of the foot pressure sensor 111 changes to a state where the pressure distribution is more biased toward the toes than during normal walking.

[0067] (3) Intervention Method The air pressure in each air balloon 113 is adjusted to reduce heel drop by relatively lowering the air pressure on the heel side so that the shape promotes landing on the toes. This causes landing during running to be closer to the toes, resulting in a sole shape suitable for running. The intervention is carried out within the limits of safety constraints that avoid falls and excessive strain on the legs (e.g., upper limit of maximum pressure and limit on the pressure difference between the left and right sides, rate of change of pressure when transitioning modes).

[0068] <5. Slope Mode> (1) Overview Slope mode is an air pressure adjustment mode used when walking on slopes. Slope mode is an air pressure adjustment mode that prioritizes ease of walking in places where a constant slope continues for a long time, such as long uphill roads or the slopes of embankments.

[0069] (2) Conditions for determining slope mode The walking state calculation unit 151 analyzes the walking cycle based on the output of the IMU 133 to detect the mid-stance phase and calculates the inclination angle of the gravity direction vector at each mid-stance phase. The walking state calculation unit 151 increases the reliability of the slope mode by determining that the ground is continuously inclined when it is determined that all of the following conditions are met for both the left and right feet: - The inclination angle at each mid-stance phase is greater than or equal to a predetermined angle - The left and right inclination directions are substantially the same - The above condition continues for a predetermined time or longer The evaluation of the inclination angle is stabilized by the moving average of the inclination angles of the most recent multiple steps. If the reliability of the slope mode meets the predetermined criteria, the transition to the slope mode is determined according to the flowchart in Figure 7. If only one side meets the same conditions, the determination is suspended because a misalignment of the sensor mounting or reference direction is suspected.

[0070] (3) Intervention details: The air pressure of each air balloon 113 is adjusted so that the sole of the foot becomes a horizontal plane. The shape of the sole of the shoe is adjusted to counteract the slope. In cases where the slope is small, it may be considered to use this in combination with the normal walking mode.

[0071] <6. Chair Mode> (1) Overview Chair mode is a mode used when sitting in a chair.

[0072] (2) When the sensor data stored in the chair mode determination condition storage unit 153 meets any of the following conditions, the reliability of the chair mode increases, and the chair mode is set according to the processing of the flowchart in Figure 7. - When a constant pressure is detected in the output of the foot pressure sensor 111 within a range that is sufficiently smaller than that when standing, and the output of the IMU 133 shows no movement or irregular movement. - When a small pressure is detected in the output of the foot pressure sensor 111 (almost no weight is being applied, but the shoes have not been removed), and the output of the IMU 133 shows that the orientation of the sole of the shoe is not facing the ground and shows irregular movement.

[0073] (3) Intervention details: If the soles of the shoes are thick and the knees are higher than the seat, it is difficult to stand up. Therefore, the air pressure of each air balloon 113 is adjusted so that the toe side is lower than the heel side. For example, the air pressure is adjusted so that the toe side is lower and the heel side is at an intermediate height.

[0074] <7. Notification Mode> (1) Overview The notification mode is used when an abnormal condition such as loss of consciousness is suspected due to an accident or illness.

[0075] (2) When the sensor data stored in the notification mode determination condition storage unit 153 meets any of the following conditions, the reliability of the notification mode increases and the notification mode is activated according to the flowchart in Figure 7. - When the foot pressure sensor 111 detects a small pressure (almost no weight is being applied, but the shoes have not been removed), and the IMU 133 indicates that the soles of the shoes are not facing the ground, and a state in which almost no movement is detected in both the left and right feet continues for a predetermined period of time. - When a strong acceleration is detected immediately before reaching this state, the determination time for the notification mode is shortened.

[0076] (3) If the intervention content notification mode is selected, the air pressure of each air balloon 113 is not adjusted. Alarm information and log data from the foot pressure sensor 111 and IMU 133, etc., around the time are transmitted via the communication unit 154 to the external terminal 180. The transmitted information may include the notification type, notification time, the relevant section of the log, and a summary of the abnormality determination. If transmission to the external terminal 180 is not possible, the log data is stored in the storage unit 153, and a process is performed to attempt retransmission after communication is re-established.

[0077] <<Processing of the foot orthotics>> <Overall processing> Figure 6 is a flowchart showing the processing of the foot control system (foot orthotics 100 and external terminal 180).

[0078] In step S111, the air pump voltage control unit 152 reads user data from the storage unit 153. The user data includes various measured values ​​and settings, as well as log data from the previous walk. The storage unit 153 stores physical information such as the user's thigh length, calf length, and walking posture, which are input as setting information from the external terminal 180. This physical information is also read along with the log data from the previous walk.

[0079] In step S112, the air pump voltage control unit 152 sets a target state value based on the user's physical information. The value of the walking state parameter that can achieve an ideal walking state is set as the target state value.

[0080] In step S113, the external terminal 180 prompts the user to put on the foot orthotic device 100 and assume an upright position by, for example, displaying a guidance screen on the display unit 183.

[0081] In step S114, the external terminal 180 determines, for example, whether the foot orthotic device 100 fits the user's foot, in response to the user's operation on the confirmation screen displayed on the display unit 183.

[0082] If it is determined that the foot orthotic device 100 does not fit properly, in step S115, the air pump voltage control unit 152 adjusts the air pressure of predetermined balloons that make up the air balloon 113. For example, air is injected into the side balloons 113s to suppress horizontal displacement between the foot and the foot orthotic device 100 during walking. The process then returns to step S114, and the subsequent steps are repeated.

[0083] On the other hand, if it is determined in step S114 that the orthotic device 100 fits well, in step S116 the gait calculation unit 151A estimates the contours of the user's sole based on the foot pressure information from the foot pressure sensor 111.

[0084] In step S117, the air pump voltage control unit 152 adjusts the air pressure of predetermined air balloons 113, such as arch support balloons 113a and 113b, based on the estimation results from the gait calculation unit 151A.

[0085] In step S118, the external terminal 180 determines whether or not there is any discomfort in the feet, for example, in response to the user's operation on the confirmation screen displayed on the display unit 183. At this time, the user checks for discomfort by stepping in place or by operating the confirmation screen. If it is determined that there is discomfort, the process returns to step S114 and the subsequent processing is repeated.

[0086] On the other hand, if it is determined in step S118 that there is no discomfort, the walking state calculation unit 151 performs calibration in step S119. At this time, the external terminal 180 prompts the user to lift one leg by, for example, displaying a guidance screen on the display unit 183. The walking state calculation unit 151 considers the pressure distribution detected by the foot pressure sensor 111 when no weight is applied as offset noise and performs calibration. Alternatively, the offset amount of the sensor output may be determined by detecting the pressure distribution in other states, such as when weight is applied to the front or back, and calibration may be performed accordingly.

[0087] In step S120, the walking state calculation unit 151 performs a mode determination process. The mode determination process determines which of the seven air pressure adjustment modes described above will be used. Details of the mode determination process will be described later with reference to the flowchart in Figure 7.

[0088] In step S121, the walking state calculation unit 151 saves user data such as measured values ​​and settings as log data to the storage unit 153, and then terminates the process.

[0089] <Mode Determination Process> Figure 7 is a flowchart showing the mode determination process performed in step S120 of Figure 6.

[0090] In step S131, the walking state calculation unit 151 acquires sensor data, which is the output value of the foot pressure sensor 111 and the IMU 133.

[0091] In step S132, the walking state calculation unit 151 outputs the current sensor data to the storage unit 153 and stores it. As the process is repeated, sensor data is accumulated in the storage unit 153. Each part of the control unit 150 is connected via paths not shown.

[0092] In step S133, the walking state calculation unit 151 performs processing such as behavior estimation and KAM estimation based on the sensor data stored in the memory unit 153 using a trained machine learning model. Here, the walking state parameters are calculated by the gait calculation unit 151A within the walking state calculation unit 151, KAM estimation is performed by the KAM calculation unit 151B, and behavior estimation is performed by the behavior estimation unit 151C.

[0093] In step S134, the walking state calculation unit 151 determines whether or not the user is walking based on the processing results such as behavior estimation.

[0094] If it is determined in step S134 that the user is walking, in step S135 the walking state calculation unit 151 determines whether the conditions for the pain emergency avoidance mode are met. It is determined that the conditions for the pain emergency avoidance mode are met if it is detected that the user suddenly felt strong pain.

[0095] If it is determined in step S135 that the conditions for the pain emergency avoidance mode are not met, in step S136 the walking state calculation unit 151 determines whether the conditions for the plantar pain relief mode are met. It is determined that the conditions for the pain emergency avoidance mode are met if a change is detected such as a decrease in walking speed after walking for a certain period of time or longer.

[0096] If it is determined in step S136 that the conditions for the plantar pain relief mode are not met, in step S137 the walking state calculation unit 151 determines whether or not the conditions for the running mode are met. The conditions for the running mode are determined to be met when a change is detected in the ratio of stance time to swing time such that the ratio of stance time for both feet becomes smaller, and there is no time when both feet are on the ground at the same time.

[0097] If it is determined in step S137 that the conditions for run mode are not met, in step S138 the walking state calculation unit 151 determines whether or not the conditions for slope mode are met. If it is detected that the direction of gravity in the mid-stance phase of both feet has been tilted in the same direction for a certain period of time, it is determined that the conditions for slope mode are met.

[0098] If it is determined in step S138 that the conditions for the slope mode are not met, then in step S139, the normal walking mode (KAM reduction mode) is set and the normal walking process is executed. Details of the normal walking process will be described later with reference to the flowchart in Figure 8.

[0099] After the normal walking process is performed in step S139, in step S140, the walking state calculation unit 151 determines whether or not to terminate the mode determination process. If it is determined that the mode determination process should not be terminated, the process returns to step S131 and the subsequent processes are repeated.

[0100] On the other hand, if it is determined in step S135 that the conditions for the pain emergency avoidance mode are met, the pain emergency avoidance mode process is executed in step S141. Details of the pain emergency avoidance mode process will be described later with reference to the flowchart in Figure 9.

[0101] If it is determined in step S136 that the conditions for the plantar pain relief mode are met, the plantar pain relief mode process is executed in step S142. Details of the plantar pain relief mode process will be described later with reference to the flowchart in Figure 10.

[0102] If it is determined in step S137 that the conditions for run mode are met, the run mode process is executed in step S143. Details of the run mode process will be described later with reference to the flowchart in Figure 11.

[0103] If it is determined in step S138 that the conditions for slope mode are met, then in step S144, slope mode processing is executed. Details of slope mode processing will be described later with reference to the flowchart in Figure 12.

[0104] On the other hand, if it is determined in step S134 that the user is not walking, in step S145 the walking state calculation unit 151 determines whether the conditions for chair mode are met. If a constant pressure is detected within a range sufficiently smaller than that of standing, and the sensor data from the IMU 133 shows no movement or irregular movement, it is determined that the conditions for chair mode are met.

[0105] If it is determined in step S134 that the conditions for chair mode are met, chair mode processing is executed in step S146. Details of chair mode processing will be described later with reference to the flowchart in Figure 13.

[0106] If, in step S145, it is determined that the conditions for chair mode are not met, then in step S147, the walking state calculation unit 151 determines whether or not the user is wearing shoes (foot orthotic device 100).

[0107] If it is determined in step S147 that the person is wearing shoes, in step S148 the walking state calculation unit 151 determines whether the notification conditions are met (i.e., whether there is a possibility of an accident). It is determined that the notification conditions are met if a small pressure is detected, and the output of the IMU 133 indicates that the sole of the shoe is not facing the ground, and that there is little to no movement of either foot for a certain period of time.

[0108] If it is determined in step S148 that the reporting conditions are met, the reporting process is executed in step S149. Details of the reporting process will be described later with reference to the flowchart in Figure 14.

[0109] If it is determined in step S148 that the notification conditions are not met, the previous air pressure adjustment mode is maintained in step S150.

[0110] If processing for each air pressure adjustment mode is performed in steps S141 to S144, S146, and S149, or if the previous air pressure adjustment mode is maintained in step S150, the process proceeds to step S140. If it is determined in step S140 that the mode determination process is finished, the process in Figure 7 ends. Similarly, if, for example, no sensor data is acquired and it is determined in step S147 that the person is not wearing shoes, the process in Figure 7 also ends.

[0111] The mode determination process described above is repeatedly performed at predetermined intervals while the user is wearing the foot orthotic device 100 and performing activities. The air pressure adjustment mode is determined at predetermined intervals, and control of interventions to adjust the shape of the sole to suit the user's condition is repeatedly performed.

[0112] <Normal walking process> Figure 8 is a flowchart showing the normal walking process performed in step S139 of Figure 7.

[0113] In step S201, the air pump voltage control unit 152 sets a target pressure value for each air balloon 113 that minimizes KAM.

[0114] In step S202, the air balloon control unit 160 measures the pressure value of each air balloon 113.

[0115] In step S203, the air balloon control unit 160 determines whether the air pressure of each air balloon 113 is within the allowable error range relative to the target value. If it is determined that the air pressure of each air balloon 113 is not within the allowable error range relative to the target value, in step S204, the air balloon control unit 160 adjusts the air pressure of each air balloon 113 to bring it closer to the target value.

[0116] In step S203, if it is determined that the air pressure of each air balloon 113 is within the allowable error range relative to the target value, no air adjustment is performed on each air balloon 113, and the process returns to step S140 in Figure 7. Similarly, if air adjustment is performed in step S204, the process returns to step S140 in Figure 7.

[0117] By performing the above-described normal walking process, it becomes possible to reduce mechanical stress during walking.

[0118] <Pain Emergency Avoidance Mode Processing> Figure 9 is a flowchart showing the pain emergency avoidance mode processing performed in step S141 of Figure 7.

[0119] In step S211, the air pump voltage control unit 152 sets a pressure target value such that it is the furthest from the state of the air pressure distribution of the air balloon 113 immediately before pain detection, within the range in which walking was possible without problems in the past (during normal walking mode).

[0120] The processing in steps S212 to S214 is the same as the processing in steps S202 to S204 in Figure 8. The height of each position on the sole of the foot is adjusted so that the pressure distribution is different from the pressure distribution when it is estimated that the walking state is such that the person is experiencing lower limb pain.

[0121] The pain emergency avoidance mode processing described above makes it possible to alleviate sudden knee and foot pain that occurs while walking.

[0122] <Foot pain relief mode processing> Figure 10 is a flowchart showing the foot pain relief mode processing performed in step S142 of Figure 7.

[0123] In step S221, the air pump voltage control unit 152 increases the air pressure of the air balloon 113 overall and sets a target pressure value that approaches the shape of a thick-bottomed rocker bottom.

[0124] Steps S222 to S224 are the same as steps S202 to S204 in Figure 8. The height of each position on the sole is adjusted so that the sole shape becomes a thick-soled rocker bottom shape.

[0125] The above-described plantar pain relief mode processing makes it possible to alleviate pain in the soles of the feet that gradually develops due to prolonged walking or standing work.

[0126] <Run Mode Processing> Figure 11 is a flowchart showing the run mode processing performed in step S143 of Figure 7.

[0127] In step S231, the air pump voltage control unit 152 sets a target pressure value that reduces heel drop in order to make it easier to land on the toes.

[0128] Steps S232 to S234 are the same as steps S202 to S204 in Figure 8. The height of each position on the sole of the foot is adjusted to reduce the heel drop.

[0129] Through the run mode processing described above, users can easily start running.

[0130] <Slope Mode Processing> Figure 12 is a flowchart showing the slope mode processing performed in step S144 of Figure 7.

[0131] In step S241, the air pump voltage control unit 152 sets a target pressure value that counteracts the slope of the ground.

[0132] The process in steps S242 to S244 is the same as the process in steps S202 to S204 in Figure 8. The inclination of the ground is canceled out and the height of each position on the sole of the foot is adjusted so that the sole surface becomes a horizontal plane.

[0133] The slope mode processing described above makes it possible to easily walk on long slopes or in areas with a consistent incline for extended periods.

[0134] <Chair Mode Processing> Figure 13 is a flowchart showing the chair mode processing performed in step S146 of Figure 7.

[0135] In step S251, the air pump voltage control unit 152 sets a target pressure value near zero because it is difficult to raise the sole if it is thick. As a target pressure value near zero, for example, a value is set such that the toe side is lower and the heel side is at an intermediate height.

[0136] The process in steps S252 to S254 is the same as the process in steps S202 to S204 in Figure 8. The height of each position on the sole of the foot is adjusted so that the toe side is lowered and the heel side is at an intermediate height.

[0137] Through the chair mode processing described above, users can easily stand up from a seated position.

[0138] <Notification Processing> Figure 14 is a flowchart showing the notification processing that takes place in step S149 of Figure 7.

[0139] In step S261, the communication unit 154 transmits alarm information to the external terminal 180 to notify it of the possibility of an abnormal situation.

[0140] In step S262, the communication unit 154 transmits the log data from the foot pressure sensor 111 and the IMU 133 to the external terminal 180. After that, the process returns to step S140 in Figure 7.

[0141] Through the notification mode processing described above, it becomes possible to notify a third party who sees the display on the external terminal 180 that an abnormality has occurred to the user. Upon receiving alarm information, the external terminal 180 outputs an alarm using a screen display or sound from its speaker.

[0142] As described above, the user's state, including their walking posture, is estimated, and the height of each part is repeatedly adjusted using air balloons during the user's actions. This makes it possible to adjust the sole shape to suit the user's state at the appropriate timing, such as during the user's actions.

[0143] <<Variation>> The control unit 150, which controls the air balloon 113, may be provided on an external terminal 180, which is composed of a smartphone or a wearable device. In this case, the air pump voltage control unit 152, which acts as an intervention control unit, is provided on the external terminal 180.

[0144] The air pump voltage control unit 152 of the external terminal 180 controls the air balloon 113 and air balloon control unit 160, which are intervention mechanisms provided in the foot orthotic device 100, and adjusts the height of each position on the sole of the foot according to the user's condition. In this way, control information for the intervention mechanism is generated in the external terminal 180, and based on the control information, the air balloon 113 and other components are driven in the foot orthotic device 100. The control unit 150 is provided on either the foot orthotic device 100 side or the external terminal 180 side.

[0145] When the control unit 150 is located on the external terminal 180 side, the sensor data output from the foot pressure sensor 111 and the IMU 133 is transmitted to the external terminal 180 and used to recognize the user's state. In addition to the sensor data output from the foot pressure sensor 111 and the IMU 133, the user's state may also be recognized using sensor data indicating measurement results from sensors other than the foot pressure sensor 111 and the IMU 133.

[0146] The air pressure adjustment mode is determined at predetermined intervals, but the interval for determining the air pressure adjustment mode by the mode determination process may be defined by time or by the number of steps. If defined by the number of steps, the mode determination process, including estimation of the walking state, is performed every 10 steps, 100 steps, or a predetermined number of steps, and the sole shape is adjusted accordingly.

[0147] <Modified Configuration of Foot Orthotic 100> Figure 15 shows another example of the cross-sectional configuration of the foot orthotic 100. Among the configurations shown in Figure 15, the same reference numerals are used for the same components as those in Figure 2. Repetitive explanations are omitted as appropriate.

[0148] In the orthotic device 100 shown in Figure 15, the foot pressure sensor 111 is divided and provided as a forefoot foot pressure sensor 111A and a rearfoot foot pressure sensor 111B in order to reduce the influence of flexion at the MP joint.

[0149] Similarly, the control board 117 is divided into a forefoot control board 117A and a rearfoot control board 117B. For example, low-profile components such as a PMIC 131, MPU 132, and IMU 133 are provided on the control board 117A. Components such as an air pump 114 and a valve 122 are provided on the control board 117B.

[0150] The upper surfaces of the foot pressure sensors 111A and 111B are respectively provided with cushions 201A and 201B to protect the foot pressure sensors 111A and 111B. The cushions 201A and 201B correspond to the flexible layers described above. The cushions 201A and 201B have the function of absorbing minute irregularities in the adhesive that occur when bonding the upper part and the sole, and horizontal shear displacement between layers due to bending during walking.

[0151] A ring-shaped spring 202 is provided at an arbitrary position, such as between the air balloons 113, when viewed in a planar direction (Figure 4). For example, multiple springs 202 may be provided. The springs 202, together with the air balloons 103, support a portion of the body weight and have the function of reducing the load on the air balloons 103. By providing the springs 202, the load on the tube 121 and valve 122 is reduced, making it possible to use smaller components.

[0152] The elastic force of the spring 202 should preferably be adjusted to the user's weight so that it compresses to its maximum extent when the gauge pressure of the air balloon 103 is zero (i.e., the same as the ambient pressure). The spring 202 may be made of a metal leaf spring, or it may be made of a highly elastic resin and integrated with the outsole 203.

[0153] The outsole 203 has a structure that deforms to follow changes in the amount of compression caused by the air balloon 113. As shown in Figure 15, the outsole 203 has a cross-sectional shape with a "V" shaped (Dogleg) slit. The outsole 203 is also made of a highly elastic material. The deformability of the outsole 203 makes it possible to distribute body weight.

[0154] <Example of Computer Configuration> The series of processes described above can be executed by hardware or by software. When the series of processes are executed by software, the programs that make up that software are installed on a computer that is built into dedicated hardware, or on a general-purpose personal computer.

[0155] The programs to be installed are provided on removable media such as optical discs (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.) or semiconductor memory. They may also be provided via wired or wireless transmission media such as local area networks, the internet, or digital broadcasting. The programs can be pre-installed in ROM or storage units.

[0156] The programs executed by the computer may be programs that are processed chronologically in the order described herein, or they may be programs that are processed in parallel or at necessary times, such as when they are called.

[0157] The effects described herein are illustrative and not limited to those described herein, and other effects may also occur.

[0158] The embodiments of this technology are not limited to those described above, and various modifications are possible without departing from the spirit of this technology.

[0159] <Examples of configuration combinations> This technology can also be configured as follows:

[0160] (1) A sole control system comprising an intervention control unit that controls an intervention mechanism to adjust the height of each position on the sole of the foot according to the user's state estimated based on sensor data at a specific part of the user's foot. (2) The sole control system according to (1), further comprising a sensor that acquires the sensor data and the intervention mechanism that adjusts the height of each position on the sole of the foot. (3) The sole control system according to (1) or (2), further comprising a state estimation unit that estimates the user's state based on the sensor data. (4) The sole control system according to (3), wherein the state estimation unit estimates the user's walking state as the user's state based on the sensor data. (5) The sole control system according to any one of (1) to (4), wherein the intervention mechanism is composed of a plurality of air balloons whose air pressure can be adjusted. (6) The sole control system according to (5), wherein the plurality of air balloons are arranged in a matrix on the sole of the foot. (7) The sole control system according to (2), wherein the sensor includes at least one of a foot pressure sensor for measuring the pressure distribution on the sole of the foot and an inertial sensor for measuring inertial information at the specific part. (8) The sole control system according to (3), wherein the state estimation unit repeatedly estimates the user's state at a predetermined step count cycle. (9) The sole control system according to (3), wherein the state estimation unit estimates KAM as the user's state based on the sensor data, and the intervention control unit adjusts the height of each position on the sole of the foot to reduce KAM. (10) The sole control system according to (3), wherein the state estimation unit estimates that the user's state is a walking state in which the user feels pain in the lower limbs, and the intervention control unit adjusts the height of each position on the sole of the foot to result in a pressure distribution different from the pressure distribution when it is estimated to be a walking state in which the user feels pain in the lower limbs, as represented by the sensor data. (11) The foot sole control system according to (3), wherein the state estimation unit estimates that the user's state is one in which they have been walking for a predetermined amount of time or longer, and the intervention control unit adjusts so that the overall height of the sole of the foot is increased.(12) The sole control system according to (3), wherein the state estimation unit estimates that the user is running, and the intervention control unit adjusts the height of each position on the sole of the foot so that the heel side is lower than the toe side. (13) The sole control system according to (3), wherein the state estimation unit estimates that the user is walking on a slope, and the intervention control unit adjusts the height of each position on the sole of the foot so that the sole surface represented by the sensor data becomes a horizontal plane. (14) The sole control system according to (3), wherein the state estimation unit estimates that the user is sitting, and the intervention control unit adjusts the height of each position on the sole of the foot so that the toe side is lower than the heel side. (15) The sole control system according to (3), further comprising a communication unit that estimates that the user is in an abnormal state and transmits information indicating that an abnormality has occurred to an external terminal. (16) A control method comprising a sole control system that controls an intervention mechanism to adjust the height of each position on the sole of the foot according to the user's state estimated based on sensor data at a specific part of the user's foot. (17) A program for causing a computer to perform a process that includes controlling an intervention mechanism to adjust the height of each position on the sole of the foot according to the user's state estimated based on sensor data at a specific part of the user's foot.

[0161] 100 Foot orthotic device, 111 Foot pressure sensor, 113 Air balloon, 133 IMU, 150 Control unit, 151 Walking state calculation unit, 151A Gait calculation unit, 151B KAM calculation unit, 151C Behavior estimation unit, 152 Air pump voltage control unit, 160 Air balloon control unit, 161 Air pressure information acquisition unit, 162 Air pump control unit, 163 Valve control unit

Claims

1. A sole control system comprising an intervention control unit that controls an intervention mechanism to adjust the height of each position on the sole of the foot according to the user's condition estimated based on sensor data from a specific part of the user's foot.

2. The sole control system according to claim 1, further comprising a sensor for acquiring the sensor data and an intervention mechanism for adjusting the height of each position on the sole of the foot.

3. The foot sole control system according to claim 1, further comprising a state estimation unit that estimates the user's state based on the sensor data.

4. The foot sole control system according to claim 3, wherein the state estimation unit estimates the user's walking state as the user's state based on the sensor data.

5. The plantar control system according to claim 1, wherein the intervention mechanism is composed of a plurality of air balloons whose air pressure can be adjusted.

6. The sole control system according to claim 5, wherein the plurality of air balloons are arranged in a matrix on the sole of the foot.

7. The sole control system according to claim 2, wherein the sensor includes at least one of a foot pressure sensor for measuring the pressure distribution on the sole of the foot and an inertial sensor for measuring inertial information at the specific part.

8. The foot sole control system according to claim 3, wherein the state estimation unit repeatedly estimates the user's state at a predetermined step count cycle.

9. The sole control system according to claim 3, wherein the state estimation unit estimates KAM as the user's state based on the sensor data, and the intervention control unit adjusts the height of each position on the sole of the foot to reduce KAM.

10. The sole control system according to claim 3, wherein the state estimation unit estimates that the user's state is a walking state in which the user feels pain in the lower limbs, and the intervention control unit adjusts the height of each position on the sole of the foot so that the pressure distribution is different from the pressure distribution when the user is estimated to be in a walking state in which the user feels pain in the lower limbs, as represented by the sensor data.

11. The sole control system according to claim 3, wherein the state estimation unit estimates that the user's state is one in which they have been walking for a predetermined amount of time or longer, and the intervention control unit adjusts the overall height of the sole of the foot to increase.

12. The sole control system according to claim 3, wherein the state estimation unit estimates that the user is running, and the intervention control unit adjusts the height of each position on the sole of the foot so that the heel side is lower than the toe side.

13. The sole control system according to claim 3, wherein the state estimation unit estimates that the user is walking on a slope, and the intervention control unit adjusts the height of each position on the sole of the foot so that the sole surface represented by the sensor data becomes a horizontal plane.

14. The sole control system according to claim 3, wherein the state estimation unit estimates that the user is in a seated state, and the intervention control unit adjusts the height of each position on the sole of the foot so that the toe side is lower than the heel side.

15. The foot sole control system according to claim 3, further comprising a communication unit that estimates that the user's state is abnormal and transmits information indicating that an abnormality has occurred to an external terminal.

16. A control method comprising a sole control system controlling an intervention mechanism to adjust the height of each position on the sole of the foot according to the user's condition estimated based on sensor data at a specific part of the user's foot.

17. A program for causing a computer to perform a process that includes controlling an intervention mechanism to adjust the height of each position on the sole of the foot, in accordance with the user's condition estimated based on sensor data from specific parts of the user's foot.

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