JP2020146322A - バランス訓練装置およびバランス訓練装置の制御プログラム - Google Patents
バランス訓練装置およびバランス訓練装置の制御プログラム Download PDFInfo
- Publication number
- JP2020146322A JP2020146322A JP2019047885A JP2019047885A JP2020146322A JP 2020146322 A JP2020146322 A JP 2020146322A JP 2019047885 A JP2019047885 A JP 2019047885A JP 2019047885 A JP2019047885 A JP 2019047885A JP 2020146322 A JP2020146322 A JP 2020146322A
- Authority
- JP
- Japan
- Prior art keywords
- gravity
- trainee
- center
- instruction
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 147
- 230000005484 gravity Effects 0.000 claims abstract description 106
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 15
- 210000002683 foot Anatomy 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000008407 joint function Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 229920005668 polycarbonate resin Polymers 0.000 description 1
- 239000004431 polycarbonate resin Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
- A63B2220/52—Weight, e.g. weight distribution
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/02—Testing, calibrating or measuring of equipment
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physiology (AREA)
- Physics & Mathematics (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Neurosurgery (AREA)
- Neurology (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Description
図1は、実施の形態1にかかるバランス訓練装置の一例としての訓練装置100の概略斜視図である。訓練装置100は、片麻痺などの障害を持つ障害者が歩行に必要な重心移動を習得するためや、足関節に障害を抱える患者が足関節機能を回復させるための装置である。例えば、足関節機能を回復させたい訓練者900がバランスを取りつつ訓練装置100に搭乗を続けようとすると、訓練装置100は、訓練者900の足関節にリハビリ効果を期待できる程度の負荷を与えることができる。
また、実施の形態1にかかる訓練装置100では、訓練者の重心を前後あるいは左右に揺らすといった訓練者にとって負荷の高い動作をさせることなく、荷重重心の移動方向を検出することができる。
実施の形態2では、訓練者に荷重重心の移動を指示した後の訓練者900の身体の向きの判定方法の別の形態について説明する。実施の形態2では、演算処理部200の荷重算出部201及び表示制御部230を利用して、訓練者900の荷重重心を測定開始位置に安定させることを指示する。具体的には、演算処理部200は、指示制御部230に対して訓練者900の荷重重心の位置を表示させる指示を行い、訓練者の荷重重心が予め設定した測定開始位置に一定の期間とどまっていると判定した後に、指示制御部230に対して訓練者に重心を移動させる指示を行う。
110 移動台車
121 駆動輪
122 キャスタ
130 搭乗プレート
140 荷重センサ
150 コントロールボックス
160 フレーム
161 開扉
162 手摺り
170 表示パネル
200 演算処理部
201 荷重算出部
202 範囲設定部
203 移動制御部
210 駆動輪ユニット
220 操作受付部
230 表示制御部
240 メモリ
241 課題ゲーム
310 ベースプレート
320 トッププレート
800 移動面
900 訓練者
Claims (6)
- 駆動部を駆動することにより移動面上を移動可能な移動台車と、
前記移動台車に立つ訓練者の足から受ける荷重を検出する検出部と、
前記検出部が検出した前記荷重から前記訓練者の搭乗面における両足の荷重重心を算出する算出部と、
前記訓練者が前記搭乗面で直立を維持したと推定される前記荷重重心を基準重心として設定する設定部と、
前記訓練者に身体の方向の指示と、前記訓練者に重心を移動させる指示と、を出力する指示制御部と、を有し、
前記算出部は、前記指示制御部からの指示に従って前記訓練者が重心を移動させた際の前記荷重重心の前記基準重心からの変化方向に基づき前記訓練者の身体の方向を判定し、前記判定の結果が正しいと判断した場合に前記駆動部に動作指示を出力するバランス訓練装置。 - 前記設定部は、訓練試行に先立って前記訓練者が行うキャリブレーション作業において前記算出部が算出する前記荷重重心に基づいて、前記基準重心を設定する請求項1に記載のバランス訓練装置。
- 前記指示制御部は、直立状態の前記訓練者に片足を動かす重心移動指示を出力し、
前記算出部は、重心を移動させる指示の後の前記訓練者の前記荷重重心の前記基準重心からのずれ方向が予め設定したずれ方向に沿った方向である場合に、前記駆動部に前記動作指示を出力する請求項1又は2に記載のバランス訓練装置。 - 前記算出部は、前記訓練者の身体の正面方向が前記移動台車の移動方向と一致する前後訓練モードと、前記訓練者の身体の正面方向が前記移動台車の移動方向と略直交する左右訓練モードとを外部からの指示に基づき切り替える請求項1乃至3のいずれか1項に記載のバランス訓練装置。
- 前記算出部は、前記指示制御部に対して前記訓練者の前記荷重重心の位置を表示させる指示を行い、前記訓練者の前記荷重重心が予め設定した測定開始位置に一定の期間とどまっていると判定した後に、前記指示制御部に対して前記訓練者に前記重心を移動させる指示を行う請求項1乃至4のいずれか1項に記載のバランス訓練装置。
- 移動面上を移動する移動台車に訓練者が立ってバランス訓練を行うバランス訓練装置の制御プログラムであって、
移動台車に搭載される検出部が検出した荷重から前記訓練者の搭乗面における両足の荷重重心を算出する重心算出ステップと、
前記訓練者が前記搭乗面で直立を維持したと推定される前記荷重重心を基準重心として設定する基準重心設定ステップと、
前記訓練者に身体の方向の指示と、前記訓練者に重心を移動させる指示と、を出力する指示制御ステップと、
指示制御部ステップにおける指示に従って前記訓練者が重心を移動させた際の前記荷重重心の前記基準重心からの変化方向に基づき前記訓練者の身体の方向を判定し、前記判定の結果が正しいと判断した場合に移動台車を移動させる制御を行う制御判定ステップと、
をコンピュータに実行させるバランス訓練装置の制御プログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019047885A JP7052762B2 (ja) | 2019-03-15 | 2019-03-15 | バランス訓練装置およびバランス訓練装置の制御プログラム |
US16/814,133 US11304627B2 (en) | 2019-03-15 | 2020-03-10 | Balance training apparatus and control program of balance training apparatus |
CN202010166274.3A CN111686420B (zh) | 2019-03-15 | 2020-03-11 | 平衡训练装置和计算机可读介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019047885A JP7052762B2 (ja) | 2019-03-15 | 2019-03-15 | バランス訓練装置およびバランス訓練装置の制御プログラム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020146322A true JP2020146322A (ja) | 2020-09-17 |
JP7052762B2 JP7052762B2 (ja) | 2022-04-12 |
Family
ID=72423638
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019047885A Active JP7052762B2 (ja) | 2019-03-15 | 2019-03-15 | バランス訓練装置およびバランス訓練装置の制御プログラム |
Country Status (3)
Country | Link |
---|---|
US (1) | US11304627B2 (ja) |
JP (1) | JP7052762B2 (ja) |
CN (1) | CN111686420B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7243651B2 (ja) * | 2020-02-12 | 2023-03-22 | トヨタ自動車株式会社 | バランス訓練システム、その制御方法、及び、制御プログラム |
JP7215441B2 (ja) * | 2020-02-12 | 2023-01-31 | トヨタ自動車株式会社 | バランス訓練システム、その制御方法、及び、制御プログラム |
JP2022191684A (ja) * | 2021-06-16 | 2022-12-28 | トヨタ自動車株式会社 | 歩行訓練システム、その制御方法、及び、制御プログラム |
CN113856141A (zh) * | 2021-10-13 | 2021-12-31 | 聊城市中医医院 | 一种神经平衡诊疗装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013013667A (ja) * | 2011-07-06 | 2013-01-24 | Panasonic Corp | 運動能力検査装置 |
JP2013031538A (ja) * | 2011-08-01 | 2013-02-14 | Hiroshima Univ | 姿勢バランス測定装置 |
JP2018093968A (ja) * | 2016-12-09 | 2018-06-21 | トヨタ自動車株式会社 | バランス訓練装置 |
JP2018175083A (ja) * | 2017-04-06 | 2018-11-15 | 公立大学法人名古屋市立大学 | 平衡機能訓練装置 |
Family Cites Families (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US143198A (en) * | 1873-09-23 | Improvement in skirts | ||
US18249A (en) * | 1857-09-22 | robertson | ||
US229167A (en) * | 1880-06-22 | Side-bar wagon | ||
US3408067A (en) * | 1966-05-19 | 1968-10-29 | Raymond E. Armstrong | Sking simulator device |
US4204673A (en) * | 1978-12-14 | 1980-05-27 | Speer John Sr | Dual-tread exerciser |
US4423864A (en) * | 1981-10-13 | 1984-01-03 | Wiik Sven E | Angularly adjustable ski deck |
US4733858A (en) * | 1986-05-23 | 1988-03-29 | Lan Chuang S | Multi-purpose exerciser |
US5830162A (en) * | 1992-01-23 | 1998-11-03 | Giovannetti; Giovanni Battista | Apparatus for the antigravity modification of the myotensions adapting the human posture in all of the planes of space |
US5314390A (en) * | 1992-01-31 | 1994-05-24 | Loredan Biomedical, Inc. | Linear tracking programmable exerciser |
DE60142399D1 (de) * | 2000-08-25 | 2010-07-29 | Healthsouth Corp | Motorisierte gehortese |
EP1377248A2 (en) * | 2001-04-05 | 2004-01-07 | The Regents of the University of California | Robotic device for locomotor training |
US7381163B2 (en) * | 2001-10-24 | 2008-06-03 | The Regents Of The University Of California | Closed-loop force controlled body weight support system |
US7125388B1 (en) * | 2002-05-20 | 2006-10-24 | The Regents Of The University Of California | Robotic gait rehabilitation by optimal motion of the hip |
US7621850B2 (en) * | 2003-02-28 | 2009-11-24 | Nautilus, Inc. | Dual deck exercise device |
US7998040B2 (en) * | 2005-04-11 | 2011-08-16 | The Regents Of The University Of Colorado | Force assistance device for walking rehabilitation therapy |
US7980856B2 (en) * | 2005-04-28 | 2011-07-19 | Simbex Llc | Fall prevention training system and method using a dynamic perturbation platform |
US9713439B1 (en) * | 2008-08-06 | 2017-07-25 | Rehabilitation Institute Of Chicago | Treadmill training device adapted to provide targeted resistance to leg movement |
DE102009013203A1 (de) * | 2009-03-17 | 2010-09-23 | Bellicon Ag | Fallschutzvorrichtung |
JP2012126224A (ja) * | 2010-12-15 | 2012-07-05 | Bosch Corp | 倒立振子型移動体 |
EP2626051A1 (en) * | 2012-02-09 | 2013-08-14 | Lutz Medical Engineering | Apparatus for unloading a user's body weight during a physical activity of said user, particularly for gait training of said user |
US8738278B2 (en) * | 2012-02-12 | 2014-05-27 | Shane Chen | Two-wheel, self-balancing vehicle with independently movable foot placement sections |
US10478371B2 (en) * | 2013-01-22 | 2019-11-19 | Gorbel, Inc. | Medical rehab body weight support system and method with horizontal and vertical force sensing and motion control |
CN105473194B (zh) * | 2013-01-22 | 2018-06-15 | 高博公司 | 具有水平和竖直力感测及运动控制的医疗康复升降系统和方法 |
CN203268242U (zh) * | 2013-01-30 | 2013-11-06 | 杭州亿脑智能科技有限公司 | 智能平衡车 |
JP6260811B2 (ja) | 2013-11-22 | 2018-01-17 | 株式会社テック技販 | リハビリ支援装置 |
CN103612696B (zh) * | 2013-12-12 | 2015-01-14 | 常州爱尔威智能科技有限公司 | 一种智能体感全平衡电动车 |
US10406059B2 (en) * | 2014-04-21 | 2019-09-10 | The Trustees Of Columbia University In The City Of New York | Human movement research, therapeutic, and diagnostic devices, methods, and systems |
WO2016013534A1 (ja) * | 2014-07-23 | 2016-01-28 | 株式会社村田製作所 | 手押し車 |
US11260905B2 (en) * | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
US9403573B1 (en) * | 2015-12-29 | 2016-08-02 | Angelo L. Mazzei | Hover board tricycle |
US10556636B2 (en) * | 2016-01-17 | 2020-02-11 | Shane Chen | Self-balancing load bearing vehicle |
US11399995B2 (en) * | 2016-02-23 | 2022-08-02 | Deka Products Limited Partnership | Mobility device |
JP6524991B2 (ja) | 2016-12-09 | 2019-06-05 | トヨタ自動車株式会社 | 訓練システム、および足関節トルク推定方法 |
JP2018121911A (ja) | 2017-02-01 | 2018-08-09 | トヨタ自動車株式会社 | 訓練システム |
US20180334214A1 (en) * | 2017-05-22 | 2018-11-22 | Radical Transport, Llc | Force sensing for a ridable vehicle |
JP7099380B2 (ja) * | 2019-03-15 | 2022-07-12 | トヨタ自動車株式会社 | バランス訓練装置、バランス訓練装置の制御プログラムおよびバランス訓練装置の制御方法 |
-
2019
- 2019-03-15 JP JP2019047885A patent/JP7052762B2/ja active Active
-
2020
- 2020-03-10 US US16/814,133 patent/US11304627B2/en active Active
- 2020-03-11 CN CN202010166274.3A patent/CN111686420B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013013667A (ja) * | 2011-07-06 | 2013-01-24 | Panasonic Corp | 運動能力検査装置 |
JP2013031538A (ja) * | 2011-08-01 | 2013-02-14 | Hiroshima Univ | 姿勢バランス測定装置 |
JP2018093968A (ja) * | 2016-12-09 | 2018-06-21 | トヨタ自動車株式会社 | バランス訓練装置 |
JP2018175083A (ja) * | 2017-04-06 | 2018-11-15 | 公立大学法人名古屋市立大学 | 平衡機能訓練装置 |
Also Published As
Publication number | Publication date |
---|---|
US20200289035A1 (en) | 2020-09-17 |
CN111686420B (zh) | 2022-02-18 |
US11304627B2 (en) | 2022-04-19 |
JP7052762B2 (ja) | 2022-04-12 |
CN111686420A (zh) | 2020-09-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7052762B2 (ja) | バランス訓練装置およびバランス訓練装置の制御プログラム | |
US10045904B2 (en) | Walking training system | |
US10702442B2 (en) | Walking aid device | |
US11452918B2 (en) | Balance training system, control method, and program | |
US9844481B2 (en) | Standing/sitting motion assist system, standing/sitting motion assist method, standing/sitting motion assist robot, and non-transitory computer-readable recording medium | |
CN107753239B (zh) | 倒立摆型移动体及脚关节扭矩推定方法 | |
JP7088092B2 (ja) | バランス訓練装置およびバランス訓練装置の制御プログラム | |
US10679514B2 (en) | Training system and ankle-joint torque estimating method | |
JP2000279463A (ja) | 上肢機能回復訓練装置 | |
JP6637994B2 (ja) | 介助装置 | |
JP6891803B2 (ja) | 歩行補助装置 | |
JP2020146325A (ja) | バランス訓練装置およびバランス訓練装置の制御プログラム | |
US20200289896A1 (en) | Balance training system and control method for balance training system | |
US20200289895A1 (en) | Balance training apparatus and control program for balance training apparatus | |
JP7052763B2 (ja) | バランス訓練装置およびバランス訓練装置の制御プログラム | |
JP7070480B2 (ja) | バランス訓練装置 | |
JP2020146329A (ja) | バランス訓練装置 | |
US20220387244A1 (en) | Walking training system, control method thereof, and control program | |
JP2021126245A (ja) | 訓練装置 | |
JP2020146326A (ja) | バランス訓練装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210624 |
|
TRDD | Decision of grant or rejection written | ||
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220228 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220301 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220314 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7052762 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |