JP2013252258A - Training apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a training apparatus that can be controlled according to a user.SOLUTION: A CPU 15 sets a target displacement (xd) according to a current displacement (x) of a seat, and then sets an auxiliary force (f) based on the current displacement (x) of the seat and the target displacement (xd). The CPU 15 controls a motor 13 based on the calculated auxiliary force (f). Specifically the motor 13 is driven so as to apply the force (f) to the seat.

Description

  The present invention relates to a training device for assisting a user's movement.

  2. Description of the Related Art Conventionally, as a training device that assists a user's exercise and training, a standing assistance chair that assists standing is proposed (for example, see Patent Document 1). This auxiliary chair is configured such that the seat surface is raised by operating the switch.

JP 2007-82835 A

  However, this auxiliary chair is not linked to the user's movement, exercise ability, or body shape. That is, a certain operation is performed. For this reason, the operation of the auxiliary chair was not changed according to the movement of the user. Therefore, it may be difficult for some users to use.

  The present invention has been made paying attention to such problems existing in the prior art. The purpose is to provide a training device that can be controlled for the user.

  -The training device of the present invention includes a placement unit on which at least a part of the body can be placed, and when the user moves with the part of the body being placed on the placement unit, according to the operation of the user In a training apparatus in which the placement unit moves or rotates, a drive unit that can move or rotate the placement unit along at least one axis direction, and an operation detection unit that detects a user's motion or force. And a control unit configured to set a target trajectory of the placement unit based on the information detected by the motion detection unit, and to control the operation of the drive unit so as to operate the placement unit according to the set target trajectory. , Provided.

  -In this training apparatus, the said motion control means is equipped with the force information detection means which detects at least 1 force information among the force and torque which are applied to a mounting part, and the said force control detection means detects the said motion control means. It is preferable to set a target trajectory of the placement unit based on the force information, and to control the operation of the drive unit so that the placement unit is operated according to the set target trajectory.

  In this training apparatus, the motion detection unit includes a motion information detection unit capable of detecting at least one motion information among the position, speed, and acceleration of the placement unit, and the motion control unit includes the motion information detection unit. It is preferable to set a target trajectory of the placement unit based on the detected motion information, and to control the operation of the drive unit so that the placement unit is operated according to the set target trajectory.

  In this training apparatus, as the motion detection means, force information detection means for detecting at least one force information among force and torque applied to the placement section, and at least of the position, speed, and acceleration of the placement section A movement information detecting means capable of detecting one piece of movement information, wherein the movement control means is placed on the basis of both the movement information detected by the movement information detection means and the force information detected by the force information detection means; It is preferable to set the target trajectory of the unit and control the operation of the driving unit so as to operate the mounting unit in the set target trajectory.

  -In this training equipment, in addition to the above-mentioned placement part, it has an auxiliary support part on which a part of the user's human body is placed, and as the motion detection means, at least of the force and torque applied to the auxiliary support part Auxiliary support portion force information detecting means for detecting one auxiliary support force information is provided, and the operation control means determines a target trajectory of the mounting portion based on the auxiliary support force information detected by the auxiliary support portion force information detecting means. It is preferable to set and control the operation of the drive unit so as to operate the placement unit in the set target trajectory.

  In this training apparatus, in addition to the placement unit described above, a part of the user's human body is placed and provided with a movable auxiliary support unit, and as the motion detection means, the position, speed, and Auxiliary support motion information detecting means capable of detecting at least one auxiliary support motion information of acceleration is provided, and the motion control means is mounted based on the auxiliary support motion information detected by the auxiliary support motion information detecting means. It is preferable to set the target trajectory of the mounting unit and control the operation of the driving unit so as to operate the mounting unit in the set target trajectory.

  -In this training equipment, a part of the user's human body is placed in addition to the placement part described above, and includes a movable auxiliary support part, and the force and torque applied to the auxiliary support part as the motion detection means. Auxiliary support part force information detecting means for detecting at least one auxiliary support force information, and auxiliary support part movement information detection capable of detecting at least one auxiliary support movement information among the position, speed, and acceleration of the auxiliary support part. The motion control means is mounted on the basis of information on both auxiliary support motion information detected by the auxiliary support portion motion information detecting means and auxiliary support force information detected by the auxiliary support portion force information detecting means. It is preferable to set the target trajectory of the mounting unit and control the operation of the driving unit so as to operate the mounting unit in the set target trajectory.

  -In this training equipment, in addition to the placement section described above, a part of the user's human body is placed and provided with a movable auxiliary support part. Among the force and torque applied to the placement part as the motion detection means The auxiliary support includes at least one of force information detection means for detecting at least one force information and movement information detection means capable of detecting at least one movement information among the position, speed, and acceleration of the mounting portion. Auxiliary support force information detecting means for detecting at least one auxiliary support force information of force and torque applied to the portion, and detecting at least one auxiliary support motion information among the position, speed, and acceleration of the auxiliary support portion At least one of the auxiliary support portion movement information detection means that can be configured, and the motion control means sets the target track of the placement portion based on the detected information. And, it is preferable to control the operation of the drive unit to operate the mounting portion at the set target trajectory.

  -In this training equipment, it is provided with operation means that can be operated by a user, and the motion control means sets a target trajectory of the placement unit based on an operation result of the operation means, and at the set target trajectory It is preferable to control the operation of the driving unit so as to operate the mounting unit.

  According to the present invention, it is possible to control according to the user.

(A) And (b) is a side view which shows a training apparatus. The block diagram which shows the control structure of a drive part. (A) And (b) is a graph which shows the relationship between the current displacement x of a seat part, and the target displacement xd of a seat part. (A)-(d) is a schematic diagram which shows the operation state of a training apparatus. The block diagram which shows the control structure of a drive part. (A) And (b) is a graph which shows the relationship between the load fz to a seat part, and target displacement xd. (A) And (b) is a graph which shows the change of the load fz added to a seat part. (A) is a side view which shows training equipment, (b) is a front view of training equipment. The block diagram which shows the control structure of a drive part. (A) And (c) is a graph which shows the relationship between the load to a handrail part, and the target displacement of a seat part, (b) is a graph which shows the time change of the load to a handrail part. (A) is a front view which shows training equipment, (b) is a side view of training equipment. The block diagram which shows the control structure of a drive part. (A) is a graph showing the relationship between the current displacement xt of the handrail portion and the target displacement xd, (b) is a graph showing the relationship between the current displacement xt of the handrail portion and time t, and (c) is The graph which shows the relationship between the target displacement xd of a seat part, and time t. The block diagram which shows the control structure of a drive part. (A) is a graph which shows the relationship between the load fz to a seat part, and time t, (b) is a graph which shows the relationship between the load ft to the handrail part 21, and time t. The side view which shows training equipment. (A) And (b) is a graph which shows the change of the target displacement xd of a seat part. The side view which shows the moving direction of a seat part. (A) is a top view which shows the rotation direction of a seat part, (b) is a side view which shows the rotation direction of a seat part. (A) is a graph which shows the change of the present displacement x of a seat part, (b) is a graph which shows the target displacement xd of a seat part. (A) is a graph which shows the change of the load ft to a handrail part, (b) is a graph which shows the target displacement xd of a seat part.

(First embodiment)
With reference to FIG. 1, the whole structure of the training apparatus 10 is demonstrated. In the present embodiment, a chair-type training device 10 is employed. As shown in FIG. 1, the leg portion 11 of the training device 10 is placed on a floor surface (not shown), and a seat portion 12 as a placement portion on which a user can be seated is fixed to the upper portion of the leg portion 11. Has been.

  As shown in FIG. 1, the leg portion 11 is configured such that its vertical length can be extended and contracted so as to allow the seat portion 12 to move up and down. Moreover, the leg part 11 incorporates the drive part 14 comprised by actuators, such as the motor 13, as shown in FIG. And the leg part 11 is comprised so that expansion-contraction in the up-down direction is possible, and the leg part 11 is extended-contracted by the drive part 14. FIG. That is, the drive unit 14 assists (suppresses), restricts, or suppresses the movement of the seat 12 in the vertical direction.

  Moreover, the leg part 11 incorporates the spring as an elastic member which adds an elastic force upward. In FIG. 1, a spring is schematically illustrated. The spring applies an elastic force in a direction in which the seat 12 moves to a predetermined upper limit position (the rising position xd2 in the present embodiment).

  As shown in FIG. 2, the driving unit 14 describes a motor 13 that applies a driving force (assisting force) that assists in vertical movement, a CPU 15 as an operation control unit that controls the motor 13, and a method for controlling the motor 13. ROM 16 is stored which stores the control program and the like.

  Moreover, the seat part 12 is provided with the displacement sensor 18 as a movement information detection means which detects the displacement of the seat part 12 as movement information. The displacement sensor 18 inputs the detected displacement to the CPU 15 of the drive unit 14. In the present embodiment, the displacement sensor 18 serves as an operation detection unit.

  The drive unit 14 controls the motor 13 by calculating an auxiliary force f applied to the seat 12 based on the displacement detected by the displacement sensor 18 (current displacement x of the seat 12). The auxiliary force f is calculated based on the following formula 1.

f = K (xd−x) (Formula 1)
Note that the current displacement of the seat 12 is x, and the target displacement of the seat 12 is xd. The current displacement x and the target displacement xd indicate how far the seat 12 is separated in the vertical direction with reference to a predetermined initial position (for example, floor). K is a predetermined coefficient. The target displacement xd and the current displacement x have a predetermined relationship.

  FIG. 3A shows the relationship between the current displacement x of the seat 12 and the target displacement xd in the present embodiment. Thus, the target displacement xd of the present embodiment is a value obtained by multiplying the current displacement x by a predetermined constant and adding the predetermined initial value to the multiplied value. This relationship is stored in the ROM 16 in advance. The CPU 15 calculates a target displacement xd based on the current displacement x input from the displacement sensor 18.

  The CPU 15 calculates the auxiliary force f output from the motor 13 based on the current displacement x detected by the displacement sensor 18 according to Equation 1. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

  The target displacement xd is calculated from the displacement sensor 18 based on the current displacement x. From this, feedback is performed. That is, the assisting force works so that the current displacement x becomes the target displacement xd.

Next, the operation of the training device 10 will be described.
As shown in FIG. 4A, the case where the seat 12 moves downward while the user stands on the seat 12 (when the user sits) will be described. The drive unit 14 inputs the current displacement x from the displacement sensor 18 every predetermined period. The CPU 15 calculates a target displacement xd corresponding to the current displacement x based on the input current displacement x.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x and the calculated target displacement xd are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, as shown in FIG. 4B, when the user sits on the seat 12, an assisting force (assist force) is applied to the seat 12 according to the current displacement x of the seat 12. Specifically, an assisting force f is applied to the seat 12 so as to move to a target displacement xd that is determined in advance corresponding to the current displacement x.

  As shown in FIG. 4C, the case where the seat 12 moves upward (when it stands up) while the user is sitting on the seat 12 will be described. When the user moves upward from the seat portion 12, the seat portion 12 moves upward due to the elastic force of the spring. And the drive part 14 inputs the present displacement x from the displacement sensor 18 also at this time. The CPU 15 calculates a target displacement xd corresponding to the current displacement x based on the input current displacement x.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x and the calculated target displacement xd are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, as shown in FIG. 4D, when the user stands on the seat 12, an assisting force (assist force) is applied to the seat 12 according to the current displacement x of the seat 12. Specifically, an assisting force f is applied to the seat 12 so as to move to a target displacement xd that is determined in advance corresponding to the current displacement x.

  As described above, the target displacement xd is set according to the current displacement x, and the auxiliary force f is applied to the seat 12 so as to move to the set target displacement xd. For this reason, the auxiliary force f according to the position of the seat part 12 can be received.

  As shown in FIG. 3B, the relationship between the current displacement x and the target displacement xd may be changed. That is, until the current displacement x moves to a predetermined threshold value, the target displacement xd is set to a certain value (sitting position xd1 in this embodiment). When the current displacement x is equal to or greater than a predetermined threshold value, the target displacement xd is set to a predetermined value (in this embodiment, the rising position xd2).

  Thus, the CPU 15 sets the target displacement xd to the sitting position xd1 until the current displacement x of the seat 12 reaches a predetermined threshold value. Therefore, the CPU 15 controls the motor 13 to apply the auxiliary force f to the seat 12 so that the seat 12 stops (or moves) at the sitting position xd1.

  On the other hand, the CPU 15 sets the target displacement xd to the rising position xd2 when the current displacement x of the seat 12 is equal to or greater than a predetermined threshold value. Therefore, the CPU 15 controls the motor 13 to apply the auxiliary force f to the seat 12 so that the seat 12 stops (or moves) at the rising position xd2.

As described above in detail, the present embodiment has the following effects.
(1) The CPU 15 sets the target displacement xd according to the current displacement x of the seat 12. Then, the auxiliary force f is set based on the current displacement x and the target displacement xd. For this reason, various assistance can be performed according to how the seat part 12 is moved by the user. That is, the auxiliary force f can be changed according to the user's operation. Further, even when the current displacement x changes abruptly, it is possible to cope with such as supporting the center of gravity by changing the auxiliary force.

  (2) The assisting force f is applied to the seat 12 so that the relationship between the current displacement x and the target displacement xd is maintained. For this reason, when the target displacement xd is set based on the relationship of FIG. 3A, an auxiliary force is applied so that the target displacement xd moves in accordance with the current displacement x. Therefore, the seat 12 performs a predetermined operation according to the user's operation.

  (3) Also, when the target displacement xd is set based on the relationship shown in FIG. 3B, the target displacement xd is assisted to stop (or move) at the sitting position xd1 until the current displacement x reaches the threshold value. A force f is applied. On the other hand, when the current displacement x is equal to or greater than the threshold value, the auxiliary force f is applied so that the target displacement xd stops (or moves) at the rising position xd2. Therefore, it can be easily and accurately moved to a predetermined position (sitting position xd1 or rising position xd2) according to the user's operation. Further, the position can be easily maintained.

  (4) A target displacement xd is set based on the current displacement x. For this reason, auxiliary power will change according to the distance actually moved. Accordingly, it is possible to receive an auxiliary force corresponding to the movement of the user.

(Second Embodiment)
Hereinafter, a second embodiment in which the present invention is embodied in a training apparatus will be described. In the embodiment described below, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the redundant description thereof is omitted or simplified.

  As shown in FIG. 5, in the present embodiment, the seat portion 12 includes a pressure sensor 17 as a force information detection unit that detects a load (force) fz applied to the seat portion 12 by a user as force information. Yes. The pressure sensor 17 inputs the force (load) fz applied from the user to the seat 12 detected by the CPU 15 of the drive unit 14. In the present embodiment, the pressure sensor 17 serves as an operation detection unit.

  In the present embodiment, the target displacement xd and the load fz detected by the pressure sensor 17 have a predetermined relationship. That is, the target displacement xd can be set by using the load fz applied to the seat 12 instead of the current displacement x used in the first embodiment.

  FIG. 6A shows the relationship between the load fz to the seat 12 and the target displacement xd in the present embodiment. Thus, the target displacement xd of the present embodiment is a value obtained by multiplying the load fz by a predetermined constant and adding the predetermined initial value to the multiplied value. This relationship is stored in the ROM 16 in advance, and the CPU 15 calculates the target displacement xd based on the load fz input from the pressure sensor 17.

  Then, the CPU 15 calculates the auxiliary force f output by the motor 13 based on the calculated target displacement xd and Formula 1 in which the current displacement x detected by the displacement sensor 18 is set. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

Next, the operation of the training device 10 will be described.
As shown in FIG. 4A, the case where the seat 12 moves downward with the user standing from the seat 12 (when the user sits) will be described. In this case, as shown to Fig.7 (a), the load fz applied to the seat part 12 from a user changes. At this time, the CPU 15 of the drive unit 14 inputs the load fz from the pressure sensor 17. Further, the CPU 15 of the drive unit 14 inputs the current displacement x from the displacement sensor 18. As described above, the CPU 15 calculates the target displacement xd corresponding to the input load fz.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x and the calculated target displacement xd are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, as shown in FIG.4 (b), when a user sits on the seat part 12, an auxiliary force (assist force) is applied to the seat part 12 according to the load fz to the seat part 12. FIG. Specifically, the assisting force f is applied to the seat portion 12 so as to move to the target displacement xd determined in advance corresponding to the load fz.

  As shown in FIG. 4C, the case where the seat 12 moves upward (when it stands up) while the user is sitting on the seat 12 will be described. When the user moves upward from the seat portion 12, the seat portion 12 moves upward due to the elastic force of the spring. And the drive part 14 inputs the present displacement x from the displacement sensor 18 also at this time. Further, when the user moves upward from the seat 12, the load fz applied to the seat 12 is reduced as shown in FIG. 7B. At this time, the CPU 15 inputs the load fz from the pressure sensor 17. Then, as described above, the CPU 15 calculates the target displacement xd corresponding to the input load fz.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x and the calculated target displacement xd are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, as shown in FIG. 4D, when the user stands on the seat 12, an assisting force (assist force) is applied to the seat 12 according to the current displacement x of the seat 12.

  For example, when the load fz applied to the seat 12 is large, the target displacement xd is small. That is, the target displacement xd is set at the sitting position. On the other hand, the target displacement xd increases as the load fz applied to the seat 12 decreases. That is, the assisting force works so that the seat portion 12 gradually moves upward.

  Note that as shown in FIG. 6B, the relationship between the load fz and the target displacement xd may be changed. That is, until the load fz reaches a predetermined threshold value, the target displacement xd is set to a predetermined value (in this embodiment, the rising position xd2). When the load fz is equal to or greater than a predetermined threshold, the target displacement xd is set to a predetermined value (sitting position xd1 in the present embodiment).

  Thereby, when the load fz to the seat portion 12 is equal to or greater than a predetermined threshold, the CPU 15 sets the target displacement xd to the sitting position xd1. For this reason, the CPU 15 controls the motor 13 to apply an assisting force so that the seat 12 stops (or moves) at the sitting position xd1. On the other hand, when the load fz to the seat 12 becomes less than a predetermined threshold value, the CPU 15 sets the target displacement xd to the rising position xd2. Therefore, the CPU 15 controls the motor 13 to apply an assisting force so that the seat 12 stops (or moves) at the rising position xd2.

As described above in detail, the present embodiment has the following effects.
(5) The CPU 15 sets the target displacement xd according to the force (load) fz applied to the seat 12. For this reason, various assistances can be performed depending on what load fz is applied to the seat 12 by the user. That is, the target displacement xd of the seat portion 12 can be set according to the user's momentum and the force that supports the center of gravity, and the auxiliary force can be set and moved so that the seat portion 12 is positioned at the target displacement xd. .

  (6) The auxiliary force f is applied to the seat portion 12 so that the relationship between the load fz and the target displacement xd is maintained. For this reason, when the target displacement xd is set based on the relationship of FIG. 6A, an assisting force is applied so that the target displacement xd moves according to the load fz. Therefore, the seat portion 12 can perform a predetermined operation according to the magnitude of the load fz applied to the seat portion 12 by the user. That is, the seat part 12 can change a motion according to a user's state.

  (7) Further, when the target displacement xd is set based on the relationship shown in FIG. 6B, the auxiliary force is applied so that the target displacement xd stops (or moves) at the sitting position xd1 until the load fz reaches the threshold value. f is added. On the other hand, when the load fz is equal to or greater than the threshold value, the auxiliary force f is applied so that the target displacement xd stops (or moves) at the rising position xd2. For this reason, according to the magnitude | size of the load fz which a user applies to the seat part 12, it can be moved to the predetermined position (sitting position xd1 or standing position xd2) easily and correctly. Further, the position can be easily maintained.

(Third embodiment)
Hereinafter, a third embodiment in which the present invention is embodied in a training apparatus will be described. In the embodiment described below, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the redundant description thereof is omitted or simplified.

  As shown in FIG. 5, in the present embodiment, the seat portion 12 includes a pressure sensor 17 as force information detection means for detecting a force (load) fz applied to the seat portion 12 from the user. The pressure sensor 17 inputs the force (load) fz applied from the user to the seat 12 detected by the CPU 15 of the drive unit 14. In the present embodiment, the pressure sensor 17 and the displacement sensor 18 serve as motion detection means.

  In the present embodiment, the target displacement xd can be calculated by a function g having the current displacement x of the seat 12 and the load fz applied to the seat 12 as a variable (independent variable). In the present embodiment, the following formula 2 is adopted as the formula of the function g.

xd = g (x, fz) = 2 * x-10 * fz (Expression 2)
This function g is stored in the ROM 16 in advance, and the CPU 15 calculates a target displacement xd based on the load fz input from the pressure sensor 17 and the current displacement x detected by the displacement sensor 18.

  Then, the CPU 15 calculates the auxiliary force f output by the motor 13 based on the calculated target displacement xd and Formula 1 in which the current displacement x detected by the displacement sensor 18 is set. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12. Thereby, according to the motion of the seat part 12 and the magnitude of the load fz applied to the seat part 12, the assisting force f can be applied to the seat part 12 and the seat part 12 can be moved.

As described above in detail, the present embodiment has the following effects.
(8) Depending on the movement of the seat 12 and the magnitude of the load fz applied to the seat 12, the assisting force f can be applied to the seat 12 and the seat 12 can be moved. For this reason, compared with the case where the target displacement xd is set based on only the movement of the seat part 12 or only the load fz on the seat part 12, an optimal auxiliary force is generated according to the movement and force of the user. be able to. For this reason, the optimal assist effect can be obtained when standing up or sitting.

  It can also be used for various purposes. For example, squats using the training device 10 can be performed, and at that time, the assisting force can be changed according to the movement and force of the user to obtain an optimal training effect.

(Fourth embodiment)
Hereinafter, a fourth embodiment in which the present invention is embodied in a training apparatus will be described. In the embodiment described below, the same components as those in the second embodiment already described are denoted by the same reference numerals, and redundant description thereof is omitted or simplified.

  As shown in FIGS. 8 (a) and 8 (b), the chair-type training device 10 has an auxiliary support in which a user's arm (part of the user's body) can be placed. A handrail portion 21 as a portion is provided. The handrail portion 21 is fixed to the bottom portion 11a of the training device 10 (more specifically, the leg portion 11) via a support column 22 provided in the vertical direction. In addition, the handrail part 21 is provided with a pair, and when a user sits down, it arrange | positions so that it may be located in a user's side surface.

  As shown in FIG. 9, the drive unit 14 is provided with a handrail pressure sensor 23 serving as auxiliary support portion force information detecting means for detecting a load (force) ft applied to the handrail portion 21 as auxiliary support force information. . The handrail pressure sensor 23 inputs the detected load ft to the CPU 15 of the drive unit 14. The handrail pressure sensor 23 may be provided on the support column 22 or the handrail portion 21. In the present embodiment, the handrail pressure sensor 23 serves as an operation detection unit.

The target displacement xd of the present embodiment can be calculated by a function using the load ft on the handrail portion 21 as a variable. This will be specifically described.
FIG. 10A shows the relationship between the load ft on the handrail portion 21 and the target displacement xd in the present embodiment. Thus, the target displacement xd of the present embodiment is a value obtained by multiplying the load ft by a predetermined constant and adding the predetermined initial value to the multiplied value. This relationship is stored in the ROM 16 in advance. The CPU 15 calculates the target displacement xd based on the load ft applied to the handrail part 21 input from the handrail pressure sensor 23.

  The CPU 15 calculates the auxiliary force f output from the motor 13 based on the load ft applied to the handrail portion 21 using Equation 1. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

Next, the operation of the training device 10 will be described.
A case where the seat 12 moves upward (when the user stands up) while the user is sitting on the seat 12 will be described. When the user moves upward from the seat 12, the load on the handrail 21 tends to change as shown in FIG. 10B (see after the time point t 1).

  Therefore, the CPU 15 inputs the load ft from the handrail pressure sensor 23 to the handrail portion 21 at every predetermined period when the user moves upward from the seat portion 12. The CPU 15 calculates a target displacement xd according to the input load ft to the handrail portion 21.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x and the calculated target displacement xd are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, when a user stands on the seat part 12, an assisting force (assist force) is applied to the seat part 12 according to the load ft on the handrail part 21. Specifically, the assisting force f is applied to the seat portion 12 so as to move to the target displacement xd determined in advance corresponding to the load ft.

  In addition, as shown in FIG.10 (c), you may change the relationship between the load ft and the target displacement xd. That is, when the load ft is less than a predetermined threshold value, the target displacement xd is set to a predetermined value (sitting position xd1 in the present embodiment). When the load ft becomes equal to or greater than a predetermined threshold, the target displacement xd is set to a predetermined value (in this embodiment, the rising position xd2).

  Thereby, when the load ft to the handrail part 21 is less than the predetermined threshold value, the CPU 15 sets the target displacement xd to the sitting position xd1. For this reason, the CPU 15 controls the motor 13 to apply an assisting force so that the seat 12 stops (or moves) at the sitting position xd1. On the other hand, when the load ft on the handrail portion 21 is equal to or greater than a predetermined threshold, the CPU 15 sets the target displacement xd to the rising position xd2. Therefore, the CPU 15 controls the motor 13 to apply an assisting force so that the seat 12 stops (or moves) at the rising position xd2.

As described above in detail, the present embodiment has the following effects.
(9) Normally, a user who has weak legs sits up or sits down from a chair with a hand on the handrail 21 or the like. Therefore, in this embodiment, the handrail portion 21 is provided, and the load ft on the handrail portion 21 is detected. Then, the CPU 15 sets the target displacement xd according to the load ft applied to the handrail part 21. For this reason, various assistance can be performed depending on what load ft the user applies to the handrail portion 21.

  In addition, the target displacement xd can be finely changed as compared with the case where the load fz applied to the seat 12 is detected. This is because the force applied to the seat 12 is most of the weight of the user and it is difficult to perform fine control using the force of the legs. In contrast, the force applied to the handrail portion 21 can be controlled by the arm force or the hand. Furthermore, since the weight of the user is supported by the seat portion 12, it is easy to control without adding most of the weight to the arm.

  (10) The auxiliary force f is applied to the seat 12 so that the relationship between the load ft and the target displacement xd is maintained. For this reason, when the target displacement xd is set based on the relationship of FIG. 10A, an assisting force is applied so that the target displacement xd moves according to the load ft. Therefore, the seat portion 12 can perform a predetermined operation according to the magnitude of the load ft applied to the handrail portion 21 by the user. That is, the seat part 12 can change the movement according to the magnitude of the load ft applied to the handrail part 21 by the user.

  (11) When the target displacement xd is set based on the relationship shown in FIG. 10C, the target displacement xd is stopped (or moved) at the sitting position xd1 when the load ft is less than the threshold. An auxiliary force f is applied to the. On the other hand, when the load ft is equal to or greater than the threshold value, the auxiliary force f is applied so that the target displacement xd stops (or moves) at the rising position xd2. For this reason, according to the magnitude | size of the load ft which a user applies to the handrail part 21, it can move to the position (sitting position xd1 or standing position xd2) determined easily and correctly. Further, the position can be easily maintained. Further, since the load ft can be controlled by the user's arm, it is easy to control.

(12) Further, when performing squats, the weight can be applied to the handrail portion 21 and the weight can be supported by the seat portion 12, so that squats can be performed more safely.
(Fifth embodiment)
Hereinafter, a fifth embodiment in which the present invention is embodied in a training apparatus will be described. In the embodiment described below, the same components as those in the second embodiment already described are denoted by the same reference numerals, and redundant description thereof is omitted or simplified.

  As shown in FIG. 11, the chair-type training device 10 is provided with a handrail portion 21 as an auxiliary support portion configured to be able to place a user's arm (a part of the user's body). ing. The handrail portion 21 is fixed to the bottom portion 11a of the training device 10 (more specifically, the leg portion 11) via a support column 22 provided in the vertical direction. In addition, the handrail part 21 is provided with a pair, and when a user sits down, it arrange | positions so that it may be located in a user's side surface.

  Further, as shown in FIGS. 11A and 11B, the support column 22 is configured such that its vertical length can be expanded and contracted so as to allow the vertical movement of the handrail portion 21. Further, an elastic force is applied to the column 22 upward by an elastic member (not shown) such as a spring. As a result, even if a load is applied to the handrail portion 21 and moved downward, if the load applied to the handrail portion 21 is lost, the handrail portion 21 moves back to the original position.

  As shown in FIG. 12, the support column 22 is provided with a handrail displacement sensor 24 serving as auxiliary support portion motion information detecting means for detecting the current displacement xt of the handrail portion 21 as auxiliary support motion information. The handrail displacement sensor 24 inputs the detected displacement to the CPU 15 of the drive unit 14. Further, the current displacement xt of the handrail portion 21 indicates how far the handrail portion 21 is spaced in the vertical direction with reference to a predetermined initial position. In the present embodiment, the handrail displacement sensor 24 serves as an operation detection unit.

The target displacement xd of the seat portion 12 of the present embodiment can be calculated by a function having the current displacement xt of the handrail portion 21 as a variable. This will be specifically described.
FIG. 13A shows the relationship between the current displacement xt of the handrail 21 and the target displacement xd of the seat 12 in the present embodiment. Thus, until the current displacement xt reaches the predetermined first value xt1, the target displacement xd is a substantially constant value. When the current displacement xt changes from the predetermined first value xt1 to the predetermined second value xt2, the target displacement xd increases rapidly. When the current displacement xt is equal to or greater than a predetermined second value xt2, the target displacement xd becomes a substantially constant value.

  This relationship is stored in the ROM 16 in advance. The CPU 15 calculates a target displacement xd of the seat portion 12 based on the current displacement xt of the handrail portion 21 input from the handrail displacement sensor 24. The CPU 15 calculates the auxiliary force f output from the motor 13 based on the current displacement xt to the handrail portion 21 using Equation 1. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

Next, the operation of the training device 10 will be described.
FIG. 13B shows a temporal change in the current displacement xt of the handrail 21 when the user sits on the seat 12 (relationship between time t and current displacement xt). According to FIG. 13B, it can be understood that when the user sits on the seat portion 12, the weight is applied to the handrail portion 21 and the current displacement xt of the handrail portion 21 decreases.

  In this case, the CPU 15 inputs the current displacement xt from the handrail displacement sensor 24 at predetermined intervals. The CPU 15 calculates the target displacement xd of the seat 12 according to the current displacement xt based on the input current displacement xt of the handrail portion 21.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x of the seat 12 and the calculated target displacement xd of the seat 12 are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, when the user sits on the seat portion 12, an assisting force (assist force) is applied to the seat portion 12 according to the current displacement xt of the handrail portion 21. Specifically, the assisting force f is applied to the seat 12 so as to move to the target displacement xd of the seat 12 determined in advance corresponding to the current displacement xt of the handrail 21.

  Thereby, the target displacement xd of the seat part 12 is changed according to time t as shown in FIG.13 (c). That is, at first, the target displacement xd is slowly lowered. Thereafter, the seat 12 gradually descends in the middle. Thereafter, the seat 12 slowly descends and then stops at the sitting position.

As described above in detail, the present embodiment has the following effects.
(13) Usually, a user who has weak legs sits up or sits down from a chair with a hand on the handrail 21 or the like. Therefore, in the present embodiment, a movable handrail portion 21 is provided, and the current displacement xt of the handrail portion 21 is detected. Then, the CPU 15 sets the target displacement xd of the seat portion 12 according to the current displacement xt of the handrail portion 21. For this reason, various assistance can be performed by how a user moves the handrail part 21. FIG.

  Further, the target displacement xd of the seat 12 can be finely changed as compared with the case where the load fz applied to the seat 12 and the current displacement x are detected. This is because the force applied to the seat 12 is most of the weight of the user and it is difficult to perform fine control using the force of the legs. In contrast, when the handrail portion 21 is moved, it can be controlled with the force of the arm or the hand. Furthermore, since the weight of the user is supported by the seat portion 12, it is easy to control without adding most of the weight to the arm.

  (14) The current displacement xt of the handrail 21 and the target displacement xd of the seat 12 are related. For this reason, the target displacement xd of the seat 12 can be predicted by looking at the current displacement xt of the handrail 21. That is, it is easy to understand and control how much the target displacement xd is visually set.

(Sixth embodiment)
Hereinafter, a sixth embodiment in which the present invention is embodied in a training device will be described. In the embodiment described below, the same components as those in the second embodiment already described are denoted by the same reference numerals, and redundant description thereof is omitted or simplified.

  As shown in FIG. 11, the chair-type training device 10 is provided with a handrail portion 21 as an auxiliary support portion configured to be able to place a user's arm (a part of the user's body). ing. The handrail portion 21 is fixed to the bottom portion 11a of the training device 10 (more specifically, the leg portion 11) via a support column 22 provided in the vertical direction. In addition, the handrail part 21 is provided with a pair, and when a user sits down, it arrange | positions so that it may be located in a user's side surface.

  Further, as shown in FIGS. 11A and 11B, the support column 22 is configured such that its vertical length can be expanded and contracted so as to allow the vertical movement of the handrail portion 21. Further, an elastic force is applied to the column 22 in the vertical direction by an elastic member such as a spring. As a result, even if a load is applied to the handrail portion 21 and moved downward, if the load applied to the handrail portion 21 is lost, the handrail portion 21 moves back to the original position.

  As shown in FIG. 14, the support column 22 is provided with a handrail pressure sensor 23 serving as auxiliary support portion force information detecting means for detecting a load ft applied to the handrail portion 21. The handrail pressure sensor 23 inputs the detected load ft to the CPU 15 of the drive unit 14.

  As shown in FIG. 14, the support column 22 is provided with a handrail displacement sensor 24 serving as auxiliary support portion motion information detecting means for detecting the current displacement xt of the handrail portion 21. The handrail displacement sensor 24 inputs the detected current displacement xt of the handrail portion 21 to the CPU 15 of the drive portion 14. Further, the current displacement xt of the handrail portion 21 indicates how far the handrail portion 21 is spaced in the vertical direction with reference to a predetermined initial position. The handrail pressure sensor 23 and the handrail displacement sensor 24 may be provided in the handrail portion 21 or the like. In the present embodiment, the handrail pressure sensor 23 and the handrail displacement sensor 24 serve as motion detection means.

  In the present embodiment, the target displacement xd of the seat portion 12 can be calculated by a function g using the current displacement xt of the handrail portion 21 and the load ft on the handrail portion 21 as variables (independent variables). In the present embodiment, the following formula 3 is adopted as the formula of the function g.

xd = g (xt, ft) = 2 * xt-30 * ft (Equation 3)
This function is stored in the ROM 16 in advance, and the CPU 15 is based on the load ft applied to the handrail portion 21 input from the handrail pressure sensor 23 and the current displacement xt of the handrail portion 21 detected by the handrail displacement sensor 24. The target displacement xd of the seat 12 is calculated.

  Then, the CPU 15 calculates the auxiliary force f output by the motor 13 based on the calculated target displacement xd and Formula 1 in which the current displacement x detected by the displacement sensor 18 is set. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

Thereby, according to the movement of the handrail part 21 and the magnitude of the load ft applied to the handrail part 21, the assisting force f can be applied to the seat part 12 and the seat part 12 can be moved.
As described above in detail, the present embodiment has the following effects.

  (15) Depending on the movement of the handrail portion 21 and the magnitude of the load ft applied to the handrail portion 21, the auxiliary force f can be applied to the seat portion 12 to move the seat portion 12. For this reason, compared with the case where the target displacement xd is set based on only the movement of the handrail part 21 or only the load ft on the handrail part 21, an optimal auxiliary force is generated according to the movement and force of the user. be able to. For this reason, the optimal assist effect can be obtained when standing up or sitting.

  (16) Moreover, compared with the case where force is applied to the seat part 12 or the case where the seat part 12 is moved, the handrail part 21 can be easily moved or applied with the force of the arm. For this reason, it is easy for the user to control the target displacement xd of the seat 12.

(Seventh embodiment)
Hereinafter, a seventh embodiment in which the present invention is embodied in a training device will be described. In the embodiment described below, the same components as those in the sixth embodiment already described are denoted by the same reference numerals, and redundant description thereof is omitted or simplified.

  In this embodiment, based on the load fz to the seat part 12 and the load ft to the handrail part 21, the force fa1 applied to the user's sole is calculated based on the mathematical formula 4. Specifically, it is calculated based on the following equation 4.

fa1 = mg−ft−fz (Formula 4)
In addition, mg is a user's body weight.
In the present embodiment, the target displacement xd of the seat portion 12 can be calculated by a function h using a force fa1 applied to the sole of the user as a variable (independent variable). That is, the target displacement xd can be calculated by a function h as shown in the following formula 5.

xd = h (fa1) (Formula 5)
This function is stored in the ROM 16 in advance. That is, the CPU 15 calculates the force fa1 to the sole based on the load fz to the seat 12 and the load ft to the handrail 21, and calculates the target displacement xd of the seat 12 based on the force fa1. It will be.

  Then, the CPU 15 calculates the auxiliary force f output by the motor 13 based on the calculated target displacement xd and Formula 1 in which the current displacement x detected by the displacement sensor 18 is set. Then, the CPU 15 of the drive unit 14 controls the motor 13 based on the calculated auxiliary force f. Specifically, the motor 13 is driven so that the auxiliary force f is applied to the seat portion 12.

Thereby, according to the magnitude | size of the load fz to the seat part 12, and the load ft added to the handrail part 21, the auxiliary force f can be applied to the seat part 12 and the seat part 12 can be moved.
Next, the operation of the training device 10 will be described.

  FIG. 15A shows a temporal change in the load fz applied to the seat 12 when the user stands up from the seat 12. FIG. 15B shows a temporal change in the load ft applied to the handrail portion 21 when the user stands up from the seat portion 12. Thus, according to this figure, it can be understood that, when standing up, the load fz to the seat portion 12 decreases and the load ft to the handrail portion 21 increases. Therefore, the force fa1 to the sole can be calculated according to these values, and the target displacement xd can be calculated according to the force fa1 to the sole.

  Then, the CPU 15 of the drive unit 14 calculates the auxiliary force f from Formula 1 in which the input current displacement x of the seat 12 and the calculated target displacement xd of the seat 12 are set. Then, the CPU 15 controls the motor 13 based on the calculated auxiliary force f. Thereby, when the user stands up from the seat portion 12, an assisting force (assist force) is applied to the seat portion 12 according to the load ft on the handrail portion 21 and the load fz on the seat portion 12.

As described above in detail, the present embodiment has the following effects.
(17) As described above, by setting the target trajectory from a large amount of information, the seat 12 can operate in accordance with the user's intention.

(Eighth embodiment)
Hereinafter, an eighth embodiment in which the present invention is embodied in a training apparatus will be described. In the embodiment described below, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the redundant description thereof is omitted or simplified.

  As shown in FIG. 16, the chair-type training device 10 is provided with a handrail portion 21 as an auxiliary support portion configured so that a user's arm portion (a part of the user's body) can be placed thereon. ing. The handrail portion 21 is fixed to the bottom portion 11a of the training device 10 (more specifically, the leg portion 11) via a support column 22 provided in the vertical direction. In addition, the handrail part 21 is provided with a pair, and when a user sits down, it arrange | positions so that it may be located in a user's side surface.

  The handrail portion 21 is provided with operation buttons 31 as operation means that can be operated by the user. The operation button 31 is connected to the CPU 15. The operation button 31 is configured to output an operation signal to the CPU 15 in accordance with a user operation. That is, the CPU 15 can detect the operation of the operation button 31. When the CPU 15 detects that the operation button 31 has been operated, the CPU 15 sets a predetermined value as the target displacement xd of the seat portion 12. In the present embodiment, the operation button 31 serves as an operation detection unit.

  FIG. 17A shows the relationship between the target displacement xd of the seat 12 and the operation of the operation button 31 in the present embodiment. As described above, when the operation button 31 is operated (time point t1), the target displacement xd of the seat 12 is set from the sitting position xd1 to the rising position xd2.

  For this reason, when the user operates the operation button 31, the CPU 15 sets the target displacement xd to the rising position xd2. Therefore, the CPU 15 controls the motor 13 to apply the auxiliary force f to the seat 12 so that the seat 12 stops (or moves) at the rising position xd2.

  The temporal change of the target displacement xd when the operation button 31 is operated may be arbitrarily set. For example, as shown in FIG. 17B, the target displacement xd may be changed.

As described above in detail, the present embodiment has the following effects.
(18) Thereby, special sensors (such as the pressure sensor 17 and the displacement sensor 18) are not necessary, and the training device 10 can be easily manufactured. Moreover, the training apparatus 10 can be manufactured at low cost.

  The present invention includes embodiments other than the first to eighth embodiments. Hereinafter, the modification of each embodiment as other embodiment of the present invention is shown. The following modifications can be combined with each other. Moreover, you may combine each embodiment, respectively. Moreover, you may combine the following modifications and each embodiment mutually.

  -In above-mentioned embodiment, when various parameters are changed, you may provide the alerting | reporting means which alert | reports how it was changed. For example, the state of changing various parameters may be displayed on the liquid crystal screen, or may be notified by voice or lamp. Moreover, you may alert | report the change of various parameters by the seat part 12 vibrating.

  In the above embodiment, the seat 12 is configured to be movable only in the vertical direction. However, the direction other than the vertical direction, for example, a direction orthogonal to the vertical direction (left-right direction, front-back direction) as shown in FIG. ) May be configured to be movable. And you may provide the drive source which applies auxiliary force with respect to the seat part 12, such as a motor, for every movable direction. At that time, various parameters are set for each direction, and the auxiliary force is calculated by Equation 1 for each direction. Then, the calculated auxiliary force is applied for each direction.

  -In the said embodiment, you may comprise the seat part 12 so that rotation is possible. For example, as shown in FIG. 19 (a), it may be configured to be rotatable about the leg portion 11, or as shown in FIG. It may be configured to be rotatable in the direction. And you may provide the drive source which applies auxiliary force with respect to rotation of the seat part 12, such as a motor, for every rotation direction. At that time, various parameters are set for each direction, and the auxiliary force is calculated by Equation 1 for each direction. Then, the calculated auxiliary force is applied for each direction.

In the above-described embodiment, the drive unit 14 is built in the leg 11, but the drive unit 14 may be built in the seat 12.
In the above embodiment, the user sits on the seat 12, but the training device 10 may be used with a part of the user's body such as a leg, arm, hand, leg, or head. .

  In the fourth embodiment to the eighth embodiment, the handrail portion 21 is provided as an auxiliary support portion for placing a part of the user's body in addition to the seat portion 12, but a leg is placed instead of the handrail portion 21. You may provide the auxiliary | assistant support part which mounts arbitrary parts, such as a leg mounting part and the head support part which supports a head. Then, at least one of auxiliary support force information applied to the auxiliary support part or auxiliary support movement information of the auxiliary support part may be detected, and the target trajectory may be set based on the detected information.

  In the above embodiment, the auxiliary force is determined based on Formula 1 in which the current displacement x of the seat 12 is set. As another example, instead of the current displacement x, motion information including at least one of the current displacement x of the seat 12, the current speed dx of the seat 12, and the current acceleration ddx of the seat 12 may be used. . The current speed dx is calculated by numerically differentiating the current displacement x. The current acceleration ddx is calculated by numerically differentiating the current speed dx.

  In the above embodiment, the auxiliary force is determined based on Formula 1 in which the target displacement xd of the seat 12 is set. As another example, instead of the target displacement xd, a target trajectory including at least one of the target displacement xd of the seat portion 12, the target speed dxd of the seat portion 12, and the target acceleration ddxd of the seat portion 12 may be used. . The target speed dxd is calculated by differentiating the target displacement xd numerically. The target acceleration ddxd is calculated by differentiating the target speed dxd numerically.

  In the above embodiment, the load fz on the seat 12, the load ft on the handrail 21, the current displacement xt of the handrail 21, the current displacement x, the current speed dx, the current acceleration ddx, the target displacement xd, the target speed dxd, Each target acceleration ddxd may be expressed as a function of time.

  In the above embodiment, the target displacement xd is set according to the current displacement x, the load fz to the seat 12, the load ft to the handrail 21, or the current displacement xt of the handrail 21. The method for setting the target displacement xd may be arbitrarily changed. For example, the target displacement xd may be determined in advance regardless of the current displacement x or the like. That is, the target displacement xd may be determined so that a predetermined movement is performed when the current displacement x or the like changes.

  In the above embodiment, the target displacement xd is set, but the target speed dxd may be settable. For example, the target speed dxd may be changed from the low speed dxd1 to the high speed dxd2 when the magnitude of the load fz, the load ft, or the like becomes a predetermined magnitude or more. Furthermore, the speed may be changed so that the voltage applied to the motor 13 can be set. That is, the speed may be set by setting the applied voltage using the principle that the applied voltage to the motor 13 is proportional to the motor speed. In this case, the displacement sensor 18 is provided, and the motor 13 can be controlled without position feedback.

  In the above embodiment, the target displacement xd is set, but a target trajectory including at least one of the target displacement xd of the seat portion 12, the target speed dxd of the seat portion 12, and the target acceleration ddxd of the seat portion 12 is set. You may make it do.

In the above embodiment, the speed of change of the target trajectory to be calculated may be changed according to the speed at which the parameter such as the current displacement x changes.
In the above embodiment, the setting method of the target trajectory when sitting and the setting method of the target trajectory when standing up may be changed. Whether or not to rise can be determined by the displacement sensor 18 or the pressure sensor 17.

  In the first embodiment, the relationship between the target displacement xd and the current displacement x may be arbitrarily changed. For example, as shown in FIG. 20A, the sitting position xd1 is set as shown in FIG. 20B until the current displacement x reaches a predetermined threshold value xa. Then, when the current displacement x is equal to or greater than the threshold value xa (time point ta), the target displacement xd may be set based on a predetermined formula 6. Formula 6 may be a function according to time as shown below, for example.

The target time is indicated by T, and the current time is indicated by t. Xi is a sitting position (initial position). R is the amount of movement. In this way, the chair moves smoothly as indicated by the trajectory of the target displacement xd. That is, it moves slowly at the beginning, becomes faster on the way, and moves slowly again at the end.

  In the first embodiment, the target displacement xd is set according to the current displacement x, but instead of the current displacement x, the current displacement x of the seat 12, the current speed dx of the seat 12, and the seat It may be set based on motion information including at least one of the 12 current accelerations ddx. Further, the target displacement xd has been set, but instead of the target displacement xd, at least one of the target displacement xd of the seat 12, the target speed dxd of the seat 12, and the target acceleration ddxd of the seat 12 is included. A target trajectory may be set.

  In the second embodiment, the relationship between the target displacement xd and the load fz on the seat 12 may be arbitrarily changed. Further, when a certain condition is satisfied, the target displacement xd of the seat portion 12 may be changed along a predetermined trajectory. For example, the sitting position xd1 is set until the load fz on the seat 12 reaches a predetermined threshold fa. Then, when the load fz is equal to or greater than the threshold value xa, the target displacement xd may be set based on Equation 6 described above.

In the third embodiment, the function g for calculating the target displacement xd can be arbitrarily changed.
In the third embodiment, the current displacement x is used, but the motion information includes at least one of the current displacement x of the seat 12, the current speed dx of the seat 12, and the current acceleration ddx of the seat 12. May be used. For example, the target displacement xd may be set by a function having the load fz, the current displacement x, the current speed dx, and the current acceleration ddx as variables.

  In the fourth embodiment, the relationship between the target displacement xd and the load ft on the handrail portion 21 may be arbitrarily changed. Further, when a certain condition is satisfied, the target displacement xd of the seat portion 12 may be changed along a predetermined trajectory.

  As shown in FIG. 21 (a), until the load ft on the handrail portion 21 reaches a predetermined threshold value fa, the sitting position xd1 is set as shown in FIG. 21 (b). Then, when the load ft is equal to or greater than the threshold value fa (time point t2), the target displacement xd may be set based on the above-described Expression 6.

In the fifth embodiment, the relationship between the target displacement xd and the current displacement xt of the handrail portion 21 may be arbitrarily changed.
In the sixth embodiment, the function g for calculating the target displacement xd can be arbitrarily changed.

  In the sixth embodiment, the current displacement xt of the handrail portion 21 is used. However, at least one of the current displacement xt of the handrail portion 21, the current speed dxt of the handrail portion 21, and the current acceleration ddxt of the handrail portion 21 is used. Auxiliary support movement information including may be used. For example, the target displacement xd may be set by a function having the load fz, the current displacement xt, the current speed dxt, and the current acceleration ddxt as variables. The current speed dxt is calculated by numerically differentiating the current displacement xt. The current acceleration ddxt is calculated by differentiating the current speed dxt numerically.

  In the seventh embodiment, the target displacement xd of the seat portion 12 has at least one of the current displacement xt, the current speed dxt, the current acceleration ddxt, and the load ft of the handrail portion 21 as a variable. The function h may be calculated using at least one of the current displacement x, the current speed dx, the current acceleration ddx, and the load fz as a variable.

For example, calculation may be made based on the following mathematical formulas 5 to 7.
xd = h (xt, dxt, ddxt, ft, x, dx, ddx, fz) (Expression 7)
xd = h (xt, ft, x, fz) (Formula 8)
xd = h (xt, x) (Formula 9)
As described above, by increasing the number of variables, it is possible to grasp the user's movement more accurately and to set the assisting force corresponding to the movement.

  In this case, if the load ft on the handrail portion 21 is not detected (used), the handrail pressure sensor 23 may not be provided. Similarly, when the motion information (current displacement xt, current speed dxt, current acceleration ddxt) of the handrail portion 21 is not detected (used), the handrail displacement sensor 24 may not be provided, and the support column 22 is also configured to be extendable. It is not necessary. Similarly, when the load fz to the seat 12 is not detected (used), the pressure sensor 17 may not be provided. Similarly, when the motion information (current displacement xt, current speed dxt, current acceleration ddxt) of the seat 12 is not detected (used), the displacement sensor 18 may not be provided.

  In the seventh embodiment, the force fa1 to the sole is calculated and the target displacement xd of the seat 12 is calculated based on the force fa1, but the load fz to the seat 12 and the handrail 21 Based on the load ft, the target displacement xd of the direct seat 12 may be calculated.

  -You may combine the said 8th Embodiment and 1st-7th Embodiment. For example, the method for setting the target trajectory may be changed when the operation button 31 is operated. Specifically, the target trajectory setting method for training purposes may be changed to a target trajectory setting method for assisting rising. Further, when the operation button 31 is operated, various parameters (movement information and load) may be detected to set a target trajectory. On the contrary, when the operation button 31 is operated, detection of various parameters (motion information and load) may be terminated and the setting of the target trajectory may be terminated.

  In the above embodiment, the pressure sensor 17 detects the load fz of the seat 12 as force information, but when the seat 12 is configured to be rotatable or rotatable as shown in FIG. Torque applied to the seat 12 may be detected as force information.

  In the above embodiment, the handrail pressure sensor 23 detects the load ft on the handrail portion 21 as auxiliary support force information. However, when the handrail portion 21 is configured to be rotatable or rotatable, the handrail The torque applied to the portion 21 may be detected as auxiliary support force information.

  -In the said 4th Embodiment, 5th Embodiment, and 6th Embodiment, although the pressure sensor 17 which detects the load fz to the seat part 12 was provided, if the load fz is not used, it may not be provided. .

  DESCRIPTION OF SYMBOLS 10 ... Training apparatus, 11 ... Leg part, 12 ... Seat part, 13 ... Motor, 14 ... Drive part, 15 ... CPU, 16 ... ROM, 17 ... Pressure sensor, 18 ... Displacement sensor, 21 ... Handrail part, 22 ... Post , 23 ... Handrail pressure sensor, 24 ... Handrail displacement sensor, x ... Current displacement of the seat, dx ... Current velocity of the seat, ddx ... Current acceleration of the seat, xt ... Current displacement of the handrail, dxt ... Handrail Current speed of the seat, ddxt ... current acceleration of the handrail, xd ... target displacement of the seat, dxd ... target speed of the seat, ddxd ... target acceleration of the seat, ft ... load (force) on the handrail, fz ... Load (force) on the seat, xd1 ... sitting position, xd2 ... rising position.

Claims (9)

A placement unit that can place at least a part of the body is provided, and when the user moves with the part of the body placed on the placement unit, the placement unit moves or rotates in accordance with the operation of the user. In training equipment,
A drive unit capable of moving or rotating the mounting unit along at least one axis direction; and
Motion detection means for detecting the motion or force of the user;
An operation control unit configured to set a target trajectory of the mounting unit based on the information detected by the motion detection unit and to control the operation of the driving unit so as to operate the mounting unit according to the set target trajectory; Training equipment characterized by having. The training device according to claim 1,
As the motion detection means, provided with force information detection means for detecting at least one force information among the force and torque applied to the mounting portion,
The operation control unit sets a target trajectory of the mounting unit based on the force information detected by the force information detection unit, and controls the operation of the driving unit to operate the mounting unit according to the set target trajectory. Training equipment characterized by doing. The training device according to claim 1,
As the motion detection means, provided with motion information detection means capable of detecting at least one motion information among the position, speed, and acceleration of the mounting portion,
The motion control means sets the target trajectory of the placement section based on the motion information detected by the motion information detection means, and controls the operation of the drive section so as to operate the placement section according to the set target trajectory. Training equipment characterized by doing. The training device according to claim 1,
As the motion detection means, force information detection means for detecting at least one force information of force and torque applied to the placement portion, and at least one motion information among the position, speed, and acceleration of the placement portion is detected. Equipped with possible exercise information detection means,
The motion control means sets the target trajectory of the placement unit based on both the motion information detected by the motion information detection means and the force information detected by the force information detection means, and sets the target trajectory to the set target trajectory. A training device that controls the operation of the drive unit to operate the mounting unit. The training device according to claim 1,
In addition to the above-mentioned placement part, with an auxiliary support part on which a part of the user's human body is placed,
As the operation detection means, it comprises auxiliary support portion force information detection means for detecting at least one auxiliary support force information of force and torque applied to the auxiliary support portion,
The operation control unit is configured to set a target trajectory of the mounting unit based on the auxiliary support force information detected by the auxiliary support unit force information detecting unit, and to drive the mounting unit according to the set target trajectory. Training equipment characterized by controlling the operation of the department. The training device according to claim 1,
In addition to the placement part described above, a part of the user's human body is placed and provided with a movable auxiliary support part,
As the motion detection means, provided with movement information detection means for auxiliary support part capable of detecting at least one auxiliary support movement information among the position, speed, and acceleration of the auxiliary support part,
The operation control means sets a target trajectory of the mounting portion based on the auxiliary support motion information detected by the auxiliary support portion motion information detecting means, and operates the mounting portion on the set target trajectory. A training device characterized by controlling the operation of a drive unit. The training device according to claim 1,
A part of the user's human body is placed in addition to the placement part described above, and includes a movable auxiliary support part.
As the motion detection means, an auxiliary support portion force information detection means for detecting at least one auxiliary support force information of force and torque applied to the auxiliary support portion, and among the position, speed, and acceleration of the auxiliary support portion Comprising at least one auxiliary support movement information detecting means capable of detecting auxiliary support movement information;
The movement control means is configured to determine the target of the placement unit based on both the auxiliary support movement information detected by the auxiliary support part movement information detection means and the auxiliary support force information detected by the auxiliary support part force information detection means. A training apparatus characterized by setting a trajectory and controlling the operation of the driving unit so as to operate the placement unit in the set target trajectory. The training device according to claim 1,
A part of the user's human body is placed in addition to the placement part described above, and includes a movable auxiliary support part.
As the motion detection means, force information detection means for detecting at least one force information of force and torque applied to the placement portion, and at least one motion information among the position, speed, and acceleration of the placement portion is detected. Including at least one of possible exercise information detection means,
Auxiliary support portion force information detecting means for detecting at least one auxiliary support force information of force and torque applied to the auxiliary support portion, and at least one auxiliary support motion among the position, speed, and acceleration of the auxiliary support portion. Comprising at least one of the movement information detecting means for the auxiliary support part capable of detecting information,
The operation control means sets a target trajectory of the placement unit based on the detected information, and controls the operation of the drive unit so as to operate the placement unit according to the set target trajectory. Training equipment to do. The training device according to claim 1,
It has operating means that can be operated by the user,
The operation control unit sets a target trajectory of the mounting unit based on an operation result of the operation unit, and controls the operation of the driving unit to operate the mounting unit according to the set target trajectory. Features training equipment.