JP5496497B2 - Mobile floor reaction force measuring device - Google Patents

Description

  The present invention relates to a mobile floor reaction force measuring device that measures a force applied in an XYZ axis direction and a moment around the XYZ axis, and more specifically, a joint applied to a human leg based on a reaction force from the floor. The present invention relates to a movable floor reaction force measuring apparatus that can estimate moments, muscle strength, and the like.

  In recent years, in fields such as rehabilitation, welfare, and sports, footwear that can estimate the walking state of human beings, moments applied to lower limb joints, muscle strength applied to lower limbs, and reaction force measurement devices attached to the footwear have been proposed. (Patent Document 1).

Among such reaction force measuring device, JP 2007-108079, as shown in FIG. 9, the reaction force measuring device is disclosed which is attached to the side bottom surface (the surface in contact with the floor surface) of the footwear 5 .

  This reaction force measuring device is configured by attaching a plurality of reaction force sensors 70 between two upper and lower upper plates 6u and 6d on which an external force acts. XYZ direction force is output based on the above, and moments about the X axis, the Y axis, and the Z axis can be measured based on the distance from each reaction force sensor 70 and the difference in force.

Further, in Patent Document 1, in order to improve the stability during walking, a sensor unit 71 and a sensor unit 72 are separately provided at two locations, ie, a heel portion and a tip portion of the foot. By capturing the positions of the markers 8 provided at 71 and 72 with a camera, the reaction force and moment from the floor can be measured.
Japanese Unexamined Patent Publication No. 2007-108079 (FIGS. 17, 22, etc.)

  However, the method of measuring the reaction force from the floor using the reaction force measuring device as described above has the following problems.

That is, as described above, when the sensor unit is attached to the heel portion and the tip portion of the foot, the posture of each sensor unit changes during walking, and the reaction force and moment along the XYZ axis directions are accurately calculated. It becomes impossible to measure. Specifically, when a person walks, as shown in the lower diagram of FIG. 8 , the heel portion comes into contact with the floor surface. In this case, the sensor unit of the heel portion is in a state substantially parallel to the floor surface. On the other hand, the sensor unit on the front end side is inclined with respect to the floor surface. That is, the output value of the sensor unit on the heel side is output on the XYZ coordinate axes with reference to the floor surface, while the sensor unit on the tip side outputs on the XYZ axes inclined with respect to the floor surface. If the output value of the sensor unit on the front end side is measured as a value along the XYZ axis direction, an error occurs. On the other hand, when the next step is taken, similarly, as shown in the upper diagram of FIG. 8 , if the detection value is output from the sensor unit with the heel portion lifted, the value is different from the XYZ coordinate axes based on the floor surface. Will be output.

  Furthermore, in the method of Patent Document 1, since the sensor unit is attached with a marker and photographed with a camera, the place where measurement can be performed is limited to a narrow range within the viewing angle of the camera. That is, in the method using the camera and the marker, a method of obtaining the coordinates in three dimensions by processing the data measured by two or more cameras is often used, but if the measurement method using the camera is used, the walking distance However, it is limited to the range of the viewing angle of the camera. For this reason, at least four units are necessary for measurement with both feet even in limited walking, and in order to measure a certain number of steps, the number of cameras must be increased, and huge equipment costs are required. It will take.

  Therefore, in order to solve the above problems, the present invention can configure a device at a relatively low cost without using a camera, and can accurately measure a reaction force or moment from the floor surface. An object of the present invention is to provide a movable reaction force detection device.

That is, in order to solve the above-mentioned problems, the present invention is a movable floor reaction that is attached to a subject's foot and measures a force in three orthogonal directions and a moment around each axis based on a reaction force from the floor surface. In the force measuring device, a plurality of sensor units that are provided separately on the heel side of the foot and the tip side of the foot and measure the reaction force in the three orthogonal directions and the moment about each axis, and each of the sensors A posture detection sensor for detecting the posture of the unit, a reaction force in three axial directions measured by a sensor unit on the heel side of the foot and a tip side of the foot, and a moment around each axis are used to move the floor surface by each sensor unit. And a correction unit that corrects the reaction force and moment in the reference stationary coordinate system .

In addition, the posture detection sensor according to the invention includes a gyro sensor and an acceleration sensor that corrects an integral value of the gyro sensor.

According to the present invention, it is possible to detect the attitude of the distal end side of the sensor unit of the heel or foot of the foot by the attitude detection sensor, accurate floor even when the legs of the ground state is changed during walking It is possible to measure the reaction force and moment received from. Moreover, since it is not necessary to detect the position with the camera, the device can be configured at low cost, and the data acquisition range is not limited to within the viewing angle of the camera, so the reaction force and moment can be measured over a wide range. Will be able to.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings .

As shown in FIG. 8, the mobile floor reaction force measuring device 100 in this embodiment is used by being attached to the back surface of footwear 5 such as shoes and sandals, on the heel side of the foot and the tip side of the foot. Two independent sets of sensor units 101 and 102 are attached so that force from each sensor unit 101 and 102 in the XYZ-axis directions and moments about the three axes can be output. Then, using the output value and the output value of the posture sensor (not shown) provided on the lower leg and thigh other than this, it is possible to measure the load on the muscles and joints of the human lower limb that performs rehabilitation etc. It is a thing. Hereinafter, the configuration of the movable floor reaction force measuring apparatus 100 according to the present embodiment will be described in detail.

The sensor units 101 and 102 constituting the movable floor reaction force measuring apparatus 100 are provided with a reaction force sensor 10 between an upper plate and a lower plate, and the floor surface is determined based on an output value from each reaction force sensor 10. The reference force in the XYZ directions and the moments around each axis can be measured . In here, the upper plate and the lower plate is a metal plate or a hard plastic, and a relatively hard material such as ceramic. At this time, if the upper plate and the lower plate are made of a relatively soft material, a large load is applied only to the specific reaction force sensor 10, and the load cannot be endured. On the other hand, if the reaction force sensor 10 is enlarged so as to be able to withstand this load, the size of the reaction force sensor 10 increases the state of the foot as when the boots are worn, making natural walking difficult. Therefore, by configuring the upper plate and the lower plate with a hard material, the load applied to each reaction force sensor 10 can be dispersed, the reaction force sensor 10 itself can be made smaller, and the distance between each reaction force sensor 10 can be reduced. The moment can be measured by the load.

The upper plate and the lower plate are attached to the footwear 5 in a state where the upper plate and the lower plate are separated into the heel side and the tip side of the foot so as to give freedom to the movement of the foot during human walking. Of the upper plate and the lower plate , the upper plate is detachably attached to the back surface of the footwear 5 via a hook-and-loop fastener or the like. Further, the lower surface of the lower plate, in order to improve the cushioning properties of the floor, such as a rubber plate is attached to the lower surface side. The upper plate may be attached to the back surface of the footwear 5 by other methods, and the lower surface side of the lower plate may be provided with cushioning properties by attaching a nonwoven fabric such as felt.

As the reaction force sensor 10 attached between the upper plate and the lower plate , a sensor capable of measuring forces in three orthogonal directions is used. Here, the three orthogonal axes indicate each axis of the orthogonal coordinate system based on the floor surface, and measure reaction forces in the XY direction along the floor surface and in the Z direction perpendicular to the floor surface. . Further, in this embodiment, the reaction force sensor 10 uses the reaction force sensor 10 as shown below. However, any other reaction force sensor can be used as long as it can measure reaction forces in the XYZ directions. It may be a thing.

FIG. 2 shows an external perspective view of the reaction force sensor 10 in this embodiment. The reaction force sensor 10 shown in FIG. 2 has a size of about 1 cm × about 1 cm in length and width, and a thickness of about 0.5 cm to 1.0 cm. Leg portions 12-15 extending radially outward from the center of the leg portion and eight pieces attached to both side surfaces of the leg portions 12-15 so as to detect displacement in the longitudinal direction of the leg portions 12-15 The first strain gauges 21 to 28 and the second strain gauges 31 to 38 attached at an angle of about 45 degrees with respect to the longitudinal direction of the leg portions 12 to 15 are included. In FIG. 2 , the first strain gauges 22, 23, 25, 28 and the second strain gauges 32, 33, 35, 38 are not shown because they are provided on the back side of the leg portions 12-15. And in such a structure, based on the displacement of the member penetrated into the tap hole of the center part, it is possible to detect the forces in the three axial directions orthogonal to each other.

Here, these leg parts 12-15 are comprised by the vertically long planar shape which has some clearance gaps from the bottom face part of the frame 16, and can endure the big load concerning a thickness direction (Z 'direction in FIG. 2 ) by this. I am doing so. The first strain gauges 21 to 28 attached to the eight sides on each side of the legs 12 to 15 are attached in the longitudinal direction, and are shown in FIGS. 5 and 6 by the first strain gauges 21 to 28 . By configuring the bridge circuit 41, a load applied in the X ′ direction and the Y ′ direction can be detected. Here, the X′Y′Z ′ direction is the left-right width direction and the thickness direction of the reaction force sensor 10. In addition, the second strain gauges 31 to 38 are attached at eight positions so as to form an oblique 45 degrees on each side surface of the leg portions 12 to 15 and detect a load applied in the Z ′ direction or the oblique direction. When the second strain gauges 31 to 38 are attached to the both side surfaces, they are attached so that the direction of the front surface side and the direction of the back surface side are reversed, and the second strain gauges 31 to 38 in FIG. A bridge circuit 42 as shown is formed, and a load in the Z ′ direction is detected by a change in the resistance value of the bridge circuit 42.

The reaction force sensor 10 will be described in detail . A bridge circuit 41 shown in FIG. 5 is formed by the first strain gauges 21, 22, 25, 26 provided on the pair of opposing legs 12, 14 . A bridge circuit 41 shown in FIG. 7 is formed by the first strain gauges 23, 24, 27, and 28 provided on the pair of leg portions 13 and 15 that face each other adjacent to each other. On the other hand, as shown in FIG. 7 , the second strain gauges 31 to 38 provided on the front and back of the same leg portions 12 to 15 are arranged in series for the bridge circuit 42 by the second strain gauges 31 to 38 . The bridge circuit 42 is formed so that the second strain gauges 31 to 38 of the leg portions 12 to 15 facing each other face each other.

Here, a case where a force is applied to the center will be described. When the force _FZ is applied in the Z′-axis direction, the central portion moves in the Z′-axis direction, and the leg portions 12 to 15 are bent. As a result, the first strain gauges 21, 22, 25, 26 and the second strain gauges 31, 32, 35, 36 change so as to extend, and the resistance value increases. On the other hand, the first strain gauges 23, 24, 27, and 28 change in the direction in which the length increases, that is, the direction in which the resistance value increases, and the second strain gauges 33, 34, 37, and 38 have a length in the direction. It changes in the direction of shrinking, and changes in the direction of decreasing the resistance value. Thus, when the length of each strain gauge changes, the bridge circuit 42 formed by the second strain gauges 31 to 38 can detect a change in the Z′-axis direction. On the other hand, no change in the Z ′ direction is detected in the bridge circuit 41 formed by the first strain gauges 21 to 28. That is, when the increase in resistance value of the first strain gauges 21 to 28 is equal, the output voltage does not change, and the output voltage does not change for the first strain gauges 21 to 28 as well.

  When a force is applied in the Y′-axis direction, the leg portion 12 is compressed, the leg portion 14 changes so as to extend, and the leg portion 13 and the leg portion 15 change in a bending direction. As a result, the first strain gauges 21, 22 and the second strain gauges 31, 32 change in the direction in which the length contracts, and the resistance value decreases. On the other hand, since the first strain gauges 25 and 26 and the second strain gauges 25 and 36 change in the direction in which the length increases, the resistance value increases. Further, since the first strain gauges 24 and 27 and the second strain gauges 34 and 37 change in the direction in which the length increases, the resistance value increases. On the other hand, the first strain gauges 23 and 28 and the second strain gauges 33 and 38 change in the direction in which the length is reduced, and the resistance value decreases.

When the length of the leg portions 12 to 15 is changed in this way, a change in the Y′-axis direction is detected by the bridge circuit 41 ( FIG. 5 ) formed by the first strain gauges 21, 22, 25, and 26 . The output voltage is changed by increasing the resistance of the first strain gauges 25 and 26 and decreasing the resistance of the first strain gauges 21 and 22.

On the other hand, in the bridge circuit 41 ( FIG. 6 ) formed by the first strain gauges 23, 24, 27, and 28, no change in the Y′-axis direction is detected. This is because if the magnitude of the resistance decrease of the first strain gauges 23 and 28 is equal to the magnitude of the resistance increase of the first strain gauges 24 and 27, the output voltage cannot be changed. In this way, the reaction force sensor 10 can detect the force in the Y′-axis direction, and can detect the force in the X ′ direction in the same manner in the X ′ direction.

  In this manner, the reaction force acting in the X′Y′Z ′ direction is detected by the reaction force sensor 10 including the first strain gauges 21 to 28 and the second strain gauges 31 to 38.

The reaction force sensors 10 are arranged in at least three or more places so as not to be positioned on a straight line with respect to the upper plate and the lower plate . Here, the reaction force sensor 10 is attached in a regular triangle shape, and the reaction force and moment at the center of gravity of the sensor units 101 and 102 are thereby measured.

The calculation unit 103 (see FIG. 1 ) measures the reaction force and moment at the center of gravity of each sensor unit 101, 102 based on the output value from each sensor unit 101, 102. Here, each sensor unit 101 , 102, the reaction forces in the X′Y′Z ′ direction are F _{1X ′} , F _{2X ′} , F _{3X ′} , the reaction forces in the Y ′ direction are F _{1Y ′} , F _{2Y ′} , F _{3Y ′} , and the Z ′ direction Where F _{1Z ′} , F _{2Z ′} and F _{3Z ′} are measured, the reaction force at the gravity center positions G1 and G2 of the sensor units 101 and 102 is measured by the following equation. Here, F _11m , F _12m , and F _13m (m = X ′, Y ′, Z ′) are the m-axis directions (m = X ′, Y ′, Z ′) of the reaction force sensors 10 in the sensor unit 101. F _21m , F _22m , F _23m (m = X ′, Y ′, Z ′) are the m-axis directions (m = X ′, Y) of each reaction force sensor 10 in the sensor unit 102. ', Z').
F _{1X ′} = F _{11X ′} + F _{12X ′} + F _{13X ′
F1Y '} = _F11Y' + _{F12Y '} + _F13Y'
F _{1Z '} = F _11Z' + F _{12Z '} + F _13Z'
F _{2X '} = F _21X' + F _{22X '} + F _{23X'
F2Y '} = _F21Y' + _{F22Y '} + _F23Y'
F _{2Z '} = F _21Z' + F _{22Z '} + F _{23Z '}

Further, moments about the X′Y′Z ′ axis with respect to the gravity center positions G1 and G2 of the sensor units 101 and 102 are expressed by the following equations. Here, L _11m , L _12m , L _13m (m = X ′, Y ′, Z ′) are from each reaction force sensor 10 in the sensor unit 101 to the m-axis (m = X ′, Y ′, Z ′). L _21m , L _22m , L _23m (m = X ′, Y ′, Z ′) are m-axis (m = X ′, Y ′, Z ′).
M _{1X '} = F _11Z' × L _{11X '} + F _12Z' × L _{12X '} + F _13Z' × L _{13X '}
M _{1Y '} = F _11Z' x L _{11Y '} + F _12Z' x L _{12Y '} + F _13Z' x L _{13Y '}
M _{1Z '} = F _11X' x L _{11Z '} + F _12X' x L _{12Z '} + F _13X' x L _{13Z '} + F _11Y' x L _{11Z '} + F _12Y' x L _{12Z '} + F _13Y' x L _{13Z '}
M _{2X '} = F _21Z' × L _{21X '} + F _22Z' × L _{22X '} + F _23Z' × L _{23X '}
M _{2Y '} = F _21Z' x L _{21Y '} + F _22Z' x L _{22Y '} + F _23Z' x L _{23Y '}
M _{2X '} = F _21X' x L _{21Z '} + F _22X' x L _{22Z '} + F _23X' x L _{23Z '} + F _21Y' x L _{21Z '} + F _22Y' x L _{22Z '} + F _23Y' x L _{23Z '}

  These values are measured every sampling time by the CPU in the calculation unit 103 and output to the correction unit 104.

The correcting unit 104 measures the reaction forces and moments in the X ′, Y ′, and Z ′ directions of the output sensor units 101 and 102 as reaction forces and moments in a stationary coordinate system with the floor as a reference. . When this correction processing is performed, one common posture detection sensor 107 is provided for each of the sensor units 101 and 102, and the coordinates and postures of the sensor units 101 and 102 with respect to the floor surface based on the output value from the posture detection sensor 107. Is output. The attitude detection sensor 107 may be any sensor that can output the relative positional relationship and attitude of the sensor units 101 and 102, such as a gyro sensor or an acceleration sensor. Is used. The posture detection sensor 107 is fixedly attached to the upper plate or the lower plate , and the output value is output to the correction unit 104.

  Here, when the gyro sensor is used, the angular velocity of the sensor units 101 and 102 to which the gyro sensor is attached can be detected, and the sensor unit 101 to which the gyro sensor is attached by integrating the angular velocity with the sampling time. The posture of 102 can be detected. That is, it is possible to detect a change in posture from the XYZ coordinates with the floor as a reference. However, in this integration process, an error occurs with the passage of time, and there is a possibility that the error is greatly deviated from the normal posture by accumulating the errors.

  Therefore, an acceleration sensor can be used together. This acceleration sensor measures the sum of the component of gravity acceleration and the component of acceleration generated by movement, and uses a sensor that measures only the gravitational acceleration in a stationary state. At this time, if the acceleration sensor is tilted, the gravitational component changes. Therefore, if the acceleration sensor is known to be stationary, the tilt posture can be measured. Since the acceleration sensor is stationary when the two sets of sensor units 101 and 102 are in contact with the floor surface, the inclination obtained by integrating the angular velocity by the gyro sensor can be corrected. Whether or not the two sets of sensor units 101 and 102 are in contact with the floor surface can be determined by the output of the reaction force sensor 10 in the Z ′ direction. In this way, errors that occur when integrating the gyro sensor can be suppressed.

  The ground contact state between the two sets of sensor units 101 and 102 can be grasped from the Z ′ direction output of the reaction force sensor 10 and the output of the attitude detection sensor 107. If the grounding state and posture are known, the coordinate value and posture of each sensor unit centroid in the stationary coordinate system with the sensor units 101 and 102 on the floor as a reference position can be obtained. It is possible to obtain a floor reaction force in a stationary coordinate system with reference to.

  Then, the reaction forces and moments of the XYZ axes measured by the sensor units 101 and 102 are output to the arithmetic unit 106 via the output unit 105, where the output values and other than these, the lower leg and By detecting the posture of the thigh, the load on the lower limb of the subject and the moment on the joint are measured. At this time, reaction forces and moments from the sensor units 101 and 102 may be output, or reaction forces applied to the position of the center of gravity of the entire foot may be calculated and output. Moreover, when outputting to the arithmetic device 106 via this output part 105, you may make it output via a communication cable, or you may make it output to the arithmetic device 106 by radio | wireless.

  Next, a usage example of the movable floor reaction force measuring apparatus 100 configured as described above will be described.

First, the subject puts on the footwear 5 prior to use, and the sensor units 101 and 102 provided on the back surface of the footwear 5 are in a horizontal state ( the middle diagram in FIG . 8 ). In this state, the acceleration sensor Measures only the gravitational acceleration and corrects the tilt by the gyro sensor. At this time, a human load is applied to each of the sensor units 101 and 102, and a moment is output from the reaction force sensor 10 of each sensor unit 101 and 102 in the XYZ direction reaction force with respect to the floor surface.

Next, when the subject starts walking, the heel side of the foot is lifted as shown in the lower diagram of FIG. At this time, the sensor unit 101 on the heel side is inclined by θ _1X , θ _1Y , θ _1Z with respect to the floor surface, and when the heel is slightly in contact with the floor surface, the reaction force or moment from the floor surface is Receive. At this time, the reaction force and moment output from the reaction force sensor 10 on the sensor unit 101 side are inclined with respect to the floor surface, and therefore, in a stationary coordinate system based on the floor surface via the correction unit 104. Correct to the reaction force and moment. On the other hand, since the sensor unit 102 on the front end side is in a horizontal state with the floor surface, the output value of the reaction force in the vertical direction does not change even if correction is performed via the correction unit 104.

  Next, when the subject lands from the heel side, the sensor unit 101 on the heel side is substantially horizontal with the floor surface, while the sensor unit 102 on the distal end side is inclined with respect to the floor surface. At this time, since the reaction force and moment output from the reaction force sensor 10 on the sensor unit 102 side are inclined with respect to the floor surface, coordinate conversion is performed via the correction unit 104 and the floor surface is used as a reference. Correct the reaction force and moment in the stationary coordinate system. On the other hand, since the sensor unit 101 on the heel side is in a horizontal state with the floor surface in this state, even if correction is performed via the correction unit 104, the output values of the reaction force and the moment do not change.

  Then, the reaction force and moment corrected through the correction unit 104 in this way are output to the arithmetic unit 106 through the output unit 105, and the output value and the posture of the lower leg, thigh, etc. are detected separately. To measure the load on the lower limb of the subject and the moment on the joint.

As described above, according to the above-described embodiment, the mobile floor reaction force measurement is performed that measures the forces in the three axial directions and the moments about the respective axes based on the reaction force from the floor surface attached to the subject's feet. In the apparatus 100, a plurality of sensor units 101 and 102, which are separately provided on the heel side of the foot and the distal end side of the foot, and measure the reaction force in the three orthogonal directions and the moment about each axis, The reaction force in the three axial directions measured by the posture detection sensor 107 for detecting the posture of each sensor unit 101, 102, the sensor unit 102 on the heel side of the foot and the tip side of the foot, and the moment about each axis since so and a correcting unit 104 for correcting a reaction force and moment in the still coordinate system based on the floor surface by the sensor unit, the attitude detection sensor 107 The posture of the sensor unit 102 on the heel side or the tip of the foot can be detected, and the reaction force and moment received from the floor surface can be accurately measured even when the ground contact state of the foot changes during walking. it can. Moreover, since it is not necessary to detect the position with the camera, the device can be configured at low cost, and the data acquisition range is not limited to within the viewing angle of the camera, so the reaction force and moment can be measured over a wide range. Will be able to.

  In addition, this invention can be implemented in various aspects, without being limited to the said embodiment.

For example, according to the embodiment, three reaction force sensors 10 are provided between the upper plate and the lower plate , but the number of reaction force sensors 10 is not limited to three. Four or more may be provided. At this time, each reaction force sensor 10 may be arranged in a place where a load is easily applied.

  In the above embodiment, the sensor units 101 and 102 are provided on the heel side and the front end side. However, the sensor units 101 and 102 may be further divided and provided on the back surface of the footwear 5.

  Further, in the above embodiment, the sensor units 101 and 102 are attached between the back surface and the floor surface of the footwear 5, but the sensor units 101 and 102 may be provided below the insole of the footwear 5. Good.

  In addition, in the above embodiment, a gyro sensor, an acceleration sensor, or the like is used as the posture detection sensor 107. However, it is possible to measure the angle and position between each sensor unit 101, 102 and the floor surface. Any type may be used.

Functional block diagram of a mobile floor reaction force measuring device according to an embodiment of the present invention External perspective view of reaction force sensor used in sensor unit of same form The figure which shows the strain gauge attached to the leg part of the reaction force sensor of the same form The figure which shows the strain gauge in the back surface side of FIG. The figure which shows the bridge circuit of the same form The figure which shows the bridge circuit of the same form The figure which shows the bridge circuit of the same form Diagram showing human walking state Reaction force measuring device in conventional example

DESCRIPTION OF SYMBOLS 100 ... Mobile floor reaction force measuring device 101, 102 ... Sensor unit 10 ... Reaction force sensor 11 ... Frame part 12-15 ... Leg part 21-28 ... First distortion Gauges 31-38 ... Second strain gauges 41, 42 ... Bridge circuit 103 ... Calculation unit 104 ... Correction unit 105 ... Output unit 106 ... Calculation device 107 ... Attitude detection Sensor 5 ... Footwear

Claims (2)

In a mobile floor reaction force measuring device that is attached to the subject's foot and measures the forces in the three axial directions orthogonal to each other based on the reaction force from the floor surface and the moment about each axis,
A plurality of sensor units that are separately provided on the heel side of the foot and the tip end side of the foot, and that measure the reaction force in the three orthogonal directions and the moment about each axis;
An attitude detection sensor for detecting the attitude of each sensor unit;
The reaction force in the triaxial direction measured by the sensor unit on the heel side of the foot and the tip end side of the foot and the moment about each axis are reflected in the stationary coordinate system based on the floor surface by each sensor unit. A correction unit for correcting as a moment;
A movable floor reaction force measuring device characterized by comprising: The mobile floor reaction force measuring device according to claim 1, wherein the posture detection sensor includes a gyro sensor and an acceleration sensor that corrects an integral value of the gyro sensor.

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