JP2001079113A - Balance training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To impart oscillation like walking of a horse by using relatively simple constitution. SOLUTION: A seat 1 on which a person sits is oscillated by a drive assembly 3. The movement of the seat 1 is limited to combination of the rectilinear reciprocating motion in a longitudinal direction, the rotating and reciprocating movement around a longitudinal axis and the rotating and reciprocating movement around a lateral axis by the drive assembly 3. A drive section 3a enables the rectilinear reciprocating motion in the longitudinal direction and the rotating and reciprocating movement around the lateral axis and a drive section 3b enables the rotating and reciprocating movement around the longitudinal axis. The control methods of both drive sections 3a and 3b are variously combined, by which the seat 1 is oscillated in intricate oscillation patterns.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a balance training apparatus used for training a balance function for the purpose of activating the body, training or recovering a motor function, and the like.

[0002]

2. Description of the Related Art In general, it is known that balancing to prevent falling while riding a horse is training for maintaining the balance, and is also training for preventing lower back pain by activating the lumbar back muscles. ing. However, the places where you can ride a horse are limited. Therefore, it has been considered to use a mechanical device capable of realizing the same operation as riding on a horse so that balance training can be easily performed without being restricted by a place or weather.

[0003] This type of mechanical device (balance training device) is provided with six driving sources and drives a horse-shaped vehicle with six degrees of freedom, as described in Japanese Patent Publication No. 6-65350, for example. Things have been suggested. In this configuration,
The vehicle can be rocked by a combination of six operations, namely, reciprocating forward and backward, left and right, and up and down, and reciprocating rotationally around the longitudinal axis, the left and right axes, and the up and down axes. The six operations can be individually controlled. Therefore, swinging close to a state of riding on a horse is possible.

[0004]

However, the one described in the above publication has six driving sources and controls each driving source individually, so that the timing of the operation of each driving source, Since the speed and the operation range are individually controlled, it is necessary to perform very complicated control. Further, since six driving sources are provided, there is a problem that the size is easily increased and the cost is increased. This problem is not limited to the so-called six-degree-of-freedom serial robot used in the above-mentioned publication, but also occurs when a six-degree-of-freedom parallel robot having a relatively simple structure is used. Although the structure is simple, the cost of the components is high, so that the cost is further increased.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to give a swing like a state of riding on a horse by using a relatively simple structure, It is an object of the present invention to provide a balance training device that enables a balance training at the same level as a training state.

[0006]

According to a first aspect of the present invention, there is provided a seat on which a person is seated, and the movement of the seat is performed by reciprocating linearly in a longitudinal direction, rotating reciprocating around a longitudinal axis, and rotating reciprocating around a lateral axis. A drive device that is driven by being limited to a combination with movement;
A drive control unit that controls a drive device to swing the seat in a desired pattern, wherein the drive device performs a first drive related to a back-and-forth rectilinear reciprocation and a rotary reciprocation around a left and right axis. The first drive unit includes a first drive unit, and the second drive unit includes a second drive source for rotational reciprocation around the front-rear axis. According to this configuration,
Since the operation of the drive device for swinging the seat is limited to three types, the configuration of the drive device is simplified as compared with the case where six types of operation are possible as in the related art. In addition, although the operation is restricted to three types, the type of operation is a combination of the linear reciprocation in the front-rear direction, the rotary reciprocation about the front-rear axis, and the rotary reciprocation about the left-right axis, so that the balance is obtained. When used for training (training for maintaining balance and training for preventing back pain), an effect equivalent to that of a device capable of performing six types of operations can be obtained. That is, the three types of operations described above can be realized using two driving units.

The invention according to claim 2 is characterized in that a seat on which a person sits,
A first drive unit for moving the seat straight back and forth in the front-rear direction and rotating the seat back and forth around the left and right axis, a second drive unit for rotating and reciprocating the seat around the front and rear axis, and And a drive control unit that can adjust the phase relationship between the first and second drive units so that rocking simulating the gait between the normal foot and the trot of the horse can be selected. According to this configuration, since the operation of the driving device for swinging the seat is limited to three types, the configuration of the driving device is simplified as compared with the case where six types of operations are possible as in the related art. Moreover, although the operation is limited to three types,
Since the type of movement is a combination of forward and backward rectilinear reciprocation, rotational reciprocation around the longitudinal axis, and rotational reciprocation around the left and right axes, it is used for balance training (training for maintaining balance and training for back pain prevention). In this case, the same effect as that of the device capable of performing six kinds of operations can be obtained. That is, the three types of operations described above can be realized by using two driving units, and the two driving units are individually controlled by an instruction from the driving control unit to adjust the phase relationship, so that the It is possible to simulate by selecting from the steps of normal foot and trot.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the drive control section can select a swing that simulates a horse walking step as the seat swing. Thus, the phase relationship between the first and second driving units and the ratio of the reciprocating movement periods of the first and second driving units can be adjusted. According to this configuration, it is possible to simulate the walking gait of the horse, so that the gait simulates all the gaits necessary for balance training, that is, three types of walking gait, trot, and gait. be able to. In addition, there is a stroll in the horse walking, but it is not necessary for balance training.

According to a fourth aspect of the present invention, in the first to third aspects of the present invention, the drive control unit controls the operation of the first and second drive units during a transition period in which the swing pattern of the seat is changed. The drive is temporarily stopped, and then the drive is restarted. According to this configuration, when the swing pattern of the seat is changed, the swing is temporarily stopped. Therefore, the user can be notified of the change of the swing pattern, and the swing pattern is suddenly changed. It is possible to reduce the risk that a person falls off the seat.

According to a fifth aspect of the present invention, in the first to third aspects of the present invention, the drive control section is configured to switch the first and second drive sections during a transition period in which the swing pattern of the seat is changed. One is temporarily stopped until a timing at which the phase relationship after the change of the swing pattern is obtained, and then the driving is restarted so as to obtain the changed swing pattern. According to this configuration, since one of the driving units is operated even in the transition period in which the swing pattern of the seat is changed,
The swing pattern can be changed while the swing of the seat is continued.

According to a sixth aspect of the present invention, in the first to third aspects of the present invention, the drive control section is configured to switch the first and second drive sections during a transition period in which the swing pattern of the seat is changed. Is driven to change the cycle of the reciprocating movement until the timing at which the phase relationship after the change of the swing pattern is obtained, and thereafter, to obtain the changed swing pattern. According to this configuration, since both the driving units operate during the transition period in which the swing pattern of the seat is changed, the swing pattern can be smoothly changed in the transition period while continuing the swing of the seat. .

According to a seventh aspect of the present invention, in the first to sixth aspects, the swing parameter for determining the swing pattern of the seat and the drive unit during the transition period when the swing pattern of the seat is changed. And a parameter input means for providing a change parameter for determining an operation to the drive control unit. According to this configuration, the type of the swing pattern and the operation of the drive unit during the transition period in which the swing pattern is changed can be designated by the parameter input unit.
The swing of the seat can be changed according to individual differences, or the swing of the seat can be changed so as to reduce monotony.

According to an eighth aspect of the present invention, in the first aspect of the present invention, the drive control section controls the first and second drive sources to perform reciprocal rotation operation and controls a rotation angle range to thereby control each of the drive devices. The amplitude of the reciprocating movement is adjusted. According to this configuration, since the driving source is reciprocally rotated and the rotation angle range is adjustable, the amplitude of the swing pattern can be controlled, and a swing pattern with a high motion effect can be generated.

According to a ninth aspect of the present invention, in the invention of the eighth aspect, the drive control section is capable of adjusting a reference position of the reciprocating rotation operation of the first and second drive sources. According to this configuration, by setting the reference position of the reciprocating rotation operation as appropriate, it is possible to perform swinging with an inclination in front and rear and left and right. That is, it is possible to perform an operation that simulates an uphill, a downhill, or turning left and right. By providing such an inclination, it is possible to change the swinging pattern of the seat so that the user is not bored.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In this embodiment, as shown in FIG. 1A, a seat 1 on which a person is seated is swung by a driving device 3 (see FIG. 1B) housed in a base 2. It is configured as follows. The seat is formed in the shape of a horse saddle, and a person sits on the seat 1. Further, as shown in FIG. 5, the driving device 3 is controlled by the arithmetic and control unit 5 via the motor driving units 4a and 4b.

As shown in FIGS. 2 to 4, the driving device 3 has a rectangular parallelepiped base 2 and a movable gantry 31 held so as to be movable with respect to the base 2. The upper surface of the base 2 is open, and a pair of left and right rail portions 21 running in the front-rear direction is formed on the upper portion of the base 2. Each of the rail portions 21 has a U-shaped cross section, and is formed so that the opening sides face each other.

The movable gantry 31 is provided with two left and right shafts 32 and 33 at the front and rear. One end of an arm 34 is attached to both ends of the front shaft 32 at a position eccentric from the axis of the shaft 32. Can be The arms 34 are rotatably mounted on the shaft 32 so that the centers of rotation of the arms 34 are located on a straight line. The other ends of both arms 34 are pivotally attached to the rear end of pedestal 11 that holds seat 1. The front end of the pedestal 11 is rotatably mounted on a support plate 35 a disposed in front of the movable gantry 31. The support plate 35a is fixed to the mounting bar 35, and a pair of runners 36 are rotatably mounted on both ends of the mounting bar 35 via mounting plates 35b. The runner 36 is inserted into the left and right rail portions 21 and rolls in the rail portions 21. Therefore, when the shaft 32 rotates, the rear end of the pedestal 11 connected to the other end of the arm 34 moves up and down, and the height position of the front end of the pedestal 11 is kept constant. The pedestal 11 swings (pitch) back and forth around the left and right axes.

At both ends of the rear shaft 33, a pair of runners 37 eccentric from the axis of the shaft 33 are provided.
3 so as to be rotatable. Both runners 37 are respectively inserted into the left and right rail portions 21, but are provided so that their central axes are different from each other. Therefore, when the shaft 33 rotates, the movable gantry 31 swings (rolls) left and right around the longitudinal axis.

A rotary shaft 38 protrudes from the lower surface of the movable base 31, and one end of a link 39 is axially mounted at a position eccentric with respect to the axis of the rotary shaft 38. The other end of the link 39 is pivotally attached to the front end of the base 2, and when the rotation shaft 38 rotates, the movable gantry 31 moves back and forth. Base 2
FIG. 1B schematically shows the relationship between the movable frame 31 and the movable base 31.

As described above, by rotating the shafts 32 and 33 and the rotation shaft 38, respectively, the rotation reciprocation about the front-rear axis, the rotation reciprocation about the left-right axis, and the straight reciprocation in the front-rear direction are performed. The movement can be performed, and three types of operations can be realized. Driving sources for rotating the shafts 32 and 33 and the rotating shaft 38 are two motors 30 a and 30 b that are rotated, and in the present embodiment, one of the motors 30 a is used for rotating the shaft 33. The other motor 30b is used for rotating the shaft 32 and the rotating shaft 38. Therefore, the rotation reciprocation (roll) in the left-right direction (that is, around the front-rear axis) is performed by the motor 30.
The operation is performed by the motor 30b, and the linear reciprocation in the front-rear direction and the rotational reciprocation (pitch) in the front-rear direction (that is, around the left and right axes) are performed by the motor 30b. In other words, the driving device 3 includes two driving units 3a and 3b, and each driving unit 3
a and 3b use the motors 30b and 30a as drive sources, respectively. Here, the transmission of the rotational force from each of the motors 30a, 30b to the shafts 32, 33 and the rotary shaft 38 uses a bevel gear 30c (see FIG. 3). As described above, the reciprocating movement between the front and rear and the left and right is performed by the different motors 30a,
Since the operation is performed at 30b, it is possible to give a complicated movement to the pedestal 11 by changing one of the movements.

For example, in a normal human balance function,
The movement is predicted in about 2 to 3 seconds with respect to the periodic shaking, and the effect of the periodic shaking alone is small to enhance the balance function. By using 30b, it is possible to give a change to the swaying motion, and it is possible to give a motion that a person does not expect or a person who does not get bored.

The motors 30a and 30b are connected to the arithmetic and control unit 5 via the motor driving units 4a and 4b (see FIG. 5).
Is controlled by The arithmetic control unit 5 is configured using a computer device, and controls the motors 30a and 30b based on control information provided by the data input unit 6. The control information of the data input unit 6 is set so that the seat 1 can be given a swing simulating the step of a horse. The control information includes a method of rotating the motors 30a and 30b (continuous rotation or reciprocating rotation), a rotation angle and a reference position, a rotation speed, and a phase relationship in the case of reciprocating rotation so that the swing of the seat 1 is not monotonous. Is set to change. Here, the continuous rotation means that the motors 30a and 30b are rotated in a fixed direction, and the reciprocating rotation means that the motors 30a and 30b are alternately rotated in the normal and reverse directions. As described above, the arithmetic control unit 5 constitutes a drive control unit together with the data input unit 6 and the motor drive units 4a and 4b.

The maximum amplitude of the swing in each direction during one rotation of the motors 30a and 30b is determined by the eccentricity of the mounting position of the arm 34, the eccentricity of the runner 37, and the eccentricity of the link 39. That is, the motors 30a, 30b
Are continuously rotated in the same direction, the amplitude of the swing of the seat 1 becomes constant. On the other hand, when the reciprocating rotation is performed and the rotational angle ranges φ1 and φ2 of the motors 30a and 30b as the driving sources can be adjusted as shown in FIG. 6, the amplitude of the swing of the seat 1 is changed. be able to. That is, when the rotation angle ranges φ1 and φ2 are set, the motors 30a and 30b are not continuously rotated but reciprocated in the set rotation angle ranges φ1 and φ2. 6 (a) and 6 (b) show the rotating shaft 3 which rotates in conjunction with the motors 30a and 30b.
FIG. 3 schematically shows a positional relationship between 0c and a member (that is, arm 34, runner 37, link 39) 30d eccentrically attached to the axis of the rotating shaft 30c. In FIG. 6, when the motors 30a and 30b are reciprocatingly rotated, the mounting position of the member 30d with respect to the rotating shaft 30c is the same width as the reference line with respect to the reference line, with the straight line in the horizontal direction passing through the center of the rotating shaft 30c as the reference line. Reference position of reciprocating rotation operation (ie, center position of reciprocating movement)
Is set. Therefore, assuming that the angle of the reference line is 0 degree, as shown on the right side of FIGS.
The seat 1 can be swung about the degree. Here, it is assumed that the position set as the reference line is associated with the neutral position of the seat 1 (that is, a position where the seat 1 has no front-back and left-right inclination or front-back position shift).

On the other hand, during the reciprocating rotation operation of the motors 30a and 30b, as shown on the left side of FIG. 7, if the reference position is changed so that the mounting position of the member 30d with respect to the rotating shaft 30c deviates from the reference line. 7, seat 1 as shown on the right
Is shifted from the neutral position. That is, in terms of the reciprocating rotational movement around the front-rear axis or the left-right axis, the rocker swings with a left-right inclination or a front-rear inclination. For example, if a tilt is given to the front and back, a person sitting on the seat 1 can feel as if going up or down a hill. You will get a feeling as if you are turning. By adopting such a change in the inclination, it is possible to give the user a motion that does not make the user tired. The swing pattern of the seat 1 can be changed by changing the speed of the motors 30a and 30b during the reciprocating rotation operation.

In the present embodiment, in order to control the rocking pattern of the seat 1 so as to simulate the horse's normal foot, trot and run, the driving units 3a and 3b (ie, the motors 30a and 30b) are used.
Is controlled as follows. First, considering the horse's normal foot, the forward and backward rectilinear reciprocating movement is as shown in FIG. 8, and the reciprocating rotational movement around the left and right axes and the anteroposterior axis is as shown in FIG. 8, respectively. From these relations, it can be seen that the cycle of the rectilinear reciprocation in the front-rear direction and the cycle of the rotary reciprocation about the left-right axis are almost half the cycle of the rotary reciprocation about the front-rear axis. From this, the motor 30a performs the reciprocating rotation around the front-rear axis, and the motor 30b performs the linear reciprocating movement in the front-rear direction and the rotary reciprocating movement about the left-right axis. If it is set, the swinging pattern of the seat 1 can be a pattern simulating the normal foot. Here, since the phase difference between the reciprocating movements is also substantially constant, the two motors 30a and 30b (that is, the driving unit 3)
If a predetermined phase difference is given to a and 3b) for control, it is possible to simulate a normal foot gait of a horse.

On the other hand, considering fast walking, the forward and backward rectilinear reciprocation is as shown in FIG. 9, and the rotational reciprocation around the left and right axes and the anteroposterior axis is as shown in FIG. 9, respectively. In other words, the period of the straight reciprocation in the front-rear direction and the rotation reciprocation of the left and right axes are almost half of the period of the rotation reciprocation around the front-rear axis even in trotting. Therefore, if the ratio between the cycle of the rotational reciprocating movement around the front-rear axis and the cycle of the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis is set to 2: 1, the swing pattern of the seat 1 can be changed. A pattern simulating a trot can be obtained. Here, when comparing normal walking and trot, there is no large difference in the phase difference between the straight forward reciprocating movement in the front-rear direction and the rotary reciprocating movement around the left and right axes. There is a large shift in the phase difference between the movement and the movement. Therefore, the two motors 30a,
By adjusting the phase difference of 30b (that is, the drive units 3a and 3b), it is possible to distinguish between a normal foot and a trot.

FIG. 9 shows the forward and backward rectilinear reciprocating movements in the forward and backward directions, and FIG. 10 shows the reciprocating rotational movements about the left and right axes and the fore and aft axes, respectively. In other words, in a walk, each cycle of the reciprocating rotation about the front-rear axis, the straight reciprocating movement in the front-rear direction, and the reciprocating rotation about the left-right axis are substantially equal. Therefore, if the ratio of the cycle of the rotational reciprocating movement around the front-rear axis and the cycle of the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis is set to 1: 1, the swing pattern of the seat 1 can be changed. It becomes possible to make a pattern simulating the driving. Also in this case, the motors 30a and 30b are so provided as to provide an appropriate phase difference for each reciprocating movement.
By adjusting the phase difference between the driving units 3a and 3b, it is possible to simulate a walking gait.

A complex swing pattern is given to the seat 1 by giving the various swing patterns together with the change of the amplitude and the change of the reference position accompanying the reciprocating rotation of the motors 30a and 30b. And the seat 1 can be swung so as not to make the user tired.

When the swing pattern of the seat 1 is changed, a transition period is provided for shifting from the swing pattern before the change to the swing pattern after the change. That is, while the period and the phase difference change before and after the change of the swing pattern, the driving device 3 can only change the position continuously. Therefore, the position of the driving device 3 is adjusted during the transition period. is there. The control method of the motors 30a and 30b for changing the swing pattern during the transition period includes:
There are the following three methods.

In the first method, as shown in FIG. 11, the motors 30a and 30b are temporarily controlled from the state where the motors 30a and 30b are controlled so that the swing pattern P1 is obtained before the transition period Ts. Stop. Here, after the predetermined stop period Ta has elapsed, the drive of the drive unit 3a having the longer cycle in the swing pattern P2 is restarted, and the stop position of the drive unit 3b in the swing pattern P1 is changed to the swing pattern P2. , The driving of the driving unit 3b is restarted after waiting for a phase adjustment period Tb until the position corresponding to the phase difference (phase relationship) with respect to the driving unit 3a. By such control, it is possible to shift from the swing pattern P1 to the swing pattern P2.

In the second method, the suspension period Ta
Is omitted, and the transition period Ts matches the phase adjustment period Tb as shown in FIG. In other words, the drive unit 3b having the shorter cycle after the change among the drive units 3a and 3b
Only when the stop position reaches a position corresponding to the phase difference with respect to the drive unit 3a in the swing pattern P2, the drive of the drive unit 3b is restarted. If such control is performed, the seat 1 will continue to swing since the one driving unit 3a is driven even during the transition period Ts.

In the third method, as shown in FIG.
In the phase adjustment period Tb in the method of
Without stopping, and the seat 1 is periodically changed during the transition period Ts.
By continuously oscillating, both oscillating patterns P1,
The transition of P2 is performed. By not stopping the driving units 3a and 3b even in the transition period Ts in this manner, the swing patterns P1 and P2 can be smoothly transitioned so as not to cause a sense of discomfort.

The data input section 6 has a function as parameter input means for instructing the swing pattern of the seat 1 and the operation during the transition period when the swing pattern is changed. The swing pattern includes the number of rotations of the motor 30a,
The control can be performed by designating the rotation ratio (the rotation speed of the motor 30b / the rotation speed of the motor 30a) and the phase difference. Further, the operation during the transition period requires a time (stop time / change time) for stopping the drive unit 3b or changing the cycle of the drive unit 3b, that is, the designation of the above-described phase adjustment period Tb. When changing the cycle of the drive unit 3b, it is necessary to specify the number of rotations of the motor 30b during the phase adjustment period Tb.

Therefore, as shown in FIG. 14, the data input section 6 includes a swing parameter (rotation speed, rotation ratio, phase difference) for determining the swing pattern and a change in the swing pattern of the seat 1. Parameter input means for inputting change parameters (stop time / change time and rotation speed) for determining the operation of the drive units 3a and 3b during the transition period. The parameter input means is realized by a combination of a display on a display screen of the computer device and a keyboard or mouse.

In FIG. 14, a start button SW1 and a stop button SW2 are used to instruct the start and stop of driving of the driving device 3. The start button SW1 and the stop button SW2 are used to control the rotation speed, rotation ratio, phase difference, stop, change time, and change rotation speed. If the start button SW1 is selected by inputting appropriate values into the corresponding fields F1 to F5, the driving device 3 is driven based on the input data. In other words, horse walking
Data corresponding to either a trot or a run is stored in field F
By inputting the information to 1 to F3, the seat 1 can be rocked in a rocking pattern that simulates one of normal foot, trot, and running.

In the case of temporarily stopping as in the first method described above during the transition period, the stop button S
After stopping the driving device 3 at W2, the data of the next swing pattern may be input to the fields F1 to F3, and the driving may be restarted by the start button SW1.
When only one of the driving sources 30b is stopped as in the second method, the required time is input in the field F4 of the stop / change time, 0 is input in the field F5 of the change rotation speed, and then the change is started. What is necessary is just to select the button SW3.
In the case where the rotation speed is changed without stopping one drive source 30b as in the third method, the required time is input to the stop and change time field F4 and the required time is changed to the change rotation speed field F5. After entering the speed,
A change start button SW3 is selected and operated.

As described above, an appropriate numerical value is assigned to each field F
If the buttons SW1 to SW3 are selected and operated by inputting them to 1 to F5, the swing pattern of the seat 1 can be appropriately changed, and the monotony of the swing pattern can be reduced.
Although not shown, the data input unit 6 can also set a rotation angle range and a reference position when the motors 30a and 30b are reciprocally rotated.

[0038]

According to the first aspect of the present invention, there is provided a seat on which a person is seated, and the movement of the seat is a combination of a rectilinear reciprocating movement in the front-rear direction, a rotational reciprocating movement about the longitudinal axis, and a rotational reciprocating movement about the left-right axis. And a drive control unit that controls the drive device so as to swing the seat in a desired pattern. A first drive unit provided with a first drive source for rotary reciprocation, and a second drive unit provided with a second drive source for rotary reciprocation around the longitudinal axis. Since the operation of the driving device for swinging the seat is limited to three types, there is an advantage that the configuration of the driving device is simplified as compared with the case where six types of operations are possible as in the related art. . In addition, although the operation is restricted to three types, the type of operation is a combination of the linear reciprocation in the front-rear direction, the rotary reciprocation about the front-rear axis, and the rotary reciprocation about the left-right axis, so that the balance is obtained. When used for training (training for maintaining balance and training for preventing back pain), an effect equivalent to that of a device capable of performing six types of operations can be obtained. That is, the three types of operations described above can be realized using two driving units.

According to a second aspect of the present invention, there is provided a seat on which a person sits,
A first drive unit for moving the seat straight back and forth in the front-rear direction and rotating the seat back and forth around the left and right axis, a second drive unit for rotating and reciprocating the seat around the front and rear axis, and A drive control unit that adjusts a phase relationship between the first and second drive units so that a swing simulating a gait between a normal foot and a trot of the horse can be selected; Since the operation of the oscillating drive device is limited to three types, there is an advantage that the configuration of the drive device is simplified as compared with the case where six types of operations are possible as in the related art.
In addition, although the operation is restricted to three types, the type of operation is a combination of the linear reciprocation in the front-rear direction, the rotary reciprocation about the front-rear axis, and the rotary reciprocation about the left-right axis, so that the balance is obtained. Training (balance maintenance training,
When used for back pain prevention training), the same effect as a device capable of performing six types of operations can be obtained. That is, the three types of operations described above can be realized by using two driving units, and the two driving units are individually controlled by an instruction from the driving control unit to adjust the phase relationship, so that the There is an advantage that it is possible to simulate by selecting from gait of normal foot and trot.

According to a third aspect of the present invention, in the first or the second aspect of the present invention, the drive control section can select a swing simulating a stepping of a horse as the swing of the seat. The phase relationship between the first and second drive units and the ratio of the reciprocating cycle of the first and second drive units can be adjusted so that the horse's walking stance can be adjusted. Since it is possible to simulate, there is an advantage that it is possible to simulate all kinds of gaits considered to be necessary for balance training, that is, three types of gaits: normal walking, trotting, and running.

According to a fourth aspect of the present invention, in the first to third aspects of the present invention, the drive control section controls the operation of the first and second drive sections during a transition period for changing the swing pattern of the seat. The suspension is temporarily stopped, and then the driving is resumed. When the swing pattern of the seat is changed, the swing is temporarily stopped. Therefore, the change of the swing pattern can be notified to the user, and the swing pattern can be changed. There is an advantage that the possibility that the user falls off the seat due to the rapid change of the vehicle can be reduced.

According to a fifth aspect of the present invention, in the first to third aspects of the present invention, the drive control section is configured to select one of the first and second drive sections during a transition period in which the swing pattern of the seat is changed. One is temporarily stopped until a phase relationship after the change of the swing pattern is obtained, and then the driving is restarted so as to obtain the changed swing pattern. Since one of the drive units is operated during the period, there is an advantage that the swing pattern can be changed while the swing of the seat is continued.

According to a sixth aspect of the present invention, in the first to third aspects of the present invention, the drive control section is configured to switch the first and second drive sections during a transition period in which the swing pattern of the seat is changed. One of the two is driven to change the cycle of the reciprocating movement until the timing at which the phase relationship after the change of the swing pattern is obtained, and thereafter, is driven so as to obtain the changed swing pattern. Since both drive units operate during the transition period to be changed, there is an advantage that the swing pattern can be smoothly changed during the transition period while the swing of the seat is continued.

According to a seventh aspect of the present invention, in the first to sixth aspects of the present invention, the swing parameter for determining the swing pattern of the seat and the drive unit during the transition period when the swing pattern of the seat is changed. A parameter input unit for providing a change parameter for determining an operation to the drive control unit, wherein the type of the swing pattern and the operation of the drive unit during a transition period in which the swing pattern is changed are designated by the parameter input unit. Therefore, there is an advantage that the swing of the seat can be changed according to the individual difference, and the swing of the seat can be changed so as to reduce the monotony.

According to an eighth aspect of the present invention, in the first aspect of the present invention, the drive control section causes the first and second drive sources to perform reciprocating rotation operation and controls a rotation angle range to thereby control each of the drive devices. The amplitude of the reciprocating movement is adjusted. Since the driving source is reciprocatingly rotated and the rotation angle range is adjustable, the amplitude of the oscillating pattern can be controlled, and the oscillating pattern with high motion effect can be generated. There is an advantage that it becomes possible.

According to a ninth aspect of the present invention, in the eighth aspect of the present invention, the drive control section is capable of adjusting a reference position of the first and second driving sources in the reciprocating rotation operation. By appropriately setting the reference position, swinging with an inclination in front and rear and left and right becomes possible, and an operation simulating turning uphill or downhill or turning left and right becomes possible.
By providing such an inclination, there is an advantage that the swing pattern of the seat can be changed so as not to make the user tired.

[Brief description of the drawings]

1A and 1B show a first embodiment of the present invention, wherein FIG. 1A is an external perspective view, and FIG. 1B is a schematic configuration diagram of a driving device.

FIG. 2 is a side view of a main part of the driving device used in the first embodiment.

FIG. 3 is a plan view of the driving device used in the above.

FIG. 4 is a front view of the driving device used in the above.

FIG. 5 is a main part block diagram of the above.

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

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

FIG. 8 is a diagram showing a swing pattern of a horse's normal foot.

FIG. 9 is a diagram showing a rocking pattern of a trot of a horse.

FIG. 10 is a diagram showing a swing pattern in a horse run.

FIG. 11 is an operation explanatory diagram showing a control example of a transition period in the above.

FIG. 12 is an operation explanatory diagram showing another control example of the transition period in the above.

FIG. 13 is an operation explanatory diagram showing still another control example of the transition period according to the above.

FIG. 14 is a diagram showing an example of a parameter input unit used in the embodiment.

[Explanation of symbols]

 Reference Signs List 1 seat 2 base 3 driving device 3a, 3b driving unit 4a, 4b motor driving unit 5 arithmetic control unit 6 data input unit 30b, 30a motor

Claims (9)

[Claims] 1. A drive in which a seat on which a person is seated, and the movement of the seat are limited to a combination of a rectilinear reciprocating movement in a front-rear direction, a rotational reciprocating movement about a longitudinal axis, and a rotational reciprocating movement about a left-right axis. A drive control unit for controlling a drive device so as to swing the seat in a desired pattern, wherein the drive device is configured to perform a linear reciprocation in a rearward direction and a rotary reciprocation around a left and right axis. Balance training, comprising: a first drive unit provided with a first drive source; and a second drive unit provided with a second drive source for reciprocating rotation about a longitudinal axis. apparatus. 2. A seat on which a person sits, a first drive unit for moving the seat straight back and forth in the front-rear direction, and rotating and reciprocating the seat around the left-right axis, and rotating and reciprocating the seat around the front-rear axis. The phase relationship between the second drive unit and the first and second drive units can be adjusted so that a swing simulating the gait of the horse's normal foot and trot can be selected as the swing of the seat. A balance training device comprising a drive control unit. 3. The drive control unit according to claim 1, wherein the first and second drive units have a phase relationship between the first and second drive units so as to select a swing simulating a horse-riding gait as the swing of the seat. And the second
The balance training device according to claim 1 or 2, wherein the ratio of the cycle of the reciprocating movement by the driving unit is adjustable. 4. The driving control unit according to claim 1, wherein the operation of the first and second driving units is temporarily stopped during a transition period in which the swing pattern of the seat is changed, and then the driving is restarted. The balance training device according to any one of claims 1 to 3. 5. The driving control unit controls one of the first and second driving units during a transition period in which the swing pattern of the seat is changed until a timing at which a phase relationship after the change of the swing pattern is obtained. The balance training apparatus according to any one of claims 1 to 3, wherein the apparatus is temporarily stopped and then restarted so as to obtain a changed swing pattern. 6. A timing in which the drive control unit obtains a phase relationship after changing the swing pattern of one of the first and second drive units during a transition period in which the swing pattern of the seat is changed. Change the cycle of reciprocating movement until
The balance training apparatus according to any one of claims 1 to 3, wherein the balance training apparatus is driven to obtain a changed swing pattern. 7. A parameter input for giving to the drive control unit a swing parameter for determining a seat swing pattern and a change parameter for determining an operation of the drive unit during a transition period when changing the seat swing pattern. The balance training apparatus according to any one of claims 1 to 6, further comprising means. 8. The apparatus according to claim 1, wherein the drive control section controls the first and second drive sources to reciprocate and rotate and controls the rotation angle range to adjust the amplitude of each reciprocal movement of the drive device. The balance training device according to claim 1. 9. The balance training apparatus according to claim 8, wherein the drive control section is capable of adjusting a reference position of the reciprocating rotation operation of the first and second drive sources.