JP2019216781A - treadmill - Google Patents

Abstract

To provide a treadmill enabling training of the power of the legs as actually running on the ground.SOLUTION: A force plate 40 is provided below an endless belt 2 on which a person runs, and the person runs on the force plate 40. A connection member 6 such as rubber is connected between a fixing portion 5 such as a wall surface and the waist of the person. A kicking power is detected by the force plate 40, and when it is determined by a kicking detection part 4 that a kicking period starts, a circulating speed is reduced by using a control part 8 correspondingly to the kicking power. When the person jumps, the circulating speed is restored, and the person is returned to an original position by using the rubber.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a treadmill capable of running on an endless belt, and more specifically, to a treadmill capable of applying a load to a leg as if actually running on the ground. Things.

  Generally, a treadmill is provided so that a person runs on a rotating endless belt, thereby training a person's legs and cardiopulmonary function (Patent Document 1 and the like).

JP 2016-22176 A

  By the way, when a person actually travels on the ground, he applies force to his legs to push his weight forward, but in training on a treadmill, he kicks the endless belt that goes around backwards. As a result, the load on the legs is significantly reduced. For this reason, there is a problem that even if the vehicle runs the same distance, the leg strength to be trained is different as compared with the case where the vehicle runs on the ground.

  Therefore, an object of the present invention is to provide a treadmill capable of training leg strength as if it were actually running on the ground.

  That is, in order to solve the above-described problems, the treadmill of the present invention includes an endless belt on which a person travels, a kick-out detection unit that detects a kick-out of a human while traveling on the endless belt, and a kick-out detection unit that And a control unit for controlling so as to reduce the circling speed of the endless belt when a kick-out of a person is detected by the control unit.

  With this configuration, the speed of the endless belt is reduced at the time of kicking out, so that a load can be applied to the legs so as to advance a load close to the weight of a human, and it is as if the vehicle is actually running on the ground. Can train your leg strength.

  Further, in such an invention, the kick-out detection unit can detect a kick-out by detecting a load along a plane direction of the endless belt by a force plate provided below the endless belt.

  By detecting the load along the horizontal direction in this manner, a state close to actual kicking can be detected.

  Further, when the force plate detects a jumping state of a person, the control unit returns the circling speed of the endless belt to the circling speed immediately before kicking.

  With this configuration, when a person jumps back and returns to the landing state, the endless belt returns to the original circling speed, so that the position of the person on the endless belt can be fixed.

  A connection member connected between a fixed part other than the endless belt and a human; and a force sensor for detecting a force acting on the connection member, wherein a load equal to or more than a predetermined value is applied by the force sensor. When it is detected, the control section increases the speed of the endless belt.

  With this configuration, when a person moves a little forward due to kicking out and a reduction in the speed of the endless belt, this can be detected by the force sensor provided on the connecting member, and the orbiting speed of the endless belt can be increased. To return the person to its original position.

  Further, the connecting member is formed of an elastic body.

  With such a configuration, an elastic body such as rubber can return the person to the original position when the person jumps, so that the person can travel within a substantially constant range of the endless belt. Become.

  According to the present invention, since the speed of the endless belt is reduced at the time of kicking, it is possible to apply a load to the legs so as to advance a load close to the weight of a human, and as if actually running on the ground You will be able to train your leg strength.

The figure which shows the structure of the treadmill in one Embodiment of this invention. Functional block diagram of treadmill in the same configuration Diagram showing the relationship between human running motion and force in the same form The figure which shows the position of the running foot in the same form Flow chart showing the operation of the treadmill in the same embodiment

  As shown in FIG. 1, the treadmill 1 in this embodiment includes an endless belt 2 on which a person runs and travels, and a force plate 40 provided below the human placing surface 21 of the endless belt 2. It was made. Characteristically, when a person is running on the treadmill 1, the kicking out period of the person is detected, and the circling speed of the endless belt 2 is reduced to apply a load to the leg. . Hereinafter, the configuration of the treadmill 1 in the present embodiment will be described in detail.

  First, the endless belt 2 is designed to allow a person to run, and is made of a resin such as rubber orbiting vertically. The endless belt 2 can be rotated by a motor 3, and its rotation speed is controlled by a control unit 8 (see FIG. 2).

  On the other hand, the force plate 40 is provided so as to be in contact with the lower part of the human placing surface 21 of the endless belt 2, and includes load cells 41 provided at four corners below the metal plate 42. The load cell 41 can be used to detect a human load acting in the Z-axis direction and a load acting in the Y-axis direction via the endless belt 2. Here, in the Z-axis direction, the downward direction in the vertical direction is the plus direction, and in the Y-axis direction, the backward direction in the running direction is the plus direction. When the load in the Z-axis direction is detected by these load cells 41, the loads in the Z-axis direction of the load cells 41 provided at the four corners are added to detect the load in the Z-axis direction. In the same manner, the load in the Y-axis direction of the load cells 41 at the four corners is added to detect the load in the Y-axis direction. Further, using the load cells 41 provided at these four corners, a moment is calculated from the load in the Z-axis direction, and the position of the center of gravity of the human, the moving speed thereof, and the like are also detected. When the force plate 40 is provided below and adjacent to the endless belt 2 in this manner, the initial load is detected by the weight and friction of the endless belt 2, but these loads are offset. The load is detected by using the load cell 41 provided on the force plate 40, and the value is output to the kick-out detection unit 4 (see the functional block diagram of FIG. 2). Is detected, and the control unit 8 performs control so as to reduce the speed of the endless belt 2 at that time.

First, when detecting the kicking-out period of a human, the motion of the human when traveling on the treadmill 1 and the load corresponding thereto will be described.
<Kickout period>

  First, when a human runs, as shown in FIG. 3A, from a state in which the human foot is directly below the body (a standing state), the leg is bent in preparation for the next kick-out. Become like Then, along with that, the load Fz in the Z-axis direction gradually increases, and Fz reaches a maximum at the moment P2 at which the kick is most strongly kicked out, and Fz gradually increases until the foot is separated from the endless belt 2 therefrom. It becomes smaller.

On the other hand, as for the load in the Y-axis direction, in addition to the load obtained by integrating the frictional resistance caused by the rotation of the endless belt 2 with the load of Fz, the load in the Y-axis direction caused by kicking is applied to the force plate 40. . As with Fz, the Fy load gradually increases from P1 to P2, and then decreases toward P3, which is the timing of the jumping period.
<Bounce period>

From the state where the human kicks out the ground and the toes are separated from the ground (P3), the load of Fz is not applied (Fz = 0). However, since the endless belt 2 moves while being in contact with the force plate 40, a load obtained by adding the friction coefficient to the own weight of the endless belt 2 is applied, but this value is ignored by the offset.
<Landing season>

  When the opposite foot lands on the endless belt 2 from the jumping state (P4), the foot lands on the endless belt 2 from the heel. Here, it is assumed that the vehicle lands from the heel. However, depending on the traveling method, the vehicle may touch the ground from the front end of the foot. At this moment, a load in the Z-axis direction is suddenly applied to the force plate 40, and thereafter, the load decreases as the leg is bent. As for the load in the Y-axis direction, a large load is momentarily applied (P5), and after the value is reduced by bending the leg, the load is applied again. The load in the Y-axis direction may be momentarily applied in the positive direction of the Y-axis depending on the way of running, and then may be applied again in the negative direction. Then, after landing in this manner, the endless belt 2 goes around, so that its feet are right below the body, and the kicking out period (P1) starts again therefrom.

  Under such an operation or load, the kick-out detection unit 4 (see the functional block diagram in FIG. 2) detects a kick-out period of a person from the load in each of these operations. Normally, when a human kicks out a foot, the force plate 40 is greatly kicked backward via the endless belt 2. Therefore, when the load is detected to be larger than the predetermined value, it is determined that the “kick-out period” has entered, and when the load has become smaller than the predetermined value, the “kick-out period” has ended. Is determined. Specifically, when the load of Fz becomes larger than a predetermined value, it is determined that the “kick-out period” has entered, and when the load of Fz becomes smaller than the predetermined value, it is determined that the “kick-out period” has ended. I do. However, if only the vertical load by Fz is used, the load becomes large both at the time of jumping and at the time of landing, so that it is difficult to accurately determine the timing of the “kick-out period”. For this reason, it is determined that the “starting period” has entered by using the state in which the load Fy along the plane direction (Y-axis direction) is larger than a predetermined value.

  The control unit 8 controls the motor 3 so as to reduce the circling speed of the endless belt 2 when the kick-out detection unit 4 determines that the “kick-out period” has been entered. In order to reduce the rotation speed of the endless belt 2, there is a method of stopping the endless belt 2, but if the endless belt 2 is suddenly stopped, there is a possibility that running balance may be lost. Here, when it is determined that the kicking period has started, the orbiting speed is gradually reduced in accordance with the increase or decrease of the load of Fz. Specifically, Fz increases from the time point P1, but the motor 3 is controlled using the control unit 8 so as to gradually reduce the rotation speed in response to the increase in the load. Then, in response to the load Fz decreasing from the moment when the peak P2 is reached, the rotation speed of the endless belt 2 is returned to the original rotation speed. Then, when the human completely jumps, the circling speed is restored to the circling speed immediately before entering the “kick-out period”. However, when the revolving speed of the endless belt 2 is reduced during the kicking-out period, a person relatively moves forward on the treadmill 1. That is, as shown in FIG. 4, when kicking starts from the standing position (a), the endless belt 2 is slowed down, so that the position of the person moves forward slightly (FIGS. 4B to 4C). )). Therefore, a connecting member 6 made of an elastic material such as rubber is connected between a fixed portion 5 such as a floor, a wall surface, a frame of the treadmill 1 and a human (for example, a waist), and the force of the elastic material when jumping is used. The human is returned to the original position (FIG. 4D).

  Further, even if the connecting member 6 pulls the person back in this way, the person may advance forward from the fixed position depending on the kicking force of the person, and may gradually advance forward of the endless belt 2. is there. Therefore, when a load equal to or more than a predetermined value is detected by the force sensor 7 provided on the connecting member 6, that is, when a person has advanced too far forward, the circling speed of the endless belt 2 is increased. . However, if the speed is higher than immediately before the kick-out period when a person lands, the running balance may be lost, so the orbiting speed is gradually increased after the landing. When the circling speed is increased in this manner, the position of the center of gravity of the person may be detected by the force plate 40, and the circulating speed may be increased so that the position of the center of gravity falls within a fixed position.

  Next, an operation flow of the treadmill 1 configured as described above will be described with reference to FIG.

  First, when a person starts running on the endless belt 2 of the treadmill 1, one leg is in a standing state and the other leg is stepped on (FIG. 3A).

  At this time, the treadmill 1 detects the load Fz in the Z-axis direction and the load Fy in the Y-axis direction by the force plate 40 (step S1). (Step S2).

  Then, the control unit 8 controls so as to gradually reduce the circling speed of the endless belt 2 according to the magnitude of the load of Fz (step S3). At this time, at the timing (P1 to P2) at which a person kicks out from stepping on, the endless belt 2 gradually decreases in speed, and thereafter, the orbiting speed of the endless belt 2 returns to the original speed. This allows the human to exert his or her weight on the leg to move forward.

  Next, when jumping of a person is detected (step S4), the vertical load Fz and the horizontal load Fy return to the state of no load, so that the control unit 8 returns to the orbiting speed immediately before the “kick-out period” (step S4). S5). Note that in this jumping period, the vehicle slightly advances forward from the kicking position due to human leg strength, but is returned to the original position by the connecting member 6 such as rubber attached to the human waist or the like ( 4 (c) to 4 (d)).

  Next, when a person lands, Fz sharply increases, thereby detecting that a landing period has been entered (step S6). At the time of this landing, Fz is larger than a predetermined value, but Fy does not exceed the predetermined value, so that it is determined that the kicking period is not reached.

  After the landing period, if a load equal to or greater than a predetermined value is detected by the force sensor 7 of the connecting member 6 during the previous jumping period (step S7), the endless belt 2 is gradually moved according to the load. The circling speed is increased (step S8), and the endless belt 2 is circulated so that a person can stay at a predetermined position on the endless belt 2.

  Similarly, kicking, jumping, landing, and the like by the opposite leg are repeated (steps S1 to S7).

  As described above, according to the above-described embodiment, the endless belt 2 on which the human is traveling, the kick-out detection unit 4 that detects the kick-out of the human while the endless belt 2 is running, and the human being detected by the kick-out detection unit 4 And a control unit 8 for controlling the rotation speed of the endless belt 2 when the kicking of the endless belt 2 is detected. The load can be applied to the legs so as to advance a load close to the leg. As a result, it is possible to train the leg strength while actually traveling on the ground.

  Further, since the kick-out detection unit 4 detects the load along the plane direction of the endless belt 2 by the force plate 40 provided below the endless belt 2, the kick-out is detected. A state close to kicking can be detected.

  Further, when the jumping state of a human is detected by the force plate 40, the control unit 8 returns the circling speed of the endless belt 2 to the circling speed immediately before kicking out, so that the human jumps. When returning to the landing state, since the endless belt 2 has returned to the original circling speed, the position of the person on the endless belt 2 can be set to the fixed position.

  Further, a connection member 6 connected between a fixed portion 5 other than the endless belt 2 and a person, and a force sensor 7 for detecting a force acting on the connection member 6 are provided. The control unit 8 increases the speed of the endless belt 2 when a load equal to or greater than a predetermined value is detected. This can be detected by the force sensor 7, and the circling speed of the endless belt 2 can be increased to return the person to the original position.

  In addition, since the connecting member 6 is made of an elastic body, the person can be returned to the original position when the person jumps by rubber or the like, and the person can travel within a substantially constant range. Will be able to

  The present invention is not limited to the above embodiment, but can be implemented in various modes.

  For example, in the above-described embodiment, the connecting member 6 made of rubber or the like is attached to the waist of a person and pulled back. However, the person travels without attaching rubber or the like, and the center of gravity of the person exceeds the predetermined range and moves forward. When moving to, the orbiting speed may be increased so as to pull it back.

  In the above-described embodiment, the force sensor 7 is attached to the connecting member 6 to control the circling speed of the endless belt 2. However, without providing the force sensor 7, a human can be controlled by the elastic force of rubber. You may make it pull back.

  Further, in the above-described embodiment, the position of the person can be detected by the force plate 40. However, the position of the person can be detected by an optical sensor or the like provided separately so that the person can travel within a predetermined range. It may be controlled.

  In the above embodiment, the kicking-out period can be detected by the horizontal load Fy. However, the kicking-out period may be detected by the vertical load Fz accompanying the kicking.

  Further, in the above-described embodiment, as an example of a person running on the endless belt, a person running so as to jump is described as an example. However, the present invention is not limited to this, and a person walking and a person running in a wheelchair are described. Such a case can be applied.

DESCRIPTION OF SYMBOLS 1 ... Treadmill 2 ... Endless belt 21 ... Human mounting surface 3 ... Motor 4 ... Ejection detection part 40 ... Force plate 41 ... Load cell 42 ... Metal plate 5 fixed part 6 connecting member 7 force sensor 8 control unit

Claims (5)

An endless belt on which humans run,
A kick-out detection unit that detects a kick-out of a person while traveling on the endless belt,
A control unit that controls so as to reduce the circling speed of the endless belt when the kick-out detection unit detects a kick-out of a human;
A treadmill comprising: 2. The kick-out detecting section according to claim 1, wherein the kick-out detecting section detects a kick-out by detecting a load caused by kick-out along a plane direction of the endless belt by a force plate provided below the endless belt. The treadmill as described. 3. The treadmill according to claim 2, wherein when the force plate detects a jumping state of the human, the control unit returns the circling speed of the endless belt to the circulating speed immediately before kicking. Further, a connecting member connected between a fixed part other than the endless belt and a human,
A force sensor for detecting a force acting on the connecting member,
With
2. The treadmill according to claim 1, wherein when a load equal to or more than a predetermined value is detected by the force sensor, the control unit increases the speed of the endless belt. 3. The treadmill according to claim 4, wherein the connecting member is formed of an elastic body.

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