JP3933630B2 - Exercise therapy equipment - Google Patents

Description

  The present invention relates to an exercise therapy apparatus, and more particularly, to an exercise therapy apparatus constituted by, for example, an ergobike used when an athlete, a post-orthopedic patient, a cerebrovascular disorder patient, and the like perform exercise therapy.

  FIG. 4 is a block diagram showing a conventional exercise therapy apparatus. As shown in FIG. 4, the conventional exercise therapy apparatus includes a pulley 1 coupled to a pedal 2 for an exerciser (user) to step on with a foot, a pulley 3 provided between a pulley 1 and a motor 7, and a pulley 1. Belt 4 applied to pulley 3, pulley 5 provided coaxially with pulley 3, belt 6 applied to pulley 5 and motor 7, magnets 8 and 9 attached to pulleys 1 and 5, and magnets 8 and 9 are detected. Hall elements 10 and 11 that receive the signals from the Hall elements 10 and 11, and the computer 12 that calculates the rotational speed of the pulley 1 and the pulley 5, and the load of the motor 7 based on the rotational speed from the computer 12 It is comprised from the load control apparatus 13 which controls.

  Next, the operation will be described. The rotation speed of the pedal 2 is transmitted to the pulley 5 by the belt 4 applied to the pulley 1 and the pulley 3 to be accelerated, and further transmitted to the motor 7 by the belt 6. A pulse is output from the Hall elements 10 and 11 to the computer 12 for each rotation of the pulley 1 and the pulley 5. The computer 12 calculates the number of pulses and then outputs the number of pulses to the load control device 13. The load control device 13 determines the rotational speed based on the number of pulses and controls the load of the motor 7.

Japanese Patent Publication No.62-46193

  Since the conventional exercise therapy apparatus is configured as described above, when measuring the magnitude of the leg extension force of stepping on the exerciser's pedal 2, the axial torque generated on the rotating shaft of the pedal 2 by the movement of the exerciser Although the relation of the rotation angle position could be measured, the leg force in the leg extension direction of the exerciser that changes depending on the rotation angle of the pedal 2 could not be measured.

  Therefore, when an exerciser who has a marked decrease in muscle strength (for example, quadriceps and hip extensors), a disabled person due to a brain disorder who has movement paralysis, or an elderly person performs exercise therapy, It was not possible to evaluate the leg extension force that is actually generated by measuring the axial torque of the pedal rotation.

  For this reason, the leg which the exerciser generate | occur | produces at various rotation angles of the pedal 2 quantitatively, and also the exercise | movement person with a weak muscular strength, such as a physically handicapped person or elderly people, and the general exerciser There was a problem that the extension force could not be grasped.

  The present invention has been made to solve such a problem, and an object thereof is to obtain an exercise therapy apparatus that can quantitatively grasp the leg extension force of an exerciser that changes depending on the rotation angle of the pedal.

The present invention relates to an exercise therapy device in which an exerciser applies a load to a pedal to rotate the pedal about a pedal rotation axis, and measures the pedal angle and pedal shaft torque of the pedal rotation axis. a pedal shaft torque measuring means, a load applied to the pedal, for each pedal angle of the pedal rotation axis, from the pedal shaft torque obtained by said pedal shaft torque measurement means, the greater trochanter direction leg strength and knee directions leg strength And a display means for displaying the load applied to the pedal obtained by the pedal load calculating means.

The present invention relates to an exercise therapy device in which an exerciser applies a load to a pedal to rotate the pedal about a pedal rotation axis, and measures the pedal angle and pedal shaft torque of the pedal rotation axis. a pedal shaft torque measuring means, a load applied to the pedal, for each pedal angle of the pedal rotation axis, from the pedal shaft torque obtained by said pedal shaft torque measurement means, the greater trochanter direction leg strength and knee directions leg strength A pedal load calculating means for calculating a leg extension force, and a display means for displaying a load applied to the pedal obtained by the pedal load calculating means. It is possible to quantitatively grasp the leg extension force of an exerciser that changes depending on the rotation angle.

  The present invention is particularly useful when evaluating the magnitude of leg extension force on the pedal when various athletes such as athletes, post-orthopedic surgery patients, and patients with cerebrovascular disorders perform exercise therapy. This is an exercise therapy device that analyzes the load applied by vector calculation.

  An embodiment of the present invention will be described below.

Embodiment 1 FIG.
1 is a block diagram showing the overall configuration of an exercise therapy apparatus according to Embodiment 1 of the present invention. The exercise therapy apparatus according to the present invention is a bicycle-type health device, and includes a handle, a saddle, a pedal, and a stand (note that the handle, the saddle, and the stand are not shown in FIG. 1). ). In this exercise therapy apparatus, the exerciser applies a load to the pedal 21 to cause the pedal 21 to rotate about the pedal rotation shaft 22a.

  As shown in FIG. 1, a pair of pedals 21 is rotatably provided on the pedal shaft pulley 22 by a pedal rotation shaft 22a. The rotational movement of the pedal 21 is transmitted from the pedal shaft pulley 22 to the load side pulley 24 via the belt 23 that is wound around the pedal shaft pulley 22 and the load side pulley 24. Since the load motor 25 is coupled to the load-side pulley 24, the rotational motion is further transmitted to the load motor 25. A position detector 26 is connected to the opposite side of the load motor 25 (the side opposite to the load side pulley 24). The detection output of the position detector 26 is input to the computer 29 via the position detection circuit 27. The computer 29 obtains the differential calculation result of the position detection output of the position detection circuit 27 as speed information, and the load control device 28 sets the speed information to a constant speed set value preset in the computer 29. A load command is sent, and the load control device 28 outputs a load set value to the load motor 25 based on the load command. Reference numeral 30 denotes a display configured to display display information from the computer 29, which includes a display device such as a liquid crystal display. As described above, the computer 29, the load control device 28, and the load motor 25 constitute a control unit that controls a pedal 21 to rotate at a constant speed based on the speed setting value that is set with a constant speed setting value. ing.

Next, the operation will be described.
First, a constant speed setting value is set in the computer 29 in order to measure the muscular strength of the exerciser. In this embodiment, the load setting value is output from the load control device 28 to the load motor 25 so that the speed information obtained by differentiating the position detection output of the position detection circuit 27 is always constant. Therefore, when trying to rotate the pedal 21 with the maximum muscular strength that an exerciser can produce, the rotation speed of the load motor 25 is limited to the speed set value set in the computer 29, while conversely, the exercise At the pedal angle at which the person's maximum muscular strength decreases, the speed information decreases, so the load set value output to the load motor 25 decreases. As a result, the pedal 21 rotates at a constant speed.

  FIG. 2 shows the relationship between the load command value (pedal shaft torque) of the computer 29 rotating under the above conditions and the pedal rotation angle. In FIG. 2, the horizontal axis represents the pedal rotation angle and the vertical axis represents the pedal shaft torque, and the waveform 100 represents leg extension force measurement data obtained from the load command of the computer 29 by the above operation. The position detector 26, the position detection circuit 27, and the computer 29 constitute pedal shaft torque measuring means for measuring the pedal angle and pedal shaft torque of the pedal rotation shaft.

In the present embodiment, the transformation coefficient (greater trochanter direction) of F _θ and F ₁ shown in the following equation (3) or the equation (6) with respect to the leg extension force measurement data of the waveform 100: and those multiplied by a conversion factor F _theta and F ₂ shown in (knee direction), and has a function of displaying on the display unit 30 from the computer 29 as a leg extension direction of the leg extension force of the exerciser. 2, waveform 200 shows an example of the greater trochanter direction of the leg extension force F ₁ multiplied by the conversion factor.

The indicator 30 constitutes display means for displaying the load applied to the pedal 21 (that is, the greater trochanter direction leg force F ₁ and the knee joint direction leg force F ₂ ).

FIG. 3 shows a diagram of calculation of leg extension force according to the first embodiment of the present invention.
A method for obtaining a conversion coefficient for calculating the leg extension force from the leg extension force measurement data will be described below.

The main points in FIG. 3 are shown below.
Point A: Greater trochanter of the human body Point B: Human knee joint point C point: Human foot joint point (external bone radius)
Point D: Pedal rotation center

In FIG. 3, the symbols are explained as follows.
F _θ : pedal shaft tangential leg force T: pedal shaft torque F ₁ : greater trochanter direction leg force F ₂ : knee joint direction leg force θ: pedal crank angle r: pedal crank rotation radius l: length between knee joint point and ankle joint point R: Length between the greater trochanter and knee joint point x: Horizontal distance from greater trochanter A point to pedal rotation center D point y: Vertical distance from greater trochanter A point to pedal rotation center D point

In FIG. 3 with the symbols as described above, the following relational expression holds.
The relationship between the shaft torque T and the pedal shaft tangential leg force is
F _θ · r = T (1)

From the relationship of FIG. 3, the greater trochanter direction leg force F ₁ is
From F _θ / F ₁ = sin (α + θ), F ₁ = F _θ / sin (α + θ)
It becomes.

On the other hand, from FIG. 3, α = tan ⁻¹ ((y−r · sin θ) / (x + r · cos θ)) (2)
Therefore, F ₁ = F _θ / sin (tan ⁻¹ ((y−r · sin θ) / (x + r · cos θ)) + θ) (3)

From the relation of FIG. 3, the knee joint direction leg strength F ₂ can be determined by the following.
About the triangle ACG L ² = (x + r · cos θ) ² + (y−r · sin θ) ² L = ((x + r · cos θ) ² + (y−r · sin θ) ² ) ^1/2 (4)
It becomes.

On the other hand, with respect to the triangle ABC, R ² = L ² + l ² −2L·l · cos β, β = cos ⁻¹ ((R ² − (L ² + l ² )) / − 2L·l) (5)
It becomes.

(4) and (5) using the formula, from FIG. 3, the pedal shaft tangential leg strength F _theta and knee joint direction leg strength F ₂ the following relationship exists, F ₂ is as in (6) Desired.
F _θ / F ₂ = sin (α + β + θ)
F ₂ = F _θ / sin (α + β + θ) (6)
However, (alpha) and (beta) are based on (2), (4), (5) Formula.

In this way, the computer 29 calculates the greater trochanter direction leg force F ₁ and the knee joint direction leg force F ₂ from the pedal shaft torque T, and therefore the load applied to the pedal (ie, greater trochanter direction leg force F ₁ and A pedal load calculating means for calculating the knee joint direction leg force F ₂ ) for each pedal angle of the pedal rotation shaft from the pedal shaft torque by vector calculation is configured. Further, the loads applied to the pedal thus obtained (that is, the greater trochanter direction leg force F ₁ and the knee joint direction leg force F ₂ ) are displayed on the screen by the display 30 which is a display means.

  As described above, according to the exercise therapy apparatus according to the first embodiment, the leg extension force is calculated from the pedal shaft torque T of the exerciser to the leg extension force in the greater trochanter direction and the leg extension force in the knee joint direction. Since it can be analyzed and evaluated based on the above calculation results, it is possible to quantitatively grasp the exerciser's leg extension force that changes according to the rotation angle of the pedal, and to evaluate the recovery of the exercise function of the exerciser and quantitatively determine the leg extension force. The effect that accurate evaluation can be performed is obtained.

  According to the present invention, during exercise therapy, the exerciser's load setting value (speed setting value) can be set in a wide range according to the leg extension force that the exerciser can exert, so that the exerciser can exercise without difficulty. can get. That is, according to the size of the exerciser's leg extension force at the time of exercise therapy, that is, when the exerciser is an athlete with great muscle strength and uses the device of the present invention as an exercise load device, the load setting is performed. Use a large setting. Conversely, if the exerciser is a post- orthopedic patient with a load limit, the load limit value in the leg extension force direction can be set accurately, and the patient has a low leg extension force, such as a cerebrovascular disorder person When performing exercise therapy, the leg extension force can be set with a small load setting.

  According to the present invention, even when setting a load of various muscle movements (setting a speed setting value) of a single exerciser, a wide range of load settings can be performed, so that various muscle movements can be performed without difficulty. effective.

  According to the present invention, an exerciser performs exercise therapy with a wide range of speed setting values by making it possible to freely set a constant speed setting value for each pedal angle based on the load applied to the pedal calculated by the Ergo bike. The effect that can be obtained.

  In this invention, since the leg extension force of the exerciser directly applied to the pedal can be estimated without using a pedal pressure sensor or the like, an apparatus for measuring the leg extension force at low cost can be configured.

  In the present invention, an example in which only the crankshaft position detector of the pedal is configured has been described. However, by providing an angle detector of the pedal portion that the athlete directly steps on, more accurate extension of the other legs in the vertical direction on the pedal is achieved. It goes without saying that you can grasp the power.

It is the block diagram which showed the structure of the exercise therapy apparatus by Embodiment 1 of this invention. It is explanatory drawing which showed an example of the measurement result of the leg extension force of the exerciser in the exercise therapy apparatus by Embodiment 1 of this invention. It is explanatory drawing which showed the calculation of the leg extension force by Embodiment 1 of this invention. It is a block diagram which shows the conventional exercise therapy apparatus.

Explanation of symbols

  21 pedal, 22 pedal shaft pulley, 23 belt, 24 load shaft pulley, 25 load motor, 26 position detector, 27 position detection circuit, 28 load control device, 29 computer.

Claims (2)

An exercise therapy device in which an exerciser applies a load to a pedal to rotate the pedal around a pedal rotation axis,
Pedal shaft torque measuring means for measuring the pedal angle and pedal shaft torque of the pedal rotation shaft;
As load applied to the pedal, for each pedal angle of the pedal rotation axis, said from the pedal shaft torque obtained by said pedal shaft torque measuring means, calculating a leg extension force consisting of the greater trochanter direction leg strength and knee directions leg strength a pedal load calculating means for,
An exercise therapy apparatus comprising: display means for displaying a load applied to the pedal obtained by the pedal load calculating means. A control means for controlling the pedal to rotate at a constant speed based on the speed setting value when a constant speed setting value is set;
The exercise therapy device according to claim 1, wherein the speed setting value is set for each pedal angle of the pedal rotation shaft based on a load applied to the pedal obtained by the pedal load calculating means.

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