WO2018110624A1 - Fall analysis system and analysis method - Google Patents

Abstract

The purpose of the present invention is to provide a system and method that make it possible to analyze abnormalities in the feet, legs, etc. of a subject and to comprehensively analyze the causes of falls. The present invention has: a device (100) that functions to determine a center of gravity, an arch, and a bone axis for a foot (of a subject M) from the force that acts at prescribed locations on the sole of the foot; a device (200) that functions to determine abnormalities from exercise analysis results and a skeleton model of a site (a foot region) that goes from the sole to above the heel; a device (300) that functions to measure the pressure between a toe and a toe that is adjacent thereto (an inter-toe pressure); and a device (400) that functions to measure the muscular strength of pressing something between both legs and the muscular strength of spreading both legs.

Description

Fall analysis system and analysis method

The present invention relates to a technique for comprehensively analyzing factors that cause young and old men and women to fall.

Falling down while walking or running is a phenomenon that can occur regardless of age or sex.
However, falling can lead to a major accident, and can cause serious damage in the case of an elderly person, for example, directly causing serious damage such as becoming bedridden. There are many cases.
For this reason, various investigations have been conducted on what kind of state the body falls over.

Here, as one of the factors for falling, an individual's organic factors, such as abnormalities in the foot, a portion from the sole to the upper part of the heel, for example, below the knee (hereinafter referred to as “foot” in the present specification) Abnormalities around the hip joint, abnormalities in the so-called "buttock" muscles, and the like.
However, for example, regarding the abnormality in the foot and the abnormality in the foot, the actual situation is that no effective analysis technique itself has been proposed.
Further, it has not been conventionally performed to comprehensively analyze the sole, the foot, the hip joint periphery, and the “hip circumference” to prevent falls.

The inventor has proposed a technique for measuring the muscle strength between the toes (see Patent Document 1), and also proposed a technique for measuring the muscle strength to sandwich the knee and the muscle force to spread the knee (see Patent Document 2). .
However, this technology does not intend to contribute to the prevention of falls by comprehensively analyzing the strength between the toes and / or the strength of the knees and the strength of the knees in combination with other indicators. .

JP 2003-175021 A JP 2016-54996 A

The present invention has been proposed in view of the above-described problems of the prior art, and provides a system and a method that can analyze anomalies in a subject's feet, legs, etc., and comprehensively analyze the causes of falls. It is an object.

The fall analysis system (10) of the present invention is a device (foot sole) having a function of determining the center of gravity (of subject M), the arch, and the bone axis of the foot from the force (shearing force, pressure) acting on a predetermined position of the sole. Measurement system 100) and a function for determining a skeletal model, a kinematic analysis result, and an abnormality in a portion (referred to as “foot” in the present specification) from the sole (of subject M) to the upper part of the heel (eg, below the knee) A device (toe determination system 200), a device (a toe pressure measurement device 300) having a function of measuring the pressure between the toes and the adjacent toes (pressure between toes), both legs It has a device (leg strength measuring device 400) having a function of measuring muscle strength sandwiched between and muscle strength to widen the distance between both legs.

Further, the fall analysis method of the present invention measures the force (shearing force, pressure) acting on a predetermined position of the sole, and the position (foot) from the sole (of the subject M) to the upper part of the heel (for example, below the knee). , Measuring the pressure between the toes and the toes adjacent to it (pressure between the toes), measuring the muscular strength sandwiched between both legs and the muscular strength that widens the distance between both legs (step S1);
The center of gravity (of subject M), arch, bone axis of the foot, and abnormality are determined from the force (shearing force, pressure) acting on a predetermined position of the sole, and the upper part of the heel (for example, below the knee) from the sole of (subject M) Determine the skeletal model, motion analysis results, and abnormalities from the data (still image data, moving image data, X-ray photograph data) taken up to the point (foot) until the pressure between the toes and the adjacent toes ( The total muscle strength of the lower part of the knee (subject M) from the pressure between the toes) and the muscle adductor of the hip joint (subject M) A step of determining the muscle strength of the abductor muscle (the so-called “muscle-around” muscle strength) (step S2);
The center of gravity (of subject M), the arch, the bone axis of the foot, the skeletal model in the location (foot) from the sole to the upper part of the heel (for example, below the knee), the result of motion analysis, and the lower part from the knee (of subject M) Falls while walking or running It has the process (step S3) which judges a risk.

In the present invention, the device (foot measurement system 100) having a function of determining the center of gravity (of the subject M), the arch, and the bone axis of the foot is a member (110L, 110R: for example, insole, shoes) that contacts the sole of the foot. And a predetermined position of the member (110L, 110R) (L (1), R (1), L (2), R (2),... L (7), R (7) in FIG. Sensor (1-7: shear force sensor, pressure sensor) for measuring forces (shear force, pressure) acting on (1) to (7)) of 2 and the sensors ((1) to (7)) It is preferable to have a control device (center of gravity, arch, bone axis determination block 120) having a function of determining the presence or absence of an abnormality based on the output of.
Here, the sensor includes a rib raised portion (position 1), a cubic bone (position 2), a fifth metatarsal head (position 3), a first portion of a member (110: for example, insole, shoes) with which the sole of the foot contacts. It is preferably provided at a position corresponding to the middle metatarsal head (position 5), the intermediate wedge bone (position 6), and the lateral foot arch center (position 7).
Moreover, it is preferable that the sensor is also provided on the thumb contact surface (position 4).

Further, in the present invention, a function of determining a skeletal model, a kinematic analysis result, and an abnormality from a sole (of the subject M) to an upper part of the heel (for example, below the knee) (described as “foot part” in this specification). The apparatus (foot determination system 200) that the imaging apparatus (202, 203) relatively moves at a constant speed in the circumferential direction of the imaging location (201: for example) and the imaging location (201). ) And an analysis device (skeletal model creation and motion analysis blocks 210, 211) to which image data (still image data, moving image data, X-ray photograph, X-ray photograph) is input from the imaging device (202, 203), The analysis device (210, 211) is based on the image data (still image data, X-ray photograph, X-ray photograph), and is subject to determination (for example, from the sole of the subject (M) to above the heel, for example, below the knee). Locations: the ability to create skeleton model of the foot), what has the function of analyzing the motion of the skeletal model on the basis of the skeleton model and the image data (moving image data) is preferable.
Here, the imaging device (202) is preferably an optical device (for example, a camera) having a function of capturing a still image and a function of capturing a moving image.
Alternatively, the imaging device (203) includes a device (203A: for example, an X-ray irradiation device) having a function of irradiating a light beam having a human body permeability, and an image (X-ray photograph: X-ray photograph) having a light beam having a human body permeability. ) Is preferably a combination of devices (3B: for example, an X-ray camera) having a function of photographing.

In the present invention, in order to prevent external light (for example, sunlight) from being reflected and make it difficult to see an image, and to improve measurement accuracy, the imaging device (2, 3) has a specific wavelength of light ( It is preferable to attach a filter that transmits light of a specific color. Then, a new reference point is set by adding information on light of a specific wavelength (light of a specific color) from outside the system, or by attaching a marker to the skin of the subject (M), and performing a new measurement. Preferably the system is constructed. As the marker, for example, a marker that reacts to near infrared light or ultraviolet light can be used.

According to the present invention having the above-described configuration, the center of gravity (of the subject M), the arch, and the bone axis of the foot, and the device having the function of determining the center of gravity, the arch, and the bone axis of the foot (subject measurement system 100) Determine the associated anomalies,
A skeleton model, a motion analysis result, and a device having a function for determining an abnormality (foot determination system 200) determine a skeleton model of (subject M), a motion analysis result, and an abnormality determined thereby,
A device having a function of measuring the pressure between the toes and the adjacent toes (pressure between the toes) (inter-toe pressure measuring device 300) of the lower part from the knee (subject M) Determine the muscular strength,
A device (leg strength measuring device 400) having a function of measuring muscle strength sandwiched between both legs and muscle strength that widens the distance between both legs (subject M) 's hip adductor and abductor muscle strength (so-called “around the hip” muscles) Overall muscle strength)
By determining abnormality, it is possible to determine a risk that (subject M) falls while walking or running.

And "whether the subject's (M) centroid line is normal", "how much is abnormal if the centroid line is not normal", "subject's (M) arch (vertical arch, outer arch, lateral arch) "Normal or not", "How abnormal if the arch is not normal", "Whether the subject's (M) foot bone axis is normal", "If the foot bone axis is not normal, how abnormal "Is the hardness (flexibility) of the arch normal?", "Is it a flat foot or a high arch", "Whether the heel is varus or not", "Whether the heel is varus or not", etc. "Related to the center of gravity, arch, bone axis of the foot) and" whether there is an abnormality in the skeleton of the foot of the subject (M) (from the sole to the upper part of the heel, for example, the part below the knee) " If so, where is the abnormality and what is the numerical value of the degree of abnormality? ” (Related to the model and motion analysis results), “how much is the ability of posture control in the front-rear direction” (related to the muscle strength of the lower part from the knee of the subject M), and “how much is the posture control ability in the lateral direction? It is possible to determine the risk of the subject's fall by determining all of “ka” (muscle strength in the so-called “around the hip” muscles).
Then, after comprehensively determining the fall risk of the subject (M), when the fall risk is high, it is possible to present exercise, equipment used, etc. for improving it.

It is explanatory drawing which shows the outline | summary of embodiment of this invention. It is a functional block diagram of a control device in an embodiment. It is a flowchart which shows the procedure of the analysis in embodiment. It is explanatory drawing of the sole measurement system in embodiment. It is a figure which shows the skeleton of a human foot part. It is explanatory drawing which shows the arch of a leg | foot. It is explanatory drawing which shows the reason for using a shear force sensor. It is a figure which shows an example which the bone | frame above the collar is deform | transforming. FIG. 5 is a block diagram showing an example of a center-of-gravity / arch / bone bone axis determination block of the sole measurement system of FIG. 4. It is a flowchart which shows an example of the process in the bone axis determination block of a gravity center, an arch, and a bone. It is a flowchart which shows the other example of the process in the bone axis determination block control apparatus of a gravity center, an arch, and a bone. It is a flowchart which shows another example of the process in the bone axis determination block of a gravity center, an arch, and a bone. It is a flowchart which shows another example of the process in the bone axis determination block of a gravity center, an arch, and a bone. It is explanatory drawing of the foot part determination system in embodiment. FIG. 15 is a functional block diagram illustrating a skeleton model creation and motion analysis block of the foot determination system of FIG. 14. It is a flowchart which shows control of the foot | foot part determination system of FIG. It is explanatory drawing which shows the modification of the foot | foot part determination system of FIG. It is explanatory drawing which shows the foot part determination system different from FIG. FIG. 19 is a functional block diagram illustrating a skeleton model creation and motion analysis block of the foot determination system of FIG. 18. It is a flowchart which shows control of the foot | foot part determination system of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, an outline of an embodiment of the present invention will be described with reference to FIG.
In FIG. 1, the overturn analysis system generally indicated by reference numeral 10 includes a sole measurement system 100, a foot determination system 200, a toe pressure measurement device 300, a leg force measurement device 400, a control device 20, and a display device 22. Yes.

The sole measurement system 100 is a sensor (symbols (1) to (7) in FIG. 1) that measures a force (shearing force, pressure) acting on a predetermined position of a member (for example, an insole or a shoe) that contacts the sole of the foot. The outputs from the sensors (1) to (7) are transmitted to the control device 20 via the transmission line CL100.
The foot determination system 200 relatively moves the imaging location (1: for example, the platform) on which the subject M is placed and the circumferential direction of the imaging location 1 (including both constant speed movement and inconstant speed movement). (203, 203A, 203B), and image data (still image data, moving image data) from the imaging device 202 (203, 203A, 203B) is transmitted to the control device via the transmission line CL200. Here, in the imaging device, a device 203A (for example, an X-ray irradiation device) having a function of irradiating a light beam having a human body permeability and an image (X-ray photograph: X-ray photograph) by a light beam having a human body permeability are taken. A combination of the apparatus 203B (for example, an X-ray camera) having a function to perform the above is included.

The toe pressure measuring apparatus 300 has a function of measuring the pressure between the toes and the adjacent toes (pressure between toes), and a conventionally known technique (for example, the technique of Patent Document 1). Is applicable.
The leg strength measuring device 400 has a function of measuring the muscular strength that is sandwiched between both legs and the muscular strength that widens the distance between both legs. For the leg force measuring device 400, a conventionally known technique (for example, the technique of Patent Document 2) can be applied.
In FIG. 1, the control device or the analysis device in the systems 100 and 200 is included in the control device 20.

The control device 20 will be described with reference to FIG.
The control device 20 includes a center-of-gravity / arch / foot bone axis determination block 120, a skeleton model creation and motion analysis block 210, a longitudinal posture control determination block 50, a lateral posture control determination block 60, and a fall risk determination block. 70. For details of the center-of-gravity / arch / foot bone axis determination block 120, skeleton model creation and motion analysis block 210, longitudinal posture control determination block 50, and lateral posture control determination block 60, refer to FIG. Will be described later.
In FIG. 2, the fall prevention instruction block 90 is provided outside the control apparatus 20, but the fall prevention instruction block 90 may be configured as a part of the control apparatus 20.

The measurement results of the sensors (1) to (7) in the sole measurement system 100 are input to the center-of-gravity / arch / foot bone axis determination block 120 via the signal transmission line CL100. “(1) to (7)” in the signal transmission line CL100 means the measurement results of the sensors (1) to (7). As will be described later with reference to FIG. 4, the measurement results of the sensors (1) to (7) are transmitted by radio, and the signal transmission line CL100 indicates transmission of information by radio.
The center-of-gravity / arch / foot bone axis determination block 120 determines the center of gravity, the arch, and the bone axis of the foot based on the measurement results of the sensors (1) to (7). It has a function to determine the abnormality of the subject from the axis. At the same time, the determined center of gravity, arch, bone axis of the foot, and abnormality of the subject are transmitted to the fall risk determination block 70 via the signal transmission line CL102.

The skeletal model creation and motion analysis block 210 receives image data (still image data, moving image data, X-ray photograph, X-ray photograph) from the foot determination system 200 via the signal transmission line CL200, and receives the foot (foot) of the subject. It has a function of determining or acquiring a skeletal model from the back to the upper part of the heel, for example, below the knee), performing a motion analysis from the skeletal model, and determining an abnormality in the foot of the subject.
In addition, the abnormality of the subject obtained by the skeletal model, the motion analysis, and the like is transmitted to the fall risk determination block 70 via the CL 202.

The front-rear direction posture control determination block 50 is based on the pressure between the toes and the adjacent toes (pressure between toes) measured by the toe pressure measuring device 300 via the signal transmission line CL300. It has a function of comprehensively judging the muscle strength of the lower part from the knee of the subject.
Here, the muscle strength of the portion below the knee of the subject is closely related to the ability of posture control in the human front-rear direction, and the human posture control in the front-rear direction is an important parameter for the fall. That is, it is possible to estimate or determine the posture control ability of the human front-rear direction, which is an important parameter regarding falls, by comprehensively judging the muscle strength of the lower part from the subject's knee.
The front-rear direction posture control determination block 50 also has a function of transmitting the total muscle strength of the portion below the subject's knee to the fall risk determination block 70 via the signal transmission line CL302.

The lateral posture control determination block 60 is based on the force applied by the subject's knee input via the signal transmission line CL400 and the force that increases the distance between the legs (measured by the leg force measuring device 400) and the adductor muscle of the hip joint. It has a function of comprehensively judging the muscle strength of so-called “around the hip” muscles such as abductor muscles.
The muscle strength in the so-called “around the hip” muscles is related to the human lateral posture control ability, and the human lateral posture control ability is also an important parameter for falls. That is, it is possible to estimate or determine the human posture control ability in the lateral direction, which is an important parameter related to the fall, from the muscle strength of the “around the hip” muscle of the subject.
The lateral posture control determination block 60 also has a function of transmitting the total muscle strength of the “around the hip” muscle of the subject to the fall risk determination block 70 via the signal transmission line CL402.

The fall risk determination block 70 includes the subject's center of gravity, arch, and foot bone axes transmitted from the center-of-gravity / arch / foot bone axis determination block 120, the abnormality determined thereby, and the skeleton model creation and motion analysis block 210. The transmitted skeletal model of the subject, the result of the motion analysis, the abnormality determined thereby, the total muscle strength of the portion below the subject's knee transmitted from the longitudinal posture control determination block 50, and the lateral posture control It has a function of comprehensively judging the risk of the subject falling down while walking or running, based on the total strength of the muscle around the hips transmitted from the judgment block 60. The determination will be described later with reference to FIG.
And the fall risk determination block 70 transmits the comprehensive judgment result of the risk that the subject falls while walking or running to the fall prevention instruction block 90 via the signal transmission line CL72, or from the signal transmission line CL72. It has a function of transmitting to the display device (display) 22 via the branched signal transmission line CL74.

At the time of the determination by the fall risk determination block 70, a conventionally known software technique is used and the determination is made on a case-by-case basis in consideration of the characteristics of the person to be measured.
The fall risk determination block 70 is an information processing apparatus such as a computer, but is not limited thereto. For example, an expert or an operator who has medical knowledge makes a necessary judgment and a presentation for improvement based on information and data from the center of gravity / arch / bone bone axis determination block control device 120 and the display device 22. Including cases.

The display device 22 has a function of displaying the determination result of the fall risk determination block 70 and transmitting the displayed image data to the fall prevention instruction block 90.
The fall prevention instruction block 90 receives the determination result transmitted from the fall risk determination block 70 and the image data transmitted from the display device 22, and based on these, improves the fall risk when it is high. It has a function to present exercise, equipment used, etc.

The content presented by the fall prevention instruction block 90 is determined on a case-by-case basis using a conventionally known software technique and taking into account the characteristics of the person being measured. Here, the fall prevention instruction block 90 is an information processing apparatus such as a computer, but is not limited thereto. Similar to the fall risk determination block 70, for example, an expert or an operator who has medical knowledge presents necessary judgments and improvements based on information and data from the fall risk determination block 70 and the display device 30. Including the case where it is performed.
Similarly, the fall risk determination block 70 is not limited to an information processing apparatus such as a computer, and can be composed of an expert and an operator with medical knowledge.
The fall prevention instruction block 90 also has a function of feeding back the presentation content to the control device 20 via the signal transmission line CL76.

An example of the control in the illustrated embodiment will be described mainly with reference to FIG.
In step S1 of FIG. 3, measurement by the sensors (1) to (7) is performed by the bone axis determination block 120 of the center of gravity, arch, and foot.
In the foot determination system 200, a still image and a moving image of the subject's foot are photographed. The foot determination system 200 may take X-ray photographs and X-ray photographs.
In the toe-to-toe pressure measuring apparatus 300, the pressure between the toes and the adjacent toes (pressure between toes) is measured.
The leg force measuring device 400 measures the force sandwiched between the knees of the subject and the force that widens the distance between both legs.
Then, the process proceeds to step S2.

In step S2, the center-of-gravity / arch / foot bone axis determination block 120 determines the center of gravity, the arch, and the bone axis of the foot from the measurement results of the sensors (1) to (7) of the sole measurement system 100. The subject's abnormality is determined from the center of gravity, arch, and bone axis of the foot.
Further, based on the image data (still image data, moving image data, X-ray photograph, X-ray photograph) from the foot determination system 200, the skeleton model creation and motion analysis block 210 determines the skeleton model of the subject's foot or Acquire and analyze the motion from the skeleton model to determine abnormalities in the toe of the subject. Further, the pressure between the toes measured by the toe pressure measuring device 300 and the toes adjacent to it (the toe Pressure), the longitudinal posture control determination block 50 comprehensively determines the muscle strength of the portion below the subject's knee.
Then, based on the force measured by the leg force measuring device 400 and the force that is sandwiched between the knees of the subject and the force that widens the distance between the legs, the lateral posture control determination block 60 determines so-called “around the hips” such as the adductor and abductor muscles of the hip joint. ”Judge the muscle strength comprehensively.
Then, the process proceeds to step S3.

In step S3, the fall risk determination block 70 determines the subject's center of gravity, arch, and bone axis of the foot, the abnormality determined thereby, the subject's skeletal model, the result of motion analysis, the abnormality determined thereby, and the subject's knee. The risk of the subject falling down while walking or running is determined with reference to the overall muscle strength of the lower part of the subject and the overall muscle strength of the “around the hip” of the subject.
For example, “whether the subject's center of gravity is normal”, “how abnormal if the center of gravity is not normal”, “whether the subject's arch (vertical arch, outer arch, lateral arch) is normal”, "How abnormal is the arch when it is not normal", "Whether the subject's foot bone axis is normal", "How much is abnormal when the foot bone axis is not normal", "Arch hardness (Is it flexible or not?) "Is it flat foot or high arch", "Whether the heel is varus or not""Whether the heel is varus" etc. Related)
The position of the anomaly in the skeleton of the subject's foot (from the sole to the upper part of the heel, for example, below the knee) and its numerical value (related to the subject's skeleton model and motion analysis results),
Ability to control fore-and-aft posture (related to the muscle strength of the lower part of the subject's knee),
Lateral posture control ability (muscle strength in the so-called “around the hip” muscles),
Taking all of the above into consideration, the subject's risk of falling is determined.
Then, the process proceeds to step S4.

In step S4, when the fall risk is high, the fall prevention instruction block 90 presents exercises, appliances, and the like for improving the fall risk.
For example, in the case of “flat feet”, a device for providing an arch on the insole (providing a device for improving flat feet) is presented.
If the knee is twisted while walking (pronunciation moment is generated) and there is a high possibility that the knee will be rubbed in the future to complain of knee pain, Present a device that facilitates inward movement of the foot's bone axis and / or gymnastics to assist in moving the foot's bone axis inwardly, and / or In the shoe or insole, the movement of the heel is restricted by adjusting the height of the outside of the shoe, the height of the inside of the shoe, or the height of the heel itself, so that it approaches the normal center of gravity line.
If the heel is hard and does not bend outwards and there is a risk of pain, present an insole or shoe with a gap on the outside of the heel.
In addition, a device for preventing difficulty in walking and running due to the abnormality is presented based on the position and numerical value of the abnormality in the skeleton of the subject's foot (from the sole to the upper part of the heel, for example, below the knee).
Further, when the ability of posture control in the front-rear direction is inferior or when the ability of posture control ability control in the lateral direction is reduced, an instrument and a gymnastic for improving it are presented.

Alternatively, in step S4, the fall prevention instruction block 90 receives the comparison result transmitted from the comparison block 210H of the skeletal model creation and motion analysis block 210, and improves, treats, and suppresses abnormalities in the foot based on the comparison result. Present suitable instruments and exercises to do.
Here, the fall prevention instruction block 90 receives data relating to the quantification and quantification of the degree of abnormality in the abnormal part transmitted from the skeletal model creation and motion analysis block 210, and improves the abnormality of the foot based on the data. It is possible to present devices and exercises suitable for treatment and suppression.
Further, in the fall prevention instruction block 90, the level of the skeleton model creation and analysis result of the motion analysis block 210 (image data analysis level, stereoscopic image analysis level, skeleton model analysis level, stereoscopic image motion analysis level, skeleton model motion analysis level) is set. Accordingly, it is possible to present equipment and exercises for improving, treating, and suppressing abnormalities in the foot.
In step S4, the fall prevention instruction block 90 provides the ability of posture control in the front-rear direction based on the muscle strength of the lower part of the subject's knee and the posture control ability in the lateral direction based on the muscle strength of the subject “around the hip”. Considering this, equipment that prevents the subject from falling, or gymnastics and exercise that can compensate for weak muscle strength or ability are presented.

According to the fall analysis system 10 shown in FIGS. 1 to 3, the subject's center of gravity, arch, and bone axis of the foot, and the abnormality determined thereby, the subject's skeleton model, the result of motion analysis, and the abnormality determined thereby. Considering the total muscle strength of the lower part of the subject's knee and the total muscle strength of the subject's "around the hips" and any abnormalities in the subject, the subject is walking or running The risk of falling can be determined.
And “whether the subject's center of gravity is normal”, “how abnormal if the center of gravity is not normal”, “whether the subject's arch (vertical arch, outer arch, lateral arch) is normal”, "How abnormal is the arch when it is not normal", "Whether the subject's foot bone axis is normal", "How much is abnormal when the foot bone axis is not normal", "Arch hardness (Is it flexible or not?) "Is it flat foot or high arch", "Whether the heel is varus or not""Whether the heel is varus" etc. Related)
The position of the anomaly in the skeleton of the subject's foot (from the sole to the upper part of the heel, for example, below the knee) and its numerical value (related to the subject's skeleton model and motion analysis results),
Ability to control fore-and-aft posture (related to the muscle strength of the lower part of the subject's knee),
Lateral posture control ability (muscle strength in the so-called “around the hip” muscles),
It is possible to determine an abnormality in all of the subjects and determine a subject's risk of falling.
After comprehensively determining the subject's fall risk, if the fall risk is high, exercise, equipment used, etc. for improving it can be presented.

Next, the sole measuring system 100 will be described in detail with reference to FIGS.
In FIG. 4, the sole measurement system 100 includes an insole (or a shoe) that is a member that contacts the sole of the foot, and a center of gravity, an arch, and a bone axis determination block of a bone via a signal transmission line CL100 (including wireless). Information can be transmitted to the control device 120.
The insole (or shoes) is composed of an insole 110R for the right foot and an insole 110L for the left foot. In each of the insole 110R, 110L, seven predetermined positions (R1) to (R7), (L1) to (L7) Sensors R1 to R7 and L1 to L7 are installed. In FIG. 1, the “predetermined position” or the “sensor” installed at the predetermined position is represented by the same reference numeral, and is indicated by reference numerals (R1) to (R7) and (L1) to (L7), respectively. ing.

The measurement results from the sensors R1 to R7 and L1 to L7 are transmitted to the center of gravity / arch / bone axis determination block 120 by radio (line).
In FIG. 4, an aspect in which the measurement result is wirelessly transmitted from the sensors R1 and L1 (representing each sensor) to the block 120 is indicated by arrows SR1 and SL1 (wireless signal lines).
It should be noted that when the measurement results are transmitted from the sensors R1 to R7 and L1 to L7 to the block 120, it is also possible to perform the measurement by wire.

Next, the installation positions of the sensors R1 to R7 and L1 to L7 will be described with reference to FIG.
FIG. 5 shows the right foot (the position of sensors (1) to (7) in the insole 110R for the right foot or the shoe), but the position of the sensor in the insole 110L (or the shoe) for the left foot or the left foot is shown in FIG. It is a position symmetrical to the position indicated by.
The positions of the sensors 1 to 7 (sensors R1 to R7, which are hereinafter referred to as “sensors 1 to 7” for the sake of simplicity) are defined from the skeleton structure of the side of the human foot. Therefore, FIG. 5 shows the skeleton of the foot (FIG. 5 shows the skeleton of the right foot).

The position where the sensor 1 is disposed (indicated by reference numeral (1) in FIG. 5) is a rib bulge. More preferably, position (1) is the center of the heel bone.
In determining the position (1), when the rib bulge is displaced outward (the fifth metatarsal side, that is, the little finger side in FIG. 5), the amount (the amount displaced outward) is measured. The position is set as possible. Normally, if the rib bulge is displaced, it is on the outside of the foot (the little finger side) and does not come off the inside of the foot (the first metatarsal side, that is, the thumb side in FIG. 5).
The position where the sensor 2 is disposed (the position indicated by reference numeral (2) in FIG. 5) is a position corresponding to the cubic bone. However, it may be slightly outside the center of the cubic bone (the little finger side: the region of the fifth metatarsal bone).

The position where the sensor 3 is disposed (indicated by reference numeral (3) in FIG. 5) is a position corresponding to the fifth metatarsal head.
In order to analyze the state at the time of walking, it is necessary to measure the force acting on the “location where weight is applied during walking”. The fifth metatarsal head, which is the root of the fifth metatarsal, is a “location where weight is applied during walking”.
Here, even if the position where the sensor 3 is arranged is shifted to about ３ of the length of the fifth metatarsal head and to the side opposite to the toes, the force acting on “the place where weight is applied during walking” can be measured. So there is no problem.
However, since the fifth peripheral bone (toe side bone) does not bear weight, it is inconvenient to attach the sensor to a position shifted to the fifth peripheral bone side (toe side) from the fifth metatarsal head.

The position at which the sensor 4 is disposed (indicated by reference numeral (4) in FIG. 5) is a region that reaches the ground when walking on the thumb contact surface, that is, the tip of the thumb. The reason for arranging the sensor 4 at the position (4) is that it is necessary to measure the force acting on the position (4) in order to obtain the kicking strength during walking.
Here, there is an individual difference as to which part of the thumb of the toe the bone (first talus bone) extends. Therefore, the position (4) is not specified by the name of the bone, but is specified as the “finger ground contact surface” as described above.
If the position of the sensor 4 deviates from the thumb contact surface, it is inconvenient because the strength of kicking out during walking cannot be measured.
As will be described later, the measurement results of the sensor 4 arranged at the position (4) are not used to specify (determine) the “foot bone axis”, “arch”, and “center of gravity”.

The position where the sensor 5 is disposed (indicated by reference numeral (5) in FIG. 5) is a position corresponding to the first metatarsal head.
It is the so-called “thumb ball” part of the first metatarsal side that weighs during walking. For this reason, it is necessary to prevent the sensor 5 from being attached to the “finger ball”. This is because the ball ball takes weight.

The position where the sensor 6 is disposed (the position indicated by reference numeral (6) in FIG. 5) is a position corresponding to the intermediate wedge bone.
The position where the sensor 6 is arranged is sandwiched between a straight line Lα connecting the second finger (index finger) from the position (1) where the sensor 1 is arranged and a straight line Lβ connecting the fourth finger (ring finger) from the position (1). What is necessary is just the area of three wedge-shaped bones in the area.
Here, it is inconvenient to install the sensor 6 because the region closer to the thumb than the straight line Lα connecting the position (1) and the second finger (index finger) may become an arch. On the other hand, since the region on the little finger side of the straight line Lβ connecting the position (1) and the fourth finger (ringing finger) may overlap with the position (2), it is also inconvenient to install the sensor 6. It is. For these reasons, the arrangement position of the sensor 6 is determined as described above.

As shown in FIG. 6, there are three types of foot arches: a vertical arch AR1, an outer arch AR2, and a horizontal arch AR3. The longitudinal arch AR1 extends from the vicinity of the position (1) representing the rib protuberance in FIG. 5 to the vicinity of the position (5) representing the first metatarsal head, and the outer arch AR2 is the heel in FIG. It extends from the vicinity of the position (1) representing the bone protuberance to the vicinity of the position (3) representing the fifth metatarsal head. Further, the lateral arch AR3 extends from the vicinity of the position (5) representing the first metatarsal head in FIG. 5 to the vicinity of the position (3) representing the fifth metatarsal head. The arches AR1 to AR3 can absorb the impact on the sole when walking.
In order to specify the foot arch, it is necessary to refer to the measurement results at positions other than the positions (2) and (6) (for example, the positions (1) and (3)).
Also, from the measurement results of position (6) and position (2) (and other measurement results of positions (1), (3), etc.), the center of gravity (the pressure center of the sole at the moment: the center of gravity of the center of gravity) The trajectory can be specified (determined).

From the measurement result of the force (pressure, shear force) acting on the position (6) measured by the sensor 6 and the measurement result of the force (pressure, shear force) acting on the position (2) measured by the sensor 2, Three types of “flat feet”, “normal”, and “high arch” can be determined.
Measurement results of force (pressure or shear force) acting at position (6) and force (pressure or shear force) acting at position (2) in each of “flat foot”, “normal”, and “high arch” The magnitude relationship of the results is different. That is,
Flat feet: force acting on position (2) ≒ force acting on position (6), or
Force acting on position (2) ≦ force acting on position (6) Normal: force acting on position (2)> force acting on position (6) High arch: force acting on position (2), position (6 The force acting on) is not detected.
This will be described later with reference to FIG.

In FIG. 5, the position where the sensor 7 is arranged (indicated by (7) in FIG. 5) is the second metatarsal head (base portion of the second finger (index finger)) and the third metatarsal head (third finger ( It is located in the area between the base part of the middle finger).
Here, the barycentric line passes along the line connecting the heel and the second finger (line Lα in FIG. 5). For this reason, it is inconvenient to provide the sensor 7 in a region closer to the first finger (thumb side) than the second finger.
On the other hand, the region closer to the little finger than the third finger (middle finger) deviates from the barycentric line, so it is inconvenient to provide the sensor 7. Since the weight is on the inner side of the center line of the foot, if the position (7) of the sensor 7 is on the outer side of the center line of the foot, the weighted state cannot be detected.

According to the system 100 described with reference to FIGS. 4 to 6, the measuring device is configured to measure the force acting on the position by the sensors 1 to 7 arranged at the positions (1) to (7) described above. It is possible not only to measure the state of standing at a predetermined position, but also to measure the state of walking.
Items that can be found by measuring the forces acting on the positions (1) to (7) and analyzing them by the block 120 are exemplified below (in addition to specifying the arch type).
First, since there are individual differences in foot flexibility, there are also individual differences in the flexibility of the arch shown in FIG.
By analyzing the measurement results at the positions (2), (6), and (7), the flexibility of the arch can be understood. Depending on the flexibility of the arch, a “high arch” when standing still may result in a “flat foot” when walking (when the arch is soft). Alternatively, there is a case of “normal” when standing and stationary, but a “high arch” when walking (when the arch is hard).

Further, as will be described later with reference to FIG. 10, by analyzing the measurement results at positions (2), (6), and (7), the center of gravity (the pressure center of the sole at the moment) and the arch shape are appropriately set. I understand.
Here, when the force acting on the positions (2), (6), (7) is not measured, for example, when only the force acting on the positions (1), (3), (5) is measured, It is impossible to identify the arch.
In the illustrated system 100, in addition to the forces acting on the positions (1), (3) and (5), the forces acting on the positions (2), (6) and (7) are measured, so that It enables identification. That is, the vertical arch AR1 and the outer arch AR2 can be determined from the measurement results of the positions (2) and (6), and the state of the arch can be grasped from the vertical arch AR1. Further, the lateral arch AR3 can be specified based on the measurement results at the positions (3), (7), and (5). In other words, the measurement result of the position (7) is indispensable for determining the lateral arch AR3.

Next, regarding the specification of the center of gravity line, conventionally, pressure sensors are installed only at the positions (1), (3), and (5), and the load distribution at the positions (1), (3), and (5) on the foot is The center of gravity point was specified on the assumption that the ratio was 3: 1: 2.
However, in the illustrated embodiment, sensors (sensors 2, 6, 7) are also installed at positions (2), (6), (7). The force (pressure, shear force) acting on the positions (2), (6), and (7) is also measured to accurately determine the center of gravity (COP), and the center of gravity line that is the locus is accurately specified. ing. This point will also be described later with reference to FIG.

Here, the “foot bone axis” will be described.
The “foot bone axis” is an axis that penetrates the position (1) representing the rib bulge and the talus, and shear force is applied to the positions (1), (2), (3), (5), and (7). By providing the sensors 1, 2, 3, 5, and 7 and analyzing the measurement result, it is possible to accurately grasp the movement in the “foot bone axis”. This will also be described later with reference to FIG.
Positions (1), (2), (3), (5), and (7) are the most moving parts at the bottom of the foot, so if you determine the shear force at these five places, analyze the movement of the “foot bone axis” Easy to do. By analyzing the shear force at positions (1), (2), (3), (5), and (7) and analyzing the motion of the “bone axis of the foot”, the displacement of the ribs and the like while walking Speed, force (change in load), direction, twist, etc. can be evaluated.
Further, the movement of the foot bone axis depends on the flexibility of the joint of the sole.

It is preferable to arrange a “shear force sensor” in place of the pressure sensor at the positions (1), (2), (3), (5), and (7). The reason will be described with reference to FIG.
In order to measure the force acting on the positions (1), (2), (3), (5), and (7) and perform the above-described analysis, the force acting axis SH1 of FIG. It is necessary to measure the force indicated by the arrow AH at the lower end (including the force in the direction perpendicular to the paper surface). Therefore, it is preferable to install a shear force sensor capable of measuring such force at the positions (1), (2), (3), (5), and (7).
As shown in FIG. 7B, the pressure sensor can measure only the vertical load (symbol P) of the vertical axis SH2. Therefore, it is inconvenient to measure the force acting on the positions (1), (2), (3), (5), (7).

As described above, by analyzing the measurement results of the shear force acting on the positions (1), (2), (3), (5), (7), the movement of the “foot bone axis” can be accurately performed. I can grasp it. For example, it can be determined from the bone axis of the foot whether or not the bone of the heel is valgus.
For example, when the arch is hard and the bone axis of the foot does not move inward, a load is applied to the positions (2) and (3), the knee is twisted during walking (pronation moment is generated), and in the future There is a risk of complaining of knee pain in a so-called “knee rub” condition. On the other hand, in the illustrated embodiment, it is possible to determine whether or not there is a risk of knee pain by measuring whether or not a load is applied to the positions (2) and (3). This will also be described later with reference to FIG.

In FIG. 8 showing an example of the state above the heel, reference lines L5L and L5R represent the central axis (indicated by a broken line) of the leg L that is continuous with the bone axis of the foot F (indicated by a solid line). As shown by the reference lines L5L and L5R, when the heel is bent (extroverted), the heel is hard (the range of motion of the joint around the heel is limited) and bent outward (little finger side). Therefore, the value of the shear force at the position (1) is small. In the case shown in FIG. 8 (a state where the heel is hard and does not bend outward), stress may be applied to the knee and pain may develop.
In such a case, in the shoe or insole, the movement of the heel can be restricted by adjusting the height of the outside of the shoe, the height of the inside of the shoe, or the height of the heel itself, and it can be brought close to the normal center of gravity line. . Therefore, knee pain is also reduced. This will be described later with reference to FIG.

Here, the value of the pressure at the position (4) has no relation to the specification of the arch, the bone axis of the leg, and the center of gravity line.
When the pressure value at the position (4) is large, it means that the toes are used effectively during walking and the force to kick the ground is large. In other words, if the toes are used effectively during walking, and the force to kick the ground is large, if the other conditions are the same, the stride is large, the walking speed is high, and the clearance (toe and ground contact surface during walking) The distance to the is also large. Therefore, walking is stable and there is little risk of falls during walking.
In other words, the measurement result of the position (4) is used for determining the walking function and determining the possibility of falling during walking.

The configuration and function (action) of the centroid / arch / bone bone axis determination block 120 shown in FIG. 4 will be described with reference to FIGS.
In FIG. 9 showing the functional blocks of the illustrated center-of-gravity / arch / bone bone axis determination block control device 120, the center-of-gravity / arch / bone bone axis determination block control device 120 (the portion surrounded by the broken line) The block 120A includes a centroid line determination block 120B that determines a centroid line that is the locus of the centroid point, an arch determination block 120C, a bone axis determination block 120D, a determination block 120E, and a storage block 120F. Reference numerals 120I and 120O in FIG. 9 indicate an input side interface and an output side interface, respectively.
As described with reference to FIG. 2, the center-of-gravity / arch / bone bone axis determination block control device 120 is connected to the fall risk determination block 70 by the information signal line IL110. In addition, the center-of-gravity / arch / bone bone axis determination block control device 120 is connected to the display device 22 by an information signal line IL109.

The center-of-gravity point determination block 120A includes measurement signals (positions (1), (2), (3), (7)) from the sensors 1, 2, 3, 5, 6, and 7 via the input-side interface 120I and the information signal line IL101. 5), (6), and (7) are received (measurement results of pressure or shear force) and have a function of obtaining the center of gravity (COP).
Information on the center of gravity point (the center of pressure on the sole of the foot at the moment) determined by the center of gravity point determination block 120A is transmitted to the center of gravity line determination block 120B via the information signal line IL102.
When the center-of-gravity point determination block 120A determines the center-of-gravity point (COP), it is determined on a case-by-case basis using conventionally known software technology and taking into account the characteristics of the person being measured. The same applies to the center-of-gravity line determination block 120B, the arch determination block 120C, and the bone axis determination block 120D described later.

The barycentric line determination block 120B has a function of receiving the barycentric point (COP) information from the barycentric point determining block 120A via the information signal line IL102 and determining the barycentric line that is the locus of the barycentric point.
The information on the centroid line determined by the centroid line determination block 120B is transmitted to the determination block 120E via the information signal line IL103.

The arch determination block 120C receives the measurement signals (positions (1), (2), (3), (7) from the sensors 1, 2, 3, 5, 6, 7 through the input side interface 120I and the information signal line IL104. 5), (6), and (7) pressure and shear force measurement values) are received, and an arch is determined based thereon.
In the arch determination block 120C, the positions and shapes of the vertical arch AR1, the outer arch AR2, and the horizontal arch AR3 constituting the arch are specified, and the arch is determined.
Information on the vertical arch AR1, the outer arch AR2, and the horizontal arch AR3 determined by the arch determination block 120C is transmitted to the determination block 120E via the information signal line IL105.

The bone axis determination block 120D includes measurement signals (positions (1), (2), (3), (5)) from the sensors 1, 2, 3, 5, 7 via the input-side interface 120I and the information signal line IL106. , (7) (measurement values of pressure and shear force), and the movement of the bone axis of the foot is grasped to determine the bone axis of the foot.
Information on the bone axis of the foot determined by the bone axis determination block 120D is transmitted to the determination block 120E via the information signal line IL107.

The memory block 120F stores data (normal values) when the center of gravity point, the center of gravity line, the arch, and the bone axis of the foot are considered to be “normal” (normal value). To the determination block 120E, and is referred to in the determination by the determination block 120E.
In addition to the normal value data, the storage block 120F stores a threshold value of the load acting on the positions (2) and (3), a threshold value of the shearing force applied to the position (1), and the like. .
Here, the threshold value of the load acting on the positions (2) and (3) is used in the determination block 120E to determine the hardness (flexibility) of the arch. Then, the threshold value of the shearing force applied to the position (1) is used in the determination block 120E to determine whether or not the heel is valgus.

The determination block 120E has a function of determining whether or not the centroid line determined by the centroid line determination block 120B is normal and the centroid line is not normal compared to normal value data (received from the storage block 120F) of the centroid line In this case, it has a function of determining how abnormal it is (how much it deviates from the normal state) (see steps S102 and S103 in FIG. 10).
The determination result of the determination block 120E is transmitted to the display device 122 and displayed via the output side interface 120O and the information signal line IL109. At the same time, it is transmitted to the fall risk determination block 70 via the output side interface 120O and the information signal line IL110.

In addition, the determination block 120E determines whether or not the arches (vertical arch AR1, outer arch AR2, lateral arch AR3) determined by the arch determination block 120C are normal compared to normal value data (received from the storage block 120F). And a function of determining how abnormal the arch is when it is not normal (how much it is deformed compared to a normal arch) (step S102 in FIG. 10). (See S103).
Then, the determination block 120E compares the measured value of the load applied to the positions (2) and (3) with the threshold value of the load (received from the storage block 120F), and determines the hardness (flexibility) of the arch. It has a function to judge. This function will be described later with reference to FIG.
Further, the determination block 120E compares the measured value of the force acting on the position (2) with the measured value of the force acting on the position (6) to determine the type of arch (“flat foot”, “normal”, “high arch”). It has the function to judge. This function will be described later with reference to FIG.
The determination result regarding the arch by the determination block 120E is transmitted and displayed on the display device 22 via the output side interface 120O and the information signal line IL109. At the same time, it is transmitted to the fall risk determination device 70 via the output side interface 120O and the information signal line IL110.

The determination block 120E has a function of determining whether or not the bone axis of the foot determined by the bone axis determination block 120D is normal compared to the normal value data of the bone axis (received from the storage block 120F), and the bone of the foot When the axis is not normal, it has a function of determining the degree of abnormality (how much the foot bone axis is deformed compared to the normal case) (steps S102 and S103 in FIG. 10). reference).
In addition, the determination block 120E compares the measured value of the shear force applied to the position (1) with a threshold value of the shear force (received from the storage block 120F) for determining whether or not the heel is valgus. Thus, it has a function of determining whether or not the heel is valgus. This function will be described later with reference to FIG.
The determination result regarding the bone axis by the determination block 120E is transmitted and displayed on the display device 22 via the output side interface 120O and the information signal line IL109. At the same time, it is transmitted to the fall risk determination device 70 via the output side interface 120O and the information signal line IL110.
When the control described later with reference to FIGS. 11, 12, and 13 is executed, measurement signals from the sensors 1, 2, 3, 5, 6, and 7 are transmitted via the input-side interface 120I and the information signal line IL111. Is transmitted to the decision block 120E. In other words, in the control described later with reference to FIGS. 11, 12, and 13, the measurement signals from the sensors 1, 2, 3, 5, 6, and 7 are the centroid point determination block 120 </ b> A, the centroid line determination block 120 </ b> B, The arch determination block 120C and the bone axis determination block 120D are not routed.

The display device 22 has a function of displaying the determination result transmitted from the determination block 120E.
Specifically, “whether the subject's center of gravity is normal”, “how abnormal if the center of gravity is not normal”, “whether the subject's arch (vertical arch, outer arch, lateral arch) is normal ”,“ How abnormal is the arch when it is not normal ”,“ Is the subject's foot bone axis normal or not ”,“ How much is abnormal when the foot bone axis is not normal ” It has a function to display including data.
In addition, the display device 22 determines, as the determination result of the determination block 120E, “arch hardness (flexibility)”, “arch type (flat feet, normal, high arch)”, and “whether the heel is valgus”. , It has a function to display including image data.
The display device 22 also has a function of transmitting the image data to the fall prevention instruction block 90 via the information transmission line CL76 (FIG. 2).

In FIG. 2, the fall prevention instruction block 90 receives the judgment result transmitted from the fall risk judgment block 70 and the image data transmitted from the display device 22, and based on these, the judgment result is “not normal. In this case, it has a function of presenting exercises, appliances, etc. for improving the situation (see FIGS. 10 to 13).

An example of an abnormality analysis of the foot by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
The flowchart of FIG. 10 measures the force acting on the positions (1), (2), (3), (5), (6), and (7), and the center of gravity (the center of pressure on the sole) is measured from the measurement result. ), Centroid line, arch, and bone axis of the foot are determined, whether the centroid line, arch, and bone axis of the foot are normal or not, exercise to suppress abnormalities, and control to design and determine the equipment used are shown ing.
In FIG. 10, in step S101, the force acting on the positions (1), (2), (3), (5), (6), (7) by the sensors 1, 2, 3, 5, 6, 7 is applied. measure. Then, the process proceeds to step S102.

In step S102, forces (pressure, shear) acting on the positions (1), (2), (3), (5), (6), and (7) in step S1 in the barycentric point determination block 120A (FIG. 9). Based on the measurement result of the force), the center of gravity point (center of pressure on the sole) is determined, and further, the center of gravity line that is the locus of the center of gravity point is determined in the center of gravity line determination block 120B (FIG. 9).
In step S102, in the arch determination block 120C (FIG. 9), the measurement result of the force acting on the positions (1), (2), (3), (5), (6), and (7) in step S101. Further, in step S102, in the bone axis determination block 120D (FIG. 9), positions (1), (2), (3), Based on the measurement results of the forces acting on (5) and (7), the bone axis of the foot is determined.

Next, in step S103, the center of gravity line, the arch (vertical arch AR1, outer arch AR2, lateral arch AR3), and the bone axis of the foot determined in step S102 are stored in the storage block 120F (FIG. 9). Compared with the data of the line, arch, and bone axis, it is determined whether or not the subject's center of gravity line, arch, and bone axis are normal based on the comparison result, and if abnormal, the degree of abnormality is determined.
In step S104, if any of the subject's center of gravity line, arch, or bone axis is determined to be abnormal in step S103, design and determine a suitable exercise, use instrument, etc. to suppress and improve the abnormality, Present. And control is complete | finished.

Another example of an abnormality analysis of the foot by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
As described above with reference to FIG. 6, from the measurement result of the force acting on the position (6) and the position (2), the types related to the arch of the subject are “flat feet” and “normal” in relation to the vertical arch AR1. And “High Arch”. here,
Force acting on position (2) ≈force acting on position (6), or
If the force acting on the position (2) ≦ the force acting on the position (6), the subject is a flat foot,
If the force acting on position (2)> the force acting on position (6), the subject is a “normal” foot that is neither a flat foot nor a high arch,
If neither a force acting on position (2) nor a force acting on position (6) is detected, the subject is classified as “high arch”.
The control (processing) that is determined using such a relationship is described in FIG.

In FIG. 11, in step S <b> 111, forces (for example, pressure and shear force) acting on the positions (2) and (6) are measured by the sensors 2 and 6. Then, the process proceeds to step S112.
In step S112, the force acting on the position (2) measured in step S111 is compared with the force acting on the position (6), and the force acting on the position (2) acts on the position (6). It is judged whether or not it is greater than the force to be applied.
As a result of the comparison in step S112, when the force acting on the position (2) is larger than the force acting on the position (6) (step S112 is “Yes”), the process proceeds to step S113.
In step S113, the subject's arch does not correspond to a flat foot or a high arch, and is determined to be “normal”, and the control ends.

As a result of the comparison in step S112, the force acting on the position (2) is substantially equal to the force acting on the position (6), or the force acting on the position (2) is smaller than the force acting on the position (6). In the case (when step S112 is “No (position (2) ≦ position (6))”), the process proceeds to step S114.
In step S114, it is determined that the subject's arch corresponds to “flat feet”. In this case, in the fall prevention instruction block 90 (FIG. 2), it is possible to present a device such as forming an arch on the insole (providing a device for improving flat feet).
As a result of the comparison in step S112, when neither the force acting on the position (2) nor the force acting on the position (6) is detected (step S112 is “No (position (2), force at position (6) is detected). Z))), the process proceeds to step S115.
In step S115, it is determined that the subject's arch corresponds to the “high arch”, and the control is terminated.
Although not shown in FIG. 11, in various determinations related to the arch, other positions (1), (3), (5), (7) other than (2) and (6) as necessary. It is necessary to refer to the measurement results of the force (pressure, shear force) acting on The same applies to the control of FIGS. 12 and 13 described later.

Another example of the abnormality analysis of the foot by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
As mentioned above, when the arch is stiff and the bone axis of the foot does not move inward, a large load is applied to the positions (2) and (3), and the knee is twisted during walking (pronation moment occurs) In the future, there is a risk of complaining of knee pain in a so-called “knee rub” condition.
The flowchart in FIG. 12 determines whether or not there is such a fear. Therefore, the force acting on the positions (2) and (3) is measured, and if the measured force is large, a determination such as “the arch is hard and the knee may be twisted during walking” is performed. At the same time, a device for exercise and use for suppressing “twisting the knee while walking (pronation moment occurs)” is presented.

In FIG. 12, in step S <b> 121, forces (pressure, shear force) acting on the positions (2) and (3) are measured by the sensors 2 and 3. Then, the process proceeds to step S122.
In step S122, based on the force acting on the positions (2) and (3) measured in step S121, it is determined whether or not a large load is applied to the positions (2) and (3). Such determination is based on, for example, measurement results of forces acting on the positions (2) and (3), various data when the knee is twisted during walking (pronation moment is generated), and measurement data of the subject. This is performed by comparing with a comprehensively determined threshold value.
When it is determined in step S122 that a large load (to be dealt with) is applied to the positions (2) and (3) (step S122 is “Yes”), the process proceeds to step S123.
On the other hand, when it is determined in step S122 that a large load (which should be dealt with) is not applied to the positions (2) and (3) (step S122 is “No”), the control is terminated.

In step S123 (when it is determined that a large load (which should be dealt with) is applied to the positions (2) and (3)), “the arch is stiff and the bone axis of the foot does not move inward (therefore, the O leg). It makes me feel and my legs bend outward). Then, the process proceeds to step S124.
In step S124, it is determined that the subject is “twisting the knee while walking (pronation moment is generated)” at the present or in the future. There is a risk of complaining of knee pain. "
Then, the process proceeds to step S125.

In step S125, an improvement measure or a countermeasure for the case where the knee is twisted (pronation moment is generated) during walking and there is a possibility of complaining of knee pain in a so-called “knee rubbing” state in the future is presented. .
For example, in order to prevent knee torsion (occurrence of pronation moment) during walking and prevent future knee pain, the foot bone axis is easily moved inward or the foot bone axis is outside. Presenting a gymnastics to restrain the movement and encourage the movement to the inside. For example, in a shoe or an insole, by adjusting the height of the outer side of the shoe, the height of the inner side, or the height of the heel itself, the movement of the heel can be limited and brought close to a normal center of gravity line. Therefore, knee pain is also reduced.
Step S125 includes a case where not only the information processing apparatus but also an expert or doctor receives the determination results of steps S123 and S124 and makes a presentation.

Still another example of the abnormal analysis of the foot by the center-of-gravity / arch / bone bone axis determination block control device 120 will be described mainly with reference to FIG.
As shown in FIG. 8, when the heel is bent (turned outward), the heel is hard and does not bend outward (the little finger side), so the value of the shear force at the position (1) becomes small.
In the flowchart of FIG. 13, the shearing force acting on the position (1) is measured, and when the shearing force is small, it is determined that “the heel is bent (turned outward) and the heel does not bend outward”. Then, it presents gymnastics and appliances to suppress it.

In FIG. 13, in step S131, the shear force acting on the position (1) is measured by the sensor 1. Then, the process proceeds to step S132.
In step S132, it is determined whether or not the shear force acting on the position (1) measured in step S131 is equal to or less than a threshold value N. Here, the threshold value N is comprehensively determined based on accumulated data relating to hallux valgus and measurement data of the subject.
If the shearing force acting on the position (1) is equal to or less than the threshold value N in step S132 (step S132 is “Yes”), the process proceeds to step S133.
On the other hand, when the shearing force acting on the position (1) is larger than the threshold value N in step S132 (step S132 is “No”), the control is terminated.

In step S133 (when the shearing force acting on the position (1) is equal to or less than the threshold value N), the test subject's “the heel is bent (upside down), the heel is hard and does not bend outward (the little finger side). It is judged as “state”. Then, the process proceeds to step S134.
Here, when the heel is hard and does not bend outward, stress may be applied to the knee and pain may develop. Therefore, in step 1S34, since the heel is hard and does not bend outward, an improvement measure or a coping method when there is a risk of stress on the knee and the onset of pain is presented.
In step S134, for example, an insole or a shoe with a gap on the outside of the bag is presented. In the shoe or insole, by adjusting the height of the outside of the shoe, the height of the inside of the shoe, or the height of the heel itself, the movement of the heel can be limited and brought close to the normal center of gravity line. Therefore, knee pain is also reduced.

Although not shown, the sole measuring system 100 can also improve the hallux valgus.
When the hallux valgus or the tendency exists, a large load is applied to the position (7), and the ground is strongly kicked at the position (3). Therefore, the force of kicking the ground at the position (5) is suppressed, the shoes and the insole are devised so that the load related to the position (7) is appropriate, the device is proposed, or the ground at the position (5) is It is possible to propose an exercise program that suppresses the kicking force and makes the load related to the position (7) appropriate.

The foot measurement system 100 and the center-of-gravity / arch / bone bone axis determination block control device 120 determine the center of gravity of the foot, the arch, and the bone axis of the foot, and “the center of gravity line of the foot” which is the locus of the center of gravity of the foot. Thus, by comparing with normal data, it is possible to determine the presence or absence of various abnormalities (abnormalities other than knee osteoarthritis and hallux phalanges) that cannot be determined only by foot pressure distribution. Then, it is possible to propose a device or exercise that corrects or suppresses the abnormality. In particular, at the stage of growth like elementary school students and junior high school students, there is a high possibility that various abnormalities will be resolved and the normal state will be obtained by the exercise and equipment described above.
In other words, according to the embodiment, as parameters for determining various abnormalities other than knee osteoarthritis and hallux valgus, parameters other than foot pressure distribution such as foot center of gravity, arch, and foot bone axis are used. Yes.

In the sole measurement system 100 and the center-of-gravity / arch / bone bone axis determination block control device 120, the sensors 1 to 7 are set to the rib raised portion (position 1), the cubic bone (position 2), and the fifth metatarsal head (position). 3) Since the first metatarsal head (position 5), the intermediate wedge bone (position 6), and the lateral foot arch center (position 7) are provided, the center of gravity of the foot, the arch, and the bone axis of the foot are provided. Can be determined accurately.
Then, the “foot barycentric line” that is the trajectory of the barycentric point can be easily obtained.

Further, in the sole measurement system 100 and the center of gravity / arch / bone bone axis determination block control device 120, the sensors 1 to 7 are provided on the members that contact the soles of shoes or soles that contact the feet of the subject. The structure which contacts a test subject can be reduced in size.
Therefore, it does not give extra stress to the person being measured like a large-sized device, and therefore accurate measurement is possible. In addition, if the device is downsized, it is possible to directly measure the force (shearing force or pressure) acting on the above-described position while exercising (for example, during walking). Unlike the prior art, it is not necessary to estimate the sole pressure during walking from the sole pressure in a stationary state.
In particular, in the case shown in FIG. 4, since the outputs of the sensors 1 to 7 are wirelessly transmitted to the center of gravity / arch / bone bone axis determination block control device 120, the measurement results are transmitted by wire. In comparison, measurement results can be easily transmitted while the subject is exercising (for example, walking), and analysis is easily performed.

Here, when the pressure value on the thumb contact surface (position 4) is large, it means that the toes are used effectively during walking and the force to kick the ground is large. That is, if the pressure value on the thumb contact surface (position 4) is large, it means that the toes are used effectively during walking and the force to kick the ground is large. Therefore, if other conditions are the same, when the pressure value on the thumb contact surface (position 4) is large, the stride is large, the walking speed is fast, and the clearance (distance between the toe and the contact surface) is also large. Become. Therefore, walking is stable and there is little risk of falls during walking.
In the sole measurement system 100, since the sensor 4 is provided on the thumb contact surface (position 4), in addition to the abnormality of the foot, the walking function can be determined and the possibility of falling during walking can be determined.

In the sole measurement system 100 and the bone center determination block control device 120 for the center of gravity, the arch, and the bone, based on the measurement values of the force acting on the position (6) and the position (2), the test subject is “flat foot”, “normal”, Which of the “high arch” is applicable can be specified (FIG. 8).
Furthermore, from the measured values of the force acting on the positions (2) and (3), it is possible to determine whether or not “the knee is twisted while walking because the arch is stiff”, and the exercise and equipment used Can also be presented (FIG. 12).
In addition, from the measured value of the shear force acting on the position (1), it is possible to determine whether or not “the heel is bent (valgus) and the heel does not bend outward”. Thus, it is possible to present a device to be used to suppress it (FIG. 13).
Here, FIG. 8 shows the case of valgus, but the sole measurement system and the center-of-gravity / arch / bone bone axis determination block control device 120 can cope with varus.

Next, the foot determination system 200 will be described in detail with reference to FIGS.
First, the foot determination system 200 will be described with reference to FIGS.
In FIG. 14, a foot determination system 200 includes a table 201 that is an imaging location where both feet of the subject M can be placed, an imaging device 202 that captures an image of the subject M (for example, a camera: the same applies hereinafter), and an imaging device 202 ( It has a skeleton model creation and motion analysis block 210 which is an analysis device for analyzing image data of a subject M photographed by a camera.
A rail 204 is arranged concentrically with the table 201 around the table 201 (photographing location). A camera 202 is movably installed on the rail 204.

Although not clearly shown, the camera 202 is provided with a drive mechanism (traveling mechanism), and the camera 202 moves on the rail 204 as indicated by an arrow AR by the drive mechanism (not shown). Move fast. Here, it may be non-uniform movement or intermittent movement.
While the camera 202 moves on the rail 204 at a constant speed, for example, every time the camera 202 moves by a distance corresponding to the central angle of the concentric rail 204 of 30 ° (rail) (Every time the camera 2 moves by a circumferential interval equal to 12 in the circumferential direction on 204), the camera 202 captures a still image at that moment.
Although not shown, the camera 202 shoots from a position of about 30 ° upward from the horizontal direction, not a position just beside the top surface of the table 201 (horizontal position: the same position in the vertical direction). Is preferred. The same applies to videos. This is because if the subject 201 is photographed from a position of about 30 ° upward from the horizontal direction with respect to the top surface of the table 201, the eyelid of the subject M can be easily photographed and the foot feature points can be easily obtained.
The surface (especially the top surface) of the base 201 is preferably provided with a geometric pattern (for example, a so-called “mosaic pattern”) in order to make it difficult to disturb the feature points of the foot.

Here, the camera 202 has a function of shooting a moving image as well as a function of shooting a still image.
For example, the subject M placed on the table 201 has a state in which the sole is in close contact with the table (so-called “solid foot” state) and a state in which the heel is lifted up as much as possible (so-called “toe standing” state). repeat. The camera 202 shoots a still image while moving on the rail 204 around the table 201, while the subject M has his sole in close contact with the table (solid foot) and a state where the heel is lifted up as much as possible ( Take a video of how to repeat the toe.
Although not shown, a portion corresponding to the toe of the subject M's foot on the table 201 may be configured to be movable downward, and the motion of the subject M raising and lowering the toe may be captured as a still image and a moving image. Since the action of raising and lowering the toes is not muscle driven, it is preferable for determining skeletal abnormalities.
Although not clearly illustrated, in order to prevent light from being reflected from outside (for example, sunlight) and making an image difficult to see and to improve measurement accuracy, the camera 202 has light of a specific wavelength ( You may attach the filter which permeate | transmits the light of a specific color. In addition, a new reference point is set by adding information on light of a specific wavelength (light of a specific color) from outside the system 200 or by attaching a marker to the skin of the subject M. Can be configured. As the marker, for example, a marker that reacts to near infrared light or ultraviolet light can be used.

Here, instead of using one camera 202 having a function of shooting a moving image at the same time as taking a still image, a plurality of (for example, two) cameras are prepared, and one camera is on the rail 204. The still camera may be photographed at regular intervals while moving the camera, and the other camera may be photographed while moving on the rail 204.
In the above description, it is described that the camera 202 is moving around the base 201 (on the rail 204) at a constant speed. However, the camera 202 is fixed at a predetermined position (fixed point) and the base 201 is fixed. May be rotated at a constant speed (that is, rotating). Also in this case, it may be an inconstant speed movement or an intermittent movement.

Still image data and moving image data captured by the camera 202 are transmitted to the skeleton model creation and motion analysis block 210.
Here, as shown in FIG. 14, when the camera 202 is installed on the rail 204 and a still image and a moving image are taken while moving on the rail 204, the camera 202 and the skeleton model creation and motion analysis block 210 are Connected wirelessly. In that case, the still image data and the moving image data are transmitted from the camera 202 to the skeleton model creation and motion analysis block 210 by wireless. In FIG. 14, the camera 202 and the skeletal model creation and motion analysis block 210 are connected by a signal line SR. The signal line SR includes both wireless and wired, and still image data and moving image data are skeleton. The data is transmitted to the model creation and motion analysis block 210 by radio or wire.
Although not shown, when the camera 202 is fixed at a fixed point and the base 201 is rotated at a fixed speed (rotation) at the fixed position, the still image data and the moving image data are wired (for example, for signal transmission). Cable) to the skeleton model creation and motion analysis block 210. Also in this case, it is possible to transmit data wirelessly.

The skeleton model creation and motion analysis block 210 shown in FIG. 14 will be described with reference to FIGS. 15 and 16.
In FIG. 15 (functional block diagram), a skeleton model creation and motion analysis block 210 surrounded by a broken line includes a stereoscopic image creation block 210A, a stereoscopic image motion analysis block 210B, a skeleton model creation block 210C, a skeleton model motion analysis block 210D, It has an abnormal site identification block 210E, an abnormal site quantification block 210F, a storage block 210F, and a comparison block 210H. Reference numerals 210I and 210O denote an input side interface and an output side interface, respectively.

The skeleton model creation and motion analysis block 210 is connected to the display device 22 via information signal lines IL216 and IL219, and is connected to the fall risk determination block 70 via information signal lines IL216, 217, IL219 and 220. Yes.
In FIG. 15, the types of information exchanged between the respective blocks via the information signal line are indicated by a symbol “A” for still image data, a symbol “B” for moving image data, and a symbol “C” for stereoscopic image data. The skeleton model data is indicated by a symbol “D”.

The stereoscopic image creation block 210A receives still image data captured by the camera 202 via the input-side interface 210I and the information signal line IL201, and based on the still image data, the foot of the subject M (from the sole to the heel) (For example, a part reaching the knee)) (see step S203 in FIG. 16).
The still image data is, for example, a still image of the foot part of the subject M (location from the sole to the upper part of the heel and below the knee), and is an image related to the state of the solid foot, the state of standing on the toe, and the state therebetween. Includes images while moving the toes up and down.

When creating a stereoscopic image in the stereoscopic image creation block 210A, for example, existing (commercially available) software is used. Then, in consideration of the characteristics of the subject M and the like, it is created while processing on a case-by-case basis.
Also in other blocks described later (stereoscopic image motion analysis block 210B, skeleton model creation block 210C, skeleton model motion analysis block 210D, abnormal site identification block 210E, abnormal site quantification block 210F, storage block 210G, comparison block 210H) Similar to the image creation block 210A, the necessary processing is executed while processing on a case-by-case basis using existing (commercially available) software in consideration of the characteristics of the subject M and the like.
The stereoscopic image data created by the stereoscopic image creation block 210A is transmitted to the stereoscopic image motion analysis block 210B via the information signal line IL202, and is transmitted to the skeleton model creation block 210C via the information signal line IL203. The signal is transmitted to the abnormal site identification block 210E via the signal line IL204.

The stereoscopic image motion analysis block 210B receives the stereoscopic image data from the stereoscopic image creation block 210A via the information signal line IL202, and at the same time, the moving image data captured by the camera 202 via the input side interface 210I and the information signal line IL205 ( The subject M receives moving image data that repeats the state of a solid foot and a toe standing on the table 1, or moving image data that repeats a motion of raising and lowering the toes), and based on the stereoscopic image data and the moving image data, a stereoscopic image (E.g., determining whether there is an abnormality in the heel up / down movement or the toe up / down movement) (see step S <b> 206 in FIG. 16). By analyzing the movement of the stereoscopic image, it is possible to more accurately determine the presence or absence of an abnormality of the foot or the location where the abnormality of the foot exists.
The motion analysis data of the stereoscopic image analyzed by the stereoscopic image motion analysis block 210B is transmitted to the comparison block 210H via the information signal line IL206, and the skeleton model motion via the information signal line IL207 branched from the information signal line IL206. It is transmitted to the analysis block 210D.

The skeleton model creation block 210C receives the stereoscopic image data from the stereoscopic image creation block 210A via the information signal line IL203, and at the same time, the skeleton model creation block 210C receives the skeleton data from the storage block 210G via the information signal line IL208. (Various skeleton data) is received, and a skeleton model (stereoscopic skeleton image) of the subject's foot is created based on the stereoscopic image data and the skeleton data (FIG. 16). Step S207).
The skeletal model data created by the skeletal model creation block 210C is transmitted to the abnormal site specifying block 210E via the information signal line IL209, and is transmitted to the skeletal model motion analysis block 210D via the information signal line IL210.

The skeletal model motion analysis block 210D receives the skeleton model data from the skeleton model creation block 210C via the information signal line IL210, and receives moving image data captured by the camera 202 via the input side interface 210I and the information signal line IL211. It has a function of receiving and analyzing the motion of the skeleton model based on the skeleton model data and the moving image data (see step S208 in FIG. 16). Since the motion of the skeletal model is analyzed, unlike a CT scanner, it is possible to more accurately determine the presence or absence of a foot abnormality or the location where a foot abnormality exists.
Note that in order for the skeleton model motion analysis block 210D to analyze the motion of the skeleton model, in addition to the skeleton model data and the moving image data, the three-dimensional image motion from the stereoscopic image motion analysis block 210B via the information signal lines IL206 and IL207. Analysis data may be acquired.
The motion analysis data of the skeleton model analyzed by the skeleton model motion analysis block 210D is transmitted to the comparison block 210H via the information signal line IL212.

The abnormal part specifying block 210E receives the captured image data (still image data and moving image data from the camera 202 via the input-side interface 210I and the information signal line IL213, and the image data (still image data and moving image data). ) Based on the presence / absence and abnormality of the subject M's foot (see step S205 in FIG. 16).
The abnormal part specifying block 210E receives the stereoscopic image data from the stereoscopic image creation block 210A via the information signal line IL204, and refers to the stereoscopic image data in addition to the image data (still image data and moving image data) to examine the subject. It is also possible to specify the presence / absence of an abnormality and the abnormal part in M's foot (see step S205 in FIG. 16).

The abnormal part specifying block 210E receives the skeletal model data from the skeletal model creation block 210C via the information signal line IL209, and also refers to the skeletal model data to specify whether there is an abnormality in the foot of the subject M and the abnormal part. You can also By using this skeletal model, it is possible to determine abnormalities in the foot that could not be determined only by still images and moving images.
Data relating to the abnormal part identified by the abnormal part identification block 210E is transmitted to the abnormal part quantification block 210F via the information signal line IL214.

The abnormal part quantification block 210F receives data relating to the abnormal part from the abnormal part specifying block 210E via the information signal line IL214, and quantifies and quantifies the degree of abnormality in the abnormal part based on the data relating to the abnormal part. It has a function.
Here, the abnormal part quantification block 210F receives the image data captured by the camera 2 via the input side interface 210I, the information signal line IL213, and the information signal line IL215 branched from the information signal line IL213, and In some cases, the degree of abnormality in an abnormal part is quantified and quantified based on image data (still image data, moving image).

Data relating to the quantification and quantification of the degree of abnormality determined by the abnormal part quantification block 210F is transmitted to the display device 22 via the information signal line IL216 and the output side interface 210O, and the information signal line IL216 and output. It is transmitted to the fall risk determination block 70 via the side interface 210O and the information signal line IL217.
The memory block 210G stores data on normal foot and skeleton models (normal value data: for example, moving image data of a person having a normal skeleton), and the normal value data is transmitted via the information signal line IL218. It is transmitted to the comparison block 210H and used for comparison by the comparison block 210H.
The storage block 210G stores, for example, various data of the existing foot skeleton, and the skeleton data is transmitted to the skeleton model creation block 210C via the information signal line IL208, and the skeleton by the skeleton model creation block 210C. Used for model creation.

The comparison block 210H receives the skeletal model motion analysis data from the skeletal model motion analysis block 210D via the information signal line IL212, and the normal foot and skeleton model from the storage block 210G via the information signal line IL218. It has a function of receiving moving image data (normal value data) and comparing motion analysis data of the skeleton model with normal value data (see step S209 in FIG. 16).
Further, the comparison block 210H receives the motion analysis data of the stereoscopic image from the stereoscopic image motion analysis block 210B via the information signal line IL206, and normal moving image data of the foot from the storage block 210G via the information signal line IL218. (Normal value data) is received and the motion analysis data of the stereoscopic image is compared with normal value data.
The comparison result between the motion analysis data of the skeleton model and the normal value data in the comparison block 210H and the comparison result of the motion analysis data of the stereoscopic image and the normal value data are displayed via the information signal line IL219 and the output side interface 210O. 22 and the information signal line IL219 and the output side interface 210O and the information signal line IL220 to the fall risk determination block 70.

The display device 22 has a function of displaying data relating to quantification and quantification of the degree of abnormality in the abnormal part transmitted from the abnormal part quantification block 210F of the skeleton model creation and motion analysis block 210.
The display device 22 has a function of displaying the comparison result transmitted from the comparison block 210H of the skeleton model creation and motion analysis block 210.
For example, with respect to “whether or not the subject's foot is abnormal and the result of quantitatively and numerically expressing the degree of abnormality”, the comparison with the image analysis result, stereoscopic image analysis result, and skeleton model analysis result by the abnormal part quantification block 210F The stereoscopic image motion analysis result and the skeleton model motion analysis result by the block 210H are displayed.

The fall prevention instruction block 90 shown in FIG. 2 receives the comparison result transmitted from the comparison block 210H of the skeleton model creation and motion analysis block 210, and improves, treats, and suppresses abnormalities of the foot based on the comparison result. It has a function of presenting a suitable device and exercise (see step S210 in FIG. 16).
The fall prevention instruction block 90 receives the data regarding the quantification and quantification of the degree of abnormality in the abnormal part transmitted from the abnormal part quantification block 210F of the skeletal model creation and motion analysis block 210, and based on the data, Equipment and exercise suitable for improving, treating, and suppressing abnormalities in the head can also be presented.
In the fall prevention instruction block 90, abnormalities of the foot are improved according to each analysis level (image data analysis level, stereoscopic image analysis level, skeletal model analysis level, stereoscopic image motion analysis level, skeleton model motion analysis level), treatment, It is possible to present a device or exercise to suppress.

The blocks 210A to 210H of the skeleton model creation and motion analysis block 210 shown in FIG. 15 are configured by an information processing device such as a computer. However, the blocks 210A to 210H may be configured by an operator having other specialized knowledge or other specialists.
As described above, the fall prevention instruction block 90 that presents a suitable instrument and exercise for improving, treating, and suppressing abnormalities in the foot is also composed of an information processing machine such as a computer. It is possible to use an operator with other knowledge and other specialists as the fall prevention instruction block 90.

Control in the foot determination system 200 shown in FIGS. 14 and 15 will be described mainly with reference to FIG.
In FIG. 16, in step S <b> 201, the camera 202 captures a still image of the subject M's foot (from the sole to the upper part of the heel and below the knee). Then, the subject M is placed on the table 201 (photographing location, FIG. 14), and the state of the solid foot and the state of standing on the toes is repeated (or the raising and lowering of the toes is repeated).
Here, at the same time as shooting a still image in step S201, a moving image is shot in step S204. Step S204 will be described later.
The shooting of still images and moving images is performed in the manner described with reference to FIG.
After shooting the still image in step S201, the process proceeds to step S202.

In step S202, it is determined whether or not the shooting of the still image in step S201 has been completed and has been shot 360 degrees or over the entire circumference of the rail 204.
If still image shooting has not been completed (“No” in step S202), the process returns to step S201, and still image shooting is continued. If the shooting of the still image has been completed (step S202 is “Yes”), the process proceeds to step S203.
In step S203, a stereoscopic image is generated based on the captured still image (steps S201 and S202) in the stereoscopic image generation block 210A (FIG. 15) of the skeleton model generation and motion analysis block 210.

In step S204, which is executed at the same time as capturing a still image in step S201, the camera 202 uses the camera 202 to move a moving image of the foot of the subject M (location from the sole to the upper part of the heel and below the knee). Shooting foot-toe-toe-toe state or moving the toes up and down).
Movie shooting is also as described with reference to FIG.
Note that step S204 may be performed before or after step S201.

In step S205, in the abnormal part specifying block 210E (FIG. 15), the presence / absence of an abnormality in the foot of the subject M and the abnormal part are specified based on the still image taken in steps S201 and S202 and the moving picture taken in step S204. .
In step S205, the abnormal part specifying block 210E can also specify the presence / absence and abnormal part of the foot of the subject M with reference to the stereoscopic image created in step S203 in addition to the still image and the moving image. .
Further, in step S205, the abnormal part quantification block 210F (FIG. 15) quantifies the degree of abnormality in the abnormal part based on the still image and the moving image based on the data regarding the abnormal part specified by the abnormal part specifying block 210E. Quantification can also be performed.

In step S206, the stereoscopic image motion analysis block 210B (FIG. 15) performs motion analysis of the stereoscopic image based on the stereoscopic image created in step S203 and the moving image taken in step S204.
Although not explicitly shown in FIG. 15, the result of the motion analysis of the stereoscopic image in step S206 is compared with the normal foot moving image (normal value) stored in the storage block 210G (FIG. 15) (see step S209). ), It is possible to clarify a device and exercise suitable for improving, treating, and suppressing abnormalities in the foot.

In step S207, in the skeleton model creation block 210C, from the stereoscopic image created in step S203 and the skeleton data stored in the storage block 210G (for example, various data of the skeleton of the existing foot), the foot of the subject M A skeleton model (three-dimensional foot skeleton image) is created.
Further, in step S207, with reference to the created skeleton model (in addition to the still image captured in steps S201 and S202 and the moving image captured in step S204), an abnormality in the foot of the subject M is detected in the abnormal region specifying block 210E. After the presence / absence and the abnormal part are specified, the abnormal part quantification block 210F quantifies and quantifies the degree of abnormality in the abnormal part of the foot of the subject M.

In step S208, the skeleton model motion analysis block 210D analyzes the movement of the skeleton model based on the skeleton model created in step S207 and the moving image photographed in step S204. In addition, in the motion analysis of the skeleton model, the motion analysis data of the stereoscopic image created in step S206 can be referred to in addition to the skeleton model and the moving image.
In step S209, in the comparison block 210H, the motion analysis result (analysis data) of the skeleton model analyzed in step S208 is compared with the motion (moving image data, normal value) of the normal skeleton model stored in the storage block 210G.
Although not clearly shown in FIG. 16, the result of comparison between the motion of the skeletal model in step S209 and the motion (normal value) of the normal skeleton model, the presence or absence of abnormalities in the foot of subject M in steps S205 and S207, and the abnormal part The result of quantification and quantification of the degree of abnormality in the abnormal part is displayed on the display device 22 (FIG. 2).

In step S210, the fall prevention guidance block 90 (FIG. 2) improves, treats, and suppresses abnormalities in the foot based on the comparison result between the motion of the skeleton model in step S209 and the motion of the normal foot (normal value). Present suitable instruments and exercises to do.
Although not clearly shown in FIG. 16, in the fall prevention instruction block 90, based on the results of quantification and quantification of the degree of abnormality in the abnormal part in step S <b> 205 and step S <b> 207, Equipment and exercises suitable for suppression can also be presented.

In the foot determination system 200 of FIGS. 14 and 15, a stereoscopic image of the foot of the subject M is created based on the captured still image, and the subject M's foot data is generated using the stereoscopic image and existing skeleton model data. A foot skeleton model (three-dimensional foot skeleton image) can be created.
And while visually recognizing the skeletal model, it is possible to specify the presence / absence of abnormality, specify the abnormal part, and digitize it, so it is possible to determine abnormalities in the foot that could not be determined only with still images and movies Become. At the same time, it is possible to quantify or quantify the anomaly at the anomalous location (using a skeleton model).
In addition, based on the captured still image and moving image, the presence or absence of an abnormality in the foot of the subject M and the abnormal part can be specified, quantified, and quantified with reference to the stereoscopic image.

In the foot determination system 200 of FIGS. 14 and 15, the motion in the skeleton model is analyzed based on the skeleton model and the captured moving image (the subject M repeats the state of the solid foot and the toe-up state on the table 1). I can do it. And by analyzing the motion of the skeletal model and comparing it with normal motion, it is possible to more accurately determine the presence or absence of foot abnormalities or the location where there are foot abnormalities, similar to the application of CT scan technology I can do it.
As a result, devices and exercises suitable for improving, treating, and suppressing foot abnormalities can be presented more effectively than in the case based on conventional two-dimensional data.

Furthermore, in the foot determination system 200 of FIGS. 14 and 15, it is possible to analyze a motion in a stereoscopic image using stereoscopic image data and moving image data.
By analyzing the movement of the stereoscopic image and comparing it with a normal motion, it is possible to determine the presence or absence of an abnormality in the foot or the location where the abnormality in the foot exists. When there is an abnormality, it is possible to present a device or exercise suitable for improving, treating, or suppressing the abnormality of the foot.
Further, as described above, the presence / absence of abnormality in the foot of the subject M, the abnormal part can be identified, quantified, and quantified based on the skeletal model, the captured still image, the moving image, and the stereoscopic image. Using the identified abnormal part data, quantified and quantified data in the abnormal part, it is possible to present a device and exercise suitable for improving, treating, and suppressing foot abnormalities.

In the foot determination system 200 of FIGS. 14 and 15, a still image obtained by photographing the foot of the subject M from the entire circumference without using a light beam having human body permeability (for example, so-called “X-ray”). It is possible to create a stereoscopic image by using it and analyze the movement of the stereoscopic image using the stereoscopic image and a moving image. As a result, it is possible to more accurately determine the presence or absence of a foot abnormality or a location where a foot abnormality exists, as compared to a diagnosis based on a conventional two-dimensional image.
Then, the skeleton image of the foot of the subject M can be obtained using the stereoscopic image, similarly to the case of using the CT scan technique. In this case, unlike the case where so-called “X-rays” are used, there is no need to handle radioactive materials, so there is no problem of exposure to operators and the like.

Next, with reference to FIG. 17, the modification of the foot | foot part determination system 200 of FIG. 14, FIG. 15 is demonstrated.
In the foot determination system 200 of FIGS. 14 and 15, the camera 202 moves around the base 201, or the camera 202 is fixed at a fixed point, and the base 201 rotates, so that one or a plurality of units (for example, Still images and moving images are taken by the two cameras on the entire circumference of the foot of the subject M (for example, 12 places arranged at equal circumferential intervals with a central angle changed by 30 °).
On the other hand, in the modification of FIG. 17, the camera 202 or the base 201 (the foot of the subject M on the base) is fixed without rotating (the state where the position of the base 201 and the camera 202 does not change relative to each other). A plurality of cameras (for example, twelve cameras arranged at equal intervals in the circumferential direction at a central angle θ = 30 °). Yes.
In other words, in the modified example of FIG. 17, only the subject M on the table 201 is moving, and the subject M is in a state where the sole is in close contact with the table as in the first embodiment. The state is repeated or the toe is raised and lowered repeatedly.
Reference numeral 204A in FIG. 17 is a virtual line extending in the circumferential direction, and twelve cameras 202 are arranged on the virtual line 204A at equal intervals. In FIG. 17, the skeletal model creation and motion analysis block 210 (see FIG. 1) is not shown.

In the modification of FIG. 17, all of a plurality of (for example, 12) cameras capture a still image and a moving image. Therefore, the rail 204 (FIG. 14) and the drive mechanism (traveling mechanism) arranged for moving the camera 202 concentrically with the base 201 are unnecessary.
Other configurations and operational effects in the modified example of FIG. 17 are the same as those of the foot determination system 200 shown in FIGS.

A foot determination system different from the foot determination system 200 of FIGS. 14 to 16 will be described with reference to FIGS.
The camera 202 used in the foot determination system 200 of FIGS. 14 to 16 has the ability to capture a still image or a moving image, but cannot perform imaging using a light beam or the like having human body permeability.
On the other hand, in FIGS. 18 to 20, a skeleton photograph of the subject's foot is taken using a light beam having a human body permeability, such as so-called “X-ray”.
Hereinafter, the difference between the foot determination system of FIGS. 18 to 20 and the foot determination system 200 of FIGS. 14 to 16 will be mainly described. In the foot determination system of FIGS. 18 to 20, the same components as those of the foot determination system 200 of FIGS. 14 to 16 are denoted by the same reference numerals.

18, the foot determination system 201 in FIGS. 18 to 20 includes a table 201 configured to allow the subject M to place both feet, and an imaging device 203 (X-ray irradiation mechanism 203A) that captures an image of the subject M. And an X-ray camera 203B), and a skeleton model creation and motion analysis block 211 for analyzing the image data of the subject M photographed by the imaging device 203. Here, the imaging device 203 has a device 203A (X-ray irradiation mechanism) having a function of irradiating a light ray having a human body permeability and a function of taking an image (X-ray photograph: X-ray photograph) by a light ray having a human body permeability. It is comprised with the combination of the apparatus 203B (X-ray camera) which has.
Although not shown, also in the foot determination system 201 of FIGS. 18 to 20, the imaging device 203 (203A, 203B) is located at a position just beside the top surface of the table 201 (horizontal position: the same in the vertical direction). It is preferable to take a picture from a position of about 30 ° upward from the horizontal direction. The same applies to videos. This is because if the subject 201 is photographed from a position of about 30 ° upward from the horizontal direction with respect to the top surface of the table 201, the eyelid of the subject M can be easily photographed and the foot feature points can be easily obtained.
In the foot determination system 201 of FIGS. 18 to 20, it is not necessary to give a geometric pattern to the surface (particularly the top surface) of the table 201.

A rail 204 is concentrically arranged around the base 201, and an X-ray irradiation mechanism 203A and an X-ray camera 203B are movably provided on the rail 204. The X-ray irradiation mechanism 203A and the X-ray camera 203B have a drive mechanism (traveling mechanism), and the X-ray irradiation mechanism 203A and the X-ray camera 203B move on the rail 204 at a constant speed (arrow AR). ). Also in the foot determination system 201 in FIGS. 18 to 20, such movement is not limited to constant speed movement, and may be non-uniform speed movement, intermittent movement, or the like.
Here, the relative positions of the X-ray irradiation mechanism 203 </ b> A and the X-ray camera 203 </ b> B are point-symmetric about the stand 201 on the rail 204. Therefore, when X-rays are emitted from the X-ray irradiation mechanism 203A, an X-ray photograph of the foot part of the subject M placed on the table 201 (from the sole to the upper part of the heel, for example, below the knee) is obtained by the X-ray camera 203B. Taken.

14 to 17, for example, the X-ray irradiation mechanism 203A and the X-ray camera 203B move by a distance corresponding to the center angle of the concentric rail 204 corresponding to 30 ° at predetermined intervals. Every time the X-ray irradiation mechanism 203A and the X-ray camera 203B are moved by a circumferential interval that divides the rail into 12 equal parts, the X-ray irradiation mechanism 203A and the X-ray camera 203B A photograph (still image) can be taken.

The X-ray camera 203B has a function of taking a normal moving image as well as taking an X-ray photograph as a still image.
For example, the subject M placed on the table 201 has a state in which the sole is in close contact with the table (so-called “solid foot” state) and a state in which the heel is lifted up as much as possible (so-called “toe standing” state). repeat. The X-ray irradiation mechanism 203A and the X-ray camera 203B move on the rail 204 around the table 201 to take an X-ray photograph as a still image, while the subject M is in close contact with the table (solid foot) ) And a state where the heel is lifted up as much as possible (toe standing) as a video.
Although not shown, in the foot determination system 201 of FIGS. 18 to 20, the portion corresponding to the toe of the subject M on the table 201 is configured to be movable downward so that the subject M raises and lowers the toe. The operation to be performed may be taken with an X-ray photograph and a moving image.

Here, instead of using one X-ray camera 203B having a function of taking a moving image at the same time as taking a radiograph as a still image, another camera for taking a moving image other than X-rays is provided. You can also In that case, the X-ray irradiation mechanism 203A and the X-ray camera 203B move on the rail 204 to take X-ray photographs at regular intervals, and the other camera moves on the rail to take a moving image. Composed.
In the above description, it is described that the X-ray irradiation mechanism 203A and the X-ray camera 203B (and the moving image capturing camera) are moving around the table 201 at a constant speed. The line camera 203B (and the moving image shooting camera) may be fixed at a fixed point, and the table 201 may be rotated at a constant speed (that is, rotated) at the fixed position. Also in this case, it may be an inconstant speed movement or an intermittent movement.

X-ray photograph data and moving image data, which are still images taken by the imaging device 203 (X-ray irradiation mechanism 203A and X-ray camera 203B), are transmitted to the skeleton model creation and motion analysis block 211.
Here, as shown in FIG. 18, when the X-ray irradiation mechanism 203 </ b> A and the X-ray camera 203 </ b> B are installed on the rail 204 and X-ray photography and moving images are taken while moving on the rail 204, X-ray irradiation is performed. The mechanism 203A, the X-ray camera 203B, and the skeleton model creation / motion analysis block 211 are wirelessly connected, and the X-ray photograph data and moving image data are transmitted from the X-ray camera 203B to the skeleton model creation / motion analysis block 211 by radio. . In FIG. 18, an image in which X-ray photograph data and moving image data are transmitted to the skeleton model creation and motion analysis block 211 is indicated by a signal line SR.
On the other hand, although not shown, when the X-ray irradiation mechanism 203A and the X-ray camera 203B are fixed at fixed points and the table 201 is rotated at a fixed speed (rotation) at the fixed position, X-ray photograph data The moving image data can also be sent to the analysis device 211 by wire (for example, a signal transmission cable). Of course, X-ray photograph data and moving image data can be transmitted to the analysis apparatus 211 by radio.

The analysis device 211 shown in FIG. 18 will be described with reference to FIGS.
In the foot determination system 200 shown in FIGS. 14 to 17, no light beam having a human body permeability is used to take an image of the subject M. In contrast, in the foot determination system 201 in FIG. 18, an X-ray photograph of the subject's ankle is taken using the X-ray irradiation mechanism 203A and the X-ray camera 203B.
Therefore, in the foot determination system 201, the skeleton model of the subject M can be directly created from the X-ray photograph taken from the entire circumference of the foot of the subject M, and the motion analysis of the skeleton model is performed. Thus, it is possible to accurately determine the presence or absence of an abnormality in the foot or the location where the foot abnormality exists. Therefore, in the skeleton model creation and motion analysis block 211 of the foot determination system 201, the stereoscopic image creation block 210A and the stereoscopic image motion analysis block in the skeleton model creation and motion analysis block 210 of the foot determination system 200 of FIGS. It does not have a block corresponding to 210B.

In FIG. 19 showing the skeleton model creation and motion analysis block 211 of the foot determination system 201, the skeleton model creation and motion analysis block 211 (the portion surrounded by a broken line) includes a skeleton model creation block 211A and a skeleton model motion analysis block 211B. , An abnormal part specifying block 211C, an abnormal part quantifying block 211D, a storage block 211E, and a comparison block 211F. Reference numerals 211I and 211O denote an input side interface and an output side interface, respectively.
The skeleton model creation and motion analysis block 211 is connected to the display device 22 via information signal lines IL229 and IL232, and is connected to the fall risk determination block 70 via information signal lines IL229, 230, IL232, and 233. Has been.
In FIG. 19, the information exchanged between the blocks via the information signal line IL is X-ray photograph data indicated by the symbol “A”, moving image data indicated by the symbol “B”, and skeleton model data indicated by the symbol Indicated by “D”.

The skeletal model creation block 211A receives X-ray photograph data taken by the X-ray camera 203B via the input-side interface 211I and the information signal line IL221, and based on the X-ray photograph, the foot of the subject M (foot sole) To the upper part of the heel, for example, the part extending from below the knee) (see step S213 in FIG. 20).
When the skeleton model is created in the skeleton model creation block 211A, the skeleton model is created on a case-by-case basis by taking into account the characteristics of the subject M using existing and commercially available software.
The various functional blocks 211A to 211F of the skeleton model creation and motion analysis block 211 shown in FIG. 19 are configured by an information processing device such as a computer. However, the various functional blocks 211A to 211F can also be configured by an operator having specialized knowledge.

Control in the foot determination system 201 will be described mainly with reference to FIG.
Since the foot determination system 201 does not create a stereoscopic image, the processing corresponding to steps S203 and S206 in FIG. 16 is not executed.
In FIG. 20, in step S211, an X-ray photograph (still image) of the foot of the subject M (a part from the sole to the upper part of the heel and below the knee) is taken by the X-ray irradiation mechanism 203A and the X-ray camera 203B.
In step S212, it is determined whether or not X-ray photography has been taken over 360 degrees.
If radiography has not been completed for 360 degrees (“No” in step S212), the process returns to step S211. If it is completed over 360 degrees (step S212 is “Yes”), the process proceeds to step S213. In step S213, in the skeleton model creation block 211A (FIG. 19) of the skeletal model creation and motion analysis block 211, the X-ray photograph taken in steps S211 and S212 (the entire circumference of the rail 204 concentric with the platform 201 on which the subject M is located). Based on the above, a skeleton model is created.

In FIG. 20, in step S214 performed simultaneously with step S211 or with a slight time difference, a moving image of the foot of the subject M (a portion from the sole to the upper part of the heel and below the knee) is photographed. Then, the process proceeds to step S215.
In step S215, based on the X-ray photograph taken in steps S211 and S212 and the moving picture taken in step S14 in the abnormal part specifying block 211C (FIG. 19), or based on the skeletal model created in step S213, Identify the presence or absence of abnormalities in the foot and the abnormal site
In step S215, the numerical value of the degree of abnormality in the abnormal part based on the data regarding the abnormal part specified in the abnormal part specifying block 211C in the abnormal part quantification block 211D (FIG. 19) or directly based on the X-ray photograph and the moving image. Quantify and quantify. Then, the process proceeds to step S216.

In step S216, in the skeleton model motion analysis block 211B, the motion of the skeleton model is analyzed based on the skeleton model created in step S213 and the moving image photographed in step S214. Then, the process proceeds to step S217.
In step S217, in the comparison block 211F, the motion analysis result (analysis data) of the skeleton model analyzed in step S216 is compared with the motion (moving image data, normal value) of the normal skeleton model stored in the storage block 211E. Then, the process proceeds to step S218.
Although not clearly shown in FIG. 20, the result of comparison between the motion of the skeletal model in step S217 and the motion (normal value) of the normal skeleton model, the presence or absence of abnormalities in the foot of subject M in step S215, and abnormalities in the abnormal sites The result of quantification and quantification of the degree is displayed on the display device 22 (FIG. 19).

In step S218, in the fall prevention instruction block 90 (FIG. 2), based on the comparison result between the skeletal model movement in step S217 and the normal foot movement (normal value), or the degree of abnormality in the abnormal part in step S215. Based on the results of quantification and quantification of the above, instruments and exercises suitable for improving, treating, and suppressing foot abnormalities are presented.

The foot determination system 201 in FIGS. 18 to 20 uses the X-ray irradiation mechanism 203A and the X-ray camera 203B, so that X-ray photographs taken from the entire circumference of the foot of the subject M can be easily acquired. I can do it. Then, the skeleton model of the subject M can be directly and easily created from the X-ray photograph as in the case of using the CT scanner.
And, unlike the CT scanner, the movement of the skeleton model in the foot of the subject M can also be analyzed, so the presence of an abnormality in the subject M and the quantitative analysis of the abnormality become more accurate, and the subject M is better. Can show suitable equipment and exercise.

Other configurations and effects of the foot determination system 201 of FIGS. 18 to 20 are the same as those of the foot determination system 200 of FIGS. 13 to 17.
In the foot determination systems 200 and 201, a type in which an imaging device (camera or the like) moves on the rail is illustrated, but a type in which the imaging device does not move on the rail, for example, the imaging device floats on the ground or flies. The type of moving is also applicable.

It should be noted that the illustrated embodiment is merely an example, and is not a description to limit the technical scope of the present invention.
For example, in the illustrated embodiment, the centroid / arch / foot bone axis determination block 120, the skeleton model creation and motion analysis block 210 (211), the longitudinal posture control determination block 50, the lateral posture control determination block 60, the fall risk Each determination block 70 is provided with an input / output interface, and the control device 20 is not provided with an input / output interface. However, the control device 20 is provided with an input / output interface, the center-of-gravity / arch / foot bone axis determination block 120, the skeleton model creation and motion analysis block 210 (211), the longitudinal posture control determination block 50, and the lateral posture control determination block. 60, the input / output interface may be omitted for each of the fall risk determination blocks 70.
In the illustrated embodiment, each of the center-of-gravity / arch / foot bone axis determination block 120 and the skeleton model creation and motion analysis block 210 (211) includes storage blocks 120F, 210G, and 211E. It is also possible to provide a single storage block at 20 and configure the single storage block to play the illustrated storage blocks 120F, 210G, and 211E.

1-7 ... Sensors (1)-(7) ... Sensor position 10 ... Fall analysis system 100 ... Sole measurement system 110L, 110R ... Insole 120 ... Center of gravity / arch / Bone axis determination block 200 ... foot determination system 201 ... stand 202 ... camera 203A ... X-ray irradiation device 203B ... X-ray camera 300 ... toe pressure measurement device 400 ... Leg measuring device M ... Subject

Claims (8)

A device that has the function to determine the center of gravity, arch, and bone axis of the foot from the force acting on the sole of the foot, and the function to determine the skeletal model and the motion analysis results and abnormalities from the sole to the upper part of the heel A device having a function of measuring a pressure between a toe and a toe adjacent to the device, and a device having a function of measuring a muscular force sandwiched between both legs and a muscular force that widens the distance between both legs. Fall analysis system. A device having a function of determining the center of gravity, arch, and bone axis of the foot is abnormal based on a member that contacts the sole of the foot, a sensor that measures a force acting on a predetermined position of the member, and an output from the sensor. The fall analysis system of Claim 1 which has a control apparatus which has a function which determines the presence or absence of. The sensor is provided at a position corresponding to a rib raised portion, a cubic bone, a fifth metatarsal head, a first metatarsal head, an intermediate wedge bone, and a lateral foot arch center of a member that contacts the sole of the foot. The fall analysis system according to claim 2. The fall analysis system according to claim 3, wherein the sensor is also provided on the thumb contact surface. An apparatus having a function of determining a skeletal model, a motion analysis result, and an abnormality in a part from the sole to the upper part of the heel includes an imaging part, an imaging device that relatively moves in the circumferential direction of the imaging part, and imaging An analysis device that receives image data from the device, and the analysis device analyzes the movement of the skeleton model based on the function of creating a skeleton model to be determined based on the image data and the skeleton model and the image data The fall analysis system according to any one of claims 1 to 4, which has a function of: 6. The fall analysis system according to claim 5, wherein the imaging device is an optical device having a function of capturing a still image and a function of capturing a moving image. 6. The fall analysis system according to claim 5, wherein the imaging device is a combination of a device having a function of irradiating a light beam having a human body permeability and a device having a function of photographing an image by a light beam having a human body permeability. Measure the force acting on the sole of the foot, take a picture of the area from the sole to the top of the heel, measure the pressure between the toes and the adjacent toes, muscle strength between both legs and the distance between the legs The process of measuring muscle strength to spread,
Determine the center of gravity, arch, bone axis of the foot, and abnormalities from the force acting on the sole of the foot, determine the skeletal model, motion analysis results, abnormalities from the data taken from the sole to the upper part of the heel, The total muscle strength of the lower part from the knee is determined from the pressure between the toes and the adjacent toes. Determining muscle strength; and
From the center of gravity, the arch, the bone axis of the foot, the skeletal model at the position from the sole to the upper part of the heel, the result of motion analysis, the total muscle strength of the lower part from the knee, the adductor muscle of the hip joint, the muscle strength of the abductor muscle A fall analysis method characterized by having a step of judging a risk of falling while walking or running.

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