LEG STATE DETECTION DEVICE, LEG STATE DETECTION METHOD, AND LEG STATE DETECTION PROGRAM

摘要

PROBLEM TO BE SOLVED: To accurately detect a state of a subject's idle leg in a subject's one-leg standing motion.SOLUTION: A leg state detection device 1 is a device for detecting a state of an idle leg of a subject X when the subject X changes his or her posture between a both-legs standing posture and a one-leg standing posture. The leg state detection device 1 includes: a laser range sensor 10; a leg width information acquisition unit 23 acquiring over time leg width information indicating a leg width of an idle leg on the basis of distance information acquired by the laser range sensor 10; and a heel separation detection unit 27 detecting heel separation, which is a state of the idle leg's heel separated from a floor face, based on the leg width information acquired by the leg width information acquisition unit 23. The heel separation detection unit 27 determines, as a heel separation time T, a time k at which a change amount of an idle leg's leg width wfrom the idle leg's leg width in the both-legs posture becomes a threshold &Dgr;or larger when the subject X changes his or her posture from the both-legs posture.SELECTED DRAWING: Figure 1