Body motion detection device and human body stimulation apparatus comprising said device

The human body stimulation apparatus comprises a left detection unit, a right detection unit, a determination unit, a control unit, a right stimulation unit and a left stimulation unit. The detection units generate a detection signal according to a walking motion of a human body. The determination unit divides the walking motion of one walking cycle into multiple walking stages on the basis of the detection signal. The determination unit determines that the walking motion is stopped on the basis of at least one duration time of the walking stages. The control unit controls the magnitude of the stimulation that the right stimulation unit and the left stimulation unit apply to the human body on the basis of the determination results of the determination unit.

RELATED APPLICATIONS

This application is the U.S. National Phase under 35 U.S.C. §371 of International Application No. PCT/JP2013/005680, filed on Sep. 25, 2013, which in turn claims the benefit of Japanese Application No. 2012-226092, filed on Oct. 11, 2012, the disclosures of which Applications are incorporated by reference herein.

TECHNICAL FIELD

The present invention relates to a body motion detection device that detects a body motion, and a human body stimulus applying device that applies stimulus to the human body.

BACKGROUND ART

The human body stimulus applying device using the body motion detection device of the prior art includes an acceleration sensor, an electrical stimulus applying portion, and a control unit. The acceleration sensor is attached to the femoral region. The control unit predicts a timing the foot of the user moves away from the floor based on an output signal of the acceleration sensor. The control unit provides a signal for flowing current from the electrical stimulus applying portion to the thigh at the predicted timing. The electrical stimulus applying portion applies the electrical stimulus to the thigh in accordance with the signal provided from the control unit. Patent document 1 discloses an example of the conventional human body stimulus applying device.

PRIOR ART DOCUMENT

Patent Document

SUMMARY OF THE INVENTION

Problems that are to be Solved by the Invention

When an electrical stimulus is applied to a leg, for example, while a walking movement of the human body is still, a great load may be imposed on the leg. The control unit of the conventional human body stimulus applying device predicts the timing the foot moves away from the floor on the premise of a periodic walking movement. Thus, if the actual walking movement differs from the periodic walking movement, the predicted timing greatly differs from the actual movement of the foot. The electrical stimulus thus may be applied on the leg while the walking movement is still.

The present invention has been conceived on the basis of the above background and it is an object to provide a body motion detection device that can appropriately determine whether or not the walking movement is still, and a human body stimulus applying device including such a device.

Means for Solving the Problems

(1) One aspect of the present invention provides a body motion detection device that detects movement of a human body. The body motion detection device includes a detection unit that generates a detection signal that changes according to a walking movement of the human body. An evaluation unit separates the walking movement of one walking cycle into a plurality of walking phases based on the detection signal generated by the detection unit. The evaluation unit determines whether or not the walking movement is still based on a duration time of at least one of the walking phases.

(2) Preferably, the one walking cycle includes a stance phase and a swing phase that defined as specific walking phases. The evaluation unit separates the stance phase or the swing phase into a plurality of walking phases, defines each of the separated walking phases as a divided walking phase, and determines whether or not the walking movement is still based on a duration time of each of the divided walking phases.

(3) Preferably, the evaluation unit determines that the walking movement is still when the duration time of at least one of the divided walking phases is longer than a still determination time.

(4) Preferably, the evaluation unit includes a measurement unit that measures the duration time of each of the divided walking phases. The evaluation unit determines whether or not the walking movement is still based on a comparison of the duration time of at least one of the divided walking phases measured by the measurement unit with the still determination time.

(5) Preferably, the body motion detection device further includes a time setting unit that sets the still determination time based on the duration time of at least one of the walking phases measured by the measurement unit.

(6) Preferably, the time setting unit sets the still determination time based on at least one of the duration times measured by the measurement unit before a current walking cycle.

(7) Preferably, the time setting unit includes a determination time defining unit that sets a relationship of the duration time of each of the divided walking phases and the still determination time. The determination time defining unit outputs the still determination time based on the relationship when the duration time of the divided walking phase is received from the measurement unit.

(8) Preferably, the detection unit includes a right body detector and a left body detector. The right body detector includes a first right body sensor that generates an output signal corresponding to a movement of a first right body region and a second right body sensor that generates an output signal corresponding to a movement of a second right body region. The left body detector includes a first left body sensor that generates an output signal corresponding to a movement of a first left body region and a second left body sensor that generates an output signal corresponding to a movement of a second left body region. The evaluation unit determines whether or not the walking movement is still based on at least one of the output signal of the first right body sensor, the output signal of the first left body sensor, the output signal of the second right body sensor, and the output signal of the second left body sensor.

(9) A further aspect of the present invention is a human body stimulus applying device that applies stimulus to a human body, the human body stimulus applying device includes the body motion detection device, a control unit that transmits a command signal to a stimulus applying portion based on a determination result of the body motion detection device, and a stimulus applying portion that changes a magnitude of the stimulus to apply to the human body based on the command signal.

(10) Preferably, the stimulus applying portion includes a right body stimulus applying portion that applies stimulus to a right body, and a left body stimulus applying portion that applies stimulus to a left body. The evaluation unit includes a first evaluation unit and a second evaluation unit. The first evaluation unit determines whether or not the walking movement is still based on the output signal of the first right body sensor and the output signal of the second right body sensor. The second evaluation unit determines whether or not the walking movement is still based on the output signal of the first left body sensor and the output signal of the second left body sensor. The control unit transmits a command signal to the right body stimulus applying portion and applies stimulus to the human body when the first evaluation unit determines that the walking movement is still, and the control unit transmits a command signal to the left body stimulus applying portion to have stimulus applied to the human body when the second evaluation unit determines that the walking movement is still.

(11) Preferably, the control unit transmits the command signal to the stimulus applying portion after a walking still time, which is an elapsed time from when determined that the walking movement is still, exceeds a determination elapsed time.

(12) Preferably, the stimulus applying portion applies an electrical stimulus to the human body.

Effect of the Invention

The body motion detection device and human body stimulus applying device can appropriately determine whether or not the walking movement is still.

EMBODIMENTS OF THE INVENTION

First Embodiment

A schematic configuration of a human body stimulus applying device1using a body motion detection device will now be described with reference toFIG. 1.

The human body stimulus applying device1includes a stimulation device main body unit40and a first attachment unit10L. The first attachment unit10L is attached to a left leg210L of a user200(seeFIG. 2). The human body stimulus applying device1includes the first attachment unit10L and a second attachment unit10R to be attached to a left leg210L and a right leg210R of the user200, respectively. The right leg210R and the second attachment unit10R have the same structure as the left leg210L and the first attachment unit10L, respectively, and thus the illustration and the description of the right leg210R and the second attachment unit10R will be omitted. The first attachment unit10L and the second attachment unit10R detect the movement of the user200in a walking movement of the user200. The stimulation device main body unit40divides the movement in one walking cycle of the user200to a plurality of movement phases to determine the movement of each movement phase based on the detection results of the first attachment unit10L and the second attachment unit10R. The stimulation device main body unit40applies stimulus with respect to the user200based on the movement determination result in the movement phase divided into plurals. The stimulation device main body unit40carries out a control of determining a walking still state of the user200(i.e., determining that the walking movement is still), and stopping the application of the stimulus.

The stimulation device main body unit40includes a display unit43and an operation unit44. A connection cable13connects the stimulation device main body unit40and the first attachment unit10L to each other, and connects the stimulation device main body unit40and the second attachment unit10R to each other. The first attachment unit10L includes a first left body sensor SL1and a second left body sensor SL2. Each of the first left body sensor SL1and the second left body sensor SL2detects a displacement of a physical quantity of a femoral region and a knee region of the user200.

As shown inFIG. 2, when the user200attaches the first attachment unit10L and the second attachment unit10R, the first left body sensor SL1and the second left body sensor SL2are attached to the left leg, which is a first region, of the user200, and a first right-side sensor SR1and a second right-side sensor SR2are attached to the right leg, which is a second region, of the user200.

A configuration of the first attachment unit10L will now be described with reference toFIG. 3.

The first attachment unit10L includes an upper thigh attachment section21to be attached to the femoral region of the left leg210L and a lower thigh attachment section22to be attached to a leg region. The upper thigh attachment section21and the lower thigh attachment section22are coupled to each other by a first coupling portion23aand a second coupling portion23b.

The upper thigh attachment section21includes an upper thigh front portion24, a first upper thigh rear portion25, and a second upper thigh rear portion26. The upper thigh front portion24covers a front portion and a part of a side surface of the femoral region of the left leg210L. The first upper thigh rear portion25and the second upper thigh rear portion26are respectively formed at first and second ends of the upper thigh front portion24. The upper thigh front portion24has a recess24aformed at a lower end portion. The first upper thigh rear portion25includes a first connecting portion25bat a first distal end portion25a. The second upper thigh rear portion26includes a second connecting portion26bat a second distal end portion26a. The first connecting portion25band the second connecting portion26bare connected to each other in a freely detachable manner. The first connecting portion25band the second connecting portion26bare connected to each other at a rear portion of the femoral region of the left leg210L, so that the upper thigh attachment section21is attached to the femoral region of the left leg210L. The upper thigh attachment section21includes a left body stimulus applying unit90La. The left body stimulus applying unit90La applies stimulus to the femoral region of the user200according to the control from the stimulation device main body unit40.

The lower thigh attachment section22includes a lower thigh front portion27, a first lower thigh rear portion28, and a second lower thigh rear portion29. The lower thigh front portion27covers a front portion and a part of the side surface of the leg region of the left leg210L. The first lower thigh rear portion28and the second lower thigh rear portion29are respectively formed at first and second ends of the lower thigh front portion27. The lower thigh front portion27has a recess27aformed at an upper end portion. The first lower thigh rear portion28includes a third connecting portion28bat a third distal end portion28a. The second lower thigh rear portion29includes a fourth connecting portion29bat a fourth distal end portion29a. The third connecting portion28band the fourth connecting portion29bare connected to each other in a freely detachable manner. The third connecting portion28band the fourth connecting portion29bare connected to each other at a rear portion of the leg region of the left leg210L, so that the lower thigh attachment section22is attached to the leg region of the left leg210L. The lower thigh attachment section22includes a left body stimulus applying unit90Lb. The left body stimulus applying unit90Lb applies stimulus to the leg region of the user200according to the control from the stimulation device main body unit40.

The first coupling portion23aand the second coupling portion23bare made from a stretchable member, for example. The first coupling portion23acouples the first end of the upper thigh attachment section21to the first end of the lower thigh attachment section22, and the second coupling portion23bcouples the second end of the upper thigh attachment section21to the second end of the lower thigh attachment section22. When the upper thigh attachment section21and the lower thigh attachment section22are coupled to each other, an attachment hole31surrounded by the recess24aof the upper thigh front portion24, the recess27aof the lower thigh front portion27, the first coupling portion23a, and the second coupling portion23bis formed in the first attachment unit10L. At the time of attaching the first attachment unit10L, the front portion of the knee of the left leg210L is exposed from the attachment hole31thus facilitating the bending movement of the knee joint in the walking movement.

The upper thigh front portion24and the lower thigh front portion27respectively includes a first inserting part32and a second inserting part33at substantially a central portion. The first left body sensor SL1and the second left body sensor SL2are arranged in the first inserting part32and the second inserting part33, respectively. In the second attachment unit10R, the first right body sensor SR1and the second right body sensor SR2are respectively arranged at positions symmetrical with the first left body sensor SL1and the second left body sensor SL2. The first left body sensor SL1and the first right body sensor SR1respectively arranged at the upper thigh front portion24of the first attachment unit10L and the second attachment unit10R are, for example, angular speed sensors. The second left body sensor SL2and the second right body sensor SR2respectively arranged at the lower thigh front portion27of the first attachment unit10L and the second attachment unit10R are, for example, angular speed sensors. If the first left body sensor SL1and the first right body sensor SR1are angular speed sensors, the first left body sensor SL1and the first right body sensor SR1output an acceleration of the femoral region that turns with the hip joint of the left leg210L and the right leg210R as a center in the walking movement. If the second left body sensor SL2and the second right body sensor SR2are angular speed sensors, the second left body sensor SL2and the second right body sensor SR2output an acceleration of the leg region that turns with the knee joint of the left leg210L and the right leg210R as a center.

The first attachment unit10L detects the displacement of the knee joint in the walking state using the first left body sensor SL1and the second left body sensor SL2. The second attachment unit10R detects the displacement of the knee joint in the walking state using the first right body sensor SR1and the second right body sensor SR2.

As shown inFIG. 2, the first left body sensor SL1attached to the upper part of the left lower crotch of the user200and the first right body sensor SR1attached to the upper part of the right lower crotch are arranged at symmetrical positions to each other with respect to a reference plane200C. The reference plane200C is a plane that becomes the center of the symmetrical movement of the user200. Specifically describing, the reference plane200C includes a median plane, which is a plane of the center of the body that divides the body of the user200seen from the walking direction (body of the user200seen from the front) evenly to the left and right. Furthermore, the second left body sensor SL2attached to a lower part of the left lower crotch of the user200and the second right body sensor SR2attached to the lower part of the right lower crotch are arranged at symmetrical positions to each other with respect to the reference plane200C.

The first left body sensor SL1and the second left body sensor SL2attached to the left lower crotch of the user200configure a left leg detection unit SL that detects the movement of the left leg of the user200. The first right body sensor SR1and the second right body sensor SR2attached to the right lower crotch configure a right leg detection unit SR that detects the movement of the right leg of the user.

The walking movement of the user200will now be described with reference toFIG. 4.

When performing the walking movement, the user200carries out the movement of the legs shown inFIG. 4A. The portion indicated with only a solid line inFIG. 4Aindicates the movement of the right leg of the user200. The portion indicated with hatching inFIG. 4Aindicates the movement of the left leg of the user200. When the user200performs the walking movement with the movements of the legs shown inFIG. 4A, the period in the walking movement is defined as shown inFIGS. 4B to 4E. One walking cycle of the user200is a period from when the heel of one foot touches the ground until the same heel again touches the ground. In the one walking cycle, a zone in which the foot of the user is touching the floor is a stance phase, and a zone in which the foot is not touching the floor is a swing phase. In the walking movement, the right leg and the left leg alternately repeat the stance phase and the swing phase. If one leg changes from the swing phase to the stance phase, the other leg changes from the stance phase to the swing phase with a temporal shift. Thus, the one walking cycle includes a zone in which both feet are touching the ground.

The human body stimulus applying device1determines the stance phase and the swing phase in one walking cycle shown inFIG. 4. The human body stimulus applying device1defines the stance phase and the swing phase as specific walking phases. The human body stimulus applying device1separates the stance phase and the swing phase defined as the specific walking phases into a plurality of phases. The human body stimulus applying device1defines each of the plurality of phases as a divided walking phase, and carries out movement determination including the still state. The human body stimulus applying device1controls the stimulus applying portion based on the movement determination result of the divided walking phase divided into plurals.

A circuit block configuration of the human body stimulus applying device1will now be described with reference toFIG. 5.

The human body stimulus applying device1includes the first attachment unit10L, the second attachment unit10R, and the stimulation device main body unit40. The first attachment unit10L includes a left body detector50L and a left body stimulus applying unit90L. The left body detector50L includes the left leg detection unit SL. The second attachment unit10R includes a right body detector50R and a right body stimulus applying unit90R. The right body detector50R includes a right leg detection unit SR. The stimulation device main body unit40includes a power supply unit41, the display unit43, the operation unit44and a control unit60. The control unit60includes an computation unit61, a stimulus applying control unit62, a time setting unit63, and an evaluation unit70. The evaluation unit70includes a comparison unit71, a measurement unit72, a still evaluation unit73, and a walking phase dividing unit80. The walking phase dividing unit80includes a logical operation unit81. Each of the output of the power supply unit41and the output signal of the stimulus applying control unit62of the stimulation device main body unit40are provided to the first attachment unit10L and the second attachment unit10R through the connection cable13. Each of the detection signal from the left leg detection unit SL of the first attachment unit10L and the detection signal from the right leg detection unit SR of the second attachment unit10R are provided to the stimulation device main body unit40through the connection cable13.

The operation of each circuit block in the human body stimulus applying device1will be hereinafter described.

The first left body sensor SL1and the second left body sensor SL2included in the left leg detection unit SL detect the movement of the left leg210L of the user200attached with the first attachment unit10L, and generate a detection signal. The first right body sensor SR1and the second right body sensor SR2included in the right leg detection unit SR detect the movement of the right leg210R of the user200attached with the second attachment unit10R, and generate a detection signal.

The detection signal from the first left body sensor SL1of the left leg detection unit SL is a first detection signal IL1, and is transmitted to the computation unit61. The detection signal from the second left body sensor SL2of the left leg detection unit SL is a second detection signal IL2, and is transmitted to the computation unit61. The detection signal from the first right body sensor SR1of the right leg detection unit SR is a third detection signal IR1, and is transmitted to the computation unit61. The detection signal from the second right body sensor SR2of the right leg detection unit SR is a fourth detection signal IR2, and is transmitted to the computation unit61.

The computation unit61receives the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2, and carries out signal processing on the signals. The computation unit61carries out removal of noise such as high frequency component, and the like, calculation of movement average value, frequency analysis, and the like, for example, for the signal processing. The computation unit61carries out a process of combining the first detection signal IL1and the third detection signal IR1of the first left body sensor SL1and the first right body sensor SR1symmetrically arranged with respect to the reference plane200C. The computation unit61carries out a process of combining the second detection signal IL2and the fourth detection signal IR2of the second left body sensor SL2and the second right body sensor SR2symmetrically arranged with respect to the reference plane200C. The computation unit61carries out a subtraction process (IL1−IR1) and an addition process (IL1+IR1) of the first detection signal IL1and the third detection signal IR1, for example, for the combining process. The computation unit61carries out a subtraction process (IL2−IR2) and an addition process (IL2+IR2) of the second detection signal IL2and the fourth detection signal IR2, for example, for the combining process. The computation unit61combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2, for example, according to the following equation (1) to generate a combination signal Z1.
Z1=aX1+bX2+cX3+dX4+ . . . +C(1)

Where, a, b, c, and d in equation (1) are coefficients. C in equation (1) is a constant. The values of the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2, for example, are substituted to variables X1, X2, X3, and X4. Furthermore, for example, values in which the first detection signal IL1and the second detection signal IL2of the left leg detection unit SL, and the third detection signal IR1and the fourth detection signal IR2of the right leg detection unit SR are combined, and the like are substituted to the variables X1to X4. By way of example, four variables, X1, X2, X3, and X4are used, but four or more variables may be used by combining the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2. The evaluation unit70divides one walking cycle into a plurality of movement phases to carry out the movement determination based on the processing result of the computation unit61. The plurality of movement phases include, for example, a first movement phase OP1, a second movement phase OP2, and a third movement phase OP3. The values of the variables X1to X4in equation (1) are characteristic values of the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2in the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3. The characteristic value is, for example, a continuously obtained value such as a movement average value, a differential value, a value (e.g., X1−X4, X1+X2) calculated by performing a predetermined computation with other characteristic values, and the like. The values of the coefficients a to d in the equation (1) can be changed when setting the different movement phases.

The values of the coefficients a to d and the constant C are set using a discriminant analytical method, which is one method of a multivariate analytical method. For example, the variables X1to X4in each of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3are calculated based on the result of the walking test conducted beforehand on a plurality of subjects. In the detection of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3of the walking test, for example, a different sensor (pressure sensor, etc.) is used other than the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2. A combination signal Z1is obtained by substituting the variables X1to X4to the equation (1) set based on the discriminant analytical method. Representing the combination signal Z1on one graph, the characteristic values in all the movement phases form a group. The coefficients a to d are set to indicate a boundary of the characteristic values of each of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3grouped in the graph. That is, the coefficients a to d are set as different values when setting the different movement phases. The constant C is used to adjust the value of the combination signal Z1. The combination signal Z1set in such manner indicates a predetermined value (e.g., Z1=0) at the boundary of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3. The computation unit61outputs the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, the fourth detection signal IR2, and the combination signal combining the same to the evaluation unit70.

FIG. 6shows the movement phases in one walking cycle, and the signals used in the determination of the movement phases.

The evaluation unit70compares the combination signal Z1shown inFIG. 6Cand a predetermined first threshold TH1, a second threshold TH2, a third threshold TH3, and a fourth threshold TH4with a comparison unit71in each movement phase. The first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4have different values in each movement phase. The evaluation unit70uses the comparison unit71and the logical operation unit81to carry out a determination on the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, the fourth detection signal IR2, the combination signal, and the like processed by the computation unit61. The evaluation unit70thereby detects the plurality of movement phases shown inFIG. 6, that is, the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3from the walking movement of one walking cycle shown inFIG. 4. When determining that the movement phase switched with the walking movement, the evaluation unit70provides a movement phase number OPN indicating the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3and a signal indicating that the movement phase is switched.

The measurement unit72measures a movement phase duration time tOP, which is a respective duration time of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3determined by the evaluation unit70. The measurement unit72stores the measurement result.

The still evaluation unit73determines that the walking movement of the user200is still if the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3are continued for longer than or equal to a predetermined time in the walking movement of the user200. The time setting unit63receives an input of a still determination time tREF used in the walking still state determination. The still evaluation unit73compares the movement phase duration time tOP stored in the measurement unit72and the still determination time tREF input to the time setting unit63. The still evaluation unit73determines that the walking movement is still if the movement phase duration time tOP is longer than the still determination time tREF of the time setting unit63. The still evaluation unit73outputs the determination result to the stimulus applying control unit62.

The stimulus applying control unit62controls the left body stimulus applying unit90L attached to the first attachment unit10L and the right body stimulus applying unit90R attached to the second attachment unit10R based on the determination result provided from the still evaluation unit73.

The display unit43displays the determination result, and the like of the walking state of the user200in the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3, for example. The display unit43displays the difference in the movement of the left and right legs of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3, and the evaluation result of the walking movement based on the difference in the movement of the left and right legs. The target of the movement displayed on the display unit43can be changed by the user200using the operation unit44.

The power supply unit41supplies a drive current to the stimulation device main body unit40. The power supply unit41supplies the drive current to the first attachment unit10L and the second attachment unit10R. The power supply unit41, for example, is a power supply circuit that generates a required drive current by a power supply from a chargeable battery, a dry cell battery, and a commercial power supply, for example.

The operation of the human body stimulus applying process executed by the control unit60of the human body stimulus applying device1will now be described according to a flowchart shown inFIG. 7.

When the user200carries out the walking movement, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2detect the displacement of the physical quantity of the left leg210L and the right leg210R of the user200involved in the walking movement in step S11. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2generate the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2indicating the detection result, and output the detection signals to the computation unit61.

In step S12, the computation unit61carries out the process of combining the first detection signal IL1and the third detection signal IR1, and the second detection signal IL2and the fourth detection signal IR2of the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2dividedly arranged by the reference plane200C. The computation unit61also carries out the signal processing with respect to the combined signal and the signals before being combined. The computation unit61outputs the signal generated by the signal processing to the evaluation unit70.

In step S13, the evaluation unit70compares the threshold for dividing one walking cycle for every property of the walking movement, and the signal generated by the signal processing. The evaluation unit70detects a plurality of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3from the one walking cycle based on the comparison result. The evaluation unit70separates the one walking cycle into the first movement phase OP1included in the stance phase and the second movement phase OP2and the third movement phase OP3included in the swing phase shown inFIG. 6. In the example shown inFIG. 6, the stance phase includes only one zone of the first movement phase OP1. The evaluation unit70causes the comparison unit71to compare, for example, the combination signal Z1shown inFIG. 6Cas the subtraction result of the first detection signal IL1and the third detection signal IR1, and the defined first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4. The evaluation unit70determines the zone in which the combination signal Z1exceeds the first threshold TH1or the second threshold TH2as the stance phase based on the comparison result. The comparison unit71outputs a comparison signal “1” (high level) when the combination signal Z1is smaller than the first threshold TH1to the fourth threshold TH4. The comparison unit71outputs a comparison signal “0” (low level) when the combination signal Z1is greater than the first threshold TH1to the fourth threshold TH4. Each of the first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4has a constant value in the one walking cycle.

In step S14, the logical operation unit81of the walking phase dividing unit80carries out the logical operation of the comparison signal input from the comparison unit71.

In step S15, the evaluation unit70determines the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3based on the output result of the logical operation unit81. The walking phase dividing unit80determines the zone of t11to t12, in which the combination signal Z1exceeds the first threshold TH1, in the stance phase as the former stage of the stance phase. The walking phase dividing unit80determines the zone after the combination signal Z1once becomes smaller than or equal to the first threshold TH1, the zone being the zone of t12to t21in which the combination signal Z1exceeds the second threshold TH2, as the latter stage of the stance phase. The evaluation unit70defines the zone of t11to t21including the zone of t11to t12determined as the former stage of the stance phase and the zone of t12to t21determined as the latter stage of the stance phase as the first movement phase OP1based on the determination result of the walking phase dividing unit80. The former stage of the stance phase is the zone from when the heel of one foot touches the ground until the heel moves away from the ground during the one walking cycle. The latter stage of the stance phase is the zone from when the heel of one foot moves away from the ground until the toe moves away from the ground during the one walking cycle.

The walking phase dividing unit80determines the zone following the latter stage of the stance phase, the zone being the zone of t21to t22in which the combination signal Z1becomes smaller than or equal to the third threshold TH3, as the former stage of the swing phase. The walking phase dividing unit80determines the zone following the former stage of the swing phase, the zone being the zone of t22to t31in which the combination signal Z1becomes greater than the third threshold TH3and smaller than or equal to the threshold TH4, as the latter stage of the swing phase. The evaluation unit70defines the former stage of the swing phase as the second movement phase OP2and the latter stage of the swing phase as the third movement phase OP3based on the determination result of the walking phase dividing unit80. In the walking phase dividing unit80, after the one walking cycle is divided into a plurality of zones, the plurality of divided zones may be coupled. For example, when the target movement phase is the swing phase, the swing phase may be divided into a plurality of zones, and the plurality of divided zones may be coupled.

In step S16, the still evaluation unit73determines the walking still state of the user200. The still evaluation unit73determines the walking still state using the respective duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3determined by the evaluation unit70.

The left body stimulus applying unit90L and the right body stimulus applying unit90R apply stimulus at a predetermined timing on the user200if the still evaluation unit73does not determine that the walking movement is still. The left body stimulus applying unit90L and the right body stimulus applying unit90R change the magnitude of the stimulus application on the user200if the still evaluation unit73determines that the walking movement is still. Specifically, the left body stimulus applying unit90L and the right body stimulus applying unit90R weaken the stimulating power or stop the stimulus application if the still evaluation unit73determines that the walking movement is still.

In the determination using the thresholds, the logical operation, and the movement phase determination in step S13to step S15, the same movement phase may be determined over plural times within one walking cycle. In this case, the walking phase dividing unit80separately acquires the determination signal that differs from the determination signal used in the determination. The evaluation unit70specifies the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3by carrying out the logical operation on the separately acquired determination signal.

The first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4are, for example, set based on the result of the walking test conducted beforehand on a plurality of subjects. The walking test is conducted, for example, by providing a different sensor (e.g., pressure sensor) on the body of the subject in addition to the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2. Such different sensor is arranged to detect the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3in the walking test. For example, the pressure sensor arranged on the back of the foot detects a period in which the foot is touching the ground in the one walking cycle. The tester defines the period in which the foot is detected to be touching the ground as the stance phase, that is, the first movement phase OP1. The tester uses the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3detected with the different sensor to acquire the value of the combination signal of the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2of each subject. Thus, for example, the average value of the values of the combination signals at the boundaries of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3is calculated, and the result is set as the first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4. For example, the second threshold TH2is set with a value that determines the latter stage of the stance phase, and the zone (former stage of the stance phase and the former stage of the swing phase) before and after thereof with respect to the combination signal, as shown inFIG. 6. That is, the second threshold TH2is set from the average value of the values of the combination signals at the boundaries of the former stage of the stance phase and the zone before and after thereof of a plurality of subjects in the walking test. The first threshold TH1, the second threshold TH2, the third threshold TH3, and the fourth threshold TH4are not limited to the values of the boundaries. For example, the value may be set based on the average value of the values of the combination signals in the entire movement phase of each of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3.

A flowchart of the walking still determination process will be described with reference toFIG. 8.

When the operation of the human body stimulus applying device1is started, the control unit60executes step S21to step S23, which are initial setting steps.

In step S21, the time setting unit63sets the value of the determination time used for the walking still state determination as the still determination time tREF.

In step S22, the measurement unit72sets the movement phase duration time tOP stored in the measurement unit72to zero.

In step S23, the evaluation unit70sets the previous movement phase number OPN (n−1) used in the walking cycle time measurement to zero.

In step S24, the evaluation unit70determines the movement phase.

In step S25, the evaluation unit70sets the movement phase number OPN(n) of the determined movement phase.

In step S26, the measurement unit72determines whether the movement phase number OPN(n) determined in step S25matches the previous movement phase number OPN(n−1). The measurement unit72determines whether or not the movement determined to have the same movement phase number is continuing by executing step S26.

If determined that the movement phase number OPN(n) matches the previous movement phase number OPN(n−1) (Yes) in step S26, the measurement unit72adds one to the movement phase duration time tOP stored in the measurement unit72in step S27.

If determined that the movement phase number OPN(n) does not match the previous movement phase number OPN(n−1) (No) in step S26, the measurement unit72resets the movement phase duration time tOP stored in the measurement unit72and sets the movement phase duration time tOP to zero in step S28.

In step S29, the still evaluation unit73compares the movement phase duration time tOP and the still determination time tREF.

If determined that the movement phase duration time tOP is longer than the still determination time tREF (Yes) in step S29, the stimulus applying control unit62sets the control flag FLG to one in step S30.

If determined that the movement phase duration time tOP is not longer than the still determination time tREF (No) in step S29, the stimulus applying control unit62resets the control flag FLG and sets the control flag FLG to zero in step S31.

In step S32, the evaluation unit70sets the determined movement phase number OPN(n) to OPN(n−1) as the previous movement phase number.

In step S33, the control unit60sets the waiting time of 10 ms. The waiting time is a determining cycle of determining the movement phase in step S24. When the waiting time is set to 10 ms, the evaluation unit70determines the movement phase at an interval of 10 ms. The waiting time is set to an optimum value according to the walking cycle.

The control unit60repeats steps S24to S33during a period the human body stimulus applying device1is carrying out the operation.

The measurement unit72measures the duration time of the movement phase determined by the evaluation unit70in step S27as the number of counts of the time having 10 ms as a unit by executing the flowchart shown inFIG. 8.

The still evaluation unit73determines that the walking movement is still if the movement phase duration time tOP measured by the measurement unit72is longer than the still determination time tREF in step S29.

The measurement unit72sets the movement phase duration time tOP stored in the measurement unit72to zero when the movement phase number OPN(n) determined by the evaluation unit70changed from the previous movement phase number OPN(n−1) in step S28.

The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the value of the control flag FLG to change the magnitude of the stimulus to apply on the user200. That is, while the walking movement is determined as still in step S29and the control flag FLG is set to one in step S30, the left body stimulus applying unit90L and the right body stimulus applying unit90R weaken the stimulating power on the user200or stop the stimulus application.

An operation of the human body stimulus applying device1will now be described.

The human body stimulus applying device1described above includes the first left body sensor SL1and the second left body sensor SL2arranged on the left leg210L of the user200, and the first right body sensor SR1and the second right body sensor SR2arranged on the right leg210R of the user200. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2detect the bilaterally symmetric walking movement. The evaluation unit70combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2generated by the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2to determine the walking movement of the user200. The evaluation unit70includes the walking phase dividing unit80. The walking movement is determined by dividing the stance phase and the swing phase within the one walking cycle into a plurality of movement phases. The still evaluation unit73carries out the walking still state determination on the basis of the measurement result obtained by measuring the duration time of the movement phase. Therefore, the human body stimulus applying device1can carry out the walking still state determination in each movement phase. Thus, the state in which the walking movement is still can be appropriately detected. Furthermore, the walking still state determination can be carried out in a short period of time while reducing erroneous determinations. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. Thus, an appropriate stimulus applying control can be carried out.

The measurement unit72measures the duration time of the movement phase with respect to each of the plurality of movement phases. The still evaluation unit73carries out the walking still state determination with respect to each of the plurality of movement phases. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. Therefore, a highly accurate walking still state determination can be carried out in a short period of time. Thus, a highly accurate stimulus applying control can be carried out.

The first left body sensor SL1and the second left body sensor SL2, and the first right body sensor SR1and the second right body sensor SR2are respectively arranged in the two regions on both sides of the reference plane200C of the user. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2detect the bilaterally symmetric walking movement. The evaluation unit70combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2generated by the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2to determine the walking movement of the user200. The evaluation unit70includes the walking phase dividing unit80. The walking movement is determined by dividing the stance phase and the swing phase within the one walking cycle into a plurality of movement phases. The still evaluation unit73carries out the walking still state determination on the basis of the measurement result obtained by measuring the duration time of the movement phase. Therefore, the highly accurate walking still state determination can be carried out.

Even when evaluating the balance of the regions of the user positioned in two regions on both sides of the reference plane200, for example, the left and right legs of the user, the evaluation including the state of the other leg can be carried out. For example, when evaluating one leg, the evaluation including the interaction with the state of the other leg can be carried out for such evaluation.

The first left body sensor SL1, the second left body sensor SL2, and the first right body sensor SR1, the second right body sensor SR2are arranged at symmetrical positions with respect to the reference plane200C, which becomes the boundary of the walking movement carried out bilaterally symmetrically. That is, the human body often moves parallel to the reference plane200that evenly divides the human body seen from the walking direction. The movement of the human body has a strong tendency of being mutually similar in the two regions (e.g., left limb, right limb) divided by the reference plane200. For example, in the movement of sitting on a chair, the left and right legs are simultaneously moved such as, mainly, the left and right knees are stretched from the standing state, and then the knees are bent when close to the sitting surface, and the like. The evaluation unit70uses the signal in which the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2are combined to carry out the movement determination based on the movement of a plurality of regions of the human body that are simultaneously moved. Therefore, the amount of data used for the movement determination by the evaluation unit70is doubled with respect to the configuration of using only the first detection signal IL1and the second detection signal IL2of the first left body sensor SL1and the second left body sensor SL2. Thus, the walking movement of the user is more accurately determined, and the more accurate walking still state determination can be carried out.

In the movement of the human body, a phase difference is sometimes shifted by about 180 degrees between the left region and the right region as in the movement of the hip side surface when walking. Even when the determination of the movement is difficult from the detection results of the first left body sensor SL1and the second left body sensor SL2, which are one sensor, the evaluation unit70in the human body stimulus applying device1can use the detection results of the first right body sensor SR1and the second right body sensor SR2, which are the other sensor. Thus, even in the movement in which the determination is conventionally difficult, the determination is facilitated. A more accurate walking still state determination thus can be carried out.

The human body stimulus applying device1includes the first left body sensor SL1and the second left body sensor SL2attached to one limb portion of the user200, and the first right body sensor SR1and the second right body sensor SR2attached to the other limb portion of the user200. The variation of the detection signal becomes greater by attaching the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2to the left and right limbs of the human body than by attaching the sensors to the hip of the user200. The acquirable amount of data thus increases. In the method for carrying out the movement determination by the difference of the sensor detection signal values between the reference posture state and the movement state, the signal used in the movement determination is a difference of the sensor detection signal values between the reference posture state and the movement state, and is a small value. The highly accurate movement determination is thus difficult with such method. On the contrary, the sensor detection signals of the first left body sensor SL1and the second left body sensor SL2and the first right body sensor SR1and the second right body sensor SR2respectively attached to the left and right limb portions have a sufficient difference with each other. The evaluation unit70thus can carry out the movement determination more accurately, and can carry out the highly accurate walking still state determination.

The human body stimulus applying device1has the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2arranged at positions crossing over the knees of the user. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are configured such that a turning position (angular speed, etc.) of the knee joint can be detected. For example, in the former stage of the swing phase, the femoral region turns with the hip joint as the center in the same direction as the advancing direction.

The first left body sensor SL1and the first right body sensor SR1(angular speed sensor) detect the acceleration of the femoral region with respect to the turning direction, and generate the first detection signal IL1and the third detection signal IR1indicating the detected acceleration. The leg region turns in a direction the inertia force acts with the knee joint as the center. The second left body sensor SL2and the second right body sensor SR2(angular speed sensor) detect the angular speed of the leg region along the turning direction, and generate the second detection signal IL2and the fourth detection signal IR2indicating the detected angular speed. In the latter stage of the swing phase, the femoral region and the leg region turn in opposite directions from the former stage of the swing phase. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are arranged in the regions crossing over the knee joints to detect the characteristic movement of the feet in the swing phase. Thus, the detection accuracy of the second movement phase OP2and the third movement phase OP3can be enhanced, and a highly accurate walking still state determination can be carried out.

The human body stimulus applying device1has the following advantages.

(1) The human body stimulus applying device1includes the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2as detection units. The human body stimulus applying device1includes the evaluation unit70that combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2generated in each of the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2to determine the movement of the human body. The evaluation unit70includes the walking phase dividing unit80, and carries out the movement determination by dividing the stance phase and the swing phase within one walking cycle at the time of the walking movement of the user200into a plurality of movement phases. The still evaluation unit73measures the duration time of the movement phase, and carries out the walking still state determination. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. According to such configuration, the state in which the walking movement is still is appropriately detected. The walking still state determination is carried out in a short period of time while reducing erroneous determinations. Thus, an appropriate stimulus applying control is carried out.

(2) The evaluation unit70includes the walking phase dividing unit80, and carries out the movement determination by dividing the stance phase and the swing phase within one walking cycle at the time of the walking movement of the user200into a plurality of movement phases. The evaluation unit70includes the measurement unit72. The measurement unit72measures the duration time in the respective movement phases. The measurement unit72stores the measurement result. The still evaluation unit73carries out the walking still state determination with respect to each of the plurality of movement phases. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. According to such configuration, a highly accurate walking still state determination is carried out in a short period of time. Thus, a highly accurate stimulus applying control is carried out.

(3) The human body stimulus applying device1includes the first left body sensor SL1and the second left body sensor SL2configuring the left leg detection unit SL and the first right body sensor SR1and the second right body sensor SR2configuring the right leg detection unit SR at symmetrical positions with respect to the reference plane200C of the user200. The evaluation unit70combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2indicating the detection results by the left leg detection unit SL and the right leg detection unit SR to determine the movement of the user200. The still evaluation unit73carries out the walking still state determination based on the determination result of the evaluation unit70. According to such configuration, the amount of data used for the determination of the walking movement is increased and a highly accurate walking still state determination is carried out.

(4) In the human body stimulus applying device1, the plane of the center of the body that divides the human body seen from the walking direction evenly to the left and right is the reference plane200C. The first left body sensor SL1and the first right body sensor SR1, and the second left body sensor SL2and the second right body sensor SR2are symmetrically arranged with each other with respect to the reference plane200C. According to such configuration, the amount of data of the signal input to the evaluation unit70is doubled with respect to the configuration in which only the first detection signal IL1of the first left body sensor SL1and the second detection signal IL2of the second left body sensor SL2are used, so that the walking movement of the user200is more accurately determined. Thus, the walking still state determination is accurately carried out.

(5) The left body detector50L of the human body stimulus applying device1includes the first left body sensor SL1and the second left body sensor SL2arranged on one limb portion of the human body. The right body detector50R of the human body stimulus applying device1includes the first right body sensor SR1and the second right body sensor SR2arranged on the other limb portion of the human body. According to such configuration, the human body stimulus applying device1acquires, for example, greater amount of signals indicating the displacement of the human body involved in various types of movements such as the walking movement, and the like. Thus, the human body stimulus applying device1carries out the movement determination based on abundant data indicating the movement of the human body. The movement determination is thus carried out in more detail and with high accuracy. The walking still state determination is carried out in more detail and with high accuracy.

The human body stimulus applying device1combines the detection signals of the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2attached at symmetrical positions with respect to the reference plane200C. The human body stimulus applying device1carries out the movement determination of one limb of the human body based on the combination signal. According to such configuration, the movement is rapidly determined with high accuracy. The walking still state determination is thus carried out with higher speed and higher accuracy.

Second Embodiment

The human body stimulus applying device1of the second embodiment has a configuration different in the following portions compared to the human body stimulus applying device1of the first embodiment, and the same configuration in other portions. The same reference numerals are denoted on the configurations common with the human body stimulus applying device1of the first embodiment, and the description thereof will be partially or entirely omitted.

The human body stimulus applying device1of the first embodiment includes the time setting unit63that receives an input of the still determination time tREF. The human body stimulus applying device1of the second embodiment, on the other hand, includes a time setting unit64that sets the still determination time tREF based on the measurement value of the measurement unit72.

A configuration of the human body stimulus applying device1will now be described with reference toFIG. 9.

The human body stimulus applying device1includes the time setting unit64. The measurement unit72measures the respective movement phase duration times tOP of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3determined by the evaluation unit70. The measurement unit72stores the measurement result. The time setting unit64sets the still determination time tREF. The still evaluation unit73compares the movement phase duration time tOP stored in the measurement unit72and the still determination time tREF set by the time setting unit64. The still evaluation unit73determines that the walking movement is still when the movement phase duration time tOP is longer than the still determination time tREF set by the time setting unit64. The still evaluation unit73outputs the determination result to the stimulus applying control unit62.

The time setting unit64includes a determination time defining unit. The determination time defining unit defines the still determination time tREF based on the result of the walking test conducted beforehand on a plurality of subjects. The time setting unit64sets the still determination time tREF based on the definition of the determination time defining unit.

The definition of the still determination time by the determination time defining unit will be described with reference toFIG. 10.

The stance phase in the walking movement of the human body is about 60% of the one walking cycle, and it is known that one walking cycle time and the duration time of each movement phase are correlated. A person whose one walking cycle is long is also known to have a long duration time in each movement phase. Thus, the still determination time tREF needs to be changed in accordance with the walking property of the user200of the human body stimulus applying device1in order to accurately carry out the walking still state determination.

FIG. 10Ais a graph showing a method of setting the still determination time tREF by multiplying a positive proportionality coefficient with respect to the movement phase duration time tOP. The determination time defining unit defines the still determination time tREF, which is an output value, using a proportionality coefficient k with respect to the movement phase duration time tOP, which is an input value. In other words, the still determination time tREF is determined by the following equation.
tREF=k·tOP

The determination time defining unit defines the still determination time tREF using the proportionality coefficient k shown inFIG. 10Abased on at least one duration time of the duration times of the plurality of divided walking phases measured by the measurement unit72before the current walking cycle. The time setting unit64holds the result of the walking test conducted beforehand on the plurality of subjects in the storage unit. The determination time defining unit defines the still determination time tREF with reference to the result of the walking test from the measurement time of the measurement unit72. The still evaluation unit73can carry out the walking still state determination in a short period of time.

FIG. 10Bis a graph showing a method of setting the still determination time tREF by multiplying the positive proportionality coefficient with respect to the movement phase duration time and adding an offset value t0.

The determination time defining unit defines the still determination time tREF using the proportionality coefficient k and the offset value t0with respect to the movement phase duration time tOP. In other words, the still determination time tREF is determined by the following equation.
tREF=k·tOP+0

The still evaluation unit73can reduce erroneous operations caused by noise, and the like, and carry out a stable walking still state determination even when the movement phase duration time tOP is short.

FIG. 10Cis a graph showing a method for setting the still determination time tREF by multiplying the positive proportionality coefficient with respect to the movement phase duration time TOP, adding the offset value t0, and using a determination minimum time tREFmin and a determination maximum time tREFmax. The minimum duration time tOPmin and the maximum duration time tOPmax of the movement phase duration time tOP are set based on the result of the walking test conducted beforehand on a great number of subjects. The determination minimum time tREFmin and the determination maximum time tREFmax of the still determination time tREF are set in correspondence with the minimum duration time tOPmin and the maximum duration time tOPmax. The determination time defining unit assumes that the movement phase having the duration time of smaller than or equal to the minimum duration time tOPmin as a jump movement, and the like other than the walking movement, and defines that the still determination time tREF is the determination minimum time tREFmin. The determination time defining unit assumes that the movement phases having the duration time of greater than or equal to the maximum duration time tOPmax are all walking still states, and defines that the still determination time tREF is the determination maximum time tREFmax. The still evaluation unit73can reduce erroneous operations caused by noise, and the like and carry out the stable walking still state determination even when the movement phase duration time tOP is short. The still evaluation unit73can reduce the increase in the determination time even when the movement phase duration time tOP is long.

In the setting of the still determination time tREF, the human body stimulus applying device1is configured to be able to select the setting methods shown inFIGS. 10A to 10Cor other setting methods according to the mode of the walking movement carried out by the user200. The mode of the walking movement includes walking on a flat road surface, walking on a road surface having a gradient, walking when going up and down the stairs, or other walking modes.

A flowchart of the walking still determining process will be described with reference toFIG. 11.

In steps S41to S45, the operations similar to steps S21to S25described inFIG. 8in the first embodiment are carried out.

In step S46, the time setting unit64sets the still determination time tREF based on at least one duration time of the duration times of the plurality of divided walking phases measured by the measurement unit72before the current walking cycle.

In step S47, the measurement unit72determines whether the movement phase number OPN(n) determined in step S45matches the previous movement phase number OPN(n−1). The measurement unit72determines whether the movement determined to have the same movement phase number is continuing by executing step S47.

If determined that the movement phase number OPN(n) matches the previous movement phase number OPN(n−1) (Yes) in step S47, the measurement unit72adds one to the movement phase duration time tOP stored in the measurement unit72in step S48.

If determined that the movement phase number OPN(n) does not match the previous movement phase number OPN(n−1) (No) in step S47, the measurement unit72resets the movement phase duration time tOP stored in the measurement unit72and sets the movement phase duration time tOP to zero in step S49.

In step S50, the still evaluation unit73compares the movement phase duration time tOP with the still determination time tREF.

If determined that the movement phase duration time tOP is longer than the still determination time tREF (Yes) in step S50, the stimulus applying control unit62sets the control flag FLG to one in step S51.

If determined that the movement phase duration time tOP is not longer than the still determination time tREF (No) in step S50, the stimulus applying control unit62resets the control flag FLG and sets the control flag FLG to zero in step S52.

In step S53, the evaluation unit70sets the determined movement phase number OPN(n) to OPN(n−1) as the previous movement phase number.

In step S54, the control unit60sets the waiting time of 10 ms. The waiting time is a determining cycle in which the evaluation unit70executes the determination, as previously described. The waiting time is set to an optimum value according to the walking cycle.

The control unit60repeats steps S44to S54during a period the human body stimulus applying device1is carrying out the operation.

The measurement unit72measures the duration time of the movement phase determined by the evaluation unit70in step S48as the number of counts of the time having 10 ms as a unit by executing the flowchart shown inFIG. 11.

The still evaluation unit73determines that the walking movement is still if the movement phase duration time tOP measured by the measurement unit72is longer than the still determination time tREF in step S50.

The measurement unit72sets the movement phase duration time tOP stored in the measurement unit72to zero when the movement phase number OPN(n) determined by the evaluation unit70changed from the previous movement phase number OPN(n−1) in step S49.

The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the value of the control flag FLG to change the magnitude of the stimulus to apply on the user200. That is, while the walking movement is determined as still in step S29and the control flag FLG is set to one in step S30, the left body stimulus applying unit90L and the right body stimulus applying unit90R weaken the stimulating power on the user200or stop the stimulus application.

The operation of the human body stimulus applying device1will now be described.

The evaluation unit70of the human body stimulus applying device1includes the walking phase dividing unit80. The walking phase dividing unit80divides the stance phase and the swing phase within one walking cycle into a plurality of movement phases, and carries out the movement determination. The measurement unit72measures the movement phase duration time tOP with respect to each of the movement phases divided into plurals. The time setting unit64includes a determination time defining unit. The determination time defining unit defines the still determination time tREF based on at least one duration time of the duration times of the plurality of divided walking phases measured by the measurement unit72before the current walking cycle. The time setting unit64sets the still determination time tREF based on the definition of the determination time defining unit. The still evaluation unit73carries out the walking still state determination based on the still determination time tREF set by the time setting unit64. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. Thus, an accurate walking still state determination can be carried out according to the walking property of the user200. An appropriate stimulus applying control thus can be carried out.

Furthermore, the human body stimulus applying device1is configured to be able to select the setting method to be used when the measurement unit72sets the still determination time tREF. Thus, the still evaluation unit73can carry out an accurate walking still state determination according to the walking mode of the user200. An appropriate stimulus applying control thus can be carried out.

The human body stimulus applying device1of the second embodiment has advantages (1) to (6) of the human body stimulus applying device1of the first embodiment. In other words, an advantage in that an appropriate stimulus applying control can be carried out, an advantage in that a highly accurate stimulus applying control can be carried out, and other various advantages are obtained by carrying out the walking still state determination in a short period of time while reducing erroneous determinations. The human body stimulus applying device1also has the following advantages.

(7) The evaluation unit70of the human body stimulus applying device1divides the stance phase and the swing phase within one walking cycle into a plurality of movement phases, and carries out the movement determination. The measurement unit72measures the movement phase duration time tOP with respect to each of the movement phases divided into plurals. The time setting unit64sets the still determination time tREF based on at least one duration time of the duration times of the plurality of divided walking phases measured by the measurement unit72before the current walking cycle. The still evaluation unit73carries out the walking still state determination based on the still determination time tREF set by the time setting unit64. The stimulus applying control unit62controls the left body stimulus applying unit90L and the right body stimulus applying unit90R based on the determination result of the still evaluation unit73. Thus, an accurate walking still state determination is carried out according to the walking property of the user200. An appropriate stimulus applying control is thus carried out.

(8) The human body stimulus applying device1is configured to select the setting method to be used when the measurement unit72sets the still determination time tREF. Thus, the measurement unit72measures the duration time of the movement phase with respect to each of the plurality of movement phases. The still evaluation unit73carries out an accurate walking still state determination according to the walking mode of the user200. An appropriate stimulus applying control is thus carried out.

Third Embodiment

The human body stimulus applying device1of the third embodiment has a configuration different in the following portions compared to the human body stimulus applying device1of the second embodiment, and the same configuration in other portions. The same reference numerals are denoted on the configurations common with the human body stimulus applying device1of the second embodiment, and the description thereof will be partially or entirely omitted.

In the human body stimulus applying device1of the second embodiment, the first attachment unit10L includes the left body stimulus applying unit90L and the second attachment unit10R includes the right body stimulus applying unit90R. In the human body stimulus applying device1of the third embodiment, on the other hand, the first attachment unit10L includes a left body electrical stimulus applying portion140L and the second attachment unit10R includes a right body electrical stimulus applying portion140R.

A configuration of the first attachment unit10L will be described usingFIG. 12.

InFIG. 12, the same reference numerals are denoted on the same elements as the first attachment unit10L in the first embodiment shown inFIG. 3, and the redundant description will be omitted. The second attachment unit10R has the same configuration as the first attachment unit10L, and thus the description thereof will be omitted.

The first attachment unit10L includes the left body electrical stimulus applying portion140L for applying an electrical stimulus to the body of the user, which left body electrical stimulus applying portion140L includes an electrode unit34L arranged on the upper thigh front portion24, and an electrode unit35L arranged on the lower thigh front portion27. The electrode unit34L includes a pair of positive electrode34La and negative electrode34Lb partially exposed from a rear surface24bof the upper thigh front portion24. The electrode unit35L includes a pair of positive electrode35La and negative electrode35Lb partially exposed from a rear surface27bof the lower thigh front portion27. The exposed portions of the positive electrodes34La,35La and the negative electrodes34Lb,35Lb are directly brought into contact with the skin to apply the electrical stimulus.

A circuit block configuration of the human body stimulus applying device1will now be described with reference toFIG. 13.

The control unit60arranged in the stimulation device main body unit40of the human body stimulus applying device1includes a first evaluation unit100, a second evaluation unit120, a first time setting unit65, and a second time setting unit66. The first attachment unit10L of the human body stimulus applying device1includes the left body electrical stimulus applying portion140L. The second attachment unit10R of the human body stimulus applying device1includes the right body electrical stimulus applying portion140R.

The first evaluation unit100carries out the movement determination of one limb of the user based on the detection result of the left leg detecting unit SL including the first left body sensor SL1and the second left body sensor SL2attached to the left body of the user200divided by the reference plane200C. The first evaluation unit100includes a first comparison unit101, a first measurement unit102, a first still evaluation unit103, and a first walking phase dividing unit110. The first walking phase dividing unit110includes a first logical operation unit111. The computation unit61carries out the arithmetic processing on the detection signal generated by the left leg detection unit SL. The first comparison unit101compares the computation result of the computation unit61with a threshold. The first logical operation unit111carries out the logical operation on the comparison result provided from the first comparison unit101. The first evaluation unit100uses the first comparison unit101and the first logical operation unit111to carry out the determination on the first detection signal IL1of the first left body sensor SL1, the second detection signal IL2of the second left body sensor SL2, and the like processed by the computation unit61. Thus, the first evaluation unit100determines the plurality of movement phases shown inFIG. 6, that is, the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3from the walking movement of one walking cycle of the left leg of the user200. When determining that the movement phase switched with the walking movement, the first evaluation unit100provides the movement phase number OPN indicating the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3, and the signal indicating that the movement phase is switched.

The first measurement unit102carries out the operations shown in steps S47to S49of the walking still determining process shown inFIG. 11to measure the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3determined by the first evaluation unit100. The first time setting unit65uses the still determination time setting method shown inFIG. 10to set the still determination time tREF in step S46of the walking still determining process flowchart shown inFIG. 11. The first still evaluation unit103compares the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3measured by the first measurement unit102with the still determination time tREF. The first still evaluation unit103determines that the walking movement is still if the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3are greater than the still determination time tREF.

The second evaluation unit120carries out the movement determination of the other limb of the user based on the detection result of the right leg detecting unit SR including the first right body sensor SR1and the second right body sensor SR2attached to the right body of the user200divided by the reference plane200C. The second evaluation unit120includes a second comparison unit121, a second measurement unit122, a second still evaluation unit123, and a second walking phase dividing unit130. The second walking phase dividing unit130includes a second logical operation unit131. The computation unit61carries out the arithmetic processing on the detection signal generated by the right leg detection unit SR. The second comparison unit121compares the computation result of the computation unit61with a threshold. The second logical operation unit131carries out the logical operation on the comparison result provided from the second comparison unit121. The second evaluation unit120uses the second comparison unit121and the second logical operation unit131to carry out the determination on the third detection signal IR1of the first right body sensor SR1, the fourth detection signal IR2of the second right body sensor SR2, and the like processed by the computation unit61. Thus, the second evaluation unit120determines the plurality of movement phases shown inFIG. 6, that is, the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3from the walking movement of one walking cycle of the right leg of the user200. When determining that the movement phase switched with the walking movement, the second evaluation unit120provides the movement phase number OPN indicating the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3, and the signal indicating that the movement phase is switched.

The second measurement unit122carries out the operations shown in steps S47to S49of the walking still determining process shown inFIG. 11to measure the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3determined by the second evaluation unit120. The second time setting unit66uses the still determination time setting method shown inFIG. 10to set the still determination time tREF in step S46of the walking still determining process flowchart shown inFIG. 11. The second still evaluation unit123compares the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3measured by the second measurement unit122with the still determination time tREF. The second still evaluation unit123determines that the walking movement is still if the duration times of the first movement phase OP1, the second movement phase OP2, and the third movement phase OP3are greater than the still determination time tREF.

The stimulus applying control unit62receives the determination signals from the first still evaluation unit103and the second still evaluation unit123, and controls the left body electrical stimulus applying portion140L attached to the first attachment unit10L and the right body electrical stimulus applying portion140R attached to the second attachment unit10R based on the determination signals. The stimulus applying control unit62receives the determination signals from the first still evaluation unit103and the second still evaluation unit123, and changes the magnitude of the stimulus application on the user200based on the determination signals. When the first still evaluation unit103determines that the walking movement is still, the left body electrical stimulus applying portion140L weakens the stimulating power on the user200or stops the stimulus application. When the second still evaluation unit123determines that the walking movement is still, the right body electrical stimulus applying portion140R weakens the stimulating power on the user200or stops the stimulus application.

The control unit60drives a pulse generator67based on a control signal from the stimulus applying control unit62, and generates an electrical stimulating pulse. The left body electrical stimulus applying portion140L uses the electrical stimulating pulse generated by the pulse generator67to generate a predetermined pulse signal between the positive electrode34La and the negative electrode34Lb of the electrode unit34L, and between the positive electrode35La and the negative electrode35Lb of the electrode unit35L. Each of the electrode units34L and35L applies the electrical stimulus on the user200by the generation of the pulse signal. The right body electrical stimulus applying portion140R carries out the operation similar to the left body electrical stimulus applying portion140L, and applies the electrical stimulus on the user200.

The operation of the electrical stimulating pulse application in the walking movement will now be described usingFIG. 14.

InFIG. 14, the movement of the right leg210R of the user200is shown.

FIG. 14Ashows the walking movement. Each of the period of time t11to t21and the period of time t21to t31is one walking cycle period. In the zone of time t21to t31, the user200carries out the walking movement in a walking cycle B shorter than a walking cycle A in the zone of time t11to t21. The user200is in the walking still state after time t31.

FIG. 14Bshows the movement phases determined by the first evaluation unit100. InFIG. 14B, an example in which one walking cycle is divided into four types of movement phases indicated with the first movement phase OP1to the fourth movement phase OP4is shown.

FIG. 14Cshows a value of the still determination time tREF set for the walking still state determination. As shown inFIG. 14C, the value of the still determination time tREF in the walking cycle B, in which the walking cycle is short, is set to a value smaller than in the walking cycle A.

FIG. 14Dshows the movement phase duration time tOP measured by the first measurement unit102. The value of tOP is set to zero when the movement phase is switched.

FIG. 14Eshows a state of the electrical stimulating pulse generated in the pulse generator67. In the example shown inFIG. 14E, the electrical stimulating pulse is controlled to be turned ON at time t12and time t23when the walking movement is switched from the second movement phase OP2to the third movement phase OP3. The electrical stimulating pulse is controlled to be turned OFF at time t22when the walking movement is switched from the first movement phase OP1to the second movement phase OP2. When determined that the walking movement is still, the stimulus applying control unit62carries out the control to turn OFF the electrical stimulating pulse.

When the walking movement comes to rest after time t31, the movement phase duration time tOP measured by the first measurement unit102increases with time. The second still evaluation unit123determines that the walking movement is still at time t32when the movement phase duration time tOP becomes greater than the still determination time tREF. The stimulus applying control unit62carries out the control to turn OFF the electrical stimulating pulse at time t32. The electrical stimulating pulse is maintained in the OFF state during the period in which the walking movement is still after time t32.

The electrical stimulating pulse application with respect to the left leg210L of the user200is carried out at a timing similar to the operation with respect to the right leg210R according to the movement of the left leg210L of the user200by the human body stimulus applying device1.

The operation of the human body stimulus applying device1will now be described.

The human body stimulus applying device1includes the first evaluation unit100that determines the movement state of one leg of the user200. The first evaluation unit100includes the first walking phase dividing unit110, the first measurement unit102, the first time setting unit65, and the first still evaluation unit103. The first evaluation unit100determines the movement of one leg of the user200based on the detection signal generated by the left leg detection unit SL. The first walking phase dividing unit110divides the movement of one leg of the user200to a plurality of zones, and determines the movement of the leg in each zone. The first measurement unit102measures the movement phase duration time of the movement phase determined with respect to each zone. The first time setting unit65sets the still determination time tREF. The first still evaluation unit103compares the movement phase duration time with the still determination time tREF, and determines the walking still state.

The human body stimulus applying device1includes the second evaluation unit120that determines the movement state of the other leg of the user200. The second evaluation unit120includes the second walking phase dividing unit130, the second measurement unit122, the second time setting unit66, and the second still evaluation unit123. The second evaluation unit120determines the movement of the other leg of the user200based on the detection signal generated by the right leg detection unit SR. The second walking phase dividing unit130divides the movement of the other leg of the user200to a plurality of zones, and determines the movement of the leg in each zone. The second measurement unit122measures the movement phase duration time of the movement phase determined with respect to each zone. The second time setting unit66sets the still determination time tREF. The second still evaluation unit123compares the movement phase duration time with the still determination time tREF, and determines the walking still state.

The stimulus applying control unit62changes the magnitude of the stimulus application on the user200when determined that the walking movement is still based on the determination result of the first still evaluation unit103. The stimulus applying control unit62changes the magnitude of the stimulus application on the user200when determined that the walking movement is still based on the determination result of the second still evaluation unit123. Thus, in the walking movement of the user200having a difference in the movements of the left and right legs, the human body stimulus applying device1determines the movements of the left and right legs with different evaluation units. Thus, the human body stimulus applying device1can carry out the movement phase determination and the walking still state determination with respect to each of the left and right legs. Therefore, an appropriate stimulus applying control can be carried out even with respect to the user carrying out different movements on the left and right.

The first attachment unit10L of the human body stimulus applying device1includes the left body electrical stimulus applying portion140L, and the second attachment unit10R of the human body stimulus applying device1includes the right body electrical stimulus applying portion140R. When the first still evaluation unit103arranged in the control unit60determines that the walking movement is still, the left body electrical stimulus applying portion140L is controlled to change the magnitude of the stimulus application by the stimulus applying control unit62. When the second still evaluation unit123arranged in the control unit60determines that the walking movement is still, the right body electrical stimulus applying portion140R is controlled to change the magnitude of the stimulus application by the stimulus applying control unit62. Thus, a zone of applying the electrical stimulus can be set to an appropriate time.

The human body stimulus applying device1of the third embodiment has the following advantages in addition to advantages (1) to (6) of the human body stimulus applying device1of the first embodiment and advantages (7) and (8) of the human body stimulus applying device1of the second embodiment.

(9) The human body stimulus applying device1includes the first evaluation unit100and the second evaluation unit120that determine the movement state of the left and right legs of the user200, respectively. The first evaluation unit100determines the walking still state of one leg of the user200based on the movement phase duration time and the still determination time. The second evaluation unit120determines the walking still state of the other leg of the user200based on the movement phase duration time and the still determination time. The stimulus applying control unit62controls the stimulus application to the left and right legs of the user200based on the determination results of the first still evaluation unit103and the second still evaluation unit123. According to such configuration, in the walking movement of the user200having a difference in the movements of the left and right legs, the human body stimulus applying device1determines the movements of the left and right legs with different evaluation units. Thus, the human body stimulus applying device1carries out the movement phase determination and the walking still state determination on each left and right legs. Thus, an appropriate stimulus applying control is carried out even with respect to the user carrying out different movements on the left and the right.

(10) The first attachment unit10L and the second attachment unit10R of the human body stimulus applying device1include the left body electrical stimulus applying portion140L and the right body electrical stimulus applying portion140R, respectively. When the first still evaluation unit103arranged in the control unit60determines that the walking movement is still, the left body electrical stimulus applying portion140L is controlled to change the magnitude of the stimulus application by the stimulus applying control unit62. When the second still evaluation unit123arranged in the control unit60determines that the walking movement is still, the right body electrical stimulus applying portion140R is controlled to change the magnitude of the stimulus application by the stimulus applying control unit62. Thus, the human body stimulus applying device1sets the zone of applying the electrical stimulus to an appropriate time. The human body stimulus applying device1reduces the fatigue caused by the long-time application of the electrical stimulus on the user.

Fourth Embodiment

In the human body stimulus applying device1of the fourth embodiment, the set value of the still determination time tREF in one walking cycle is different from the set value in the third embodiment. The stimulus applying control unit62provides the control signal to the pulse generator67after a predetermined time has elapsed from when the walking still time, which is the elapsed time from when the first still evaluation unit103and the second still evaluation unit123carry out the walking still determination, exceeded a determination elapsed time. The human body stimulus applying device1has the same configuration as the third embodiment, and hence the description on the operation thereof will be omitted.

The operation of the electrical stimulating pulse application in the walking movement will be described usingFIG. 15.

FIG. 15Ashows the walking movement. Each of the period of time t11to t21and the period of time t21to t31is one walking cycle period. In the zone of time t21to t31, the user200carries out the walking movement in the walking cycle B shorter than the walking cycle A in the zone of time t11to t21. The user200is in the walking still state after time t31.

FIG. 15Bshows the movement phase determined by the first evaluation unit100. InFIG. 15B, an example in which one walking cycle is divided into four types of movement phases indicated with the first movement phase OP1to the fourth movement phase OP4is shown.

FIG. 15Cshows a value of the still determination time tREF set for the walking still state determination. As shown inFIG. 15C, different values of the still determination time tREF are set according to the movement phase in the one walking cycle. The still determination time tREF can be changed by changing the proportionality coefficient k with respect to the movement phase duration time tOP shown inFIG. 10according to the movement phase.

FIG. 15Dshows the movement phase duration time tOP measured by the first measurement unit102. The value of the movement phase duration time tOP is set to zero when the movement phase is switched.

FIG. 15Eshows a state of the electrical stimulating pulse generated by the pulse generator67. In the example shown inFIG. 15E, the electrical stimulating pulse is controlled to be turned ON at time t12and time23when the walking movement is switched from the second movement phase OP2to the third movement phase OP3. The electrical stimulating pulse is controlled to be turned OFF at time t22when the walking movement is switched from the first movement phase OP1to the second movement phase OP2. When determined that the walking movement is still, the stimulus applying control unit62carries out the control to turn OFF the electrical stimulating pulse.

When the walking movement comes to rest after time t31, the movement phase duration time tOP measured by the first measurement unit102increases with time. The second still evaluation unit123determines that the walking movement is still at time t32when the movement phase duration time tOP becomes greater than the still determination time tREF. The stimulus applying control unit62carries out the control to turn OFF the electrical stimulating pulse at time t33, at which a predetermined time has elapsed from time t32. The electrical stimulating pulse is maintained in the OFF state during the walking still state period after time t33.

The human body stimulus applying device1of the fourth embodiment has the following advantages in addition to advantages (1) to (6) of the human body stimulus applying device1of the first embodiment, advantages (7) and (8) of the human body stimulus applying device1of the second embodiment, and advantages (9) and (10) of the human body stimulus applying device1of the third embodiment.

(11) The set value of the still determination time tREF set to be used in the walking still state determination is changed according to the movement phase within the one walking cycle. In the walking movement, the walking still state is in the standing position in the majority of the cases. Thus, in the stance phase, the state transitions to the walking still state through the standing state in most cases. The walking still state determination is thus carried out more quickly by setting the set value of the still determination time tREF of the movement phase in the stance phase to a small value. The still determination time becomes longer and erroneous determinations are reduced by setting the set value of the still determination time tREF of the movement phase in the swing phase to a large value. Thus, a highly accurate stimulus applying control is carried out.

(12) The stimulus applying control unit62carries out the control of turning OFF the electrical stimulating pulse after elapse of a predetermined time from when the first still evaluation unit103and the second still evaluation unit123carry out the walking still state determination in the walking movement. Thus, the electrical stimulus application with respect to the user200is stopped after the movement of the user200shifts from the walking state to the walking still state and a stable walking still state is obtained. Thus, the human body stimulus applying device1prevents the user200from falling due to the stopping of the stimulus application in the unstable walking still state.

Other Embodiments

Variants of the first to fourth embodiments serving as other embodiments of the human body stimulus applying device will be described below. Each variant below can be combined with each other.

In the human body stimulus applying device1of the second to fourth embodiments, the time setting unit64, the first time setting unit65, and the second time setting unit66divide one walking cycle into a plurality of zones, and sets the still determination time tREF in the respective zones. The configuration of the human body stimulus applying device1, however, is not limited to the content illustrated in the second to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the time setting unit64, the first time setting unit65, and the second time setting unit66divide one walking cycle into a plurality of zones, and sets the still determination time tREF unified in the plurality of zones.

The operation of the electrical stimulating pulse application in the walking movement will be described usingFIG. 16.

The still determination time tREF in each walking cycle is set using the value of the movement phase duration time tOP1in the first movement phase OP1. In such configuration, the configurations of the time setting unit64, the first time setting unit65, and the second time setting unit66are simplified.

In the human body stimulus applying device1of the third embodiment and the fourth embodiment, the left body electrical stimulus applying portion140L and the right body electrical stimulus applying portion140R apply the electrical stimulating pulse on the user200upon receiving the signal of the pulse generator67. However, the configuration of the human body stimulus applying device1is not limited to the content illustrated in the second to fourth embodiments. For example, in the human body stimulus applying device1according to the variant, the left body electrical stimulus applying portion140L and the right body electrical stimulus applying portion140R apply the electrical stimulus to the user200by the current that gradually increases with elapse of time. The electrical stimulus may be applied to the user200by the current that gradually decreases with elapse of time.

In the human body stimulus applying device1of the second embodiment, the determination time defining unit of the time setting unit64defines the still determination time tREF with reference to the result of the walking test conducted beforehand on a plurality of subjects. However, the configuration of the human body stimulus applying device1is not limited to the content illustrated in the second embodiment. For example, in the human body stimulus applying device1of the variant, the determination time defining unit of the time setting unit64calculates the still determination time tREF using a calculation formula obtained from the result of the walking test conducted beforehand on the plurality of subjects.

In the human body stimulus applying device1of the first to fourth embodiments, the first left body sensor SL1and the first right body sensor SR1are angular speed sensors. The second left body sensor SL2and the second right body sensor SR2are angular speed sensors. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right-side-body sensor SR2may be the same type of sensor. Alternatively, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2may be a rotary encoder, a potentiometer, a goniometer, an acceleration sensor, an angular speed sensor, and the like.

In the human body stimulus applying device1of the first to fourth embodiments, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are connected with the stimulation device main body unit40by the connection cable13. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2, and the stimulation device main body unit40may include a wirelessly communicable communication unit.

In the human body stimulus applying device1of the first to fourth embodiments, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are attached to a knee joint area of the user. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2may be attached around the hip joint of the user. Alternatively, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2may be attached to other regions such as the hip, elbow, arm, ankle, and the like of the user. In this case, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are attached to regions symmetrical with respect to the reference plane. The first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2are preferably arranged at positions sandwiching the joint of the body of the user in between.

In the human body stimulus applying device1of the first to fourth embodiments, the first attachment unit10L and the second attachment unit10R are configured as separate bodies from the stimulation device main body unit40. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the stimulation device main body unit40may be incorporated in the first attachment unit10L and the second attachment unit10R.

In the human body stimulus applying device1of the third embodiment, the first evaluation unit100carries out the movement determination of one leg, and the second evaluation unit120carries out the movement determination of the other leg. Similarly, the movement determination of the other leg is also carried out based on the determination results of the first evaluation unit100and the second evaluation unit120. However, the configuration of the human body stimulus applying device1is not limited to the content illustrated in the third embodiment. For example, in the human body stimulus applying device1of the variant, the first evaluation unit100and the second evaluation unit120may carry out the movement determination of one leg, and the first evaluation unit100and the second evaluation unit120may carry out the movement determination of the other leg.

In the human body stimulus applying device1of the first to fourth embodiments, the left leg detection unit SL includes the first left body sensor SL1and the first right body sensor SR1of the same type. The right leg detection unit SR includes the second left body sensor SL2and the second right body sensor SR2of the same type. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the left leg detection unit SL and the right leg detection unit SR may each include a different type of sensor. Accordingly, the first evaluation unit100and the second evaluation unit120carry out the movement determination of the user200using the detection values of the different sensors.

In the human body stimulus applying device1of the third embodiment, the stimulus applying control unit62controls the pulse generator67to generate the electrical stimulating pulse. However, the configuration of the human body stimulus applying device1is not limited to the content illustrated in the third embodiment. For example, in the human body stimulus applying device1of the variant, the electrical stimulus is applied by the current that gradually increases with elapse of time.

In the human body stimulus applying device1of the first to fourth embodiments, the left leg detection unit SL is arranged in the left body detector50L, and the right leg detection unit SR is arranged in the right body detector50R. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, in the human body stimulus applying device1of the variant, the detection unit includes an auxiliary detection unit including at least one sensor to be attached to a human body. Accordingly, even if the left leg detection unit SL and the right leg detection unit SR both make erroneous detections, the auxiliary detection unit detects the movement of the human body in place of the left leg detection unit SL and the right leg detection unit SR. Thus, the movement detection of the human body is carried out on the basis of higher reliability.

The human body stimulus applying device1of the first to fourth embodiments divides the walking movement of the user200into a plurality of zones, and carries out the movement determination with respect to each zone. However, the configuration of the human body stimulus applying device1is not limited to the contents illustrated in the first to fourth embodiments. For example, the human body stimulus applying device1of the variant may carry out the movement determination in the up/down movement of the stairs, and the like, and may apply stimulus. Alternatively, the human body stimulus applying device1may carry out the movement determination in the rising movement from the legless chair, and the like, and may apply stimulus.

The first to fourth embodiments configure the human body stimulus applying device1serving as an application example of the body motion detection device. However, the application of the body motion detection device is not limited to the human body stimulus applying device. For example, the body motion detection device of the variant may be applied to a fall preventing device in medical services. The fall preventing device determines the walking state of the physically impaired patient, and accumulates the determination data. The fall preventing device determines the walking state of when the patient is walking, and predicts the fall based on the accumulated determination data.

The fall preventing device divides the walking state into a plurality of movement phases and accumulates the detailed movement determination data including the still determination to make a highly accurate prediction.