CN113226491A

CN113226491A - Exercise assisting program, exercise assisting system, and control method for exercise assisting system

Info

Publication number: CN113226491A
Application number: CN201980085448.9A
Authority: CN
Inventors: 市村亮; 白泽直人
Original assignee: Panasonic Intellectual Property Management Co Ltd
Current assignee: Panasonic Intellectual Property Management Co Ltd
Priority date: 2018-12-27
Filing date: 2019-12-27
Publication date: 2021-08-06
Also published as: WO2020138456A1

Abstract

An exercise assisting system detects an angular velocity of a user's foot about a front-rear axis using an angular velocity sensor provided at a first attachment body attached to the user's foot, determines whether a varus angle of the user's ankle calculated based on information about the angular velocity of the user's foot about the front-rear axis exceeds a threshold, and applies an electrical stimulus to the user's common peroneal nerve using an electrode provided at a second attachment body attached to the user's lower limb if it is determined that the varus angle exceeds the threshold.

Description

Exercise assisting program, exercise assisting system, and control method for exercise assisting system

Technical Field

The present invention relates to an exercise assisting program, an exercise assisting system, and a control method for the exercise assisting system.

Background

An exercise assisting system for discriminating the type of walking motion is known. Conventional exercise assisting systems assist exercise of lower limbs, for example, depending on the type of walking motion. Patent document 1 discloses an example of a conventional exercise assisting system.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication (Kokai) No. 2015-136582

Disclosure of Invention

Problems to be solved by the invention

It is thought that it is possible to suppress injury to the lower limbs using information on the state of the ankle and knee during movement. On the other hand, in the conventional exercise assisting system, the states of the ankle and the knee during exercise cannot be measured.

The invention aims to provide a sport assisting program, a sport assisting system and a control method of the sport assisting system, which can measure the states of ankles and knees.

Means for solving the problems

A first aspect of an exercise assisting system according to the present invention is a first aspect of the exercise assisting system that detects an angular velocity of a foot of a user about a front-rear axis using an angular velocity sensor provided in a first wearable device attached to the foot of the user, determines whether a varus angle of an ankle of the user calculated based on information on the angular velocity of the foot of the user about the front-rear axis exceeds a threshold value, and applies an electrical stimulus to a common fibula nerve of the user using an electrode provided in a second wearable device attached to a lower limb of the user when it is determined that the varus angle exceeds the threshold value.

A first aspect of the exercise assisting program according to the present invention is a program that causes the following processes to be executed: receiving, from a first wearable mounted to a user, information related to an angular velocity of a foot of the user about a front-rear axis detected by an angular velocity sensor provided at the first wearable; determining whether a varus angle of an ankle of the user, calculated based on information relating to an angular velocity of the foot of the user about a front-to-rear axis, exceeds a threshold; and outputting control information for causing the electrode of the assistance portion of the second wearable device to apply electrical stimulation to the common peroneal nerve of the user to an assistance portion of a second wearable device attached to the user when it is determined that the inversion angle exceeds the threshold value.

A first aspect of a method for controlling an exercise assisting system according to the present invention is a method for controlling an exercise assisting system including a first wearable device and a second wearable device attached to a user, wherein information on an angular velocity around a front-rear axis of a foot of the user detected by an angular velocity sensor provided in the first wearable device attached to the user is received from the first wearable device, it is determined whether or not an inversion angle of the ankle of the user calculated based on the information on the angular velocity around the front-rear axis of the foot of the user exceeds a threshold value, and when it is determined that the inversion angle exceeds the threshold value, control information for applying an electrical stimulus to a total fibula nerve of the user is output to an assisting unit attached to the second wearable device of the user.

A second aspect of the exercise assisting system according to the present invention is a system for detecting acceleration in a left-right axis direction of a knee of a user using an acceleration sensor provided in a wearable material attached to a thigh of the user, the system for determining whether or not an inward acceleration of the detected acceleration in the left-right axis direction of the knee of the user is smaller than a threshold value, and applying an electrical stimulus to a semitendinous muscle of the user using an electrode provided in the wearable material attached to the thigh of the user when the inward acceleration is determined to be smaller than the threshold value.

A second aspect of the exercise assisting program according to the present invention is a program that causes the following processes to be executed: receiving information on acceleration in a left-right axis direction of a knee of a user detected by an acceleration sensor provided in a wearable mounted to a thigh of the user; determining whether an inward-oriented acceleration among accelerations in left and right axis directions of the knee of the user exceeds a threshold value based on the information on acceleration; and outputting control information for causing the electrode of the wearable unit to apply an electrical stimulus to the semitendinous muscle of the user to an auxiliary unit attached to the wearable unit of the user when it is determined that the inward acceleration is smaller than the threshold.

A second aspect of the control method of the exercise assisting system according to the present invention is a control method of an exercise assisting system including a wearable device attached to a user, wherein information on accelerations in left and right axial directions of a knee of the user detected by an acceleration sensor provided in the wearable device is acquired, whether or not an inward acceleration among the accelerations in the left and right axial directions of the knee of the user exceeds a threshold value is determined based on the information on the accelerations, and control information for applying an electrical stimulus to a semitendinous muscle of the user is output to an assisting unit attached to the wearable device of the user when it is determined that the inward acceleration is smaller than the threshold value.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the exercise assisting program, the exercise assisting system, and the control method of the exercise assisting system according to the present invention, the states of the ankle and the knee can be measured.

Drawings

Fig. 1 is a perspective view showing an example of a use state of the exercise assisting system according to the first embodiment.

Fig. 2 is an exploded perspective view of the mounting body of fig. 1.

Fig. 3 is a block diagram of the exercise assisting system of fig. 1.

Fig. 4 is a schematic view showing an example of the ankle eversion angle.

Fig. 5 is a schematic view showing an example of the ankle plantar dorsiflexion angle.

Fig. 6 is a graph showing an example of the first state information based on the jumping motion.

Fig. 7 is a graph showing another example of the first state information based on the jumping motion.

Fig. 8 is a graph showing an example of the first state information based on the lateral step motion.

Fig. 9 is a graph showing another example of the first state information based on the lateral step motion.

Fig. 10 is a graph showing an example of the first state information based on the plantarflexion movement.

Fig. 11 is a flowchart showing an example of the first control according to the exercise assisting program.

Fig. 12 is a flowchart showing an example of the second control according to the exercise assisting program.

Fig. 13 is a flowchart showing an example of a method of using the exercise assisting system.

Fig. 14 is a perspective view showing an example of a use state of the exercise assisting system according to the second embodiment.

Figure 15 is a front view showing the inner surface of the third wearable of figure 14.

Fig. 16 is a block diagram of the exercise assisting system of fig. 14.

Fig. 17 is a graph showing an example of the first state information based on the jumping motion.

Fig. 18 is a graph showing an example of the first state information based on the lateral step motion.

Fig. 19 is a flowchart showing an example of the first control according to the exercise assisting routine.

Fig. 20 is a flowchart showing an example of the second control according to the exercise assisting program.

Fig. 21 is a flowchart showing an example of a method of using the exercise assisting system.

Detailed Description

(first embodiment)

(an example of a mode that can be adopted by the exercise assisting program, the exercise assisting system, and the control method of the exercise assisting system)

According to the exercise assisting system, the ankle inversion angle is calculated based on the angular velocity of the foot around the front-rear axis, and therefore the state of the ankle can be appropriately measured. In addition, since the electrical stimulation is applied to the common peroneal nerve when it is determined that the inversion angle exceeds the threshold value, the movement of the lower limb can be assisted according to the state of the ankle.

A first aspect of the exercise assisting program according to the present invention is a program that causes the following processes to be executed: receiving, from a first wearable mounted to a user, information related to an angular velocity of a foot of the user about a front-rear axis detected by an angular velocity sensor provided at the first wearable; determining whether a varus angle determination of the ankle of the user calculated based on information about an angular velocity of the foot of the user about a front-rear axis exceeds a threshold; and outputting control information for causing the electrode of the assistance portion of the second wearable device to apply electrical stimulation to the common peroneal nerve of the user to an assistance portion of a second wearable device attached to the user when it is determined that the inversion angle exceeds the threshold value.

According to the exercise assisting program, the ankle inversion angle is calculated based on the angular velocity of the foot around the front-rear axis, and therefore the state of the ankle can be appropriately measured. In addition, since the electrical stimulation is applied to the common peroneal nerve when it is determined that the inversion angle exceeds the threshold value, the movement of the lower limb can be assisted according to the state of the ankle.

A first aspect of a control method for an exercise assisting system according to the present invention is a control method for an exercise assisting system including a first wearable device and a second wearable device attached to a user, wherein information relating to the angular velocity of the user's foot about a front-rear axis detected by an angular velocity sensor provided at the first wearable mounted to the user is received from the first wearable, in the control method of the exercise assisting system, it is determined whether a flip-in angle of the ankle of the user calculated based on information on angular velocity of the foot of the user about a front-rear axis exceeds a threshold value, and outputting control information for applying electrical stimulation to the common peroneal nerve of the user to an assist unit attached to the second wearable device of the user when it is determined that the inversion angle exceeds the threshold value.

According to the control method of the exercise assisting system, the ankle inversion angle is calculated based on the angular velocity of the foot around the front-rear axis, and therefore the state of the ankle can be appropriately measured. In addition, since the electrical stimulation is applied to the common peroneal nerve when it is determined that the inversion angle exceeds the threshold value, the movement of the lower limb can be assisted according to the state of the ankle.

Another aspect of the exercise assisting program according to the present invention causes the control unit to execute: a first step of reading first state information relating to the state of the lower limb detected by the detection unit; a second step of calculating a state of the ankle according to the first state information; and a third step of outputting the calculated second state information related to the ankle state.

According to the exercise assisting program, the state of the ankle can be measured.

According to one example of the exercise assisting program, in the first step, the first state information including information on an angular velocity of the lower limb is read.

The state of the ankle is reflected in the angular velocity of the lower limb. According to the exercise assisting program, since the first state information includes information on the angular velocity of the lower limb, the state of the ankle can be appropriately measured.

According to an example of the exercise assisting program, in the first step, the first state information including information on an angular velocity of the lower leg and information on an angular velocity of the foot is read.

The state of the ankle is reflected in the angular velocity of the lower leg and the angular velocity of the foot. According to the exercise assisting program, since the first state information includes information relating to the angular velocity of the lower leg and information relating to the angular velocity of the foot, the state of the ankle can be appropriately measured.

According to one example of the exercise assisting program, in the first step, the first state information including information on acceleration of the lower limb is read.

The state of the ankle is reflected in the acceleration of the lower limb. According to the exercise assisting program, since the first state information includes information on the acceleration of the lower limb, the state of the ankle can be appropriately measured.

According to an example of the exercise assisting program, in the first step, the first state information including information on an acceleration of the lower leg and information on an acceleration of the foot is read.

The state of the ankle is reflected in the acceleration of the lower leg and the acceleration of the foot. According to the exercise assisting program, since the first state information includes information on the acceleration of the lower leg and information on the acceleration of the foot, the state of the ankle can be appropriately measured.

According to an example of the exercise assisting program, in the first step, the first state information including information on the pressure of the sole of the foot is read.

The state of the ankle is reflected in the pressure of the ball of the foot. According to the exercise assisting program, since the first state information includes information on the sole of the foot, the state of the ankle can be appropriately measured.

According to an example of the exercise assisting program, in the second step, the ankle eversion angle including at least one of the ankle eversion angle and the ankle eversion angle is calculated, and in the third step, the second state information including information on the ankle eversion angle is output.

The ankle varus angle and the ankle valgus angle are associated with ankle sprains. According to the exercise assisting program, the risk relating to ankle sprain can be determined.

According to an example of the exercise assisting program, in the second step, an ankle plantar-dorsiflexion angle including at least one of an ankle plantar flexion angle and an ankle dorsiflexion angle is calculated, and in the third step, the second state information including information on the ankle plantar-dorsiflexion angle is output.

The plantar flexion angle of the ankle and the dorsiflexion angle of the ankle are associated with sprains on the ankle. According to the exercise assisting program, the risk relating to ankle sprain can be determined.

According to an example of the exercise assisting program, the control unit is caused to further execute a fourth step of calculating instruction information of an assisting unit for controlling exercise of the lower limbs based on at least one of the first state information and the second state information, and the third step of further outputting the instruction information.

According to the exercise assisting program, the exercise of the lower limbs can be assisted according to the state of the ankle.

According to an example of the exercise assisting program, in the fourth step, the instruction information for operating the assisting section to stabilize the state of the ankle is calculated based on at least one of the first state information and the second state information.

According to the exercise assisting program, since the stability of the ankle is improved, the ankle sprain can be suppressed.

Another embodiment of the exercise assisting system according to the present invention includes: a wearable item attached to the lower limb; the detection part is arranged on the wearable piece; a transmission unit that transmits the first state information detected by the detection unit; and the exercise assisting program.

According to the exercise assisting system, the state of the ankle can be measured.

According to one example of the exercise assisting system, the detecting unit includes at least one of a lower leg angular velocity sensor that detects an angular velocity of a lower leg, a lower leg acceleration sensor that detects an acceleration of a lower leg, a foot angular velocity sensor that detects an angular velocity of a foot, a foot acceleration sensor that detects an acceleration of a foot, and a sole pressure sensor that detects a pressure of a sole.

According to the exercise assisting system, the state of the ankle can be appropriately measured.

The structure of the first embodiment of the exercise assisting system 1 is explained with reference to fig. 1.

The exercise assisting system 1 is used for training by an exerciser, for example. The training includes, for example, exercise of the lower limbs L related to general life and exercise. In one example, the movement of the lower limb L includes jumping, side stepping, and plantarflexion. The jumping motion is a motion in which both feet jump off the ground. One example of the ground contact surface is a ground surface. The side stepping motion is a motion that moves the monopod away from the touchdown surface. The plantarflexion and dorsiflexion movement is movement that allows the ankle to move in a manner of repeating plantarflexion and dorsiflexion.

The main elements constituting the exercise assisting system 1 are the attachment 10, the terminal device 40, and the exercise assisting program. The attachment body 10 is attached to the body. The attachment body 10 includes an attachment body 10 for a left body attached to a left half of the left body and an attachment body for a right body attached to a right half of the right body (not shown). The structure of the left body attachment 10 is substantially the same as that of the right body attachment. The function of the left body attachment 10 is substantially the same as that of the right body attachment. The shape of the left-body attachment body 10 and the shape of the right-body attachment body have a bilaterally symmetric relationship. In the following description, the left body attachment 10 will be described in detail, and the description of the right body attachment will be omitted.

The main elements constituting the attachment body 10 are the wearable device 11, the detection block 20, and the auxiliary block 30. The wearable item 11 is attached to the lower limb L. The wearable piece 11 as the mounting body includes a first wearable piece 12 as the first mounting body and a second wearable piece 18 as the second mounting body. The first wearable device 12 and the second wearable device 18 may be integrally formed with each other or may be separately formed from each other. In the example shown in fig. 1, the first wearable item 12 and the second wearable item 18 are formed separately from each other. The first wearable piece 12 is mounted around the foot and ankle, for example. The second wearable 18 is mounted, for example, around the knee. The second wearable 18 has a ring shape. The second wearable 18 is preferably constructed of a stretchable material.

As shown in fig. 2, the first wearable piece 12 includes an ankle covering portion 13, a foot covering portion 14, an insole 15, and an adjustment portion 16. The ankle covering portion 13 includes a portion capable of covering the ankle. The ankle covering portion 13 is formed in a hollow shape, for example, so that a foot can be inserted. The foot-covering portion 14 includes a portion capable of covering the foot. The foot covering portion 14 is integrally configured with the ankle covering portion 13, for example. The foot covering portion 14 includes a ball covering portion 14A and a pair of instep covering portions 14B. The sole covering portion 14A includes a portion capable of covering the sole. The instep cover 14B includes a portion capable of covering the instep of the foot. The pair of instep cover portions 14B extend from the sole cover portion 14A. Has a structure that can be folded back with respect to the ball covering portion 14A. The insole 15 is inserted into the ball covering portion 14A.

The adjustment portion 16 has a structure capable of adjusting the installation dimension of the foot covering portion 14. The attachment dimension defines the inner periphery of the foot covering section 14 in a state where the foot covering section 14 is attached to a foot. In one example, the strength with which the foot covering portion 14 fastens the foot can be changed by adjusting the attachment dimension of the foot covering portion 14 by the adjustment portion 16. The adjustment portion 16 is constituted by a surface connecting member 17, for example. The surface fastener 17 includes a burred portion (not shown) and a round portion 17A. The bur portion is provided on an outer surface (not shown) of one instep cover 14B, for example. The round hair part 17A is provided on the inner surface 14C of the other instep cover part 14B, for example. In one example, the foot is inserted into the ankle covering portion 13, one instep covering portion 14B is folded over so as to cover the foot, and the round hair portion 17A and the barbed hair portion are stuck together so that the foot covering portion 14 is stuck to the foot, whereby the first wearable item 12 is appropriately attached around the foot and the ankle.

The detection block 20 is provided, for example, on the wearable piece 11. In one example, the detection block 20 is disposed on the first wearable piece 12. The detection block 20 is configured to be capable of electrically communicating with the terminal device 40 by a wired or wireless method. In one example, the detection block 20 is configured to be capable of wireless communication with the terminal device 40. The auxiliary block 30 is provided, for example, on the wearable piece 11. In one example, the auxiliary mass 30 is disposed on the second wearable 18. Specifically, the auxiliary block 30 is provided on the second wearable device 18 so that an auxiliary unit 31 (see fig. 3) described later comes into contact with the body. The auxiliary block 30 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the auxiliary block 30 is configured to be capable of wireless communication with the terminal device 40.

The terminal device 40 is provided separately from the mounting body 10. The terminal device 40 includes at least one of a smart device and a personal computer. The smart device comprises at least one of a wearable device such as a smart watch, a smart phone and a tablet computer. In the example shown in fig. 1, the terminal device 40 includes a tablet computer. The terminal device 40 can perform wireless communication with the detection block 20 and the auxiliary block 30 by pairing with the detection block 20 and the auxiliary block 30. The detection block 20, the auxiliary block 30, and the terminal device 40 each include communication elements necessary for pairing. The terminal device 40 may be mounted to the wearable member 11.

A specific structure of the exercise assisting system 1 is explained with reference to fig. 3. The exercise assisting system 1 shown in fig. 3 omits a mounting body 10.

The main elements constituting the detection block 20 are a detection unit 21 and a transmission unit 23. The detection unit 21 detects the state of the ankle. In one example, the detection unit 21 includes at least one of a lower leg angular velocity sensor 21A that detects an angular velocity of a lower leg, a lower leg acceleration sensor 21B that detects an acceleration of a lower leg, a foot angular velocity sensor 21C that detects an angular velocity of a foot, a foot acceleration sensor 21D that detects an acceleration of a foot, and a sole pressure sensor 22 that detects a pressure of a sole of the foot.

The lower leg angular velocity sensor 21A is provided on the wearable piece 11. In one example, the lower leg angular velocity sensor 21A is provided in the ankle covering portion 13 (see fig. 2). The lower leg angular velocity sensor 21A detects at least one of an angular velocity around the anteroposterior axis, an angular velocity around the left-right axis, and an angular velocity around the up-down axis. In one example, the lower leg angular velocity sensor 21A is a 3-axis angular velocity sensor. When integrating the values detected by the lower leg angular velocity sensor 21A, at least one of the angle of the lower leg with respect to the anteroposterior axis, the angle of the lower leg with respect to the left-right axis, and the angle of the lower leg with respect to the vertical axis can be calculated.

The lower leg acceleration sensor 21B is provided on the wearable piece 11. In one example, the lower leg acceleration sensor 21B is provided in the ankle covering portion 13 (see fig. 2). In the example shown in fig. 2, the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B are housed in one case 20A and integrally attached to the ankle covering portion 13. The lower leg acceleration sensor 21B detects at least one of an acceleration acting on the lower leg acceleration sensor 21B in the extending direction of the anteroposterior axis (hereinafter referred to as an acceleration in the anteroposterior axis direction), an acceleration acting on the lower leg acceleration sensor 21B in the extending direction of the left-right axis (hereinafter referred to as an acceleration in the left-right axis direction), and an acceleration acting on the lower leg acceleration sensor 21B in the extending direction of the up-down axis (hereinafter referred to as an acceleration in the up-down axis direction). Here, the anteroposterior axis refers to a virtual line extending in the anteroposterior direction of the body, the lateral axis refers to a virtual line extending in the lateral direction of the body, and the vertical axis refers to a virtual line extending in the vertical direction of the body. In one example, the lower leg acceleration sensor 21B is a 3-axis acceleration sensor.

The foot angular velocity sensor 21C is provided on the wearable piece 11. In one example, the foot angular velocity sensor 21C is provided in the foot covering section 14 (see fig. 2). The foot angular velocity sensor 21C detects at least one of an angular velocity around the front-rear axis, an angular velocity around the left-right axis, and an angular velocity around the up-down axis. In one example, the foot angular velocity sensor 21C is a 3-axis angular velocity sensor. When integrating the values detected by the foot angular velocity sensor 21C, at least one of the angle of the foot with respect to the front-rear axis, the angle of the foot with respect to the left-right axis, and the angle of the foot with respect to the up-down axis can be calculated.

The foot acceleration sensor 21D is provided on the wearable piece 11. In one example, the foot acceleration sensor 21D is provided in the foot covering section 14 (see fig. 2). In the example shown in fig. 2, the foot angular velocity sensor 21C and the foot acceleration sensor 21D are housed in one case 20B and integrally attached to the foot covering section 14. The foot acceleration sensor 21D detects at least one of the acceleration in the front-rear axis direction, the acceleration in the left-right axis direction, and the acceleration in the up-down axis direction. In one example, the foot acceleration sensor 21D is a 3-axis acceleration sensor.

The sole pressure sensor 22 is provided on the wearable member 11. In one example, the sole pressure sensor 22 is provided in the insole 15. In the example shown in fig. 2, the sole pressure sensor 22 includes at least one of a first sole pressure sensor 22A that detects a pressure of a ball of the foot, a second sole pressure sensor 22B that detects a pressure of a little toe, and a third sole pressure sensor 22C that detects a pressure of a heel. The first ball pressure sensor 22A is provided in a portion of the insole 15 corresponding to a ball of the foot. The second ball pressure sensor 22B is provided in a portion of the insole 15 corresponding to the little toe box of the foot. The third sole pressure sensor 22C is provided in a portion of the insole 15 corresponding to the heel. When the values detected by the sole pressure sensors 22A to 22C are substantially equal, the standing posture of the exerciser is stable.

The transmitting unit 23 transmits the first state information detected by the detecting unit 21. The first state information includes at least one of information relating to an angular velocity of the lower limb L, information relating to an acceleration of the lower limb L, and information relating to a pressure of the sole of the foot. Specifically, the first state information includes at least one of information relating to angular velocity of the lower leg, information relating to acceleration of the lower leg, information relating to angular velocity of the foot, information relating to acceleration of the foot, and information relating to pressure of the sole of the foot.

The transmission unit 23 includes a first transmission unit 23A and a second transmission unit 23B. The first transmission unit 23A is housed in the housing 20A (see fig. 2), for example. In one example, the first transmitter 23A is electrically connected to the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B. The first state information transmitted from the first transmitting unit 23A includes at least one of information relating to the angular velocity of the lower leg and information relating to the acceleration of the lower leg. The first transmitting unit 23A transmits the first state information detected by at least one of the lower leg angular velocity sensor 21A and the lower leg acceleration sensor 21B to the terminal device 40.

The second transmission unit 23B is housed in the housing 20B (see fig. 2), for example. In one example, the second transmission unit 23B is electrically connected to the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the sole pressure sensor 22. The first state information transmitted from the second transmitting unit 23B includes at least one of information relating to the angular velocity of the foot, information relating to the acceleration of the foot, and information relating to the pressure of the ball of the foot. The second transmitting unit 23B transmits the first state information detected by at least one of the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the sole pressure sensor 22 to the terminal device 40.

The main elements constituting the auxiliary block 30 are an auxiliary unit 31, a receiving unit 32, and a voltage control unit 33. The assisting section 31 assists the movement of the lower limb L. The auxiliary portion 31 includes a first electrode 31A and a second electrode 31B. In one example,

electrodes

31A, 31B apply electrical stimulation to the common peroneal nerve. The

electrodes

31A and 31B are provided on the second wearable device 18 so as to contact a portion of the lower limb L corresponding to the lower fibula end, for example, in a state where the wearable device 11 is attached to the lower limb L. An electric current flows from one of the

electrodes

31A and 31B to the other, and thus an electric stimulus is applied to the common peroneal nerve. The receiving unit 32 receives various information from the terminal device 40. In one example, the receiving unit 32 receives various information related to control of the assisting unit 31. The various information related to the control of the assisting unit 31 includes at least one of information related to the timing of applying the electrical stimulation, information related to the stimulation pattern of the electrical stimulation, and information related to the intensity of the electrical stimulation. The voltage control unit 33 controls the

electrodes

31A and 31B based on various information received by the receiving unit 32, for example.

The mounting body 10 further includes a power supply 19 that supplies power to the detection block 20 and the auxiliary block 30. The power source 19 is provided, for example, at the wearable 11. The power supply 19 is electrically connected to the detection block 20 and the auxiliary block 30 by wire or wireless. The power supply 19 supplies electric power to various electric elements constituting the detection block 20 and various electric elements constituting the auxiliary block 30. The power supply 19 includes a primary battery or a secondary battery. The mounting body 10 may include a power supply that supplies power to the detection block 20 alone and a power supply that supplies power to the auxiliary block 30 alone.

The main elements constituting the terminal device 40 are a control unit 41, an operation unit 42, a notification unit 43, and a power supply 44. The control section 41 includes one or more CPUs (Central Processing units) or MPUs (Micro Processing units). The control unit 41 may be configured as a circuit (circuit) including: 1) one or more processors that execute various processes in accordance with a computer program (software); 2) one or more dedicated hardware circuits such as Application Specific Integrated Circuits (ASICs) for executing at least a part of various processes; or 3) combinations of the above. The processor includes a CPU and memories such as a RAM and a ROM, and the memories store program codes and instructions configured to cause the CPU to execute processing. Memory, or computer-readable media, includes all available media that can be accessed by a general purpose or special purpose computer. The control unit 41 executes various controls based on at least one of the first state information and operation information related to the operation of the operation unit 42. The control unit 41 includes an information reading unit 41A, a state calculating unit 41B, an information output unit 41C, a risk determining unit 41D, and an auxiliary calculating unit 41E. The information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 21. The information reading unit 41A outputs the first state information to the state calculating unit 41B and the auxiliary calculating unit 41E, for example.

The state calculation unit 41B calculates the state of the ankle based on the first state information. In one example, the state calculation unit 41B determines the movement of the lower limb L based on the first state information, and calculates the state of the ankle based on the relationship between the first state information and the movement of the lower limb L. The ankle state includes an ankle valgus angle a (see fig. 4) and an ankle plantar dorsiflexion angle B (see fig. 5).

The state calculation unit 41B calculates the ankle rollover angle a based on the first state information, for example. As shown in fig. 4, the ankle eversion angle a includes at least one of an ankle eversion angle a1 and an ankle eversion angle a 2. The ankle inversion angle a1 is defined by, for example, a small angle out of angles formed by the ball of the foot and the ground contact surface in the ankle inverted state. The eversion angle a2 of the ankle is defined by, for example, the small angle of the angle that the ball of the foot makes with the contact surface in the everted state of the ankle. The ankle valgus angle a is calculated from the detection result of at least one of the lower leg angular velocity sensor 21A, the foot angular velocity sensor 21C, and the sole pressure sensor 22, for example.

The state calculation unit 41B calculates the ankle plantar-dorsiflexion angle B, for example, based on the first state information. As shown in fig. 5, the ankle plantar-dorsiflexion angle B includes at least one of an ankle plantar-dorsiflexion angle B1 and an ankle dorsiflexion angle B2. The ankle plantarflexion angle B1 is defined by, for example, a small angle out of angles formed by the ball of the foot and the virtual line LI in the state where the ankle is plantarflexion. The virtual line LI defines the sole of the foot in a state where the ankle is in the middle position. The middle of the ankle represents a state of the ankle similar to a state in which the foot touches the ground. In one example, the middle of the ankle represents a state in which a small angle of angles formed by the lower leg and the foot is 90 degrees. The dorsiflexion angle B2 of the ankle is defined by a smaller angle out of angles formed by the ball of the foot and the virtual line LI in a state where the ankle is dorsiflexed, for example. The ankle plantar dorsiflexion angle B is calculated from the detection result of at least one of the lower leg angular velocity sensor 21A, the foot angular velocity sensor 21C, and the sole pressure sensor 22, for example.

As shown in fig. 3, the state calculating unit 41B outputs the calculation result regarding the state of the ankle to the information output unit 41C. The information output unit 41C outputs the calculated second state information on the ankle state. In one example, the information output unit 41C outputs the second state information to the risk determination unit 41D and the auxiliary computation unit 41E.

The risk determination unit 41D determines a risk related to sprain of the ankle (hereinafter referred to as a "risk of sprain") based on the second state information. For example, when the risk condition is satisfied, the risk determination unit 41D outputs risk information relating to the risk of sprain to the information output unit 41C. The establishment of the risk condition indicates a high risk of sprain. The information output unit 41C outputs the risk information to the notification unit 43. The information output unit 41C may output information on the movement of the lower limb L to the notification unit 43 in addition to the risk information. The risk determination unit 41D may output the risk information to the information output unit 41C regardless of whether or not the risk condition is satisfied.

The risk determination unit 41D determines whether or not the risk condition is satisfied based on, for example, a relationship between the second state information and a threshold value set in advance. The threshold value is stored in a memory (not shown) mounted on the terminal device 40. In one example, the threshold value is defined based on at least one of a state of a fibula muscle, flexibility of an ankle, a history of injury, a height of jumping motion, the number of jumping motions, a speed of side stepping motion, the number of side stepping motions, a plantar flexion angle B1 of plantar dorsiflexion motion, a dorsiflexion angle B2 of plantar dorsiflexion motion, and the number of plantar dorsiflexion motions.

The assistance calculation unit 41E calculates instruction information of the assistance unit 31 for controlling the exercise of the lower limb L based on at least one of the first state information and the second state information. For example, when the assist condition is satisfied, the assist calculation unit 41E calculates the instruction information based on at least one of the first state information and the second state information. The assistance calculation unit 41E determines whether or not the assistance condition is satisfied based on the risk information, for example. In one example, the assist calculation unit 41E determines that the assist condition is satisfied when the risk condition is satisfied. The auxiliary computing unit 41E outputs the computed instruction information to the information output unit 41C. The information output unit 41C outputs the instruction information to the auxiliary block 30. The voltage control unit 33 controls the

electrodes

31A and 31B based on the instruction information acquired via the receiving unit 32. The assist calculation unit 41E may calculate the instruction information regardless of whether or not the assist condition is satisfied.

The operation unit 42 is configured to be able to input information related to the operation of the exercise assisting system 1, for example. The notification unit 43 is configured to be able to notify information about the exercise assisting system 1, for example. The notification unit 43 includes at least one of a speaker 43A and a display 43B. The speaker 43A notifies information related to the exercise assisting system 1 by sound. The display 43B notifies information related to the exercise assisting system 1 by an image. The display 43B may be integrally formed with the operation portion 42. In this case, the display 43B is a touch panel display. The power supply 44 supplies electric power to various electric components constituting the terminal device 40.

The exercise assisting system 1 performs various controls in accordance with the exercise assisting program. The exercise assisting program causes the control section 41 to execute the steps of: a first step of reading first state information relating to the state of the lower limb L detected by the detection unit 21; a second step of calculating the state of the ankle according to the first state information; and a third step of outputting the calculated second state information on the ankle state. According to the exercise assisting program, the state of the ankle can be measured.

In the first step S1, first state information including information on the angular velocity of the lower limb L is read. In a first step S1, first state information including information on the angular velocity of the lower leg and information on the angular velocity of the foot is read. Since the angular velocity of the lower leg and the angular velocity of the foot reflect the state of the ankle, the state of the ankle can be appropriately measured. In the first step S1, first state information including information on the acceleration of the lower limb L is read. In a first step S1, first state information including information on the acceleration of the lower leg and information on the acceleration of the foot is read. Since the acceleration of the lower leg and the acceleration of the foot reflect the state of the ankle, the state of the ankle can be appropriately measured. In a first step S1, first state information including information on the pressure of the ball of the foot is read. The pressure of the sole reflects the state of the ankle, and therefore the state of the ankle can be appropriately measured.

In the second step S2, an ankle eversion angle a including at least one of an ankle eversion angle a1 and an ankle eversion angle a2 is calculated. In the third step S3, second state information including information on the ankle rollover angle a is output. The second state information includes information on the ankle eversion angle a associated with sprain of the ankle, and thus the risk of sprain can be appropriately determined. In a second step S2, an ankle plantar-dorsiflexion angle B including at least one of an ankle plantar-flexion angle B1 and an ankle dorsiflexion angle B2 is calculated. In a third step S3, second state information including information on the ankle plantar dorsiflexion angle B is output. Since the second state information includes information on the ankle plantar-dorsiflexion angle B associated with the sprain of the ankle, the risk of the sprain can be appropriately determined.

The exercise assisting program causes the control unit 41 to further execute a fourth step S4 in which instruction information for controlling the

electrodes

31A and 31B for assisting the exercise of the lower limb L is calculated based on at least one of the first state information and the second state information in the fourth step S4. In fourth step S4, instruction information for

operating electrodes

31A and 31B to stabilize the state of the ankle is calculated based on at least one of the first state information and the second state information. In the fourth step S4, instruction information for activating the fibula muscle immediately before the foot touches the ground by operating the

electrodes

31A and 31B is calculated from at least one of the first state information and the second state information. Foot strike is the timing immediately before the moment of foot strike. In one example, the foot is about to touch the ground at the timing when the foot moves in the direction toward the ground. For example, to estimate that a foot is about to strike a touchdown based on the first state information. Indication information is also output in the third step S3. According to the exercise assisting program, electrical stimulation is applied to activate the fibula muscle, and therefore, the stability of the ankle can be improved. Therefore, ankle sprain can be suppressed.

An example of the first state information based on the jumping motion will be described with reference to fig. 6. The graph shown in fig. 6 represents an example of the relationship between the state of the ankle (stable, unstable) and the first state information.

The jumping motion is for example distinguished into three phases. In one example, the jumping motion is divided into a ground clearance, a highest point, and a ground clearance. Liftoff is the period during which the knee is greatly flexed, the knee is extended, and the foot is off the touchdown surface. The highest point is the period of time during which the body reaches the highest position in the jumping motion. Touchdown is the period of foot contact from the air.

The detection result of the detection unit 21 corresponding to one lower limb L is substantially the same as the detection result of the detection unit 21 corresponding to the other lower limb L. The graph shown in fig. 6 represents an example of the detection result of the detection unit 21 corresponding to one lower limb L. The broken line shown in fig. 6 indicates that the sensor value is 0. The angular velocity of the solid line shown in fig. 6 indicates the angular velocity around the front-rear axis. The angular velocity indicated by the one-dot chain line in fig. 6 indicates the angular velocity about the left and right axes. The angular velocity of the two-dot chain line shown in fig. 6 indicates the angular velocity about the upper and lower axes.

In the example shown in fig. 6, the following difference is found according to the state of the ankle. During the lift-off process of the jumping exercise, the pressure of the thumb tripe of the foot and the pressure of the little finger tripe of the foot are different. Before landing on the ground for the jumping exercise, a difference occurs in the angular velocity of the lower leg and the angular velocity of the foot. During landing of the jumping exercise, a difference occurs in the pressure of the thumb tripe of the foot and the pressure of the little tripe of the foot. In view of the above, it is preferable to set the risk condition.

Another example of the first state information based on the jumping motion will be described with reference to fig. 7. Fig. 7 is a graph showing an example of a relationship between the state of the ankle and the first state information.

The detection result of the detection unit 21 corresponding to one lower limb L is substantially the same as the detection result of the detection unit 21 corresponding to the other lower limb L. The graph shown in fig. 7 represents an example of the detection result of the detection unit 21 corresponding to one lower limb L. The broken line shown in fig. 7 indicates that the sensor value is 0. In the example shown in fig. 7, the following difference is found according to the state of the ankle. Before landing on the ground for jumping, a difference occurs in the angle of the foot around the front-rear axis. In view of the above, it is preferable to set the risk condition.

An example of the first state information based on the side step motion will be described with reference to fig. 8. Fig. 8 is a graph showing an example of a relationship between the state of the ankle and the first state information.

The lateral stepping motion is for example divided into three phases. In one example, the lateral stepping motion is divided into a first bipedal stance, a single-footed stance, and a second bipedal stance. The first bipedal stance is during bipedal touchdown. One-foot standing is a period during which one foot touches the ground and the other foot leaves the ground. Second bipedal stance is a period during which one foot touches the ground and the other foot touches the ground from the air.

The graph shown in fig. 8 represents an example of the detection result of the detection unit 21 corresponding to the lower limb L moving in the lateral walking motion. The broken line shown in fig. 8 indicates that the sensor value is 0. The angular velocity of the solid line shown in fig. 8 indicates the angular velocity around the front-rear axis. The angular velocity indicated by the one-dot chain line in fig. 8 indicates the angular velocity about the left and right axes. The angular velocity of the two-dot chain line shown in fig. 8 indicates the angular velocity about the upper and lower axes. In the example shown in fig. 8, the following difference is found according to the state of the ankle. In the second bipedal stance with lateral step motion, a difference occurs in the angular velocity of the lower leg and the angular velocity of the foot. In view of the above, it is preferable to set the risk condition.

Another example of the first state information based on the side step motion is described with reference to fig. 9. Fig. 9 is a graph showing an example of a relationship between the state of the ankle and the first state information.

The solid-line graph shown in fig. 9 represents an example of the detection result of the detection unit 21 corresponding to the lower limb L moving in the lateral walking motion. The one-dot chain line graph shown in fig. 9 represents an example of the detection result of the detection unit 21 corresponding to the lower limb L that does not move during the lateral step exercise. The broken line shown in fig. 9 indicates that the sensor value is 0. In the example shown in fig. 9, the following difference is found according to the state of the ankle. In the second bipedal stance of the lateral step movement, a difference occurs in the angle of the foot about the anteroposterior axis. In view of the above, it is preferable to set the risk condition.

An example of the first state information based on the plantarflexion movement is described with reference to fig. 10. Fig. 10 is a graph showing an example of a relationship between the state of the ankle and the first state information.

The plantar dorsiflexion movement is for example distinguished into three phases. In one example, plantar-dorsiflexion motion is divided into medial, plantar flexion, and dorsiflexion. The middle position is a period in which the smaller angle of the angle formed by the lower leg and the foot is 90 degrees. Plantar flexion is a period in which the angle between the lower leg and the foot is small and greater than 90 degrees. Dorsiflexion is the period during which the small angle that the lower leg makes with the foot is less than 90 degrees.

The detection result of the detection unit 21 corresponding to one lower limb L is substantially the same as the detection result of the detection unit 21 corresponding to the other lower limb L. The graph shown in fig. 10 represents an example of the detection result of the detection unit 21 corresponding to one lower limb L. The broken line shown in fig. 10 indicates that the sensor value is 0. The angular velocity of the solid line shown in fig. 10 indicates the angular velocity about the front-rear axis. The angular velocity indicated by the one-dot chain line in fig. 10 indicates the angular velocity around the left and right axes. The angular velocity of the two-dot chain line shown in fig. 10 indicates the angular velocity about the upper and lower axes.

In the example shown in fig. 10, the following difference is found according to the state of the ankle. At the timing of the transition of plantarflexion to plantarflexion, a difference occurs in the angular velocity of the foot. At the timing of the dorsiflexion transition to plantar dorsiflexion motion, a difference in angular velocity of the foot occurs. During plantarflexion in plantarflexion, a difference occurs in the angle of the foot about the front and rear axes and the angle of the foot about the left and right axes. In view of the above, it is preferable to set the risk condition.

The exercise assisting system 1 executes at least one of the first control and the second control in accordance with, for example, an exercise assisting program. The first control includes a control of outputting the risk information. The second control includes control of outputting the instruction information. In one example, at least one of the first control and the second control is executed based on an operation of the operation unit 42. The exercise assisting system 1 may execute the first control and the second control in parallel in accordance with the exercise assisting program.

An example of the first control executed by the exercise assisting system 1 will be described with reference to fig. 11.

In step S11, the control section 41 reads the first state information. Specifically, the information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 21. Step S11 corresponds to the first step S1. In step S12, the control unit 41 calculates the state of the ankle. Specifically, the state calculation unit 41B calculates the state of the ankle based on the first state information. In other words, the state of the ankle is measured based on the first state information. Step S12 corresponds to the second step S2. In step S13, the control unit 41 outputs the second state information. Specifically, the information output unit 41C outputs the second state information regarding the state of the ankle calculated in step S12 to the risk determination unit 41D. Step S13 corresponds to the third step S3.

In step S14, the control unit 41 determines whether or not a risk condition is satisfied. Specifically, the risk determination unit 41D determines whether or not the risk condition is satisfied based on the relationship between the second state information and a threshold value set in advance. If it is determined in step S14 that the risk condition is not satisfied, the control unit 41 returns the process to step S11. If it is determined in step S14 that the risk condition is satisfied, the controller 41 proceeds to step S15. In step S15, the control unit 41 outputs risk information. Specifically, the information output unit 41C outputs risk information relating to the risk of sprain to the notification unit 43. The notification unit 43 notifies the risk information.

After the above processing, the processing of step S11 to step S15 ends. While the exercise assisting system 1 is being used, the control section 41 may repeatedly execute the first control including the processing of step S11 to step S15. In the processing of step S11 to step S15 shown in fig. 11, the processing of step S14 may be omitted.

An example of the second control executed by the exercise assisting system 1 will be described with reference to fig. 12.

The processing of steps S21 to S22 included in the second control is the same as the processing of steps S11 to S12 included in the first control. In step S23, the control unit 41 outputs the second state information. Specifically, the information output unit 41C outputs the second state information on the ankle state calculated in step S22 to the assistance calculation unit 41E. Step S23 corresponds to the third step S3.

In step S24, the control unit 41 determines whether or not the assist condition is satisfied. Specifically, the assist calculation unit 41E determines whether or not the assist condition is satisfied based on the risk information. If it is determined in step S24 that the assist condition is not satisfied, the controller 41 returns the process to step S21. If it is determined in step S24 that the assist condition is satisfied, the controller 41 proceeds to step S25.

In step S25, the control unit 41 calculates instruction information. Specifically, the auxiliary operation unit 41E calculates the instruction information based on at least one of the first state information and the second state information. Step S25 corresponds to the fourth step S4. In step S26, the control unit 41 outputs instruction information. Specifically, the information output unit 41C outputs the instruction information to the auxiliary block 30. Step S26 corresponds to the third step S3. The voltage control unit 33 controls the

electrodes

31A and 31B based on the instruction information. In one example, the voltage control unit 33 controls the

electrodes

31A and 31B based on the instruction information to activate the fibular muscle.

After the above processing, the processing of step S21 to step S26 ends. While the exercise assisting system 1 is being used, the control unit 41 may repeatedly execute the second control including the processing of step S21 to step S26. At least one of the processing of steps S22 to S24 may also be omitted in the processing of steps S21 to S26 shown in fig. 12.

An example of a method of using the exercise assisting system 1 will be described with reference to fig. 13.

The sporter utilizes the exercise assisting system 1, for example, in the following procedure. In the example shown in fig. 13, at least the first control is performed in accordance with the exercise assisting program. In step S31, the exerciser turns on the power of the exercise assisting system 1. When the power of the exercise assisting system 1 is turned on, the reference value of the sensor included in the detection section 21 and the reference values of the

electrodes

31A, 31B are calibrated. In step S32, the player performs pairing of the mounted body 10 and the terminal device 40. In one example, the detection block 20 and the auxiliary block 30 are paired with the terminal device 40 by operating the operation unit 42. In step S33, the athlete mounts the wearable article 11 on the lower limb L. In step S34, the athlete performs various exercises. Before the training is performed, the exerciser can set the content of the exercise assisting program executed by the exercise assisting system 1 by the operation of the operation unit 42. When the content of the exercise assisting program is not set, for example, the same exercise assisting program as that used in the previous time is executed.

In step S35, a movement assist routine is executed. In one example, the control unit 41 executes the first control in accordance with a motion assist program. In the first control, the notification unit 43 is caused to notify risk information relating to the risk of sprain. In step S36, the trainer who assists the exerciser confirms the risk information. The trainer indicates, for example, training or rest suitable for the sporter based on the risk information. The athlete may attach the wearable article 11 to the lower limb L before step S31 or step S32. In step S36, the athlete may confirm the risk information.

According to the exercise assisting system 1, since various controls are executed in accordance with the exercise assisting program, the exerciser can perform training in accordance with the risk of sprain. Therefore, injury (for example, ankle sprain) of the lower limb L can be suppressed. In addition, when the second control is executed in accordance with the exercise assisting program, electrical stimulation is applied to activate the fibula muscle, and therefore, a delay in the muscle contraction of the fibula muscle is unlikely to occur. Thus, the risk of sprain is reduced.

(second embodiment)

A second aspect of the exercise assisting system according to the present invention is a system for detecting acceleration in a left-right axis direction of a knee of a user using an acceleration sensor provided in a wearable material attached to a thigh of the user, the system for determining whether or not an inward acceleration of the detected acceleration in the left-right axis direction of the knee of the user is smaller than a threshold value, and applying electrical stimulation to a semitendinous muscle of the user using an electrode provided in the wearable material attached to the thigh of the user when the inward acceleration is determined to be smaller than the threshold value.

According to the exercise assisting system, the state of the knee can be appropriately measured based on the acceleration in the lateral direction of the knee. Further, when it is determined that the acceleration in the inward direction, out of the accelerations in the left-right axis direction of the knee, exceeds the threshold value, the electrical stimulation is applied to the common peroneal nerve, and therefore, the movement of the lower limb can be assisted in accordance with the state of the knee.

A second aspect of the exercise assisting program according to the present invention is a program that causes the following processes to be executed: receiving information on acceleration in a left-right axis direction of a knee of a user detected by an acceleration sensor provided in a wearable mounted to a thigh of the user; determining whether an inward-oriented acceleration among accelerations in left and right axis directions of the knee of the user exceeds a threshold value based on the information on acceleration; and outputting control information for causing the electrode of the wearable element auxiliary unit to apply electrical stimulation to the semitendinous muscle of the user to the auxiliary unit attached to the wearable element of the user when it is determined that the inward acceleration is smaller than the threshold value.

According to the exercise assisting program, the state of the knee can be appropriately measured based on the acceleration of the knee in the left-right axis direction. Further, when it is determined that the acceleration in the inward direction, out of the accelerations in the left-right axis direction of the knee, exceeds the threshold value, the electrical stimulation is applied to the common peroneal nerve, and therefore, the movement of the lower limb can be assisted in accordance with the state of the knee.

According to the control method of the exercise assisting system, the state of the knee can be appropriately measured based on the acceleration in the lateral direction of the knee. Further, when it is determined that the acceleration in the inward direction, out of the accelerations in the left-right axis direction of the knee, exceeds the threshold value, the electrical stimulation is applied to the common peroneal nerve, and therefore, the movement of the lower limb can be assisted in accordance with the state of the knee.

Another aspect of the exercise assisting program according to the present invention causes the control unit to execute: a first step of reading first state information relating to a state of the lower limb detected by the detection unit; a second step of calculating a state of a knee based on the first state information; and a third step of outputting the calculated second state information on the state of the knee.

According to the exercise assisting program, the state of the knee can be measured.

The state of the knee is reflected in the acceleration of the lower limb. According to the exercise assisting program, the first state information includes information on the acceleration of the lower limb, and therefore the state of the knee can be appropriately measured.

According to an example of the exercise assisting program, in the first step, the first state information including information on the acceleration of the 3-axis is read, and in the second step, the state of the knee is calculated based on a relationship between the acceleration of the up-down axis and the acceleration of the horizontal plane defined by the left-right axis and the front-rear axis.

When a sporter who is exercising jumps with the exercise assisting program, the exercise is reflected in the acceleration in the vertical axis direction. In addition, the stability of the knee when the exerciser lands on the ground is reflected in the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction. According to the exercise assisting program, the stability of the knee can be determined.

According to the exercise assisting program, the exercise of the lower limbs can be assisted according to the state of the knees.

According to an example of the exercise assisting program, in the fourth step, the instruction information for operating the assisting unit to stabilize the state of the knee is calculated based on at least one of the first state information and the second state information.

According to the exercise assisting program, the stability of the knee can be improved.

According to an example of the exercise assisting program, in the fourth step, the instruction information for operating the assisting section to activate the muscle of the lower limb immediately before the foot touches the ground is calculated based on at least one of the first state information and the second state information.

In a state where the state of the foot changes from non-contact to contact with the ground, the risk of a decrease in the stability of the knee is relatively high. According to the exercise assisting program, for example, the stability of the knee can be improved when the athlete who has performed a jump lands on the ground.

According to the exercise assisting system, the state of the knee can be measured.

According to one example of the exercise assisting system, the detecting unit includes a thigh acceleration sensor that detects acceleration of a thigh.

According to the exercise assisting system, the state of the knee can be appropriately measured.

The structure of the second embodiment of the exercise assisting system 1 will be described with reference to fig. 14.

The exercise assisting system 1 is used for training by an exerciser, for example. The training includes, for example, the movement of the lower limbs L related to general life and exercise. In one example, the exercise of the lower limb L includes jumping exercise, side stepping exercise, and the like. The jumping motion is a motion in which both feet jump off the ground. One example of the ground contact surface is a ground surface. The side stepping motion is a motion that moves the monopod away from the touchdown surface.

The main elements constituting the exercise assisting system 1 are the attachment 50, the terminal device 40, and the exercise assisting program. The attachment body 50 is attached to the body. The attachment body 50 includes an attachment body 50 for a left body attached to a left half of the left body and an attachment body 50 for a right body attached to a right half of the right body. The structure of the left body attachment 50 is substantially the same as the structure of the right body attachment 50. The function of the left body attachment 50 is substantially the same as that of the right body attachment 50. The shape of the left-body attachment body 50 and the shape of the right-body attachment body 50 are in a bilaterally symmetric relationship. In the following description, the left body attachment 50 will be described in detail, and the description of the right body attachment 50 will be omitted.

The main elements constituting the attachment 50 are the wearable device 51, the detection block 60 (see fig. 15), and the auxiliary block 30 (see fig. 15). A wearable piece 51 as an attachment body is attached to the lower limb L. In one example, the wearable item 51 is attached to the lower limb L so as to be wrapped around the lower limb L. The detection block 60 is provided, for example, on the wearable piece 51. The auxiliary block 30 is provided, for example, on the wearable piece 51. In one example, the auxiliary block 30 is provided on the wearable item 51 so as to contact the lower limb L.

As shown in fig. 15, the wearable item 51 includes a lower limb covering portion 52, a pair of wrapping portions 53, and an adjustment portion 54. The lower limb covering portion 52 is a belt that can be wrapped around the lower limb L. The lower limb covering portion 52 includes a portion that helps to fasten the lower limb L. The pair of winding portions 53 are bands that can be wound around the lower limb covering portion 52 so as to cover the lower limb covering portion 52. The pair of winding portions 53 include portions that can be gripped to wind the lower limb covering portion 52 around the lower limb L. The pair of winding portions 53 are provided on the lower limb covering portion 52 and extend in the longitudinal direction of the lower limb covering portion 52. The pair of winding portions 53 are provided integrally with the lower limb covering portion 52, for example.

The adjustment portion 54 has a structure capable of adjusting the attachment dimension of the lower limb covering portion 52. The attachment dimension defines the inner periphery of the lower limb covering portion 52 in a state where the lower limb covering portion 52 is attached to the lower limb L. In one example, the strength with which the lower limb covering portion 52 fastens the lower limb L can be changed by adjusting the attachment dimension of the lower limb covering portion 52 by the adjustment portion 54. The adjustment portion 54 is constituted by, for example, a surface fastener 55. The surface fastener 55 includes a bur portion (not shown) and a round hair portion 55A. The bur portion is provided on, for example, an outer surface 52B of the lower limb covering portion 52 (see fig. 14). The round hair portion 55A is provided on the inner surface 53A of the winding portion 53, for example. In one example, the wearable device 51 is appropriately attached to the lower limb L by wrapping the pair of wrapping portions 53 around the lower limb covering portion 52, and attaching the round hair portion 55A and the stabbing hair portion together so that the lower limb covering portion 52 is attached to the lower limb L. In the example shown in fig. 14, the wearable piece 51 is attached to the thigh T.

The detection block 60 is provided on the inner surface 52A of the lower limb covering portion 52, for example. The detection block 60 may be provided on the outer surface 52B of the lower limb covering portion 52, or may be provided inside the material constituting the lower limb covering portion 52. The detection block 60 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the detection block 60 is configured to be capable of wireless communication with the terminal device 40. The auxiliary block 30 is provided on an inner surface 52A of the lower limb covering portion 52, for example. In one example, the auxiliary block 30 is provided on the inner surface 52A of the lower limb covering section 52 so that an auxiliary section 31 (see fig. 16) described later comes into contact with the body. In the example shown in fig. 15, the auxiliary block 30 is provided on the inner surface 52A of the lower limb covering portion 52 so as to be disposed at the center of the lower limb covering portion 52. Elements other than the assisting section 31 included in the assisting block 30 may be provided on the outer surface 52B of the lower limb covering section 52, or may be provided inside the material constituting the lower limb covering section 52. The auxiliary block 30 is configured to be capable of electrically communicating with the terminal device 40 by wire or wirelessly. In one example, the auxiliary block 30 is configured to be capable of wireless communication with the terminal device 40.

The terminal device 40 is provided separately from the mounting body 50. The terminal device 40 includes at least one of a smart device and a personal computer. The smart device comprises at least one of a wearable device such as a smart watch, a smart phone and a tablet computer. In the example shown in fig. 14, the terminal device 40 includes a tablet computer. The terminal device 40 is paired with the detection block 60 and the auxiliary block 30, and can thereby perform wireless communication with the detection block 60 and the auxiliary block 30. The detection block 60, the auxiliary block 30, and the terminal device 40 each include communication elements necessary for pairing. The terminal device 40 may be mounted to the wearable piece 51.

A specific structure of the exercise assisting system 1 is explained with reference to fig. 16. The exercise assisting system 1 shown in fig. 16 omits one of the mounting bodies 50.

The main elements constituting the detection block 60 are a detection unit 61 and a transmission unit 62. The detection unit 61 detects the state of the lower limb L. In one example, the detection unit 61 includes a thigh acceleration sensor 61A that detects acceleration of the thigh T. The thigh acceleration sensor 61A detects at least one of an acceleration acting on the thigh acceleration sensor 61A in the extending direction of the front-rear axis (hereinafter referred to as a front-rear axis direction acceleration), an acceleration acting on the thigh acceleration sensor 61A in the extending direction of the left-right axis (hereinafter referred to as a left-right axis direction acceleration), and an acceleration acting on the thigh acceleration sensor 61A in the extending direction of the up-down axis (hereinafter referred to as a up-down axis direction acceleration). Here, the anteroposterior axis refers to a virtual line extending in the anteroposterior direction of the body, the lateral axis refers to a virtual line extending in the lateral direction of the body, and the vertical axis refers to a virtual line extending in the vertical direction of the body. In one example, the thigh acceleration sensor 61A is a 3-axis acceleration sensor that detects acceleration in the vertical axis direction and acceleration in the horizontal plane direction defined by the left and right axes and the front and rear axes. The thigh acceleration sensor 61A is provided on the wearable piece 11. In one example, the thigh acceleration sensor 61A is provided in the wearable item 11 so as to be disposed near the knee in a state where the wearable item 11 is attached to the thigh T. The transmitting unit 62 transmits the first state information detected by the detecting unit 61. The first state information includes information on the acceleration of the lower limb L. Specifically, the first state information includes information on the acceleration in the 3-axis direction. In one example, the transmission unit 62 transmits the first state information detected by the thigh acceleration sensor 61A to the terminal device 40.

The main elements constituting the auxiliary block 30 are an auxiliary unit 31, a receiving unit 32, and a voltage control unit 33. The assisting section 31 assists the movement of the lower limb L. The auxiliary portion 31 includes a first electrode 31A and a second electrode 31B. The

electrodes

31A, 31B apply electrical stimulation to, for example, muscles of the thigh T. In one example,

electrodes

31A, 31B apply electrical stimulation to the popliteal muscle or gluteus medius muscle of thigh T. The popliteal muscle comprises the semitendinosus. In the present embodiment, the

electrodes

31A, 31B apply electrical stimulation to the semitendinosus muscle of the thigh T. The

electrodes

31A, 31B are provided on the wearable piece 11 in such a manner as to contact a portion of the thigh T corresponding to the semitendinosus muscle in a state where the wearable piece 11 is mounted on the thigh T. An electric current flows from one of the

electrodes

31A and 31B to the other, and thereby an electric stimulus is applied to the semitendinosus muscle of the thigh T. The receiving unit 32 receives various information from the terminal device 40. In one example, the receiving unit 32 receives various information related to control of the assisting unit 31. The various information related to the control of the assisting unit 31 includes at least one of information related to the timing of applying the electrical stimulation, information related to the stimulation pattern of the electrical stimulation, and information related to the intensity of the electrical stimulation. The voltage control unit 33 controls the

electrodes

The mounting body 50 further includes a power source 56 that supplies power to the detection block 60 and the auxiliary block 30. The power source 56 is provided, for example, at the wearable 11. The power source 56 is electrically connected to the detection block 60 and the auxiliary block 30 by wire or wirelessly. The power source 56 supplies power to the electrical elements constituting the detection block 60 and the electrical elements constituting the auxiliary block 30. The power source 56 includes a primary battery or a secondary battery. The mounting body 50 may include a power supply that supplies power to the detection block 60 alone and a power supply that supplies power to the auxiliary block 30 alone.

The terminal device 40 has the same configuration as the terminal device 40 of the first embodiment. The main elements constituting the terminal device 40 are a control unit 41, an operation unit 42, a notification unit 43, and a power supply 44. The control section 41 includes one or more CPUs (Central Processing units) or MPUs (Micro Processing units). The control unit 41 executes various controls based on at least one of the first state information and operation information related to the operation of the operation unit 42. The control unit 41 includes an information reading unit 41A, a state calculating unit 41B, an information output unit 41C, a risk determining unit 41D, and an auxiliary calculating unit 41E. The information reading unit 41A reads the first state information regarding the state of the lower limb L detected by the detection unit 61. The information reading unit 41A outputs the first state information to the state calculating unit 41B and the auxiliary calculating unit 41E, for example.

The state calculation unit 41B calculates the state of the knee based on the first state information. In one example, the state calculation unit 41B determines the movement of the lower limb L based on the first state information, and calculates the state of the knee based on the relationship between the first state information and the movement of the lower limb L. The state calculating unit 41B calculates the state of the knee based on the relationship between the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction defined by the left-right axis and the anteroposterior axis. The state calculating unit 41B outputs the calculation result regarding the state of the knee to the information output unit 41C. The information output unit 41C outputs the calculated second state information on the state of the knee. The information output unit 41C outputs the second state information to the risk determination unit 41D and the auxiliary operation unit 41E, for example.

The risk determination unit 41D determines a risk relating to damage to the Anterior Cruciate Ligament (ACL) (hereinafter referred to as "risk of the Anterior Cruciate Ligament of the knee") based on the second state information. For example, when the risk condition is satisfied, the risk determination unit 41D outputs risk information on the risk of the anterior cruciate ligament of the knee to the information output unit 41C. Establishment of the risk condition indicates a high probability of injury to the anterior cruciate ligament of the knee. The information output unit 41C outputs the risk information to the notification unit 43. The information output unit 41C may output information on the movement of the lower limb L to the notification unit 43 in addition to the risk information. The risk determination unit 41D may output the risk information to the information output unit 41C regardless of whether or not the risk condition is satisfied.

The risk determination unit 41D determines whether or not the risk condition is satisfied based on, for example, a relationship between the second state information and a threshold value set in advance. The threshold value is stored in a memory (not shown) mounted on the terminal device 40. In one example, the threshold value is defined based on at least one of a state of the semitendinosus muscle, a stability of the knee, a history of injury, a height of the jumping exercise, a number of jumping exercises, a speed of the lateral stepping exercise, and a number of lateral stepping exercises.

electrodes

The exercise assisting system 1 performs various controls in accordance with the exercise assisting program. The exercise assisting program causes the control section 41 to execute the steps of: a first step S1 of reading first state information relating to the state of the thigh T detected by the thigh acceleration sensor 61A; a second step S2 of calculating a state of the knee based on the first state information; and a third step S3 of outputting the calculated second state information on the state of the knee. According to the exercise assisting program, the state of the knee can be measured.

In the first step S1, first state information including information on the acceleration of the thigh T is read. In the first step S1, first state information including information on the acceleration in the 3-axis direction is read. The acceleration of the thigh T reflects the state of the knee, and therefore the state of the knee can be appropriately measured. In the second step S2, the state of the knee is calculated based on the relationship between the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction defined by the left and right axes and the anteroposterior axis. The stability of the knee during the movement of the lower limb L is reflected in the acceleration in the vertical axis direction and the acceleration in the horizontal plane direction. According to the exercise assisting program, the stability of the knee can be determined.

The exercise assisting program causes the control unit 41 to further execute a fourth step S4 in which instruction information of the

electrodes

31A and 31B for controlling the exercise of the auxiliary thigh T is calculated based on at least one of the first state information and the second state information in the fourth step S4. In the fourth step, instruction information for operating the

electrodes

31A and 31B to stabilize the state of the knee is calculated based on at least one of the first state information and the second state information. In the fourth step, instruction information for activating the semitendinosus muscle by operating the

electrodes

31A and 31B just before the foot touches the ground is calculated from at least one of the first state information and the second state information. The timing immediately before the foot touches down is the timing immediately before the foot touches down. In one example, immediately before the foot touches the ground, the timing at which the foot moves in a direction toward the ground. For example, to estimate that the foot is just prior to touchdown based on the first state information. Indication information is also output in the third step. According to the exercise assisting program, electrical stimulation is applied to activate semitendinosus muscles, and therefore, the stability of the knee can be improved.

An example of the first state information based on the jumping motion will be described with reference to fig. 17. The graph shown in fig. 17 represents an example of the relationship between the state (stable, unstable) of the knee and the first state information.

The detection result of the thigh acceleration sensor 61A corresponding to one lower limb L is substantially the same as the detection result of the thigh acceleration sensor 61A corresponding to the other lower limb L. The graph shown in fig. 17 represents an example of the detection result of the thigh acceleration sensor 61A corresponding to one lower limb L. The broken line shown in fig. 17 indicates that the value of the thigh acceleration sensor 61A is 0. In the acceleration in the front-rear axis direction shown in fig. 17, the acceleration toward the front is represented by positive, and the acceleration toward the rear is represented by negative. In the acceleration in the left-right axis direction shown in fig. 17, the acceleration toward the outer side is represented by positive, and the acceleration toward the inner side is represented by negative. In the vertical axis direction acceleration shown in fig. 17, the downward acceleration is represented by positive, and the upward acceleration is represented by negative.

When the acceleration in the anteroposterior axis direction is smaller than the first acceleration during landing of the jumping motion, it indicates that the state of the knee is unstable. Specifically, when the acceleration in the front-rear axis direction is smaller than the first acceleration, it is estimated that the knee bending during landing is small and the load acting on the knee is high. Therefore, in the case where the acceleration in the anteroposterior axis direction is smaller than the first acceleration during landing of the jumping motion, it is estimated that the risk of the knee anterior cruciate ligament is high.

When the acceleration in the left-right axis direction is smaller than the second acceleration during the lift-off process of the jumping motion, it indicates that the state of the knee is unstable. Specifically, when the acceleration in the left-right axis direction is smaller than the second acceleration, it is estimated that the knee moves inward along with the bending of the knee during the lift-off process, and therefore the load acting on the knee is high. Therefore, in the case where the acceleration in the left-right axis direction is smaller than the second acceleration during the liftoff of the jumping motion, it is estimated that the risk of the knee anterior cruciate ligament is high.

If the acceleration in the left-right axis direction is smaller than the third acceleration during landing of the jumping motion, it indicates that the state of the knee is unstable. Specifically, when the acceleration in the left-right axis direction is smaller than the third acceleration, it is estimated that the load acting on the knee is high because the knee moves inward along with the bending of the knee during landing. Therefore, in the case where the acceleration in the left-right axis direction is smaller than the third acceleration during landing of the jumping motion, it is estimated that the risk of the knee anterior cruciate ligament is high.

When the acceleration in the vertical axis direction changes abruptly during landing of the jumping motion, this indicates that the state of the knee is unstable. Specifically, when the acceleration in the vertical axis direction changes abruptly, it is estimated that the knee is less bent during landing and the load acting on the knee is high. Therefore, in the case where the acceleration in the up-down axis direction changes sharply during landing of the jumping motion, it is estimated that the risk of the anterior cruciate ligament of the knee is high.

An example of the first state information based on the side step motion will be described with reference to fig. 18. Fig. 18 is a graph showing an example of the relationship between the state of the knee and the first state information.

In the graph shown in fig. 18, the detection result of the thigh acceleration sensor 61A corresponding to the lower limb L that moves during the side stepping motion (hereinafter referred to as "moving lower limb") is indicated by a solid line, and the detection result of the thigh acceleration sensor 61A corresponding to the lower limb L that does not move during the side stepping motion is indicated by a one-dot chain line. The broken line shown in fig. 18 indicates that the value of the thigh acceleration sensor 61A is 0. The acceleration in the front-rear axis direction shown in fig. 18 is represented by positive acceleration toward the front and negative acceleration toward the rear. The acceleration in the left-right axis direction shown in fig. 18 is represented by positive acceleration directed outward and negative acceleration directed inward. The vertical acceleration shown in fig. 18 is represented by positive downward acceleration and negative upward acceleration.

In the second bipedal standing posture of the lateral stepping exercise, if the acceleration in the left-right axis direction corresponding to the moving lower limb is smaller than the fourth acceleration, it indicates that the state of the knee is unstable. Specifically, when the acceleration in the left-right axis direction corresponding to the moving lower limb is smaller than the fourth acceleration, it is estimated that the load acting on the knee is high because the knee moves inward due to the knee bending when the moving lower limb touches the ground from the air. Therefore, in the second bipedal standing posture of the lateral stepping exercise, in the case where the acceleration in the left-right axis direction corresponding to the moving lower limb is smaller than the fourth acceleration, it is estimated that the risk of the anterior cruciate ligament of the knee is high.

The exercise assisting system 1 executes at least one of the first control and the second control in accordance with, for example, an exercise assisting program. The first control includes a control of outputting the risk information. The second control includes control of outputting the instruction information. In one example, at least one of the first control and the second control is executed based on an operation of the operation unit 42. The exercise assisting system 1 executes the first control and the second control in parallel in accordance with the exercise assisting program.

An example of the first control executed by the exercise assisting system 1 will be described with reference to fig. 19.

In step S31, the control section 41 reads the first state information. Specifically, the information reading unit 41A reads first state information regarding the state of the thigh T detected by the thigh acceleration sensor 61A. Step S31 corresponds to the first step S1. In step S32, the control unit 41 calculates the state of the knee. Specifically, the state calculation unit 41B calculates the state of the knee based on the first state information. In other words, the state of the knee is measured from the first state information. Step S32 corresponds to the second step S2. In step S33, the control unit 41 outputs the second state information. Specifically, the information output unit 41C outputs the second state information regarding the state of the knee calculated in step S32 to the risk determination unit 41D. Step S33 corresponds to the third step S3.

In step S34, the control unit 41 determines whether or not a risk condition is satisfied. Specifically, the risk determination unit 41D determines whether or not the risk condition is satisfied based on the relationship between the second state information and a threshold value set in advance. If it is determined in step S34 that the risk condition is not satisfied, the control unit 41 returns the process to step S31. If it is determined in step S34 that the risk condition is satisfied, the controller 41 proceeds to step S35. In step S35, the control unit 41 outputs risk information. Specifically, the information output unit 41C outputs risk information relating to the risk of the anterior cruciate ligament of the knee to the notification unit 43. The notification unit 43 notifies the risk information.

After the above processing, the processing of step S31 to step S35 ends. While the exercise assisting system 1 is being used, the control section 41 may repeatedly execute the first control including the processing of step S31 to step S35. In the processing of step S31 to step S35 shown in fig. 19, the processing of step S34 may be omitted.

An example of the second control executed by the exercise assisting system 1 will be described with reference to fig. 20.

The processing of steps S41 to S42 included in the second control is the same as the processing of steps S31 to S32 included in the first control. In step S43, the control unit 41 outputs the second state information. Specifically, the information output unit 41C outputs the second state information on the state of the knee calculated in step S42 to the assist calculation unit 41E. Step S43 corresponds to the third step S3.

In step S44, the control unit 41 determines whether or not the assist condition is satisfied. Specifically, the assist calculation unit 41E determines whether or not the assist condition is satisfied based on the risk information. If it is determined in step S44 that the assist condition is not satisfied, the controller 41 returns the process to step S41. If it is determined in step S44 that the assist condition is satisfied, the controller 41 proceeds to step S45.

In step S45, the control unit 41 calculates instruction information. Specifically, the auxiliary operation unit 41E calculates the instruction information based on at least one of the first state information and the second state information. Step S45 corresponds to the fourth step S4. In step S46, the control unit 41 outputs instruction information. Specifically, the information output unit 41C outputs the instruction information to the auxiliary block 30. Step S46 corresponds to the third step S3. The voltage control unit 33 controls the

electrodes

31A and 31B based on the instruction information. In one example, the voltage controller 33 controls the

electrodes

31A and 31B based on the instruction information to activate the semitendinosus muscle immediately before the foot touches the ground.

After the above processing, the processing of step S41 to step S46 ends. While the exercise assisting system 1 is being used, the control unit 41 may repeatedly execute the second control including the processing of step S41 to step S46. At least one of the processing of steps S42 to S44 may be omitted from the processing of steps S41 to S46 shown in fig. 20.

An example of a method of using the exercise assisting system 1 will be described with reference to fig. 21.

The sporter utilizes the exercise assisting system 1, for example, in the following procedure. In the example shown in fig. 21, at least the first control is executed in accordance with the exercise assisting program. In step S51, the exerciser turns on the power of the exercise assisting system 1. When the power of the exercise assisting system 1 is turned on, the reference value of the thigh acceleration sensor 61A and the reference values of the

electrodes

31A, 31B are calibrated. In step S52, the player performs pairing of the mounted body 50 and the terminal device 40. In one example, the detection block 60 and the auxiliary block 30 are paired with the terminal device 40 in accordance with an operation of the operation unit 42. In step S53, the athlete mounts the wearable article 11 on the thigh T. In step S54, the athlete performs various exercises. Before the training is performed, the exerciser can set the content of the exercise assisting program executed by the exercise assisting system 1 by the operation of the operation unit 42. When the content of the exercise assisting program is not set, for example, the same exercise assisting program as that used in the previous time is executed.

In step S55, a movement assist routine is executed. In one example, the control unit 41 executes the first control in accordance with a motion assist program. In the first control, the notification unit 43 is caused to notify risk information relating to the risk of the anterior cruciate ligament of the knee. In step S56, the trainer who assists the exerciser confirms the risk information. The trainer indicates, for example, training or rest suitable for the sporter based on the risk information. The exerciser may mount the wearable 11 to the thigh T before step S51 or step S52. In step S56, the athlete may confirm the risk information.

According to the exercise assisting system 1, various controls are performed in accordance with the exercise assisting program, and therefore the exerciser can exercise in accordance with the risk of the anterior cruciate ligament of the knee. Therefore, injury of the lower limb L (e.g., injury of the anterior cruciate ligament of the knee) can be suppressed. In addition, in the case where the second control is performed in accordance with the exercise assisting program, electrical stimulation is applied to activate the semitendinosus muscle, and therefore, the valgus moment of the knee that affects the pain of the knee becomes small. Therefore, the pain of the knee can be reduced.

(modification example)

The description of the first and second embodiments is an example of an embodiment that can be adopted by the exercise assisting program, the exercise assisting system, and the control method of the exercise assisting system according to the present invention, and is not intended to limit the embodiment. The exercise assisting program, the exercise assisting system, and the control method of the exercise assisting system according to the present invention can be obtained by combining at least two modifications of the first and second embodiments described below.

The arrangement of the control unit 41 according to the first embodiment can be arbitrarily changed. In the first example, the control unit 41 is included in the server. In this case, the mounted body 10 and the terminal device 40 communicate via a network. In the second example, the control unit 41 is provided in the mounting body 10. Specifically, the control unit 41 is provided in at least one of the first wearable device 12 and the second wearable device 18. The control unit 41 may be integrally configured with at least one of the detection block 20 provided in the first wearable device 12 and the auxiliary block 30 provided in the second wearable device 18, or may be separately configured. In this case, the detection block 20 is configured to be capable of electrically communicating with the control unit 41 by wire or wireless. The auxiliary block 30 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.

The arrangement of the control unit 41 according to the second embodiment can be arbitrarily changed. In the first example, the control unit 41 is included in the server. In this case, the attachment 50 and the terminal device 40 communicate via a network. In the second example, the control unit 41 is provided in the mounting body 50. Specifically, the control unit 41 is provided in the wearable member 51. The control unit 41 may be integrally configured with at least one of the detection block 60 and the auxiliary block 30 provided in the wearable device 51, or may be separately configured. In this case, the detection block 60 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly. The auxiliary block 30 is configured to be capable of electrically communicating with the control unit 41 by wire or wirelessly.

The configuration of the auxiliary unit 31 in the first and second embodiments can be arbitrarily changed. In one example, the assisting unit 31 includes a correction device that mechanically corrects the movement of the lower limb L. In one example, the movement of the lower limb L accompanying the movement of the lower limb L is corrected by the correction device, and therefore, the ankle and knee states are easily stabilized.

The configuration of the transmission unit 23 of the first embodiment can be arbitrarily changed. In the first example, the transmission unit 23 includes a third transmission unit in addition to the first transmission unit 23A and the second transmission unit 23B. The third transmitter is electrically connected to the sole pressure sensor 22. The first state information transmitted from the third transmitting unit includes information on the pressure of the sole of the foot. The third transmitting unit transmits the first state information detected by the sole pressure sensor 22 to the terminal device 40. In the second example, the number of the transmission units 23 is one. In this case, the transmitter 23 is electrically connected to the lower leg angular velocity sensor 21A, the lower leg acceleration sensor 21B, the foot angular velocity sensor 21C, the foot acceleration sensor 21D, and the sole pressure sensor 22.

The structure of the mounting body 10 of the first embodiment can be arbitrarily changed. In the first example, the mounting body 10 does not include the wearable piece 11. In this case, the detection block 20 and the auxiliary block 30 are directly attached to the lower limb L. In one example, the detection block 20 and the auxiliary block 30 are fixed to the lower limb L by wrapping a belt portion or the like around the lower limb L so as to cover the detection block 20 and the auxiliary block 30. In the second example, the mount body 10 does not include the auxiliary block 30. In this case, the exercise assisting system 1 can execute only the first control in accordance with the exercise assisting program.

The type of the detection unit 61 of the second embodiment can be arbitrarily changed. In the first example, the detection unit 61 includes a thigh angular velocity sensor that detects an angular velocity of the thigh T in addition to or instead of the thigh acceleration sensor 61A. In the second example, the detection unit 61 includes an electromyograph for measuring an electromyogram of the thigh T in addition to or instead of the thigh acceleration sensor 61A. In the third example, the detection unit 61 includes a lower leg acceleration sensor that detects the acceleration of the lower leg instead of or in addition to the thigh acceleration sensor 61A. In the fourth example, the detection unit 61 includes a lower leg angular velocity sensor that detects an angular velocity of a lower leg in addition to or instead of the thigh acceleration sensor 61A.

The object to which the wearable item 51 of the second embodiment is attached can be changed as desired. In the first example, the wearable piece 51 is attached to the lower leg. In the second example, the wearable piece 51 is attached to the upper arm. The wearable piece 51 has a shape corresponding to the installation object.

The structure of the mounting body 50 of the second embodiment can be arbitrarily changed. In the first example, the mounting body 50 does not include the wearable piece 51. In this case, the detection block 60 and the auxiliary block 30 are directly attached to the thigh T. In one example, the belt portion or the like is wound around the thigh T so as to cover the detection block 60 and the auxiliary block 30, thereby fixing the detection block 60 and the auxiliary block 30 to the thigh T. In the second example, the mounting body 50 does not include the auxiliary block 30. In this case, the exercise assisting system 1 can execute only the first control in accordance with the exercise assisting program.

The configuration of the exercise assisting system 1 according to the first and second embodiments can be arbitrarily changed. In one example, the exercise assisting system 1 is equipped with Artificial Intelligence (AI). In other words, the exercise assisting program includes artificial intelligence. The artificial intelligence includes, for example, deep learning using a neural network of a multilayer structure.

Industrial applicability

The exercise assisting program, the exercise assisting system, and the control method of the exercise assisting system according to the present invention can be used for various exercise assisting systems including home use and business use.

Claims

1. An exercise assisting system, wherein,

detecting an angular velocity of a user's foot about a front-rear axis using an angular velocity sensor provided at a first mounting body mounted to the user's foot,

determining whether a varus angle of an ankle of the user calculated based on information on angular velocity of the foot of the user about a front-rear axis exceeds a threshold,

and applying electrical stimulation to the common peroneal nerve of the user using an electrode provided on a second attachment body attached to the lower limb of the user, when it is determined that the inversion angle exceeds the threshold value.

2. An exercise assisting program causing the following processes to be performed:

receiving, from a first attachment body attached to a user, information on an angular velocity of a foot of the user about a front-rear axis detected by an angular velocity sensor provided at the first attachment body;

determining whether a varus angle of an ankle of the user, calculated based on information relating to an angular velocity of the foot of the user about a front-to-rear axis, exceeds a threshold; and

and outputting control information for applying electrical stimulation to the common peroneal nerve of the user to the auxiliary unit attached to the second attachment body of the user when it is determined that the inversion angle exceeds the threshold.

3. A control method of an exercise assisting system having a first attachment body and a second attachment body to be attached to a user,

receiving information on angular velocities of the user's feet about front-rear axes detected by angular velocity sensors provided at the first installation body from the first installation body,

determining whether a varus angle of the ankle of the user calculated based on the information on the angular velocity exceeds a threshold,

and outputting control information for applying electrical stimulation to the common fibular nerve of the user to an assisting section attached to the second attachment body of the user when it is determined that the inversion angle exceeds the threshold value.

4. An exercise assisting system, wherein,

detecting acceleration in a left-right axis direction of a user's knee using an acceleration sensor provided at a mount body mounted to a thigh of the user,

determining whether an inward-oriented acceleration among the detected accelerations in left and right axial directions of the user's knees is less than a threshold,

applying an electrical stimulus to the semitendinosus of the user using an electrode provided at the attachment body attached to the thigh of the user, in a case where it is determined that the inward-facing acceleration is smaller than the threshold value.

5. A program causing the following processes to be executed:

receiving information on acceleration in a left-right axis direction of a knee of a user detected by an acceleration sensor from the acceleration sensor provided at an attachment body attached to a thigh of the user;

determining whether an inward-oriented acceleration among accelerations in left and right axis directions of the knee of the user exceeds a threshold value based on the information on acceleration; and

and outputting control information for applying an electrical stimulus to the semitendinous muscle of the user to the auxiliary unit attached to the attachment of the user when it is determined that the inward acceleration is smaller than the threshold value.

6. A control method of a sports support system having an attachment body to be attached to a user,

acquiring information on acceleration in a left-right axis direction of a knee of the user detected by an acceleration sensor provided at the attachment body from the acceleration sensor,

determining whether an inward-oriented acceleration among accelerations in left and right axis directions of the knee of the user exceeds a threshold value based on the information on acceleration,

and outputting control information for applying electrical stimulation to semitendinosus muscles of the user to an assisting unit attached to the attachment body of the user when it is determined that the inward acceleration is smaller than the threshold value.