JP6168488B2 - Body motion detection device and electrical stimulation device including the same - Google Patents

Description

  The present invention relates to a body motion detection device that mainly detects a walking state and an electrical stimulation device using the body motion detection device.

  2. Description of the Related Art Conventionally, as a body motion detection device, for example, there is a device that detects a walking state based on an output signal from a detection unit such as an acceleration sensor worn on a user's body (see, for example, Patent Document 1). Then, based on the walking state detected by the body motion detection device, for example, evaluation of the balance of the user's body, such as movement of the left and right legs, and application of physical stimulation according to the detected walking state are performed. .

JP 2002-355236 A

  By the way, in the above-described body motion detection device, a device capable of detecting the details of the operation is desired in order to perform evaluation more appropriately. Therefore, for example, it has been studied to determine the operating state of one leg based on the detection result of a sensor attached to one leg of a human body. However, in detecting the movement of the human body such as the walking state, it is impossible to increase the discrimination accuracy from this information.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a body motion detection device capable of detecting a walking state in detail and an electrical stimulation device using the body motion detection device. It is in.

In order to solve the above-described problems, the body motion detection device of the present invention is provided at a position symmetrical to a reference plane, which is a plane that is the center of the symmetric motion of the human body, and is attached to a part straddling the joint of the human body. A detection unit that detects a human body movement with a plurality of sensors, a determination unit that determines a walking motion of a human body based on an output signal of the detection unit, and a mounting unit provided with the plurality of sensors The mounting part includes a thigh attachment part attached to the thigh, a crus attachment part attached to the crus, and a connection for connecting the thigh attachment part and the crus attachment part to each other And the discriminating unit discriminates the stance phase and the plurality of swing leg phases in one walking cycle by combining the output signals of the plurality of sensors.

In this body motion detection device, it is preferable that the sensor provided in the thigh wearing part is an acceleration sensor, and the sensor provided in the crus wearing part is an angular velocity sensor .
In this body motion detection device, the thigh attachment portion has a recess formed in the knee side portion, the crus attachment portion has a recess formed in the knee side portion, and the attachment portion It is preferable to have a mounting hole surrounded by a recess in the thigh mounting part, a recess in the crus mounting part and the connecting part .

In this body movement detection device, it is preferable that the reference plane is a median plane that is a central plane that equally divides the human body viewed from the front .

In this body motion detection device, a first determination unit that determines a walking motion of one leg of a human body based on detection results of one or more sensors attached to one of the human bodies divided by the reference plane A second discriminating unit that discriminates the walking motion of the other leg of the human body based on the detection result of one or more of the sensors attached to the other human body divided by the reference plane. The unit preferably discriminates the walking motion of one leg of the human body by adding discrimination information indicating the determination result of the second determination unit to determination information indicating the determination result of the first determination unit .

In order to solve the above problems, an electrical stimulation device according to the present invention includes an electrical stimulation unit that applies electrical stimulation to a human body, and electrical stimulation that is applied to a human body by controlling the electrical stimulation unit based on walking motion of the human body. An electrical stimulation device including an electrical control unit to control, wherein the electrical control unit controls the electrical stimulation based on the walking motion of the human body determined by a body motion detection device.

(A) is a front view of the human body with which the body movement detection apparatus of 1st Embodiment was mounted | worn, (b) is a schematic block diagram of a body movement detection apparatus. It is a rear view of the mounting part of 1st Embodiment. It is a block diagram of the body movement detection apparatus of 1st Embodiment. (A) is a figure which shows an example of walking operation | movement, (b) is a figure which shows an example of 1 walk cycle of a right leg. It is a graph which shows the relationship between the output signal of the body movement detection apparatus of 1st Embodiment, and a discrimination | determination area. It is a flowchart which shows the flow of a process of the control part of 1st Embodiment. It is a figure which shows the operation example of the leg part in 1 walk cycle. It is a block diagram of the body movement detection apparatus of 2nd Embodiment. It is a time chart which shows the discrimination | determination aspect of the walking movement by the body movement detection apparatus of 2nd Embodiment, (a) is a figure which shows the discrimination | determination result of a 1st discrimination | determination part, (b) is the discrimination | determination result of a 2nd discrimination | determination part. FIG. 8C is a diagram showing the determination result of the integrated logic operation unit. It is a rear view of the mounting part of 3rd Embodiment. It is a block diagram of the body movement detection apparatus of 3rd Embodiment. It is a flowchart which shows the flow of a process of the control part of 3rd Embodiment. It is a graph which shows the relationship between the output signal of the body movement detection apparatus of 3rd Embodiment, a discrimination | determination area, and an electrical signal.

(First embodiment)
Hereinafter, a first embodiment embodying the present invention will be described with reference to FIGS.
As shown in FIG. 1A, the body motion detection device of the present embodiment includes sensors SL1, SL2, SR1, and SR2 that detect displacements of physical quantities of the user's thighs and knees, for example. And a body movement determination apparatus detects a user's walking state based on the detection result of sensor SL1, SL2, SR1, SR2.

  As shown in FIG. 1B, the body motion detection device 10 includes a mounting portion 11 that is attached to the left and right legs of the user as a supporter type device, and a main body portion 12. Since the body motion detection device 10 attached to both the left and right feet has the same structure, only the left foot is illustrated and described.

  The mounting part 11 has a thigh mounting part 21 attached to the thigh and a crus mounting part 22 attached to the crus. Moreover, the mounting part 11 has a pair of connection parts 23a and 23b which connect the thigh mounting part 21 and the crus mounting part 22 to each other.

  As shown in FIG. 2, the thigh attachment part 21 includes a thigh front part 24 that covers a front part and a part of the side of the thigh, and a pair of thigh back parts 25 formed at both end parts of the thigh front part 24. 26. The front thigh portion 24 is formed in accordance with the shape of the thigh, and a recess 24a is formed in the knee side portion (lower end side in FIG. 2). The thigh back portions 25 and 26 are formed in a band shape from both ends of the thigh front portion 24, and connection portions 25b and 26b are provided at the tip portions 25a and 26a. The connection parts 25b and 26b are hook-and-loop fasteners, such as a magic tape (trademark), for example. The thigh attachment portion 21 is attached to the user's thigh by connecting the connection portions 25b and 26b of the thigh back portions 25 and 26 to each other at the back portion of the thigh.

The crus mounting part 22 includes a crus front part 27 covering a front part and a part of the side of the crus part, and a pair of crus back parts 28 formed at both end parts (left and right ends in FIG. 2) of the crus front part 27, 29. Crus front portion 27, a knee portion formed according to the shape of the lower leg portion recess 27a in (Oite upper side in FIG. 2) is formed. The lower leg back portions 28 and 29 are formed in a belt shape from both ends of the lower leg front portion 27, and the distal end portions 28a and 29a are provided with connecting portions 28b and 29b. The connection parts 28b and 29b are hook-and-loop fasteners, such as a magic tape (trademark), for example. The lower leg attaching part 22 is attached to the user's lower leg part by connecting the connecting parts 28b, 29b of the lower leg rear parts 28, 29 to each other at the rear part of the lower leg part.

  The connecting portions 23a and 23b are formed of, for example, a member having elasticity, and are formed so as to connect the left and right end portions of the thigh mounting portion 21 and the crus mounting portion 22, respectively. The mounting portion 11 integrated by the connecting portions 23a and 23b is formed with a mounting hole 31 surrounded by the concave portion 24a of the thigh front portion 24, the concave portion 27a of the lower thigh front portion 27, and the connecting portions 23a and 23b. When the body motion detection device 10 is mounted, the front portion of the user's knee is exposed from the mounting hole 31, and the knee joint bending operation during walking is facilitated.

  The thigh front part 24 and the crus front part 27 are provided with insertion parts 32 and 33 at substantially the center part, and sensors SL1 and SL2 are arranged in the insertion parts 32 and 33, respectively. In the right foot, SR1 and SR2 are arranged at positions symmetrical to the sensors SL1 and SL2, respectively. The sensors SL1 and SR1 provided on the thigh front part 24 are, for example, acceleration sensors. Sensors SL2 and SR2 provided on the lower leg front portion 27 are, for example, angular velocity sensors. For example, the sensors SL1 and SR1 (acceleration sensors) output the acceleration of the thigh that rotates around the hip joint in the walking motion. Further, for example, the sensors SL2 and SR2 (angular velocity sensors) output the angular velocity of the lower leg that rotates around the knee joint. The body motion detection device 10 detects the walking state (displacement of the knee joint) using the output signals of the sensors SL1 and SL2 (SR1 and SR2) configured as described above. The sensors SL1, SL2, SR1, SR2 may use the same type of sensor. Each sensor SL1, SL2, SR1, SR2 may use a rotary encoder, a potentiometer, a goniometer, an acceleration sensor, a gyro sensor, or the like. The sensors SL1, SL2, SR1, SR2 are electrically connected to the main body 12 via the connection cable 13. The main body unit 12 includes a display unit 43 on which various information is displayed and an operation unit 44 on which various operations are performed.

  As shown in FIG. 1A, the sensor SL1 attached to the upper part of the lower left crotch and the sensor SR1 attached to the upper part of the lower right crotch are arranged at positions symmetrical with respect to the reference plane. The reference plane is a plane that is the center of the symmetrical movement of the human body. More specifically, the reference plane is composed of a median plane O that is a plane of the center of the body that equally divides the user's body viewed from the walking direction. Further, the sensor SL2 attached to the lower part of the lower left crotch of the user and the sensor SR2 attached to the lower part of the lower right crotch are arranged symmetrically with respect to the reference plane.

  The two sensors SL1 and SL2 mounted on the lower left crotch constitute a first detection unit SL that detects the movement of the user's left foot. The two sensors SR1 and SR2 attached to the lower right crotch constitute a second detection unit SR that detects the movement of the user's right foot. The first detection unit SL and the second detection unit SR constitute the detection unit.

As shown in FIG. 3, the main body unit 12 includes a control unit 41, a display unit 43, an operation unit 44, and a power supply unit 45.
The control unit 41 includes an arithmetic processing unit 46 and a determination unit 47. The arithmetic processing unit 46 is connected to the sensors SL1, SL2, SR1, SR2.

Sensors SL1, SL2, SR1 and SR2 detect the walking motion of one walking cycle consisting of the stance phase and the free leg phase shown in FIGS.
As shown in FIG. 3, the output signal IL1 of the sensor SL1 and the output signal IL2 of the sensor SL2 indicating the detection result of the walking motion of one region divided by the median plane O are input to the arithmetic processing unit 46. In addition, the output signal IR1 of the sensor SR1 and the output signal IR2 of the sensor SR2 indicating the detection result of the walking motion of the other region divided by the median plane O are input to the arithmetic processing unit 46.

  The arithmetic processing unit 46 performs signal processing on the input output signals IL1, IL2, IR1, and IR2. The arithmetic processing unit 46 performs, for example, noise removal such as high frequency components, calculation of a moving average value, frequency analysis, and the like as signal processing.

  The arithmetic processing unit 46 performs a process of combining the output signals IL1 and IL2 of the sensors SL1 and SL2 symmetrical to the median plane O and the output signals IR1 and IR2 of the sensors SR1 and SR2. For example, the arithmetic processing unit 46 performs a subtraction process (IL1-IR1) or an addition process (IL1 + IR1) between the output signal IL1 and the output signal IR1. For example, the arithmetic processing unit 46 performs a subtraction process (IL2-IR2) or an addition process (IL2 + IR2) between the output signal IL2 and the output signal IR2.

In addition, for example, the arithmetic processing unit 46 generates the signal Z1 by combining the output signals IL1, IL2, IR1, and IR2 based on the following expression (1).

Z1 = aX1 + bX2 + cX3 + dX4 + ... + C

Note that the output signals IL1, IL2, IR1, and IR2 are substituted into the variables X1 to X4. Further, a value obtained by combining the output signals IL1 and IL2 of the first detection unit SL and the output signals IR1 and IR2 of the second detection unit SR is substituted into the variables X1 to X4. Further, the values of the variables X1 to X4 are characteristic values of the output signals IL1, IL2, IR1, and IR2 in the respective determination sections H1a to H1c. This characteristic value is continuously obtained, for example, a moving average value, a differential value, or a value calculated by performing a predetermined calculation with another characteristic value (for example, X1-X4, X1 + X2). Value. In addition, the discriminant Z1 is changed in set values (coefficients a to d) in the respective discrimination sections H2a to H2d.

  The values of the coefficients a to d and the constant C are set using, for example, a discriminant analysis method that is one of the multivariable analysis methods. For example, a walking test is performed on a plurality of subjects in advance, and the variables X1 to X4 in the respective discrimination sections H1a to H1c are calculated.

  For example, another sensor (pressure sensor) is used in addition to the sensors SL1, SL2, SR1, and SR2 to detect the discrimination sections H1a to H1c in the walking test. Then, the variables X1 to X4 are substituted into the discriminant Z1 calculated based on the discriminant analysis method, and characteristic values of all the discriminant sections H1a to H1c are represented (grouped) in one graph. The coefficients a to d are set so that the above-described discriminant Z1 indicates the characteristic value boundaries of the respective discrimination sections H1a to H1c grouped in this graph. That is, when the determination sections H1a to H1c are different, different values of coefficients a to d are set. The constant C is a value for adjusting the value of the discriminant Z1. The discriminant Z1 set in this way has a predetermined value (for example, Z1 = 0) at the boundary between the discriminant sections H1a to H1c.

The comparison unit 49 determines to which section the value of the signal calculated by the calculation processing unit 46 belongs, with Z1 being larger or smaller than the threshold with different threshold values in each discrimination section.
The arithmetic processing unit 46 outputs the processing result to the determination unit 47. The arithmetic processing unit 46 also outputs the output signals IL1, IL2, IR1, and IR2 before the combination processing to the determination unit 47.

  The determination unit 47 includes a comparison unit 49 and a logical operation unit 50. The determination unit 47 uses the comparison unit 49 and the logic operation unit 50 to determine the output signals IL1, IL2, IR1, IR2, and the like processed by the operation processing unit 46. Thereby, the discrimination | determination part 47 detects several discrimination | determination area H1a-H1c shown in FIG. 5 from the walking operation of 1 walk cycle (stance phase and free leg phase) shown in FIG. And the discrimination | determination part 47 performs control which changes an output signal from high level to low level, for example, when it determines with having switched from discrimination | determination area H1a to the discrimination | determination area H1b with walking operation.

  The display unit 43 displays, for example, determination results of the user's walking state in each of the determination sections H1a to H1c. In addition, the display unit 43 displays, for example, the evaluation result of the walking motion based on the difference between the left and right leg motions in the determination sections H1a to H1c and the difference between the left and right leg motions. Note that the operation to be determined displayed on the display unit 43 can be changed by the user using the operation unit 44.

  The power supply unit 45 supplies a drive current to the sensors SL1, SL2, SR1, SR2, the control unit 41, and the operation unit 44. The power supply unit 45 is, for example, a rechargeable battery, a dry battery, and a power supply circuit that generates a required drive current based on supply of commercial power.

Next, the walking motion of the human body will be described with reference to FIG.
One walking cycle shows an operation (cycle) until the heel of one foot of the user is grounded and then the heel of the same side is grounded again. In addition, the period in which the user's foot is in contact with the floor in one walking cycle is the stance phase, and the period in which the foot is away from the floor is the swing phase. For example, as shown in FIGS. 4 and 5, the state of each leg in the walking cycle is such that when one leg is in the stance phase, the other leg is in the swing phase. Then, the other leg shifts with time to one leg and enters the stance phase. Therefore, basically, during one walking cycle, a state in which both feet are in contact with the ground occurs.

Next, the operation of the body motion detection device 10 will be described with reference to FIGS.
The control unit 41 acquires output signals IL1, IL2, IR1, and IR2 from the sensors SL1, SL2, SR1, and SR2 that accompany the user's walking motion. Then, based on the output signals IL1, IL2, IR1, and IR2, the control unit 41 detects discrimination periods H1a to H1c that are a stance phase and a plurality of swing phase periods from one walking cycle (see FIG. 5). And the control part 41 determines a user's walking state based on this discrimination | determination area H1a-H1c.

Next, details of the above-described operation will be described with reference to the flowchart shown in FIG.
Sensors SL1, SL2, SR1, and SR2 detect the displacement of the physical quantity of the user, that is, the human body associated with the walking motion when the user performs the walking motion. The sensors SL1, SL2, SR1, SR2 output output signals IL1, IL2, IR1, IR2 indicating detection results to the arithmetic processing unit 46 (step 51).

  Next, the arithmetic processing unit 46 performs a process of combining the output signals IL1 and IL2 and the output signals IR1 and IR2 of the sensors SL1, SL2, SR1, and SR2 divided by the median plane O, for example. The arithmetic processing unit 46 performs signal processing on the combined signal and the previous signal to be combined (step 52). The arithmetic processing unit 46 outputs the signal subjected to signal processing to the determination unit 47.

  Next, the determination unit 47 detects a plurality of determination sections H1a to H1c from one walking cycle based on the input signal and a threshold value for dividing one walking cycle for each characteristic of walking motion. The discriminating unit 47 discriminates one walking cycle into a discriminating section H1a that is a stance period and discriminating sections H1b and H1c that are a plurality of swing leg periods shown in FIG. For example, the determination unit 47 causes the comparison unit 49 to compare the signal shown as the transition IL1-IR1 in FIG. 5 as a subtraction result with the output signals IL1 and IR1 and the defined threshold values TH1, TH2, TH3, and TH4. Based on the comparison result, the determination unit 47 determines the period in which the transition IL1-IR1 exceeds the threshold value TH1 or TH2 as the stance phase. When each output signal is smaller than the threshold values TH1 and TH2, the comparison unit 49 sets the transition IL1-IR1 to “1” (high level). The comparison unit 49 sets the transition IL1-IR1 to “0” (low level) when each output signal is equal to or greater than the threshold value. Then, the comparison unit 49 outputs a signal indicating “1” or “0” to the logic operation unit 50. The threshold values TH1, TH2, TH3, and TH4 are constant values in one walking cycle.

  Next, in step 54 shown in FIG. 6, the logical operation unit 50 performs a logical operation on the determination signal input from the comparison unit 49. The determination unit 47 detects the determination sections H1a to H1c from the output result of the logic operation unit 50 (step 55).

  The logical operation unit 50 determines a period T12 of the stance period in which the transition IL1-IR1 exceeds the threshold value TH1 as the stance period first period. Furthermore, the logical operation unit 50 determines a period T23 that is a period after the threshold value TH1 or less and exceeds the threshold value TH2 as the late stance phase. Then, the determination unit 47 defines a period including the early stance phase T12 and the late stance phase T23 as a determination interval H1a based on the determination result of the logic operation unit 50. It should be noted that the first half of the stance phase is a state (section) until the heel is separated from the ground after being grounded with the heel of one foot during one walking cycle. The late stance phase is a state (section) until the heel of one foot leaves the ground and the toes move away from the ground during one walking cycle.

  The logic operation unit 50 determines a period T34 that is subsequent to the late stance phase and is equal to or less than the threshold value TH3 as the early stance phase. Further, the logical operation unit 50 determines a period T40 that is a period following the first period of the swing leg period and exceeds the threshold value TH3 and is equal to or less than the threshold value TH4 as the latter period of the swing period. Then, based on the determination result of the logical operation unit 50, the determination unit 47 defines the first period of the swing leg as a determination section H1b and the second period of the swing leg period as the determination section H1c.

  Note that there may be a case where the sections determined based on the thresholds TH1, TH2, TH3, and TH4 indicate a plurality of sections that are common in one walking cycle, for example, a single walking cycle includes a plurality of early stance phases. In this case, the logic operation unit 50 separately acquires a determination signal different from the determination signal used for the determination. Then, the logical operation unit 50 specifies the determination sections H1a to H1c by performing a logical operation on the acquired determination signal.

  Note that the thresholds TH1, TH2, TH3, and TH4 are set based on, for example, a walking test performed in advance on a plurality of subjects. The walking test is performed, for example, by providing another sensor (for example, a pressure sensor) in addition to the sensors SL1, SL2, SR1, and SR2 on the body of the subject. This other sensor is provided to detect the discrimination sections H1a to H1c in the walking test. For example, a pressure sensor provided on the sole of the foot detects a period in which the foot is in contact with the ground in one walking cycle, and this period is set as the stance phase, that is, the determination section H1a. The value of the output signal of each subject is acquired according to the discrimination sections H1a to H1c detected by such another sensor. Then, for example, the average value of the output signal values at the boundaries of the discrimination sections H1a to H1c is calculated, and the result is set as the threshold values TH1, TH2, TH3, TH4. For example, as shown in FIG. 5, the threshold TH2 is set to a value for determining the late stance phase and the preceding and succeeding sections (the early stance phase and the early stance phase) with respect to the output signal. Therefore, the threshold value TH2 is set from the average value of the output signal values at the boundary between the first stance phase of a plurality of subjects in the walking test and the section before and after that. Note that the threshold values TH1, TH2, TH3, and TH4 are not limited to the boundary values. For example, the threshold values TH1, TH2, TH3, and TH4 may be set based on the average value of the output signal values in the entire determination sections H1a to H1c. Good.

Next, the operation of the body motion detection device 10 will be described.
The above-described body movement detection device 10 includes the sensors SL1 and SL2 and the sensors SR1 and SR2 that are disposed in a region straddling the reference plane of the user. Sensors SL1, SL2, SR1, and SR2 detect bilaterally symmetric walking motions. The determination unit 47 determines the walking motion of the user by combining the plurality of output signals IL1, IL2, IR1, IR2 detected by the sensors SL1, SL2, SR1, SR2. Therefore, the amount of data used for discrimination of walking motion increases, and discrimination with high accuracy becomes possible.

  Further, even when the left and right balance of the user's legs across the median plane O is evaluated, for example, the evaluation including the state of the other leg is possible. As this evaluation, for example, when one leg is evaluated, an evaluation including an interaction with the other state is possible.

  In addition, the sensors SL1 and SL2 and the sensors SR1 and SR2 are disposed at positions symmetrical with respect to the median plane O serving as a boundary of the walking motion performed symmetrically. That is, the movement of the human body has many movements parallel to the median plane O that equally divides the human body viewed from the walking direction. In addition, the movement of the human body has a strong tendency to be similar in a portion (for example, the left limb and the right limb) divided by the median plane O. For example, when sitting on a chair, the left and right legs move simultaneously, for example, when the left and right knees extend from a standing position and the knees bend when they are close to the seating surface. For this reason, by combining the detection results of the sensors SL1, SL2, SR1, and SR2, operation determination is performed based on the detection results indicating the movement of each part of the human body that operates simultaneously. As a result, the determination unit 47 receives the output signals IL1 and IL2 of the sensors SL1 and SL2 attached to one leg and the output signals IR1 and IR2 of the sensors SR1 and SR2 attached to the other leg. Therefore, the data amount of the signal input to the determination unit 47 is doubled compared to the configuration in which only the output signals IL1 and IL2 of the sensors SL1 and SL2 are used. Thereby, a user's walking motion will be discriminate | determined more correctly.

  The movement of the human body is similar to the movement of each part with respect to the median plane O. However, when the movement rhythm and phase difference are different, for example, the movement of the waist side surface during walking is a movement in which the phase difference is shifted by about 180 degrees on the left and right. Therefore, even if it is difficult to discriminate the operation from the detection results of one sensor SL1, SL2 (SR1, SR2), the detection result of the other sensor SR1, SR2 (SL1, SL2) is used. Thereby, it becomes easy to discriminate operations that have been difficult to discriminate conventionally.

  The body motion detection device 10 includes sensors SL1 and SL2 attached to one limb portion of a user (human body) and sensors SR1 and SR2 attached to one limb portion of the user. That is, if the sensor SL1 or the like is worn on the limb that is commonly present on the left and right sides of the human body, for example, the sensor value fluctuates more than when the sensor SL1 or the like is worn on the user's waist. For this reason, the amount of data that can be acquired increases. In addition, there is a method in which a determination is made by providing a posture state that serves as a reference for a sensor value when the operation is basically determined. However, in this method, there is little difference between the sensor value acquired in the posture state and the sensor value during other operations. For this reason, it is difficult for such a method to discriminate walking motion with high accuracy. In contrast, the sensor values of the sensors SL1 and SL2 and the sensors SR1 and SR2 mounted on the left and right crotch have a sufficient difference. As described above, by attaching the sensors SL1, SL2, SR1, SR2 to the left and right limbs that exist in common on the left and right sides of the human body, the operation determination is performed with higher accuracy.

  The body motion detection device 10 combines the output signals of the sensors SL1, SL2, SR1, SR2 mounted at positions symmetrical to the median plane O. And the body movement detection apparatus 10 performs the operation | movement discrimination | determination of one leg | limb of a human body based on the signal obtained by combining. For example, assume a standing state in which the left and right common human body parts (for example, legs and legs) are moving simultaneously, that is, a state in which both soles are in contact with the ground. In this assumption, even if it is possible to determine the state in which one sole is in contact, it is difficult to determine the state in which the other sole is in contact with the ground. Therefore, for example, a method in which the state of one leg is acquired by a sensor attached to one leg and the state of the other leg is acquired by a sensor attached to the other leg is also assumed. In this method, the state of the left and right legs is determined based on the sensor value of each sensor, and the state of the human body is determined based on the determination result. However, in this method, since the states of the left and right legs are individually determined and then the movement of the entire human body is determined, the movement of the entire human body cannot be quickly determined. On the other hand, the body motion detection device 10 can determine the standing position with high accuracy and speed by determining the motion of one limb of the human body based on the signals obtained by the combination.

  The body motion detection device 10 includes a determination unit 47 that divides one walking cycle (stance phase and swing phase) using threshold values TH1, TH2, TH3, and TH4. The thresholds TH1, TH2, TH3, and TH4 are set to values capable of detecting desired sections (discrimination sections H1b and H1c) obtained by further dividing the swing leg period. Therefore, by dividing one walking cycle into a plurality of discriminating sections H1a to H1c, it is possible to appropriately evaluate body balance and the like based on the discriminating sections H1a to H1c.

  The body motion detection device 10 is configured such that the sensors SL1, SL2, SR1, SR2 are provided at positions where the knees (joints) of the user are straddled, and the rotational position (angular velocity, etc.) of the knee joints can be detected. As shown in FIG. 7, for example, in the first half of the swing leg period, the thigh rotates about the hip joint in the same direction as the traveling direction B1 (rotating direction B2).

Sensors SL1 and SR1 (acceleration sensors) detect thigh acceleration in the rotational direction B2 and output the detected signals as output signals IL1 and IR1. Further, the lower leg part rotates in a direction B3 in which an inertial force acts around the knee joint (rotation direction B4). Sensors SL2 and SR2 (angular velocity sensors) detect the angular velocity of the lower leg along the rotation direction B4 and output the detected signals as output signals IL2 and IR2. In the later stage of the swing leg period , both parts rotate in the opposite direction to the previous period (rotation directions B5 and B6). In view of this, sensors SL1, SL2, SR1, and SR2 are provided at portions that straddle the knee joint so as to detect the characteristic motion of the foot during the above-described swing phase. Thereby, the detection accuracy of discrimination | determination area H1b and H1c can be improved.

This embodiment has the following effects.
(1) The body motion detection device 10 includes sensors SL1, SL2, SR1, and SR2 that are mounted at positions symmetrical to the reference plane of the human body as a detection unit. The body motion detection device 10 includes a determination unit 47 that determines the posture (motion) of the human body by combining the output signals IL1, IL2, IR1, and IR2 of the sensors SL1, SL2, SR1, and SR2. Thereby, the data amount used for discrimination | determination of walking motion increases, and discrimination | determination with high precision is attained.

  (2) The body motion detection device 10 uses the center plane (median plane O) that divides the human body viewed from the walking direction equally in the left and right directions. The sensors SL1 and SL2 and the sensors SR1 and SR2 are arranged symmetrically on the median plane O, respectively. Thereby, the data amount of the signal input to the determination unit 47 is doubled compared to the configuration in which only the output signals IL1 and IL2 of the sensors SL1 and SL2 are used, and the user's walking motion is more accurately determined. It will be.

  (3) The detection unit of the body motion detection device 10 includes a plurality of sensors SL1, SL2, SR1, SR2 provided on one limb part and the other limb part of the human body. For this reason, the body motion detection device 10 can acquire more signals indicating the displacement of the human body accompanying various operations such as walking motion. Thereby, the body motion detection device 10 can perform motion determination based on abundant data indicating the motion of the human body, and can perform motion determination in more detail and with high accuracy.

  (4) The body motion detection device 10 combines the output signals of the sensors SL1, SL2, SR1, SR2 mounted at positions symmetrical to the median plane O. And the body movement detection apparatus 10 performs the operation | movement discrimination | determination of one leg | limb of a human body based on the signal obtained by combining. As a result, it is possible to quickly and accurately determine various operations such as standing.

(Second Embodiment)
A second embodiment embodying the present invention will be described below with reference to FIGS.
The basic configuration of the body motion detection device and the electrical stimulation device according to this embodiment is the same as that of the first embodiment. Therefore, in FIG. 8 and FIG. 9, elements that are substantially the same as those in the first embodiment are denoted by the same reference numerals, and redundant descriptions are omitted.

As illustrated in FIG. 8, the control unit 41 configuring the body movement detection device 10 of the present embodiment includes a first determination unit 60, a second determination unit 70, and an integrated logic operation unit 80.
The first discriminating unit 60 operates the one limb of the user based on the detection result of the first detection unit SL including the sensors SL1 and SL2 attached to one half of the user divided by the median plane O. Make a decision. The first determination unit 60 includes a comparison unit 61 and a logical operation unit 62. The comparison unit 61 determines to which discrimination section of one walking cycle the value of the signal indicating the detection result of the first detection unit SL calculated by the calculation processing unit 46 belongs. The logic operation unit 62 performs a logic operation on the determination signal output from the comparison unit 61. The first determination unit 60 uses the comparison unit 61 and the logical operation unit 62 to determine the output signals IL1 and IL2 of the sensors SL1 and SL2 processed by the operation processing unit 46. Thereby, the 1st discrimination | determination part 60 detects the some discrimination | determination area H1a-H1c shown in FIG. 5 from the walking operation of one walking cycle of one half body. And the 1st discrimination | determination part 60 performs control which changes an output signal from a high level to a low level, for example, when it determines with the user's walking state having switched from discrimination | determination area H1a to the discrimination | determination area H1b with walk operation | movement. . The first determination unit 60 outputs determination information indicating the determination result to the integrated logic operation unit 80.

  The second determination unit 70 determines the movement of the other limb of the user based on the detection result of the second detection unit SR including the sensors SR1 and SR2 attached to the other half of the user divided by the median plane O. I do. The second determination unit 70 includes a comparison unit 71 and a logical operation unit 72. The comparison unit 71 determines to which discrimination section of one walking cycle the value of the detection result signal of the second detection unit SR calculated by the calculation processing unit 46 belongs. The logic operation unit 72 performs a logic operation on the determination signal output from the comparison unit 71. The second determination unit 70 uses the comparison unit 71 and the logic calculation unit 72 to make a determination on the output signals IR1, IR2, etc. of the sensors SR1, SR2 processed by the calculation processing unit 46. Thereby, the 2nd discrimination | determination part 70 detects the some discrimination | determination area H1a-H1c shown in FIG. 5 from the walking operation of 1 walk cycle of the other half body. And the 2nd discrimination | determination part 70 performs control which changes an output signal from a high level to a low level, when it determines with the user's walking state having switched from discrimination | determination area H1a to the discrimination | determination area H1b with walking operation. The second determination unit 70 outputs determination information indicating the determination result to the integrated logic operation unit 80.

  The integrated logic operation unit 80 performs processing for determining the user's action based on the determination information input from the first determination unit 60 and the determination information input from the second determination unit 70. For example, the integrated logic operation unit 80 determines the movement of the left leg of the user divided by the median plane O by adding the determination information of the second determination unit 70 to the determination information of the first determination unit 60. As a result, the integrated logic operation unit 80 verifies the determination result of the first determination unit 60 and confirms the presence or absence of erroneous determination. Accordingly, the integrated logic operation unit 80 determines the user's operation that is difficult to determine only by the determination result of the first determination unit 60.

  For example, the integrated logic operation unit 80 determines the movement of the right leg of the user divided by the median plane O by adding the determination information of the first determination unit 60 to the determination information of the second determination unit 70. . Thereby, the integrated logic operation unit 80 verifies the determination result of the second determination unit 70 and confirms whether or not there is an erroneous determination. Accordingly, the integrated logic operation unit 80 determines the user's operation that is difficult to determine only by the determination result of the second determination unit 70.

Next, the detail of operation | movement of the body movement detection apparatus 10 is demonstrated according to the time chart shown in FIG.
FIG. 9 shows the progress of walking motion by dividing one gait cycle illustrated in FIG. 5 into four stages, ie, the early stance phase, the late stance phase, the early swing phase, and the late swing phase. FIG. 9A shows the discrimination result of the walking motion of the left leg of the user by the first discrimination unit 60. FIG. 9B shows a determination result of the walking motion of the user's right leg by the second determination unit 70. Further, FIG. 9C shows a determination result of the user's walking motion by the integrated logic operation unit 80. In FIG. 9, “discriminant number 1” is the early stance phase, “discrimination number 2” is the late stance phase, “discrimination number 3” is the early stance phase, and “discriminant number 4” is the late stance phase. Show.

  Here, as shown in FIG. 7, the movement of the lower leg of one walking cycle is larger in the swing phase than in the stance phase. For this reason, in the swing phase, the sensor values obtained by the first detection unit SL and the second detection unit SR vary greatly and can be determined with higher accuracy than other determination sections.

  Also, as shown in FIG. 4 above, the timing at which one leg transitions from the early stance phase to the late stance phase is similar to the timing at which the other leg transitions from the early swing phase to the late swing phase. To do. That is, when the state of one leg transitions from the early stance phase to the late stance phase, the other leg transitions from the early swing phase to the late swing phase.

  For this reason, the determination result of the first determination unit 60 indicates that the state of the left leg has transitioned from the early stance phase to the late stance phase at timing T18 in FIG. Further, the determination result of the second determination unit 70 indicates that the state of the right leg has transitioned from the early swing phase to the late swing phase at timing T18 in FIG. 9B.

  On the other hand, as shown in FIG. 9B, at the timing T19, before the determination result of the first determination unit 60 indicates the end of the first stance phase of the left leg (FIG. 9A: T20), the second determination is made. The discrimination result of the unit 70 already indicates the start of the late period of the free leg of the right foot. Therefore, as shown in FIG. 9C, the integrated logic operation unit 80 determines that the first stance phase of the left leg has ended at timing T19. That is, the integrated logic operation unit 80 corrects the determination result based on the determination result of the second determination unit 70, assuming that the determination result of the first determination unit 60 is erroneous determination.

Next, the operation of the body motion detection device 10 will be described.
The above-described body movement detection device 10 includes the first determination unit 60 that determines the movement state of one leg of the user. In addition, the body motion detection device 10 includes a second determination unit 70 that determines the operation state of the other leg of the user. The first determination unit 60 determines the state of one leg of the user based on the detection result of the first detection unit SL. Moreover, the 2nd discrimination | determination part 70 discriminate | determines the state of a user's other leg based on the detection result of 2nd detection part SR. The integrated logic operation unit 80 determines the movement state of one leg by adding the second determination unit 70 to the determination result of the first determination unit 60. In addition, the integrated logic operation unit 80 determines the movement state of the other leg by adding the first determination unit 60 to the determination result of the second determination unit 70. Therefore, the integrated logic operation unit 80 can verify and correct the determination result of the first determination unit 60 or the second determination unit 70 based on the determination result of the other determination unit (70.60). Thereby, the determination accuracy of walking motion is further improved.

  The first determination unit 60 described above determines the transition of the state of one leg from the early stance phase to the late stance phase. Moreover, the 2nd discrimination | determination part 70 discriminate | determined the transition from the free leg period early stage to the late leg period late stage of the state of the other leg. Then, the integrated logic unit 80 determines the transition of one leg state from the early stance phase to the late stance phase, and considers the determination result of the other leg state from the early swing phase to the late swing phase. I went there. This makes it possible to determine the movement state based on highly relevant movements such as the transition from the early stance phase of one leg to the late stance phase and the transition of the other leg state from the early swing phase to the late swing phase. Is done. Therefore, the integrated logic operation unit 80 can perform the user operation determination based on the determination results of both the first determination unit 60 and the second determination unit 70 with high accuracy.

This embodiment has the following effects in addition to the effects (1) to (4).
(5) The body movement detection device 10 includes a first determination unit 60 and a second determination unit 70 that determine the movement state of the left and right legs divided by the median plane O as a determination unit. The body movement detection device 10 also includes an integrated logic operation unit 80 that performs a process of determining the movement state of the left and right legs based on the determination results of the first determination unit 60 and the second determination unit 70. As a result, even if it is difficult to determine from the detection result of the state of one leg, it is possible to determine appropriately.

(Third embodiment)
Hereinafter, a third embodiment of the present invention will be described with reference to FIGS.

  The basic configuration of the body motion detection device and the electrical stimulation device according to this embodiment is the same as that of the first embodiment. Therefore, also in FIG. 13, elements that are substantially the same as those in the first embodiment are denoted by the same reference numerals, and redundant descriptions are omitted.

  As shown in FIG. 10, in the present embodiment, electrode portions 34 and 35 for applying electrical stimulation to the user's body are provided on the thigh front portion 24 and the lower thigh front portion 27. The electrode part 34 has a pair of anode 34a and cathode 34b. The electrode part 35 has a pair of an anode 35a and a cathode 35b. A part of the anodes 34a and 35a and the cathodes 34b and 35b are exposed from the back surfaces 24b and 27b of the thigh front part 24 and the lower leg front part 27, and are configured to directly contact the skin and apply electrical stimulation. ing. The sensors SL1, SL2, SR1, SR2 and the electrode portions 34, 35 are electrically connected to the main body portion 12 via the connection cable 13.

  As shown in FIG. 11, the body motion detection device 10 of the present embodiment includes an electrical stimulation unit 42 that applies electrical stimulation to the user. The control unit 41 further includes an electrical control unit 48 that controls the electrical stimulation unit 42.

  The electrical control unit 48 controls the electrical stimulation unit 42 based on the output signal from the determination unit 47, that is, the determination sections H1a to H1c. The electrical stimulation unit 42 includes the electrode units 34 and 35 described above, and a pulse generation unit 51 electrically connected to the electrode units 34 and 35.

  The electrical stimulation unit 42 drives the pulse generation unit 51 based on the control signal input from the electrical control unit 48. Thereby, the electrical stimulation part 42 produces | generates a predetermined pulse signal between the anodes 34a and 35a of each electrode part 34 and 35, and the cathodes 34b and 35b. Each electrode part 34 and 35 gives an electrical stimulus with respect to a user by generation | occurrence | production of a pulse signal.

  For example, in addition to the determination result of the user's operation state, the display unit 43 displays settings such as the presence or absence of electrical stimulation in each determination section H1a to H1c. This setting can be changed by the user using the operation unit 44. The power supply unit 45 supplies a drive current to the sensors SL1, SL2, SR1, SR2, the electrical stimulation unit 42, the control unit 41, and the operation unit 44. Then, the determination unit 47 outputs a signal indicating that the determination sections H1a to H1c have been switched to the electric control unit 48.

Next, the operation of the body movement detection device 10 of the present embodiment will be described with reference to the flowchart shown in FIG.
As shown in FIG. 12, first, processing of steps 61 to 65 corresponding to steps 51 to 55 shown in FIG. 6 is executed. Thereby, the determination unit 47 detects the determination sections H1a to H1c from the output result of the logic operation unit 50. Then, the determination unit 47 outputs a signal to the electrical control unit 48 indicating that the respective determination sections H1a to H1c have been switched.

  Next, the electrical control unit 48 controls the pulse generation unit 51 of the electrical stimulation unit 42 based on the input discrimination sections H1a to H1c (step 66). As illustrated in FIG. 13, the electrical control unit 48 performs control so that electrical stimulations A and B are applied from the electrode unit 34 in the determination section H1a corresponding to the stance phase. In addition, the electrical control unit 48 performs control to stop driving (electrical stimulation) of the pulse generation unit 51 in the determination section H1b corresponding to the first period of the swing leg period. The electric control unit 48 controls the magnitude and frequency of the current of the pulse signal generated in each of the electrode units 34 and 35 based on a predetermined program or the like.

Next, the operation of the body motion detection device 10 will be described.
In the body movement detection device 10, the electrical control unit 48 controls the electrical stimulation unit 42 to apply electrical stimulation to the user's body based on the determination sections H <b> 1 a to H <b> 1 c. Thus, for example, in one walking cycle, by applying electrical stimulation in a range including a section where muscles are intensively active, it is possible to contract the muscles and effectively reduce the burden on the lower leg. That is, compared with the case where electrical stimulation is applied using only the stance phase and the swing phase, electrical stimulation can be applied in a finer section corresponding to the walking state. In addition, by setting the plurality of discrimination sections H1a to H1c, it is possible to stop the electrical stimulation not only in the section in which the electrical stimulation is applied but also in the predetermined section. Thereby, electrical stimulation can be applied without interfering with walking. Therefore, electrical stimulation can be applied efficiently. Furthermore, in the discrimination sections H1a to H1c, electrical stimulation is applied from both electrode portions 34 and 35. That is, the section to which the electrical stimulation is applied can be performed by combining a plurality of determination sections H2a to H2d. Thereby, provision (feedback) of electrical stimulation can be performed according to various sections (walking state).

This embodiment has the following effects in addition to the effects (1) to (4).
(6) The body motion detection device 10 includes an electrical stimulation unit 42, and applies electrical stimulation to the user's body based on the respective discrimination sections H1a to H1c into which the electrical control unit 48 is divided. Thereby, electrical stimulation can be provided in a fine section according to the walking state. In addition, the electrical stimulation unit 42 can apply electrical stimulation at a necessary timing according to a highly accurate determination result by the determination unit 47. Thereby, a user's fatigue by applying electrical stimulation to a human body for a long time will be reduced.

  (7) The body motion detection device 10 includes the operation unit 44, and the user can change the determination sections H1a to H1c to which the electrical stimulation is applied. Thereby, electrical stimulation can be applied according to the user's preference and purpose.

(Other embodiments)
In addition, each said embodiment can also be implemented with the following forms.
In each of the above embodiments, the sensors SL1, SL2, SR1, SR2 and the main body portion 12 are connected by wire with the connection cable 13. And the signal which shows the detection result of sensor SL1, SL2, SR1, SR2 was transmitted to the main-body part 12 via the connection cable 13. FIG. In addition to this, for example, the sensor SL1, SL2, SR1, SR2, and the main body 12 may be configured to include a communication unit capable of wireless communication.

  In each of the above embodiments, the sensors SL1, SL2, SR1, and SR2 are attached to the user's knee joint. In addition to this, for example, the sensors SL1, SL2, SR1, and SR2 may be mounted on other parts of the user, such as around the hip joint, waist, elbow, arm, and ankle. In this case, the sensors SL1, SL2, SR1, and SR2 are attached to symmetrical portions that straddle the reference plane. The sensors SL1, SL2, SR1, SR2 are preferably provided at positions that sandwich the joints of the user's body.

In each of the above embodiments, the mounting unit 11 and the operation unit 44 are configured as separate bodies. For example, the operation unit 44 may be built in the mounting unit 11.
In the second embodiment, when it is determined that the state of the other leg has transitioned from the early swing phase to the late swing phase, it is determined that the early stance phase of one leg has ended. In addition to this, the integrated logic operation unit 80 combines the determination results of the first determination unit 60 and the second determination unit 70 as long as there is a correlation in the operation of the symmetric part across the reference plane. Can be determined.

  In the second embodiment, the movement determination of one leg is performed based on the determination results of the first determination unit 60 and the second determination unit 70. Similarly, the movement determination of the other leg is also performed based on the determination results of the first determination unit 60 and the second determination unit 70. In addition to this, for example, the movement determination of one leg may be performed based on the determination results of the first determination unit 60 and the second determination unit 70. The movement determination of the other leg may be performed based only on the determination result of either the first determination unit 60 or the second determination unit 70.

In the second embodiment, the same type of sensors SL1, SL2, SR1, and SR2 are used as the sensors constituting the first detection unit SL and the second detection unit SR. Not only this but 1st detection part SL and 2nd detection part SR may be comprised by a different kind of sensor, respectively. According to this, the 1st discrimination | determination part 60 and the 2nd discrimination | determination part 70 can perform a user's operation | movement discrimination | determination using the detected value of a different sensor.

  In the third embodiment, the electrical control unit 48 may appropriately change the generation mode of the current generated in the electrode units 34 and 35. For example, the current value may be gradually increased with time. Further, for example, the electric control unit 48 may execute processing based on a separately provided delay circuit or the like. And the electric control part 48 is good also as delaying the generation | occurrence | production timing of electric current for the predetermined time from the boundary of discrimination | determination area H1a-H1c by such a process. Further, for example, the electric control unit 48 may appropriately change the current cycle (pulse waveform cycle). Further, for example, the electrical control unit 48 may gradually increase the current value after starting electrical stimulation. Similarly, the electric control unit 48 may gradually decrease as the electric stimulation finishes. Furthermore, the electric control unit 48 may appropriately combine these current generation modes.

  In each of the above embodiments, the detection unit is configured by the first detection unit SL and the second detection unit SR. Furthermore, the body motion detection apparatus 10 may be configured to include an auxiliary detection unit including at least one sensor attached to the human body in addition to the first detection unit SL and the second detection unit SR. According to this, even if both the first detection unit SL and the second detection unit SR perform a false detection, the auxiliary detection unit detects the movement of the human body instead of the first detection unit SL and the second detection unit SR. To do. Thereby, the motion detection of the human body is performed with higher reliability.

  In the second embodiment, two determination units, the first determination unit 60 and the second determination unit 70, are provided. Furthermore, in addition to the first determination unit 60 and the second determination unit 70, one or more determination units may be provided. According to this, the integrated logic operation part 80 discriminate | determines a user's operation state based on the discrimination | determination result of three or more discrimination | determination parts.

  In the third embodiment, the body motion detection device 10 includes the determination unit 47, the electrical stimulation unit 42, and the electrical control unit 48. In addition to this, in the second embodiment, the body motion detection device 10 may further include an electrical stimulation unit 42 and an electrical control unit 48. According to this, the electrical control unit 48 can control the electrical stimulation according to the operation state of the user determined based on the determination results of both the first determination unit 60 and the second determination unit 70. Thereby, the application of electrical stimulation is performed at a more appropriate timing.

  In each of the above embodiments, the body motion detection device 10 determines the user's walking motion. In addition to this, the body motion detection device 10 may be a lifting operation such as a staircase or a rising operation from a seated chair or the like.

  DESCRIPTION OF SYMBOLS 10 ... Body motion detection apparatus, 11 ... Installation part, 12 ... Main-body part, 41 ... Control part, 42 ... Electrical stimulation part, 43 ... Display part, 44 ... Operation part, 45 ... Power supply part, 46 ... Arithmetic processing part, 47 Determining unit, 48 ... Electric control unit, 49 ... Comparison unit, 50 ... Logic operation unit, 51 ... Pulse generation unit, 60 ... First determination unit, 60 ... Second determination unit, 61 ... Comparison unit, 62 ... Logic operation , 70... Second discriminating unit, 71... Comparison unit, 72... Logical operation unit, 80... Integrated logic operation unit, O... Median plane, SL .. first detection unit, SR ... second detection unit, SL 1, SL 2, SR1, SR2 ... sensors.

Claims (6)

A detecting unit that is provided at a position symmetrical to a reference plane that is a plane that is the center of a symmetric motion of the human body, and that has a plurality of sensors attached to a portion straddling the joint of the human body to detect body motion of the human body When,
A discriminator for discriminating the walking motion of the human body based on the output signal of the detector;
A mounting portion provided with the plurality of sensors,
The mounting portion includes a thigh mounting portion attached to the thigh, a crus mounting portion attached to the crus, and a connecting portion that connects the thigh mounting portion and the crus mounting portion to each other,
The said discrimination | determination part discriminate | determines the stance phase in one walk cycle and a some free leg phase by combining the output signal of these sensors. The body movement detection apparatus characterized by the above-mentioned. The body movement detection device according to claim 1,
The body motion detection device, wherein the sensor provided in the thigh attachment part is an acceleration sensor, and the sensor provided in the crus attachment part is an angular velocity sensor. The body movement detection device according to claim 1 or 2,
The thigh mounting part has a recess formed in the knee side part,
The lower leg mounting part has a recess formed in the knee side part,
The body movement detecting device, wherein the mounting portion includes a mounting hole surrounded by a concave portion of the thigh mounting portion, a concave portion of the crus mounting portion, and the connecting portion. In the body movement detection apparatus as described in any one of Claims 1-3,
The body motion detection device, wherein the reference plane is a median plane that is a central plane that equally divides a human body viewed from the front. In the body movement detection device according to any one of claims 1 to 4 ,
A first determination unit configured to determine a walking motion of one leg of the human body based on a detection result of one or more of the sensors attached to one of the human bodies divided by the reference plane;
A second discriminating unit that discriminates the walking motion of the other leg of the human body based on the detection results of one or more sensors attached to the other human body divided by the reference plane;
The discriminating unit discriminates the walking motion of one leg of the human body by adding discriminating information indicating the determination result of the second determining unit to the discriminating information indicating the discrimination result of the first discriminating unit. Body motion detection device. An electrical stimulation device comprising: an electrical stimulation unit that applies electrical stimulation to the human body; and an electrical control unit that controls electrical stimulation applied to the human body by controlling the electrical stimulation unit based on walking motion of the human body,
The electrical control device controls the electrical stimulation based on the walking motion of the human body determined by the body movement detection device according to any one of claims 1 to 5. .

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