JP2018093961A - 訓練システム、および足関節トルク推定方法 - Google Patents
訓練システム、および足関節トルク推定方法 Download PDFInfo
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Abstract
【解決手段】搭乗者が立って搭乗する搭乗部と駆動輪とを有する倒立振子型移動体であって、倒立状態を維持する駆動輪の駆動トルクを検出する検出部と、搭乗者が搭乗部に加えている足関節トルクのトルク情報を、検出部で検出された駆動トルクから生成して出力する出力部とを備える倒立振子型移動体を提供する。
【選択図】図4
Description
Fmotorv=Ffootv (1)
が成り立つ。これをトルクの関係式に置き換えると、
Tfoot/dfm=Tmotor/dtm (2)
となる。したがって、目的変数であるTfootは、
Tfoot=Tmotor・dfm/dtm (3)
と表される。また、x軸方向における距離の関係は、
dfm=dft+dtm (4)
であるので、これを(3)式に代入すると、
Tfoot=Tmotor・(dft/dtm+1) (5)
となる。dtmはWAからBPのx軸方向における距離であるので、
dtm=Tmotor/(Mg) (6)
と表すことができる。ここでgは、重力加速度である。すると、(5)式は、
Tfoot=Mg・dft+Tmotor (7)
と解くことができる。
Fha=Fh・cosθ (8)
と算出できる。搭乗者がハンドル110に力を加えることによって発生するFhaのWA周りのトルクをThとすると、
Th=Fha・dmh (9)
である。したがって、搭乗者がハンドル110に力を加えた場合には、(7)式を、
Tfoot=Mg・dft+Tmotor−Th (10)
と修正することができる。
Claims (12)
- 搭乗者が立って搭乗する搭乗部と駆動輪とを有する倒立振子型移動体を含む訓練システムであって、
前記倒立振子型移動体の倒立状態を維持する前記駆動輪の駆動トルクを検出する第1検出部と、
前記搭乗者のバランス維持を補助する補助支持部に前記搭乗者が加える荷重を検出する第2検出部と、
前記搭乗者が前記搭乗部に加えている足関節トルクのトルク情報を、前記第1検出部で検出された前記駆動トルクと前記第2検出部で検出された前記荷重とから生成して出力する出力部と
を備える訓練システム。 - 前記第2検出部で検出された前記荷重が予め定められた閾荷重を超えた場合に、その旨を告知する告知部を備える請求項1に記載の訓練システム。
- 前記出力部は、前記第2検出部で検出された前記荷重が予め定められた閾荷重を超えた場合に、前記トルク情報に付加情報を追加する請求項1または2に記載の訓練システム。
- 前記補助支持部は、前記倒立振子型移動体に設けられた前記搭乗者が把持するハンドルを含む請求項1から3のいずれか1項に記載の訓練システム。
- 前記補助支持部は、前記倒立振子型移動体とは独立して設置され、前記搭乗者の上体に装着される吊具を含む請求項1から4のいずれか1項に記載の訓練システム。
- 前記搭乗者の体重および足のサイズの少なくともいずれかを取得する取得部を備え、
前記出力部は、前記駆動トルクと、前記荷重と、前記取得部が取得した前記体重および前記足のサイズの少なくともいずれかとを用いて前記トルク情報を生成する請求項1から5のいずれか1項に記載の訓練システム。 - 前記出力部は、前記駆動トルクと、前記荷重と、固定値として予め設定した前記搭乗者の体重および足のサイズの少なくともいずれかとを用いて前記トルク情報を生成する請求項1から6のいずれか1項に記載の訓練システム。
- 前記搭乗者の足関節をトレーニングするトレーニングモードとして設定される、前記搭乗者の重心移動に応じて走行する能動モードと、擬似的な外乱を発生させて倒立状態を不安定にさせる受動モードとを切り替える切替部を備える請求項1から7のいずれか1項に記載の訓練システム。
- 前記出力部が出力する前記トルク情報に基づいて、前記搭乗部を傾斜させる傾斜制御部を備える請求項1から8のいずれか1項に記載の訓練システム。
- 前記出力部は、前記倒立振子型移動体が旋回移動をしていない時の前記駆動トルクから前記トルク情報を生成する請求項1から9のいずれか1項に記載の訓練システム。
- 前記出力部が出力する前記トルク情報から、前記足関節トルクが予め定められた閾値を超えたと推定される回数を計数して呈示する呈示部を備える請求項1から10のいずれか1項に記載の訓練システム。
- 搭乗者が立って搭乗する搭乗部と駆動輪とを有する倒立振子型移動体に搭乗する搭乗者の足関節トルクを推定する足関節トルク推定方法であって、
前記倒立振子型移動体の倒立状態を維持する前記駆動輪の駆動トルクを検出する第1検出ステップと、
前記搭乗者のバランス維持を補助する補助支持部に前記搭乗者が加える荷重を検出する第2検出ステップと、
前記第1検出ステップで検出された前記駆動トルクと、前記第2検出ステップで検出された前記荷重とを用いて前記足関節トルクの推定値を生成する生成ステップと
を含む足関節トルク推定方法。
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