JP2018175663A - Training device and training method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly measure muscle force of a trainee for applying a proper load on the basis of muscle force of the trainee, with a simple and inexpensive configuration.SOLUTION: A console 10 measures a torque generated by a servo motor 71 for moving a movable member when a trainee does not contact the movable member, measures a torque generated by the servo motor 71 for moving the movable member when a weight of a training portion is applied to the movable member, and measures a torque applied to the servo motor 71 when the trainee moves the movable member. The console 10 calculates a mechanical loss of a training device 1, calculates a weight of the training portion, and calculates a precise force which is applied to the movable member by the trainee.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a training apparatus and training method for training the muscle strength of a user (trainee).

  There are known various training devices for training the muscle strength of the user (trainee) hands, feet, chest, and abdomen for improving physical function and for maintaining health. Various mechanisms such as weights, springs, motors, etc. are used to load the trainee. For example, Patent Documents 1 and 2 disclose a training device using a motor.

Patent No. 5055506 Patent No. 5785716

  In order to improve the effectiveness of training, it is first necessary to quantitatively evaluate the muscle strength of the trainee, and further, it is necessary to apply an appropriate load based on the muscle strength of the trainee.

  The trainee's muscle strength is preferably measured not as a static force that pushes a wall, but as a dynamic force that, for example, it steps off a foot. Furthermore, it is desirable that the training device be capable of performing such training to increase dynamic power.

  In addition, in order to use such a training device for many people, it is desirable that the training device be configured simply and inexpensively without using a pressure transducer or the like.

  Conventionally, no training device has been provided which can meet all of these conditions.

  An object of the present invention is to provide a training apparatus and a training method capable of accurately measuring the muscle strength of trainee in order to apply an appropriate load based on the muscle strength of trainee while having a simple and inexpensive configuration. is there.

A training device according to a first aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque generated by the servomotor to move the movable member in the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a third torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical loss of the training device based on the first torque;
Calculating the weight of the training site based on the first and second torques;
Based on the second and third torques, calculate the net force exerted by the trainee on the moveable member.

A training device according to a second aspect of the present invention is the training device according to the first aspect, wherein
The control unit measures the first to third torques by measuring a current flowing through the servomotor.

A training device according to a third aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member within the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Based on the first torque, calculate a total loss due to mechanical loss of the training device and weight of the training site,
Based on the first and second torques, calculate the net force exerted by the trainee on the moveable member.

A training device according to a fourth aspect of the present invention is the training device according to the third aspect, wherein
The control unit measures the first and second torques by measuring a current flowing through the servomotor.

A training device according to a fifth aspect of the present invention is the training device according to one of the first to fourth aspects, wherein
The training device is a sheeted leg press device.

A training device according to a sixth aspect of the present invention is the training device according to one of the first to fourth aspects, wherein
The training device is a dips device.

A training device according to a seventh aspect of the present invention is the training device according to one of the first to sixth aspects, wherein
The control unit applies the predetermined load determined based on the magnitude of the net force to the trainee, and cancels the mechanical loss of the training apparatus and the weight of the training site. And setting a predetermined torque which fluctuates over the movable range in the servomotor.

A training device according to an eighth aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical loss of the training device based on the first torque;
Based on the first and second torques, calculate the net force exerted by the trainee on the moveable member.

A training device according to a ninth aspect of the present invention is the training device according to the eighth aspect, wherein
The control unit measures the first and second torques by measuring a current flowing through the servomotor.

A training device according to a tenth aspect of the present invention is the training device according to the eighth or ninth aspect, wherein
The training device is a leg curl device.

A training device according to an eleventh aspect of the present invention is the training device according to the eighth or ninth aspect, wherein
The training device is a seated chest press device.

A training device according to a twelfth aspect of the present invention is the training device according to one of the eighth to eleventh aspects, wherein
The control unit varies over the movable range so as to apply a predetermined load determined based on the magnitude of the net force to the trainee, and to cancel mechanical loss of the training device. A predetermined torque is set to the servomotor.

A training device according to a thirteenth aspect of the present invention is the training device according to the seventh or twelfth aspect, wherein
The control unit determines the magnitude of the load given to the trainee based on the magnitude of the net force.

A training device according to a fourteenth aspect of the present invention is the training device according to the seventeenth or twelfth aspect, wherein
The control unit
Transmitting information indicating the magnitude of the net force to an external server device;
Information indicating a load size determined by the server apparatus based on the net force size is received from the server apparatus.

A training device according to a fifteenth aspect of the present invention is the training device according to one of the first to fourteenth aspects, wherein
The control unit detects the positions of both ends of the movable range.

A training method according to a sixteenth aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque generated by the servomotor to move the movable member in the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a third torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical losses of the training device based on the first torque;
Calculating the weight of the training site based on the first and second torques;
Calculating a net force exerted by the trainee on the movable member based on the second and third torques.

The training method according to the seventeenth aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the moveable member in the moveable range when the weight of the training site of the trainee rests on the moveable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating a mechanical loss of the training device and a total loss due to the weight of the training site based on the first torque;
Calculating a net force exerted by said trainee on said movable member based on said first and second torques.

The training method according to the eighteenth aspect of the present invention is
At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical losses of the training device based on the first torque;
Calculating a net force exerted by said trainee on said movable member based on said first and second torques.

  According to the training apparatus and the training method according to one aspect of the present invention, in order to apply an appropriate load based on the muscle power of the trainee while having a simple and inexpensive configuration by measuring the mechanical loss of the apparatus in advance. Can accurately measure the strength of the trainee.

1 is a perspective view showing the configuration of a training device 1 according to Embodiment 1. FIG. It is a block diagram which shows the structure of the control apparatus 12 of FIG. 1, and the drive device 13. As shown in FIG. It is a perspective view which shows the 1st state when the trainee 100 uses the training apparatus 1 of FIG. It is a perspective view which shows the 2nd state when the trainee 100 uses the training apparatus 1 of FIG. It is a flowchart which shows the training control processing performed by the training apparatus 1 of FIG. It is the schematic for demonstrating the gravity W1 concerning the shaft 14 and footrest 15 of FIG. It is the schematic for demonstrating the torque when moving the shaft 14 and the footrest 15 of FIG. 1 from a lower end position to an upper end position, and moving from an upper end position to a lower end position. FIG. 7 is a graph showing the net force applied to shaft 14 and footrest 15 by various trainees. It is a graph which shows the torque set to the servomotor 71 in order to give predetermined | prescribed load to the trainee 3 of FIG. It is a flowchart which shows the modification of the training control processing performed by the training apparatus 1 of FIG. It is a perspective view which shows the structure of the training apparatus 2 which concerns on Embodiment 2. FIG. It is a perspective view which shows the 1st state when the trainee 100 uses the training apparatus 2 of FIG. It is a perspective view which shows the 2nd state when the training apparatus 2 of FIG. 11 is used. It is a flowchart which shows the training control processing performed by the training apparatus 2 of FIG. It is a perspective view which shows the structure of the training apparatus 3 which concerns on Embodiment 3. FIG. It is a perspective view which shows the 1st state when the trainee 100 uses the training apparatus 3 of FIG. It is a perspective view which shows the 2nd state when the training apparatus 100 of FIG. 15 is used. FIG. 21 is a perspective view showing a configuration of a training device 3AA according to a modification of the third embodiment. It is a perspective view which shows the structure of the training apparatus 4 which concerns on Embodiment 4. FIG. It is a perspective view which shows the 1st state when the trainee 100 uses the training apparatus 4 of FIG. It is a perspective view which shows the 2nd state when the training apparatus 100 of FIG. 19 is used. FIG. 14 is a block diagram showing the configuration of a training system according to a fifth embodiment.

Embodiment 1
FIG. 1 is a perspective view showing the configuration of the training device 1 according to the first embodiment. The training apparatus 1 is configured as a sheeted leg press apparatus for training a predetermined part of a trainee's body, for example, a quadriceps femoris muscle, an gluteus maximus muscle, a middle gluteus maximus muscle and the like.

  The training device 1 includes a console 10, a chassis 11, a controller 12, a drive 13, a shaft 14, a footrest 15, a seat 16, a handle 17, a support 18, and a stop switch SW1.

  The components of the training device 1 are attached to the chassis 11.

  The shaft 14 and the footrest 15 are movable members which are moved by a trainee within a predetermined movable range. One end of the shaft 14 is connected to the rotational shaft of the drive 13 and rotatably supported about the rotational shaft, as described later. The footrest 15 is connected to the other end of the shaft 14.

  The driving device 13 moves the shaft 14 and the footrest 15 in their movable range, and further applies a predetermined load to the trainee via the shaft 14 and the footrest 15. In the present specification, the drive device 13 is also referred to as a “drive unit”.

  The console 10 and the control device 12 control the drive device 13. The console 10 executes a predetermined control program, receives user input, and the control device 12 controls the drive device 13 under the control of the console 10. The console 10 may be a tablet terminal device equipped with a display and a touch panel, and may be a personal computer equipped with a display, a keyboard and a pointing device. For example, the control device 12 is connected to the drive device 13 by wire, and the console 10 is connected to the control device 12 by wire or wirelessly. Hereinafter, the console 10 is connected to the control device 12 by Bluetooth (registered trademark). In the present specification, the console 10 and the control device 12 are collectively referred to as a “control unit”.

  The console 10 and the controller 12 may be integrated with each other.

  The stop switch SW1 stops the movement of the shaft 14 and the footrest 15 when pressed, such as when the trainee desires an emergency stop of the training device 1.

  The trainee sits on the seat 16, places the trainee's foot on the footrest 15, and holds the handle 17 with both hands. In the first embodiment, a foot which is a portion of the trainee for moving the movable member (the shaft 14 and the footrest 15) is referred to as a "training portion".

  The post 18 rotatably supports the console 10 and the stop switch SW1 around the trainee.

  FIG. 2 is a block diagram showing the configuration of the control device 12 and the drive device 13 of FIG. The control device 12 includes a control circuit 61, a power supply circuit 62, a Bluetooth communication circuit 63, and a servo amplifier 64. The drive device 13 includes a servomotor 71, a motor encoder 72, and a gear box 73.

  The servomotor 71 generates a predetermined torque under the control of the console 10 and the controller 12. The motor encoder 72 detects the rotational position of the servomotor 71. By detecting the rotational position of the servomotor 71, the positions of the shaft 14 and the footrest 15 can be known. The gear box 73 decelerates the rotation of the rotation shaft of the servomotor 71 and transmits it to the shaft 14 and the footrest 15.

  The power supply circuit 62 receives supply of AC power of 100 V from the commercial power supply 55 to generate DC power, and supplies DC power to the control circuit 61 and the servo amplifier 64.

  The Bluetooth communication circuit 63 is wirelessly connected to the console 10.

  The servo amplifier 64 controls the servomotor 71 under the control of the control circuit 61. The servo amplifier 64 monitors the current torque, position and speed of the servomotor 71 and instructs the servomotor 71 the desired torque, position and speed. The servo amplifier 64 measures the current flowing through the servomotor 71 to measure the torque of the servomotor 71. The servo amplifier 64 also sets the torque of the servomotor 71 by setting the current flowing through the servomotor 71.

  The control circuit 61 receives monitor signals for monitoring the torque, position and speed of the servomotor 71 from the servo amplifier 64, and generates command signals for instructing the torque, position and speed of the servomotor 71 as servo amplifier Send to 64 The control circuit 61 is connected to the servo amplifier 64 via, for example, a parallel or serial interface.

  The switches SW2 and SW3 are provided at positions (end positions) at the limit of the movable range of the shaft 14 and the footrest 15, respectively. When the switch SW2 or SW3 is pressed by the shaft 14 and the footrest 15, the control circuit 61 stops the servomotor 71. As a result, it is possible to prevent the failure of the training device 1 and to prevent an excessive load on the trainee's body.

  Also, when the trainee presses the stop switch SW1, the control circuit 61 stops the servomotor 71.

  FIG. 3 is a perspective view showing a first state when the trainee 100 uses the training device 1 of FIG. FIG. 4 is a perspective view showing a second state when the trainee 100 uses the training device 1 of FIG. The console 10 and the control device 12 set a predetermined torque in the servomotor 71 of the drive device 13 so as to apply a predetermined load to the trainee 100 in the state of FIG. 3. The trainee 100 pushes down the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. 4. The console 10 and the control device 12 set, in the servomotor 71 of the drive device 13, a predetermined torque that fluctuates in the process of changing the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. 4. When the shaft 14 and the footrest 15 are pushed down by the trainee 100 to the state of FIG. 4, the console 10 and the controller 12 push up the shaft 14 and the footrest 15 to the state of FIG. 3 and stand by to be pushed down again by the trainee 100. By repeating this operation, the trainee 100 trains the muscle power.

  FIG. 5 is a flowchart showing a training control process executed by the training device 1 of FIG. Here, the console 10 will be described as executing a control program related to the training control process.

  First, the trainee places the training site on the movable member (i.e. places the foot on the footrest 15) to carry out step S1.

  In step S1, the console 10 detects the positions of both ends of the movable range of the training site of the trainee. In the case of a sheeted leg press apparatus as shown in FIG. 1, the positions of the shaft 14 and the footrest 15 with the legs of the trainee bent as shown in FIG. 3 and the shafts with the legs of the trainee extended as shown in FIG. The positions of the footrest 14 and the footrest 15 are detected.

  After detecting the positions of both ends of the movable range of the training site, the trainee once removes the training site from the movable member (that is, lowers the foot from the footrest 15) to perform step S2.

  In step S2, the console 10 measures the torque generated by the servomotor 71 to move the movable member in the movable range of the trainee when the trainee does not touch the movable member (the shaft 14 and the footrest 15). At this time, the console 10 sets a predetermined speed to the servomotor 71.

  FIG. 6 is a schematic view for explaining the gravity W1 applied to the shaft 14 and the footrest 15 of FIG. The point O indicates the rotation axis of the drive device 13. Point P indicates the center of gravity of the training area of the trainee and the area where the shaft 14 and the footrest 15 face each other (that is, the position at which the force of the trainee is applied to the shaft 14 and the footrest 15). R indicates the distance from point O to point P. θ indicates the angle of the shaft 14 with respect to the horizontal plane. W1 shows the weight (kg) of the shaft 14 and the footrest 15 applied to the point P.

  When the shaft 14 is rotatably supported around the point O, the tangential component force (kg) of the weight W1 at the point P on the circumference of the center O and the radius R is represented by A1 = W1 · cos θ Be done. Therefore, the tangential torque (kg · m) at point P resulting from this component force A1 is represented by A1 (kg) × R (m).

  The torque (kg · m) generated by the sliding friction of the servomotor 71, the gear box 73, the shaft 14 and the footrest 15 is represented by Fri. The torque Tup of the servomotor 71 necessary to lift the shaft 14 and the footrest 15 and the torque Tdown of the servomotor 71 necessary to depress the shaft 14 and the footrest 15 are expressed by the following equations.

Tup = Fri + A1 x R
Tdown = Fri-A1 × R

  According to the above-mentioned torque Tup and Tdown equations, when the shaft 14 is at an angle close to 90 degrees with respect to the horizontal plane, the torque Fri due to friction etc. becomes larger than the component force A1, and the shaft 14 falls It becomes difficult. As the angle θ decreases, the component force A1 increases and the shaft 14 rotates so as to be closer to the horizontal plane.

  FIG. 7 is a schematic view for explaining torque when moving the shaft 14 and the footrest 15 of FIG. 1 from the lower end position to the upper end position and from the upper end position to the lower end position. FIG. 7 shows the case where the shaft 14 has a movable range of 0 degrees to 43 degrees with respect to the horizontal plane. A force twice as high as the tangential component A1 at the point P appears as a hysteresis of the torque in the lifting and lowering directions.

  In FIG. 7, when the shaft 14 and the footrest 15 are near the lower end position (θ = 0 degrees) and the upper end position (θ = 43 degrees), the torques may not be exactly balanced. In order to maintain the position of the shaft 14 and the footrest 15, the shaft 14 and the footrest 15 may be pressed against other components. In addition, the friction coefficient may change due to the shaft 14 and the footrest 15 starting to move from the stationary state.

  After measuring the torques Tup and Tdown, the trainee places the training site on the movable member again (ie, puts the foot on the footrest 15 again) to perform step S3.

  In step S3 of FIG. 5, the console 10 generates a torque generated by the servomotor 71 to move the movable member within the movable range when the weight of the training site rests on the movable member (the shaft 14 and the footrest 15). Measure T1. At this time, the console 10 sets, to the servomotor 71, the same speed as the speed set to the servomotor 71 in step S2. The trainee places the trainee's foot on the footrest 15 so that the trainee's own force is not applied to the shaft 14 and the footrest 15. The weight of the training site of the trainee is represented by W2, and the tangential component at the point P of the weight W2 is represented by A2 = W2 · cos θ. At this time, the torque T1 is expressed by the following equation.

T1 = Fri− (A1 + A2) × R

  In step S4, the console 10 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable members (the shaft 14 and the footrest 15) by the force of the trainee itself. At this time, the console 10 sets, to the servomotor 71, the same speed as the speed set to the servomotor 71 in steps S2 and S3. The console 10 moves the shaft 14 and the footrest 15 to the position shown in FIG. The trainee pushes down the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. 4. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri− (A1 + A2) × R + Mes

  In step S5, the console 10 calculates the mechanical loss of the training device. The mechanical loss includes a torque Fri generated by friction or the like, and a torque A1 × R resulting from the weight of the shaft 14 and the footrest 15. The torque Fri and the component force A1 are calculated based on the torques Tup and Tdown measured in step S2.

  In step S6, the console 10 calculates the weight W2 of the training site. Based on the torque Tdown measured in step S2 and the torque T1 measured in step S3, a torque A2 × R = Tdown−T1 caused by the weight W2 of the training site is calculated, whereby the weight W2 of the training site is Calculated

  In step S7, the console 10 calculates a torque Mes indicating a net force that the trainee has given to the movable member (the shaft 14 and the footrest 15). Based on the torque T1 measured in step S3 and the torque T2 measured in step S4, a torque Mes = T2-T1 generated by the force of the trainee itself is calculated.

  In step S8, the console 10 determines a training menu which is information indicating the magnitude of the load given to the trainee based on the magnitude of the net force of the trainee. The magnitude of the load applied to the trainee is set smaller than the net force of the trainee, for example, 0.6 to 0.7 times the maximum value of the net force of the trainee. This makes it possible to prevent an excessive load on the trainee's body. Also, the magnitude of the load on the trainee varies over the range of motion of the training site of the trainee to achieve the desired training effect.

  In step S9, the console 10 sets a torque in the drive device 13 based on the determined training menu. The console 10 applies a predetermined load determined based on the magnitude of the net force to the trainee, and cancels the torque Fri of the mechanical loss of the training apparatus 1 and the weight W2 of the training site. The servomotor 71 is set to a predetermined torque T3 that fluctuates over the movable range. The torque of a given load determined based on the magnitude of the net force is represented by Tra. At this time, the torque T3 is expressed by the following equation.

T3 = Fri + (A1 + A2) × R + Tra

  FIG. 8 is a graph showing the net force applied to shaft 14 and footrest 15 by various trainees. FIG. 9 is a graph showing the torque set to the servomotor 71 in order to apply a predetermined load to the trainee 3 of FIG. The movement distance of the horizontal axis in FIGS. 8 and 9 indicates the movement distance of point P on the circumference of center O and radius R in FIG. By calculating the net force of the trainee 3 actually using the training device 1, it is possible to determine the training menu most suitable for the trainee 3.

  In step S10, the console 10 executes training of the trainee's muscle power. Here, the magnitude of the force generated by the trainee during training is calculated by subtracting each component of the torque T3 from the torque applied to the servomotor 71. In step S11, the console 10 determines whether to repeat the training, and if YES, the process returns to step S10, and if NO, the process ends.

  When executing the training control process of FIG. 5, the console 10 instructs the trainee on the display to measure torque, for example, places the foot on the footrest 15 (steps S1 and S3), and the foot on the footrest 15 It may be displayed (step S2), the force of the trainee is applied to the footrest 15 (step S4), and the like. The console 10 may also display on the display the torque measured in steps S2 to S4, the mechanical loss of the training device calculated in steps S5 to S7, the weight of the training site, and the net You may display the power of Also, if a plurality of training menus (eg, training menus with different loads) are available at step S9, the console 10 may obtain user input from the trainee to select the training menu.

  Although the console 10 executes the control program according to the training control process of FIG. 5 in the above description, instead of the console 10, the control device 12 may execute the control program according to the training control process. In this case, the console 10 displays various information on its display and also acts as a mere user interface for obtaining user input from the trainee.

  As described above, according to the training device 1 according to the first embodiment, it is possible to measure in advance the mechanical loss including the torque generated by the friction of the device and the like and the torque resulting from the weight of the device. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, with a simple and inexpensive configuration.

  FIG. 10 is a flowchart showing a modification of the training control process executed by the training device 1 of FIG. Here again, as in FIG. 5, the console 10 will be described as executing a control program related to the training control process.

  In the training control process of FIG. 5, the mechanical loss of the training device 1 and the weight of the training site are separately calculated, but the total loss of these may be calculated.

  First, the trainee places the training site on the movable member (that is, places the foot on the footrest 15) in order to execute step S21.

  In step S21, the console 10 detects the positions of both ends of the movable range of the training site of the trainee, as in step S1 of FIG.

  In step S22, the console 10 measures the torque generated by the servomotor 71 to move the movable member within the movable range when the weight of the training site rests on the movable member (the shaft 14 and the footrest 15). . At this time, the console 10 sets a predetermined speed to the servomotor 71. The trainee places the trainee's foot on the footrest 15 so that the trainee's own force is not applied to the shaft 14 and the footrest 15. The console 10 measures the torque Tup 'of the servomotor 71 necessary to lift the shaft 14 and the footrest 15, and the torque Tdown' of the servomotor 71 necessary to depress the shaft 14 and the footrest 15.

Tup '= Fri + (A1 + A2) × R
Tdown '= Fri- (A1 + A2) × R

  In step S23, the console 10 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable member (the shaft 14 and the footrest 15) by the force of the trainee itself, as in step S4 of FIG. At this time, the console 10 sets, to the servomotor 71, the same speed as the speed set to the servomotor 71 in step S22. The console 10 moves the shaft 14 and the footrest 15 to the position shown in FIG. The trainee pushes down the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. 4. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri− (A1 + A2) × R + Mes

  In step S24, the console 10 calculates the total loss due to the mechanical loss of the training device and the weight of the training site. As described above, the mechanical loss includes the torque Fri generated by friction and the like, and the torque A1 × R caused by the weight of the shaft 14 and the footrest 15, and the torque A2 caused by the weight W2 of the training site. × R has occurred. The console 10 calculates the torque Fri and (A1 + A2) × R based on the torques Tup ′ and Tdown ′ measured in step S22.

  In step S25, the console 10 calculates a torque Mes indicating the net force that the trainee exerts on the movable members (the shaft 14 and the footrest 15) as in step S7 of FIG. Based on the torque Tdown 'measured in step S22 and the torque T2 measured in step S23, the torque Mes = T2-Tdown' generated by the force of the trainee itself is calculated.

  Hereinafter, steps S26 to S29 are the same as steps S8 to S11 of FIG.

  According to the training control process of FIG. 10, the measurement of the torque in step S2 of FIG. 5 is not necessary, and the total loss due to the mechanical loss of the training device and the weight of the training site is calculated. Processing can be simplified compared to the case of 5.

  When creating the training apparatus 1 according to the first embodiment, the positional relationship and dimensions of the footrest 15 and the seat 16 and the movement of the footrest 15 were examined so that the movement would be close to actual stepping on and stepping on the foot. As a result, instead of translating the movable member as in the conventional leg press device, the movable member rotates from a position having an angle of about 50 degrees to the horizontal surface to a position having an angle of about 0 degrees. Configured.

  In the training apparatus 1 according to the first embodiment, although the case where the trainee pushes down the shaft 14 and the footrest 15 has been described, the foot of the trainee may be fixed to the footrest 15, and the trainee may lift the shaft 14 and the footrest 15.

Embodiment 2
FIG. 11 is a perspective view showing the configuration of a training device 2 according to a second embodiment. The training device 2 is configured as a leg curl device for training a predetermined part of a trainee's body, for example, a semitendinoid muscle, a semimelliform muscle and the like.

  The training apparatus 2 includes a console 20, a chassis 21, a controller 22, a drive 23, a bar assembly 24, cushions 25a and 25b, a seat 26, a handle 27, and a support 28.

  The bar assembly 24 and the cushions 25a and 25b are movable members which are moved by a trainee within a predetermined movable range. The bar assembly 24 is coupled to the rotational axis of the drive 23 and rotatably supported about the rotational axis. The bar assembly 24 includes two bars sandwiching the foot of the trainee up and down, and the cushions 25a, 25b are provided around these bars (ie, the positions where they may touch the foot of the trainee).

  In the second embodiment, the foot, which is the portion of the trainee that moves the movable member (the bar assembly 24 and the cushions 25a and 25b), is referred to as a "training portion.

  The other components of the training device 2 are configured substantially the same as the components having the same names in the training device 1 of FIG.

  FIG. 12 is a perspective view showing a first state when the trainee 100 uses the training device 2 of FIG. FIG. 13 is a perspective view showing a second state when the trainee 100 uses the training device 2 of FIG. The console 20 and the control device 22 set a predetermined torque on the servomotor of the drive device 23 so as to apply a predetermined load to the trainee 100 in the state of FIG. 12. The trainee 100 pushes up the bar assembly 24 and the cushions 25a and 25b from the state of FIG. 12 to the state of FIG. The console 20 and the control device 22 set, in the servomotor of the drive device 23, a predetermined torque which fluctuates in the process of changing the state of FIG. 12 from the state of FIG. 12 to the state of FIG. When the bar assembly 24 and the cushions 25a and 25b are pushed up to the state of FIG. 13 by the trayey 100, the console 20 and the control device 22 push down the bar assembly 24 and the cushions 25a and 25b to the state of FIG. Wait to be By repeating this operation, the trainee 100 trains the muscle power.

  FIG. 14 is a flowchart showing a training control process executed by the training device 2 of FIG. Here again, as in FIG. 5, the console 20 will be described as executing a control program related to the training control process.

  In the training device 2 which is a leg curl device, it is not necessary to calculate the weight of the training site because the weight of the training site is not applied to the training device.

  First, the trainee places the training site on the movable member (that is, places the foot between the cushions 25a and 25b) in order to execute step S31.

  In step S31, the console 20 detects the positions of both ends of the movable range of the training site of the trainee. In the case of the leg curl device as shown in FIG. 11, the positions of the bar assembly 24 and the cushions 25a and 25b with the foot of the trainee lowered as shown in FIG. 11 and the legs of the trainee raised as shown in FIG. The positions of the bar assembly 24 and the cushions 25a and 25b at the position.

  After detecting the positions of both ends of the movable range of the training site, the trainee once moves the training site away from the movable member (that is, the feet are separated from the bar assembly 24 and the cushions 25a and 25b) to perform step S32.

  In step S32, the console 20 measures the torque generated by the servomotor 71 to move the movable member within the movable range of the trainee when the trainee does not touch the movable member (the bar assembly 24 and the cushions 25a and 25b). Do. At this time, the console 20 sets a predetermined speed to the servomotor 71. The torque Tup of the servomotor 71 required when lifting the movable member and the torque Tdown of the servomotor 71 necessary when pressing down the movable member are expressed by the following equations.

Tup = Fri + A1 x R
Tdown = Fri-A1 × R

  After measuring the torques Tup and Tdown, the trainee places the training site on the movable member again (that is, places the foot again between the cushions 25a and 25b) to perform step S33.

  In step S33, the console 20 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable members (the bar assembly 24 and the cushions 25a, 25b) by the force of the trainee itself. At this time, the console 20 sets, to the servomotor 71, the same speed as the speed set to the servomotor 71 in step S32. The console 20 moves the movable member to the position of FIG. The trainee pushes up the movable member from the state of FIG. 12 to the state of FIG. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri-A1 × R + Mes

  In step S34, the console 20 calculates the mechanical loss of the training device. The mechanical loss includes a torque Fri generated by friction and the like, and a torque A1 × R resulting from the weight of the movable member. The torque Fri and the component force A1 are calculated based on the torques Tup and Tdown measured in step S32.

  In step S35, the console 20 calculates a torque Mes indicating a net force that the trainee has given to the movable member (the bar assembly 24 and the cushions 25a, 25b). Based on the torque Tdown measured in step S32 and the torque T2 measured in step S33, a torque Mes = T2-Tdown generated by the force of the trainee itself is calculated.

  In step S36, the console 20 determines a training menu which is information indicating the magnitude of the load given to the trainee based on the magnitude of the net force of the trainee.

  In step S37, the console 20 sets a torque in the drive device 13 based on the determined training menu. The console 20 is moved over the movable range so as to apply a predetermined load determined based on the magnitude of the net force to the trainee, and to cancel the mechanical loss torque Fri of the training apparatus 1. Torque T3 'of the servomotor 71 is set. The torque of a given load determined based on the magnitude of the net force is represented by Tra. At this time, the torque T3 'is expressed by the following equation.

T3 '= Fri + A1 × R + Tra

  In step S38, the console 20 executes training of the trainee's muscle power. In step S39, the console 20 determines whether to repeat the training, and if YES, the process returns to step S38, and if NO, the process ends.

  Similarly to the training device 1 according to the first embodiment, the training device 2 according to the second embodiment also measures in advance mechanical loss including a torque generated by friction of the device and a torque due to the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, with a simple and inexpensive configuration.

Embodiment 3
FIG. 15 is a perspective view showing the configuration of a training device 3 according to the third embodiment. The training device 3 is configured as a dips device for training a predetermined part of the trainee's body, for example, the triceps brachii, the greater chest muscle, and the deltoid muscle.

  The training device 3 includes a console 30, a chassis 31, a controller 32, a drive 33, shafts 34a and 34b, handles 35a and 35b, links 36a and 36b, levers 37a and 37b, and a seat 38.

  The shafts 34a and 34b, the handles 35a and 35b, the links 36a and 36b, and the levers 37a and 37b are movable members moved within a predetermined movable range by the trainee. One end of each of the shafts 34a and 34b is connected to the rotation axis of the drive device 33 and supported rotatably around the rotation axis. Handles 35a and 35b are rotatably connected to the other ends of the shafts 34a and 34b, respectively. The levers 37a and 37b having a predetermined length are fixed to the handles 35a and 35b, respectively. One point on each lever 37a, 37b is connected to the drive 33 or the chassis 31 at a position different from the rotation axis of the drive 33 via the links 36a, 36b. In the example of FIG. 15, the link 36a and the lever 37a are connected to each other at a position outside the shaft 34a, the link 36b and the lever 37b are connected to each other at a position outside the shaft 34b, and the links 36a and 36b are It is respectively connected with the lower position of the rotating shaft of the drive device 33. Thus, when the trainee depresses the shafts 34a and 34b, the handle 35a rotates counterclockwise, and the handle 35b rotates clockwise.

  The position at which the links 36a and 36b are connected in each lever 37a and 37b may be configured to be changeable. Thereby, the ratio of the rotation angle of the handle 35a, 35b to the angle which pushes down the shafts 34a, 34b can be changed. This ratio can be adjusted to the degree of flexibility of the trainee's body (i.e. arms and wrists).

  In the third embodiment, an arm that is a portion of the trainee that moves the movable members (the shafts 34a and 34b, the handles 35a and 35b, the links 36a and 36b, and the levers 37a and 37b) is referred to as a "training portion".

  The drive 33 comprises one servomotor, and the shafts 34a, 34b may be connected to each other inside the drive 33. Alternatively, the drive 33 may have one servomotor corresponding to each shaft 34a, 34b.

  The other components of the training device 3 are configured substantially the same as the components having the same names in the training device 1 of FIG.

  FIG. 16 is a perspective view showing a first state when the trainee 100 uses the training device 3 of FIG. FIG. 17 is a perspective view showing a second state when the trainee 100 uses the training device 3 of FIG. The console 30 and the control device 32 set a predetermined torque on the servomotor of the drive device 33 so as to apply a predetermined load to the trainee 100 in the state of FIG. The trainee 100 pushes down the shafts 34a and 34b and the handles 35a and 35b from the state of FIG. 16 to the state of FIG. The console 30 and the control device 32 set a predetermined torque which fluctuates in the process of changing the state of FIG. 16 from the state of FIG. 16 to the state of FIG. When the shafts 34a and 34b and the handles 35a and 35b are pushed down to the state of FIG. 17 by the trayey 100, the console 30 and the controller 32 push up the shafts 34a and 34b and the handles 35a and 35b to the state of FIG. Wait to be pushed down by By repeating this operation, the trainee 100 trains the muscle power.

  The console 30 or the control device 32 executes a control program related to a training control process similar to the training control process of FIG. 5 or 10.

  Similarly to the training device 1 according to the first embodiment, the training device 3 according to the third embodiment also measures in advance mechanical loss including a torque generated by friction of the device and a torque due to the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, with a simple and inexpensive configuration.

  FIG. 18 is a perspective view showing a configuration of a training device 3AA according to a modification of the third embodiment. In the example of FIG. 18, the link 36a and the lever 37a are connected to each other at a position inside the shaft 34a, the link 36b and the lever 37b are connected to each other at a position inside the shaft 34b, and the links 36a and 36b are It is respectively connected with the lower position of the rotating shaft of the drive device 33. Thus, when the trainee depresses the shafts 34a and 34b, the handle 35a rotates clockwise and the handle 35b rotates counterclockwise.

  A mechanical mechanism as described with reference to FIGS. 15 and 18 or an electrical mechanism may be used to rotate the handles 35a and 35b. By using the mechanical mechanism as described with reference to FIG. 15 and FIG. 18, it can be configured inexpensively with a simple structure.

  The training device 3 according to the third embodiment adds a mechanism for rotating the handles 35a and 35b with the lowering of the arm, and promotes rotation of the scapula to improve the stiffness of the shoulder and improve the feeling of exhilaration.

Embodiment 4
FIG. 19 is a perspective view showing the configuration of a training device 4 according to the fourth embodiment. The training device 4 is configured as a sheeted chest press device for training a predetermined part of a trainee's body, for example, a large pectoral muscle.

  The training device 4 includes a console 40, a chassis 41, a controller 42, a drive 43, handles 44a and 44b, guides 45a and 45b, a seat 46, and a support 48.

  The handles 44a and 44b are movable members that are moved by a trainee within a predetermined movable range. The handles 44a and 44b are connected to the rotation axis of the drive device 43, and supported rotatably around the rotation axis. The guides 45a and 45b are formed such that the distance between the handles 44a and 44b is narrowed as the arms are pushed, in accordance with the actual movement of the arms. Therefore, the axes of the handles 44a and 44b move not only in the front-rear direction of the body of the trainee but also in the left-right direction. The training device 4 comprises springs (not shown) for biasing the handles 44a, 44b along the guides 45a, 45b.

  In the fourth embodiment, an arm that is a portion of the trainee that moves the movable member (handles 44a and 44b) is referred to as a "training portion".

  The driving device 43 may include one servomotor, and the handles 44a and 44b may be connected to each other inside the driving device 43. Alternatively, the drive 43 may have one servo motor corresponding to each handle 44a, 44b.

  The other components of the training device 4 are configured substantially the same as the components having the same names in the training device 1 of FIG.

  FIG. 20 is a perspective view showing a first state when the trainee 100 uses the training device 4 of FIG. FIG. 21 is a perspective view showing a second state when the trainee 100 uses the training device 4 of FIG. The console 40 and the controller 42 set a predetermined torque in the servomotor of the drive device 43 so as to apply a predetermined load to the trainee 100 in the state of FIG. The trainee 100 pushes the handles 44a and 44b from the state of FIG. 20 to the state of FIG. The console 40 and the control device 42 set, in the servomotor of the drive device 43, a predetermined torque which fluctuates in the process of changing the handle 44a, 44b from the state of FIG. 20 to the state of FIG. When the handles 44a and 44b are pushed by the trainee 100 to the state of FIG. 21, the console 40 and the control device 42 push back the handles 44a and 44b to the state of FIG. By repeating this operation, the trainee 100 trains the muscle power.

  The console 40 or the control device 42 executes a control program related to a training control process similar to the training control process of FIG.

  Similarly to the training device 1 according to the first embodiment, the training device 4 according to the fourth embodiment also measures in advance mechanical loss including a torque generated by friction of the device and a torque due to the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, with a simple and inexpensive configuration.

Embodiment 5
FIG. 22 is a block diagram showing the configuration of a training system according to the fifth embodiment. The training system of FIG. 22 includes a plurality of training devices 1A to 4A, a wireless LAN access point device (AP) 51, the Internet 52, and a server device 53. The training devices 1A to 4A correspond to the training devices 1 to 4 according to the first to fourth embodiments, respectively. However, the training devices 1A to 4A replace the consoles 10 to 40 of the training devices 1 to 4, respectively, and consoles 10A to 40A that further communicate with the remote server device 53 via the wireless LAN access point device 51 and the Internet 52, respectively. Prepare.

  Although the training devices 1 to 4 according to the first to fourth embodiments operate in a stand-alone manner, the training devices 1A to 4A of the training system according to the fifth embodiment operate in cooperation with the server device 53. The server device 53 determines a training menu for the trainee based on the magnitude of the net force of the trainee. Each of the consoles 10A to 40A receives the training menu determined by the server device 53, instead of itself determining the training menu. For this reason, each console 10A-40A transmits the information of the net force of the trainee of each training apparatus 1A-4A to the server apparatus 53. FIG. The server device 53 determines a training menu for each trainee based on the magnitude of the trainee's net force of each training device 1A to 4A received from each console 10A to 40A. Each of the consoles 10A to 40A receives a training menu from the server device 53. Each of the consoles 10A to 40A sets torque in the drive devices 13 to 43 based on the training menu received from the server device 53.

  When the server device 53 determines the training menu, the processing of each console 10A to 40A can be simplified as compared with the case where each console 10A to 40A itself determines the training menu. Also, by collecting information on the net force of the trainee in the server device 53, it becomes easy to determine a training menu appropriate for the trainee.

  According to the training system according to the fifth embodiment, when there are a plurality of training apparatuses 1A to 4A different from each other and / or the same type, each trainee according to the content of the training and according to the state of each trainee The muscle strength of can be measured accurately and the appropriate load can be given based on the muscle strength of each trainee.

Summary of each embodiment.
The training device according to each embodiment may be configured to perform two or more of the training control processes of FIGS. 5, 10 and 14. The training device may be configured to perform one of the training control processes of FIGS. 5, 10 and 14 selectively, for example in response to user input.

  The training apparatus according to each embodiment decelerates the rotation of the rotation shaft of the servomotor using the servomotor as a motive force, and reciprocates the movable member within a movable range of approximately 0 degrees to 70 degrees. Due to the high reduction ratio of the drive gearbox, it is necessary to reduce its friction. In addition to driving from the side of the servomotor, since it is driven by the trainee from the side of the movable member, the gearbox of the driving device needs a mechanism with high transmission efficiency such as planetary gears and helical gears. By sharing the drive mechanism of the training apparatus according to each embodiment, hardware and software related to electrical components can be shared, and cost reduction and simplification of maintenance can be achieved.

  The training apparatus according to each embodiment detects the position of the rotating shaft with a direct current servomotor, and controls the current (speed control) so as to rotate at a constant speed. When a disturbance is added to it, the current of the servomotor changes, so the disturbance can be measured by knowing the current (torque).

Considering the structure of the training device, there are, for example, the following three causes of disturbance.
(1) Friction in gear box and transmission mechanism (2) Change in weight direction of movable member due to rotation of movable member in torque direction (3) External force given by muscle force of trainee

  By moving the movable member (running idle) when the trainee does not touch the movable member, the disturbances of (1) and (2) become known. When the movable member is moving at a constant speed, an external force such as pushing or kicking is applied to the movable member, and the position and force (torque, ie, current value) at that time are measured, and disturbances of (1) and (2) Can be used to dynamically measure the position and strength of the stroke during operation at a constant speed.

  In addition, measuring the speed of the movable member at a variety of different speeds (e.g., low, medium, and high) will reveal the detailed muscle properties of the trainee. In general, at low speeds the measurable force is greater and at high speeds the measurable force is smaller.

  As training is repeated, the muscle strength increases and the range of motion also increases. Therefore, it is also useful to quantify the effects of training by comparing the above-mentioned position and muscle strength patterns and storing and comparing information on the position of the trainee with respect to the training device (such as the position and height of the chair). .

  The measured values of disturbance in (1) and (2) are stored, and the latest value of disturbance in (1) and (2) is measured each time the power is turned on again, and compared with the conventional measured value, the friction of the device Change and so on. Therefore, it is possible to know deterioration of the training apparatus, increase in friction, setting errors and the like, which is useful for preventive maintenance.

  In the case of a training apparatus in which not only the force of the trainee but also a part of the weight is superimposed on the measured value (for example, the weight of the foot is added) during measurement, in addition to the measurement of disturbances of (1) and (2) The measurement may be performed in a state where the force is released. Subtracting that data removes the effect of weight and gives a true force measurement.

  If the position of the servomotor and the pattern of the torque at that location are set based on the information of the position and muscle strength obtained by the measurement (torque control of the servomotor), dynamic training is performed with the optimum load according to the trainee. It will be possible to do. It is useful if the overall torque can be increased or decreased without changing the pattern, depending on the training progress and physical condition of the trainee. If we can calculate, display, store and compare the work rate and work volume at each training, it is possible to quantify the training effect and improve the motivation.

  The training device according to each embodiment is useful as a lower extremity exercise device optimal for the elderly or a specific elderly person (career / prevention target person). It is possible to measure how much strength is exerted in which part of the joint movement range of elderly people who are training. Based on the measurement results, it is possible to apply a load in accordance with the exercise of the individual's strength in training.

  The training apparatus according to each embodiment can accurately measure the force of the trainee, remove disturbances such as friction and gravity, and apply an accurate load to the trainee while having a simple and inexpensive configuration. It is also useful to be able to detect equipment misconfigurations due to a trainee and to monitor equipment abnormalities. For this purpose, the motor is operated under no load before the start of exercise, and the load is compared with the initial data to determine the presence or absence of abnormality. Also, by applying the load to the load desired to be applied to the trainee, the desired load can be provided.

1, 1A ... training device (seated leg press device),
2, 2A ... training device (leg curl device),
3, 3 AA, 3 A ... training device (dips device),
4,4A ... training equipment (seated chest press equipment),
10, 10A ... console,
11 ... chassis,
12: Control device,
13 ... Drive device,
14 ... shaft,
15 ... footrest,
16 ... sheet,
17 ... handle,
18 ... pillar,
20, 20A ... console,
21 ... chassis,
22: Control device,
23: Drive device,
24 ... bar assembly,
25a, 25b ... cushions,
26 ... sheet,
27 ... handle,
28 ... pillar,
30, 30A ... console,
31 ... chassis,
32: Control device,
33: Drive device,
34a, 34b ... shaft,
35a, 35b ... handle,
36a, 36b ... links,
37a, 37b ... lever,
38 ... sheet,
40, 40A ... console,
41 ... chassis,
42: Control device,
43: Drive device,
44a, 44b ... handle,
45a, 45b ... guides,
46 ... sheet,
48 ... pillar,
51 ... wireless LAN access point device (AP),
52 ... Internet,
53: Server device,
55 ... commercial power supply,
61 ... control circuit,
62 ... power supply circuit,
63 ... Bluetooth communication circuit,
64 ... Servo amplifier,
71 ... Servo motor,
72 ... Motor encoder,
73 ... gearbox,
100 ... Trainee,
SW1 ... stop switch,
SW2, SW3 ... switches.

Claims (18)

At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque generated by the servomotor to move the movable member in the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a third torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical loss of the training device based on the first torque;
Calculating the weight of the training site based on the first and second torques;
Calculating a net force exerted by the trainee on the movable member based on the second and third torques;
Training equipment. The control unit measures the first to third torques by measuring a current flowing through the servomotor.
The training device according to claim 1. At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member within the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Based on the first torque, calculate a total loss due to mechanical loss of the training device and weight of the training site,
Calculating a net force exerted by the trainee on the moveable member based on the first and second torques;
Training equipment. The control unit measures the first and second torques by measuring a current flowing through the servomotor.
The training device according to claim 3. The training device is a sheeted leg press device.
A training device according to one of the preceding claims. The training device is a dips device,
A training device according to one of the preceding claims. The control unit applies the predetermined load determined based on the magnitude of the net force to the trainee, and cancels the mechanical loss of the training apparatus and the weight of the training site. Setting a predetermined torque that fluctuates over the movable range in the servomotor;
A training device according to one of the preceding claims. At least one movable member moved within a predetermined movable range by the trainee;
A driving unit which moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member;
A training unit that controls the drive unit;
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical loss of the training device based on the first torque;
Calculating a net force exerted by the trainee on the moveable member based on the first and second torques;
Training equipment. The control unit measures the first and second torques by measuring a current flowing through the servomotor.
A training device according to claim 8. The training device is a leg curl device,
The training apparatus according to claim 8 or 9. The training device is a seated chest press device,
The training apparatus according to claim 8 or 9. The control unit varies over the movable range so as to apply a predetermined load determined based on the magnitude of the net force to the trainee, and to cancel mechanical loss of the training device. Setting a predetermined torque to the servomotor,
A training device according to one of the claims 8-11. The control unit determines the magnitude of the load given to the trainee based on the magnitude of the net force.
A training device according to claim 7 or 12. The control unit
Transmitting information indicating the magnitude of the net force to an external server device;
Receiving from the server information indicative of a load magnitude determined by the server device based on the net force magnitude;
A training device according to claim 7 or 12. The control unit detects the positions of both ends of the movable range.
The training device according to one of the preceding claims. At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque generated by the servomotor to move the movable member in the movable range when the weight of the training site of the trainee rests on the movable member;
Measuring a third torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical losses of the training device based on the first torque;
Calculating the weight of the training site based on the first and second torques;
Calculating a net force exerted by the trainee on the movable member based on the second and third torques.
Training method. At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the moveable member in the moveable range when the weight of the training site of the trainee rests on the moveable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating a mechanical loss of the training device and a total loss due to the weight of the training site based on the first torque;
Calculating a net force exerted by the trainee on the movable member based on the first and second torques.
Training method. At least one movable member moved within a predetermined movable range by the trainee;
A training method using a training apparatus, comprising: a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member,
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
Measuring a first torque generated by the servomotor to move the movable member in the movable range when the tray is not touching the movable member;
Measuring a second torque applied to the servomotor when the trainee moves the movable member;
Calculating mechanical losses of the training device based on the first torque;
Calculating a net force exerted by the trainee on the movable member based on the first and second torques.
Training method.

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