JP2528891Y2 - Floor reaction force meter - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The invention is disclosed in Japanese Patent Application No. 1-216840 (Japanese Patent Application Laid-Open No. 3-80832).
No. 3), a gimbal mechanism that is suitable for use in the dynamic balance function training device. It suppresses unnecessary vibration of the support base and accurately measures the center of gravity using a floor reaction force meter. A mechanism for doing so.

[Prior Art] The applicant of the present invention has previously filed Japanese Patent Application No. Hei.
No. 80832), we proposed a function recovery training (rehabilitation) system using a floor reaction force meter. The system allows a patient to stand on a tread plate and observes the movement of the center of gravity of the patient while giving various inclination angles and movement speeds to the tread plate. It is possible to carry out training for appropriate loads according to the requirements.

FIG. 3 is a schematic perspective view of a mechanism part of the training system.

In FIG. 3, four tracks L are provided on a base C, and an inner frame I is pivotally supported inside an outer frame J supported by the track L via a bearing K. Further on the inside, a support A is pivotally supported. The rotation axis of the outer frame J and the inner frame I, the rotation axis of the inner frame I and the rotation axis of the support table A are disposed at right angles, and the support table A
A gimbal structure that allows a free inclination angle in a free direction with respect to. A pair of telescoping devices (ball screw / cylinder not shown) for changing the inclination angle of the support A are attached to the back surface of the support A, and an outer frame J is mounted on the base C.
A motor M for urging the motor to horizontally move the entire track L including the support A is fixed.

The floor reaction force meter B has a tread (upper plate) and a base (lower plate) opposed to each other, and has four corners supported by pressure-sensitive elements (beam-type load cells, etc.). The position of the center of gravity of the patient on the tread plate can be obtained from the load measured by each of the eight pressure-sensitive elements.

In the mechanism configured as described above, the floor reaction force meter B is driven by the telescopic device to change the inclination angle,
It is driven back and forth by the motor M. Here, the patient puts his or her right and left feet on the two floor reaction force meters B to maintain an upright posture, and makes an effort to withstand the inclination and movement of the floor reaction force meters B back and forth to maintain equilibrium. The situation of the center of gravity of the patient at this time is calculated and recorded in real time from the output of the pressure-sensitive element.

Therefore, the patient's sense of balance and the function of maintaining balance are accurately grasped, and if the appropriate program for moving and tilting the floor reaction force meter B is selected according to the sense, the function recovery of the patient can be effectively and efficiently performed. it can.

FIG. 4 is a plan view of the gimbal structure in the mechanism of FIG.

In FIG. 4, the inner frame I is supported on the outer frame J by left and right axes X, and the support base A is supported on the inner frame I by front and rear axes Y. On the support A, two floor reaction force meters A are mounted.

[Problem to be Solved by the Invention] In the training system, it is necessary that the load applied to the left and right feet of the patient is accurately and purely reflected in the output of the pressure-sensitive element. Since the weight of the patient transmitted from the tread side and the vibration and deflection information transmitted from the base side are converted equally to electrical output, the vibration component of the support base is superimposed on the output of the actual pressure-sensitive element. However, this has hindered the improvement of the accuracy of the center of gravity position measurement using the floor reaction force meter.

Here, the mass of the support base including the patient and the floor reaction force meter constitutes a vibration system supported by a spring constant formed by a gimbal mechanism and a telescopic device, and the vibration system changes the inclination angle,
When vibrated by the driving of the horizontal movement and the physiological vibration of the patient, a resonance state is caused to cause an output fluctuation of the pressure-sensitive element independent of the movement of the center of gravity of the patient.

In particular, such a gimbal mechanism has a structurally insufficient rigidity against vibration accompanied by distortion of the inner frame (horizontal twisting of the support base). In the output of, a vibration of about 20 Hz continued to appear for about 2 seconds, giving a large error in the measurement of the center of gravity position.

FIG. 5 is a diagram showing a change in the output of the pressure-sensitive element when the support base is rotated left and right.

In FIG. 5, the support base is driven to lift the right foot side of the patient from 0 to 10 degrees in 0.5 seconds from the time of 0 seconds. At this time, the floor reaction force meter on the patient's right foot
Upward constant acceleration movement for 1 second, constant velocity movement for 1/6 second, 1
Perform a constant acceleration deceleration stop motion for 6 seconds. On the other hand, the patient strives to balance this sudden inclination, and the pressure-sensitive element located outside the front of the floor reaction force meter has a large variation in compression force of about 30 kg, followed by about 10 kg. The ultimate tensile force acts, and the output fluctuation does not readily attenuate even after the support stand stops.

The purpose of the present invention is to provide a floor reaction force meter that can effectively and quickly attenuate the vibration of the support base, and also adopts this vibration isolating means to suppress the vibration of the gimbal mechanism and increase the structural rigidity. An object of the present invention is to provide a training system that can stably and accurately measure the position of the center of gravity of a patient by raising the center of gravity.

[Means for Solving the Problems] According to claim 1 of the present invention, an inner frame rotatably supported by the outer frame on an axis crossing the outer frame, and an axis extending longitudinally through the inner frame. A gimbal mechanism comprising a support base pivotally supported on the inner frame so as to be rotatable above, and a space sandwiched between a surface of the outer frame having the transverse axis and a surface of the inner frame opposed to this surface, And in the space between the surface of the inner frame having the longitudinal axis and the surface of the support base opposed to this surface, they are respectively sandwiched so as to be in contact with both surfaces and slidable with one of the surfaces. Sliding means for attenuating relative vibration in the rotating direction,
A measuring unit for measuring the position of the center of gravity of the patient on the tread plate, wherein the measuring unit measures the position of the center of gravity of the patient, and a tilt that tilts the support plate. A mechanism and a moving mechanism for horizontally moving the whole are provided.

[Operation] In the floor reaction force meter of claim (1) of the present invention, the inner frame can be rotated with respect to the outer frame, and the support base can be rotated with respect to the inner frame, as in the related art. The direction and angle of inclination with respect to the outer frame can be set freely. However, the space between the surface of the outer frame having the transverse axis of the outer frame and the surface of the inner frame facing the surface, and the surface of the inner frame having the longitudinal axis of the inner frame and the support base facing the surface The sliding means is interposed in the space sandwiched between the inner frame and the inner frame so as to be in contact with both surfaces and slidable on one of the surfaces. Twist the support horizontally)
The rigidity is high, the vibration is unlikely to occur, and the apparent spring constant is large, so that the vibration has a high frequency and the damping is fast. The amplitude (vibration around each axis) generated in a plane parallel to the facing surface is quickly consumed by the sliding force of the sliding means. As the sliding means, simply, a sliding member such as Teflon may be attached to one of the opposing surfaces so as to slide mutually.

Further, the sliding means makes it difficult for the opposing surface to vibrate in the vertical direction and attenuates the vibration generated in the in-plane direction, so that the output of the pressure-sensitive element is quickly stabilized. As the tilting mechanism, a conventional telescopic device may be used.
A conventional motor may be used as the moving mechanism.

[Embodiment of the invention] An embodiment of the invention will be described with reference to the drawings.

FIG. 1 is a plan view of a gimbal mechanism of a first embodiment in which the present invention is applied to the mechanism of FIG.

In FIG. 1, the inner frame I is supported on the outer frame J by a horizontal axis X on the left and right, and is supported on the inner frame I by a vertical axis Y before and after the support A. On the support A, two floor reaction force meters B are mounted. Also, left and right opposing surfaces of the outer frame J and the inner frame I,
Also, sliding plates P and Q made of Teflon resin are attached to one surface of each of front and rear opposing surfaces of the inner frame I and the support base A.

In the gimbal mechanism configured as described above, in addition to the vibrations generated on the respective opposing surfaces being attenuated by the sliding plates P and Q, the portions of the left and right opposing surfaces that are separated from the axis X are the sliding plates P. The movement in the direction of the axis X is restricted by the outer edge of the sliding plate Q, and the movement in the direction of the axis Y is restricted by the outer edge of the slide plate Q in the front and rear opposing surfaces. As a result, the amplitude of the vibration generated in various driving states can be reduced.

FIG. 2 is a diagram showing a change in output of one pressure-sensitive element when the support base is rotated left and right.

In FIG. 2, the support is driven to lift the right foot side of the patient from 0 to 10 degrees in 0.5 seconds from the time of 0 seconds. At this time, the floor reaction force meter on the patient's right foot
Upward constant acceleration movement for 1 second, constant velocity movement for 1/6 second, 1
Perform a constant acceleration deceleration stop motion for 6 seconds. On the other hand, the patient strives to balance this sudden inclination, and the pressure-sensitive element located outside the front of the floor reaction force meter has a large variation in compression force of about 30 kg, followed by about 10 kg. However, the output of the pressure-sensitive element is stable throughout as compared with the case of FIG. 5, and the fluctuation of the output disappears immediately after the support stand is stopped.

[Advantage of the Invention] In the floor reaction force meter according to the first aspect of the present invention, the sliding means increases the overall rigidity and consumes the amplitude in a plane parallel to the facing surface. Vibration between the opposing surfaces caused by acceleration and deceleration of
Even if it happens, it is attenuated quickly.

In addition, the vibration generated due to the acceleration or deceleration of the support plate or the movement of the patient's weight is rapidly attenuated, and the output of the pressure-sensitive element is also quickly stabilized. Measurement is possible.

[Brief description of the drawings]

FIG. 1 is a plan view of the gimbal mechanism according to the first embodiment of the present invention. FIG. 2 is a diagram showing a change in the output of the pressure-sensitive element when the support base is rotated left and right in the first embodiment of the present invention. FIG. 3 illustrates an example of a conventional gimbal mechanism, which is disclosed in Japanese Patent Application No. 1-216840, entitled "Dynamic Balance Function Training Apparatus".
FIG. 4 is a perspective view of a mechanism portion in FIG. FIG. 4 is a plan view of an example of a conventional gimbal mechanism. FIG. 5 is a diagram showing a change in output of the pressure-sensitive element when the support base is rotated left and right in the example of the conventional gimbal mechanism. [Description of Signs of Main Parts] A: Support, B: Floor reaction force meter C: Base, F: Pressure sensitive element I: Inner frame, J: Outer frame K: Bearing, L: Track M: Motor, P, Q: sliding plate X, Y: shaft

Claims (1)

(57) [Scope of request for utility model registration] An inner frame rotatably supported by the outer frame on an axis crossing the outer frame; and an inner frame rotatably supported by the inner frame on an axis extending longitudinally through the inner frame. A gimbal mechanism comprising a support, a space between the surface of the outer frame having the transverse axis and the surface of the inner frame facing the surface, and a surface of the inner frame having the longitudinal axis and the surface Sliding in a space sandwiched between the surface of the support base and the other surface so as to be in contact with both surfaces and to be slidable with one of the surfaces to attenuate relative vibration in the rotating direction. Means, provided on the support table, the step board and the base are opposed to each other and four corners are supported by pressure-sensitive elements, and a measurement unit that measures the position of the center of gravity of the patient on the step board, A floor reaction force meter comprising a tilting mechanism for tilting and a moving mechanism for horizontally moving the whole.