PROBLEM TO BE SOLVED: To provide a device and the like which highly accurately estimates a walking state of a human being regardless of degree of asymmetry between his or her right and left body motions.SOLUTION: A "difference" between a right and a left hip joint angles or shoulder joint angles of a human being is sampled, thereby a waveform signal (differential oscillator) is obtained. Also, a power spectrum is obtained from the waveform signal. As a result, regardless of the degree of asymmetry between the right and left body motions of the human being, a walking state of the human being is highly accurately estimated according to a certain reference of referring to a basic frequency fo having height equal to or larger than threshold in the power spectrum and indicative of a single peak position positioned in a lowest frequency band.COPYRIGHT: (C)2013,JPO&INPIT【課題】人間の左右の身体動作の非対称性の程度によらず、当該人間の歩行状態を高精度で推定しうる装置等を提供する。【解決手段】人間の左右の股関節角度又は肩関節角度の「差分」がサンプリングされることにより波形信号(差分振動子)が得られる。また、この波形信号からパワースペクトルが得られる。このため、人間の左右の身体動作の非対称度の高低によらず、パワースペクトルにおける閾値以上の高さを有する、最低周波数帯域に位置する単一のピークの位置を表わす基本周波数f0を参照するという一定の基準にしたがって、当該人間の歩行状態が高精度で推定されうる。【選択図】 図5
