JP2001346840A - Motion practicing tool - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide motion practicing tool for effectively conducting a muscle force reinforcement or a functional recovery and space-saving. SOLUTION: The motion practicing tool draws an arc-like trace at an operating point of a motion by providing an operating implement (47) at the point of the motion in such a manner that the implement is provided at a revolving unit (15) so that the point draws the arc-like trace and the point of the motion moves while turning so that an agonist and an antagonist are simultaneously contracted with the result that the point of the motion draws the arc-like trace or the like implement is provided at a slider (6) so that the point of the motion moves along an arc-like guide (21).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an exercise training device for performing exercise training for enhancing muscle strength, improving the range of motion of joints, and restoring functions.

[0002]

2. Description of the Related Art The prior art includes Japanese Patent Publication No. 2-26977, which discloses a lower limb comprising a chain, a pedal, a sprocket, a cam clutch, a speed-limiting load device, and a gear mechanism. An extension exerciser is disclosed.

[0003]

In the prior art lower limb extension exerciser, lower limb training can be performed based on constant velocity training, but the pedal only reciprocates on a linear parallel guide rail. It does not move to a non-linear locus such as an arc-like motion. The mere linear movement is different from the movement during daily living, and cannot be said to be the optimal movement due to the structure of the lower limbs. Therefore, the movement of contracting the main and antagonist muscles at the same time (= closed movement chain) = CKC) cannot be performed effectively.

An object of the present invention is to provide a space-saving device capable of effectively increasing muscle strength and recovering functions.

[0005]

That is, according to the present invention, an action tool (47) is provided at an action point of movement, and the action point moves along an arc-shaped trajectory so that the driving muscle and the antagonistic muscle contract simultaneously. An exercise training machine characterized in that: In addition, the action point of the movement is provided on the revolving body (15) that moves while rotating, so that the action point moves along an arc-shaped locus. Alternatively, the action point of movement is provided on the slider (6) that moves along the arc guide (21), so that the action point moves along an arc locus. Further, since the action point of the movement is provided on the upper side (27) of the trapezoidal link mechanism (49), the action point moves along an arc-shaped trajectory. Further, the vertical slide table (39) which can be freely moved in two orthogonal directions and which can be moved by a control mechanism (43) for controlling the moving distance and the speed in the two directions, is provided with a point of action of the movement. Thereby, the action point moves along the arc-shaped trajectory. Further, a shaft (55) is installed above the base (3) at a fixed distance from the tilt frame axis (30) of the tilt frame (31) fixed to the base (3) in an upright state. The sliding frame (2) is attached to a moving body (56) that linearly moves using the shaft (55).
9) is fixed to the axis, the sliding frame (29) is slidably connected to the tilting frame (31), and the sliding frame (29) is provided with an action point of movement so that the action point is arcuate. Move along the trajectory. In addition, automatic training and passive training can be performed by applying an external force by a controllable load resistance section (9) or a drive section (7) to the action point of the exercise. Further, a measurement function (5) for measuring the load applied to the action point of the movement, the moving speed of the action point, and the angle of the human joint to be worn.
0) is additionally installed.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Using the exercise trainer of the present invention, a trainee (= patient) is subjected to exercise exercise of a closed kinematic chain for simultaneously contracting the active and antagonist muscles. The action tool 47 provided at the action point of the motion having the arc-shaped trajectory allows the trainee to perform the motion training on the arc-shaped trajectory, thereby realizing the closed motion chain.

The revolving structure 15 provided with the action point of the movement moves while turning, and the action point moves along an arc-shaped trajectory.

The slider 6 provided with the point of action of the movement moves along the arcuate guide 21, and the point of action moves along the arcuate locus.

The upper side 27 of the trapezoidal link mechanism 49 where the action point of the movement is provided moves due to the trapezoidal deformation, and the action point moves along an arc-shaped trajectory.

The vertical slide 39 on which the point of action of the movement is provided
Can move freely in two orthogonal directions, and are moved by a control mechanism 43 for controlling the moving distance and speed in the two directions, and the action point moves along an arc-shaped locus.

Sliding frame 2 provided with a point of action for movement
Numeral 9 is slidably connected to the tilting frame 31 fixed on the base 3, and linearly moves using a shaft 55 installed on the base 3 at a fixed distance from the tilting frame shaft 30. When the movable body 56 moves, the action point moves along an arc-shaped trajectory. That is, when the shaft 55 rotates, the moving body 56 moves on the shaft 55, and when the moving body 56 moves, the sliding frame 29 also moves. The sliding frame 29 is tilted by the tilting frame 31 slidably connected, and the action point at a predetermined position of the sliding frame 29 moves along an arc-shaped trajectory.

The load resistance unit 9 applies a load resistance to the action point of the exercise, and the affected part is attached to the action tool 47 at the action point, and the trainee performs automatic training on the affected part by himself. or,
The driving unit 7 applies a driving force to the action point of the exercise, and the action tool 47 performs passive exercise on the affected part attached thereto.

[0013] A measuring function 50 additionally installed in the exercise training machine.
Measures the load applied to the action point of the movement, the moving speed of the action point, the angle of the human joint such as the lower limb attached to the action tool 47, and the like.

[0014]

1 to 3 show a first embodiment of the present invention. The trainee on the chair 1 places his / her feet on the working tool 47 (= the pedal 2 in the specific example) in a supine or sitting posture, and fixes the feet to the pedal 2 with the fixing belt 48. Kick pedal 2 while extending the legs. When the leg is bent, the leg is pushed back by the drive unit 7. At this time, the pedal 2 makes an arc-shaped locus motion. When this exercise is performed, the active and antagonistic muscles simultaneously contract. The guide 4 and the rack 5 are provided on the base 3 in parallel.
The slider 6 is movably covered by the guide 4.

A drive unit 7 (= motor 8 in a specific example) and a load resistance unit 9 (= variable torque brake 10 in a specific example) are provided on the slider 6. Motor 8 has clutch 13
Comes with. One end of the clutch shaft 14 of the clutch 13 and one end of the variable torque brake shaft 12 of the variable torque brake 10 are conductively connected by a connecting gear 46.

A revolving body 15 (= disc 16 in a specific example) is provided at the other end of the variable torque brake shaft 12, and a gear 17 on the outer periphery of the disc 16 meshes with the rack 5. The variable torque brake 10 controls the rotational torque of the disk 16.

An arm 18 is provided between the disk 16 and the pedal 2, and the pedal 2 is variably attached to the arm 18 so that the movement locus of the pedal 2 can be changed. Arm 18
A movable cylinder 19 is externally fitted on the arm, and the cylinder 19 can be fixed to an appropriate position of the arm 18 with a stopper 20. Cylinder 19
The pedal 2 is attached to the side of the. The pedal 2 is a disc 1
The robot moves along an arc-shaped trajectory (= a cycloid trajectory in this specific example) obtained by the rotation of 6, and exhibits an arc-shaped trajectory.

Since the pedal 2 mounted in relation to the revolving unit 15 moves along the trajectory obtained according to the motion of the revolving unit 15, the pedal 2 can be moved smoothly and a compact structure can be obtained. And a gentle arc-shaped locus can be easily obtained.

The pedal 2 is variably mounted on an arm 18 provided between the revolving unit 15 and the pedal 2, and the trajectory of the pedal 2 can be changed. Therefore, the radius of the arc-shaped trajectory can be easily changed and set. It can cope with the difference and facilitate function recovery training.

As another example of the arm 18, a variable arm (not shown) having a variable length may be provided between the revolving unit 15 and the pedal 2, and the pedal 2 may be attached to the variable arm. Alternatively, although not shown, a long hole may be formed in the revolving structure 15 from the vicinity of the center to the vicinity of the outer periphery, and the pedal 2 may be fixed to the long hole so that the position of the pedal 2 can be changed.

In the controller 42 for controlling the driving section 7 and the load resistance section 9, a control mechanism 43 for controlling the driving section 7, a braking control section 11 for controlling the torque variable brake 10, and a measuring function 50 are provided. Can be

The slow start / slow stop control unit 44 in the control mechanism 43 determines whether the movement of the pedal 2 is at the starting point of the movement.
At the end, the drive unit 7 is controlled to perform a slow start / slow stop, and to move at a constant speed during a steady motion. The moving distance control unit 51 controls the moving distance of the working tool 47.

The measuring function 50 includes a load measuring function 52 for measuring a load applied to the working tool 47, a moving speed measuring function 53 for measuring a moving speed of the working tool 47, and an angle for measuring a joint angle of a lower limb or the like. A measurement function 54 is provided.

Since the disk 16 is conductively connected to the torque variable brake 10 and the motor 8, the connection between the disk 16 and the motor 8 is cut off by operating the clutch 13, and the disk 1
Automatic training can be performed by connecting only the torque variable brake 10 to 6 and applying a brake to the rotation of the disc 16. Further, with the torque variable brake 10 in a non-operating state, the motor 10 is connected to the disk 16 by operating the clutch 13,
Passive exercise can be performed by rotating the disk 16 with the motor 10.

In the case of performing the automatic exercise using the first embodiment, the trainee in the supine position or the sitting position places the foot on the pedal 2, extends the lower leg, and separates the pedal 2 from the trainee. Move in the direction. At this time, the disk 16 moves forward while rotating (= forward rotation) on the rack 5, and gradually lowers the position of the pedal 2 to make an arc-shaped locus appear. The supine posture can be obtained by lowering the backrest 57, and the sitting posture can be obtained by standing the backrest 57.

Subsequently, the lower limb is bent, and the pedal 2 is moved in a direction approaching the trainee. At this time, the disc 16 moves toward the trainee while reversing the rack 5, gradually increasing the position of the pedal 2, and gradually lowering after a while. At the time of the lower limb flexion exercise during the movement of the pedal 2, both the driving muscle and the antagonistic muscle are contracting, and the exercise of muscular strength can be performed in the form of a closed kinematic chain.

In the first embodiment, a control mechanism 43 for controlling the drive unit 7 is additionally provided. The control mechanism 43 controls the drive unit 7 so that the movement of the pedal 2 starts and stops slowly. A sharp change is not given to the trainee at each moving end of the bending, and the trainee is safe, and anxiety can be reduced. In addition, at the time of steady motion, since it moves at a constant speed, maximum muscle contraction over the entire movable range of the joint can be obtained, and a higher muscle strength enhancing effect can be expected.

When the exercise of the upper limb is performed instead of the exercise of the lower limb, the pedal 2 is replaced with an appropriate grip (not shown).

In the second embodiment shown in FIG. 4, the guide 4 according to the first embodiment is replaced with an arc-shaped guide 21 having an arc-shaped upper surface. In the second embodiment, when the trainee extends and bends the lower limb and moves the pedal 2 with the foot back and forth, the pedal 2 moves along with the slider 6 along an arcuate locus along the arcuate guide 21 and the lower limb is closed. Muscle exercise training can be performed in the form of a sexual motor chain.

When the pedal 2 is moved back and forth, the slider 6
The female screw body 23 moves back and forth via the expansion and contraction tool 22 connected to the female screw body 23, and rotates the ball screw 24 screwed to the female screw body 23. The base end of the ball screw 24 is supported by the support frame 45, and the front end is supported by the torque variable brake 10.

In the automatic movement, the rotation of the ball screw 24 caused by the movement of the trainee is appropriately braked by the torque variable brake 10. At the time of the passive movement, the motor 8 is driven to rotate the ball screw 24 in the forward / reverse direction to move the pedal 2 back and forth, thereby moving the trainee's foot attached to the pedal 2 with the fixed belt 48 and moving the lower limb by electric power. Bend and stretch.

The third embodiment shown in FIG.
The main rotation arm 25 is pivotally attached to the base of the base 3, and the rotation arm 26 is pivotally mounted to the tip of the base 3.
-The upper side 27 is bridged between each upper part of 26. Further, an arm 18 is erected on the upper side 27 and the pedal 2 is
Is provided. The clutch 13, the motor 8 and the variable torque brake 10 are connected to the main rotation arm 25. The configuration of the trapezoidal link mechanism 49 is simple. Stopper 4
Numeral 9 limits left rotation of the slave arm 26 to a predetermined limit.

In the fourth embodiment shown in FIG.
(= Ball screw 24 in the specific example), a moving body 56 (= female screw body 23 in the specific example) is screwed to the ball screw 24, and a sliding frame 29 is attached to the female screw body 23 and a sliding frame support shaft 28. And a pendulum system in which the pedal 2 is attached to the sliding frame 29.

A tilting frame 31 pivotally mounted on the base 3 with a tilting frame support shaft 30 is slidably fitted into the sliding frame 29, and the sliding frame 29 is slidably connected to the tilting frame 31. . The sliding frame 29 is supported upright by the tilting frame 31, and the tilt angle of the sliding frame 29 is determined. The variable torque brake 10, the clutch 13, and the motor 8 are connected to the ball screw 24.

When the trainee pushes the pedal 2 forward,
The female screw body 23 moves while rotating the ball screw 24 together with the pedal 2. The rotation of the ball screw 24 is braked by the torque variable brake 10 or the ball screw 24
Is rotationally driven by the motor 8.

In the fifth embodiment shown in FIG. 7, a ball screw 24 is horizontally mounted on the base 3, a female screw 23 is screwed on the ball screw 24, and a gear attachment 32 is fixed to the female screw 23. This is a gear system in which a large gear 33 is attached to the gear attachment 32 and the pedal 2 is provided on a side surface of the large gear 33. The small gears 34, 34 meshing with the large gear 33 are
One of the small gears 34 on the end side is meshed with the rack 5 attached to the base 3.

When the trainee pushes the pedal 2 forward,
First, the large gear 33 rotates, and then the small gear 3 meshed with this.
4 rotates. Since the small gear 34 on the end side is engaged with the rack 5, the gear mounting body 32 and the female screw body 23 are moved laterally.

The female screw body 23 which moves laterally is a ball screw 24.
Is rotated. The pedal 2 moves in the horizontal direction with the rotation of the large gear 33, and moves along an arc-shaped locus. In the automatic movement, the rotation of the ball screw 24 is braked by the torque variable brake 10, and in the passive movement, the ball screw 24 is driven to rotate by the motor 8.

The sixth embodiment shown in FIG. 8 is of an actuator type, and a lateral slide 35 is slidably provided on a guide 4 on a base 3 placed in front of a chair 1. 3
5 is connected to the tip of the rod 37 of the lateral actuator 36 provided on the base 3.

Further, a vertical frame 38 is mounted on the horizontal slide 35.
The vertical slide 38 is slidably provided on the vertical frame 38, and the tip of the rod 41 of the vertical actuator 40 provided on the horizontal slide 35 is connected to the vertical slide 39.
Further, the pedal 2 is provided on the vertical slide 39 via the arm 18.

The movement of the horizontal actuator 36 and the vertical actuator 40 is controlled by the controller 42 (= control mechanism 4).
3). The horizontal actuator 36 and the vertical actuator 40 move the pedal 2 while drawing an arc-shaped locus. In the actuator system, the trajectory of the pedal 2 can be freely designated and set by the controller 42.

[0042]

According to the present invention, the working tool 47 having an arc-shaped trajectory is provided.
Therefore, exercise training can be performed by simultaneously contracting the active muscles such as the lower limbs and the antagonistic muscles while moving along the arc-shaped trajectory. The arc-shaped trajectory is an appropriate movement in terms of the structure of the lower limb, performs a movement close to the movement of daily living, and balances the force acting on the knee joint by simultaneous contraction of the active and antagonistic muscles, so that unnecessary load is imposed on the joint. It is convenient to perform the function recovery training safely and efficiently without applying any delay.

According to the present invention, since the working tool 47 attached to the revolving unit 15 moves along the trajectory obtained according to the movement of the revolving unit 15, the working tool 47 can be moved smoothly. It is possible to form a compact structure and to easily obtain a gentle arc-shaped trajectory, which is convenient.

According to the present invention, an arcuate guide 21 and the guide 2
Since the actuator 47 moves along 1 and exhibits an arc-shaped trajectory, the trajectory of the actuator 47 can be obtained as it is by appropriately forming the shape of the arc-shaped guide 21, and the configuration relating to the trajectory can be directly obtained. It is easy to predict the operation, there is a sense of security, and the configuration is simple, so that the production is easy and the cost can be reduced, which is convenient.

According to the present invention, since the action point of the movement is provided on the upper side 27 of the trapezoidal link mechanism 49, the action point draws an arc trajectory and the pedal 2 moves along the arc trajectory. In addition, it can be manufactured inexpensively and is convenient.

In the present invention, since the action point of movement is provided on the vertical slide table 39 which can freely move in two orthogonal directions, the action point draws an arc-shaped locus. The trajectory can be freely designated and set by the control mechanism 43,
The shape of the trajectory can easily be changed, which is convenient.

According to the present invention, the sliding frame 29 fixed to the moving body 56 is provided with a point of action for movement.
Since the point of action describes an arc-shaped trajectory, the configuration is simple, and it can be manufactured inexpensively, which is convenient.

According to the present invention, the revolving superstructure 15 is connected to the load resistance section 9 and the drive section 7, and two movements, an automatic movement and a passive movement, can be performed by one device at the same place. That is, the afferent muscular strength training (= automatic exercise) is performed by adding a resistance in the load resistance unit 9, and the efferent muscular strength training or the range of motion exercise (==) is performed by adding a driving force in the driving unit 7. Passive exercise) can be performed by one car at the same position. Therefore, the two types of exercise /
Since training can be performed, it is inexpensive in terms of cost, occupied space can be reduced, and training can be performed efficiently in terms of time, which is convenient.

Further, since the load resistance section 9 controls the rotational torque of the revolving structure 15, a resistance load according to the individual can be easily applied to the working tool 47, and suitable automatic movement can be performed, which is convenient.

In the present invention, the measurement function 50 for measuring the load applied to the action point of the movement, the moving speed of the action point, the angle of the lower limb joint to be mounted, and the like is additionally provided. The value of the muscular strength, the value of the load resistance applied to the patient, or the value of the assisting driving force can be quantitatively understood, and is useful for evaluation and diagnosis.

[Brief description of the drawings]

FIG. 1 is a perspective view of a first embodiment of the present invention.

FIG. 2 is a partial side view of a pedal and the like according to the first embodiment of the present invention.

FIG. 3 is a partial side view showing a locus of a pedal or the like according to the first embodiment of the present invention.

FIG. 4 is a perspective view of a second embodiment of the present invention.

FIG. 5 is a right side view of a third embodiment of the present invention.

FIG. 6 is a right side view of a fourth embodiment of the present invention.

FIG. 7 is a right side view of a fifth embodiment of the present invention.

FIG. 8 is a right side view of a sixth embodiment of the present invention.

[Explanation of symbols]

 2 Pedal 3 Base 7 Drive unit 9 Load resistance unit 15 Revolving unit 18 Arm 21 Arc guide 27 Upper side 29 Sliding frame 30 Tilt frame support shaft 31 Tilt frame 39 Vertical slide 43 Control mechanism 47 Working tool 49 Trapezoidal link mechanism 50 Measuring function 55 Axis 56 Moving object

Claims (8)

[Claims] 1. An exercise training device, wherein an action tool (47) is provided at an action point of exercise, and the action point moves along an arc-shaped trajectory so that a driving muscle and an antagonist muscle contract simultaneously. 2. The exercise training device according to claim 1, wherein an action point of the movement is provided on the revolving body (15) that moves while rotating, whereby the action point moves along an arc-shaped trajectory. 3. The operation point according to claim 1, wherein an action point of the movement is provided on a slider (6) moving along the arc guide (21), so that the action point moves along an arc trajectory. Exercise training equipment. 4. The trapezoidal link mechanism wherein the point of action of the movement is trapezoidal.
The exercise training device according to claim 1, wherein the action point moves along an arc-shaped trajectory by being provided on the upper side (27). 5. A vertical slide (39), which can be freely moved in two orthogonal directions and can be moved by a control mechanism (43) for controlling a moving distance and a speed in said two directions, has an action point of motion. 2. The exercise training device according to claim 1, wherein the exercise point moves along an arc trajectory by being provided. 6. A shaft (55) above the base (3) at a certain distance from the tilt frame axis (30) of the tilt frame (31) fixed to the base (3) in an upright position. Is installed, and the moving body (5) that moves linearly using the axis (55)
6) A sliding frame (29) is fixed to the shaft, the sliding frame (29) is slidably connected to the tilting frame (31), and the sliding frame (29) is provided with an action point of motion. 2. The exercise training device according to claim 1, wherein the action point moves along an arc-shaped trajectory. 7. An automatic training and a passive training can be performed by applying an external force from a controllable load resistance section (9) or a driving section (7) to the action point of the exercise. 6. The exercise training device according to 6. 8. A measuring function (50) for measuring a load applied to a point of action of a movement, a moving speed of the point of action, an angle of a human joint to be worn, and the like, is additionally provided. 6. The exercise training device according to 6.