୍⯡♫ᅋἲே 㟁Ꮚሗ㏻ಙᏛ THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS ಙᏛᢏሗ IEICE Technical Report KINECT ࢆ⏝ࡋࡓ❧ࡕୖࡀࡾ/㛵⠇࣮࣓ࣔࣥࢺ/ᗙࡾ㎸ࡳࢹ࣮ࢱࡢྲྀᚓ Ᏻ㐩 ᏹᖾ͊ Ⳣ⏕ ㄔ͋ Ỉ⃝ ⣧୍͋ Ᏻ㐩 ᰤ㑻͊ ͊㔛Ꮫࠛ252-0373 ┦ᶍཎᕷ༡༊㔛 1-15-1 ͋᭷㸧ࢸࣞࣅࢪࢿࢫࠛ252-0229 ┦ᶍཎᕷ୰ኸ༊ᘺᰤ 2-12-24 E-mail: ͊[email protected]͋{sugou,mizu}@tele.jp ࠶ࡽࡲࡋ DOCTOR’S EYE ࡣ㸪యࢭࣥࢧ࣮ࢆ╔ࡍࡿࡇ࡞ࡃேࡢືస ᐃࢆ⾜࠼ࡿ⨨࡛࠶ࡿ㸬ேࡢືస ࢆ ᐃࡍࡿࡓࡵ㸪KINECT ver.1 (MicroSoft)[1]ࢆ⏝࠸ࡓ㸬ᮏ✏࡛ࡣ㸪ᇶᮏ࡞ࡿືస㸪❧ࡕ࠶ࡀࡾ࣭ᗙࡾ㎸ࡳࡢᗙ ᶆ⨨ࢆィ ࡋࡓࢹ࣮ࢱࢆሗ࿌ࡍࡿ㸬グ㘓ࡉࢀࡓࢹ࣮ࢱࡽ㸪DOCTOR’S EYE ࡛ 20 㛵⠇ࡢ⛣ື≉ᛶࢆ ᐃࡍࡿࡇ ࡀྍ⬟࡛࠶ࡿࡇࢆ♧ࡍ㸬 ࣮࣮࢟࣡ࢻ KINECT㸪DOCTOR'S EYE㸪ࣜࣁࣅࣜࢸ࣮ࢩࣙࣥ㸪㧗㱋♫㸪୕ḟඖ✵㛫ᗙᶆ㸪❧ࡕୖࡀࡾ㸪ᗙ ࡾ㎸ࡳ㸪㛵⠇ྍືᇦ Using KINECT to measure joint movement for standing up and sitting down Hiroyuki ADACHI͊, Makoto SUGO and Jun-ichi MIZUSAWA͋, Eijiro ADACHI͊ ͊Kitasato University 1-15-1Kitasato, Minami-ku, Sagamihara-shi, 252-0373 Japan ͋TeleBusiness Inc. 2-13-24Yaei, Chuo-ku, Sagamihara-shi, 252-0229 Japan E-mail: †[email protected], ‡{sugou,mizu }@tele.jp Abstract DOCTOR’S EYE is a system for measuring a person’s movement without using sensors attached to the body. Its sensing device is Kinect ver.1 (MicroSoft)[1]. This paper reports basic specifications and the standing up/sitting down data measured. Recorded data show DOCTOR’S EYE can be used to measure individual movement characteristics. Keywords KINECT㸪DOCTOR'S EYE㸪Rehabilitation㸪Aging Society㸪3D Coordinates㸪Standing up, Sitting down , Joint movement. 1. ࡣ ࡌ ࡵ ᮏ ㄽ ᩥ ࡛ ࡣ 㸪ே ࡢ ᇶ ᮏ ⓗ ࡞ ື స ᐃ KINECT ࢆ 㐺 2. DOCTOR'S EYE ࡢ タ ィ ᮲ ௳ DOCTOR’S EYE ࡣ 㸪ே ࡢ ື ࡃ ᐃ ࢹ ࣮ ࢱ ࢆ ୕ ḟ ඖ ᗙ ⏝ ࡍ ࡿ ࡇ ࢆ ᥦ ࡍ ࡿ 㸬 KINECT ࡛ ィ ࡍ ࡿ ࣓ ࣜ ࢵ ࢺ ᶆ ࡛ స ᡂ ࡍ ࡿ 㸬ᑐ ㇟ ࡣ 㸪㛵 ⠇ 20 ᡤ ࡢ ⣔ ิ ୕ ḟ ඖ ᗙ ࡣ㸪࢙࢘ࣛࣈࣝࢭࣥࢧ࣮ࡔᝈ⪅╔ࡋ࡞࠸࠸ ᶆ࡛࠶ࡿ㸬 ࡅ ࡞ ࠸ ࡀ 㸪 KINECT ࡞ ࡽ ࡤ 㸪 ࢭ ࣥ ࢧ ࣮ 㢮 ࢆ ᝈ ⪅ ╔ ࣝ ࣥ ࣂ ࡣ ୍ ᐃ ㊥ 㞳 ࢆ ಖ ࡘ ࡓ ࡵ 㸪 KINECT ࡛ ᐃ ⪅ ࡢ ࡋ࡚ࡶࡽ࠺ࡇ࡞ࡃᡭ㍍ィ ࡀྍ⬟࡞ࡿⅬ࡛࠶ࡿ㸬 㦵 ᱁ ᵓ 㐀 ࡀ ᥇ ࢀ ࡿ ㊥ 㞳 2㹼 2.5m ࢆ ⥔ ᣢ ࡋ ࡞ ࡀ ࡽ ⛣ ື ࡍ ࡑ ࡋ ࡚ 㸪 ⤒ ῭ ⓗ ࡶ ᑟ ධ ࡋ ࡸ ࡍ ࠸ 㸬 KINECT ࡛ ᥇ ྲྀ ࡋ ࡿ㸬㊥㞳ࡀᗈࡀࡿ㏆࡙ࡁ㸪⦰ࡲࡿ㞳ࢀࡿไᚚಙྕ ࡓ 㛵 ⠇ ࢹ ࣮ ࢱ ࡣ 㸪㛵 ⠇ ィ ࢯ ࣇ ࢺ DOCTOR'S EYE ࡛ ィ ࢆ㏦ࡗ࡚࠸ࡿ㸬ࡲࡓ㸪ேࡀᕥྑືࡃ㸪⏬㠃ࡢ୰ᚰ ࡍ ࡿ 㸬ᩥ ⊩ [5]ࡢ ࢢ ࣛ ࣇ ࡣ 㸪୕ ḟ ඖ ື స ศ ᯒ ࢩ ࢫ ࢸ ࣒ ࡲ ࡿ ࡼ ࠺ ᪉ ྥ ㌿ ࢆ ࡍ ࡿ 㸬 KINECT ⨨ ᇶ ‽ ࡛ VICON ࢆ ⏝ ࡋ ࡚ ⤂ ࡉ ࢀ ࡚ ࠸ ࡿ 㸬 ᮏ ㄽ ᩥ ࡢ ┠ ⓗ ࡣ 㸪 ዟ⾜᪉ྥࢆྲྀᚓࡋ࡚㸪⿕㦂⪅ࡢṌࡃ㐨➽ᑐࡋ࡚๓ KINECT ࢭ ࣥ ࢧ ࣮ ࡍ ࡿ DOCTOR'S EYE ࡛ ಶ ࠎ ࡢ ≉ ᛶ 㐍 ࣭ ᚋ 㐍 ࢆ ࡍ ࡿ (ࠕ 10m ᛌ 㐺 Ṍ ⾜ ࠖ ࡢ ෆ ᐜ ࡘ ࠸ ࡚ ࡣ 㸪 ࢆྠᐃࡍࡿࡢ᭷⏝࡞ࢢࣛࣇࢆసᡂࡍࡿࡓࡵ㸪୕ḟ ᩥ ⊩ [4]ࢆ ཧ ↷ )㸬 ඖ࡛ே㛫ࡢ㛵⠇ࡢືࡁࢆグ㘓ࡍࡿࡇ࡛࠶ࡿ㸬ሗ࿌ෆ KINECT ࣃ ࢯ ࢥ ࣥ ࢆ ᐜࡣ㸪ᖺ௦ูࡢ❧ࡕୖࡀࡾ࣭㛵⠇࣮࣓ࣔࣥࢺ࣭ᗙࡾ㎸ ࡏࡿࡓࡵ◊✲⏝ࣝࣥ ࡳ ࢆ KINECT ࢝ ࣓ ࣛ ࡢ ࢭ ࣥ ࢧ ࣮ ࡛ ィ ࡋ ࡓ 3 ✀ 㢮 ࡢ ࢹ ࣂࢆᨵ㐀ࡋ࡚⏝ࡋࡓ ࣮ ࢱ ࡛ ࠶ ࡿ 㸬ࡇ ࢀ ࡽ ࡢ ᗙ ᶆ ࢹ ࣮ ࢱ ࡽ 㸪DOCTOR'S EYE (Fig.1)㸬ࡇ ࡢ ᐇ 㦂 ⨨ ࡣ 㸪 ࡀᚋ㸪ேࠎࡢືࡁࢆ ᐃࡍࡿࡓࡵࡢࢶ࣮ࣝࡋ࡚㸪 ࣂ࣮ࢪࣙࣥࢵࣉࢆ⧞ࡾ ᝈ⪅ࡢࣜࣁࣅࣜࢸ࣮ࢩࣙࣥࡸㆤࡢࡓࡵᙺ❧࡚ࡿ ㏉ࡋࡓᚋ㸪⌧ᅾࡢᙧ࡞ ࢆㄪᰝࡋࡓ㸬 ࡗ ࡓ 㸬 KINECT ࢆ ୖ 㒊 㸪 ୗ㒊ࡢࣝࣥࣂࡢ㛫ࣀ ࣮ࢺࣃࢯࢥࣥࢆタ⨨ࡍࡿ㸬 Fig.1 DOCTOR’S EYE This article is a technical report without peer review, and its polished and/or extended version may be published elsewhere. Copyright ©20 ەەby IEICE ᭱ ᪂ ࣂ ࣮ ࢪ ࣙ ࣥ ࡛ ࡣ 㸪 ࢱ ࣈ ࣞ ࢵ ࢺ ᆺ ࣃ ࢯ ࢥ ࣥ Surface ᐃࡋࡓࢢࣛࣇࡣ㸪ࣜࣁࣅࣜࢸ࣮ࢩࣙࣥࡢカ⦎ࢆཷ PRO3 (MicroSoft)ࢆ ࣀ ࣮ ࢺ ࣃ ࢯ ࢥ ࣥ ࡢ ௦ ࢃ ࡾ ⏝ ࡋ ࡅ࡚࠸ࡿᝈ⪅ࢆᐃࡋ࡚᥇ྲྀࡋࡓࢹ࣮ࢱࢆ⏝ࡋ࡚࠸ ࡚࠸ࡿ㸬 ࡿ㸬࡞┠ⓗࡣ㸪ᖺ㱋ࡈ㛵⠇ࡢືࡁࡸ❧ࡕୖࡀࡾ Fig.2 ࡣ 㸪 DOCTOR’S EYE ㉳ ື ୰ ࡢ ᧯ స ⏬ 㠃 ࡛ ࠶ ࡿ 㸬 ⏬㠃ྑୖࡣ㸪⿕㦂⪅ࡢᐇᫎീࢆᫎࡋฟࡋ࡚࠸ࡿ㸬ࡑ ᪉ࡢ㐪࠸ࢆ㆑ูࡍࡿࡇ࡛࠶ࡿ㸬 ⿕ 㦂 ⪅ ࡣ ┤ ⥺ ㊥ 㞳 ࡛ 2m ඛ タ ⨨ ࡋ ࡓ DOCTOR'S ࡢ ⿕ 㦂 ⪅ ࡢ 㦵 ᱁ ࣔ ࢹ ࣝ ࡣ 㸪⏬ 㠃 ୰ ኸ ⾲ ♧ ࡉ ࢀ ࡚ ࠸ ࡿ 㸬 EYE ┦ ᑐ ࡋ ࡚ ᳔ Ꮚ ᗙ ࡗ ࡚ ࡶ ࡽ ࠺ 㸬 ᧯ స ⪅ ࡣ 㸪 ⏬㠃ୗ㒊ࡣ᧯సࢥࣥࢆ⾲♧ࡋ࡚࠸ࡿ㸬 DOCTOR'S EYE ࡢ ⏬ 㠃 ୖ ⿕ 㦂 ⪅ ࡢ ࢫ ࢣ ࣝ ࢺ ࣥ ࡀ ⾲ ♧ ࡉ ࢀ ࡚ ࠸ ࡿ ࡇ ࢆ ☜ ㄆ ࡋ ࡓ ࡽ RECORD ࣎ ࢱ ࣥ ࢆ ᢲ ࡍ (1 ᗘ ᢲ ࡍ 㸪STOP ࣎ ࢱ ࣥ ษ ࡾ ᭰ ࢃ ࡿ )㸬࣎ ࢱ ࣥ ࢆ ᢲ ࡋ㸪㡢ᴦࡀ㬆ࡗࡓࡽ⿕㦂⪅ࡣࡑࡢሙ࡛❧ࡕୖࡀࡗ࡚ ࡶ ࡽ ࠺ 㸬 ❧ ࡕ ୖ ࡀ ࡗ ࡚ ᩘ ⛊ ᚋ 㸪 ᧯ స ⪅ ࡣ STOP ࣎ ࢱ ࣥ ࢆ ᢲ ࡋ ࡚ ィ ࢆ ⤊ ࡉ ࡏ ࡿ (1 ᗘ ᢲ ࡍ 㸪RECORD ࣎ ࢱ ࣥ ษ ࡾ ᭰ ࢃ ࡿ )㸬ࡑ ࡢ ᚋ 㸪ࢹ ࣮ ࢱ ࣇ ࣝ ࡀ Excel ࡢ csv ᙧ ᘧ ࡛ ⮬ ື స ᡂ ࡉ ࢀ ࡿ ࡢ ࡛ 㸪 ࢹ ࣮ ࢱ ࢆ ⏕ ࡋ ࡚ ☜ ㄆ ࢆ ࡋ ࡓ ᚋ 㸪 ィ ⤊ ࡞ ࡿ (Fig.4)㸬 ᗙࡾ㎸ࡳືసࡢ ᐃࢆࡍࡿሙྜࡣ㸪⿕㦂⪅ࡀ❧ࡗ࡚ ࠸ ࡿ ≧ ែ ࡽ ጞ ࡵ ࡚ 㸪ࡑ ࡢ ᚋ DOCTOR'S EYE ࡀ ィ ୰ ࡢ᧯స⪅ࡣ᳔Ꮚᗙࡗ࡚ࡶࡽ࠺ࡼ࠺ᣦ♧ࢆࡍࡿ (Fig.4)㸬 ࡇ ࢀ ࡣ 㸪 ᚑ ᮶ ࡢ ᐃ ᪉ ἲ ẚ ィ ᶵ ࢆ ᝈ ⪅ Fig.2 DOCTOR'S EYE ᧯ స ⏬ 㠃 ࡀ╔ࡍࡿᚲせࡀ࡞ࡃ࡞ࡿࡓࡵ㸪ࢫࢺࣞࢫࢆឤࡌ࡞࠸ 㛵⠇ࡢィ ࡀྍ⬟࡞ࡿ㸬 KINECT ࢹ ࣮ ࢱ ࡣ 㸪ࣃ ࢯ ࢥ ࣥ 1 ⛊ 30 ࣇ ࣞ ࣮ ࣒ ࡛ グ KINECT ࢭ ࣥ ࢧ ࣮ ࡢ ⨨ ࢆ ཎ Ⅼ ࡋ ࡓ ୕ ḟ ඖ ᗙ ᶆ 㘓 ࡋ 㸪㛵 ⠇ ࡈ ᑐ ᛂ ࡍ ࡿ ้ ᗙ ᶆ ್ ࢆ CSV ᙧ ᘧ ࡢ ࣇ ࣝ ࡛ ಖ Ꮡ ࡍ ࡿ (Fig.3)㸬 Fig.3 CSV ᙧ ᘧ ࡛ ࡢ ᐃ ࢹ ࣮ ࢱ ࡢ ୍ 㒊 EXCEL(MicroSoft)ࢆ ⏝ ࡋ ࡚ 㸪 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ ࡢ ㌶ 㐨 ࢢ ࣛ ࣇ ࢆ ಖ Ꮡ ࡋ ࡓ 㸪 csv ࢹ ࣮ ࢱ ࢆ ᇶ (㛵 ⠇ ࡢ ゅ ᗘ ࣭ ㏿ ᗘ ࣭ ຍ ㏿ ᗘ ࡞ )స ᡂ ྍ ⬟ ࡛ ࠶ ࡿ 㸬 Fig.4 ᶓ ࡽ ぢ ࡓ ❧ ࡕ ୖ ࡀ ࡾ /ᗙ ࡾ ࡢ ᐃ ᪉ ἲ 3. ᐇ 㦂 ᪉ ἲ ᇶ ࡙ ࠸ ࡚ CSV ࣇ ࣝ ࡀ స ᡂ ࡉ ࢀ 㸪⟬ ฟ ࡋ ࡓ ࠸ ࢹ ࣮ ࢱ TableϨ ࡢ ⾲ ࡣ 㸪3 ே ࡢ ⿕ 㦂 ⪅ ࡢ ሗ ࡛ ࠶ ࡿ 㸬Fig.5,7,9 ( ⨨ ࣭ ㏿ ᗘ ࣭ ຍ ㏿ ᗘ ࡞ ) ᛂ ࡌ ࡚ ཎ Ⅼ ࢆ ኚ ᭦ ࡍ ࡿ 㸬 ࡢ ᮎ ᑿ a ᭩ ࠸ ࡚ ࠸ ࡿ ࡢ ࡣ 30 ௦ 㸪 b ࡣ 20 ௦ 㸪 c ࡣ ᅇࡣ㸪ேࡀᗙࡗࡓ≧ែࡽ❧ࡕୖࡀࡿࡲ࡛㸪ᗋ 60 ௦ ࡢ ࢢ ࣛ ࣇ ࡛ ࠶ ࡿ 㸬Fig. ۑd ࡣ 㸪Fig. ۑa- ۑc ࡲ ࡛ ࡢ ࡢୖ❧ࡗࡓ≧ែࡽᗙࡾࡇࡴࡲ࡛ࡢ㉁㔞୰ᚰࡢᗙᶆ ࢢࣛࣇࡀṇࡋࡃィ ࡉࢀࡓࢆ☜ㄆࡍࡿࡓࡵ⏝ࡋ ࢆ ࡗ ࡓ 㔜 ᚰ ⨨࣭㏿ ᗘ࣭ຍ ㏿ ᗘ ࡢ ࢢ ࣛ ࣇ ࢆ ⏝ ࡋ ࡓ 㸬 ࡓ ᩥ ⊩ [5]ࡢ ࢢ ࣛ ࣇ ࡛ ࠶ ࡿ ( ࡣ ۑᩘ Ꮠ ࡀ ධ ࡿ )㸬 ࡑࡋ࡚㸪యᖿ┤❧࡛❧ࡕୖࡀࡗࡓሙྜࡢ㛵⠇ᗙᶆ ࡽ⟬ฟࡋࡓ❧ࡕୖࡀࡾࡢ㛵⠇࣮࣓ࣔࣥࢺ㸪㌟యྛ TABLE I. ⿕ 㦂 ⪅ ࢢ ࣛ ࣇ ࡢ ሗ Fig. 6a࣭ 6b࣭ 7a࣭ 9a 7b࣭ 9b 6c࣭ 7c࣭ 9c ࢭࢢ࣓ࣥࢺࡢ㛗ࡉࢆ♧ࡍࢢࣛࣇࡢ 4 ✀㢮࡛࠶ࡿ㸬ࡇࢀ 6d࣭ ࡽ ࡢ ࢢ ࣛ ࣇ ࢆ ฟ ࡋ ࡓ ୕ ḟ ඖ ᪉ ྥ X㸪Y㸪Z ㍈ ࡣ 㸪KINECT 7d࣭ 9d ᗙᶆᖹ⾜࡛࠶ࡿ㸬ࡓࡔࡋࠊZ ㍈ࡣ᪉ྥࡀ㏫࡛࠶ࡿ㸬 ᛶู ⏨ ⏨ ⏨ - ᖺ௦ 30 ௦ 20 ௦ 60 ௦ - 79 65 73 - య 㔜 (kg) ࢢࣛࣇ⟬ฟࡋࡓᗋᗙᶆࡢཎⅬࡣ㸪⿕㦂⪅ࡢ㉁㔞୰ ᚰࡽ㖄┤᪉ྥ࡛ᗋୗࡋࡓ⨨࡛࠶ࡿ㸬 4. ᐇ 㦂 ⤖ ᯝ࣭ ⪃ᐹ 4.1. ❧䛱ୖ䛜䜚ື స ᐃ (⦪㍈ ᪉ ྥ) Fig.5a-5c ࡣ 㸪DOCTOR’S EYE ࢆ ⏝ ࡋ ࡚ 㸪Y ㍈ ࡢ 㔜 ᚰ⨨࣭㏿ᗘ࣭ຍ㏿ᗘࡢ㛫ኚࢆ♧ࡋ࡚࠸ࡿ㸬⮌㒊 㞳 ᗋ ࡣ 㸪 ィ ࡋ ࡓ csv ࢹ ࣮ ࢱ ࢆ ⏕ ࡋ ࡚ 㸪 ᳔ Ꮚ ࡽ ❧ ࡕୖࡀࡗࡓᡤ༳ࢆࡘࡅ࡚࠸ࡿ㸬ィ ࡋࡓ 3 ࡘࡢ㛵⠇ ᗙ ᶆ ࡢ ࢢ ࣛ ࣇ ᩥ ⊩ [5]ࡢ ࢢ ࣛ ࣇ (Fig.5d)ࢆ ẚ ㍑ ࡍ ࡿ 㸪 㔜ᚰ⨨࣭㏿ᗘ࣭ຍ㏿ᗘࡢᗙᶆࡽ㸪᳔Ꮚࡽ❧ࡕୖ ࡀ ࡗ ࡓ ᚋ ࡲ ࡛ ࡢ ᗙ ᶆ ࡢ ㌶ ㊧ ࡣ Fig.5d ྠ ᵝ ࡢ ഴ ྥ ࢆ ♧ ࡍࢹ࣮ࢱࡀฟࡓ㸬ࡼࡗ࡚㸪ࡇࢀࡽࡢࢢࣛࣇࡽ㸪 DOCTOR'S EYE ࡛ ィ ࡋ ࡓ ㉁ 㔞 ୰ ᚰ ࡢ ᗙ ᶆ ⨨ ࡛ ࡶ 㸪 㔜ᚰ⨨࣭㏿ᗘ࣭ຍ㏿ᗘࢆồࡵࡽࢀࡿྍ⬟ᛶࡀ࠶ࡿ㸬 Fig.5 c ❧ ࡕ ୖ ࡀ ࡾ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - c Fig.5a ❧ ࡕ ୖ ࡀ ࡾ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - a Fig.5d ❧ ࡕ ୖ ࡀ ࡾ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - d 4.2. 㛵⠇ ື స (❧䛱ୖ䛜䜚) Fig.6a-6c ࡣ 㸪⿕ 㦂 ⪅ ࡢ ❧ ࡕ ୖ ࡀ ࡾ ࡢ 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ ࢆ ィ ࡋ ࡓ CSV ࢹ ࣮ ࢱ ࡽ ⟬ ฟ ࡋ ࡓ ࢢ ࣛ ࣇ ࡛ ࠶ ࡿ 㸬 Fig.6d ࡣ ᩥ ⊩ [5] ࡽ ᘬ ⏝ ࡋ ࡓ ࢢ ࣛ ࣇ ࡛ ࠶ ࡾ 㸪 Fig.6a-6c ࡲ࡛ࡢࢢࣛࣇࡀṇࡋ࠸ẚ㍑ࡍࡿࡓࡵ⏝ࡋࡓ㸬 Fig.6a-6c ࡲ ࡛ ࡢ ィ ⟬ ࡣ 㸪⿕ 㦂 ⪅ ࡀ ᳔ Ꮚ ࡽ ❧ ࡕ ୖ ࡀ ࡿ ࡲ ࡛ ࡢ 㛵 ⠇ ᗙ ᶆ ࢆ ィ ⟬ ࡋ ࡓ ࢢ ࣛ ࣇ ࡛ ࠶ ࡿ 㸬 Fig.6d ⏝ ࠸ࡓࢢࣛࣇ❧ࡕୖࡀࡿ▐㛫ࡽ࠾ࡼࡑ 3 ⛊ᚋࡲ࡛ࢆ సᡂࡋࡓࢢࣛࣇẚ㍑ࡋ࡚࠸ࡿ㸬 Fig.6a-6d ࡢ ⮌ 㒊 㞳 ᗋ ௨ 㝆 ࡢ ࢢ ࣛ ࣇ 㒊 ศ ẚ ㍑ ࡍ ࡿ Fig.5b ❧ ࡕ ୖ ࡀ ࡾ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - b 㸪⭸㛵⠇ࡣ❧ࡕୖࡀࡗࡓᚋࡢ࣮࣓ࣔࣥࢺࡽୗࡀࡗ ࡚࠸ࡃഴྥ㢮ఝࡋࡓ⤖ᯝࡣฟࡓࡀ㸪ୗࡀࡗࡓᚋࡢᩘ ್ ࡀ Fig.6 d ࡢ ᵝ 0 ࢆ ୗ ᅇ ࡽ ࡎ 10Nm ࡲ ࡛ ࡛ ࠶ ࡗ ࡓ 㸬 ⫤ 㛵 ⠇ ࡣ 㸪 Fig.6d ㏆ ࠸ ᩘ ್ ࡲ ࡛ ୗ ࡀ ࡗ ࡓ ࡢ 㸪 ⭸ 㛵 ⠇ྠᵝࡢୗࡀࡾഴྥࡀࡳࡽࢀࡿ㸬ᗋຊࡣ㸪ᗋຊ ィࢆ⏝࠸ࡽࡎᗋ㠃ࡽࡢຊࢆ᥎ ࡋࡓ࠾ࡼࡑࡢ್࡛ ࠶ ࡿ 㸬㊊ 㛵 ⠇ ࡢ ࢹ ࣮ ࢱ ື ࡁ ࡀ ↓ ࠸ ࡢ ࡣ 㸪KINECT ver.1 ࡔ㛵⠇⨨ࢆṇ☜ㄞࡳྲྀࢀ࡞ࡗࡓࡀཎᅉ࡛㉳ ࡇ ࡗ ࡓ ࡉ ࢀ ࡿ 㸬ゎ ᾘ ࡍ ࡿ ࡣ 㸪⢭ ᗘ ࡀ ୖ ࡀ ࡗ ࡓ ver.2 ࡢ ⏝ ࡛ Fig.6d 㢮 ఝ ࡋ ࡓ ⤖ ᯝ ࡀ ฟ ࡿ ྍ ⬟ ᛶ ࡀ ࠶ ࡿ 㸬 Fig.6c ❧ ࡕ ୖ ࡀ ࡾ ࡢ 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ (య ᖿ ┤ ❧ ࡢ ❧ ࡕ ୖ ࡀ ࡾ ) - c Fig.6a ❧ ࡕ ୖ ࡀ ࡾ ࡢ 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ (య ᖿ ┤ ❧ ࡢ ❧ ࡕ ୖ ࡀ ࡾ ) - a Fig.6d ❧ ࡕ ୖ ࡀ ࡾ ࡢ 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ (య ᖿ ┤ ❧ ࡢ ❧ ࡕ ୖ ࡀ ࡾ ) - d TABLEϩ ࡣ 㸪 ⿕ 㦂 ⪅ a ࡢ ㌟ య ྛ ࢭ ࢢ ࣓ ࣥ ࢺ ࡢ 㛗 ࡉ ㄗ ᕪ ࡢ ⾲ 㸪Fig.7 ࡣ 㸪 ᐃ ࡋ ࡓ csv ࣇ ࣝ ࡢ ⦪ ㍈ ᪉ ྥ ᗙ ᶆ (Y ㍈ ᗙ ᶆ ) ࡽ 㦵 ࡢ 㛗 ࡉ ࢆ ィ ⟬ ࡋ ࡓ ࢢ ࣛ ࣇ ࡛ ࠶ ࡿ 㸬 Fig.6b ❧ ࡕ ୖ ࡀ ࡾ ࡢ 㛵 ⠇ ࣔ ࣮ ࣓ ࣥ ࢺ TABLE II. (య ᖿ ┤ ❧ ࡢ ❧ ࡕ ୖ ࡀ ࡾ ) - b ㌟యྛࢭࢢ࣓ࣥࢺࡢ㛗ࡉㄗᕪ DOCTOR'S ᕳᑻ ㄗᕪ EYE ⬗ య (㤳 㹼 ⭜ ) 37cm 55cm 18cm ᕥኴࡶࡶ 55cm 49cm -6cm ᕥࡍࡡ 38cm 41cm 3cm ❧ࡕୖࡀࡾࡢࢹ࣮ࢱࡽ Y ㍈᪉ྥࡢࡳࢆฟࡋ࡚࠸ࡿ ࡓࡵ㸪❧ࡕୖࡀࡾᚋࡢᕥኴࡶࡶࡢ㛗ࡉࡀṇࡋ࠸㛗ࡉ࡛ ࠶ࡿ㸬ᕥࡍࡡࡢ㛗ࡉࡣ㸪❧ࡕୖࡀࡾከᑡ▷ࡃࡣ࡞ ࡿࡀ㸪⭸ࢆ๓᪉ືࡋ࡚࠸ࡿࡓࡵࡑࡢศᗙᶆⅬࡀ▷ ࡃ ࡞ ࡾ 㸪❧ ࡕ ୖ ࡀ ࡿ ࡍ ࡡ ࡢ 㛗 ࡉ ࡣ ㏵ ୰ ▷ ࡃ ィ ࡉ ࢀ 㸪 ᗙࡗࡓࡢ≧ែࡢ㛗ࡉᡠࡿ㸬❧ࡕୖࡀࡾᚋࡢࢹ࣮ࢱ ࡽ㸪ᕥࡍࡡᕥኴࡶࡶࡢ㛗ࡉࡣᕳᑻ࡛ㄪࡓࡢ㛗 ࡉẚ㍑ࡋ࡚㸪వࡾኚࢃࡽ࡞࠸ࢹ࣮ࢱࡀฟࡓ㸬 Fig.8a ᗙ ࡾ ㎸ ࡳ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - a Fig.7 ㌟ య ྛ ࢭ ࢢ ࣓ ࣥ ࢺ ࡢ 㛗 ࡉ 4.3. ᗙ 䜚㎸䜏ື స ᐃ Fig.8a-8c ࡣ 㸪⿕ 㦂 ⪅ ࡀ ❧ ࡗ ࡓ ≧ ែ ࡽ ᳔ Ꮚ ᗙ ࡾ ㎸ ࡴࡲ࡛ࡢືసࢆィ ࡋࡓ㔜ᚰ⨨㸪㏿ᗘ㸪ຍ㏿ᗘࡢࢢ ࣛ ࣇ ࡛ ࠶ ࡿ 㸬 ⮌ 㒊 㞳 ᗋ ࡣ 㸪 ィ ࡋ ࡓ csv ࢹ ࣮ ࢱ ࢆ ⏕ Fig.8b ᗙ ࡾ ㎸ ࡳ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - b ࡋ࡚㸪᳔Ꮚ⭜ࡅࡓ㛫༳ࢆࡘࡅ࡚࠸ࡿ㸬㔜ᚰ ⨨ ࡣ 㸪 ࡢ ࢹ ࣮ ࢱ ࡶ Fig.8d 㢮 ఝ ࡋ ࡓ ್ ࢆ ♧ ࡋ ࡓ 㸬㏿ ᗘ ࡶ ྠ ᵝ 㸪 0.0m/s ࡽ ጞ ࡲ ࡾ 㸪 㔜 ᚰ ⨨ ࡀ ୗ ࡀ ࡿ ๓ ㏿ᗘࡀ࣐ࢼࢫാࡁ㸪㔜ᚰ⨨ࡀୗࡀࡗ࡚࠸ࡿ ࡣࡰᖹ⾜࡛࠶ࡾ㸪㔜ᚰ⨨ࡢኚࡀṆࡲࡗࡓࡽ 0.0m/s ᡠ ࡿ 㢮 ఝ ࢹ ࣮ ࢱ ࡀ ฟ ࡓ 㸬 ຍ ㏿ ᗘ ࡽ ࡶ 0.0m/s^2 ࡽ ጞ ࡲ ࡾ 㸪 ㏿ ᗘ ࢆ ฟ ࡍ ࡓ ࡵ ຍ ㏿ ࡋ ࡚ 㸪 ᳔ Ꮚ ᗙ ࡿ ๓ ῶ ㏿ ᗘ ࡀ ㉳ ࡇ ࡾ ᭱ ᚋ ࡣ 0.0m/s^2 ᡠ ࡿ 㸬 ㏿ᗘ࣭ຍ㏿ᗘࡀ࣐ࢼࢫ⾲グ࡞ࡿࡢࡣ㸪❧ࡕୖࡀࡾ ୖྥࡁࡣࡓࡽࡃ㏿ᗘ࣭ຍ㏿ᗘࢆࣉࣛࢫࡋ࡚࠸ ࡿ ࡽ 㸪 ୗ ᪉ ྥ (㏫ ᪉ ྥ ) ࡣ ࡓ ࡽ ࡃ ᗙ ࡾ ㎸ ࡳ ࡣ ㏿ ᗘ࣭ຍ㏿ᗘࡀ࣐ࢼࢫ࡞ࡿ㸬 ࡇ ࡢ ᐇ 㦂 ⤖ ᯝ ࡽ 㸪DOCTOR'S EYE ࢆ ⏝ ࡋ ࡚ ே ࡢ ᗙࡾ㎸ࡳືసࢆ ᐃࡋࡓ㛵⠇ࢹ࣮ࢱࡽసᡂࡋࡓࢢࣛ ࣇ࡛ࡶ㸪ᚑ᮶ࡢ㛵⠇ࡢィ ᪉ἲࡽฟࡍ᪉ἲ㐪ឤ ࡢ࡞࠸ࢢࣛࣇࡀసᡂྍ⬟ᛮࢃࢀࡿ㸬 Fig.8 c ᗙ ࡾ ㎸ ࡳ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - c ࡉ࡞࠸ィ ࡀྍ⬟᳨ドࡋ࡚࠸ࡃ㸬ࡑࡋ࡚㸪ࡇࡢ⨨ ࡀᚋࣜࣁࣅࣜࢸ࣮ࢩࣙࣥࡢศ㔝࡛ᗈࡃᛂ⏝ࡉࢀࡿࡇ ࢆᮇᚅࡋ࡚࠸ࡿ㸬 ࡇࡢ⤖ᯝࡢ୍㒊ࡣ㸪ᡃࠎࡢ࣮࣒࣮࣍࣌ࢪ࡚ᥖ㍕ࡋ ࡚ ࠸ ࡿ [6]㸬 ㅰ ㎡ ᮏ ◊ ✲ ࡣ 㸪 2013,2014 ᖺ ᗘ ⥲ ົ ┬ SCOPE ࣉ ࣟ ࢪ ࢙ ࢡ ࢺ 㺀 ㆤ ᨭ ே ᆺ ࢚ ࣮ ࢪ ࢙ ࣥ ࢺ ࡼ ࡿ ᆅ ᇦ ་ ⒪ ࢥ ࣑ ࣗ ࢽ ࢸ ࢿ ࢵ ࢺ ࣡ ࣮ ࢡ ࡢ ◊ ✲㛤 Ⓨ 㺁(ㄢ 㢟 ␒ ྕ 㸸 132303001) ࡽ ࡢ ᨭ ࢆ ཷ ࡅ ࡓ 㸬 ᩥ Fig.8d ᗙ ࡾ ㎸ ࡳ ࡢ ୖ ୗ ᪉ ྥ ⨨ /㏿ ᗘ /ຍ ㏿ ᗘ - d ୖグࢢࣛࣇࡢ୍㒊㸪≉ຍ㏿ᗘ࠾࠸࡚ືࡀࡳࡽ ࢀ ࡿ 㸬 ࡑ ࡢ ⌮ ⏤ ࡣ 㸪 KINECT ࡽ ྲྀ ᚓ ࡋ ࡓ ᗙ ᶆ ㍈ Y ᗙ ᶆࡽ㸪㏿ᗘࡉࡽຍ㏿ᗘࢆ⟬ฟࡋ࡚࠾ࡾ㸪Y ㍈ ᐃ ್ࡢᑠࡉ࡞ኚືࡀືࡋ࡚࠸ࡿᛮࢃࢀࡿ㸬 5. ࠾ ࢃ ࡾ KINECT DOCTOR'S EYE ࢆ ⏝ ࡋ ࡚ 㸪⿕ 㦂 ⪅ ࡢ ❧ ࡕୖࡀࡾ࣭ᗙࡾ㎸ࡳືసࢆィ ࡋࡓᗙᶆࢹ࣮ࢱࡽ࡛ ࡶᚑ᮶ࡢィ ᪉ἲྠᵝࡢ ᐃ⤖ᯝࢆฟࡏࡿࡇࡀศ ࡗ ࡓ 㸬 ᚋ ࡣ 㸪㛵 ⠇ ᐃ ࡢ ⢭ ᗘ ࡀ 㧗 ࡃ ࡞ ࡗ ࡓ KINECT ver.2 ࡛ ࡶ ᐃ ྍ ⬟ ࡉ ࡏ ࡚ 㸪 ࢀ ࡔ ࡅ 㛵 ⠇ ࡢ ㄗ ᕪ ࢆ ฟ ⊩ [1] KINECT for Windows ࢭ ࣥ ࢧ ࣮ බ ᘧ ࢧ ࢺ http:// www.microsoft.com/ en-us/kinectforwindows/ [2] N. Kitunezaki 㸪 E.Adachi 㸪 T.Masuda 㸪 J.Mizusawa 㸪 “KINECT Applications for The Physical Rehabilitation“㸪 MeMeA pp.294-299㸪 (2013) [3] Ᏻ 㐩 ᏹ ᖾ 㸪 ୰ ᒣ ᰤ ⣧ 㸪 Ⳣ ⏕ ㄔ 㸪 Ỉ ⃝ ⣧ ୍ 㸪 “ KINECT ࢆ ⏝ ࠸ ࡓ 㛵 ⠇ ୕ ḟ ඖ ࣜ ࣝ ࢱ ࣒ ᐃ ᐇ 㦂 ࡢ ሗ࿌ ”㸪 㟁 Ꮚ ሗ ㏻ ಙ Ꮫ ᢏ ⾡ ሗ ࿌ pp.26-29㸪 MBE2014-32(2014-7)㸪 [4] Ᏻ 㐩 ᏹ ᖾ 㸪 ୰ ᒣ ᰤ ⣧ 㸪 Ⳣ ⏕ ㄔ 㸪 Ỉ ⃝ ⣧ ୍ 㸪 “ KINECT ࣭ ⮬ ㉮ ࣟ ࣎ ࢵ ࢺ ࢆ ⏝ ࡋ ࡓ Ṍ ⾜ ࢹ ࣮ ࢱ ࡢ ྲྀ ᚓ ” 㸪 㟁 Ꮚ ሗ ㏻ ಙ Ꮫ ᢏ ⾡ ሗ ࿌ pp.25-30 㸪 MICT2014-50(2014-10)㸪 [5] Ụ ཎ ⩏ ᘯ 㸪 ᒣ ᮏ Ꮚ 㸪 ࣎ ࢹ ࢲ ࢼ ࣑ ࢡ ࢫ ධ 㛛㸪❧ࡕୖࡀࡾືసࡢศᯒ㸪་ṑ⸆ฟ∧ᰴᘧ ♫ pp34-37 [6] ㆤ ᨭ ࣍ ࣮ ࣒ ࣌ ࣮ ࢪ http://morpholab.ahs.kitasato-u.ac.jp/adachilabHP /scop es/index.html
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