WO2016024565A1 - Motion capture device, motion capture method, movement performance diagnostic method and device worn on body for motion capture - Google Patents

Abstract

A motion capture device and motion capture method are provided which make it possible to visualize actual motion of a periodically moving part without the use of a camera. This motion capture device 10 includes a case 12. A three-dimensional acceleration sensor 20 and a calculation processing unit 22 are provided in the case 12. The motion capture device 10 is attached to a periodically moving part. The calculation processing unit 22 overlays the acceleration waveforms of the moving part measured by the three-dimensional acceleration sensor 20 on each other, averages the result, removes the DC component, integrates the result over time a first time, and further removes the DC component and integrates the result over time a second time.

Description

Motion capture device, motion capture method, exercise performance diagnosis method, and body wear device for motion capture

The present invention relates to a motion capture device, a motion capture method, an exercise performance diagnostic method, and a body wearing device for motion capture, and in particular, for example, running, tennis racket swing, golf club swing, baseball batting, throwing, kendo swinging, etc. The present invention relates to a motion capture device, a motion capture method, a motion performance diagnosis method, and a body-wearing device for motion capture that capture the motion of a periodic motion site.

It is important to check the form when running. As a means of confirming a running form during a marathon or the like, there is a camera shooting.
Furthermore, as prior art, Patent Documents 1 and 2 include a technique for analyzing a gait and the like using an acceleration sensor.

Special table 2013-537436 gazette JP 2013-143996 A

However, in the case of shooting with a camera, it is naturally necessary to take a shot while traveling with a runner as a subject, and it cannot be used for personal practice.
On the other hand, the prior art disclosed in Patent Documents 1 and 2 can be used for personal practice without using a camera, but has the following problems.
In the prior art disclosed in Patent Document 1, processing is performed only with the acceleration information output from the acceleration sensor, and the actual movement of the acceleration sensor mounting portion is not known.
In addition, some of the prior arts disclosed in Patent Document 2 perform frequency analysis, but the movement cannot be visualized, and the evaluation is performed based on the relationship with the actual movement.
As described above, the prior art disclosed in Patent Documents 1 and 2 cannot derive the actual movement of the movement site.

Therefore, a main object of the present invention is to provide a motion capture device, a motion capture method, a motion performance diagnosis method, and a body for motion capture, which can visualize the actual motion of a periodic motion site without using a camera. It is to provide a mounting tool.

A motion capture device according to the present invention is a motion capture device including an acceleration sensor for measuring acceleration at a periodic motion site and an arithmetic processing unit for arithmetic processing of an acceleration waveform measured by the acceleration sensor. Then, the basic motion of the movement measured at the movement part is set as one cycle, the acceleration at the movement part is measured a plurality of times by the acceleration sensor, and the arithmetic processing unit outputs the acceleration waveform output from the acceleration sensor for two periods. This is a motion capture device that calculates the position of an exercise part by superimposing and averaging the above-described averaged acceleration waveforms and performing time integration twice.
According to the motion capture method of the present invention, one motion of the basic motion measured in a periodic motion region is defined as one cycle, the acceleration in the motion region is measured a plurality of times by the acceleration sensor, and the arithmetic processing unit includes the acceleration sensor. This is a motion capture method in which the acceleration waveform output from is superposed and averaged over two periods or more, and the position of the motion part is calculated by time-integrating the averaged acceleration waveform twice.
In the motion capture device and the motion capture method according to the present invention, each of the arithmetic processing units removes the DC component from the averaged acceleration waveform in order to remove the gravitational acceleration component from the acceleration waveform measured by the acceleration sensor, The averaged acceleration waveform with the DC component removed is converted to a velocity waveform that represents the relative velocity of the moving part by first integrating the time, and the DC component is removed from the velocity waveform to remove the constant velocity component from the velocity waveform. It is preferable to convert the velocity waveform from which the direct current component has been removed into a position waveform representing the relative position of the exercise site by performing the second time integration.
In the motion capture device and the motion capture method according to the present invention, each of the arithmetic processing units superimposes the acceleration waveforms measured by the acceleration sensor in order to clarify the one-cycle section. It is preferable to take an autocorrelation coefficient in a period and to determine that each period has been superimposed at a position where the autocorrelation coefficient is highest.
In the motion capture device and the motion capture method according to the present invention, it is preferable that the position waveforms are respectively displayed on a graph in the XY plane, the YZ plane, and the ZX plane orthogonal to each other.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the direction from the foot to the head of the subject is the Z axis, and the left-right direction is based on the direction of travel of the subject. A step of specifying the position coordinate of the subject in the YZ plane as an axis, a step of specifying the position coordinate a plurality of times and specifying a locus of the subject having at least one intersection, and the Z axis among the intersections most And a step of specifying a position of a close intersection in the Z-axis direction. In this motion performance diagnosis method, it is preferable that the step of specifying the position coordinates specifies the position coordinates based on information obtained from an acceleration sensor mounted on the waist of the subject. In this method of diagnosing motor performance, the step of specifying the locus is performed continuously for a certain period of time, and it is diagnosed whether or not the intersection closest to the Z axis among the intersections changes with time in the Z axis direction. Preferably a step is included.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the subject's advancing direction is taken as the X-axis, and the left-right direction based on the subject's advancing direction is taken as the Y-axis. A step of specifying the position coordinates of the subject in the Y plane, a step of specifying the position coordinates a plurality of times, specifying a locus of the subject having at least one intersection, and the X-axis direction of the intersection closest to the X-axis among the intersections A method for diagnosing athletic performance. In this method for diagnosing athletic performance, the step of specifying a trajectory is performed continuously for a certain period of time, and the step of diagnosing whether or not the intersection closest to the X-axis among the intersections is subject to a change in position in the X-axis direction with the passage of time. It is preferable to include.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the direction from the foot to the head of the subject is the Z axis, and the left-right direction is based on the direction of travel of the subject. A step of specifying the position coordinates of the subject in the YZ plane, the step of specifying the position coordinates a plurality of times and specifying the path of the subject, and a path on the positive side of the Y axis and a negative direction of the Y axis. A method for diagnosing athletic performance, comprising comparing symmetry with a trajectory on the side. In this method for diagnosing athletic performance, is the step of specifying a locus continuously performed for a certain period of time, and does the symmetry between the locus on the positive side of the Y axis and the locus on the negative side of the Y axis change with time? Preferably, the method includes a step of diagnosing whether or not.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the subject's advancing direction is taken as the X-axis, and the left-right direction based on the subject's advancing direction is taken as the Y-axis. The step of specifying the position coordinate of the subject on the Y plane, the step of specifying the position coordinate a plurality of times and specifying the locus of the subject, and the locus on the positive direction side of the Y axis and the locus on the negative direction side of the Y axis are symmetrical. A method for diagnosing motor performance, comprising the step of comparing gender.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the subject's advancing direction is taken as the X-axis, and the left-right direction based on the subject's advancing direction is taken as the Y-axis. The Y plane, the direction from the subject's foot to the head as the Z axis, and the lateral direction as the Y axis based on the subject's direction of travel, the YZ plane or the direction from the subject's foot to the head as Z Specifying the position coordinates of the subject in the XZ plane, with the direction of travel of the subject as the X-axis, the step of specifying the position coordinates a plurality of times to specify the path of the subject, the X-axis of the path, And determining a difference between the maximum value and the minimum value of the coordinates on the Y-axis or the Z-axis.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance of a subject traveling forward, wherein the direction from the foot to the head of the subject is the Z axis, and the left-right direction is based on the direction of travel of the subject. Identifying a position coordinate of the subject on the YZ plane, the position coordinates being identified a plurality of times to identify the trajectory of the subject, and comparing at least two different periods This is a method for diagnosing athletic performance.
In the above-described motor performance diagnosis method, the step of specifying the position coordinates, except for the motor performance diagnosis method, in which it is preferable to specify the position coordinates based on information obtained from the acceleration sensor mounted on the waist of the subject, Preferably, the position coordinates are specified by information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject.
The method for diagnosing athletic performance according to the present invention is a method for diagnosing athletic performance using, for example, a motion capture device according to the present invention.
Furthermore, the exercise performance diagnosis method according to the present invention is, for example, an exercise performance diagnosis method using the motion capture method according to the present invention.
A motion capture body wearing device according to the present invention is a motion capture body wearing device provided with a motion capture device, the body wearing device main body having a portion corresponding to the waist, buttocks or chest, and the body wearing device main body. A body part for motion capture, including a storage part provided in a portion corresponding to the waist, buttocks or chest, and the motion capture device according to the present invention stored in the storage part.

In the present invention, the acceleration sensor is directly or indirectly attached to a periodic movement site such as a human body, a living organism, or a machine. Then, with one period of the basic motion of the movement measured at the exercise site as one cycle, the acceleration at the exercise site is measured a plurality of times with the acceleration sensor. The arithmetic processing unit calculates the position by superimposing and averaging the acceleration waveforms output from the acceleration sensor for two cycles or more, and further integrating the averaged acceleration waveform twice over time. In this case, the acceleration waveform output from the acceleration sensor is overlapped and averaged for two cycles or more, thereby reducing errors in the acceleration waveform and shortening the time integration period for calculating the position of the motion part. Can be By shortening the time integration section in this way, the accumulated error due to time integration can be minimized. Therefore, the position of the motion part is calculated by integrating the averaged acceleration waveform twice over time. This makes it possible to visualize not the acceleration of the motion part but the position of the motion part. Therefore, according to the present invention, it is possible to visualize the actual movement of the moving part without using a camera.
Moreover, in this invention, in order to clarify the section of one cycle, the arithmetic processing unit superimposes acceleration waveforms measured by the acceleration sensor, takes an autocorrelation coefficient between one or more cycles, If it is determined that the respective cycles have been superimposed at the position where the autocorrelation coefficient is the highest, the section of one cycle becomes clear. Therefore, the accuracy of calculating the position of the exercise site is improved.
Furthermore, in the present invention, the arithmetic processing unit removes the gravitational acceleration component from the acceleration waveform measured by the acceleration sensor, removes the DC component from the averaged acceleration waveform, and removes the DC component. The waveform is converted to a velocity waveform representing the relative velocity by integrating the waveform for the first time, and the DC waveform is removed from the velocity waveform to remove the constant velocity component from the velocity waveform. Is converted into a position waveform representing the relative position by integrating the time for the second time, the influence of the gravitational acceleration can be removed and the relative position of the motion site can be visualized.
In the present invention, if the position waveform is displayed on a graph in the XY plane, the YZ plane, and the ZX plane orthogonal to each other, the relative position can be visualized through vision.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinates of the subject in the YZ plane, the step of specifying the position coordinates a plurality of times and specifying the trajectory of the subject having at least one intersection, Including the step of specifying the position in the Z-axis direction of the intersection closest to the Z-axis, the interlock between the waist and the upper body or the interlock between the waist and the lower body can be diagnosed. In this case, it is preferable that the step of specifying the position coordinates specifies the position coordinates based on information obtained from an acceleration sensor attached to the waist of the subject. Further, in this case, the step of specifying the trajectory is performed continuously for a certain period of time, and includes a step of diagnosing whether or not the intersection closest to the Z-axis among the intersections is subject to a change in position in the Z-axis direction with the passage of time. , Form disorder can be diagnosed.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinates of the subject in the XY plane, the step of specifying the position coordinates a plurality of times and specifying the trajectory of the subject having at least one intersection, The step of specifying the position in the X-axis direction of the intersection closest to the X-axis, the position of the center of gravity of the movement with respect to the traveling direction can be diagnosed. In this case, when the step of specifying the locus is continuously performed for a certain period of time and includes a step of diagnosing whether or not the intersection closest to the X axis among the intersections can be seen to change in position in the X axis direction with time change, Can be diagnosed.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinates of the subject on the YZ plane, the step of specifying the position coordinates a plurality of times to specify the path of the subject, and the path on the positive side of the Y axis. And the step of comparing the symmetry of the trajectory on the negative direction side of the Y axis, the right and left balance can be diagnosed. In this case, the step of specifying the trajectory is performed continuously for a certain period of time, and it is diagnosed whether the symmetry between the trajectory on the positive direction side of the Y axis and the trajectory on the negative direction side of the Y axis changes with time. In this case, the disorder of the foam can be diagnosed.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinate of the subject on the XY plane, the step of specifying the position coordinate a plurality of times to specify the locus of the subject, and the locus on the positive side of the Y axis And the step of comparing the symmetry of the trajectory on the negative direction side of the Y axis, the right and left balance can be diagnosed.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinate of the subject on the XY plane, the YZ plane, or the XZ plane, and the step of specifying the position coordinate a plurality of times and specifying the locus of the subject And a step of determining a difference between the maximum value and the minimum value of coordinates on the X-axis, Y-axis, or Z-axis of the trajectory, the running economy can be diagnosed.
In the method for diagnosing motor performance according to the present invention, the step of specifying the position coordinate of the subject on the YZ plane, the step of specifying the position coordinate a plurality of times and specifying the locus of the subject, and at least two different periods are provided. In this case, it is possible to diagnose motion reproducibility.
In the above-described motor performance diagnosis method, except for the specific motor performance diagnosis method as described above, the step of specifying the position coordinates is based on information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject. It is preferable to specify the position coordinates.
In the body wearing device for motion capture according to the present invention, since the motion capturing device according to the present invention is housed in the housing portion provided in the portion corresponding to the waist, buttocks or chest of the body wearing device body, The motion capture device can be easily mounted on the waist, buttocks or chest of the subject simply by wearing the tool body, and the exercise performance of the subject can be diagnosed.

According to the present invention, it is possible to obtain a motion capture device, a motion capture method, a motion performance diagnosis method, and a body capture device for motion capture, which can visualize the actual movement of a motion site without using a camera.
For example, according to the present invention, when an acceleration sensor is attached to a motion part of a human body, it is possible to check the motion of the motion part to which the acceleration sensor is attached. Therefore, according to the present invention, it is possible for the player himself to check the running form, which has been known only by camera photography.
In addition, according to the present invention, for example, various exercise performances such as interlocking between the waist and upper body in the running or between the waist and lower body, front and rear balance, left and right balance, running economy, exercise reproducibility, form disturbance, etc. Can be diagnosed.
In addition, the present invention is not limited to a running form, and the relative position can be confirmed with respect to a periodic movement. For example, confirmation of a competition form using equipment such as tennis, golf, baseball, kendo, etc. Can be used for
Furthermore, the present invention can be used for confirming the running state of the racehorse and managing the physical condition by attaching the acceleration sensor to the racehorse other than the human body.

According to the present invention, it is possible to obtain a motion capture device, a motion capture method, a motion performance diagnosis method, and a body wearing device for motion capture that can visualize the actual motion of the motion site without using a camera.

The above-mentioned object, other objects, features, and advantages of the present invention will become more apparent from the following description of the embodiments for carrying out the invention with reference to the drawings.

It is a perspective view which shows an example of the motion capture apparatus concerning this invention. It is a block diagram of the motion capture apparatus shown in FIG. It is a flowchart which shows the process by the motion capture apparatus shown in FIG. It is an illustration figure which shows an example of the state which mounted | wore the human body with the motion capture apparatus shown in FIG. FIG. 2 is a graph showing an example of an acceleration waveform for almost four cycles measured by a three-dimensional acceleration sensor in the motion capture device shown in FIG. 1 and an example of a correlation coefficient of the acceleration waveform, where the horizontal axis indicates time, the vertical axis indicates acceleration and The correlation coefficient is shown. 6 is a graph showing an acceleration waveform for approximately one cycle obtained by averaging the acceleration waveforms shown in FIG. 5, where the horizontal axis indicates time and the vertical axis indicates acceleration. It is a graph which shows the speed waveform showing the relative speed converted by removing a direct-current component from the acceleration waveform shown in FIG. 6, and performing time integration, a horizontal axis shows time and a vertical axis | shaft shows a relative speed. It is a graph which shows the position waveform showing the relative position converted by removing a direct-current component from the speed waveform shown in FIG. 7, and performing time integration, a horizontal axis shows time and a vertical axis | shaft shows a relative position. FIG. 9 is a graph showing acceleration, relative speed, and relative position in the up / down pair front / rear, up / down pair left / right and front / rear pair left / right related to the graphs of FIGS. 6, 7, and 8. It is a graph of up / down pair front / rear, up / down pair left / right and front / rear pair left / right, and upper, middle, and lower are graphs showing acceleration, relative speed, and relative position, respectively. FIG. 4 is a graph showing another example of an acceleration waveform corresponding to approximately four cycles measured by a three-dimensional acceleration sensor in the motion capture device shown in FIG. 1 and a correlation coefficient of the acceleration waveform, in which the horizontal axis indicates time and the vertical axis indicates The acceleration and correlation coefficient are shown. It is a graph which shows the acceleration waveform for about 1 period which averaged the acceleration waveform shown in FIG. 10, a horizontal axis shows time and a vertical axis | shaft shows an acceleration. FIG. 12 is a graph showing a velocity waveform representing a relative velocity converted by removing a DC component from the acceleration waveform shown in FIG. 11 and performing time integration, with the horizontal axis representing time and the vertical axis representing relative velocity. It is a graph which shows the position waveform showing the relative position converted by removing a direct-current component from the speed waveform shown in FIG. 12, and time-integrating, a horizontal axis shows time and a vertical axis | shaft shows a relative position. 11, FIG. 12 and FIG. 13 are graphs showing the acceleration, the relative speed and the relative position of the up / down pair front / rear, the up / down pair left / right and the front / rear pair left / right, respectively. It is a graph of up / down pair front / rear, up / down pair left / right and front / rear pair left / right, and upper, middle, and lower are graphs showing acceleration, relative speed, and relative position, respectively. It is a figure which shows an example of the precondition of embodiment of the athletic performance diagnostic method concerning this invention. It is a figure which shows the other example of the precondition of embodiment of the athletic performance diagnostic method concerning this invention. It is a figure which shows the further another example of the precondition of embodiment of the exercise | movement performance diagnostic method concerning this invention. It is a figure which shows the further another example of the precondition of embodiment of the exercise | movement performance diagnostic method concerning this invention. It is a figure which shows the further another example of the precondition of embodiment of the exercise | movement performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of Mr. C's waist | hip | lumbar part which is a test subject by Embodiment 1 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of the waist | hip | lumbar part of Mr. E who is a test subject by Embodiment 1 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of the waist | hip | lumbar part of Mr. A who is a test subject by Embodiment 1 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of each XY plane of Mr. D who is a test subject by Embodiment 2 of the motor performance diagnostic method concerning this invention of a chest, a waist | hip | lumbar part, and a buttocks. It is a graph which shows the position coordinate of each X-Y plane of a chest, a waist | hip | lumbar part, and a buttocks of Mr. E who is a test subject by Embodiment 2 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of each XY plane of Mr. A who is a subject by Embodiment 2 of the motor performance diagnostic method concerning this invention of a chest, a waist | hip | lumbar part, and a buttocks. The whole body image at the time of the landing which looked at the test subject from the back is shown with the graph which shows the position coordinate of each YZ plane of the test subject's waist and buttocks by Embodiment 3 of the motor performance diagnostic method concerning this invention. The whole body image at the time of landing which looked at the test subject from the left side is shown with the graph which shows the position coordinate of XY plane of Mr. A's chest which is the test subject by Embodiment 4 of the motor performance diagnostic method concerning this invention. The graph which shows the position coordinate of the YZ plane of the waist of Mr. A who is the subject and the position coordinate of the YZ plane of the waist of Mr. D who is the subject according to Embodiment 5 of the method for diagnosing motor performance according to the present invention is shown. It is a graph. It is a graph which shows the position coordinate of the YZ plane of Mr. A's waist | hip | lumbar part which is a test subject by Embodiment 6 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of the waist | hip | lumbar part of Mr. E who is a test subject by Embodiment 6 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of the test subject's waist | hip | lumbar part by Embodiment 7 of the motor performance diagnostic method concerning this invention. It is a graph which shows the relationship between the test subject's travel time and intersection position (Z-axis) by Embodiment 7 of the motor performance diagnostic method concerning this invention. It is a graph which shows the position coordinate of the YZ plane of the waist | hip | lumbar part in Mr. B's 50-minute driving | running | working by Embodiment 8 of the athletic performance diagnostic method concerning this invention. It is a rear view solution figure which shows an example of the sportswear for motion capture concerning this invention.

FIG. 1 is a perspective view showing an example of a motion capture device according to the present invention, and FIG. 2 is a block diagram of the motion capture device shown in FIG.

1 includes a case 12 having a substantially rectangular plate shape, for example.

In the case 12, a three-dimensional acceleration sensor 20 as an acceleration sensor, an arithmetic processing unit 22 having a filter, a storage unit 24, a speaker 26, and the like are provided. A touch panel 30 is provided on the front surface of the case 12. Further, a power switch 32 is provided on the right side surface of the case 12. Further, an input / output terminal (not shown) for data such as an acceleration waveform, an image, and a sound is provided on the back surface of the case 12.

The three-dimensional acceleration sensor 20 is electrically connected to the arithmetic processing unit 22. In addition to the three-dimensional acceleration sensor 20, the arithmetic processing unit 22 is electrically connected to a storage unit 24, a speaker 26, a touch panel 30, a power switch 32, and an input / output terminal.

The three-dimensional acceleration sensor 20 includes a three-dimensional acceleration at a periodic motion site, for example, a motion site of the human body, to which the motion capture device 10 is attached, for example, an X-axis direction, a Y-axis direction, and a Z-axis having a relationship orthogonal to each other. It is for measuring the acceleration in each direction. As the three-dimensional acceleration sensor 20, for example, a three-dimensional acceleration sensor of a smartphone is used. Therefore, the three-dimensional acceleration sensor 20 can output respective acceleration waveforms corresponding to the respective accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction from the output end.

The arithmetic processing unit 22 is for arithmetic processing of an acceleration waveform measured by the three-dimensional acceleration sensor 20 as described later.

The storage unit 24 is for recording data such as measurement data by the three-dimensional acceleration sensor 20 and calculation processing data by the calculation processing unit 22. In addition, an operation program for the arithmetic processing unit 22 is written in the storage unit 24 in advance. In addition, the acceleration waveform measured by the three-dimensional acceleration sensor 20 can be recorded in the storage unit 24 together with an accurate time.

The speaker 26 is for outputting a voice message or the like based on data such as measurement data and arithmetic processing data.

The touch panel 30 can display operation buttons, display acceleration, relative speed, and relative position in a graph, and switch display contents and set various items by touching the displayed operation buttons. Etc. can be input.

The power switch 32 is for initially turning on the motion capture device 10.

Next, an embodiment for calculating the position of an exercise site using the motion capture device 10 will be described below with reference to FIGS.

1. Target: Human walking (slow and fast) and running (jogging and dash) were measured.

2. Motion capture device such as used acceleration sensor The motion capture device 10 shown in FIG. 1 having a three-dimensional acceleration sensor 20 (a three-dimensional acceleration sensor of a smart phone) was used.

3. Acceleration sampling frequency The acceleration sampling frequency was set to 100 Hz. (Measurement points are recorded with exact time.)

4). Measurement Method The motion capture device 10 was mounted on the subject's lumbar spine as a periodic exercise site, for example, as shown in FIG. In this case, the motion capture device 10 placed in a waist pouch was mounted on the subject's lumbar spine and fixed with a belt. Further, in order to prevent the motion capture device 10 from moving in the waist pouch, a cushioning material was put in the waist pouch to fix the motion capture device 10.

5. Measurement Two sets of the above-mentioned object walking and running were performed on the subject, and during the measurement, the motion capture device 10 was not attached and detached, and all were measured continuously. In addition, when switching each walking running mode, it stopped for about 5 seconds, and this non-operation was made into the marker.

6). Walking distance In each mode, the walking distance was approximately 30 m.
The data used for the diagnosis is running data for 240 seconds unless otherwise specified, and was calculated from an average value of a periodic interval of 10 seconds.

7). Collection of Acceleration Data Information from the three-dimensional acceleration sensor 20 is stored in the storage unit 24 as, for example, a CSV file of data of each three axes (X axis, Y axis, Z axis) and measurement time. Here, the three-dimensional acceleration sensor 20 measures the acceleration in the motion region a plurality of times, with one cycle of the basic motion measured in the motion region as one cycle. Note that information from the three-dimensional acceleration sensor 20 may be output from an input / output terminal as a CSV file of data of three axes (X axis, Y axis, Z axis) and measurement time, for example, and may be captured by an external computer.

8). Data Processing For information (data) stored in the storage unit 24, as shown in the flowchart of FIG. In this case, the following processing is performed for each information (data) of the X axis, the Y axis, and the Z axis. When information (data) is taken in by an external computer, the following processing is performed on the computer.

In the first step S1, the direction of gravity acceleration G is calculated in a stationary state, and calibration is performed. Specifically, the direction of the gravitational acceleration G with respect to the three-dimensional acceleration sensor 20 is calculated from the output result captured by each axis (X axis, Y axis, Z axis) of the three-dimensional acceleration sensor 20 in a stationary state first, Coordinate conversion is performed from each axis data to the X, Y, and Z axes in the world coordinate system. When the motion capture device 10 (three-dimensional acceleration sensor 20) is attached with some rotation about the Y axis of the three-dimensional acceleration sensor 20, as shown in FIG. The deviation of the mounting angle of the sensor 20) from the vertical is the rotation matrix around the Y axis.

To correct (data conversion). Here, if the unit of acceleration is converted to the SI unit system (m / s ² ), it is easy to understand the numerical value after processing in the subsequent stage.

In step S2, in order to clarify the section of one cycle of the acceleration waveform converted in step S1, the converted acceleration waveforms are overlapped one by one, an autocorrelation coefficient is calculated, and the autocorrelation coefficient is the highest. The increased position is determined as the position where the periods overlap. In this case, for example, graph data shown in FIG. 5 is obtained. In the graph shown in FIG. 5, ddX / dt / dt represents the acceleration waveform on the X axis, ddY / dt / dt represents the acceleration waveform on the Y axis, and ddZ / dt / dt represents the acceleration waveform on the Z axis. The correlation coefficient corresponds to the autocorrelation coefficient. In the graph shown in FIG. 5, the acceleration waveform and the correlation coefficient for approximately four periods are shown. However, in the present invention, there is a portion where the autocorrelation coefficient increases between one or more periods. The autocorrelation coefficient may be calculated between one or more periods, and the position where the autocorrelation coefficient is the largest may be determined as the position where the periods overlap. In order to superimpose the acceleration waveforms of each cycle, it is necessary to search for a location where the first cycle and the second cycle match. As a search method, since the superposition of the positions having the highest autocorrelation between the function in the first cycle and the function in the second cycle can be regarded as the same position, the autocorrelation coefficient is changed while shifting the acceleration waveform in the time axis direction. The position where the maximum value is obtained is calculated. The reason for superimposing the acceleration waveforms in this way is that the acceleration waveforms have a high autocorrelation in the period of each step on the left and right, so that the acceleration waveforms are decomposed and averaged accordingly.

In step S3, the acceleration waveforms for two periods obtained by superimposing the acceleration waveforms output from the three-dimensional acceleration sensor 20 are averaged. In this case, for example, graph data shown in FIG. 6 is obtained. In the graph shown in FIG. 6, ddX / dt / dt represents an averaged acceleration waveform on the X axis, ddY / dt / dt represents an averaged acceleration waveform on the Y axis, and ddZ / dt / dt represents Z. The averaged acceleration waveform on the axis is shown. By calculating the average value of each cycle, it is possible to remove large acceleration changes (overshoot) and noise components that occur at the time of landing, etc., and reduce the accumulation of errors due to time integration performed after the next step S4. can do.

In step S4, the DC component is removed from the acceleration waveform averaged in step S3 using the filter of the arithmetic processing unit 22. By removing the DC component in this way, it is possible to eliminate the accumulated error in time integration due to gravitational acceleration.

In step S5, the averaged acceleration waveform from which DC integration has been removed in step S4 is time-integrated. In this case, for example, graph data shown in FIG. 7 is obtained. In the graph shown in FIG. 7, ddX / dt represents a velocity waveform on the X axis, ddY / dt represents a velocity waveform on the Y axis, and ddZ / dt represents a velocity waveform on the Z axis. In this way, by integrating the acceleration waveform over time, it can be converted into a velocity waveform representing the relative velocity of the moving part.

In step S6, the DC component is removed from the velocity waveform converted in step S5 using the filter of the arithmetic processing unit 22. Thus, by removing the direct current component from the velocity waveform, it is possible to remove a constant velocity component such as a component in which the subject moves at a constant speed, and to obtain the relative velocity of the movement site viewed from the subject.

In step S7, the speed waveform from which the DC component is removed in step S6 is time-integrated. In this case, for example, graph data shown in FIG. 8 is obtained. In the graph shown in FIG. 8, X represents a position waveform on the X axis, Y represents a position waveform on the Y axis, and Z represents a position waveform on the Z axis. In this way, by integrating the velocity waveform over time, it can be converted into a position waveform representing the relative position of the motion site as seen from the subject.

In step S8, the positions of the XY, YZ, and ZX coordinates are plotted on the touch panel 30 that also functions as a display and graphed, and the relative position of the motion site viewed from the subject is displayed. In this case, the movement of the relative position of the movement part as seen from the subject is explicitly drawn as a locus by drawing the locus with the information about the relative positions on the X, Y, and Z axes calculated in step S7.

In this motion capture device 10, the touch panel 30 that also functions as a display, for example, as shown in the graph of FIG. 9, the acceleration, relative speed, relative position, etc. of the motion part to which the motion capture device 10 (three-dimensional acceleration sensor 20) is attached. Can be displayed on a two-dimensional graph. In this motion capture device 10, the motion capture device 10 (three-dimensional acceleration sensor 20) is attached by a touch panel 30 that also serves as a display as shown in the graphs of FIGS. 5, 6, 7, and 8. The actual movement such as acceleration, relative speed, and relative position of the moving part can be displayed on a two-dimensional graph.

As described above, when this motion capture device 10 is used, the acceleration waveform of the three-dimensional acceleration sensor 20 is superposed and averaged at each period using the characteristics of the periodic motion. For this reason, in an exercise such as running, an impact from the ground (overshoot) is detected when landing on the ground, but noise components such as overshoot can be reduced, and an accurate time integration result can be obtained.

If this motion capture device 10 is used, time integration is performed twice, but the DC component is removed by the filter of the arithmetic processing unit 22 before each time integration. Thereby, the influence of gravitational acceleration can be reduced, and the relative speed and the relative position can be obtained.

Therefore, when this motion capture device 10 is used, the actual movement of the exercise part of the subject can be directly viewed on the touch panel 30 as is apparent from the graphs of FIGS. 5, 6, 7, 8, and 9. it can.

5, 6, 7, 8, and 9 are graphs of walking (when fast) mode for a subject, the same for another subject displayed using this motion capture device 10. The graph of the walking (when fast) mode is shown in FIG. 10, FIG. 11, FIG. 12, FIG. 10, 11, 12, 13, and 14 are graphs of the other subjects, but the graphs of FIGS. 5, 6, 7, 8, and 9 of the previous subject are the same. Each corresponds. As is apparent from the graphs shown in FIGS. 10, 11, 12, 13, and 14, the actual movement of the movement site of the other subject can also be directly viewed. For example, in one subject, it can be directly seen that the up / down / left / right movement of the exercise site is drawing a substantially A-shaped trajectory (lower center in FIG. 9), while in the other subject, the up / down / left / right movement of the exercise site is about W. It can be seen directly that the trace of the mold is drawn (the lower center of FIG. 14).

Next, an embodiment of the exercise performance diagnosis method according to the present invention will be described.

First, the preconditions of the embodiment of the exercise performance diagnosis method according to the present invention will be described.

FIG. 15 is a diagram showing an example of preconditions for the embodiment of the method for diagnosing athletic performance according to the present invention, in which the subject has a chest in a range of 1 cm above and below, a waist and a tailbone in a range of 1 cm above and below the navel. Along with a graph showing the position coordinates of each of the YZ planes of Mr. A, for example, the subject in the buttocks in the range of 1 cm above and below the upper body, the movement locus of the upper body is substantially V type, and the movement locus of the lower body is substantially A type. Indicates that In this case, in the method of diagnosing the subject's movement performance, the position coordinate on the YZ plane is set to the direction from the foot to the head of the subject as the Z-axis, and the left-right direction based on the subject's direction of travel is defined as Y. It is the position coordinate of the subject in the YZ plane, which is the axis. The position coordinates of the YZ plane can be specified by information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject. In this case, for example, the motion capture device 10 shown in FIG. 1 can be used as the acceleration sensor. Moreover, it is preferable that the motion capture device 10 mounted on the waist, buttocks, or chest of the subject is located on the midline of the subject.
In addition, the center of gravity in the present invention refers to the dynamic center of gravity of periodic motion, unlike the static center of gravity that is uniquely determined from the body shape such as weight and height.

FIG. 16 is a diagram showing another example of the preconditions of the embodiment of the method for diagnosing athletic performance according to the present invention, for example, along with a graph showing the position coordinates on the YZ plane of the waist of the subject Mr. B, The relationship between the motion of the motion capture device 10 as an acceleration sensor and traveling is shown.

FIG. 17 is a diagram showing still another example of the preconditions for the embodiment of the method for diagnosing athletic performance according to the present invention, a graph showing the position coordinates on the XY plane, and the front, rear, left and right when traveling forward Shows the relationship. In this case, the position coordinates on the XY plane are the X-axis in the method for diagnosing the movement performance of the subject traveling forward, with the traveling direction of the subject as the X-axis and the left-right direction based on the traveling direction of the subject as the Y-axis. It is a position coordinate of the subject in the Y plane. The position coordinates on the XY plane can be specified by information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject. In this case, for example, the motion capture device 10 shown in FIG. 1 can be used as the acceleration sensor.

FIG. 18 is a diagram showing still another example of the preconditions of the embodiment of the method for diagnosing athletic performance according to the present invention. Shows the relationship with the foot. In this case, the position coordinates on the XZ plane are determined in the method of diagnosing the subject's movement performance that advances forward, with the direction from the subject's foot to the head as the Z axis and the subject's direction of travel as the X axis. -The coordinates of the subject's position in the Z plane. The position coordinates of the XZ plane can be specified by information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject. In this case, for example, the motion capture device 10 shown in FIG. 1 can be used as the acceleration sensor.

FIG. 19 is a diagram showing still another example of the preconditions of the embodiment of the method for diagnosing athletic performance according to the present invention, a graph showing the position coordinates on the YZ plane, and the left and right heads when proceeding forward Shows the relationship with the foot. In this case, as described above, the position coordinate of the YZ plane is determined based on the direction of the subject's advancing direction in the method for diagnosing the subject's movement performance moving forward, with the direction from the subject's foot to the head as the Z axis. Are the position coordinates of the subject in the YZ plane with the left-right direction as the Y-axis. The position coordinates on the YZ plane can also be specified by information obtained from an acceleration sensor mounted on the waist, buttocks or chest of the subject. In this case, for example, the motion capture device 10 shown in FIG. 1 can be used as the acceleration sensor.

In the graphs showing the position coordinates shown in FIGS. 17, 18 and 19, the positive and negative areas of the Z-axis, Y-axis and X-axis are as follows.
The positive area on the Z axis indicates the head side of the subject, and the negative area on the Z axis indicates the foot side of the subject.
The positive region on the Y axis indicates the right side with respect to the traveling direction of the subject, and the negative region on the Y axis indicates the left side with respect to the traveling direction of the subject.
The negative region on the X axis indicates before the subject's traveling direction, and the positive region on the X axis indicates after the opposite direction to the subject's traveling direction.

In the embodiment of the method for diagnosing athletic performance according to the present invention, unless otherwise specified, the position coordinate graph, that is, the periodic trajectory diagram, shows the position coordinate and the periodic trajectory on the YZ plane.
Further, the unit of the horizontal axis and the unit of the vertical axis of the position coordinate graph each represents m.
Each position coordinate is specified a plurality of times.

About Embodiment 1 of Exercise Performance Diagnosis Method In Embodiment 1 of the exercise performance diagnosis method, the interlock between the waist and upper and lower body is determined by analyzing the waist locus.
Embodiment 1 of the method for diagnosing athletic performance is a method for diagnosing athletic performance of a subject moving forward, the step of identifying the position coordinates of the subject on the YZ plane, the position coordinates being identified a plurality of times, and at least 1 Identifying a trajectory of the subject having an intersection of points, and identifying a position in the Z-axis direction of the intersection closest to the Z-axis among the intersections.

FIG. 20 is a graph showing the position coordinates on the YZ plane of the waist of Mr. C who is the subject according to the first embodiment of the method for diagnosing motor performance according to the present invention.
FIG. 21 is a graph showing the position coordinates on the YZ plane of the waist of Mr. E who is the subject according to the first embodiment of the method for diagnosing athletic performance according to the present invention.
FIG. 22 is a graph showing the position coordinates on the YZ plane of the waist of Mr. A who is the subject according to Embodiment 1 of the method for diagnosing motor performance according to the present invention.
Paying attention to the position of the intersection of the waist locus on the YZ plane, if the waist is linked to the lower body, there is an intersection in the positive region in the Z axis direction, and if the waist is linked to the upper body, the Z axis direction There is an intersection in the negative region. This can be explained from the relationship between the relative position of the motion capture device at the time of ground contact and the twist of the upper body. When the motion capture device is attached to the lower body (for example, the buttocks), the amplitude of the motion capture device is greatest in the Y-axis direction when touched. Therefore, the periodic motion trajectory on the YZ plane is convex upward, and the intersection is likely to exist in the positive region in the Z-axis direction. On the other hand, since the upper body is in a twisted relationship with the lower body, when this motion capture device is attached to the upper body (for example, the chest), the motion capture device is positioned on the midline when touched, so the periodic motion trajectory in the YZ plane is It has a downwardly convex shape, and the intersection tends to exist in the negative region in the Z-axis direction. For example, as shown in FIG. 20, Mr. C has a waist that is linked to the upper body, Mr. A has a waist that is linked to the lower body, as shown in FIG. 22, and Mr. E has its waist as shown in FIG. Diagnosis of intermediate is possible.
This diagnosis can be used, for example, for a sports competition appropriateness diagnosis of running exercise.
Mr. C shows that the fulcrum of the running motion is low because the waist is linked to the upper body. Such a running method can be said to be suitable for sports competitions such as rapid acceleration, sudden stop, and direction change, such as basketball, rugby, tennis, and soccer.
On the other hand, Mr. A indicates that the height of the fulcrum of the running exercise is high because the waist is linked to the lower body. Such a running method can be said to be suitable for a sporting event in which a straight movement is continued, for example, a marathon.

Second Embodiment of the Exercise Performance Diagnosis Method In the second embodiment of the exercise performance diagnosis method, the front and rear center-of-gravity positions are diagnosed by analyzing the periodic locus of the waist, buttocks, or chest.
Embodiment 2 of the method for diagnosing athletic performance is a method for diagnosing athletic performance of a subject moving forward, the step of identifying the position coordinates of the subject on the XY plane, the position coordinates being identified a plurality of times, and at least 1 The step of specifying the trajectory of the subject having the intersection of the points and the step of specifying the position in the X-axis direction of the intersection closest to the X-axis among the intersections are included.

FIG. 23 is a graph showing position coordinates on the XY planes of the chest, waist and buttocks of Mr. D who is the subject according to Embodiment 2 of the method for diagnosing motor performance according to the present invention.
FIG. 24 is a graph showing position coordinates on the XY planes of the chest, waist, and buttocks of Mr. E who is the subject according to Embodiment 2 of the method for diagnosing motor performance according to the present invention.
FIG. 25 is a graph showing position coordinates on the XY planes of the chest, waist, and buttocks of Mr. A who is the subject according to Embodiment 2 of the method for diagnosing motor performance according to the present invention.
Focusing on the position in the X-axis direction of the intersection of the periodic trajectories of the chest, waist, or buttocks in the XY plane, the position of the center of gravity of the motion during running can be measured.
In order to increase the running economy, which is generally an indicator of whether or not you can drive efficiently, if there is a center of gravity on the front side of the direction of travel, it will be difficult to apply brakes and propulsion will be generated easily and you can drive efficiently Become.
As shown in FIG. 23, Mr. D can be said that the running economy is low because the center of gravity of all the parts is behind.
On the other hand, as shown in FIG. 25, Mr. A can be said to have a high running economy because the center of gravity of all the parts is ahead.

About Embodiment 3 of the Exercise Performance Diagnosis Method In Embodiment 3 of the exercise performance diagnosis method, the left and right balance is diagnosed by analyzing the periodic trajectory of the waist, buttocks or chest.
The third embodiment of the method for diagnosing motor performance is a method for diagnosing the motor performance of a subject moving forward, the step of specifying the position coordinates of the subject in the YZ plane, the position coordinates being specified a plurality of times, The step of specifying a locus includes the step of comparing the symmetry between the locus on the positive direction side of the Y axis and the locus on the negative direction side of the Y axis.

In the third embodiment of the exercise performance diagnosis method, the right and left balance of exercise can be diagnosed by comparing the left and right shifts of the periodic locus of the waist, buttocks or chest. For example, compare the distance of the trajectory on the left side of the periodic trajectory with the distance of the trajectory on the right side of the periodic trajectory, or compare the area enclosed by the trajectory on the left side of the periodic trajectory with the area enclosed by the trajectory on the right side of the periodic trajectory. The left and right balance can be diagnosed. Further, from the behavior of the negative region of the Z axis of the periodic motion of the lumbar region, it is possible to diagnose the left and right balance and the shake at the time of landing.
FIG. 26 shows a whole body image at the time of landing when the subject is viewed from behind, along with a graph showing the position coordinates of each of the YZ planes of the waist and buttocks of the subject according to the third embodiment of the method for diagnosing athletic performance according to the present invention. . In the figure at the time of landing on the right foot and the left foot in FIG. 26, the vertical line is a line extending straight from the heel of the subject.
Here, paying attention to the behavior of the negative region of the Z axis of the periodic motion, when landing on the right foot, the knee exists relatively straight from the heel, and the shake of the waist and hips is not seen. (See the locus on the left side of the periodic locus in FIG. 26).
On the other hand, when landing on the left foot, the knee is positioned outside the body. As a result, the waist has flowed to the right side, and the waist and buttocks are shaken outward (see the locus on the right side of the periodic locus in FIG. 26).

About Embodiment 4 of Exercise Performance Diagnosis Method In Embodiment 4 of the exercise performance diagnosis method, right and left balance is diagnosed by analyzing a periodic trajectory of the waist, buttocks or chest.
Embodiment 4 of the method for diagnosing motor performance is a method for diagnosing motion performance of a subject that progresses forward, the step of specifying the position coordinates of the subject in the XY plane, the position coordinates being specified a plurality of times, The step of specifying a locus includes the step of comparing the symmetry between the locus on the positive direction side of the Y axis and the locus on the negative direction side of the Y axis.

In the fourth embodiment of the exercise performance diagnosis method, the right and left balance of exercise can be diagnosed by comparing the left and right shifts of the periodic locus of the waist, buttocks or chest. For example, compare the distance of the trajectory on the left side of the periodic trajectory with the distance of the trajectory on the right side of the periodic trajectory, or compare the area enclosed by the trajectory on the left side of the periodic trajectory with the area enclosed by the trajectory on the right side of the periodic trajectory. The left and right balance can be diagnosed. Also, the left and right arm swing balance can be diagnosed by the periodic trajectory of the chest.
FIG. 27 is a whole body image at the time of landing when the subject is viewed from the left side together with a graph showing the position coordinates on the XY plane of the chest of Mr. A who is the subject according to the fourth embodiment of the method for diagnosing athletic performance according to the present invention. Indicates. In the figure at the time of landing in FIG. 27, the vertical line is a line extended in a straight line for easy understanding of the left and right arm swing balance. The left and right arm swing balance can be diagnosed by comparing the amplitude in the traveling direction of the periodic trajectory on the left and right.

About Embodiment 5 of the Exercise Performance Diagnosis Method In Embodiment 5 of the exercise performance diagnosis method, the running economy is diagnosed by analyzing the periodic trajectory of the waist, hips, or chest.
Embodiment 5 of the method for diagnosing motor performance is a method for diagnosing the motion performance of a subject moving forward, the step of specifying the position coordinates of the subject in the XY plane, the YZ plane, or the XZ plane; Specifying the position coordinates a plurality of times to specify the trajectory of the subject, and measuring the amplitude from the difference between the maximum value and the minimum value of the coordinates on the X-axis, Y-axis, or Z-axis of the trajectory.

In the fifth embodiment of the motion performance diagnosis method, the amplitude of each axis in the XY plane, the YZ plane, and the XZ plane can be easily measured. By measuring the amplitude, it is possible to measure the range of movement in the vertical and horizontal directions during running. The smaller the travel width, the better the running economy.
FIG. 28 is a graph showing position coordinates on the YZ plane of the waist of Mr. A who is the subject according to the fifth embodiment of the method for diagnosing athletic performance according to the present invention, and on the YZ plane of the waist of Mr. D who is the subject. It is a graph which shows a position coordinate.
Mr. A can be said to have a low running economy because the amplitude in the Y-axis (lateral) direction is large.
On the other hand, Mr. D can be said to have a high running economy because the amplitude in the Y-axis (lateral) direction is small.

About Embodiment 6 of Exercise Performance Diagnosis Method In Embodiment 6 of the exercise performance diagnosis method, exercise reproducibility is diagnosed by analyzing the variation of the periodic trajectory of the waist, buttocks, or chest.
In the sixth embodiment of the method for diagnosing athletic performance, the step of specifying the position coordinate of the subject in the YZ plane, the step of specifying the position coordinate a plurality of times and specifying the locus of the subject, and at least two different periods Comparing. This comparing step includes, for example, a step of comparing the locus in the first period and the locus in the second period.

In Embodiment 6 of the motion performance diagnosis method, unlike motion capture using a fixed camera, all motions can be recorded from the start to the end of motion.
Therefore, by acquiring a periodic trajectory at regular intervals and measuring the variation, it is possible to diagnose the high reproducibility of the subject's periodic motion.
Note that the variation in the periodic motion can be acquired for each of the X axis, the Y axis, and the Z axis. As the acquisition method, in the standardized acquisition data, the standard deviation of the time-dependent data at each measurement point is individually calculated, and then the arithmetic mean square of the standard deviation at each measurement point is calculated.
FIG. 29 is a graph showing the position coordinates on the YZ plane of the waist of Mr. A who is the subject according to the sixth embodiment of the method for diagnosing athletic performance according to the present invention.
FIG. 30 is a graph showing the position coordinates on the YZ plane of the waist of Mr. E who is the subject according to the sixth embodiment of the method for diagnosing athletic performance according to the present invention.
In order to obtain the graphs shown in FIGS. 29 and 30, the period acquisition interval was set to 10 seconds with respect to the measurement time of 200 seconds, and the variation in the periodic motion was evaluated from the period data for 20 times.
For Mr. A, the standard deviation (root-mean-square) in the Y-axis direction was 0.0029, and the standard deviation (root-mean) in the Z-axis direction was 0.0033.
On the other hand, for Mr. E, the standard deviation (root mean square) in the Y axis direction was 0.0041, and the standard deviation (root mean square) in the Z axis direction was 0.0033.
Therefore, it can be seen that Mr. A has better motion reproducibility than Mr. E in the Y-axis direction.
It can also be seen that Mr. A and Mr. E's motion reproducibility does not change in the Z-axis direction.

About Embodiment 7 of the Exercise Performance Diagnosis Method In Embodiment 7 of the exercise performance diagnosis method, the disorder of the form is diagnosed by analyzing the temporal trajectory of the waist, hips, or chest.
In the seventh embodiment of the method for diagnosing athletic performance, in the first or second embodiment of the method for diagnosing athletic performance, the step of specifying the trajectory is performed continuously for a certain time, and the intersection closest to the Z axis or the X axis among the intersections The method includes a step of diagnosing whether a change in position in the Z-axis direction or the X-axis direction is observed with the change.

In Embodiment 7 of the motion performance diagnosis method, unlike motion capture using a fixed camera, all motions can be recorded from the start to the end of motion.
Therefore, it is possible to diagnose form disturbance over time by acquiring periodic trajectories at regular intervals and plotting the changes over time.
It is known that in a continuous running exercise such as a marathon, the position of a running fulcrum is lowered due to fatigue during long-distance running. In the seventh embodiment of the method for diagnosing athletic performance, the travel fulcrum position can be measured by measuring the position of the intersection. Therefore, the disturbance of the foam and the degree of fatigue can be measured by plotting the position of the intersection over time.
FIG. 31 is a graph showing the position coordinates on the YZ plane of the waist of the subject according to the seventh embodiment of the method for diagnosing athletic performance according to the present invention.
FIG. 32 is a graph showing the relationship between the traveling time of the subject and the intersection position (Z axis) according to the seventh embodiment of the method for diagnosing athletic performance according to the present invention.
From the graph shown in FIG. 31, it can be seen that the periodic trajectories do not overlap so much and the form is disturbed.
Furthermore, it can be seen from the graph shown in FIG. 32 that with the passage of travel time, the intersection position (Z-axis) decreases and the degree of fatigue increases.
Further, for example, it is possible to diagnose form disturbance in the front-rear direction from a graph indicating the position coordinates of the waist of the subject on the XY plane.
Furthermore, the degree of fatigue can be diagnosed from a graph showing the relationship between the travel time of the subject and the intersection position (X axis).

About Embodiment 8 of Exercise Performance Diagnosis Method In Embodiment 8 of the exercise performance diagnosis method, the disorder of the form is diagnosed by analyzing the change in the periodic trajectory of the waist, hips, or chest over time.
The eighth embodiment of the method for diagnosing athletic performance is the same as the third embodiment of the method for diagnosing athletic performance, in which the step of specifying the locus is performed continuously for a certain period of time, and the locus on the positive side of the Y axis and the negative side of the Y axis are The method includes a step of diagnosing whether or not the symmetry with respect to the trajectory changes with time.

In Embodiment 8 of the motion performance diagnosis method, unlike motion capture using a fixed camera, all motions can be recorded from the start to the end of motion.
Therefore, it is possible to diagnose form disturbance over time by acquiring periodic trajectories at regular intervals and plotting the changes over time.
FIG. 33 is a graph showing position coordinates on the YZ plane of the waist during Mr. B's 50-minute run according to the eighth embodiment of the method for diagnosing athletic performance according to the present invention. In the graph shown in FIG. 33, the periodic locus is changed from a dark color to a light color as time passes.
Since Mr. B is an O-leg, the negative region of the Z-axis spreads outward. This indicates that the waist is shaken to the left and right when landing.
Therefore, I ran with the intention of aligning my knees to the midline.
As a result, from the graph shown in FIG. 33, the left and right shakes subside for the first 10 minutes, but after that, it can be seen that the shake increases with fatigue.
In this way, it is possible to diagnose foam over time due to fatigue.

FIG. 34 is a rear view solution diagram showing an example of motion capture sportswear according to the present invention. A motion capture sportswear 100 shown in FIG. 34 is, for example, a motion capture sportswear containing the motion capture device 10 shown in FIG.

The motion capture sportswear 100 includes a shirt-like sportswear main body 102 having portions corresponding to, for example, the waist and the chest.

The storage part 104 is provided in the part corresponding to the waist part of the sportswear main body 102. The storage unit 104 is for storing, for example, the motion capture device 10 shown in FIG. The storage unit 104 is formed to be approximately the same size as the motion capture device 10 in order to fix the stored motion capture device 10. The storage unit 104 has an opening at the top.

The sportswear main body 102 is provided with a lid 106 in the vicinity of the opening of the storage unit 104. The lid body 106 is formed so as to be able to close the opening of the storage portion 104 by, for example, a hook-and-loop fastener. Therefore, it is difficult for the motion capture device 10 stored in the storage unit 104 to inadvertently jump out of the storage unit 104 to the outside.

In the storage unit 104, the motion capture device 10 shown in FIG. 1 is stored. In the motion capture device 10, for example, an operation program for executing at least one of the first to eighth embodiments of the above-described exercise performance diagnosis method is written in the storage unit 24 in advance.

In the motion capture sportswear 100 shown in FIG. 34, the motion capture device 10 can be easily mounted on the waist of the subject simply by wearing it.
Also, in the sportswear 100 for motion capture shown in FIG. 34, any one of the first to eighth embodiments of the above-described exercise performance diagnosis method can be implemented by a written program.

For example, the motion capture device 10 outputs a voice message such as “the body is moving greatly to the left and right” from the speaker 26 when it is determined that the body of the subject is moving beyond a predetermined value from side to side. Similarly, when it is determined that the body of the subject is moving beyond a predetermined value back and forth and up and down, a corresponding voice message may be output.

Furthermore, when the motion capture device 10 determines that the subject's pitch (the reciprocal of one cycle) exceeds a predetermined pitch set in advance by the touch panel 30 or the like, the motion capture device 10 “pitch is too fast” from the speaker 26. Such a voice message may be output. Conversely, when it is determined that the pitch of the subject is too slow, the corresponding voice message may be output.

The motion capture device 10 described above includes, for example, a case 12 having a substantially rectangular plate shape, but the case 12 may be formed in other shapes, and may be configured to be worn on an arm like a wristwatch, for example. Or configured to be worn like sunglasses. If the motion capture device 10 is configured in this way, it is possible to directly view the movement of the arm and the movement of the head.

The above-described motion capture device 10 includes the speaker 26 and the touch panel 30, but may be connected to an external speaker or earphone or an external display via an input / output terminal. In this case, the display functions of the speaker 26 and the touch panel 30 may be deleted from the motion capture device 10.

Furthermore, in the motion capture device 10 described above, the three-dimensional acceleration sensor 20 and the arithmetic processing unit 22 are connected by wire, but the three-dimensional acceleration sensor 20 and the arithmetic processing unit 22 may be connected wirelessly. . In this case, the three-dimensional acceleration sensor 20 of the motion capture device 10 needs to be attached to the subject, but the arithmetic processing unit 22 or the like of the motion capture device 10 need not be attached to the subject.

In the above-described motion capture sportswear 100, the shirt-like sportswear main body 102 has portions corresponding to the waist and the chest, and the storage portion 104 is provided in a portion corresponding to the waist of the sportswear main body 102. However, the sportswear main body has a portion corresponding to the waist, buttocks or chest, and the storage portion only needs to be provided in a portion corresponding to the waist, buttocks or chest of the sportswear body.
As shown in FIG. 34, the sportswear main body may be a shirt-shaped sportswear main body, but may be a trouser-shaped sportswear main body having portions corresponding to the waist and the buttocks, or a shirt-shaped sportswear main body. It may be a sportswear body having portions corresponding to the waist, chest, and buttocks that connect the sportswear body and the pants-like sportswear body.

The motion capture body wear device according to the present invention is not limited to motion capture sport wear having a sports wear body as a body wear device body, and can be applied to, for example, a hat or a waist pouch.

As described above, in the present invention, superposition is used for periodic motion so that overshoot, noise, and gravitational acceleration recorded by the acceleration sensor do not affect the integrated output. Therefore, until now it was only possible to confirm the form with an external camera, etc., but by using this invention, it is instructed to improve the form when an individual practiced alone or to break the form during competition. Therefore, it can be used for data acquisition.

In addition, this invention is capable of analyzing all the movements that periodically move in principle. For example, tennis racket swing, golf club swing, baseball batting, pitching, kendo swing, etc. are repeatedly measured, It can be used to improve and improve competition-specific forms.

Furthermore, the present invention can be used for confirming the running state of the racehorse and managing the physical condition by applying it to a racehorse other than human beings.

The motion capture device according to the present invention is particularly suitably used for capturing periodic movements of a moving part such as running, tennis racket swing, golf club swing, baseball batting, pitching, kendo swinging, etc. .

DESCRIPTION OF SYMBOLS 10 Motion capture apparatus 12 Case 20 Three-dimensional acceleration sensor 22 Arithmetic processing part 24 Memory | storage part 26 Speaker 30 Touch panel 32 Power switch 100 Sportswear for motion capture 102 Sportswear main body 104 Storage part

Claims (22)

1. A motion capture device comprising: an acceleration sensor for measuring acceleration in a periodic motion region; and an arithmetic processing unit for arithmetic processing of an acceleration waveform measured by the acceleration sensor,
   One cycle of the basic motion of the movement measured at the exercise site is set as one cycle, and the acceleration at the exercise site is measured a plurality of times by the acceleration sensor,
   The arithmetic processing unit
   A motion capture device that calculates and superimposes two or more cycles of acceleration waveforms output from the acceleration sensor, and calculates the position of the moving part by time-integrating the averaged acceleration waveforms twice.
2. The arithmetic processing unit
   In order to remove the gravitational acceleration component from the acceleration waveform measured by the acceleration sensor, the DC component is removed from the averaged acceleration waveform,
   The averaged acceleration waveform from which the DC component has been removed is converted into a velocity waveform representing the relative velocity of the exercise site by integrating the time for the first time,
   In order to remove the constant speed component from the velocity waveform, the direct current component is removed from the velocity waveform, and the velocity waveform from which the direct current component has been removed is integrated for the second time to represent the relative position of the moving part. The motion capture device according to claim 1, wherein the motion capture device converts the waveform into a position waveform.
3. The arithmetic processing unit superimposes acceleration waveforms measured by the acceleration sensor in order to clarify the section of one cycle, takes an autocorrelation coefficient between one or more cycles, and sets the most self-phase. The motion capture device according to claim 1, wherein it is determined that the respective cycles are overlapped at a position where the number of relations is high.
4. The motion according to any one of claims 1 to 3, further comprising a display for displaying the position waveform on a graph in an XY plane, a YZ plane, and a ZX plane orthogonal to each other. Capture device.
5. With one cycle of the basic motion of movement measured at a periodic motion site as one cycle, the acceleration at the motion site is measured a plurality of times with an acceleration sensor,
   The arithmetic processing unit
   A motion capture method, wherein the acceleration waveform output from the acceleration sensor is superposed and averaged over two periods, and the position of the motion part is calculated by time-integrating the averaged acceleration waveform twice.
6. The arithmetic processing unit
   In order to remove the gravitational acceleration component from the acceleration waveform measured by the acceleration sensor, the DC component is removed from the averaged acceleration waveform,
   The averaged acceleration waveform from which the DC component has been removed is converted into a velocity waveform representing the relative velocity of the exercise site by integrating the time for the first time,
   In order to remove the constant speed component from the velocity waveform, the direct current component is removed from the velocity waveform, and the velocity waveform from which the direct current component has been removed is integrated for the second time to represent the relative position of the moving part. The motion capture method according to claim 5, wherein the motion capture method is converted into a position waveform.
7. The arithmetic processing unit superimposes acceleration waveforms measured by the acceleration sensor in order to clarify the section of one cycle, takes an autocorrelation coefficient between one or more cycles, and sets the most self-phase. The motion capture method according to claim 5, wherein it is determined that the respective cycles are overlapped at a position where the number of relations is high.
8. The motion capture method according to any one of claims 5 to 7, wherein the position waveform is displayed on a graph in a graph on an XY plane, a YZ plane, and a ZX plane orthogonal to each other.
9. A method for diagnosing motor performance of a subject that progresses forward,
   Specifying the position coordinates of the subject in the YZ plane, wherein the direction from the foot to the head of the subject is the Z-axis, and the horizontal direction is the Y-axis with respect to the traveling direction of the subject;
   Identifying the position coordinates a plurality of times and identifying a trajectory of the subject having at least one intersection;
   Specifying the position in the Z-axis direction of the intersection closest to the Z-axis among the intersections.
10. 10. The method for diagnosing athletic performance according to claim 9, wherein the step of specifying the position coordinates specifies the position coordinates based on information obtained from an acceleration sensor attached to the waist of the subject.
11. The step of performing the step of specifying the trajectory continuously for a certain period of time, and diagnosing whether or not the intersection closest to the Z axis among the intersections is subject to a change in position in the Z axis direction with time change. The method for diagnosing athletic performance according to claim 9 or claim 10.
12. A method for diagnosing motor performance of a subject that progresses forward,
    Identifying the position coordinates of the subject in the XY plane, where the subject's direction of travel is the X axis, and the left and right direction is the Y axis based on the subject's direction of travel;
    Identifying the position coordinates a plurality of times and identifying a trajectory of the subject having at least one intersection;
    Specifying the position of the intersection closest to the X axis in the X axis direction among the intersections.
13. The step of specifying the locus is performed continuously for a certain period of time, and includes a step of diagnosing whether or not the intersection closest to the X axis among the intersections is subject to a change in position in the X axis direction with time. 12. The method for diagnosing motor performance according to item 12.
14. A method for diagnosing motor performance of a subject that progresses forward,
    Specifying the position coordinates of the subject in the YZ plane, wherein the direction from the foot to the head of the subject is the Z-axis, and the horizontal direction is the Y-axis with respect to the traveling direction of the subject;
    Identifying the position coordinates a plurality of times and identifying the trajectory of the subject;
    A method for diagnosing athletic performance, comprising: comparing symmetry between a locus on the positive direction side of the Y axis and a locus on the negative direction side of the Y axis.
15. The step of specifying the locus is continuously performed for a certain period of time, and it is diagnosed whether or not the symmetry between the locus on the positive direction side of the Y axis and the locus on the negative direction side of the Y axis changes with time. The method for diagnosing athletic performance according to claim 14, comprising the step of:
16. A method for diagnosing motor performance of a subject that progresses forward,
    Identifying the position coordinates of the subject in the XY plane, where the subject's direction of travel is the X axis, and the left and right direction is the Y axis based on the subject's direction of travel;
    Identifying the position coordinates a plurality of times and identifying the trajectory of the subject;
    A method for diagnosing athletic performance, comprising: comparing symmetry between a locus on the positive direction side of the Y axis and a locus on the negative direction side of the Y axis.
17. A method for diagnosing motor performance of a subject that progresses forward,
    The subject's advancing direction is the X axis, the left and right direction is the Y axis based on the advancing direction of the subject, the XY plane, the direction from the subject's foot to the head is the Z axis, In the XZ plane, the YZ plane or the direction from the subject's foot to the head is the Z axis, and the subject's traveling direction is the X axis, with the left-right direction as the Y axis relative to the direction of travel Identifying the position coordinates of the subject;
    Identifying the position coordinates a plurality of times and identifying the trajectory of the subject;
    Determining a difference between a maximum value and a minimum value of coordinates on the X-axis, Y-axis, or Z-axis of the trajectory.
18. A method for diagnosing motor performance of a subject that progresses forward,
    Specifying the position coordinates of the subject in the YZ plane, wherein the direction from the foot to the head of the subject is the Z-axis, and the horizontal direction is the Y-axis with respect to the traveling direction of the subject;
    Identifying the position coordinates a plurality of times and identifying the trajectory of the subject;
    A method for diagnosing athletic performance, comprising comparing at least two different periods.
19. The exercise according to any one of claims 12 to 18, wherein the step of specifying the position coordinates specifies the position coordinates based on information obtained from an acceleration sensor attached to the waist, buttocks, or chest of the subject. Performance diagnostic method.
20. The method for diagnosing athletic performance according to any one of claims 9 to 19, wherein the motion capture device according to any one of claims 1 to 4 is used.
21. The method for diagnosing athletic performance according to any one of claims 9 to 19, wherein the motion capture method according to any one of claims 5 to 8 is used.
22. A motion capture body wearing device equipped with a motion capture device,
    Body wearable body having a portion corresponding to the waist, buttocks or chest,
    The storage part provided in the part corresponding to the said waist | hip | lumbar part, the buttocks, or the chest of the said body wearing instrument main body, The motion capture apparatus of any one of Claims 1 thru | or 4 accommodated in the said storage part. Including bodywear for motion capture.

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