US Patent 11406086 Device, method, and program for detecting injury of quadruped

A method for detecting an injury of a quadruped includes: receiving measured data that is based on a gait of the quadruped and includes acceleration in a top-bottom direction and acceleration in a front-back direction; determining timings of putting legs of the quadruped on the ground based on the acceleration in the top-bottom direction, included in the received measured data, and determining whether or not each of the legs is injured based on values, corresponding to the determined timing of putting the legs on the ground, of the acceleration in the front-back direction.