PROBLEM TO BE SOLVED: To provide a gait measuring apparatus which quantitatively measures movement of the legs of a walker with a simple configuration and irrespective of its installation place.SOLUTION: The gait measuring apparatus 10 comprises a movable body 11 that makes the whole apparatus move autonomously using a motor 20, a position and posture sensor 13 for measuring three-dimensional positions and postures of the thighs K1 and the toes K4 of a walker H, a movement control means 34 for controlling the movement of the motor 20 so as to keep a relative positional relationship between the walker H and the apparatus on the basis of the measurement value of the position and posture sensor 13, and a feature point calculating means 35 for acquiring positions of feature points A-E set within the legs K at every predetermined time in order to specify the condition of the legs K of the walker H. The feature point calculating means 35 calculates the positions of the feature points A-E at every predetermined time by substituting the measurement vales of the position and posture sensor 13 in an operation formula set on the basis of a predetermined leg model.COPYRIGHT: (C)2010,JPO&INPIT【課題】 簡単な装置構成で設置場所を問わずに歩行者の下肢の動きを定量的に求める。【解決手段】 歩行計測装置10は、装置全体をモータ20によって自律移動させる移動体11と、歩行者Hの大腿部K1及び爪先部K4の三次元位置・姿勢を測定する位置姿勢センサ13と、位置姿勢センサ13の測定値から、歩行者Hとの相対位置関係を予め設定した一定状態に維持するようにモータ20の動作を制御する移動制御手段34と、歩行者Hの下肢Kの状態を特定するために当該下肢K内に複数設定された特徴点A~Eの位置を所定時間毎に求める特徴点算出手段35とを備えている。特徴点算出手段35では、予め定めた下肢モデルに基づく演算式に位置姿勢センサ13の測定値を代入することで、前記各特徴点A~Eの位置を前記所定時間毎に算出する。【選択図】 図1
