To provide a gait support device capable of executing appropriate gait support for a walking person.SOLUTION: A global coordinate system based on a road surface, a stick coordinate system based on an IMU 90 incorporated in a white stick 1, and a camera coordinate system based on a camera 20 incorporated in the white stick 1 are set, a maximum inclination angle of the camera 20 caused by a visually impaired person swinging the white stick 1 is obtained from the relations between a z-axis of the global coordinate system and a ζj axis of the camera coordinate system, and rotation processing of an image acquired from the camera 20 is executed. A difference in swinging widths of the white stick 1 between a right direction and a left direction is obtained from the relations between the maximum inclination angle of the camera 20 and a swinging width of the white stick 1 in a horizontal direction, and it is estimated whether the visually impaired person is gripping the white stick 1 with the right hand or with the left hand. From the estimation result, a determination value for executing determination on the deviation from a pedestrian crosswalk is changed and deviation determination is executed using the changed determination value. Thereby, appropriate gait support can be executed according to the hand of the visually impaired person gripping the white stick 1.SELECTED DRAWING: Figure 12

    【課題】歩行者に対して適切な歩行支援を行うことができる歩行支援装置を提供する。【解決手段】路面基準のグローバル座標系、白杖1に内蔵されたIMU90を基準とする杖座標系、白杖1に内蔵されたカメラ20を基準とするカメラ座標系を設定し、グローバル座標系のz軸とカメラ座標系のζj軸との関係から、視覚障碍者が白杖1を振ることに起因するカメラ20の最大傾き角度を求めて、カメラ20から取得された画像の回転処理を行う。カメラ20の最大傾き角度と水平方向での白杖1の振り幅との関係から、左右方向での白杖1の振り幅の差異を求めて、視覚障碍者が白杖1を右手および左手の何れで把持しているかを推定する。その推定結果により、横断歩道からの逸脱の判定を行うための判定値を変更し、その変更された判定値を用いて逸脱判定を行う。これにより、視覚障碍者が白杖1を持っている手に応じた適切な歩行支援を行うことが可能になる。【選択図】図12


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    Title :

    GAIT SUPPORT DEVICE


    Additional title:

    歩行支援装置


    Contributors:

    Publication date :

    2022-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    A61H PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY , Geräte für die physikalische Therapie, z.B. Vorrichtungen zum Lokalisieren oder Anregen spezieller Reflexpunkte am Körper / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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