JP3899403B2 - Balance training equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a balance training apparatus that trains a sense of balance by swinging a board on which a person rides.
[0002]
[Prior art]
Conventionally, as a balance training apparatus that operates actively, an apparatus that is assumed to be used in a sitting position (for example, see Japanese Patent Publication No. 2000-102523), or that has a complicated link mechanism (see Japanese Patent Publication No. 2001-286578) )It has been known.
[0003]
[Problems to be solved by the invention]
Conventionally actively operated balance training devices can only perform training in the sitting position, and there is a problem that it is difficult to perform training of the legs, which is indispensable for adjusting the sensation balance. Also, the mechanism for controlling the swing is complicated, such as using a plurality of links, and there is a problem that the risk of equipment failure is high. In addition, there is a problem that the three organs that control human balance, the semicircular canal, vision, and deep sense cannot be individually trained.
[0004]
In order to enable leg training, the present invention realizes the movement of the board by rotating in the body side direction with a person on top, and eliminates a complicated link mechanism, assuming use in a standing position. The purpose is to make it possible. Furthermore, it aims to realize the individual training of the three organs that control human balance, the semicircular canal, vision, and deep sensation.
[0005]
Here, the deep sensation is a sensation in which a part of the body of a person who is trained knows the position taken with respect to other parts, and belongs to the self-accepting sensation. It is performed by receptors such as skin tactile receptors, muscle spindles, subcutaneous Pasini bodies, and free nerve endings (Exhibit: Latest Medical Dictionary 2nd edition).
[0006]
[Means for Solving the Problems ]
In order to solve the above-mentioned problems, the present invention provides a plate (1) on which a person is placed , and a motor attached to the plate so that its axis is in the center in the width direction of the plate and is parallel to the upper surface of the plate. And a motor (2) for driving the plate to tilt about the axis of the rotary shaft, and rotation of the tilt when the plate is tilted about the axis of the rotary shaft. The rotation angle sensor (3) for measuring the angle , the torque measurement mechanism for measuring the torque centered on the rotation axis applied to the plate by the human action, and the respective outputs of the rotation angle sensor and the torque measurement mechanism are A motion model analysis unit (5) for determining a target rotation angle of inclination about the axis of the rotation shaft that is inputted and a force applied by a person to the plate and a rotation force of the motor are balanced ; the preset motion model, the plate, the upper So that the target rotation angle determined by the model analysis unit, to provide a balance exercise machine in standing position and a sitting position state characterized motor control unit (6), in that it consists of controlling the motor.
[0007]
The plate (1) rotates about a rotation axis parallel to the upper surface of the plate.
[0008]
It is good also as a structure where the upper surface of the said board (1) corresponds with a rotating shaft center.
[0009]
It is good also as a structure which the upper surface of the said board (1) exists in a fixed distance from a rotating shaft center.
[0010]
The torque measuring mechanism may include a force plate (41) in which a sensor for measuring a load applied to the plate (1) and a sensor for measuring the center position of the load are integrated.
[0011]
The torque measuring mechanism may have a configuration in which a sensor (42) for measuring torque applied to the plate (1) is attached to a shaft of a motor (2) that drives the plate (1).
[0012]
It is good also as a structure which has the motion model analysis part (5) which gave the spring constant, the viscous damping coefficient, and the moment of inertia to the operation | movement of the said board (1).
[0013]
It is good also as a structure which has the motor control part (6) which puts a person on top and controls the board (1) according to the equilibrium angle calculated by the said motion model analysis part (5). Here, the equilibrium angle is an angle at which the force applied by a person and the rotational force of the motor are balanced.
The balanced angle changes by increasing or decreasing the rotational force.
[0014]
The balance device can individually train the three organs that control the balance function of the person, the semicircular canal, vision, and deep sensation.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Embodiments of a balance training apparatus according to the present invention will be described based on examples with reference to the drawings. FIG. 1 is a diagram illustrating Example 1 of a balance training apparatus. This balance training device swings a person on a board and actively moves in the standing and sitting positions, so that the three organs that control the person's balance function, the semicircular canal, vision, and deep sense are individually To be able to train.
[0016]
The balance training apparatus includes a board (1) with a person (4) on top, a motor (2) that drives the board (1), a rotation angle sensor (3) that measures the rotation angle of the board, and a board. A torque measurement mechanism for measuring the torque applied to the motor, a motion model analysis unit (5) for determining a target rotation angle of the plate from the torque, and a motor control unit (6) for controlling the motor by a predetermined motion model Has been. As will be described later, the torque measuring mechanism may be calculated by measuring the force of the left and right feet applied to the plate (1) by the force plate (41), or commercially available on the rotating shaft of the motor (2). You may utilize what attached the torque sensor (42).
[0017]
A clamp (7) is clamped and attached to the center in the width direction of the rear edge of the plate (1). The rotation axis of the motor (2) is placed on the rear surface of the clamp (7) so that the center of the rotation axis is in the center of the width direction of the plate (1) and parallel to the upper surface of the plate (1). Fix by appropriate fixing means.
[0018]
In this case, the rotation axis may be fixed to the rear surface of the clamp (7) so that the center of the rotation axis coincides with the upper surface of the plate (1). It is good also as a structure fixed to the rear surface of a clamp (7) so that it may be at a fixed distance from an upper surface. With this configuration, the plate (1) can swing about the rotation axis when a person rides on the plate (1), and the plate is actively tilted by the motor (2). Can be made. The motor (2) is configured to be operated and controlled from the outside.
[0019]
As described above, the torque measuring mechanism has a configuration using a force plate (41) as shown in FIG. 1 and a configuration using a commercially available rotational torque sensor (42) as shown in FIG.
[0020]
In FIG. 1, the torque measuring mechanism using the force plate (41) includes a force plate (41) and an arithmetic processing unit (not shown). A force plate (41) is provided on the upper surface of the plate (1) at a fixed position symmetrical to the center of the rotation axis. The force plate (41) has a sensor for measuring the load applied to the plate (1) and a sensor for measuring the center position of the load when a person rides on the plate (1). Is.
[0021]
In the arithmetic processing unit, the torque can be calculated by multiplying the measured value of the force plate (41) (the load applied to the center position of the load) and a certain distance from the center of the rotating shaft (force × distance). .
[0022]
In FIG. 2, a configuration using a commercially available rotational torque sensor has a rotational force (torque) that is applied to a plate by human action by attaching a commercially available rotational torque sensor (3) to the rotating shaft of the motor (2). Is configured to be measurable.
[0023]
As shown in FIG. 1, the rotation angle sensor (3) is attached to the front edge of the plate (1) by sandwiching the clamp (7), and is attached to the clamp (7). When the is tilted, the rotation angle is measured.
[0024]
FIG. 3 shows a block diagram of the overall configuration in which the motor is controlled by the torque measurement mechanism, the rotation angle sensor, the motion model analysis unit, and the motor control unit. In FIG. 3, the output of the torque measurement mechanism and the rotation angle sensor (3) is input to the motion model analysis unit (5), and the output of the motion model analysis unit (5) is input to the motor control unit (6). The motor control unit (6) is connected so that the output is input to the motor (2).
[0025]
With the configuration shown in FIG. 3, the motion model analysis unit (5) determines the rotation angle of the plate (1) to be changed by the force applied to the plate (1) by the calculation formula (1) shown in FIG. (2) can be controlled.
[0026]
(Function)
The operation of the balance training apparatus according to the present invention having the above configuration will be described below. When a person gets on the board (1) of the balance training apparatus, the board (1) is tilted and rotated (oscillated) due to instability of the person's balance function. A person applies power to either leg to recognize and compensate for the tilt caused by the rotation. As a result, a force in the opposite direction to the rotation is applied, the plate starts rotating in the opposite direction, and a series of operations are performed.
[0027]
At this time, a virtual spring constant, a viscous braking coefficient, and an inertia moment as shown in FIG. 4 are given to the rotational characteristics of the plate (1), so that the force applied by the person and the current plate (1) By controlling the motor using the rotation angle as a fluctuation parameter, it is possible to perform training based on the ability of the balance function. Furthermore, by giving a rotation of a specific magnitude to the plate (1) as a disturbance, in other words, by applying a disturbance torque, training for a response to an external stimulus is also possible.
[0028]
Specifically, the person puts both feet on the board (1) and balances so that the body does not tilt as much as possible in the body side direction. The rotational angle of the plate (1) in the body side direction is measured by the angle sensor (3), and the rotational torque of the plate (1) is measured by the rotational torque measuring mechanism, and given to the motion model analysis unit in FIG. The rotational torque is measured by the force plate (42) and the force applied by the left and right feet to the plate (1), and the rotational torque is calculated by the calculation formula (2) in FIG. Give to the analysis section. Alternatively, the measurement value may be measured by the rotational torque sensor 42 and the measured value may be given to the motion model analysis unit.
[0029]
The motion model analysis unit calculates the equilibrium angle of the plate (1) that is changed by the force applied to the plate (1) by the calculation formulas (1) and (2) shown in FIG. The balance training can be performed by calculating the balanced angle), rotating the motor 2 and swinging the plate. That is, the angle of balance is changed by increasing / decreasing the rotational force of the motor, and a person can perform training by balancing so that the equilibrium angle is obtained.
[0030]
In the calculation formulas (1) and (2) in FIG. 4, the viscous braking coefficient and the spring constant are controlled by values virtually introduced by a computer (motion model analysis unit) when determining the equilibrium angle. In some cases, it is a known value. The disturbance torque is an amount given by the control unit when determining the equilibrium angle, and is a known value. Therefore, as described above, the equilibrium angle can be calculated by measuring the rotation angle and the rotation torque.
[0031]
Also, when training, it blocks the visual information, restrains the rotation of the head, fixes the legs (ankle, knee joint), the three organs that control the human balance function, the semicircular canal, vision, deep Sense can be trained individually.
[0032]
FIG. 5 is a diagram showing a result of simulating how the rotational torque and the rotational angle change over time due to changes in the viscous braking coefficient depending on the balance ability. D015E80 and D015E95 are changes when the viscous braking coefficient is small and the balance ability is small and large, and D100E80 and D100E95 are changes when the viscous braking coefficient is large and the balance ability is small and large. Note that D015E80, D015E95, D100E80, and D100E95 are simply data drawing numbers.
[0033]
From FIG. 5, when the viscous braking coefficient is small, the change in the rotation angle is large, and when the viscous braking coefficient is large, the change in the rotation angle is small. It can also be seen that the rotation angle can be adjusted with a small rotational torque when the balance ability is large.
[0034]
By blocking visual information during training and restraining the movement of the legs and trunk, training of the semicircular canal becomes possible.
[0035]
By restraining the movement of the head, trunk, and legs during training, and providing visual information of the external world synchronized with the rotation angle of the board, visual balance training is possible.
[0036]
By interrupting visual information during training, restraining the head, and restraining the movement of the legs, it becomes possible to perform balance training of deep sensations using the trunk muscles.
[0037]
By blocking visual information during training, restraining the head, and restraining the movement of the trunk, balance training of deep sensation using the joints and muscles of the legs becomes possible.
[0038]
The blocking of visual information can be realized by covering the eye with a blindfold or the like.
[0039]
The restraint of the head and trunk can be realized by putting the armpit on a stick like a handrail and leaning on it.
[0040]
Fixing the leg can be realized by attaching an auxiliary tool that cannot bend the ankle and knee joint to the leg so as not to move or rotate with respect to the plate (1). It can also be realized by taking a sitting position.
[0041]
Although the present invention has been described with reference to the embodiments, it is needless to say that the present invention is not limited to such embodiments, and there are various embodiments within the scope of the technical matters described in the claims.
[0042]
【The invention's effect】
Since the balance training apparatus according to the present invention has the above-described configuration, it is possible to realize the movement of the plate by rotating in the body side direction with a person placed on the top, and to eliminate a complicated link mechanism. It is possible to individually train the three organs that control human balance, the semicircular canal, vision, and deep sensation.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an embodiment of a balance training apparatus according to the present invention.
FIG. 2 is a diagram for explaining an embodiment of a balance training apparatus according to the present invention, showing an example in which a rotational torque sensor is arranged.
FIG. 3 is a block diagram for measurement and motor control of an embodiment of a balance training apparatus according to the present invention.
FIG. 4 is a diagram illustrating a rotational torque calculation formula and a motion analysis model of the embodiment of the balance training apparatus according to the present invention.
FIG. 5 is a diagram showing a simulation result in which a viscous braking coefficient is changed for an example of a balance training apparatus according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 (People board) 2 Motor 3 Rotation angle sensor 4 Person 5 Motion model analysis part 6 Motor control part 7 Clamp 41 Force plate 42 Rotation torque sensor

Claims (9)

A board (1) to put a person on top,
A rotating shaft of a motor attached to the plate so that its axis is in the center in the width direction of the plate and parallel to the upper surface of the plate;
A motor (2) for driving the plate to tilt about the axis of the rotary shaft ;
A rotation angle sensor (3) for measuring a rotation angle of the tilt when the plate is tilted about the axis of the rotation shaft ;
A torque measuring mechanism for measuring a torque centered on a rotating shaft applied to the plate by the movement of the person ;
The target of the inclination centering on the axis of the rotation shaft such that the outputs of the rotation angle sensor and the torque measuring mechanism are inputted and the force applied by the person to the plate and the rotation force of the motor are balanced. A motion model analysis unit (5) for determining a rotation angle;
Standing for the predetermined motion model, the plate, so that the target rotation angle determined by the model analysis unit, and wherein the motor control unit for controlling the motor (6), in that it consists of And balance training device in sitting position.   The balance training apparatus in a standing and sitting position according to claim 1, wherein the plate (1) rotates about a rotation axis parallel to the upper surface of the plate.   3. The balance training apparatus in a standing and sitting position according to claim 2, wherein the upper surface of the plate (1) coincides with the center of the rotation axis.   The balance training apparatus in a standing and sitting position according to claim 2, wherein the upper surface of the plate (1) is at a constant distance from the center of the rotation axis.   The torque measuring mechanism has a force plate (41) in which a sensor for measuring a load applied to the plate (1) and a sensor for measuring a center position of the load are integrated. The balance training apparatus in the standing and sitting state according to any one of the above.   The torque measuring mechanism is characterized in that a sensor (42) for measuring torque applied to the plate (1) is attached to a shaft of a motor (2) for driving the plate (1). The balance training apparatus in the standing position and the sitting position according to any one of?   The standing and sitting position according to claim 5 or 6, further comprising a motion model analysis section (5) having a spring constant, a viscous braking coefficient, and a moment of inertia that are virtual for the operation of the plate (1). Balance training device in state.   A motor control unit that controls the plate (1) by placing a person on top in accordance with an equilibrium angle calculated by the motion model analysis unit (5), which is an angle that balances the force applied by the person and the rotational force of the motor. 6) The balance training apparatus in the standing position and the sitting position according to any one of claims 1 to 7.   The balance training according to any one of claims 1 to 8, wherein the balance device is capable of individually training a semicircular canal, which is a three organs that control a person's balance function, vision and deep sense. apparatus.

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