JP2000210348A - Backache preventing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a backache preventing device with which a pattern to oscillate a seat can be adjusted corresponding to a user. SOLUTION: A seat 1, where a person sits down, is oscillated by a driving device 2 so that the muscles around the waist of the person sitting on the seat 1 can be reinforced. The driving device 2 is controlled by a controller 3 on the basis of a driving pattern expressed with plural parameters. The controller 3 is provided with a basic pattern storage part 31 for storing preset basic driving patterns and a pattern input part 32 capable of inputting the desired driving pattern separately from the basic driving patterns. On the basis of the response of the person when the seat 1 is oscillated, while using the basic driving patterns, the driving pattern to be inputted from the pattern input part 32 is set and while using the suitable oscillating pattern corresponding to every user, the seat 1 is oscillated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a back pain prevention apparatus for assisting exercise for preventing back pain and training balance functions.

[0002]

2. Description of the Related Art Conventionally, various exercise assisting devices have been proposed in which a stimulus (generally, vibration or swing) is given to a user to forcibly exercise a user to obtain a specific exercise effect. In particular, as this kind of exercise assisting device proposed for alleviating or preventing back pain, there is one described in Japanese Patent Application Laid-Open No. 7-67924. The exercise assisting device described in this publication is provided with a saddle (seat) on which a person sits straddling, and by moving the seat back and forth, tensions and relaxes a muscle group mainly of the waist. is there. In addition, the applicant not only reciprocates the seat back and forth, but also performs rectilinear reciprocation in the front-rear direction, the left-right direction, and the up-down direction, and the rotation around the front-rear axis, the left-right axis, and the vertical axis. A motion function activating device that enables a reciprocating movement to obtain a complicated motion has been proposed (JP-A-10-1277).
No. 13).

[0003]

As described above, various devices have been proposed which can be used to alleviate or prevent back pain by swinging a seat on which a person sits. As for the time change (that is, the swing pattern), only the one set in the device is used in advance, and it cannot be adjusted to give more effective swing according to the individual difference of the user. Is the current situation. In the latter publication, a plurality of types of swing patterns are set in the apparatus, and the apparatus is configured to use a pattern selected from the patterns, but the pattern is determined according to individual differences of users. It is not configured to adjust.

[0004] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a low back pain prevention apparatus which can adjust a pattern for swinging a seat according to a user.

[0005]

According to the first aspect of the present invention, a seat on which a person is seated and a group of muscles mainly including the waist of the person seated on the seat are forcibly swung so as to be tensed and relaxed. And a control device for controlling the drive device based on a drive pattern represented by a plurality of parameters, the control device stores a basic drive pattern set in advance, a basic pattern storage unit, A pattern input unit that enables input operation of a desired drive pattern separately from the basic drive pattern, and a pattern coupling unit that controls the driving device by sequentially using the basic drive pattern and the drive pattern input from the pattern input unit Is provided. According to this configuration, a desired drive pattern can be input from the pattern input unit separately from the basic drive pattern,
It becomes possible to set a driving pattern according to individual differences of users. In addition, since the pattern connecting portion that sequentially uses both drive patterns is provided, both drive patterns are used in combination, so that the drive patterns can be changed to reduce monotony. Alternatively, by measuring the movement of the user while swinging the seat using the basic drive pattern, determine a drive pattern suitable for the user based on the measurement result, and input from the pattern input unit This facilitates a transition from a state in which the movement of the user is measured to a state in which the seat is swung in a swing pattern suitable for the user. Further, since the drive pattern is represented by a plurality of parameters, the operation of inputting the drive pattern from the pattern input unit is relatively easy.

According to a second aspect of the present invention, in the first aspect of the present invention, the pattern connecting section includes a driving device between a period using a basic driving pattern and a period using a driving pattern inputted from a pattern input section. Is to set a pause period for stopping the operation. According to this configuration, since the pause period is provided between the period using the basic drive pattern and the period using the drive pattern input from the pattern input unit, a sudden change occurs when the swing pattern changes. Because it does not occur, even users who are not used to using the device do not lose balance due to changes in the swing pattern,
Can be used safely.

According to a third aspect of the present invention, in the first aspect of the present invention, the pattern connecting section sets a basic period between a period using the basic driving pattern and a period using the driving pattern input from the pattern input section. A period in which at least a part of the driving pattern and the driving pattern input from the pattern input unit are superimposed is set. According to this configuration, since at least a part of the basic drive pattern and the drive pattern input from the pattern input unit are superimposed, the transition between the two drive patterns is performed smoothly, and the drive pattern does not feel uncomfortable. Can be changed.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the pattern connection unit sets a basic period between a period using the basic drive pattern and a period using the drive pattern input from the pattern input unit. This is for setting a period in which the drive pattern and the drive pattern input from the pattern input unit are smoothly continued. According to this configuration, the transition between the basic drive pattern and the drive pattern input from the pattern input unit is performed smoothly, and the drive pattern can be changed without a sense of discomfort.

According to a fifth aspect of the present invention, in the first to fourth aspects of the present invention, the control device includes a speed setting section for setting a speed at which the driving device swings. According to this configuration, the speed of the swing can be changed according to the skill level of the user, and more appropriate swing can be given according to the user.

According to a sixth aspect of the present invention, in the first to fifth aspects of the present invention, the control device includes an amplitude setting section for setting an amplitude for swinging the driving device. According to this configuration, the amplitude of the swing can be changed according to the skill level of the user, and more appropriate swing can be given according to the user.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a driving device 2 for swinging a seat 1 is connected to a seat 1 on which a user sits. The swing of the driving device 2 is controlled by the control device 3. In the present embodiment, it is assumed that a saddle-shaped horse is used as the seat 1 and a device having six degrees of freedom called a parallel mechanism is used as the driving device 2. The parallel mechanism used here has the same structure as that described in JP-A-10-127713, in which a fixed table and a movable table are connected by six legs, and the length of each leg is reduced. The movable table is moved with respect to the fixed table by adjustment by an actuator. The seat 1 is connected to a movable base, and can perform six degrees of freedom operation of each of linear reciprocating movement in the front-rear direction, left-right direction, and vertical direction, and rotating reciprocating movement of the front-rear axis, the left-right axis, and the vertical axis. . However, the shapes of the seat 1 and the driving device 2 are merely examples, and the seat 1 may have another shape, or the driving device 2 may have a structure other than the parallel mechanism, for example, a device having less than six degrees of freedom. Even when it is used, the technical idea of the present invention can be applied.

The control device 3 is configured using a computer device, and a basic drive pattern is previously written in a basic pattern storage section 31 composed of a memory. The drive pattern can also be input from the pattern input unit 32, and the basic drive pattern and the drive pattern input from the pattern input unit 32 are input to the output unit 34 through the pattern connection unit 33. The driving pattern is represented using a plurality of parameters as described later. The output unit 34 converts the drive pattern into the length of each leg of the parallel mechanism that is the drive device 2, determines the amount of operation of the actuator according to the length of each leg, and controls the energization of the actuator. The position / posture of the seat 1 is controlled by this.

By the way, the driving pattern includes rectilinear reciprocating movements of the seat 1 in the front-rear direction (X direction), the left-right direction (Y direction), the up-down direction (Z direction), and the rotation around the front-rear axis (X-axis) (called a roll). ), The rotational reciprocation around the left-right axis (Y-axis) (referred to as pitch), and the vertical axis (Z-axis) (referred to as yaw). A swing pattern is defined. Each set of drive patterns is represented by a plurality of parameters. Specifically, each drive pattern is expressed in a form in which a sine waveform is superimposed up to the fifth harmonic, and ten parameters indicating the amplitude and phase of each order, and the other set of drive patterns 1 for offset to set timing deviation
, And two parameters representing the entire period and amplitude of the drive pattern, for a total of 13 parameters. By providing six sets of such 13 parameters, the swing pattern of the seat 1 is set. Therefore, the swing pattern of the seat 1 becomes periodic. Hereinafter, such six sets of drive patterns are collectively referred to as a unit pattern.

By adjusting the entire period and amplitude of the unit pattern set as described above, the swing speed and amplitude of the driving device 2 can be adjusted. Therefore, the control device 3 is provided with a speed setting unit 35 and an amplitude setting unit 36 in order to adjust the speed and amplitude of the swing of the driving device 2 driven by the output unit 34.

It is sufficient that the basic pattern storage unit 31 stores at least one unit pattern.
When a plurality of unit patterns are stored, they may be appropriately selected. Such a unit pattern is usually set in a form close to the movement of a horse. That is, the unit pattern is set using the statistical value (for example, the average) detected for a plurality of persons by detecting the movement near the waist of the person riding the horse. Since the unit pattern set in this way does not include individual differences, a moderate effect can be obtained for each user, but in order to obtain a higher effect, swinging according to each individual is required. The pattern needs to be modified.

A pattern input unit 32 is provided so as to provide such a swing pattern for each user. The pattern input unit 32 includes an input device such as a keyboard and a mouse and a display device. It is configured using Specifically, a window W for each set of drive patterns as shown in FIG. 2 is displayed on the screen of the display device, and the above-described parameters are set for each set of drive patterns. Therefore, six windows W are prepared. Each window W has 13 fields F for inputting parameters and each field F
A window Wa showing a waveform (a waveform represented by superimposition of sine waves) corresponding to the numerical value input to is displayed. In the window W, a tag Tg for opening the window W for another set of drive patterns is provided. Here, the characters (X,
Y, Z, pitch, yaw, roll) respectively correspond to the directions of reciprocation. That is, X, Y, and Z are linear reciprocating movements in the X-axis direction, Y-axis direction, and Z-axis direction, respectively.
pitch, yaw, roll are pitch, yaw,
The rotation reciprocation of the roll is shown. After setting the parameters using the window W, the user can select the confirmation button B1 described as "OK". If only the window W is opened and the parameters are confirmed, a release button B2 described as "Cancel" is displayed. You just have to select

The parameters input from the pattern input section 32 are set in accordance with the user's response when the seat is swung using the basic drive pattern stored in the basic pattern storage section 31. . In other words, by measuring or visually measuring at least one of biological information about the user such as myoelectric potential, pulse, respiratory rate, and physical information such as the amount of movement of the user's waist, the amount of movement of the center of gravity, and the amount of movement of the head. Then, the drive pattern is set so that swing suitable for the user is obtained. For example, if the user swings greatly when giving a swing according to the basic drive pattern, the amplitude of the swing of the seat 1 in the direction of the swing is adjusted so as to be small, and the user does not swing much and the lower back If the muscle tension / relaxation is not performed to the desired degree, the swing amplitude of the seat 1 is adjusted to be small. As described above, the swing pattern input from the pattern input unit 32 is set according to the user's response to the swing of the seat 1 using the basic drive pattern.
At the time of inputting the swing pattern from the pattern input unit 32,
It is desirable to display parameters corresponding to the basic drive pattern used at that time on a display device.
This makes it possible to obtain a desired parameter by increasing or decreasing the parameter.

The biological information and physical information of the user may be measured by attaching a sensor 4 such as an electrode for measuring myoelectric potential, a pulse sensor and an acceleration sensor to the user. Also, a reflective sphere (spherical reflective object) is attached near the waist of the user,
The motion near the waist of a person may be detected by capturing an image of a reflective sphere using a device having a plurality of TV cameras called a motion capture. Alternatively, it is also possible to adjust the drive pattern based on information obtained by visually observing the movement near the waist of the user.

As described above, the response of a person when the seat 1 is swung in the basic drive pattern is measured by using the sensor 4, and thereafter, the pattern input unit 32 outputs When the input driving pattern is used, the driving pattern changes while the user is sitting on the seat 1. If the drive pattern changes rapidly as described above, there is a possibility that some users lose their balance and fall off the seat 1. Therefore, a pattern connecting portion 33 is provided so that the driving pattern does not change suddenly. In the pattern connecting section 33, FIG.
At the time of transition from the basic drive pattern shown in (a) to the drive pattern input to the pattern input unit 32 shown in FIG. 3 (d), the basic drive pattern has a fixed time as shown in FIG. 3 (b). 3 (e) is multiplied by a function that changes from 1 to 0 in Ts, and the driving pattern from the pattern input unit 32 is
Is multiplied by a function that changes from 0 to 1 during a certain time Tp. The results are as shown in FIGS. 3 (c) and (f).
The basic drive pattern fades out, so to speak, and the drive pattern from the pattern input unit 32 fades in, so to speak. Further, as shown in FIG. 3 (g), between the periods Ta and Tb during which the driving device 2 is driven by using both driving patterns, the suspension period T during which the driving device 2 is stopped.
r is provided.

As described above, after the swing of the seat 1 using the basic drive pattern is gradually attenuated, the swing of the seat 1 is temporarily stopped, and then the drive pattern input from the pattern input unit 32 is used. As the swing of the seat 1 is gradually increased, the swing of the seat 1 does not change suddenly.
Even when the balance function of the user is low, it can be used safely. The period T1 of the basic drive pattern and the period T of the drive pattern input from the pattern input unit 32
2. Times Ts and Tp in FIGS. 3B and 3E, and pause period Tr
Can be set as appropriate.

When the pause period Tr is set in the pattern connection section 33 as described above, the seat 1 is temporarily stopped, and when the user has a high balance function, the user may feel uncomfortable. Therefore, the pattern connecting unit 33
4 and 5, the period may be shifted from the period using the basic drive pattern to the period using the drive pattern input by the pattern input unit 32. The operation shown in FIG. 4 does not attenuate the basic driving pattern shown in FIG. 4A, and only the driving pattern from the pattern input unit 32 shown in FIG. To generate a drive pattern whose amplitude gradually increases as shown in FIG. When the driving pattern of FIG. 4D obtained in this way is partially overlapped with the basic driving pattern shown in FIG. 4A, a driving pattern as shown in FIG. Is possible. That is, in the basic drive pattern, the swing direction changes from the negative side to the positive side,
In the drive pattern shown in FIG. 4D, the point at which the swing shifts from 0 to the negative side is connected to start a period in which the two drive patterns are overlapped, and when the overlapped drive pattern returns to 0 next time. When the superposition is completed, the transition between the two drive patterns is performed relatively smoothly. Even when the driving patterns are combined in such a manner, the times T1, T2, and Tp in FIG. 5 are appropriately set.

Alternatively, the basic drive pattern shown in FIG. 5A and the drive pattern from the pattern input section 32 shown in FIG. 5D are attenuated similarly to the example shown in FIG. 5 (b) is multiplied by the increasing function (FIG. 5 (e)) to generate the driving patterns of FIGS. 5 (c) and 5 (f). May be combined to generate a driving pattern as shown in FIG. Also in this case, the transition between both drive patterns can be performed smoothly. Time T1, T2
Ts and Tp can be set as appropriate.

In the above-described example, the parameters of the driving pattern are changed according to the user's response when the seat 1 is operated and rocked in the basic driving pattern. However, the setting of the parameters is rather complicated. Yes, it is somewhat difficult to obtain appropriate settings without knowledge of the parameters. Therefore, by changing only the speed and amplitude of the swing of the seat 1 according to the degree of the balance function of the user, it is possible to obtain strength corresponding to the user. That is, as described above, by using the speed setting unit 35 or the amplitude setting unit 36, the entire cycle or amplitude when driving the driving device 2 is adjusted. By changing the cycle (speed) with respect to the basic drive pattern shown in FIG. 6A, for example, a drive pattern having a cycle t2 shorter than the cycle t1 of the basic drive pattern as shown in FIG. Can be generated. Therefore, when the swing of the seat 1 is intense with respect to the user's balance function, the speed is reduced (the cycle is lengthened). Conversely, when the swing of the seat 1 is gentle with respect to the user's balance function, the speed is reduced. Can be adjusted to provide proper training.

Similarly, the amplitude of the swing of the seat 1 can be adjusted. For example, when the basic driving pattern is given as shown in FIG. If it is changed, a driving pattern as shown in FIG. 7B can be obtained. In other words, when the swing of the seat 1 is severe with respect to the balance function of the user, the amplitude is reduced, and when the swing of the seat 1 is gentle with respect to the balance function of the user, the amplitude is increased. Can be adjusted to provide proper training.

[0025]

According to the first aspect of the present invention, there is provided a driving device for forcibly swinging a seat on which a person is seated and a muscle group mainly including a waist of the person seated on the seat so as to be tensioned and relaxed. And a control device that controls the driving device based on a driving pattern represented by a plurality of parameters, the control device includes a basic pattern storage unit that stores a preset basic driving pattern, and a basic driving pattern. Separately, a device provided with a pattern input unit that enables input operation of a desired drive pattern, and a pattern connection unit that controls a driving device by sequentially using a basic drive pattern and a drive pattern input from the pattern input unit Therefore, a desired driving pattern can be input from the pattern input unit separately from the basic driving pattern, and the driving pattern can be set according to the individual difference of the user. There is an advantage that it becomes possible.
In addition, since the pattern connecting portion that sequentially uses both drive patterns is provided, both drive patterns are used in combination, so that the drive patterns can be changed to reduce monotony. Alternatively, by measuring the movement of the user while swinging the seat using the basic drive pattern, determine a drive pattern suitable for the user based on the measurement result, and input from the pattern input unit Then, there is an effect that the transition from the state of measuring the movement of the user to the state of swinging the seat in a swing pattern suitable for the user is facilitated. Further, since the drive pattern is represented by a plurality of parameters, the operation of inputting the drive pattern from the pattern input unit is relatively easy.

According to a second aspect of the present invention, in the first aspect of the present invention, the user pattern connecting section sets the driving period between a period using the basic driving pattern and a period using the driving pattern input from the pattern input section. This is to set a pause period for stopping the device, and the swing pattern changes because a pause period is provided between the period using the basic drive pattern and the period using the drive pattern input from the pattern input unit. Since there is no sudden change at the time of the operation, there is an advantage that even a user who is not used to using the device can safely use the device without breaking the balance due to the change of the swing pattern.

According to a third aspect of the present invention, in the first aspect of the present invention, the user pattern connecting unit sets a basic period between a period using the basic drive pattern and a period using the drive pattern input from the pattern input unit. This is to set a period in which at least a part of the drive pattern and the drive pattern input from the pattern input unit are overlapped, and at least a part of the basic drive pattern and the drive pattern input from the pattern input unit are Since the driving patterns are superimposed, the transition between the two driving patterns is performed smoothly, and there is an advantage that the driving patterns can be changed without a sense of incongruity.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the user pattern connecting unit sets the basic pattern between the period using the basic drive pattern and the period using the drive pattern input from the pattern input unit. This is to set a period in which the drive pattern and the drive pattern input from the pattern input unit are smoothly continued, and the transition between the basic drive pattern and the drive pattern input from the pattern input unit is performed smoothly, There is an advantage that the drive pattern can be changed without a sense of discomfort.

According to a fifth aspect of the present invention, in the first to fourth aspects of the present invention, the user control device includes a speed setting section for setting a speed at which the driving device is swung. It is possible to change the speed of the swing according to the user, and there is an advantage that more appropriate swing can be given according to the user.

According to a sixth aspect of the present invention, in the first to fifth aspects of the present invention, the user control device includes an amplitude setting section for setting an amplitude for swinging the driving device. It is possible to change the amplitude of the swing according to the user, and there is an advantage that a more appropriate swing can be given according to the user.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is an operation explanatory diagram showing an example of a screen of a pattern input unit in the embodiment.

FIG. 3 is an operation explanatory view of the above.

FIG. 4 is an operation explanatory diagram of the above.

FIG. 5 is an operation explanatory view of the above.

FIG. 6 is an operation explanatory view of the above.

FIG. 7 is an operation explanatory diagram of the above.

[Explanation of symbols]

 Reference Signs List 1 seat 2 drive device 3 control device 31 basic pattern storage unit 32 pattern input unit 33 pattern connection unit 34 output unit 35 speed setting unit 36 amplitude setting unit

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Soji Murakami 1048 Kadoma Kadoma, Kadoma City, Osaka Prefecture Inside the Matsushita Electric Works, Ltd. (72) Inventor Ryoji Nakajima 1048 Kadoma Kadoma, Kadoma City, Osaka Prefecture Inside the Matsushita Electric Works Co., Ltd.

Claims (6)

[Claims] 1. A seat on which a person is seated, a driving device for forcibly swinging the seat so that muscle groups mainly including the waist of the person seated and relaxed are given to the seat, and a plurality of parameters. A control device for controlling the driving device based on the represented driving pattern, wherein the control device includes a basic pattern storage unit for storing a preset basic driving pattern, and a desired driving pattern separately from the basic driving pattern. Back pain prevention device, comprising: a pattern input unit that enables the input operation of a pattern, and a pattern connection unit that controls the driving device by sequentially using the basic driving pattern and the driving pattern input from the pattern input unit. . 2. The method according to claim 1, wherein the pattern connecting unit sets a pause period for stopping the driving device between a period using the basic driving pattern and a period using the driving pattern input from the pattern input unit. The low back pain prevention device according to claim 1. 3. The method according to claim 1, wherein the pattern connection unit includes a basic drive pattern and a drive pattern input from the pattern input unit between a period using the basic drive pattern and a period using the drive pattern input from the pattern input unit. 2. The low back pain prevention device according to claim 1, wherein a period in which at least a part of the above is superimposed is set. 4. The method according to claim 1, wherein the pattern connection unit includes a basic driving pattern and a driving pattern input from the pattern input unit between a period using the basic driving pattern and a period using the driving pattern input from the pattern input unit. 2. A period is set in which the period is smoothly continued.
The low back pain prevention device as described. 5. The low back pain prevention device according to claim 1, wherein the control device includes a speed setting unit that sets a speed at which the driving device swings. 6. The low back pain prevention device according to claim 1, wherein the control device includes an amplitude setting unit that sets an amplitude for swinging the driving device.