JP2014068659A - Exercise assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an exercise assisting device which assists enough muscle contraction motion at legs of a user and allows the user to enjoy a large exercise effect without damaging knee joints.SOLUTION: The exercise assisting device includes: a foot placing part 16 on which a user places his soles; a weight state detection part 27 for detecting weights of the user acting upon the foot placing part 16; a target setting unit 30 for setting a target value related to loads on knee joints, while the user placing his soles on the foot placing part 16 bends and stretches his knees; a calculation unit 32 for calculating a current value related to loads on knee joints on the basis of the detection result of the weight state detection part 27, while the user placing his soles on the foot placing part 16 bends and stretches his knees; and a display 15, an example of a guide part, for guiding a motion state of bending and stretching of knees by the user in a direction, so that the current value approaches the target value.

Description

  The present invention relates to an exercise assisting device that promotes knee flexion and extension exercises that reduce the load on the knee joint.

  2. Description of the Related Art Conventionally, an exercise assisting device that performs an assisting operation for causing a muscle contraction motion on a user's leg based on a detection result of a load acting on a footrest on which the user places the sole is known. (For example, patent document 1). That is, in this exercise assisting device, the knee joint of the user is maintained at a constant angle in a state where the user's buttocks with the sole placed on the footrest is supported by a support body standing on the back side of the footrest. The strut body and the footrest portion are interlocked with each other so that a muscle contraction movement is generated in the leg portion of the user through a change in load.

JP 2006-34640 A

  By the way, in the conventional exercise assisting device, the knee joint of the user is kept at a constant angle, and thus the knee flexion / extension exercise for bending the knee is not performed during the use of the exercise assisting device. Therefore, although a muscle contraction motion is generated in the user's leg by the assisting operation, the motion effect is small as compared with the case accompanied by the knee flexion and extension motion. On the other hand, when the knee flexion / extension exercise is performed, a great exercise effect can be expected. However, the knee flexion / extension exercise generally applies a shearing force to the knee joint, which may damage the knee joint in some cases. was there.

  The present invention has been made in view of such circumstances. An object of the present invention is to provide an exercise assisting device that allows a user to enjoy a sufficient exercise effect by causing sufficient muscle contraction exercise in the leg without causing the user to hurt the knee joint.

  An exercise assisting device that solves the above problems includes a footrest portion on which a user puts a sole, a load state detection portion that detects a load state of the user acting on the footrest portion, and a sole on the footrest portion. A target setting unit that sets the target value of the numerical value related to the load on the knee joint when the user who puts the knee bends and extends, and the user who puts the sole on the footrest part performs the knee flexion and extension exercise A calculation unit that calculates a current value of a numerical value related to the load on the knee joint in accordance with a detection result of the load mode detection unit, and a movement mode of knee flexion and extension exercise by the user, wherein the current value is the target value And a guide unit that guides the robot so as to change in a direction approaching.

In the exercise assistance apparatus, it is preferable that the load mode detection unit detects a load acting at least in the front-rear direction when a user who puts a sole on the footrest is used as a reference.
In the above-mentioned exercise assistance device, the load mode detection unit is a load center position that is a load center of the load with respect to the footrest and a load that acts in at least two coordinate axis directions including a front-rear direction with reference to the load center position. It is preferable to detect the size of.

  The exercise assisting apparatus further includes a posture detection unit that detects a posture of a user who puts a sole on the footrest unit, and the calculation unit includes a detection result of the load mode detection unit and the posture detection unit. Based on the detection result, it is preferable to calculate a shear force acting on the knee joint when the knee flexion and extension exercise as the current value of the numerical value related to the load on the knee joint.

In the exercise assistance device, it is preferable that the guide unit is a display device capable of displaying display content corresponding to the current value so as to be compared with display content corresponding to the target value.
In the exercise assisting device, it is preferable that the display device displays a posture change mode when a user who puts a sole on the footrest is performing knee flexion and extension exercise.

  In the exercise assisting apparatus, the guide unit is an assist unit having a function of assisting a force that causes a muscle contraction motion in a direction in which the current value approaches the target value with respect to a user's leg from the outside. Preferably there is.

In the exercise assisting apparatus, it is preferable that the assist unit has a function of applying electrical stimulation to muscles related to knee flexion and extension exercise in the leg portion of the user.
In the exercise assisting device, the assist unit preferably has a function of tilting the footrest so that the center of gravity of the user moves.

In the exercise assisting device, it is preferable that the footrest can be attached and detached.
In the exercise assisting device, it is preferable that a contact member for a sole having a raised portion having a shape corresponding to the arch of the sole is attached to the footrest portion.

In the exercise assisting device, the footrest portion is preferably provided with a convex portion that can be engaged with a part of the sole so as to restrict movement of the sole of the user in the front-rear direction. .
In the exercise assisting device, the convex portion may be provided with a load sensor capable of detecting a load acting at least in the front-rear direction when a user who puts a sole on the footrest is used as a reference. preferable.

The exercise assisting apparatus preferably includes a handrail that can be gripped with a hand extended forward when a user who puts his sole on the footrest portion performs knee flexion and extension exercise.
The part to be gripped when the user performs knee flexion / extension movement in the handrail in the exercise assisting device is at least when the user who holds the part and places the sole on the footrest is used as a reference It is preferable that a load sensor capable of detecting a load acting in the front-rear direction is provided.

  According to the above exercise assisting device, it is possible to allow the user to perform knee flexion / extension exercise to reduce the load on the knee joint, so that sufficient muscle contraction exercise can be performed without damaging the knee joint. It can be produced in the part and enjoy a great exercise effect.

The schematic side view which shows the usage condition of the exercise assistance apparatus of 1st Embodiment. The top view of the footrest part which abbreviate | omitted a part of right footrest part. FIG. 3 is a schematic side view taken along line 3-3 in FIG. 2. The block diagram of the electrical constitution in the exercise assistance device of a 1st embodiment. It is the screen figure on which the screen for target setting was displayed, (a) is a screen figure for numerical designation, (b) is a screen figure for click designation, (c) is a screen figure for drag designation. Schematic which shows the link model of a user's leg part. The screen figure on which the stick picture which modeled the posture of the user was displayed. The block diagram of the electric constitution in the exercise assistance device of a 2nd embodiment. Explanatory drawing which shows the assist direction at the time of an exercise | movement by the movement of a load center position. Explanatory drawing which similarly shows the assist direction at the time of exercise | movement by the movement of a load center position. (A)-(d) is explanatory drawing which shows the assist direction at the time of an exercise | movement with a load vector. Explanatory drawing which shows the assist direction at the time of exercise | movement with the difference of a target shear force and the present shear force. The schematic perspective view of the footrest part in the exercise assistance apparatus of 3rd Embodiment. The schematic perspective view of the footrest part in the exercise assistance apparatus of 4th Embodiment. (A) is a screen figure of the display apparatus in the exercise assistance apparatus of 5th Embodiment, (b) is a schematic side view of the footrest part in the exercise assistance apparatus. (A)-(c) is a screen figure of the display apparatus of the exercise assistance apparatus of 6th Embodiment. (A) (b) is a screen figure of the display apparatus of the exercise assistance apparatus of 7th Embodiment. The schematic side view of the footrest part in the exercise assistance apparatus of 8th Embodiment. The schematic perspective view of the handrail part in the modification of 8th Embodiment. The schematic perspective view of the footrest part in the further modification of 8th Embodiment. (A)-(c) is a screen figure of the display apparatus of the exercise assistance apparatus of 9th Embodiment.

(First embodiment)
Hereinafter, 1st Embodiment of an exercise assistance apparatus is described according to drawing.
In the following description, when “direction” is indicated, “front-rear direction”, “left-right direction”, “up-down direction” based on the user who places the sole on the footrest in FIG. 1 unless otherwise specified. Direction ".

  As shown in FIG. 1, the exercise assisting apparatus 11 according to the present embodiment includes a base 12 installed on the floor surface F or the like. The base 12 has a substantially rectangular shape in plan view, and a pair of left and right support columns 13 are erected at the front end portion thereof. A handrail 14 that can be gripped by the user M of the exercise assisting device 11 by hand as needed extends between the upper ends of both supports 13. Further, a display device 15 having a display screen 15a (see FIG. 7) made of a liquid crystal screen or the like is provided at a position in front of and above the handrail 14 between the upper ends of both columns 13. Further, a footrest 16 for the user M of the exercise assisting device 11 to place the sole of the foot is provided on the base 12 at a position behind the support 13.

  As shown in FIG. 2, the footrest 16 includes a left footrest 16L on which the left foot LF of the user M is placed and a right footrest 16R on which the right foot RF of the user M is placed. Since the left footrest 16L and the right footrest 16R have the same configuration except that they are bilaterally symmetrical, a specific configuration of the left footrest 16L will be described below, and for the right footrest 16R, A part of the illustration is omitted, and the displayed part is denoted by the same reference numeral as that of the left footrest portion 16L, and the duplicate description is omitted.

  As shown in FIGS. 2 and 3, the left footrest portion 16L includes a rectangular plate-like footrest base 17 that is long in the front-rear direction and whose upper surface is a foot sole placement surface 17a. In addition, a plurality of screw holes 18a to 18d (four each on the left and right in the present embodiment) are provided in the front and rear direction at locations on the left and right sides of the surface portion where the toe portion is placed on the sole placement surface 17a. Are arranged at regular intervals. On the sole placement surface 17a, a rectangular plate-like toe placement plate 19 that is long in the left-right direction is attached to a position corresponding to the region in which the screw holes 18a to 18d are formed in the front-rear direction. .

  At both ends of the toe mounting plate 19 in the longitudinal direction (in this case, the left-right direction), every other one of the four screw holes 18a to 18d formed on the foot mounting surface 17a of the footrest 17 is provided. A plurality of screw insertion holes 20a and 20b (two each on the left and right in the present embodiment) corresponding to the positions of two screw holes (for example, screw hole 18a and screw hole 18c) are formed. The toe mounting plate 19 is positioned in the screw insertion holes 20a and 20b in a state where the screw insertion holes 20a and 20b are aligned with the corresponding screw holes (for example, the screw hole 18a and the screw hole 18c). The screw members 21 inserted through are respectively fixed to the footrests 17 by being screwed into the corresponding screw holes 18a and 18c.

  As shown in FIGS. 2 and 3, at least one position (in the present embodiment, left and right) corresponds to the toes of the sole placed on the footrest 17 on the footrest plate 19 in the front-rear direction. Four convex portions 22 arranged in the direction are projected. The convex portion 22 has a three-dimensional shape in which the longitudinal cross-sectional shape is convex upward, for example, a semicircular shape, and bites into the toe portion that is a part of the sole of the user M from below. Can be engaged.

  In addition, on the foot placement surface 17a of the footrest 17, a foot contact member having a raised portion 23a having a shape corresponding to the arch at a portion corresponding to the arch portion of the foot of the user M. 23 is attached. The sole contact member 23 is configured to be peelable from the sole placement surface 17a, and the attachment position of the footrest 17 on the sole placement surface 17a is set to the sole of the user M. It can be appropriately changed according to the size of the.

  Further, as shown in FIGS. 2 and 3, load sensors 24 a to 24 d including, for example, strain gauges, load cells, pressure gauges, and the like are provided at the four corners on the lower surface side of the footrest 17. Between the two. Specifically, a load sensor 24a is provided at the left front corner of the footrest 17, a load sensor 24b is provided at the right front corner, a load sensor 24c is provided at the left rear corner, and a load sensor is provided at the right rear corner. 24d is arranged. And by these load sensors 24a-24d, the load of the user M who placed the sole on the footrest 16 in order to use the exercise assisting device 11 is different for each arrangement position of the load sensors 24a-24d. Each detection signal is detected and output to a control device 25 (see FIG. 4) composed of a microcomputer or the like of the exercise assisting device 11.

Next, the electrical configuration of the control device 25 in the exercise assisting device 11 will be described with reference to FIG.
As shown in FIG. 4, the control device 25 of the exercise assisting device 11 includes a control unit 26 that controls the operating state of the entire device. Connected to the input side of the control unit 26 is a load mode detection unit 27 that detects a load mode of the user M who puts the sole on the footrest unit 16. The load mode detection unit 27 includes a right foot and a left foot. Load sensors 24a to 24d are connected. Then, the load mode detection unit 27 detects the load mode of the user M based on the detection signals input from the load sensors 24 a to 24 d and outputs the detection result to the control unit 26.

  Note that, in the load mode detection unit 27, for example, a load center position that is a load center of a load on the footrest portion 16 and a change thereof in the user M who performs the knee flexion and extension motion with the sole placed on the footrest portion 16. And the direction and magnitude of the reaction force from the footrest 16 side are detected as the load mode. That is, by comparing the load based on the detection signals output from the load sensors 24a and 24c located on the left side and the load based on the detection signals output from the load sensors 24b and 24d located on the right side, A change in position and the magnitude of the load are detected as the load mode. Similarly, by comparing the load based on the detection signal output from the load sensors 24a and 24b located on the front side and the load based on the detection signal output from the load sensors 24c and 24d located on the rear side, A change in the position of the load and the magnitude of the load are detected as the load mode.

  In addition, a posture detection unit 28 that detects the posture of the user M is connected to the input side of the control unit 26, and the posture detection unit 28 photographs the posture of the user M during knee flexion and extension, and the image thereof. A camera 29 that outputs a signal is connected. Then, the posture detection unit 28 detects the knee joint angle and the knee joint position from the posture change state during the knee flexion and extension exercise of the user M based on the image signal periodically input from the camera 29, and the detection result is obtained. Output to the control unit 26.

  Further, the control unit 26 has a numerical target value (hereinafter referred to as “load target value”) related to the load on the knee joint when the user M with the sole placed on the footrest 16 performs flexion and extension exercises. The target setting unit 30 is set for setting “.”. That is, the target setting unit 30 causes the user M to set a load target value using a target setting screen displayed on the display screen 15a of the display device 15. Specifically, for example, a target position (hereinafter referred to as “target load center position”) as a load center position to the footrest portion 16 during knee flexion / extension exercise or a reaction force is applied from the footrest portion 16 side. An information value related to the target direction and its size is set as the load target value. Then, the contents set as such are output to the control unit 26.

  As shown in FIGS. 5A to 5C, the target setting screen includes a plurality of types of screens, and the user M can select and use a desired screen among the screens. For example, the screen shown in FIG. 5A is a target setting screen by numerical designation. When the load target value is an information value of the target load center position, the X coordinate value input unit 40 and the Y coordinate value input unit 41 are Is displayed. In this case, the user M, on the XY coordinate plane along the sole placement surface 17a of the footrest 17 before starting the knee flexion / extension exercise by the exercise assisting device 11, is a target load at the time of the knee flexion / extension exercise. Numerical information corresponding to a target distance whose center position should be separated from a predetermined XY reference position in the X-axis direction (left-right direction) and the Y-axis direction (front-back direction) is input to the input units 40 and 41.

  Further, the screen shown in FIG. 5B is a target setting screen by clicking designation, and an arrow-shaped pointer 42 is displayed in the display screen 15a together with the sole image FG as shown in FIG. In this case, before starting the knee flexion / extension exercise by the exercise assisting device 11, the user M positions the pointer 42 at a position to be the center position of the target load during the knee flexion / extension exercise on the sole image FG. By clicking in the state, the clicked position is set on the display screen 15a as the target load center position MJP.

  Further, the screen shown in FIG. 5C is a target setting screen by drag designation. As shown in FIG. 5, the leg image LG is displayed on the foot placement surface 17a and the reaction force start point in the display screen 15a. Is displayed together with the load center position JP. In this case, before the user M starts the knee flexion and extension exercise with the exercise assisting device 11, the direction to be a target when the reaction force is applied to the leg from the load center position JP on the display screen 15a. And a load vector V representing the magnitude thereof is set as a load target value by a drag operation.

  Returning to FIG. 4, the control unit 26 is connected to a storage unit 31 that stores the control program of the exercise assisting device 11 and can temporarily store various calculation results. That is, the control unit 26 controls the operation state of the exercise assisting device 11 based on the control program read from the storage unit 31 and writes various calculation results calculated in the control process to the storage unit 31. Readable.

  The control unit 26 is connected to a calculation unit 32 that performs various calculations based on control commands from the control unit 26. That is, in the calculation unit 32, a current value (hereinafter referred to as “load current value”) related to the load on the knee joint when the user M who puts the sole on the footrest 16 performs knee flexion and extension exercises. May be abbreviated.) Is calculated based on the detection result of the load mode detection unit 27. As the current load value in the present embodiment, numerical information on the shear force acting on the knee joint is finally obtained. However, numerical information on the XY coordinate axes of the current load center position GJP (see, for example, FIG. 9) at the time and the load center position JP are the starting points based on the comparison with the load target value set by the target setting unit 30. The numerical information indicating the magnitude of the current load vector GV (see, for example, FIG. 11) and the like may be obtained as the current load value.

  Further, as shown in FIG. 6, in the case of the present embodiment, the calculation unit 32 models the leg of the user M with a link model Rm, and uses the link model Rm to generate a shear force acting on the knee joint. Looking for. The link model Rm shown in FIG. 6 is obtained by modeling the leg of the user M using three links L1, L2, and L3 of the foot, the lower leg, and the thigh. By using this link model Rm, a knee shearing force FS that is an inter-articular force perpendicular to the link L2 indicating the lower leg (tibial bone) is obtained. That is, the inclination angle θ of the link L2 with respect to the foot placement surface 17a (assumed to be a horizontal plane) of the footrest 17 and the −Y direction component L_F3y of the joint force acting on the knee joint and the knee joint act. The knee shear force FS is calculated using a predetermined arithmetic expression including the -Z direction component L_F3z of the inter-joint force.

  Referring back to FIG. 4, the display device 15 provided at the position of the handrail 14 is connected to the output side of the control unit 26 so that various types of information can be communicated with the control unit 26. That is, the display device 15 displays the target setting screen for the target setting unit 30 to set the load target value on the display screen 15a as described above based on the control command from the control unit 26, and the load The detection result of the aspect detection unit 27 and the calculation result of the calculation unit 32 are displayed. Therefore, the display device 15 can guide the change of the movement mode during the knee flexion and extension exercise by the user M by making the display content visually recognized by the user M. That is, the display device 15 prompts the user M to change the motion mode in the knee flexion and extension exercise through the following display contents.

  As shown in FIG. 7, on the display screen 15 a of the display device 15, when the user M is performing knee flexion and extension exercises with the exercise assisting device 11, the posture of the user M is related to the load on the knee joint. The target value of the numerical value to be displayed is displayed in a state where the current value can be compared. That is, in the display example shown in FIG. 7, a stick picture SP showing a model of the posture of the user M who has bent the knee by knee flexion / extension exercise is displayed together with the target line ML indicating the target value of the knee angle. The calculation unit 32 calculates the knee shear force acting on the knee during the knee flexion / extension exercise based on the target shear force MS corresponding to the load target value set by the target setting unit 30 and the detection result of the load mode detection unit 27. The current shearing force GS obtained in this way is shown in a parallel notation of arrows capable of comparing the magnitudes of both shearing forces MS and GS.

  In this display content, the target shear force MS corresponds to a target value that is a numerical value related to the load on the knee joint when the user M placing the sole on the footrest 16 performs flexion and extension exercises. The current shear force GS corresponds to the current value of the numerical value related to the load on the knee joint when the user M exercises flexion and extension of the knee. Then, by performing the knee flexion / extension exercise while viewing the comparison display between the target shear force MS and the current shear force GS, the user M moves the knee flexion / extension exercise in a direction in which the current shear force GS approaches the target shear force MS. Can be changed.

  In this regard, the display device 15 causes the user M to visually recognize the display content, so that the current shear force GS (current value) is the target shear force MS (target value). It functions as a guide part that guides the user to approach In this case, the control unit 26 may cause the posture of the display device 15 to change when the user M is performing knee flexion / extension exercise by the movement of the stick picture SP.

Next, the operation of the exercise assistance device 11 of the first embodiment configured as described above will be described.
Now, when using this exercise assistance apparatus 11, the user M puts a foot | leg on the footrest part 16 first. That is, the left foot LF is placed on the left foot rest portion 16L, and the right foot RF is placed on the right foot rest portion 16R, so that its own weight, that is, a load acts on the foot rest portion 16. Then, a power switch (not shown) is turned on to bring the exercise assisting device 11 into an operating state.

  Then, the target setting screen is displayed on the display screen 15 a of the display device 15 under the control of the control device 25. In other words, any one of the target setting screens shown in FIGS. 5A to 5C is displayed. As a result, when the user M starts the knee flexion / extension exercise using the exercise assisting device 11, the load on the knee joint set in advance for the user M by a specialist such as a physical therapist, for example. It is possible to set the input of a numerical target value (load target value) related to. When the user M (or a trainer attending at that time) performs input setting of the load target value from the target setting screen, the load target value is temporarily stored in the storage unit 31.

  Next, as shown in FIG. 1, the user M holds the handrail 14 with both left and right hands, slightly stretches both arms, and further maintains the posture in which the knees of both legs are bent slightly, Call it. Then, the user M enters an initial posture state in which a knee flexion / extension exercise (so-called squat exercise) is started, and the knee flexion / extension exercise can be performed while applying weight from the initial posture state. At this time, the user M moves the toe portion so that the sole placed on the footrest 17 is restricted from moving in the front-rear direction during the knee flexion and extension movement. Engage with the convex portion 22 of the toe mounting plate 19.

  By the way, the physique of the user M who uses the exercise assisting apparatus 11 is various, and generally a person with a large physique often has longer limbs than a person with a small physique. Therefore, when the physique of the user M holding the handrail 14 is large, the position of the sole with respect to the footrest 17 (footrest portion 16) is also long (specifically, the arm is long), It is located behind the case of a small physique. Therefore, in such a case, it is desirable that the position of the convex portion 22 of the toe mounting plate 19 is also shifted backward.

  Therefore, in the exercise assistance device 11 of the present embodiment, when the state shown in FIG. 2 and FIG. 3 is adjusted for a person with a small physique with respect to the attachment position of the toe mounting plate 19, In this case, the screw member 21 is screwed out of the screw holes 18a and 18c from that state, and the toe mounting plate 19 is once removed from the footrest 17. Then, the toe mounting plate 19 is moved so that each screw insertion hole 20a, 20b of the toe mounting plate 19 shifts the corresponding screw hole one by one to the rear side. By screwing the screw member 21 into the screw hole (in this case, the screw hole 18b and the screw hole 18d), the mounting position of the toe mounting plate 19 is adjusted for a person with a large physique.

  It should be noted that the mounting position of the toe mounting plate 19 is also the same with respect to the contact member 23 for the sole mounted on the sole mounting surface 17a at a position corresponding to the arch behind the toe mounting plate 19. When adjusted, it is once peeled off from the foot placement surface 17a, and its attachment position is changed according to the adjustment distance of the attachment position of the toe placement plate 19. Then, when the position adjustment according to the physique of the user M as described above is completed, the user M puts the sole on the footrest 16 again, and then the knee flexion and extension exercise from the initial posture state shown in FIG. To start.

  Then, in each of the load sensors 24a to 24d on the front, rear, left and right provided in the footrest portion 16, the load of the user M is detected with a change corresponding to the posture change due to the knee flexion and extension exercise. Then, a load detection signal in each of the load sensors 24 a to 24 d as the detection result is input to the load mode detection unit 27. Then, the position change of the load in the front-rear direction and the left-right direction and the magnitude of the load in the user M during the knee flexion / extension exercise calculate a current value (current load value) related to the load on the knee joint. As an information value of the load mode for this purpose, the load mode detection unit 27 detects the load mode information value.

  Further, the posture of the user M during the knee flexion / extension exercise is periodically photographed by the camera 29, and the image signal is input to the posture detection unit 28. Then, the posture detection unit 28 detects the change state of the joint angle and the joint position of the knee joint in the user M during the knee flexion and extension exercise. Then, based on the detection result of the load mode detection unit 27 and the detection result of the posture detection unit 28, as the current load value of the knee joint when the user M performs knee flexion and extension exercise, in this case, the shear acting on the knee joint A current shearing force GS that is numerical information of the force is obtained by the calculation unit 32.

  In this case, the load target value temporarily stored in the storage unit 31 is not the value of the target shear force MS, but the position information of the target load center position MJP and the direction and magnitude of the load vector V from the load center position JP. In the case of the information value indicating the degree or the like, the value of the target shear force MS to be compared with the current shear force GS is calculated in the calculation unit 32. For example, the value of the target shear force MS based on the information value indicating the direction and magnitude of the load vector V from the load center position JP and the information value indicating the target line ML that is the target value of the knee angle during knee flexion and extension exercise. Is calculated by the calculation unit 32 as a load target value.

  Then, based on the current load value (current shear force GS) and the load target value (target shear force MS) calculated as described above, the control unit 26 controls the display content of the display device 15 and displays the display screen. Display contents as shown in FIG. 7 are displayed on 15a. As an example, the display example of FIG. 7 shows that the current shear force GS is larger than the target shear force MS according to the current user's knee flexion / extension motion, and the knee angle in the knee flexion / extension motion is the target. It indicates that the line ML has not been reached.

  Therefore, by visually recognizing this display content, the user M applies the weight further to the target shearing force MS to bring the current shearing force GS closer to the knee, and further flexes the knee angle so that the knee angle is bent deeper. Try to change the movement mode. That is, the display device 15 causes the user M to visually recognize the display content of the display screen 15a, so that the user M consciously changes the movement mode of the knee flexion and extension exercise in the direction in which the current shear force GS approaches the target shear force MS. The user M is guided to change. In accordance with such guidance, the user M performs a knee flexion and extension exercise within a range in which the current shear force GS does not exceed the target shear force MS, thereby reducing the load on the knee joint. It is possible to sufficiently contract the leg muscles.

According to the first embodiment, the following effects can be obtained.
(1) When starting the knee flexion / extension exercise using the exercise assisting device 11, the user M uses the target setting unit 30 to determine the knee joint with respect to the numerical value related to the load on the knee joint when the knee flexion / extension exercise is performed. A numerical value that does not hurt and that provides a sufficient exercise effect can be set in advance as a target value. Then, by showing the comparison between the current value of the numerical value related to the load on the knee joint detected when the user M actually performs the knee flexion and extension motion, the knee flexion and extension of the user M is shown. The movement mode of the movement can be induced so that the current value changes in a direction approaching the target value. Therefore, as long as the user M is performing knee flexion / extension exercise according to the display (guidance) content of the display device (guidance unit) 15, the user M can perform knee flexion / extension exercise to reduce the load on the knee joint, A great exercise effect can be enjoyed without damaging the knee joint.

  (2) The load position change in the front-rear direction and the left-right direction and the magnitude of the load when the user M who puts his sole on the footrest 16 performs knee flexion / extension movement are determined from the load sensors 24a to 24d. Based on the detection signal, the load state detection unit 27 detects the load. Therefore, the user M can easily obtain a desired exercise effect because the selection range in the direction of moving the body in order to bring the current load value closer to the load target value during the knee flexion and extension exercise.

  (3) In particular, when the knee is bent and extended, the load in the direction in which the knee actually moves, that is, the front-rear direction in which the shearing force acts on the knee is detected based on the detection signals from the load sensors 24a to 24d. The present value of the numerical value related to the load on the knee joint in the case of knee flexion / extension exercise can be appropriately calculated in consideration of the knee shearing force.

  (4) The direction and magnitude of the reaction force load vector V acting on the leg from the load center position JP during knee flexion / extension exercise is used as a numerical value related to the load on the knee joint when the knee flexion / extension exercise is performed. You can also. Accordingly, the user M has a wide range of choices for changing the movement mode not only in the direction of moving the body in order to bring the current load value closer to the load target value, but also in terms of the magnitude of the movement. The effect can be easily obtained.

  (5) If the target value set by the target setting unit 30 is set using the shearing force acting on the knee joint, the movement mode of the knee flexion and extension exercise by the user M is the shearing force acting on the knee joint. While paying attention to the size change, the user M can be easily guided in a direction in which a good exercise effect can be obtained.

  (6) While continuing the knee flexion and extension exercise, the user M sees the display content of the display device 15 in front of his eyes so that the display content of the current load value becomes the display content of the load target value. By changing the load center position and the knee angle, it is possible to appropriately adjust the movement mode of the knee flexion and extension movement in the target direction.

  (7) The display device 15 dynamically displays the posture when the user M is flexing and stretching on the display screen 15a with a stick picture SP or the like and feeds it back to the user M. Based on the feedback content The user M can easily adjust the movement mode of the knee flexion and extension movement in a direction approaching the target value.

  (8) When the user M exercises knee flexion and extension, the position of the arch portion of the sole is supported by being pushed upward by the raised portion 23a of the contact member 23 for the sole, so that the position does not move. Knee flexion and extension can be performed with a stable posture.

  (9) When the user M performs knee flexion / extension exercise, a part of the sole engages with the convex portion 22 in the front-rear direction, so that the foot is prevented from slipping in the front-rear direction, and the knee M is in a stable posture. Can bend and stretch.

  (10) When the user M exercises knee flexion and extension, the user M can easily control the load change in the front-rear direction with the weight applied backward using the handrail 14, and Since the load can be shared, the load on the knee joint can be reduced also in this respect.

(Second Embodiment)
Next, the exercise assistance apparatus of 2nd Embodiment is demonstrated, referring drawings. The second embodiment differs from the first embodiment in that it further includes an assist unit 45 and a low-frequency pad 46, and is otherwise substantially the same as the first embodiment. Therefore, below, the part which is different from 1st Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIG. 8, in the exercise assistance device 11 of the present embodiment, an assist unit 45 is connected to the output side of the control unit 26 in the control device 25, and a low frequency pad 46 is connected to the assist unit 45. . The low-frequency pad 46 is composed of a plurality of pads that are respectively attached to a plurality of locations such as the calves and thighs of the leg portion of the user M, and each pad is selectively energized so that each pad is energized. The muscle is contracted by applying electrical stimulation to the muscle at the place where is worn.

  The assist unit 45 controls the energization state of the low frequency pad 46 as necessary based on a control command from the control unit 26. That is, the control unit 26 is based on a comparison result between a current value (current load value) of a numerical value related to a load on the knee joint and a target value (target load value) when the user M performs knee flexion and extension exercises. The selective energization state for the low frequency pad 46 by the assist unit 45 is controlled.

Therefore, next, the operation of the exercise assisting apparatus 11 of the second embodiment configured as described above will be described.
As in the case of the first embodiment, before the user M starts the knee flexion / extension exercise, the target setting unit 30 loads the target load value (target load center position, target load vector, target shear force, etc.) in advance. ) Is set. Further, when the user M performs the knee flexion / extension exercise, a change in the load mode (load center position, load vector, etc.) in the user M is detected by the load mode detection unit 27, and the information value is the control unit 26. Is input.

  Now, in the case where the user M exercises knee flexion and extension using this exercise assisting device 11, when the load target value is set as an information value indicating the target load center position, as shown in FIG. The current load center position GJP, which is the load center position of the user M at that time, is displayed on the display screen 15a as a current value together with the sole image FG. Incidentally, in the display example of FIG. 9, as an example, the current load center position GJP is indicated by the + mark at the center position of the sole image FG. Then, a mark (in FIG. 9, as an example, a circle mark) indicating the target load center position is displayed on the display screen 15a in a display manner that can be compared with the current load center position GJP.

  In such a case, as shown in FIG. 9, the current load center position GJP of the user M at that time and the preset target load center positions (the positions A to D shown in FIG. 9) are front, rear, left, right. When the position is shifted in the direction of the coordinate axis, the user M is guided by the display content and is aware of the load movement in the direction in which the current load center position GJP approaches the target load center position. Then, the user M consciously contracts the muscle located on the target load center position side in the leg portion in order to move the load in the direction toward the target load center position side. Then, since the center of gravity is displaced toward the target load center position by this muscle contraction motion, the user M moves the current load center position GJP, which is the load center position at that time, to the target load center position side.

  By the way, in this situation where the load movement is performed depending only on the conscious muscle contraction movement of the user M, for a powerless person such as a person who has just been ill, for example, the muscle is contracted for the load movement. The exercise load may be excessive and the load may not move easily. Therefore, in the present embodiment, the assist unit 45 performs the following assist for the user M who is about to move the load based on the control command of the control unit 26.

  First, in the display example of FIG. 9 in which the sole image FG of the right foot is displayed, if the target load center position is at the inner A position on the left side in the left-right direction with respect to the current load center position GJP, It is necessary to cause the load to move inward. In order to move the load inward, the adductor muscle group (major adductor muscle, thin muscle, inner vastus muscle, etc.) located on the inner side that is the target load center position side in the leg is contracted. It will be necessary.

  Therefore, the control unit 26 controls the assist unit 45 to control the energization of the low frequency pads 46 attached to the adductor muscle group among the low frequency pads 46 attached to the plurality of locations of the leg. Send a command. Then, an electrical stimulation is given to the adductor muscle group on the inner side of the leg from the low frequency pad 46 by the energization control of the assist unit 45, and the contraction exercise is performed on the adductor muscle group regardless of the consciousness of the user M. Occurs.

  For this reason, the muscle contraction exercise that occurs regardless of the consciousness of the user M becomes an assist force (assistance force) for the conscious muscle contraction exercise of the user M. Therefore, the user M does not feel an excessive exercise load, and the muscle contraction for causing the target load center position (in this case, the inner A position) to move the load toward the target load center position. It is possible to cause movement. In other words, the user M is given the assist force (assistance force) that causes the muscle contraction movement in the direction in which the current load value approaches the load target value to the leg portion by the assist portion 45. In this regard, the assist unit 45 also has a function as a guide unit that guides the exercise mode of the knee flexion and extension exercise by the user M so that the current load value changes in a direction approaching the load target value.

  Similarly, in the display example of FIG. 9, when the target load center position is at the outer B position on the right side of the current load center position GJP in the left-right direction, the abductor muscle group ( Electrical stimulation is applied from the low-frequency pad 46 to the gluteus medius, the lateral vastus muscle, etc. Therefore, muscle contraction movement occurs in the abductor muscle group regardless of the consciousness of the user M, and the muscle contraction movement generated regardless of the consciousness of the user M is related to the conscious muscle contraction movement of the user M. It becomes assist power (help power). Therefore, the user M does not feel excessive exercise load, and the muscle contraction for causing the target load center position (in this case, the outer B position) to move the load toward the target load center position. It is possible to cause movement.

  Similarly, in the display example of FIG. 9, when the target load center position is at the front C position in the front-rear direction with respect to the current load center position GJP, the knee extensor muscle group (four thighs) positioned on the front side of the leg portion is used. Electrical stimulation is applied to the dorsiflexor muscle group (anterior tibialis muscle, etc.) from the low frequency pad 46. Therefore, muscle contraction exercise occurs in these knee extension muscle groups and dorsiflexor muscle groups irrespective of the consciousness of the user M, and the muscular contraction exercises generated regardless of the consciousness of the user M are conscious of the user M. Assist force (assistance force) for various muscle contraction exercises. Accordingly, the user M does not feel an excessive exercise load, and the muscle contraction exercise for causing the target side load center position (in this case, the front C position) to move the load toward the target load center position. Can be generated.

  Similarly, in the display example of FIG. 9, when the target load center position is at the D position which is the rear side in the front-rear direction with respect to the current load center position GJP, the knee flexor muscle group ( Electrical stimulation is applied from the low frequency pad 46 to the hamstrings or the like, and the plantar flexor muscles (scapularis, soleus, etc.). Therefore, muscle contraction exercise occurs in these knee flexor muscle groups and plantar flexor muscle groups regardless of the consciousness of the user M, and the muscular contraction exercises generated regardless of the consciousness of the user M are conscious of the user M. Assist force (assistance force) for various muscle contraction exercises. Therefore, the user M does not feel an excessive exercise load, and the muscle contraction for causing the target load center position (in this case, the rear D position) to move the load toward the target load center position. It is possible to cause movement.

  In addition, as shown in FIG. 10, when the target load center position is at the AC position that is obliquely inward and forward of the current load center position GJP, the user M is caused to perform load movement to the inwardly obliquely forward side. Is required. And in order to perform load movement to the inside diagonally forward side, it is located on the front side of the leg part and the adductor muscle group (major adductor muscle, thin muscle, inner vastus muscle etc.) located inside the leg part Both the knee extension muscle group (such as quadriceps muscle) and the dorsiflexor group (such as anterior tibial muscle) must be contracted. Therefore, in this case, the controller 26 controls the energization of the low-frequency pads 46 attached to the portions corresponding to the adductor muscle group, the knee extensor muscle group, and the dorsiflexor muscle group among the low-frequency pads 46. A control command is sent to the assist unit 45.

  As a result, the energization control of the assist unit 45 applies electrical stimulation from the low frequency pad 46 to the adductor muscle group inside the leg and the knee extension muscle group and the dorsiflexor muscle group on the front side of the leg. A muscle contraction movement occurs in the muscle group, the knee extension muscle group, and the dorsiflexor muscle group regardless of the consciousness of the user M. Therefore, the muscular contraction motion generated regardless of the consciousness of the user M becomes an assist force (assistance force) for the conscious muscular contraction motion of the user M, and the user M does not feel an excessive exercise load. It is possible to cause a muscle contraction motion for causing the load on the target load center position (in this case, the AC position on the inner oblique front side) to move toward the target load center position.

  On the other hand, when the load target value is set as an information value indicating the target load vector MV, as shown in FIG. 11, the current load vector starting from the load center position JP of the user M at that time point. GV is displayed as a current value on the display screen 15a together with the user image MG or the leg image LG. When the current load vector GV and the target load vector MV do not coincide with each other in the display content, the user M is guided to the display content and moves in a direction in which the current load vector GV approaches the target load vector MV. Be aware of load movement. In addition, the control unit 26 performs assist control for causing the muscles of the leg to perform a muscle contraction motion for causing the load movement in the direction in which the current load vector GV approaches the target load vector MV.

  For example, in the case of the display example of FIG. 11A, the target load vector MV is inside the current load vector GV, so that the control unit 26 is attached to a location corresponding to the adductor muscle group inside the leg. The assist unit 45 is controlled so as to control energization of the low-frequency pad 46 that has been applied. Then, regardless of the consciousness of the user M, the adductor muscle group is assisted (assisted) by the electrical stimulation from the low frequency pad 46, and the user M does not feel an excessive exercise load, It is possible to move the load inward to bring the current load vector GV closer to the target load vector MV.

  In the case of the display example of FIG. 11B, the target load vector MV is outside the current load vector GV, so that the control unit 26 is attached to a location corresponding to the abductor muscle group outside the leg portion. The assist unit 45 is controlled so as to control energization of the low-frequency pad 46 that has been applied. Then, regardless of the consciousness of the user M, the abductor muscle group is assisted (assisted) by the muscle contraction exercise by the electrical stimulation from the low frequency pad 46, and the user M does not feel an excessive exercise load, It is possible to move the load outward and bring the current load vector GV closer to the target load vector MV.

  In the case of the display example in FIG. 11C, the target load vector MV is on the front side of the current load vector GV, so that the control unit 26 corresponds to the knee extension muscle group and the dorsiflexor muscle group on the front side of the leg. The assist unit 45 is controlled so as to control energization of the low-frequency pad 46 attached to the place to be operated. Then, regardless of the consciousness of the user M, the knee extensor muscle group and the dorsiflexor muscle group are assisted (assisted) by the electrical stimulation from the low frequency pad 46, and the user M has an excessive exercise load. Without being noticed, it is possible to move the load forward and bring the current load vector GV closer to the target load vector MV.

  In the case of the display example of FIG. 11D, the target load vector MV is on the rear side of the current load vector GV, so that the control unit 26 controls the knee flexor muscle group and the plantar flexor muscle group on the rear side of the leg. The assist unit 45 is controlled so as to control the energization of the low-frequency pad 46 mounted at the corresponding location. Then, regardless of the consciousness of the user M, the knee flexor muscle group and the plantar flexor muscle group are assisted (assisted) by the electrical stimulation from the low frequency pad 46, and the user M has an excessive exercise load. Without being felt, it is possible to move the load to the rear side to bring the current load vector GV closer to the target load vector MV.

  Further, when the load target value is set as an information value indicating the target shear force MS, as shown in FIG. 12, the current shear force GS acting on the knee of the user M at that time is taken as an example. It is displayed together with muscle groups in the right foot RF (the knee extension muscle 51, the knee flexion muscle 52, the plantar flexor muscle 53, etc.). If the current shear force GS and the target shear force MS do not match in the displayed content, the user M is guided to the displayed content, and the current shear force GS approaches the target shear force MS. Be aware of load movement. In addition, the control unit 26 executes assist control for causing muscle contraction motion for causing load movement in a direction in which the current shear force GS approaches the target shear force MS.

  That is, in the case of the display example of FIG. 12, since the current shearing force GS is displayed larger toward the front side than the target shearing force MS, the control unit 26 controls the rear knee flexor muscle 52 and the bottom of the leg. The assist unit 45 is controlled so as to control energization of the low-frequency pad 46 mounted at a location corresponding to the flexor muscle 53. Then, regardless of the consciousness of the user M, the knee flexor muscle 52 and the plantar flexor muscle 53 are assisted (assisted) by the electrical stimulation from the low-frequency pad 46, and the user M has an excessive exercise load. Without being felt, it is possible to move the load to the rear side and bring the current shear force GS closer to the target shear force MS.

According to the said 2nd Embodiment, in addition to the effect shown to (1)-(10) in the said 1st Embodiment, the following effects can be acquired.
(11) When the user M is performing knee flexion and extension exercises, the assist function of the assist unit 45 is excessive to the muscles that need to perform muscle contraction exercises to cause load movement even if they are not conscious. Sufficient muscle contraction movement can be generated without feeling exercise load. Therefore, the movement mode of the knee flexion and extension movement can be changed more easily in the direction in which the current load value approaches the load target value.

  (12) Further, by adopting a simple configuration in which low-frequency electrical stimulation is applied to, for example, a muscle that generates muscle contraction motion in a direction in which the knee shear force is reduced, the knee can be more easily obtained. The movement mode of the bending / extending movement can be changed in the direction in which the current load value approaches the load target value.

(Third embodiment)
Next, the exercise assistance apparatus of 3rd Embodiment is demonstrated, referring drawings. In the third embodiment, the footrest 17 of the footrest 16 can be tilted, and the assist portion 45 adjusts the tilt of the footrest 17 rather than the energization control of the low frequency pad 46. In this respect, the configuration is different from that of the second embodiment, and in other respects, the configuration is substantially the same as that of the second embodiment. Therefore, below, the part which is different from 2nd Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIG. 13, the footrest 17 in the present embodiment is supported so as to be rotatable about the X axis along the left-right direction as a rotation center and rotatable about the Y axis along the front-rear direction. ing. That is, although not shown in detail, the footrest 17 has a bearing portion along the X-axis direction and a bearing portion along the Y-axis direction that are drivingly connected to a motor that is driven and controlled by the assist portion 45 of the control device 25. ing. The footrest 17 is tilt-adjusted so that the inclination angle of the footrest mounting surface 17a changes as the motor is controlled to switch the rotation direction between the forward rotation direction and the reverse rotation direction.

Therefore, the operation of the exercise assistance device 11 of the third embodiment configured as described above will be described next.
Also in the case of the third embodiment, as in the case of the second embodiment, detection is performed on the display screen 15a of the display device 15 in accordance with the preset load target value and the knee flexion and extension exercise of the user M. The displayed current load value is displayed so as to be comparable. As shown in FIG. 9, the current load center position GJP is displayed as a load current value so that it can be compared with the target load center position (the positions A to D shown in FIG. 9) as the load target value. Shall be.

  When such a comparison display is displayed on the display screen 15a, the assist unit 45 of the control device 25 provides the user M who is about to move the load toward the target load center position side through the motor drive control. On the other hand, the following assistance is performed.

  First, in the display example of FIG. 9, when the target load center position is at the inner position A, the user M is aware of the load movement in the inner direction. The motor drive-connected to the Y-axis bearing portion is controlled so that 17 tilts in the direction of the arrow A around the Y-axis shown in FIG. Then, since the foot mounting surface 17a of the footrest 17 is an inclined surface with the right side that is the inner side lowered, the user M can easily move the load inward.

  Further, in the display example of FIG. 9, when the target load center position is at the outer B position, the user M is aware of the load movement in the outer direction, so that the footrest can be assisted (assisted). The motor drive-connected to the Y-axis bearing is controlled so that 17 tilts in the direction of the arrow B around the Y-axis shown in FIG. 13 (front-facing and counterclockwise). Then, since the foot placement surface 17a of the footrest 17 is an inclined surface with the left side being the outer side lowered, the user M can easily move the load outward.

  Further, in the display example of FIG. 9, when the target load center position is at the front C position, the user M is aware of the forward load movement, so that the footrest 17 is assisted (assisted). Is driven and controlled so as to be tilted in the direction of arrow C around the X axis shown in FIG. 13 (clockwise toward the left). Then, since the foot placement surface 17a of the footrest 17 becomes a front-lowering inclined surface, the user M can easily move the load forward.

  Further, in the display example of FIG. 9, when the target load center position is at the rear D position, the user M is aware of the backward load movement, so that the footrest can be assisted (assisted). The motor drive-coupled to the X-axis bearing is controlled so that 17 tilts in the direction of the arrow D around the X-axis shown in FIG. 13 (counterclockwise in the left direction). As a result, the foot placement surface 17a of the footrest 17 becomes an inclined surface that is lowered rearward, so that the user M can easily move the load to the rear side.

According to the said 3rd Embodiment, in addition to the effect shown to (1)-(10) in the said 1st Embodiment, the following effects can be acquired.
(13) The footrest 17 is tilted so that the center of gravity of the user M who is kneeling and stretching with the sole placed on the footrest 16 moves in the direction of the target load center position (target value). By adopting a simple configuration, it is possible to easily adjust the movement mode of the knee flexion and extension movement so that the current load value approaches the load target value.

(Fourth embodiment)
Next, the exercise assistance apparatus of 4th Embodiment is demonstrated, referring drawings. The fourth embodiment is different from the third embodiment in that the configuration for adjusting the tilt of the footrest 17 of the footrest 16 is not the drive control of the motor but the height adjustment of a plurality of height variable members. The configuration is different, and in other respects, the configuration is almost the same as that of the third embodiment. Therefore, below, the part which is different from 3rd Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIG. 14, in the footrest portion 16 in the present embodiment, a concave spherical surface portion 61 whose inner surface forms a concave spherical surface is formed at the center portion of the back surface 17 b of the footrest base 17 disposed on the base 12. Between the concave spherical surface portion 61 and the base 12, a convex spherical member 62 whose upper end portion is a convex spherical surface is disposed. Similarly, on the back surface 17 b side of the footrest 17, the height is at each of the front and rear sides in the Y-axis direction and the left and right sides in the X-axis direction in the XY coordinates when the position of the convex spherical member 62 is the origin. The variable height members 63a to 63d are arranged.

  These height variable members 63a to 63d are configured by an air bag whose dimension in the height direction is variable, a piston whose height position is variable by crank motion, and the like. The height variable members 63 a to 63 d are each positioned in the height direction by the assist unit 45 of the control device 25 in a state where the height variable members 63 a to 63 d are disposed between the back surface 17 b of the footrest 17 and the base 12. It is configured to be controlled and adjusted. For this reason, the footrest 16 changes the height of the footrest 17 in a state where the concave spherical portion 61 located at the center of the back surface 17b is supported by the convex spherical member 62 based on the assist control of the assist portion 45. Tilt adjustment is possible by changing the height of the members 63a to 63d.

  That is, in the fourth embodiment, for example, when the target load center position is indicated behind the current load center position GJP on the display screen 15a, the height of the height variable member 63a positioned on the front side is The height of the height variable members 63a to 63d is variably controlled by the assist portion 45 so as to be higher than the height variable member 63c located on the rear side. On the contrary, for example, when the target load center position is indicated on the display screen 15a in front of the current load center position GJP, the height of the height variable member 63c positioned on the rear side is positioned on the front side. The height of the height variable members 63a to 63d is variably controlled by the assist portion 45 so as to be higher than the height variable member 63a.

  Similarly, for example, when the target load center position is indicated on the left side of the current load center position GJP on the display screen 15a, the height of the height variable member 63b located on the right side is the height located on the left side. The height of the height variable members 63a to 63d is variably controlled by the assist portion 45 so as to be higher than the variable member 63d. On the other hand, for example, when the target load center position is shown on the left side of the current load center position GJP on the display screen 15a, the height of the height variable member 63d located on the left side is the height on the right side. The height of the height variable members 63a to 63d is variably controlled by the assist portion 45 so as to be higher than the variable member 63b.

  When the height of the height variable members 63a to 63d is variably controlled by the assist portion 45 in this way, the foot placement surface 17a of the footrest 17 becomes an inclined surface with the target load center position side lowered. Therefore, the user M can easily move the load toward the target load center position by moving the center of gravity due to the inclination as an assist force. Therefore, also in the fourth embodiment, the same effect as in the third embodiment can be obtained.

(Fifth embodiment)
Next, the exercise assistance apparatus of 5th Embodiment is demonstrated, referring drawings. The fifth embodiment is different in configuration from the third embodiment in that the footrest 16 (specifically, the footrest 17) is detachable from the base 12; This is substantially the same configuration as the third embodiment. Therefore, below, the part which is different from 3rd Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIG. 15 (a), in this embodiment, when the user M performs knee flexion and extension exercises with the sole placed on the footrest 16, the current load center position GJP and the target load center are displayed on the display screen 15a. The position MJP is displayed together with the sole image FG so as to be comparable. In the display example of FIG. 15A, since the target load center position MJP is on the front side rather than the current load center position GJP, the user M needs to move the center of gravity to the front side.

  Therefore, in such a case, as shown in FIG. 15 (b), the footrest mounting surface 17a is a foot with a flat footing surface 17a. It is exchanged with the cradle 17. It should be noted that the forward descending footrest 17 is prepared according to the difference in position between the current load center position GJP and the target load center position MJP if a plurality of types of footrests 17 having different inclination angles are prepared. By selecting an appropriate footrest 17, it becomes possible to further assist load movement. Therefore, also in the fifth embodiment, the same effect as in the third embodiment can be obtained.

  In addition, when a plurality of users M jointly use one exercise assisting device 11, if the user has a footrest 17 that can be attached and detached for each user M, he / she is comfortable in terms of hygiene and exercise assistance The apparatus 11 can be used jointly.

(Sixth embodiment)
Next, the exercise assistance apparatus of 6th Embodiment is demonstrated, referring drawings. Note that the sixth embodiment is different from the first embodiment in the manner of display contents including the comparison display between the current value and the target value on the display screen 15a. In other respects, the sixth embodiment differs from the first embodiment. The configuration is almost the same. Therefore, below, the part which is different from 1st Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIGS. 16A to 16C, the display device 15 according to the present embodiment displays the following three types of display on the display screen 15a for the comparison display of the current value and the target value. It is possible to display by selecting a method.

  First, in the display example shown in FIG. 16A, the left and right load balances are displayed in contrast in the balance display field 71, and the left and right knee shear forces are displayed in comparison in the shear force display field 72, and the load mode display field 73 is displayed. The current load center position GJP and the target load center position MJP are displayed in comparison. The left and right load balances are values obtained by dividing one load by the sum of both loads detected by the left footrest portion 16L and the right footrest portion 16R. In this case, in addition to displaying the comparison between the current load center position GJP and the target load center position MJP, the left and right load balance and the left and right knee shearing forces are displayed together. It is possible to provide a wealth of information that is useful for performing knee flexion and extension exercises that reduce the load.

  Further, in the display example shown in FIG. 16B, the tibia vector KV indicating the direction in which the tibia extends in the user M who is doing knee flexion and extension is displayed together with a comparison display between the current load vector GV and the target load vector MV. Is displayed. Therefore, in this case as well, the user M can know information about the inclination of his / her tibia during the knee flexion / extension exercise, so that the load on the knee joint can be reduced with respect to the user M. It can provide a wealth of information useful for performing knee flexion and extension exercises.

  Further, in the display example shown in FIG. 16C, in addition to the comparison display of the current load vector GV and the target load vector MV, the comparison display of the current shear force GS and the target shear force MS is provided together. Therefore, also in this case, it is possible to provide the user M with abundant information that is useful for performing knee flexion and extension exercises that reduce the load on the knee joint.

(Seventh embodiment)
Next, the exercise assistance apparatus of 7th Embodiment is demonstrated, referring drawings. Note that the seventh embodiment is different from the second to fourth embodiments in that the control device 25 performs control to cause the assist unit 45 to function in an anti-assist manner. The configuration is substantially the same as in the second to fourth embodiments. Therefore, below, the part which is different from 2nd Embodiment-4th Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIGS. 17 (a) and 17 (b), in this embodiment, when the user M exercises knee flexion with the sole placed on the footrest 16, the current load value and the load target are displayed on the display screen 15a. Values are displayed for comparison. In the display example of FIG. 17A, the current load center position GJP and the target load center position MJP are displayed together with the sole image FG so that they can be compared. In the display example of FIG. 17B, the current load vector GV and the target load vector MV are displayed together with the user image MG so that they can be compared.

  In the display example of FIG. 17A, the target load center position MJP is inside the current load center position GJP, and in the display example of FIG. 17B, the target load vector MV is more than the current load vector GV. Is on the inside. Therefore, in such a case, it is necessary for the user M to move the load to the inside. In this case, the load is applied toward the outside opposite to the inside where the user M intends to move the load. If a force (load) against movement is given, it becomes possible to provide a difficulty level according to the progress of rehabilitation training or the like. Therefore, in the case of the present embodiment, the user M guided by the comparison display contents of the current load value and the load target value on the display screen 15a is directed in the direction opposite to the direction in which the load movement is conscious. The user M is given a strong force.

  Specifically, when the low frequency pad 46 disclosed in the second embodiment is used, the target value (target load center position) viewed from the current value (current load center position GJP, current load vector GV) on the display screen 15a. Electrical stimulation is applied to the muscle located on the opposite side of MJP, target load vector MV). For example, in the case of the display examples in FIGS. 17A and 17B, the user M consciously tries to move the load inward, whereas the outer abductor muscles are subjected to low-frequency electrical stimulation. By giving the above, the muscle contraction motion that causes the load to move outward is generated regardless of the consciousness of the user M.

  Therefore, the user M himself / herself moves the load against a load in a direction away from the target value generated by the non-assist energization control for the low-frequency pad 46 by the assist unit 45, so that the rehabilitation training is performed. In such cases, it is possible to exercise with a higher degree of difficulty, and a good exercise effect can be obtained.

  On the other hand, when adjusting the tilt of the footrest 17 of the footrest 16 disclosed in the third embodiment and the fourth embodiment, the foot placement surface 17a is the current value (current load center position) on the display screen 15a. When viewed from GJP (current load vector GV), the slope is set so that the side opposite the target value (target load center position MJP, target load vector MV) is lowered. For example, in the case of the display examples in FIGS. 17A and 17B, the user M consciously attempts to move the load inward, whereas the footrest 17 has the sole placement surface 17a on the outside. Therefore, the muscle contraction motion is generated in which the load is moved outward regardless of the consciousness of the user M.

  Therefore, the user M himself / herself moves the load against the load generated by the tilt control that tilts the footrest 17 of the footrest 16 in the direction opposite to the direction in which the load is moved by the assist portion 45. Therefore, in rehabilitation training and the like, it is possible to exercise with an increased degree of difficulty, and a good exercise effect can be obtained.

(Eighth embodiment)
Next, the exercise assistance apparatus of 8th Embodiment is demonstrated, referring drawings. The eighth embodiment is different from the first embodiment in that the load detection direction by the load mode detection unit 27 is only the front-rear direction, and is otherwise substantially the same as the first embodiment. is there. Therefore, below, the part which is different from 1st Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIG. 18, in the footrest portion 116 of the exercise assisting device 11 in the present embodiment, a convex portion 122 that engages with a part of the sole in the front-rear direction when performing knee flexion and extension motion is the footrest 117. It is integrally formed so as to protrude on the foot placement surface 117a. A load sensor 124 such as a strain gauge is installed at a position where a load in the front-rear direction is applied to the convex portion 122 during the knee flexion and extension movement of the user M, and a detection signal of the load sensor 124 is input to the load mode detection unit 27. It has become so. In addition, as shown with a dashed-two dotted line in FIG. 18, you may integrally form the protruding part 123a corresponding to the arch on the sole mounting surface 117a similarly.

  In the case of the eighth embodiment, the load sensor 124 provided at the convex portion 122 detects a change in the load in the front-rear direction when the user M exercises knee flexion and extension, and based on the detection result, the knee joint Changes in the shear force on the knee related to the load on the knee. The display device 15 displays the target longitudinal load (target value) and the current longitudinal load (current value) in comparison with each other in relation to the load change in the longitudinal direction. Therefore, by paying attention to only such a load change in the front-rear direction, there is an effect that the load on the knee joint in the knee flexion and extension exercise can be presented easily and inexpensively.

  Further, in the eighth embodiment, instead of installing the load sensor 124 on the convex portion 122 of the footrest portion 16, as shown in FIG. A pair of left and right load sensors 224a and 224b may be provided at the site. Even in this case, the load sensors 224a and 224b gripped by the user M detect the load change in the front-rear direction when the user M performs the knee flexion / extension motion, so that the knee flexion / extension is based on the detection result. There is an effect that the load on the knee joint during exercise can be presented easily and inexpensively.

  Furthermore, in the eighth embodiment, instead of installing the load sensor 124 on the convex portion 122 of the footrest 16, as shown in FIG. 20, at the end in the front-rear direction of the footrest 17, in this case, at the front end You may provide the load sensor 324 which can detect the load of the front-back direction. Also in this case, the load sensor 324 at the front end detects a load change in the front-rear direction when the user M performs the knee flexion / extension exercise, so that the load on the knee joint in the knee flexion / extension exercise can be easily determined based on the detection result. In addition, there is an effect that it can be presented at low cost.

(Ninth embodiment)
Next, the exercise assistance apparatus of 9th Embodiment is demonstrated, referring drawings. The ninth embodiment is different from the first embodiment in the manner of display contents including the display of comparison between the current value and the target value on the display screen 15a, and is otherwise different from the first embodiment. The configuration is almost the same. Therefore, below, the part which is different from 1st Embodiment is mainly demonstrated, and the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same component.

  As shown in FIGS. 21 (a) to 21 (c), the display device 15 according to the present embodiment displays the following three types of display on the display screen 15a for the comparison display of the current value and the target value. It is possible to display by selecting a method.

  First, in the display example shown in FIG. 21 (a), a stick picture SP that models the initial posture state of the user M before the start of knee flexion / extension exercise is a target indicating the target value of the knee angle from the initial posture state. Displayed with line ML. The calculation unit 32 calculates the knee shear force acting on the knee during the knee flexion / extension exercise based on the target shear force MS corresponding to the load target value set by the target setting unit 30 and the detection result of the load mode detection unit 27. The current shearing force GS obtained in this way is shown in a parallel notation of arrows capable of comparing the magnitudes of both shearing forces MS and GS.

  In the display example shown in FIG. 21B, the numerical value display unit 74 displays the numerical values of the target shear force and the current shear force, and the numerical values of the target knee angle and the current knee angle, as well as a graph display unit 75. A bar graph indicating the current shear force and the current knee angle and a target line ML indicating the target shear force and the target knee angle are superimposed and displayed. In this case, since a numerical value is displayed, there is an effect that the difference between the current value and the target value can be easily understood.

  In the display example shown in FIG. 21C, a stick picture SP that models the initial posture state of the user M before starting the knee flexion and extension exercise is a target stick picture that models the target value posture of the knee bending. Displayed with MSP. In this case, in order to change the posture from the initial posture state to the target value posture, a target line ML that is a guideline to be exceeded when the waist position moves from the upper side to the lower side is also displayed. Therefore, the user M can change the movement mode well in the direction in which the current value approaches the target value while adjusting the bending state of his knee so that his / her waist position crosses the target line ML downward. Can do.

In addition, you may change each said embodiment as follows.
The handrail 14 is not limited to the front side of the footrest 16 and may be provided at other positions such as the left and right sides. The handrail 14 may be omitted.

-The handrail 14 may be adjustable in its height and length in the width direction.
The protrusions 22 and 122 that engage a part of the sole (such as toes) in the front-rear direction when performing knee flexion and extension exercises are different in size, height, and shape from those of the embodiment. It can be changed arbitrarily. Further, the toe mounting plate 19 provided with the convex portions 22 may be fixed on the footrest 17 by other fixing means such as hook locking or double-sided tape in addition to screwing.

The foot contact member 23 having the raised portion 23a corresponding to the arch may be fixed to the footrest 17 by other fixing means such as hook locking or screwing in addition to sticking.
The assist unit 45 has a plurality of types of tilting modes in advance for the angle, time, speed, and the like for tilting the footrest 17 of the footrest unit 16 for assist control, and selects any one of them. And assist control may be performed. When performing such assist control, the tilt angle, time, speed, etc. are adjusted according to the difference between the load target value and the current load value, or according to the symptoms of the user M. May be.

  The assist unit 45 has a plurality of types of energization modes in advance regarding the applied voltage and energization time when the low-frequency pad 46 is energized for assist control, and assist control is performed by selecting any of these modes. May be. Further, when performing such assist control, the applied voltage, the energization time, etc. when energizing are adjusted according to the difference between the load target value and the current load value or according to the symptoms of the user M. You may do it.

  On the display screen 15a of the display device 15, in addition to the stick picture SP that models the posture of the user M, a doll, a 3D model, and the like are displayed in a moving image mode together with a comparison display of the target value and the current value. Also good.

  When detecting a joint angle for posture detection, for example, a goniometer, a gyro sensor, an acceleration sensor, or the like may be used in addition to the camera 29. Similarly, when detecting the joint position, for example, an optical or magnetic three-dimensional measuring device may be used in addition to the camera 29.

In order to detect a change in the position of the load in the front-rear direction and the left-right direction of the user M in the footrest unit 16, at least three load sensors may be connected to the load mode detection unit 27.
-When setting the target in the target setting unit 30, the value of the load vector of the healthy person may be stored in a database, and a value selected from them may be set as the target value. In addition, for example, in an OA (osteoarthritis) patient or the like, information values regarding the direction and magnitude of the load vector that causes pain when the knee is bent and the shearing force are measured in advance, and a smaller value is set as the target value. It may be. Furthermore, in order to reduce the burden on the joint, the direction of the load vector may be set so as to be in the same direction as the tibia or backward.

  DESCRIPTION OF SYMBOLS 11 ... Movement assistance apparatus, 14 ... Handrail, 15 ... Display apparatus as an example of a guidance part, 16, 116 ... Footrest part, 22,122 ... Convex part, 23 ... Contact member for soles, 23a, 123a ... Also functions as a raised portion, 24a to 24d, 124, 224a, 224b, 324 ... load sensor, 27 ... load state detection unit, 28 ... posture detection unit, 30 ... target setting unit, 32 ... calculation unit, 45 ... guidance unit. Assist part, M ... user, FS ... knee shear force, GS ... current shear force as an example of current value, MS ... target shear force as an example of target value, JP ... load center position.

Claims (15)

A foot rest on which the user puts his sole;
A load mode detection unit that detects a load mode of a user acting on the footrest unit;
A target setting unit for setting a target value of a numerical value related to the load on the knee joint when the user who puts the sole on the footrest part performs knee flexion and extension exercise;
A calculation unit that calculates a current value of a numerical value related to a load on the knee joint when a user who puts his / her foot on the footrest part performs knee flexion and extension movement based on a detection result of the load mode detection unit;
An exercise assisting device, comprising: a guidance unit that guides the exercise mode of knee flexion and extension exercise by the user so that the current value changes in a direction approaching the target value.   The exercise assistance device according to claim 1, wherein the load mode detection unit detects a load that acts at least in the front-rear direction when a user who puts a sole on the footrest is used as a reference.   The load mode detection unit detects a load center position that is a load center of the load with respect to the footrest and a magnitude of a load that acts in at least two coordinate axis directions including a front-rear direction with reference to the load center position. The exercise assisting device according to claim 1, wherein the exercise assisting device is provided. A posture detecting unit for detecting a posture of a user who puts his sole on the footrest;
When the knee joint performs a knee flexion and extension exercise as a current value of a numerical value related to a load on the knee joint based on the detection result of the load mode detection unit and the detection result of the posture detection unit, The exercise assisting device according to any one of claims 1 to 3, wherein a shearing force acting on the movement is calculated.   The said guidance | induction part is a display apparatus which can display the display content corresponding to the said present value so that the display content corresponding to the said target value may be contrasted. The exercise assistance device according to one item.   The exercise assisting device according to claim 5, wherein the display device displays a posture change mode when a user who puts a sole on the footrest part is performing knee flexion and extension exercises.   The guide unit is an assist unit having a function of assisting a force that causes a muscle contraction motion in a direction in which the current value approaches the target value with respect to a user's leg. The exercise assistance device according to any one of claims 1 to 4.   The exercise assisting device according to claim 7, wherein the assist unit has a function of applying electrical stimulation to muscles related to knee flexion and extension exercise in a leg of a user.   The exercise assisting device according to claim 7, wherein the assist unit has a function of tilting the footrest so that the center of gravity of the user moves.   The exercise assisting device according to any one of claims 1 to 9, wherein the footrest portion is attachable and detachable.   11. The contact member for a sole having a raised portion having a shape corresponding to the arch of the sole is attached to the footrest portion. 11. The exercise assistance device according to 1.   The convex part which can engage with a part of said sole is provided in the said footrest part so that the movement to the front-back direction of a user's sole may be provided. The exercise assistance device according to claim 11.   13. The convex portion is provided with a load sensor capable of detecting a load acting in at least the front-rear direction when a user who puts a sole on the footrest portion is used as a reference. The exercise assistance device according to 1.   14. A handrail that can be gripped by a hand extended forward when a user who puts a sole on the footrest portion performs knee flexion and extension exercises is provided. The exercise assisting device according to claim 1.   In the handrail, the part gripped when the user performs knee flexion / extension movement acts at least in the front-rear direction when the user who puts the sole on the footrest portion while gripping the part is used as a reference. The exercise assisting device according to claim 14, further comprising a load sensor capable of detecting a load.