JP2016073506A - Exercise assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an exercise assistance device which realizes training of a standing-up motion by a mechanical method.SOLUTION: An exercise assistance device 1 comprises: a lower leg supporting element 20 with contact target faces 24A; and a base 10 that supports the lower leg supporting element 20. An arrangement space S is formed under the lower leg supporting element 20, and the contact target faces 24A are displaceable forward and backward with respect to the base 10.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an exercise assistance device that is a device for assisting a standing motion.

  The importance of the rising operation is attracting attention in order to improve QOL (Quality Of Life) or rehabilitation. For example, Non-Patent Document 1 discloses software in which training for rising motion is integrated with a game.

Medica Publishing Co., Ltd., “Stand-up training as a game! Rehabirium Kise-kun TM”, [online], 72 (360) Gastroenterological Surgery NURSING 2013 vol.18 no.4, [Search October 7, 2014], Internet <URL: http://www.google.co.jp/url?url=http://www.pieronline.jp/deliver/1341-7819/FREE_NC_18_4_360.pdf%3FitemId%3D/content/article/1341- 7819/18040/360% 26mimeType% 3Dpdf & rct = j & frm = 1 & q = & esrc = s & sa = U & ei = M0AzVLjLJYWMuASU5oDoDw & ved = 0CCoQFjAD & usg = AFQjCNH0hZoxeiGLQHQNom3RBEQ-iCSaPA>

  Depending on the person, training by a mechanical method can make you feel that you are training. For this reason, from the viewpoint of providing a more complete training environment for those who need training for standing up motion, there is an exercise assistance device that can train the standing up motion by a mechanical method apart from the above software. Is preferred.

  An object of the present invention is to provide an exercise assisting device capable of training a standing motion by a mechanical method.

  An exercise assisting device according to an aspect of the present invention includes a crus support element having a contacted surface and a base that supports the crus support element, and a space is formed below the crus support element, and the covered body in the front-rear direction. The contact surface is displaceable with respect to the base.

  According to one form of the exercise assisting device, the rising motion can be trained by a mechanical method.

FIG. 2 is a perspective view of the exercise assistance device according to the first embodiment. FIG. 2 is a side view of the lower leg support element of FIG. 1. FIG. 2 is a side view showing a usage state of the exercise assisting device of FIG. 1. FIG. 2 is a side view showing a usage state of the exercise assisting device of FIG. 1. These are the perspective views of the exercise assistance apparatus of Embodiment 2. FIG. Is an example of information displayed on the notification unit of FIG. These are the perspective views of the exercise assistance apparatus of Embodiment 3. FIG. These are side views which show the use condition of the exercise assistance apparatus of FIG. These are side views which show the use condition of the exercise assistance apparatus of FIG. These are the perspective views of the exercise assistance apparatus of Embodiment 4. FIG. FIG. 9 is a side view showing a use state of the exercise assistance device of FIG. 8. FIG. 9 is a side view showing a use state of the exercise assistance device of FIG. 8. FIG. 7 is a side view of a modified lower leg support element. These are the side views of the exercise assistance apparatus of a modification. These are the side views of the exercise assistance apparatus of a modification. FIG. 9 is a side view of a gripping portion support portion of a modified example. Is an example of information displayed on a notification unit of a modified example. Is an example of information displayed on a notification unit of a modified example. Is an example of information displayed on a notification unit of a modified example.

(An example of the form that the exercise assisting device can take)
[1] An exercise assisting device according to an aspect of the present invention includes a crus support element having a contacted surface and a base for supporting the crus support element, and a space is formed below the crus support element. The contacted surface can be displaced with respect to the base.

  According to an example of an ideal standing motion, the knee moves forward as the person stands up from a sitting state. The exercise assisting device operates as follows, for example, thereby contributing to the user who trains the standing up motion using the exercise assisting device to form an ideal rising motion or a motion close thereto.

  According to an example of the exercise assisting device, the contacted surface of the crus support element is actively displaced in order to teach an ideal standing motion. In this case, the user can form an ideal rising motion or a motion close to it by standing up while keeping the shin in contact with the contacted surface.

  According to another example of the exercise assisting device, a force is applied to the contacted surface of the lower leg support element in accordance with the rising motion of the user, so that the contacted surface is displaced with respect to the base. In this case, when the user trains so as to subjectively form an ideal standing motion, the contacted surface is displaced forward as the knee moves forward. For this reason, the user can perceive that an ideal rising motion or a motion close thereto can be formed by the reaction force received from the contacted surface.

  As described above, according to the present exercise assisting apparatus, it is possible to train the rising motion by a mechanical method. In addition, when using this exercise assisting device, the user can insert a foot into the space formed below the crus support element, so that the shin is firmly in contact with the contacted surface. A rising motion can be formed. For this reason, even when this exercise assisting apparatus is used by a plurality of users having different body shapes, each user can easily form an ideal standing-up action or an action close thereto.

  [2] According to an example of the exercise assisting device, the actuator further includes an actuator that applies a driving force for displacing the contacted surface to the crus support element, and a control device that controls the actuator.

  The controller of the present exercise assisting device displaces the contacted surface in order to teach the user the ideal rising motion. For this reason, the user can form an ideal rising operation or an operation close thereto by standing up while keeping the shin in contact with the contacted surface.

[3] According to an example of the exercise assisting device, the apparatus further includes a force applying unit that applies a force to the lower leg support element to return the contacted surface to an initial state.
In order to subjectively form an ideal standing motion, the user of the exercise assisting device can stand up while moving the contacted surface forward by extending the knee while moving the knee forward. The contacted surface is displaced forward while applying a reaction force to the shin by the force applied from the shin, and is displaced toward the initial position following the movement of the shin as the force applied from the shin is weakened. For this reason, the user can perceive that an ideal rising motion or a motion close to it can be formed by the reaction force received from the contacted surface when the knee is stretched.

  [4] According to an example of the exercise assisting device, a load sensor that detects a load acting on the contacted surface, and a load information notification unit that outputs information reflecting the load detected by the load sensor. Further prepare.

  The load acting on the contacted surface of the crus support element changes according to the knee motion at the time of the standing motion. For this reason, the information output by the load information notification unit reflects the motion of the knee. For this reason, the user of the present exercise assisting device can form a rising motion while recognizing the motion of the knee from the information output by the load information notification unit. For this reason, compared with the case where a user forms a rising motion depending only on his / her own sense, an ideal rising motion or a motion close thereto is easily formed.

[5] According to an example of the exercise assisting device, the load information notification unit outputs a target value related to a load acting on the contacted surface.
Based on the difference between the load detected by the load sensor and its target value, the user of the exercise assisting device can recognize the degree of deviation between the ideal knee motion in the standing motion and the current knee motion. For this reason, compared with the case where a user forms a rising motion depending only on his / her own sense, an ideal rising motion or an operation close thereto is more easily formed.

[6] According to an example of the exercise assistance device, the chair further includes a chair arranged on the rear side of the crus support element.
The user of this exercise assisting device can train an ideal standing up motion or a motion close to it when standing up from the chair by forming the standing up motion using the chair.

[7] According to an example of the exercise assisting device, the crus support element and the chair are relatively movable in the front-rear direction.
The user of this exercise assisting device adjusts the distance between the lower leg support element and the chair so that the knee can form a sitting posture with the knee protruding forward by moving the lower leg support element and the chair relatively before starting training. it can. In general, it is considered that when a person who takes the sitting posture stands up, an ideal standing motion is likely to be formed as compared with a case where the knee stands from a sitting posture where the knee does not protrude forward. For this reason, as the user trains while adjusting the distance between the lower leg support element and the chair as described above, it is easier to form an ideal standing motion or motion close thereto.

[8] According to an example of the exercise assisting device, the exercise assisting device further includes a grip portion disposed above the lower leg support element.
The motion of the upper body in the standing up motion may affect the motion of the lower body. For this reason, in order to form a stable operation in the lower body, it is preferable to stabilize the operation of the upper body in the rising operation. Since the user of this exercise assisting device can form a rising motion while grasping the grip portion, the motion of the upper body during the standing motion is stable, and the motion of the lower body is also easily stabilized. For this reason, the user can more easily form an ideal rising operation or an operation close thereto.

[9] According to an example of the exercise assisting device, the grip portion is movable in the front-rear direction with respect to the base.
According to an example of an ideal standing motion, when the knee is extended from the sitting state, the head moves forward as the knee moves forward. According to the present exercise assisting device, when the user grasps the grip portion and stands up, the grip portion moves to the front side, and the upper body of the user is guided to the front side as the grip portion moves. For this reason, the user can more easily form an ideal rising operation or an operation close thereto.

[10] According to an example of the exercise assisting device, the motion assisting device further includes an operation information notifying unit that outputs visual information that teaches the standing up motion.
By referring to the visual information output by the motion information notification unit, the user of the exercise assisting device can form a rising motion while firmly recognizing an ideal rising motion. For this reason, compared with the case where a user forms a rising motion depending only on his / her own sense, an ideal rising motion is easily formed.

  [11] According to an example of the exercise assisting device, the motion detection unit further includes a motion detection unit that detects the motion of the target part, and the motion information notification unit reflects the motion of the target part detected by the motion detection unit. Output information.

  The motion detection unit of the exercise assisting device detects, for example, the motion of the head that is the target site. For this reason, the user refers to the head movement detected by the movement detector and the ideal head movement, which is visual information, and the deviation between the ideal head movement in the rising movement and the current head movement. The degree of can be recognized. For this reason, compared with the case where a user forms a rising motion depending only on his / her own sense, an ideal head motion is easily formed in the rising motion.

(Embodiment 1)
As shown in FIG. 1, the exercise assisting device 1 includes a base 10 that can be installed on an installation surface (not shown), a crus support element 20 that is supported by the base 10 and arranged on the upper side of the base 10, and a crus support element. A grip portion 30 is provided above 20. The exercise assisting device 1 further includes a chair 40 disposed on the rear side of the lower leg support element 20 and a control device 50 (see FIG. 2) that controls a motor 51 (see FIG. 2) that is an actuator.

  The base 10 includes a support base 11 installed on the installation surface, a footrest base 12 disposed on the support base 11, and a shaft 13 extending in the left-right direction of the base 10. The shaft 13 passes through the support base 11 and the footrest 12 and rotates with respect to the support base 11 and the footrest 12.

  The crus support element 20 is a pair of first support parts 21 that are columnar objects, a second support part 22 that extends in the left-right direction of the base 10, and a back face that is attached to the second support part 22. A support portion 23 and a pair of elastic members 24 that are supported by the back support portion 23 and have a contacted surface 24A are provided. The first support portion 21 on the right side is disposed on the right side surface of the base 10 and is fixed to the shaft 13. The left first support portion 21 is disposed on the left side surface of the base 10 and is fixed to the shaft 13. An arrangement space S that is a space having a predetermined size is formed below the lower leg support element 20. The predetermined size is, for example, a size in which a foot having a general size can be arranged.

  The grip portion 30 is coupled to the support base 11 via a grip portion support portion 31 extending from the front portion of the base 10 in the height direction of the exercise assisting device 1. The grip portion 30 extends in the left-right direction of the base 10 and is attached to an upper portion of the grip portion support portion 31.

  The chair 40 includes a seat 41, a support column 42 that supports the seat 41, a pair of legs 43 that support the support column 42, and a coupling portion 44 that connects the support column 42 and the support base 11. The leg 43 and the coupling portion 44 are installed on the installation surface. The chair 40 further includes a load sensor 45 that detects a load. The load sensor 45 is disposed inside the seat 41 and outputs a signal reflecting a load acting on the seat 41 to the control device 50.

  As shown in FIG. 2, the control device 50 and the motor 51 are disposed inside the base 10. The motor 51 is connected to the shaft 13 via a plurality of gears (not shown). As the motor 51 rotates in the forward direction, the shaft 13 rotates in the forward direction, and the crus support element 20 rotates forward with respect to the base 10. Further, when the motor 51 rotates in the reverse direction, the shaft 13 rotates in the reverse direction, and the crus support element 20 rotates backward with respect to the base 10. As a result, the contacted surface 24 </ b> A of the elastic member 24 is displaced with respect to the base 10 in the front-rear direction of the base 10. FIG. 2 shows the initial position of the contacted surface 24A by a two-dot chain line.

  According to an example of an ideal standing motion, the knee moves forward as the person stands up from a sitting state. In order to teach the ideal rising motion to the user 100 (see FIG. 3A), the control device 50 executes teaching control for rotating the crus support element 20 with respect to the base 10 as shown below.

  When a load is applied to the seat 41 when the user 100 is seated on the seat 41 (see FIG. 1), the load sensor 45 (see FIG. 1) receives a signal corresponding to the seating load that is a load acting on the seat 41 (hereinafter, referred to as “load”). "Load sensor 45 signal") is output to the control device 50. The control device 50 calculates the seating load based on the signal from the load sensor 45, and determines that the user 100 is seated on the seat 41 based on the seating load being equal to or greater than the threshold value.

  When the seating load decreases due to the user 100 floating from the seat 41, the load sensor 45 outputs a signal corresponding to the decreased seating load to the control device 50. Based on the fact that the calculated seating load falls below the threshold value, the control device 50 determines that the user 100 has started an operation for rising from the seat 41 and starts teaching control for teaching an ideal rising operation.

  In the teaching control, by rotating the motor 51 forward, the crus support element 20 is rotated forward until the element rotation angle, which is the rotation angle of the crus support element 20 with respect to the base 10, reaches a predetermined angle. In the teaching control, when the element rotation angle reaches a predetermined angle, the lower leg support element 20 is rotated rearward so that the rotation position of the lower leg support element 20 with respect to the base 10 returns to the initial position. The predetermined angle and the rotation speed of the lower leg support element 20 are set so that the movement of the lower limb in an ideal standing motion is reproduced.

With reference to FIG. 3A and FIG. 3B, the effect | action of the exercise assistance apparatus 1 is demonstrated.
The user 100 inserts his / her foot into the arrangement space S (see FIG. 1) and makes the shin contact the contacted surface 24A in order to prepare for training the standing up motion using the exercise assisting device 1 (see FIG. 1). The grip portion 30 (see FIG. 1) is gripped. The user 100 further prepares for training by sitting on the chair 40 while maintaining the state where the shin is in contact with the contacted surface 24A as shown in FIG. 3A.

  The user 100 then stands up and starts training. As the user 100 stands up from the chair 40, the lower leg support element 20 starts to rotate. As shown in FIG. 3B, the user 100 moves the leg so that the shin is in contact with the contacted surface 24A until the rising movement is completed, thereby forming the rising movement while moving the knee forward. it can.

According to the exercise assistance device 1, for example, the following effects can be obtained.
(1) The control device 50 executes teaching control. For this reason, the user 100 can form an ideal rising operation or an operation close thereto by standing up while keeping the shin in contact with the contacted surface 24A. Thus, according to the exercise assisting apparatus 1, it is possible to train the rising motion by a mechanical method.

  (2) When using the exercise assisting device 1, the user 100 can insert a foot into the arrangement space S formed below the crus support element 20. For this reason, the state where the shin is firmly in contact with the contacted surface 24A can be formed, and the rising motion can be formed from the state. For this reason, even when the exercise assisting apparatus 1 is used by a plurality of users 100 having different body shapes, each user 100 can easily form an ideal standing-up operation or an operation close thereto.

  In addition, the contacted surface 24A of the elastic member 24 is formed on the base 10 in a range where the toe is positioned forward of the knee when the user 100 inserts the foot into the arrangement space S and contacts the shin with the contacted surface 24A. In contrast, it is displaced in the front-rear direction. For this reason, the load on the knee joint is reduced as compared with the case where the standing-up motion is trained with the knee positioned forward of the toe.

  (3) The exercise assisting apparatus 1 includes a chair 40 disposed on the rear side of the lower leg support element 20. For this reason, the user 100 can train an ideal standing up motion or a motion close to it when standing up from the chair 40 by forming the standing up motion using the chair 40.

  (4) The motion of the upper body in the rising motion may affect the motion of the lower body. For this reason, in order to form a stable operation in the lower body, it is preferable to stabilize the operation of the upper body in the rising operation. Since the user 100 of the exercise assisting apparatus 1 can form a standing motion while grasping the grip portion 30, the motion of the upper body during the standing motion is stable, and the motion of the lower body is easily stabilized. For this reason, the user 100 can more easily form an ideal rising operation or an operation close thereto.

(Embodiment 2)
The exercise assisting device 2 according to the second embodiment includes a structure in which the lower leg support element 20 is rotated forward by the force of the user 100 instead of the structure in which the lower leg support element 20 is rotated by the motor 51. The exercise assisting device 2 further has a function of providing the user 100 with information on the load acting on the contacted surface 24A of the lower leg support element 20. Other configurations of the exercise assisting device 2 are approximately the same as those of the exercise assisting device 1 of the first embodiment. In the description of the exercise assistance device 2 according to the second embodiment, the same reference numerals are given to the same components as those in the exercise assistance device 1 according to the first embodiment, and a part or all of the description of the configuration is omitted.

  As illustrated in FIG. 4, the exercise assisting device 2 attenuates the force acting on the crus support element 20 that applies a force for returning the rotational position of the crus support element 20 to the initial position, and the force acting on the force imparting part 111. A damper 112 is provided. The exercise assisting device 2 is further coupled to the two load sensors 113 for detecting the load acting on the contacted surface 24A of the crus support element 20 and the grip portion 30, and the load detected by each load sensor 113 is reflected. A load information notifying unit 120 that outputs the received information.

  An example of the force imparting portion 111 is a pair of springs that connect a portion of the support base 11 on the rear side of the lower leg support element 20 and the first support portion 21. The load sensor 113 is disposed inside the elastic member 24, and outputs a signal corresponding to a support load that is a load acting on the contacted surface 24A (hereinafter referred to as a “signal of the load sensor 113”) to the load information notification unit 120. To do.

  The load information notification unit 120 calculates a support load based on a signal from the load sensor 113, and displays the calculated support load and the target value 121 (see FIG. 5) of the support load on a screen provided for itself. FIG. 5 is an example of a screen displayed by the load information notification unit 120.

  The amount by which the user 100 (see FIG. 3A) moves the knee forward and the support load have a correlation, and the support load increases as the amount of movement of the knee toward the front increases. The load information notification unit 120 stores in advance a support load target value 121 set in association with the maximum amount of forward movement of the knee in an ideal standing motion. Thus, the target value 121 of the support load has a role as an index value of the maximum movement amount to the front side of the knee.

  When the support load substantially coincides with the target value 121, the relationship between the support load and the target value 121 is that the maximum amount of movement to the front side of the knee in the actual standing motion is to the front side of the knee in the ideal standing motion. It is suggested that it is substantially equal to the maximum movement amount. For this reason, when the user 100 stands up from the chair 40, the user 100 moves the knee forward until the support load displayed on the load information notification unit 120 reaches the target value 121, and then stretches the knee, so that an ideal standing motion is achieved. Or close to it.

According to the exercise assisting device 2, in addition to the effects (2) to (4) obtained by the exercise assisting device 1 of the first embodiment, for example, the following effects can be obtained.
(5) The support load changes according to the movement of the knee in the rising motion. For this reason, the information output by the load information notification unit 120 reflects the movement of the knee. For this reason, the user 100 of the exercise assisting apparatus 2 can form a rising motion while recognizing the motion of the knee from the information output by the load information notification unit 120. For this reason, compared with the case where the user 100 forms a rising motion depending only on his / her sense, an ideal rising motion or a motion close thereto is easily formed.

  (6) Based on the difference between the support load calculated by the load information notification unit 120 and the target value 121, the user 100 recognizes the degree of deviation between the ideal knee motion in the rising motion and the current knee motion. it can. For this reason, compared with the case where the user 100 forms a rising motion depending only on his / her own sense, an ideal rising motion or an operation close thereto is more easily formed.

  (7) The exercise assisting device 2 includes a damper 112. According to this configuration, the crus support element 20 rotated forward is gently rotated toward the initial state. For this reason, the possibility that an excessively large load is applied to the user 100 is reduced.

(Embodiment 3)
According to the exercise assisting device 3 of the third embodiment, the chair 40 is movable in the front-rear direction with respect to the base 10, and the first support portion 21 is fixed to the support base 11. Other configurations of the exercise assisting device 3 are substantially the same as those of the exercise assisting device 1 of the first embodiment. In the description of the exercise assistance device 3 according to the third embodiment, the same reference numerals are given to the components common to the exercise assistance device 1 according to the first embodiment, and a part or all of the explanation of the configuration is omitted.

  As shown in FIG. 6, the coupling portion 44 of the chair 40 includes a rail 44 </ b> A extending in the longitudinal direction of the coupling portion 44. The support column 42 is attached to the coupling portion 44 so as to be movable along the rail 44A. An example of the elastic member 24 is a cushion, which is deformed in the front-rear direction when a load is applied to the contacted surface 24A. For this reason, the contacted surface 24 </ b> A is displaced in the front-rear direction with respect to the base 10.

  The exercise assisting device 3 further includes a motor 131 that is an actuator shown in FIG. 7A, a control device 130 that controls the motor 131, and an operation unit 132 that transmits a command signal to the control device 130. The control device 130 is disposed inside the base 10. The motor 131 is disposed inside the coupling portion 44. The rotation of the motor 131 is converted into a linear motion by a motion conversion mechanism (not shown), and the chair 40 is driven by the linear motion.

  The operation unit 132 transmits a command signal for moving the chair 40 in the front-rear direction with respect to the coupling unit 44 according to the content of the operation. The control device 130 controls the motor 131 based on a command signal from the operation unit 132 and moves the chair 40 and the lower leg support element 20 relatively by moving the chair 40 in the front-rear direction with respect to the base 10.

With reference to FIG. 7A and FIG. 7B, the effect | action of the exercise assistance apparatus 3 is demonstrated.
In order to prepare for training the standing up motion using the exercise assisting device 3 (see FIG. 6), the user 100 inserts the foot into the arrangement space S (see FIG. 6) and brings the shin into contact with the contacted surface 24A. The gripping portion 30 (see FIG. 6) is gripped. The user 100 further prepares for training by sitting on the chair 40 while maintaining the state where the shin is in contact with the contacted surface 24A as shown in FIG. 7A.

  Then, the user 100 operates the operation unit 132 to move the chair 40 forward with respect to the base 10 so that a load is applied to the contacted surface 24A as shown in FIG. The distance between the lower leg support element 20 and the chair 40 is adjusted so that a protruding seating posture can be formed. Then, the user 100 forms a rising motion after forming this sitting posture.

According to the exercise assisting device 3, in addition to the effects (2) to (4) obtained by the exercise assisting device 1 of the first embodiment, for example, the following effects can be obtained.
(8) In general, when a person who takes a sitting posture with the knee protruding forward, an ideal standing motion is more easily formed than when the person stands up from a sitting posture where the knee does not protrude forward. It is believed that. For this reason, by adjusting the distance between the crus support element 20 and the chair 40 so that the user 100 can form this sitting posture, it is easier to form an ideal standing motion or a motion close thereto.

(Embodiment 4)
The exercise assistance device 4 according to the fourth embodiment further includes a structure that supports the movement of the upper body when the user 100 stands up. The other configuration of the exercise assisting device 4 is approximately the same as that of the exercise assisting device 1 of the first embodiment. In the description of the exercise assistance device 4 according to the fourth embodiment, the same reference numerals are given to the components common to the exercise assistance device 1 according to the first embodiment, and a part or all of the explanation of the configuration is omitted.

  As shown in FIG. 8, the exercise assisting device 4 includes a gripping part support part 141 coupled to the support base 11 and a gripping part 140 coupled to the gripping part support part 141. The grip portion 140 extends in the left-right direction of the base 10 and is attached to the grip portion support portion 141 so as to be movable in the front-rear direction and the vertical direction with respect to the base 10.

  The gripping portion support portion 141 is coupled to the first portion 141A that extends upward from the front portion of the base 10, the second portion 141B that extends in the left-right direction of the base 10, and the base from both ends of the second portion 141B. A pair of third portions 141C that are curved toward the front side and the upper side of 10 are provided. The gripping part support part 141 further includes a rail 142 formed on the inner surface of the third part 141C and conforming to the shape of the third part 141C, and a spring 143 disposed in the rail 142.

  The grip portion 140 is attached to each rail 142 so as to be movable with respect to the third portion 141C. The spring 143 applies a reaction force acting on the upper end side of the rail 142 to the grip portion 140. For this reason, when a load is not applied to the grip portion 140, the grip portion 140 moves to the upper end portion of the rail 142 by the reaction force of the spring 143.

With reference to FIG. 9A and FIG. 9B, the effect | action of the exercise assistance apparatus 4 is demonstrated.
In order to prepare for training the standing up motion using the exercise assisting device 4 (see FIG. 8), the user 100 inserts the foot into the arrangement space S (see FIG. 8) and brings the shin into contact with the contacted surface 24A. A gripping portion 140 is formed. The user 100 further prepares for training by sitting on the chair 40 while pulling the grip portion 140 toward the front so that the grip portion 140 moves relative to the third portion 141C as shown in FIG. 9A. .

  The user 100 then stands up and starts training. As the user 100 stands up from the chair 40, the user 100 moves the grip 140 to the upper end of the rail 142. As shown in FIG. 9B, the user 100 can form the rising motion while the upper body of the user 100 is guided forward by grasping the grip 140 until the rising motion is completed. 9A and 9B omit the left third portion 141C.

According to the exercise assisting device 4, in addition to the effects (1) to (4) obtained by the exercise assisting device 1 of the first embodiment, for example, the following effects can be obtained.
(9) As an example of an ideal standing motion, when the knee is extended from the sitting state, the head moves forward as the knee moves forward. According to the exercise assisting device 4, the user 100 stands up by grasping the grip portion 140, whereby the upper body of the user 100 is guided forward. For this reason, the user 100 can more easily form an ideal rising operation or an operation close thereto.

  (10) The grip portion 140 is attached to the grip portion support portion 141 so as to be movable in the front-rear direction and the vertical direction with respect to the base 10. That is, the front end in the track of the gripping part 140 exists above the rear end. The trajectory of the grip 140 is closer to the upper body motion of the user 100 in an ideal standing motion. For this reason, the user 100 can more easily form an ideal rising operation or an operation close thereto by grasping the grip 140 and standing up.

(Modification)
Specific forms that the exercise assisting device can take are not limited to the forms exemplified in the above embodiments. The exercise assisting device can take various forms different from the above embodiments. The modifications of the above-described embodiments described below are examples of various forms that the exercise assisting device can take.

  -The modification of the exercise assistance apparatus 1 of Embodiment 1 is not provided with the structure which rotates the leg support element 20 with the motor 51. FIG. As shown in FIG. 10, the motion assisting device 1 of the modified example expands or moves so as to displace the contact surface 153 </ b> A in the front-rear direction with respect to the control device 150 that controls the air pump 151 that is an actuator. An air bag 153 that contracts is provided. The air pump 151 is disposed inside the base 10 and supplies or discharges air to or from the air bag 153 via the air supply path 152. Further, the first support portions 21 are fixed to the support base 11 so that the crus support element 20 does not rotate with respect to the base 10. FIG. 10 shows an initial position of the contacted surface 153A in a state where the airbag 153 is inflated rearward with respect to the base 10 by a two-dot chain line.

  The control device 150 executes teaching control for inflating or deflating the air bag 153 with respect to the base 10 as shown below in order to teach the user 100 an ideal rising operation. The description of the contents of the teaching control will be partially or entirely omitted from the description of the contents common to the teaching control executed by the control device 50 of the first embodiment.

  In the teaching control, the contacted surface 153A is displaced forward with respect to the base 10 until the contact position that is the position of the contacted surface 153A with respect to the base 10 reaches a predetermined position by contracting the airbag 153. In the teaching control, when the contact position reaches a predetermined position, the airbag 153 is inflated so that the position of the contact surface 153A with respect to the base 10 returns to the initial position, so that the contact surface 153A is rearward with respect to the base 10. Displace to. The predetermined position and the contraction speed of the airbag 153 are set so as to reproduce the movement of the lower limbs in an ideal standing motion. In this way, since the teaching control is executed by the control device 150, the user 100 can form an ideal rising operation or an operation close thereto by standing up while keeping the shin in contact with the contacted surface 153A.

  -The modification of the exercise assistance apparatus 1 of Embodiment 1 is provided with the another base 160 which can be installed in an installation surface instead of the base 10, as FIG. 11B shows. The base 160 includes a support base 161 installed on the installation surface, a footrest 162 arranged on the support base 161, and a shaft 163 extending in the left-right direction of the base 160. The shaft 163 passes through the footrest 162 in the left-right direction of the base 160 and is attached to the support base 161 so as to be rotatable with respect to the support base 161. For this reason, the footrest 162 rotates with respect to the support base 161. In addition, the base 160 is a base 164 that supports the footrest 162, a force applying unit 165 that applies a force to the crus support element 20 to return the rotational position of the crus support element 20 to an initial position, and a force that acts on the force application unit 165. A damper 166 is further provided. Each first support portion 21 of the crus support element 20 is fixed to the footrest 162 so as to be inclined forward with respect to the footrest 162. FIG. 11B shows the initial position of the crus support element 20.

  The base 164 is disposed in front of the shaft 163 in the support base 161. An example of the force applying unit 165 is a spring that connects the support base 161 and the footrest 162 to the rear side of the shaft 163. For this reason, the footrest 162 rotates relative to the support base 161 together with the crus support element 20 when a load acts on a portion on the rear side of the shaft 163. As a result, the contact surface 24A of the elastic member 24 is displaced with respect to the base 160 in the front-rear direction.

  The user 100 keeps the shin in contact with the contacted surface 24A and sits on the chair 40, so that a load is applied to a portion of the footrest 162 that is behind the shaft 163 as shown in FIG. 11A. The leg support element 20 and the footrest 162 are rotated with respect to the support 161. The user 100 then stands up and starts training. As the user 100 stands up from the chair 40, the center of gravity of the user 100 moves forward, so that the crus support element 20 returns to the initial position as shown in FIG. 11B. The user 100 can form the standing motion while moving the knee forward by moving the leg so that the shin is kept in contact with the contacted surface 24A until the standing motion is completed.

  -According to the modification of the exercise assistance apparatus 1 of Embodiment 1, the supporter provided with a goniometer is attached to the knee of the user 100 instead of or in addition to the load sensor 45 arranged in the seat 41 of the chair 40. It is done. The goniometer detects the knee angle of the user 100 and outputs a signal reflecting the angle to the control device 50. According to this modification, since the control device 50 performs the teaching control based on the signal obtained from the goniometer, the same effect as that of the first embodiment can be obtained.

  Whether or not the exercise assisting apparatus 1 according to the first embodiment includes the grip portion 30 is an arbitrary selection item. According to this modification, the grip part support part 31 may be omitted from the exercise assisting device 1 together with the grip part 30. Note that a modification according to the present modification is also established in the grip part 30 of the second embodiment and the grip part 30 of the third embodiment.

  Whether or not the exercise assisting apparatus 1 according to the first embodiment includes the chair 40 is an arbitrary selection item. According to this modification, a supporter including a goniometer is attached to the knee of the user 100. In addition, the modification according to the present modification is also established in the chair 40 of the second embodiment and the chair 40 of the fourth embodiment.

  -The modification of the exercise assistance apparatus 2 of Embodiment 2 is provided with the control apparatus 50 and the motor 51 of Embodiment 1 instead of the force provision part 111 and the damper 112. FIG. According to this modification, a load sensor signal is output to the control device 50. The control device 50 determines the element rotation angle based on the signal from the load sensor 113. According to this modification, at least the effects (5) and (6) in the second embodiment can be obtained. Another modification of the exercise assisting device 2 includes an airbag that expands or contracts so that the contacted surface 24A is displaced in the front-rear direction with respect to the base 10. According to this modification, the shaft 13 is further omitted, and the first support portions 21 are fixed to the support base 11 so that the crus support element 20 does not rotate with respect to the base 10.

  -The modification of the exercise assistance apparatus 2 of Embodiment 2 is provided with the load sensor 113 of any number of 1 or 3 or more which detects the load which acts on the to-be-contacted surface 24A. For example, when there is one load sensor 113, each elastic member 24 is formed continuously, and the load sensor 113 is arranged inside the intermediate portion.

  -The modification of the load information alerting | reporting part 120 of Embodiment 2 displays the calculated supporting load and the several target value 121 of a supporting load on the screen with which self is provided. The plurality of target values 121 are target values for each posture state that the user 100 can take in the standing-up motion, for example.

  -The modification of the load information alerting | reporting part 120 of Embodiment 2 does not output the target value 121. FIG. The load information notification unit 120 of this modification displays the load acting on the contacted surface 24A. For this reason, the user 100 can form the rising motion while recognizing the knee motion at the time of the rising motion.

  -Whether the exercise assistance apparatus 2 of Embodiment 2 is provided with the load information alerting | reporting part 120 is arbitrary selection matters. The user 100 of the exercise assisting apparatus 2 of this modified example subjectively forms an ideal standing motion, so that the contacted surface 24A is moved forward while the knee is extended while moving the knee forward. You can stand up. The contact surface 24A is displaced forward while applying a reaction force to the shin by the force applied from the shin, and is displaced toward the initial position following the movement of the shin as the force applied from the shin is weakened. For this reason, the user 100 can perceive that an ideal rising motion or a motion close thereto can be formed by the reaction force received from the contacted surface 24A when the knee is stretched.

-The modification of the force provision part 111 of Embodiment 2 is a pair of rubber | gum which connects the back side part and the 1st support part 21 rather than the leg support element 20 of the support stand 11. FIG.
The modified example of the exercise assistance device 3 according to the third embodiment includes a configuration in which the lower leg support element 20 moves in the front-rear direction with respect to the chair 40 instead of the configuration in which the chair 40 moves in the front-rear direction with respect to the base 10. . Another modification of the exercise assisting device 3 includes a configuration in which the base 10 moves in the front-rear direction with respect to the chair 40. Still another modification of the exercise assisting device 3 includes a configuration in which the footrest 12 moves in the front-rear direction with respect to the chair 40.

  -The modification of the exercise assistance apparatus 3 of Embodiment 3 is provided with the load sensor which detects the load which acts on the seat 41 of the chair 40 instead of the operation part 132. FIG. This load sensor is disposed inside the seat 41 and outputs a signal reflecting a load acting on the seat 41 (hereinafter referred to as “load sensor signal”) to the control device 130. When the control device 130 determines that the user 100 is seated on the seat 41 based on the signal of the load sensor, the knee 40 protrudes forward by moving the chair 40 forward relative to the base 10. Is provided to the user 100. For this reason, the user 100 can form a rising motion after forming a sitting posture in which the knee protrudes forward. When it is determined that the user 100 is not seated on the seat 41 based on the signal from the load sensor, the control device 130 moves the chair 40 to the rear side with respect to the base 10.

  Whether or not the exercise assistance device 3 according to the third embodiment includes the operation unit 132 is an arbitrary selection item. The exercise assisting device 3 of this modification includes, for example, a roller for the support 42 to move along the rail 44A. According to this modification, the user 100 moves the chair 40 to the front side with respect to the base 10 by pulling the chair 40 forward by his / her own power. For this reason, the user 100 can form a sitting posture with the knee protruding forward.

  -The modification of the exercise assistance apparatus 3 of Embodiment 3 is further equipped with the structure which rotates the leg support element 20 with the motor 51 in Embodiment 1. FIG. Another modification of the third embodiment further includes a structure in which the lower leg support element 20 is rotated forward by the force of the user 100 in the second embodiment.

-The modification of the exercise assistance apparatus 4 of Embodiment 4 is provided with a pair of other 3rd part from which the holding part support part 141 is extended toward the front side with respect to the base 10 from the both ends of 2nd part 141B.
A modified example of the exercise assisting device 4 according to the fourth embodiment is, as shown in FIG. 12, in place of the grip portion 140 and the grip portion support portion 141, another grip portion support portion 171 coupled to the support base 11, In addition, another grip part 170 coupled to the grip part support part 171 is provided. The grip portion 170 extends in the left-right direction of the base 10 and is attached to an upper portion of the grip portion support portion 171 so as to be movable in the front-rear direction with respect to the base 10.

  The gripping portion support portion 171 is coupled to the first portion 171A via the rotation shaft 172 so that the grip portion support portion 171 can be rotated in the front-rear direction with respect to the first portion 171A extending from the front portion of the base 10. A second portion 171B is provided. The gripping part support part 171 further includes a spring 173 that applies a force for returning the rotational position of the second part 171B to the initial state to the second part 171B, and a damper 174 that attenuates the force acting on the spring 173. The spring 173 is attached to the front side of the grip portion support portion 171 so as to connect the first portion 171A and the second portion 171B. For this reason, the grip part 170 moves in the front-rear direction with respect to the base 10 when the second portion 171B rotates with respect to the first portion 171A. In addition, FIG. 12 has shown the initial position of the holding | grip part 170 with the dashed-two dotted line. According to this modification, at least the effect (9) in the fourth embodiment can be obtained.

  -According to the modification of the exercise assistance apparatus 4 of Embodiment 4, it replaces with the spring 143 and is provided with the control apparatus which controls the movement of the front-back direction and the up-down direction with respect to the base 10 of the holding part 140. For example, the exercise assisting device 4 according to the modified example further includes an operation unit that operates the control device, and the gripping unit 140 moves in the front-rear direction with respect to the base 10 when the operation unit is operated. The operation unit is preferably formed on the grip 140.

-The modification of the exercise assistance apparatus 4 of Embodiment 4 is further equipped with the damper which attenuates the force which the holding part support part 141 acts on the spring 143. FIG.
Whether or not the exercise assisting device 4 according to the fourth embodiment includes the base 10 and the crus support element 20 is an arbitrary choice. Even if one or more of these elements are omitted, at least the effects (9) and (10) of the fourth embodiment can be obtained.

  The modified examples of the exercise assisting devices 1 to 4 according to the embodiments are an example of the operation information notifying unit 180 that outputs visual information that teaches the standing up motion, and the operation detecting unit that detects the operation of the leg that is the target part. The camera is further provided. The camera outputs a signal including video information related to the motion of the leg to the motion information notification unit 180. In the exercise assistance device 2 according to the second embodiment, the load information notification unit 120 and the motion information notification unit 180 may be configured integrally.

  As shown in FIG. 13, the motion information notification unit 180 itself includes video regarding the motion of the leg of the user 100 and tibial angle target information 181 which is target information regarding the ideal tibia angle in the standing motion as visual information. Display on prepared screen. The tibial angle target information 181 is stored in advance in the motion information notification unit 180 and is set in association with the maximum amount of forward movement of the knee in an ideal standing motion. Thus, the tibial angle target information 181 has a role as an index value of the maximum movement amount to the front side of the knee. FIG. 13 shows the tibial angle target information 181 with dots.

  According to this modified example, the user 100 can form the rising motion while referring to the video regarding the leg motion and the tibial angle target information 181. For this reason, the degree of deviation between the ideal tibia angle and the current tibia angle in the rising motion can be recognized. For this reason, compared with the case where the user 100 forms a rising motion depending only on his / her own sense, an ideal tibial angle in the rising motion is easily formed. For this reason, it is easy for the user 100 to form an ideal rising operation or an operation close thereto. Note that the target information displayed as visual information by the motion information notification unit 180 may be target information regarding an ideal knee position or target information regarding an ideal lower body motion.

  The modified examples of the exercise assisting devices 1 to 4 of each embodiment are an example of the operation information notification unit 190 that outputs visual information that teaches the standing up motion, and the operation detection unit that detects the operation of the head that is the target part. The camera is further provided. The camera outputs a signal including video information related to the motion of the head to the motion information notification unit 190. In the exercise assistance device 2 according to the second embodiment, the load information notification unit 120 and the motion information notification unit 190 may be integrally configured.

  As shown in FIG. 14, the motion information notification unit 190 displays a video regarding the head motion of the user 100 and a plurality of head motion target information 191 which is target information regarding an ideal head motion in the rising motion as visual information. Display on your screen. Each head movement target information 191 is stored in advance in the movement information notification unit 190, and is set in association with the movement of the head for each posture state that the user 100 can take in an ideal standing motion. As described above, the head movement target information 191 has a role as an index value of head movement including movement of the head forward. FIG. 14 schematically shows the head movement target information 191 with broken lines.

  According to this modified example, the user 100 can form the rising motion while referring to the image relating to the head motion and the head motion target information 191. For this reason, it is possible to recognize the degree of deviation between the ideal head motion and the current head motion in the rising motion. For this reason, compared with the case where the user 100 forms a rising motion depending only on his / her sense, an ideal head motion in the rising motion is easily formed. For this reason, it is easy for the user 100 to form an ideal rising operation or an operation close thereto. Note that the target information displayed as visual information by the motion information notification unit 190 may be target information regarding an ideal upper body motion.

  -The modification of the exercise | movement assistance apparatuses 1-4 of each embodiment is further provided with the operation | movement information alerting | reporting part 200 which outputs the visual information which teaches standing motion, and the some load sensor which detects a load. For example, a plurality of load sensors are arranged at four corners of the inside of the footrest 12, and signals (hereinafter referred to as “load sensor signals”) in which loads acting on the footrest 12 are reflected to the operation information notification unit 200. Output. In the exercise assistance device 2 according to the second embodiment, the load information notification unit 120 and the motion information notification unit 200 may be integrally configured.

  As shown in FIG. 15, the motion information notification unit 200 calculates the center of gravity 201 of each leg of the user 100 based on the signal of each load sensor, and calculates the center of gravity 201 of the leg and the ideal in the rising motion as visual information. Center-of-gravity position target information 202, which is target information related to a specific center-of-gravity position, is displayed on a screen provided to itself. The position of the center of gravity correlates with the movement of the user's 100 head or upper body. The center-of-gravity position target information 202 is stored in advance in the motion information notification unit 200 and is set in association with the maximum amount of forward movement of the center of gravity in an ideal rising motion. Thus, the center-of-gravity position target information 202 has a role as the maximum amount of movement of the center of gravity to the front side. In FIG. 15, the center of gravity position 201 of the user 100 is indicated by dots, and the center of gravity position target information 202 is indicated by broken lines.

  According to this modification, the user 100 can form a rising motion while referring to his / her gravity center position 201 and the gravity center position target information 202. For this reason, it is possible to recognize the degree of deviation between the ideal gravity center position and the current gravity center position 201 in the rising motion. For this reason, compared with the case where the user 100 forms the rising motion depending only on his / her sense, the ideal movement of the center of gravity in the rising motion is easily formed. For this reason, it is easy for the user 100 to form an ideal rising operation or an operation close thereto.

In the modified examples of the exercise assisting devices 1 to 4 of each embodiment, the contacted surface 24 </ b> A of the crus support element 20 exists at a height position where it contacts the knee of the user 100.
In the modified examples of the exercise assistance devices 1 to 4 of each embodiment, the gripping portions 30 and 140 are coupled to the crus support element 20 via the gripping portion support portions 31 and 141.

  -The modification of the exercise | movement assistance apparatuses 1-3 of each embodiment is a structure where the holding part 30 or the holding part support part 31 can rotate with respect to the base 10 in the left-right direction. According to this modification, the grip 30 rotates to the right or left with respect to the base 10 as the user 100 rises. For this reason, when the center of gravity of the user 100 moves, a larger load acts on one leg than on the other leg. Such a motion of the user 100 is close to an ideal walking motion. For this reason, the user 100 can form an ideal walking motion or a motion close thereto. Another modified example of the exercise assisting devices 1 to 3 is a structure in which the grip portion 30 or the grip portion support portion 31 can be rotated with respect to the base 10.

(Additional note regarding means for solving the problem)
[Supplementary Note 1] An exercise assisting device comprising a gripping part coupled to an installable gripping part support part, wherein the gripping part is movable in the front-rear direction with respect to the gripping part support part.

  [Supplementary Note 2] The exercise assisting device according to Supplementary Note 1, further comprising a crus support element disposed on an upper side of the base and having a contacted surface, wherein a space is formed below the crus support element.

DESCRIPTION OF SYMBOLS 1 Exercise assistance apparatus 2 Exercise assistance apparatus 3 Exercise assistance apparatus 4 Exercise assistance apparatus 10 Base 20 Lower leg support element 24A Contact surface 30 Gripping part 40 Chair 50 Control apparatus 51 Motor (actuator)
DESCRIPTION OF SYMBOLS 111 Force provision part 113 Load sensor 120 Load information alerting | reporting part 121 Target value 140 Grip part 150 Control apparatus 151 Air pump (actuator)
153A Contacted surface 160 Base 165 Force applying unit 170 Gripping unit 180 Operation information notification unit 190 Operation information notification unit 200 Operation information notification unit

Claims (11)

A crus support element having a contacted surface and a base for supporting the crus support element, a space is formed below the crus support element, and the contacted surface is displaceable with respect to the base in the front-rear direction. There is an exercise assistance device. The exercise assisting device according to claim 1, further comprising: an actuator that applies a driving force for displacing the contacted surface to the crus support element; and a control device that controls the actuator. The exercise assisting device according to claim 1, further comprising a force applying unit that applies a force to the lower leg support element to return the contacted surface to an initial state. The load sensor which detects the load which acts on the said to-be-contacted surface, and the load information alerting | reporting part which outputs the information in which the load detected by the said load sensor was reflected are further provided. The exercise assistance device described. The exercise assistance device according to claim 4, wherein the load information notification unit outputs a target value related to a load acting on the contacted surface. The exercise assisting device according to any one of claims 1 to 5, further comprising a chair arranged on a rear side of the lower leg support element. The exercise assistance device according to claim 6, wherein the crus support element and the chair are relatively movable in the front-rear direction. The exercise assisting device according to any one of claims 1 to 7, further comprising a grip portion disposed above the lower leg support element. The exercise assisting device according to claim 8, wherein the grip portion is movable in the front-rear direction with respect to the base. The exercise assisting device according to any one of claims 1 to 9, further comprising an operation information notification unit that outputs visual information that teaches a rising motion. A motion detection unit for detecting the motion of the target part;
The exercise assistance device according to claim 10, wherein the motion information notification unit outputs information reflecting the motion of the target part detected by the motion detection unit.