JP2012143434A - Apparatus and method for training - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a training apparatus with which a user can work out at a load according to individual functional characteristics of the user.SOLUTION: The training apparatus includes: a position detection unit 15 for detecting movement positions of movable parts 8 and 10 with adjustable loads; a force level detection unit 11 for detecting the magnitude of force exerted between the movable parts; a characteristic information storing unit 40 for storing exercise characteristic information that indicates a relationship between a load according to a specific exercise motion and a motion process; a preliminary information generating unit 21 for generating preliminary information in which force level information during a preliminary training motion corresponds to position information detected by the position detection unit; a characteristic information generating unit 22 for generating position-load characteristic information based on the exercise characteristic information and the generated preliminary information; and a load adjusting unit 23 for controlling a load level in main training, based on position-load characteristics indicated in the position-load characteristic information.

Description

  The present invention relates to a training apparatus and a training method for an exerciser to perform strength training.

  In recent years, with an increase in health consciousness and the like, an increasing number of people perform training using a training apparatus in a fitness gym or the like. In addition, as a national measure, an increasing number of elderly people perform muscle training with training devices to maintain health and prevent physical fitness deterioration from the viewpoint of care prevention to prevent elderly people from becoming care recipients. Yes. Examples of such a training apparatus include a leg press machine for training leg muscles and a chest press machine for training chest and arm muscles.

  In addition, as a training device used for such applications, a plate weight method that applies a load to an exerciser using a plate weight (a heavy plate such as a metal) is the mainstream, but this plate weight method is a fine load. Since it is difficult to make adjustments, it is difficult for individual exercisers to perform appropriate muscle training.

  Therefore, in recent years, motor-type training devices that apply a load to an exerciser by the torque force of an electric motor have begun to spread. Motor-type training devices can fine-tune the magnitude of the load by controlling the torque of the electric motor, so exercisers (especially elderly people) can safely, enjoyably and effectively train muscles. It can be performed.

  By the way, with recent advances in sports medicine and exercise physiology, it is gradually becoming clear that a truly effective training cannot be realized with a conventional training apparatus. For example, in swimming, it is necessary to maximize the power at the moment when the water is scraped, while in throwing motion, the power is maximized at the beginning of the movement, and after releasing the ball, the power is released. Depending on the sporting event, the way in which the force is generated during one movement is different, and it is desirable to perform the training with load characteristics according to the movement characteristics.

  That is, the principle of specificity is known in which muscles grow specifically according to the manner of actual training, such as the speed of movement, the angle of movement, and the way of exerting force. Therefore, it has been noticed how efficiently training according to the principle of peculiarity can be performed by applying a load adapted to a specific movement.

  As devices capable of realizing such training, Patent Documents 1 and 2 and the like have known muscle strength training devices that employ a position-load characteristic that applies a pre-programmed load according to the position of a lever. In this training device, the position-load characteristic is determined so as to have a motion characteristic according to a specific exercise motion, and the load is adjusted according to the position of the lever, so that training that conforms to the principle of specificity can be performed. It is like that.

Microfilm of actual application No. 56-133786 JP 2001-204850 A

  However, the training device according to Patent Literature 1 and Patent Literature 2 detects the position of the lever and the user's acting force by a sensor during training, and adjusts the load value of the lever according to the detection result. The adjustment of the load value is determined according to a predetermined position-load characteristic. In general, in order to train according to the principle of specificity, the position-load characteristics are not only movement specific, but also the physical functions of the individual such as the user's physique, muscle mass around the joint and muscle attachment position The operating stroke of the lever and the rate of change of the load value according to the position during the operation are greatly influenced by the individual functional characteristics. The training devices disclosed in Patent Literature 1 and Patent Literature 2 determine the position-load characteristics based on the operation characteristics, but do not correspond to the individual functional characteristics, and do not apply a certain load to all users. It gave a characteristic.

  On the other hand, training that deviates from the load according to the individual's functional characteristics stiffens the muscles for a long time and decreases the blood flow that flows to the muscles, resulting in impaired circulatory function, resulting in increased blood pressure. . It is also known to cause damage to joints and muscles around the joints. For this reason, the training apparatus according to Patent Document 1 and Patent Document 2 is not suitable for use in the elderly or in a nursing facility or the like, and training according to the position-load characteristic determined uniformly only by the operation characteristics is not performed. There was a case where it was not preferable.

  Therefore, the technical problem to be solved by the present invention is to provide a training device and a training method that can solve the above problems and can perform training with a load according to the functional characteristics of the user's individual.

  In order to solve the above technical problem, the present invention provides a training apparatus having the following configuration.

According to the first aspect of the present invention, the movable portion that is moved by the force applied by the user's training operation and that can adjust the load force against the movement by the user;
A load adjusting unit that controls a load amount of the movable unit based on a position-load characteristic in which a position and a load force applied to the movable unit are associated with each other, so that a load amount according to the position of the movable unit is obtained. A training device comprising:
A position detection unit for detecting a movement position of the movable unit;
A force detection unit that detects the magnitude of the force acting between the user and the movable unit;
A characteristic information storage unit for storing exercise characteristic information indicating a relationship between a load corresponding to a specific exercise movement and a movement course;
The function of the user associating the force information of the force detection unit with the position information detected by the position detection unit during the preliminary training operation performed on the movable unit set to a predetermined load amount by the user A preliminary information creation unit for creating preliminary information on characteristics;
A characteristic information creating unit that creates the position-load characteristic information based on the motion characteristic information and the created preliminary information; and
The load adjustment unit provides a training device that controls a load amount based on a position-load characteristic indicated in the position-load characteristic information during the main training.

  According to a second aspect of the present invention, the characteristic information creating unit allocates the movement of the movement characteristic information in accordance with the movement width of the movable part included in the preliminary information. A training device of an aspect is provided.

  According to a third aspect of the present invention, the preliminary information generated by the preliminary information generating unit includes an initial movement position and an final movement position of the movable unit during the preliminary training operation of the user. Or the training apparatus of a 2nd aspect is provided.

According to the fourth aspect of the present invention, it further comprises muscle strength information corresponding to the body state bent and stretched by the training operation,
The characteristic information creation unit provides the training device according to any one of the first to third aspects, wherein the position-load characteristic is created based on the preliminary information and muscle strength information.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the load adjusting unit fixes the load amount of the movable unit to a constant value during the preliminary training operation. Provide one training device.

  According to a sixth aspect of the present invention, in the first to fifth aspects, the load amount control performed by the load adjustment unit during the main training is feedback control based on an output value of the force amount detection unit. Any one of the training apparatus is provided.

According to a seventh aspect of the present invention, there is provided a training method for moving a movable part that can be adjusted so that a load force against movement becomes a load amount according to a position,
Preparing muscular strength information relating to muscular strength corresponding to the physical state bent and stretched by the training operation;
Preliminary information on the functional characteristics of the user is created by associating the amount of force acting on the movable part with the position of the movable part during the preliminary training operation performed on the movable part set to a predetermined load by the user And the stage of
Determining a load amount according to the position of the movable part based on the preliminary information and muscle strength information from an exercise characteristic indicating a relationship between a load corresponding to a specific exercise operation and an operation course;
And a step of adjusting the load amount based on the load amount according to the determined position at the time of the main training.

  According to the present invention, by measuring the position and load force by preliminary measurement in advance, the stored movement characteristic information is corrected according to the individual characteristics of the user and the position-load characteristic information is created. The load characteristic according to the physical characteristics can be obtained. Furthermore, since the load is determined based on the actual measurement result by the preliminary measurement, the load amount can be set according to the ability of the user, and the overload on the body due to the overload can be prevented.

  In addition, by applying a constant load over a long period of time, such as several seconds, or by applying a large force instantaneously, muscle development according to the purpose can be promoted while preventing overloading of the body. Training according to the desired operating characteristics can be performed.

  According to the 2nd aspect of this invention, a load characteristic can be corrected according to the exercise | movement range according to a user's other physique.

  According to the third aspect of the present invention, by including the initial movement position and the final movement position, the reference position of the operation control and the load amount can be set as the initial movement position and the final movement position, and more accurate load amount control is performed. be able to.

  According to the 4th aspect of this invention, the load at the time of training can be determined based on the information of how muscular strength is according to the state at that time when the body is moving by training operation. Examples of the body state include a joint angle (position), a movement direction (bending or extension), and a posture (center of gravity position). By using information on muscle strength based on the human body structure, it is possible to prevent a functionally overloaded exercise.

It is a perspective view which shows the structure of the training apparatus which concerns on each embodiment of this invention. It is a system block diagram of the training apparatus of FIG. It is a figure which shows the example of the exercise | movement characteristic information stored in the memory | storage device of the training apparatus of FIG. It is a figure which shows the example of the exercise | movement characteristic information stored in the memory | storage device of the training apparatus of FIG. It is a figure which shows the example of the muscular strength information corresponding to the position of the joint stored in the memory | storage device of the training apparatus of FIG. It is a figure which shows the operation | movement flow of the training apparatus of FIG. It is a subflowchart of the preliminary measurement of the training apparatus of FIG. It is a figure which shows the example of the preliminary information produced by the training apparatus of FIG. It is a subflowchart of position-load characteristic preparation of the training apparatus of FIG. It is a figure explaining the creation principle of the position-load characteristic information of the training apparatus of FIG. It is a figure explaining the other example of the creation principle of the position-load characteristic information of the training apparatus of FIG. It is a figure which shows the example of the position-load characteristic information produced by the training apparatus of FIG.

  Hereinafter, a training apparatus according to an embodiment of the present invention will be described with reference to the drawings.

  First, the structure of the training apparatus will be described for easy understanding. FIG. 1 is a perspective view showing the structure of a training apparatus according to each embodiment of the present invention. The training device of this embodiment is a leg press machine, and trains the lower half of the body, particularly the quadriceps, great gluteal, and middle gluteal muscles.

  As shown in FIG. 1, in the training apparatus 1, a seat 3 and a movable unit 4 are provided on a frame 2. The seat 3 is a means for an athlete to sit during training, and includes a fixture (not shown) that fixes the athlete to the seat. The movable part unit 4 trains the body part used for the movement when the exerciser moves it. The exerciser grips the handle 5 while sitting on the seat 3, and places the sole of the foot on the pressing plate 10 existing at the starting position with the foot bent so that the knee joint is close to the chest. When the exerciser extends his / her leg, the pressing plate 10 moves against the movement resistance in a direction away from the seat.

  After moving to the end position, a force is applied in the direction of bending the leg, and the movable unit 4 is moved with a load in the same manner for the bending operation of the leg. In the following, the exercise operation with a load applied in both directions of leg extension and leg flexion is repeated.

  The handle 5 is provided with switches for executing a preliminary measurement start described later.

  The movable unit 4 includes a guide rail 6, a foot plate 7, a slider 8, a servo motor 9, a pressing plate 10, and a pressing sensor 11. Although not shown in the figure, a control calculation unit 20 (see FIG. 2) is also provided, and a servo is used to adjust a movement resistance (movement load) between a guide rail 6 and a slider 8 described later. Torque calculation, torque adjustment control, drive control and the like of the motor 9 are performed.

  The guide rail 6 is a rail for guiding the linear movement of the slider 8. The foot plate 7 is a member for connecting the pressing plate 10 and the slider 8. Further, a pressing sensor 11 is provided at each of the left and right mounting positions of the foot plate 7 so that the pressing force applied to the pressing plate 10 can be detected.

  The pressing plate 10 slides within the movable range along the guide rail 6 together with the slider 8 and the foot plate 7. Moreover, the member (not shown) for fixing the press board 10 and a sole is provided so that it can train also about the bending exercise | movement of a leg. Here, the position where the pressing plate 10 in the movable range is closest to the sheet 3 is referred to as a start position, and the position where the pressing plate 10 is closest to the sheet 3 is referred to as an end position. Note that the exercise range in which the exerciser moves the pressing plate 10 during training does not necessarily match the movable range of the pressing plate 10 described above. The position on the start end position side of the movement range is called the initial movement position, and the position on the end position side is called the end movement position.

  The slider 8 is given a load force against movement by a drive shaft 12 configured to be interlocked with the output shaft of the servo motor 9 via the belt 13.

  The servo motor 9 gives the slider 8 a load that resists movement from the start position to the end position and a load that resists movement from the end position to the start position. Rotation is driven by the drive current, and a rotational torque corresponding to the magnitude of the drive current is generated and transmitted to the drive shaft 12 via the belt 13 to give a linear drive force. The encoder 15 (see FIG. 2) provided in the servo motor 9 functions as a position detection unit, and detects the position of the slider 8 by detecting the movement of the servo motor 9 or the movement of the belt 13.

  When an exerciser sitting on the seat 3 presses the pressing plate 10 with his / her foot, the pressing plate 10 has the slider 8 and the foot plate against the linear driving force transmitted from the rotational torque of the servo motor 9 to the belt 13. 7 moves in a direction away from the athlete (ie, performs a leg press exercise). Further, when the pressing plate 10 is moved to the final position, the torque of the servo motor 9 is switched so as to work in the reverse direction. The exerciser moves the leg in a bending direction, and moves the pressing plate 10 to the initial movement position against the load force. (That is, do a lift-off exercise).

  On the other hand, the servo motor 9 generates a rotational torque according to the magnitude of the drive current based on the position-load information (see FIG. 12) from the control calculation unit 20, and transmits the drive force to the belt 13 to press the pressure plate. Provides resistance to 10 movements and loads the exerciser's leg. At this time, since the encoder 15 (see FIG. 2) of the servo motor 9 detects the rotational position of the servo motor 9, the position of the slider is measured and the position information is transmitted to the control calculation unit 20. As a result, the control calculation unit 20 generates a drive current according to the position information to drive the servo motor 9 to rotate.

  FIG. 2 is a system configuration diagram of the training apparatus according to the first embodiment of the present invention. This system configuration is represented as a control block diagram for controlling the load that the servo motor 9 gives to the athlete.

  3 and 4 are diagrams illustrating examples of exercise characteristic information stored in the storage device 40 of the training apparatus in FIG. 2, in which the horizontal axis represents the progress of the operation and the vertical axis represents the rate of change of the load. . This movement characteristic information defines the relationship between the movement history and the load according to a specific movement movement in the form of a function, a map, a table or the like.

The exercise characteristic information indicates the rate of change of the load amount, and does not include specific load value information. Based on the maximum load value (R _max ) given during the course of movement, the ratio to the maximum load value is shown when the body is in a specific state (that is, can be regarded as the position of the pressing plate 10). Is.

  For example, in swimming, it is necessary to exert the maximum force at the moment when the water has been scraped, while in the throwing operation, the force is maximized at the beginning of the movement and the ball is released. After that, for example, for each sport item or the like, the force is drawn out as the rate of change in load.

  It should be noted that the rate of change in the load of the exercise characteristic information is not limited to the rate of change in load corresponding to one action for each specific sport item as described above. The rate of change may be such that a constant load is applied from the beginning to the end of the exercise.

Motion characteristics information, the course of the series of operations from S ₀ through to S _e is regarded as the position of the pressing plate 10, the position changing the size of the load applied to the pressing plate 10 - can be considered as a load characteristic As described later, position-load characteristic information is created from the movement characteristic information.

  The position is the position of the slider 8 shown in FIG. Even if the same exerciser trains using the same device, the position of sitting is different each time, so even if the pressing plate 10 is in the same position, the exerciser always has the same posture The range of motion of the pressing plate 10 varies depending on the physique when the athlete is not limited. For this reason, the training apparatus of this embodiment creates position-load characteristic information indicating the load characteristic at the position of the pressing plate 10 of the apparatus from the exercise characteristic information indicating the load characteristic of the operation. Details of the operation of creating the position-load characteristic information will be described later.

  First, the system configuration of the training apparatus shown in FIG. 2 will be described with reference to FIGS. 1 and 3 as appropriate. The system of this training apparatus detects the force of the acting force exerted on the pressing plate 10 by the exerciser 20, the servo motor 9, the slider 8 and the pressing plate 10 which are movable units, the encoder 15 as a position detecting unit, and the exerciser. The press sensor 11, the input part 30, and the memory | storage device 40 which memorize | stores various information are provided. The control operation unit 20 includes a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), output means (display, speakers, etc.), a communication interface, and the like. It can be realized by a part or all of the computer apparatus. The input unit 30 (keyboard, mouse, touch panel, etc.) is used to select exercise characteristic information according to the exercise operation, input various conditions such as increase / decrease of the load amount during the main training, and trigger the measurement start at the preliminary measurement described later. Used.

  The control calculation unit 20 includes a preliminary information creation unit 21, a characteristic information creation unit 22, and a load adjustment unit 23. The preliminary information creation unit 21 is means for creating preliminary information for creating position-load characteristic information. The characteristic information creation unit 22 is means for creating position-load characteristic information from the movement characteristic information and the preliminary information. The load adjusting unit 23 is a unit that generates a drive current based on a load command value composed of a finally corrected position-load characteristic, which will be described later, and supplies the drive current to the servo motor 9 as a torque command value.

  The servo motor (electric motor) 9 is means for generating a rotational torque force corresponding to a torque command value (drive current).

  When the servo motor 9 is driven, the movable portion applies a load to the exerciser via the pressing plate 10 and exerts an acting force on the exerciser. The encoder 15 is means for detecting the rotational position of the servo motor 9 and detecting the position of the slider 8 based on the rotational position.

  In addition to the exercise characteristic information based on the specific movement characteristics shown in FIGS. 3 and 4, the storage device 40 stores muscle strength information corresponding to the position of the joint that is bent and stretched when training with this training apparatus. Yes.

FIG. 5 shows an example of muscle strength information corresponding to the joint position. The muscular strength information in FIG. 5 indicates the amount of change in the magnitude of the muscular strength that is exhibited according to the angle between the thigh and the crus in the operation of extending the knee joint. Human joints have muscles that connect the bones on both sides of the joint, and the moment changes according to the angle of the joint. That is, the extension of the knee joint will be described as an example. The femoral muscle that contributes to the extension of the knee joint starts from the femur and stops below the proximal end (the knee joint) of the tibia. For this reason, when the thigh and the lower thigh are about 120 degrees, the moment that the thigh muscle pulls the tibia increases and becomes the maximum value (M _max ). On the other hand, in the state where the knee joint is fully extended or bent, the moment is reduced, so that the muscular strength becomes smaller than the maximum value (M _max ). For example, when the knee joint is bent at 40 °, only about 70% of the maximum value (M _max ) can be exerted. Thus, the change of the muscular strength according to the position of the joint is a characteristic determined from the human physical configuration. The magnitude of the muscular strength exerted according to the joint angle is described in “Scientific basis of training” (publisher Book House HD).

The muscular strength information indicates the rate of change of muscular strength according to the position of the joint, and does not have specific value information. It shows the ratio of muscle strength that can be exerted at the position of a specific joint with respect to the maximum load value (M _max ) given during the course of the movement.

  As described later, the muscle strength information corresponding to the joint position is used to create a position-load characteristic used during the main training. If position-load characteristics are created based only on movement characteristics information, there is a possibility of seeking overload that cannot be physiologically exerted on the human body. Cause. This problem can be prevented by creating position-load characteristics using muscle strength information.

  Next, the operation of the training apparatus according to the present embodiment will be described. FIG. 6 is a diagram illustrating an operation flow of the training apparatus according to the present embodiment. The training apparatus according to the present embodiment performs an operation including three phases of preliminary measurement (# 1), position-load characteristic information creation (# 2), and main training (# 3). These operations may be performed as a series, or position-load characteristic information created by preliminary measurement (# 1) and position-load characteristic information creation (# 2) is registered in advance as personal information of an exerciser. In the subsequent training, these operations may be omitted and only this training may be performed.

  FIG. 7 is a sub-flowchart of preliminary measurement (# 1). Preliminary measurement (# 1) is an operation of performing measurement of an exercise range according to the user's physique and measurement of a muscular strength value according to the position of the movable part of the user, and creating it as preliminary information. The preliminary measurement (# 1) is performed by the preliminary information creation unit 21 of the control calculation unit 20.

  In the preliminary measurement (# 1), first, a user gets on the training apparatus and positions various members in order to take an exercise start posture (# 101). Various members for positioning include the sheet 3 and the pressing plate 10. The pressing plate 10 is moved to the starting end position, and the user adjusts the sheet position according to his / her physique. When the user takes an exercise start posture, the pressing plate 10 moves from the start position and is positioned at the initial movement position.

  After the exerciser takes the exercise start posture (# 101), the load adjustment unit 22 of the control calculation unit 20 adjusts the torque of the servo motor to a constant value, and sets the load of movement of the pressing plate 10 to a constant value. The load value of the pressing plate 10 at this time is preferably such that the athlete can move the pressing plate 10 without a burden, and it is difficult to accurately measure whether the pressing plate 10 is too weak or too strong. As will be described later, the preliminary information may be generated a plurality of times by changing the load value, and preliminary information used for generating the position-load information is generated based on the obtained information. May be.

  Next, the exerciser presses a switch provided on the handle 5 (# 103), and starts measuring the movement determined for each training apparatus (# 104). In the leg press machine according to the present embodiment, the measuring operation is a leg extending operation and a bending operation. When the pressing plate 10 and the slider 8 are in a series of positions, the leg extending operation causes the pressing plate 10 to move. Pressure applied (no in # 105).

  The measurement record is an output value of the pressure sensor 11 as an acting force applied by the exerciser to the pressure plate 10 at a specific position. At this time, it is preferable to control the servo motor so that the pressing plate 10 moves slowly at a constant speed. Since the pressing plate 10 is moved by the servo motor, the detection value of the pressing sensor 11 changes due to the addition of the acting force from the exerciser. Specifically, the pressing plate 10 is moved at a constant speed in the movement direction from the pressing plate 10 in the initial movement position in the movement start posture, and the output value of the pressing sensor 11 at each position is recorded correspondingly. The output value of the press sensor 11 is an acting force given to the pressing plate 10 by the exerciser, and includes information on the muscular strength of the exerciser. As described above, when the user applies pressure to the pressing plate 10 moving at a constant speed, the time required for the preliminary measurement can be reduced by performing the preliminary measurement, and the speed is constant. Thus, the user's acting force can be reliably measured.

  As described above, in the leg press machine according to the present embodiment, training is performed in which the pressing plate 10 is moved in the movement range from the initial movement position to the final movement position in the forward path and the backward path. In the forward path, when the end position of the movement range coincides with the end position of the movable range of the pressing plate 10, the measurement ends when the pressing plate 10 reaches the end position (yes in # 105) (# 107).

  On the other hand, when the two do not match, the end position exists in the middle of the movable range. Since the final position is the final state of the training operation performed by the exerciser, the pressing plate 10 and the slider 8 cannot be moved any further, and the slider 8 cannot move and stops (Yes in # 106). . When the preliminary information creating unit 21 detects that the slider 8 is stopped, the preliminary information creating unit 21 ends the measurement (# 107).

  The same measurement as described above is performed on the return path in the same manner (# 108), and the output value of the pressure sensor 11 is measured at each position on the return path.

  Corresponding data between the position of the pressing plate 10 and the acting force for the recorded forward path and return path obtained by the above measurement is recorded as preliminary information.

  If the measurement is performed again while changing the load force (Yes in # 109), the above operation is repeated. By changing the load force and performing the remeasurement (# 102 to # 108), it is possible to perform the measurement with the load force corresponding to the muscular strength of the exerciser, and to increase the reliability of the preliminary information. In addition, the preparation of the preliminary information in the case of performing the recording measurement a plurality of times may be created by calculation (for example, using the average value as the value of the acting force) based on the measurement results of the plurality of times. A correct measurement result may be selected. For example, you may employ | adopt the thing which shows the behavior most approximated to the muscular strength information stored in the memory | storage device 40. FIG.

FIG. 8 shows an example of spare information created by the spare information creation unit 21. FIG. 8 shows information about the forward path as an example. Preliminary information generally has a behavior that approximates muscle strength information, but the position of the peak (S _max ) may differ depending on the individual's physique, muscles around the joint, and the position of the muscles attached to the skeleton. Further, the preliminary information includes a value as a specific physical quantity and has a slider position and an acting force value. Information used in the calculation described later includes each position with respect to the maximum value (S _max ). The percentage of load. Preliminary information created by the preliminary information creating unit 21 by the above processing is stored in the storage device 40 or a computation area memory in the control computation unit 20 and used for position-load characteristic creation (# 2) described later.

  FIG. 8 is a sub-flowchart of position-load characteristic creation (# 2). The position-load characteristic creation (# 2) is a position used for the main training using the exercise characteristic information, the muscle strength information and the preliminary information created by the preliminary information creation (# 1) stored in advance in the storage device 40. This is an operation for creating load characteristic information. The position-load characteristic creation (# 2) is performed by the characteristic information creation unit 21 of the control calculation unit 20.

  In position-load characteristic creation (# 2), exercise characteristic information, preliminary information, and muscle strength information used for processing are read (# 201, # 202, # 203).

  In the position-load characteristic creation (# 2), among these pieces of information, the exercise characteristic information is used as basic information, the range of motion (width direction) is analyzed based on the preliminary information (# 204), and the load force is determined based on the preliminary information and the muscle strength information. (Load change rate) is analyzed (# 205). This will be described below.

In the analysis of the movement range (width direction), the process of movement in the movement characteristic information corresponds to the movement width of the pressing plate 10. That is, the motion characteristic information simply indicates a change in load force in the course of a series of operations from S ₀ to _Se , and does not include a specific physical quantity in the width direction. Further, the movement width of the pressing plate 10 in the same operation differs depending on the physique of the exerciser, the sitting position on the seat 3, and the like.

In the analysis of the movement range (width direction) (# 204), the movement required by the movement characteristic information is analyzed with the state of the body according to the position of the pressing plate 10 obtained by the preliminary measurement, and matched with the movement width. This is done by allocating changes in operation progress and load. That is, motion characteristics information is performed by allocating the course of a series of operations from S ₀ to S _e, from initial position P _s contained in the preliminary information to P _e.

As position example, the operation start S ₀ of motion characteristics information initial position P _s of preliminary information, performs allocation so as to match respectively the operation end S _e of motion characteristics information Tsuido position P _e of the preliminary information, The position between them is made to correspond to the position information according to the progress of the operation. For example, in the case of a half posture in a series of actions, it is only necessary to correspond to an intermediate position in the movement range.

  In the analysis of load force (change rate of load) (# 205), the change rate of the load amount indicated by the exercise characteristic information is compared with the value of muscle force in the muscle force information and the preliminary information, and the physical function is overloaded. If it is overloaded, a process for correcting the change locus of the load amount is performed.

In the analysis (# 205) of the load force (load change rate), first, an operation of applying the load change of the motion characteristic information to the physical load amount is performed. For example, the load amount or the maximum load amount R _max at the position of the initial movement position S ₀ is used as a reference value, and it is determined how many pounds the reference value specifically corresponds to. Conversion to load values varies depending on the level, age, sex, etc. of the exerciser.

Next, the reference load amount of the muscle strength information (or preliminary information) is determined so as to have a predetermined difference with respect to the load value of the exercise characteristic at each position. For example, as shown in FIG. 10, the reference position is determined so that the minimum value of the acting force in the preliminary information or the minimum value of the load value of the muscle force information is larger than the load value in the maximum value (R _max ) of the exercise characteristic information. Can do.

The reference position determination method is based on the maximum value (R _max ) of the exercise characteristic information and the minimum value of the acting force or the minimum value of the muscle force change of the muscle force information shown in FIG. You may do it. As another example, as shown in FIG. 11, in the load value and the maximum value (R _max ) of the exercise characteristic information in the maximum value (S _max ) of the acting force or the maximum value (M _max ) of the muscular strength change in the muscular strength information. The load values can be compared and set to have a predetermined difference Ds between them. The value of the difference Ds between the load value and the maximum value (R _max ) of the exercise characteristic information in the maximum value (S _max ) of the acting force or the maximum value (M _max ) of the muscular strength change of the muscular strength information should be freely set. Can do. As the value of the difference D becomes smaller, the set load value becomes closer to the user's limit value, which means training with a heavy load.

  After that, when the difference D between the load value of the exercise characteristic and the muscle strength information (or preliminary information) at each position is equal to or less than a predetermined threshold value, it is considered that the body function is overloaded, and this load value Is adjusted downward to fit within the threshold. In the example of FIG. 10, since the difference D1 is sufficiently large, the load value at the position S1 is not corrected. On the other hand, since the difference D2 is a value smaller than the threshold value, the load value at the position S2 is corrected downward as indicated by a broken line as indicated by R2 in FIG.

In the example of FIG. 11, the difference D between the load value and the maximum value (R _max ) of the exercise characteristic information in the maximum value (S _max ) of the acting force or the maximum value (M _max ) of the muscular strength change of the muscular strength information. The value can be set freely. As the value of the difference D becomes smaller, the set load value becomes closer to the user's limit value, which means training with a heavy load.

  As a modification, in the adjustment of the load value by the difference, when the difference D is equal to or larger than a certain value, the load value may be corrected upward. Specifically, taking the example of FIG. 11, the difference D3 at the position S3 is larger than the threshold value, so that the load value at the position S3 is corrected upward as indicated by a broken line as indicated by R3 in FIG. .

  It should be noted that the correction range of the load value of the exercise characteristic information may be set freely by the exerciser, or may be automatically corrected so that the difference D falls within a predetermined threshold.

  In addition, the load given to a body becomes large, so that the difference D of the load value of an exercise | movement characteristic and muscle strength information is small. For this reason, what is necessary is just to enable it to adjust a threshold value suitably with an exerciser's physical strength, age, sex, muscle mass, etc. FIG.

  Note that, as described above, in the present embodiment, the muscle force information is used in addition to the exercise characteristic information and the preliminary information to create the position-load characteristic information, but it may be created without using the muscle strength information. . At this time, it is preferable not to change the position of the peak (maximum load value).

FIG. 12 shows an example of the position-load characteristic information created by the above processing. Within the range of motion range (P _s -P _e ), the position-load value is adjusted by the above processing. Further, outside the range of the motion range (P _{s to} P _e ), as shown in FIG. 12, it is preferable to reduce the load value from the viewpoint of preventing a failure of a joint or the like.

  The position-load characteristic information created by the specific information creation unit 22 by the above processing is stored in the storage device 40 or a calculation area memory in the control calculation unit 20 (# 206), and this training (# 3) described later. Used for.

  In this training (# 3), the load adjustment unit 23 manages the process. In this training (# 3), the load value is controlled based on the position-load characteristic information created by the position-load characteristic creation (# 2), and the exerciser is trained. Specifically, the following processing is performed. The encoder 15 detects the movement position of the pressing plate 10 during the leg press movement and the lift-off movement, and transmits it to the control calculation unit 20.

  Further, with reference to the read position-load characteristic, a load value corresponding to the position input from the encoder 15 is input to the servo motor 20 as a torque command value.

  Therefore, the control calculation unit 20 supplies a drive current corresponding to the torque command value (load L1) to the servo motor 9. As a result, the servo motor 9 generates a rotational torque corresponding to the load L1 input as the torque command value. Then, the movement mechanism 3 moves the slider 8 along the guide rail 6 by a linear movement corresponding to the load L1.

  The exerciser sitting on the seat 3 can perform muscle training of the leg against the load applied to the pressing plate 10 by the kinetic energy converted from the rotary motion of the servo motor 9 to the linear motion.

  When the movable portion 4 further moves by such continuous training operation, the encoder 15 detects the position where the slider 8 has moved. Then, the magnitude of the load corresponding to the position-load characteristic is obtained, and this magnitude of the load is input to the servo motor 9 as a torque command value to be driven to rotate. In this manner, the exerciser performs the forward leg press exercise based on the position-load characteristics.

In addition, as a change in the load amount of the training device, an input device (see FIG. 2) (not shown) is used to display the load within the range of the exercise range (P _{s to} P _e ) without changing the position-load characteristic. The user may be able to increase or decrease appropriately. Further, for example, the calculated position-load characteristic curve may be changed by adjusting the position of the peak to which the maximum load is applied.

  In the return path, after the slider has moved to the final position, a process of moving the pressing plate 10 to the initial position so as to keep the value of the pressure sensor 11 constant is performed. That is, when the value of the pressure sensor 11 is input to the control calculation unit 20, feedback control is performed so that the acting force of the pressure sensor (the load applied by the pressure plate 10 to the exerciser) becomes a predetermined value, and the pressure plate is moved for the first time. Move to position. In this way, the exerciser can perform a lift-off exercise by applying an acting force corresponding to the load against the direction in which the pressing plate 10 approaches to the leg.

  According to the training apparatus according to the present embodiment, by measuring the position and load force by preliminary measurement in advance, the stored exercise characteristic information is corrected according to the individual characteristics of the exerciser, and position-load characteristic information is created. Therefore, the load characteristics according to the physical characteristics of the exerciser can be obtained. Furthermore, since the load is determined based on the result actually measured by the preliminary measurement, the load amount can be set according to the ability of the exerciser, and the overload on the body due to the overload can be prevented.

  In addition, although the training apparatus concerning the said embodiment is applied to a leg press machine, it is possible to apply to the training apparatus in general which trains when a user moves the movable part to which load was applied. In addition to the articulated training machine where the movable part slides linearly along the guide rail as in this embodiment, the training machine rotates around the rotation axis like a leg curl machine or arm curl machine There are a single-joint training machine that exercises, a machine that trains multi-joint rotational movement such as a baseball throwing motion, and the like, and any of them can be applied.

  In addition, this invention is not limited to the said embodiment, It can implement in another various aspect. For example, the sheet is fixed and the pressing plate moves, but conversely, the pressing plate may be fixed and the sheet may move.

  In the above-described embodiment, attention is paid to the thigh muscle knee mainly trained in the leg press operation as the muscle force information, and the load amount is set in both directions of the joint extension operation and the bending operation. The load amount may be set based on the movement of the hip joint focusing on one of the directions of progress and bending.

DESCRIPTION OF SYMBOLS 1 Training apparatus 2 Frame 3 Seat 4 Movable part unit 5 Handle 6 Guide rail 7 Foot plate 8 Slider 9 Servo motor 10 Pressing plate 11 Press sensor 12 Drive shaft 13 Belt 15 Encoder 20 Control calculating part 21 Preliminary information creation part 22 Characteristic information creation Unit 23 load adjustment unit 30 input unit 40 storage device

Claims (7)

A movable part that is moved by a force applied by a user's training operation and capable of adjusting a load force against movement by the user;
A load adjusting unit that controls a load amount of the movable unit based on a position-load characteristic in which a position and a load force applied to the movable unit are associated with each other, so that a load amount according to the position of the movable unit is obtained. A training device comprising:
A position detection unit for detecting a movement position of the movable unit;
A force detection unit that detects the magnitude of the force acting between the user and the movable unit;
A characteristic information storage unit for storing exercise characteristic information indicating a relationship between a load corresponding to a specific exercise movement and a movement course;
The function of the user associating the force information of the force detection unit with the position information detected by the position detection unit during the preliminary training operation performed on the movable unit set to a predetermined load amount by the user A preliminary information creation unit for creating preliminary information on characteristics;
A characteristic information creating unit that creates the position-load characteristic information based on the motion characteristic information and the created preliminary information; and
The said load adjustment part controls a load amount based on the position-load characteristic shown by the said position-load characteristic information at the time of this training, The training apparatus characterized by the above-mentioned.   The training apparatus according to claim 1, wherein the characteristic information creation unit allocates the movement of the movement characteristic information in correspondence with the movement width of the movable part included in the preliminary information.   The training apparatus according to claim 1, wherein the preliminary information created by the preliminary information creation unit includes an initial movement position and an end movement position of the movable unit during the preliminary training operation of the user. Furthermore, the muscle strength information corresponding to the physical state bent and stretched by the training operation,
The training apparatus according to claim 1, wherein the characteristic information creating unit creates the position-load characteristic based on the preliminary information and muscle strength information.   The training apparatus according to claim 1, wherein the load adjustment unit fixes a load amount of the movable unit to a constant value during the preliminary training operation.   The training apparatus according to any one of claims 1 to 5, wherein the load amount control performed by the load adjustment unit during the main training is feedback control based on an output value of the force level detection unit. It is a training method for moving a movable part that can be adjusted so that the load force against movement becomes a load amount according to the position,
Preparing muscular strength information relating to muscular strength corresponding to the physical state bent and stretched by the training operation;
Preliminary information on the functional characteristics of the user is created by associating the amount of force acting on the movable part with the position of the movable part during the preliminary training operation performed on the movable part set to a predetermined load by the user And the stage of
Determining a load amount according to the position of the movable part based on the preliminary information and muscle strength information from an exercise characteristic indicating a relationship between a load corresponding to a specific exercise operation and an operation course;
And a step of adjusting the load amount based on the load amount according to the determined position at the time of the main training.

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