JP5043484B2 - Ergometer display controller - Google Patents

Description

  The present invention relates to an ergometer used as an exercise load device in exercise therapy performed in a hospital or health promotion facility, and more particularly to a display control device thereof.

  In general ergometers, only the rotation speed of the pedal is displayed. Focusing on the movement of each joint part of the leg, such as the hip and knee joints of the person exercising, there is no one that displays the angular speed or angle of that part. For example, an exerciser who has a lower limb shaping disease such as osteoarthritis such as a thigh hip joint has a demand for grasping the state of the portion during exercise and managing the exercise state.

  In addition, there is a method of analyzing an muscular activity state of an exerciser by calculation by inputting body dimensions into a mechanical model while using an exercise assisting device (see, for example, Patent Document 1 below).

Japanese Patent Laid-Open No. 2003-116822, FIG. 2, etc.

  With the aging society, patients who require exercise therapy often have other diseases, and exercise therapy for patients with orthopedic diseases such as osteoarthritis is increasing. However, when exercising such an exerciser with an ergometer, it is necessary to be careful that the exerciser's joint range of motion and motion speed (joint range of motion angle and angular velocity) do not overload the affected area. However, none of the conventional ergometers have a function of displaying this.

  Also, if you are going to deal with this at present, prepare a separate device for measuring the joint angle called a goniometer, paste it on the joint, calculate the angular information with another separately prepared analysis device, etc. Since there is only a method, many devices are necessary as an exercise system, and there is a problem that it cannot be easily measured.

  As another example, an image of a patient in motion is taken by a TV camera and measured by image processing, or as shown in FIG. There is a method to ask. In the case of a method using a TV camera, a large space and a large system are required. In the case of a method using a mechanical link model, the items necessary for input are usually relatively high. In addition to body weight, it is necessary to input many items such as distances between joints in a wide variety of ways, so it is necessary to measure these input items in advance. For this reason, it was difficult to measure these examples easily.

  An object of the present invention is to provide an ergometer display control device having a function of estimating and displaying the motion state of a motion part joint during pedal rotational motion with a simpler configuration and easier operation.

This invention relates to a display control device ergometer for performing a pedal rotational movement by the pedal device, a storage unit for storing the excursion angle of the motion part joint is estimated for the height of the exerciser, the input exerciser The estimated range of motion of the joint of the motion part is obtained with respect to the height of the body, and the angular velocity of the joint of the motion part is calculated based on the range of motion and the rotational speed of the pedal device from the rotational speed detector of the pedal device. An ergometer display control device, and the like . The display control device includes an arithmetic unit that performs an operation, and a display unit that displays the angular velocity of the motion part joint calculated by the arithmetic unit.

  According to the present invention, for example, an exerciser who is instructed to restrict joint movement due to osteoarthritis can be exercised without imposing an excessive burden on the diseased part. The effect which can prevent generation | occurrence | production of a disease and deterioration of an existing disease is acquired. In addition, the device configuration for detecting the angular velocity of the movable joint is simple and the input information is small and can be input easily, so that it is inexpensive and convenient.

Hereinafter, a case where the motion state of the knee joint of the lower limb is displayed as the motion part joint will be described as an example.
Embodiment 1 FIG.
FIG. 1 is a diagram showing a schematic configuration of an ergometer including an ergometer display control device according to an embodiment of the present invention. The input unit 1 is composed of a keyboard and a touch panel, and is used by an exerciser or a user other than an exerciser (hereinafter simply referred to as an exerciser for convenience of explanation) to input settings such as an exercise load level to the ergometer. is there. The exercise device 3 includes a pedal device 3a provided with a pedal 30 and a motor 3b that applies a rotational load to the pedal device 3a. The rotational speed of the pedal device 3a is detected by the rotational speed detector 5. The rotational load generated by the motor 3b is controlled by the load control unit 4.

  The main control unit 2 is composed of, for example, a computer (CPU) that operates in accordance with a built-in program. The setting input from the input unit 1, various calculation formulas and data stored in the memory 6, and data on the movement part joints relative to the height of the athlete The load control instruction to the load control section 4 and the display control instruction to the display section 7 are performed in accordance with a data table including standard information, the rotation speed from the rotation speed detection section 5, and the like. The display unit 7 displays the calculation results in the main control unit 2 such as the pedal rotation speed and the knee joint angular velocity in accordance with the control from the main control unit 2.

  The main control unit 2 constitutes a calculation unit, the memory 6 constitutes a storage unit, and the display unit 7 constitutes a display unit. A data table stored in the memory 6 (the same applies to the following) is used to estimate the motion of a motion part joint. Configure standard information on the height of the athlete.

  Next, the basic operation of the ergometer will be described. The main control unit 2 inputs a load control instruction to the load control unit 4 according to the rotational load level input from the input unit 1. In accordance with this load control instruction, the load control unit 4 controls the motor 3b so that a rotational load according to the setting is applied when the exerciser strokes the pedal 30 of the pedal device 3a of the exercise device 3. The rotation speed V of the pedal device 3a, which is the rotation speed of the pedal 30 detected by the rotation speed detection unit 5, is input to the main control unit 2, and the main control unit 2 displays the pedal rotation speed V (rpm) on the display unit 7. The display control instruction to display is input. The display unit 7 displays the pedal rotation speed as indicated by reference numeral 701 in FIG. 1 in accordance with a display control instruction from the main control unit 2.

  The ergometer of the present invention further displays the knee joint angular velocity of the knee joint. FIG. 2 is an operation flowchart showing an example of the operation in the main control unit 2 that estimates and displays the knee joint angular velocity by calculation from the input items and detection data. The operation will be described below with reference to FIG. In this embodiment, the range of motion angle θ (rad) of the knee joint when using an ergometer for an athlete's height T (cm) as shown in FIG. 3 is obtained in advance by experimental and statistical evaluation. It is stored in the memory 6 as a height-to-knee joint range-of-motion angle data table 6a based on a statistical / statistical evaluation. Note that the range of motion angle θ of the knee joint is, for example, the simplest structure. For example, when there is a seat seat (not shown) on the upper side of the pedal device 3a in FIG. The knee joint angle when the foot to be closest to the waist (for example, the uppermost point position of the pedal device 3a), and conversely, the foot with the maximum knee joint angle is the farthest from the waist (for example, the pedal device 3a). 3a is the angle difference θ with the knee joint angle at the lowest point position).

  When the height T (cm) is input from the input unit 1 (S1), the main control unit 2 corresponds to the height T based on the height-to-knee joint movable range angle data table 6a stored in the memory 6. The average knee joint range of motion angle θ (rad) is read (S2). Next, while the exerciser is exercising with the ergometer, the main control unit 2 obtains the rotation speed V (rpm) in the pedal device 3a which is the rotation speed of the pedal 30 from the rotation speed detection unit 5 (S3). Then, from the rotational speed V, the time t (sec) required for the ½ period movement in the pedal device 3a is calculated.

      t (sec) = 60 ÷ (2 × V (rpm)) (1)

(S4). Next, the knee joint angular velocity ω is calculated from the time t required for the ½ cycle motion and the range of motion angle θ of the knee joint.

      ω (rad / sec) = θ (rad) ÷ t (sec) (2)

(S5). Then, the knee joint angular velocity ω obtained by estimation in this way is converted into ω (deg (degrees) / sec), and a display control instruction to display this on the display unit 7 together with the pedal rotation speed V (rpm) is performed (S6). ). Upon receiving the display control instruction, the display unit 7 displays the knee joint angular velocity ω together with the pedal rotation speed V (rpm) as shown at 702 in FIG. It should be noted that the above-described equations (1) and (2) for obtaining the time t required for the ½ cycle motion and the knee joint angular velocity ω may be stored in the memory 6 and read and used when necessary. Further, a conversion table or conversion formula of angle and radians, and a trigonometric function table are stored in the memory 6. The operation in FIG. 2 is repeated at a predetermined cycle.

Embodiment 2. FIG.
FIG. 4 shows a flowchart of the operation of the main control unit 2 in another example in which the knee joint angular velocity is estimated and calculated from the input items and detection data and displayed. The basic configuration of the ergometer is the same as that shown in FIG.

In the present invention, a joint link model as shown in FIG. 5 is used. Each symbol in FIG. 5 indicates the following. In this model, the thickness of the legs and buttocks is ignored.
P1: Ankle joint position P2: Hip joint position P3: Knee joint position P0: Pedal device rotation center r1: Pedal crank length L0: P0 to P2 distance (= seat seat height)
L1: P2-P3 length L2: P3-P1 length L3: P1-P2 length θ3: P3 angle (knee joint angle)
ω3: θ3 angular velocity (knee joint angular velocity)
Other symbols will be described later.

  Since the knee joint angle θ3 is finally obtained, the cosine theorem can be used if the length of each side of the triangle (P1 P2 P3) composed of the lengths L1, L2, and L3 is known. If the inter-joint lengths L1 and L2 are set from the height using the ratio of standard dimensions, etc., the remainder may be obtained as L3.

  In this embodiment, the inter-joint lengths L1 (cm) and L2 (cm) and the seat seat height L0 (cm) with respect to the height T (cm) of the exerciser as shown in FIG. 6 are experimentally and statistically evaluated. It is obtained in advance and stored in the memory 6 as a height-to-knee joint link model size data table 6b by experimental / statistical evaluation. The memory 6 stores the crank length r1 of the pedal 30.

  Since it is premised on the bicycle movement in the pedal device 3a, the constraint condition that the ankle joint position P1 goes around on the determined trajectory can be used. That is, the position where θ3 is minimum is a state where the ankle joint position P1 is at point A that is closest to the waist (hip joint position P2), and conversely, θ3 is maximized when the ankle joint position P1 is farthest from the waist. This is the state at point B. Therefore, θ3min and θ3max are obtained from the triangle (P1 P2 P3) when θ3 is minimum and maximum, respectively. L3 at points A and B

      L3min = L0-r1, L3max = L0 + r1 (3)

Cosine theorem, for example

a ² = b ² + c ² -2bc · cosA
cosA = (b ² + c ² −a ² ) / 2bc
Where a, b, and c are the lengths of the sides of the triangle, and A is the angle of the angle facing the side a.

Can be used to obtain θ3min and θ3max. That is,

cos θ3 = (L1 ² + L2 ² −L3 ² ) / (2 × L1 × L2) (4)

Substituting L1, L2, L3min = L0−r1 and L3max = L0 + r1 into θ3min and θ3max. Then, knee joint angular velocity ω3 = (θ3max−θ3min) / t is calculated based on the above formulas (1) and (2), where θ3max−θ3min = moving range angle θ.

  Note that the point A and the point B where θ3 is the minimum shown in FIG. 5 are generally the hip joint position (seat seat) P2 on the rotation track of the foot joint position P1 (pedal 30) of the pedal device 3a. This position is on the opposite side of the rotation center P0 and intersects the straight line connecting the rotation centers P0 of the pedal device 3a.

  The operation will be described below with reference to FIG. When the height T is input from the input unit 1 (S1), the main control unit 2 determines the height T based on the crank length r1 of the pedal 30 stored in the memory 6 and the height-to-knee joint link model dimension data table 6b. The inter-joint lengths L1 and L2 and the seat height L0 are read out as the dimensions of the average joint link model corresponding to (S2). Next, while the exerciser is exercising with the ergometer, the main controller 2 obtains the rotational speed V (rpm) of the pedal device 3a from the rotational speed detector 5 (S3). Then, the time t (sec) necessary for the ½ period motion is calculated from the rotational speed V by the above equation (1) (S4).

  Next, the maximum and minimum knee joint angles θ3 and θ3max and θ3min are obtained by the above-described equations (3) and (4), and the range of motion angle θ = θ3max−θ3min is calculated from the difference therebetween (S5). Next, the knee joint angular velocity ω is calculated by the above equation (2) from the time t required for the ½ period motion and the range of motion angle θ of the knee joint (S6). Then, the knee joint angular velocity ω obtained by estimation in this way is converted into ω (deg (degrees) / sec), and a display control instruction for displaying this on the display unit 7 together with the pedal rotation speed V (rpm) is performed ( S7). The display unit 7 displays the knee joint angular velocity ω together with the pedal rotation speed V (rpm) as indicated by 701 and 702 in FIG. The above equations (1) to (4) may be stored in the memory 6 and read and used when necessary. Also in this embodiment, the exerciser only inputs the height.

  Note that the inter-joint lengths L1 and L2 of the height-to-knee joint link model dimension data table 6b shown in FIG. 6 can be set respectively as a length value for each height or a ratio to the height. Further, it can be simply set as a uniform ratio to the height. Further, the seat seat height L0 is not set in the data table 6b, but for example, the seat seat height sensor 3c shown in FIG. 1 is provided, and is input as a detection signal (seat seat height signal) from the seat seat height sensor 3c. Good.

  Further, in the second embodiment, the maximum value θ3max and the minimum value θ3min of the knee joint angle θ3 obtained in step S5 in FIG. 4 are expressed in degrees (deg) as indicated by 703 in the display unit 7 in FIG. 1 in step S7. Display control may be instructed so that the maximum knee joint angle and the minimum knee joint angle are displayed together.

Embodiment 3 FIG.
In the second embodiment, the current knee joint angle may be displayed together with the display unit 7 in FIG. In this case, a rotation angle position detection unit 3d that detects the rotation angle position of the pedal device 3a, which is the rotation angle position of the pedal 30, corresponding to θ0 of the joint link model of FIG. Hereinafter, the operation for obtaining the current knee joint angle θ3 will be described according to steps S61 to S63 of FIG. The current rotation angle position of the pedal device 3a is obtained from the rotation angle position detector 3d (S61). Next, in order to obtain the knee joint angle θ3 every moment of the joint link model of FIG. L3 in the triangle (P0 P1 P2)

L3 ² = L0 ² + r1 ² -2 × L0 × r1 × cos θ0 (5)

(S62). The obtained L3 is put into the above equation (4) to obtain θ3 (S63). Then, the current knee joint angle θ3 obtained by estimation in this way is converted into degrees (deg) and, for example, a display control instruction for analog display on the display unit 7 in FIG. Perform (S7).

Embodiment 4 FIG.
In the first to third embodiments, the knee joint angular velocity ω obtained in step S6 of FIG. 4 or step S5 of FIG. 2 is compared with the upper limit value of the knee joint angular velocity set in advance and stored in the memory 6, and more than this. If it becomes (S64 in FIG. 4), for example, a display control instruction for displaying a warning on the display unit 7 in FIG. 1 as indicated by 705 is performed (S7). As a result, attention can be given to the athlete.

  In each of the above embodiments, a case has been described in which the exercise part joint is the knee joint and the movement state of the knee joint is displayed as an example. However, the present invention is not limited to this. The present invention can be similarly applied to the case where a joint is displayed and the motion state of the hip joint is displayed. In this case, in the first embodiment, the range of motion θ (rad) of the hip joint when the present ergometer is used with respect to the height T (cm) of the exerciser is similar to that shown in FIG. Is obtained in advance by a physical evaluation and stored in the memory 6 as a height-to-hip joint range-of-motion angle data table 6a based on an experimental / statistical evaluation. Based on this, the hip joint angular velocity is displayed by the same operation as described above.

  In the case of the second embodiment, the joint lengths L1 (cm), L2 (cm), and the seat seat height L0 (cm) with respect to the height T (cm) of the athlete are the same as those shown in FIG. It is obtained in advance by experimental and statistical evaluation, and is stored in the memory 6 as a height-to-hip joint link model size data table 6b by experimental / statistical evaluation. In the joint link model of FIG. 5, the position where the angle P2 (hip joint angle) θ2 is maximum is the point A where the ankle joint position P1 is closest to the waist (hip joint position P2), and the position where θ2 is the minimum. Is the case where the ankle joint position P1 is at point B furthest from the waist.

cos θ2 = (L1 ² + L3 ² −L2 ² ) / (2 × L1 × L3) (6)

Instead of L1, L2, L3min = L0−r1, and L3max = L0 + r1 are substituted. Then, assuming that θ2max−θ2min = moving range angle θ, hip joint angular velocity ω2 = (θ2max−θ2min) / t is calculated based on the above formulas (1) and (2).

  FIG. 7 shows an operation flowchart in the main control unit 2 when displaying the motion state of the hip joint. Steps S1 to S4 are the same as those in the above embodiment. In step S5 of FIG. 7, the maximum and minimum of the hip joint angle θ2 are obtained by the above equations (3) and (6), and the movable range angle θ = θ2max−θ2min is calculated from the difference between them. Next, in step S6, the hip joint angular velocity ω is calculated by the above equation (2) from the time t required for the ½ period motion and the hip joint movable range angle θ. In step S7, the hip joint angular velocity ω thus estimated and converted is converted to ω (deg (degree) / sec), and this is displayed on the display unit 7 together with the pedal rotation speed V (rpm). (S7). The display unit 7 displays the hip joint angular velocity ω together with the pedal rotation speed V (rpm).

  Further, the maximum value θ2max and the minimum value θ2min of the hip joint angle θ2 obtained in step S5 in FIG. 7 are converted into units of degrees (deg) in step S7, and the maximum hip joint angle and the minimum hip joint angle are displayed on the display unit 7 together. You may instruct | indicate display control to display.

  In the third embodiment, the hip joint angle θ2 of P2 in the joint link model of FIG. 5 is the angle θ21 of P2 of the triangle (P0 P1 P2) and the angle θ22 of P2 of the triangle (P1 P2 P3). It is calculated as the sum (θ2 = θ21 + θ22) and is displayed as the current hip joint angle every moment.

  In step S61 in FIG. 7, θ0 which is the current rotation angle position of the pedal device 3a is obtained from the rotation angle position detection unit 3d. Next, in step S62, L3 in the triangle (P0 P1 P2) is calculated from the above equation (5).

  Next, in step S63, the angle θ21 of P2 of the triangle (P0 P1 P2) of the joint link model of FIG.

cos θ21 = (L0 ² + L3 ² −r1 ² ) / (2 × L0 × L3) (7)

The angle θ22 of P2 of the triangle (P1 P2 P3)

cos θ22 = (L1 ² + L3 ² −L2 ² ) / (2 × L1 × L3) (8)

To obtain θ2

      θ2 = θ21 + θ22

Ask for. In step S7, the current hip joint angle θ2 thus estimated and converted is converted into degrees (deg), and a display control instruction is given to display on the display unit 7 in an analog manner so that the change is easily understood (S7).

  In the case of the fourth embodiment, the hip joint angular velocity ω obtained in step S6 in FIG. 7 is compared with the hip joint angular velocity upper limit value set in advance in step S64 and stored in the memory 6, and if it exceeds this value, In step S7, for example, a display control instruction is given to display a warning on the display unit 7 of FIG.

  The display method of each factor on the display unit 7 may be analog display or digital display, and is not limited to the above embodiment.

It is a figure which shows schematic structure of the ergometer including the display control apparatus of the ergometer by one Embodiment of this invention. It is an operation | movement flowchart for demonstrating an example of operation | movement of the display control apparatus of the ergometer by this invention. It is a figure which shows an example of the height vs. knee joint range-of-motion angle data table by the experimental / statistical evaluation stored in the memory of the display controller of the ergometer according to the present invention. It is an operation | movement flowchart for demonstrating another example of operation | movement of the display control apparatus of the ergometer by this invention. It is a figure which shows an example of the joint link model used with the display control apparatus of the ergometer by this invention. It is a figure which shows an example of the height vs. knee joint link model dimension data table by the experimental / statistical evaluation stored in the memory of the display controller of the ergometer according to the present invention. It is an operation | movement flowchart for demonstrating another example of operation | movement of the display control apparatus of the ergometer by this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Input part, 2 Main control part (calculation part), 3 exercise device, 3a pedal apparatus, 3b motor, 3c seat seat height sensor, 3d rotation angle position detection part, 4 load control part, 5 rotation speed detection part, 6 memory (Storage unit), 6a Height-to-knee joint range of motion angle data table, 6b Height-to-hip joint link model dimension data table, 7 display unit, 30 pedals.

Claims (3)

An ergometer display control device that performs pedal rotation motion by a pedal device,
A storage unit for the movable range angle of motion sites joints estimated for the height of the exerciser and stored,
A motion range angle of the estimated motion site joint is obtained with respect to the height of the input exerciser, and the motion site is determined based on the motion range angle and the rotation speed of the pedal device from the rotation speed detection unit of the pedal device An arithmetic unit for calculating the angular velocity of the joint;
A display unit for displaying the angular velocity of the motion part joint calculated by the calculation unit;
An ergometer display control device comprising: An ergometer display control device that performs pedal rotation motion by a pedal device,
A storage unit that stores standard information including data on exercise site joints for the height of the exerciser;
With respect to the height of the input exerciser, a calculation unit that calculates data of the movement part joint estimated from the standard information and calculates the movement of the movement part joint ;
A display unit for displaying a calculation result in the calculation unit;
Equipped with a,
The storage unit estimates, as the standard information, the estimated length of each predetermined portion with respect to the height of a link model including a pedal device having a seat seat and a rotation center, a hip joint position of a lower limb, a knee joint position, and an ankle joint position. Including
The calculation unit calculates the maximum angle and the minimum angle of the motion part joint during the pedal rotation motion of the link model in which the length with respect to the height of the input athlete is set, and is obtained from the difference between the maximum angle and the minimum angle. The angular velocity of the exercise part joint was calculated from the range of motion angle and the rotation speed of the pedal device, and further, the rotation angle position of the pedal device from the rotation angle position detector of the pedal device and the input length of the athlete were set. Calculate the angle of the motion part joint during pedal rotation of the link model,
The display unit displays a maximum angle and a minimum angle of an exercise site joint, an angular velocity, and an angle;
An ergometer display control device. The storage unit stores the upper limit of the angular velocity of the motion part joint,
The calculation unit detects that the calculated angular velocity of the joint of the motion part is equal to or higher than the upper limit value of the angular velocity,
The display control device for an ergometer according to claim 1 or 2 , wherein the display unit performs a warning display notifying that the angular velocity of the motion part joint has reached the angular velocity upper limit value or more.

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