JP3394890B2 - Back pain prevention training device - Google Patents

Back pain prevention training device

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Publication number
JP3394890B2
JP3394890B2 JP16131897A JP16131897A JP3394890B2 JP 3394890 B2 JP3394890 B2 JP 3394890B2 JP 16131897 A JP16131897 A JP 16131897A JP 16131897 A JP16131897 A JP 16131897A JP 3394890 B2 JP3394890 B2 JP 3394890B2
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Japan
Prior art keywords
seat
pattern
basic
back pain
patterns
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Expired - Fee Related
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JP16131897A
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Japanese (ja)
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JPH114911A (en
Inventor
幸男 吉田
葉一 四宮
宗司 村上
淳二 野村
修 関根
Original Assignee
松下電工株式会社
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Priority to JP16131897A priority Critical patent/JP3394890B2/en
Publication of JPH114911A publication Critical patent/JPH114911A/en
Application granted granted Critical
Publication of JP3394890B2 publication Critical patent/JP3394890B2/en
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Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is intended to alleviate lower back pain and increase muscle strength around the waist by a trainee straddling a swinging seat. The present invention relates to a low back pain prevention training device for preventing low back pain. 2. Description of the Related Art In general, in order to alleviate back pain, it is often the case that the subject rests and waits for natural healing. On the other hand, it is known that low back pain can be alleviated by giving a proper swing to the lower back by rhythmic exercise such as light jogging in the case of mild back pain. This is thought to be because it promotes the circulation of thin blood vessels surrounding the lumbar nerve. [0003] By the way, although it is known that moderate rocking is effective in alleviating low back pain, a device for forcibly rocking the human body for this kind of purpose is not available. Not proposed. The present invention has been made in view of the above circumstances, and its purpose is to relieve lower back pain by forcibly shaking the human body, further strengthen muscles around the waist, and increase the lumbar movable range. It is an object of the present invention to provide a low back pain prevention training device that can be expanded to obtain a low back pain prevention effect. [0004] According to the present invention, a seat on which a trainee sits straddling, and the position of the seat in the front-rear direction, the left-right direction, and the up-down direction can be changed. Together with a driving means capable of changing the inclination around the front-rear axis, the left-right axis, and the vertical axis, and a pattern generation unit for generating a treatment pattern for instructing the driving means on the position of the seat in each direction and the inclination about each axis. The pattern generation unit is provided with a series of
Multiple types of basic patterns using the basic data as basic patterns
The basic pattern storage unit that stores the
A computing unit for generating a treatment pattern so that back pain is alleviated by swinging of the seats , the computing unit being different.
When connecting a pair of basic patterns
Connecting pattern that smoothly changes the swing of the seat during
Is to be inserted . According to this configuration, the seat is forcibly rocked according to the treatment pattern while the trainee is sitting on the seat in a straddling manner, so that the circulation of thin blood vessels surrounding the nerves of the lumbar region is promoted, and lower back pain is caused. Can be eased. In addition, by giving an appropriate swing, the effect of relaxing the lumbar muscle, promoting the flow of blood, and making the hip joint flexible can be obtained. Moreover, since the load due to the trainee's own weight is not applied to the knees and legs unlike jogging,
It can be used safely without causing knee or leg damage. [0005] Even when a trainee having no back pain uses the trainee, in order to prevent the trainee from falling off the seat, the lower body is strengthened by applying force so as to pinch the seat. In addition, by maintaining balance in the upper body, muscle strength of the muscles around the lower back, such as the abdominal muscles, the back muscles, and the abdominal muscles, is strengthened to prevent low back pain. That is, the same effects as exercises known as back pain prevention exercises can be expected, and the effect of back pain prevention can be obtained. In addition, since the treatment patterns are generated by connecting the basic patterns in a time-series manner, a treatment pattern with various changes can be generated with a small number of basic patterns. Further, by generating various treatment patterns, the trainee does not get used to or get bored. Moreover, when connecting two different basic patterns, that is, when the basic pattern changes, by inserting the connecting pattern, it is possible to reduce a sudden change in the seat swing caused by the change in the basic pattern, The swing can be changed with such a gentleness that the trainee does not drop from the seat. [0007] In the present embodiment, as shown in FIG. 1, a seat 1 on which a trainee is seated is moved by a parallel mechanism 2 as driving means. The operation control of the parallel mechanism 2 is performed by a control device 3 which is control means described later. The seat 1 has a shape similar to the back of a horse, and the trainee sits in a straddling manner. This type of seat 1 may be shaped like a motorcycle seat. In addition, it is desirable that the seat be shaped so as to be sandwiched between the side of the calf and the inner thigh. As shown in FIG. 2, the parallel mechanism 2 includes a fixed base 21 fixed at a fixed position, and a movable base 22 supported above the fixed base 21 via six legs 23. Each leg 23 is connected to the fixed base 21 and the movable base 22 via universal joints 24a and 24b, respectively. Further, each leg 23 includes a support cylinder 23a coupled to the fixed base 21 via a universal joint 24a, a rod 23b made of a ball screw inserted into the support cylinder 23a so as to be able to advance and retreat, and a rod 23.
b with a gear meshing with the rod 23
and an actuator 23c for moving b forward and backward. The tip of the rod 23b is connected to the movable base 22 via a universal joint 24b. Therefore, the actuator 23c of each leg 23 is controlled individually to
The position of the movable table 22 with respect to the fixed table 21 can be appropriately adjusted by adjusting the amount of advance and retreat of the table. The six legs 23 are connected to the fixed base 21 such that two legs are adjacent to each other, and the legs 23 connected closely to the fixed base 21 are separated from each other to the movable base 22. Are combined. With such a configuration, it is possible to control six degrees of freedom, that is, parallel movement in three directions orthogonal to each other and rotational movement about an axis in each direction. That is, movable table 2
2 enables a combined movement of rectilinear reciprocating movement of front and rear, left and right, and up and down and rotation reciprocation around front and rear axis, left and right axis, and vertical axis. As a result, the seat 1 coupled to the movable base 22 is Move with 6 degrees of freedom. The movable base 22 of the parallel mechanism 2 actually performs a composite operation of the linear movement and the rotational movement as described above, rather than performing the operations. In order to facilitate the following description, a coordinate system centered on the seat 1 will be introduced. That is, a right-handed orthogonal coordinate system is set in which the front-back direction of the seat 1 is the X-axis direction, the left-right direction is the Y-axis direction, the up-down direction is the Z-axis direction, and the origin is the center of the fixed base 21 of the parallel mechanism 2. And
The movable platform 22 of the parallel mechanism 2 can change its position in three directions of an X-axis direction, a Y-axis direction, and a Z-axis direction,
The inclination around each of the X, Y, and Z axes becomes variable. The rotation about the X axis is called a roll, the rotation about the Y axis is called a pitch, and the rotation about the Z axis is called a yaw. The control device 3 is configured using a computer device. As shown in FIG. 3, the parallel mechanism 2 is controlled based on control information written in advance from a data input unit 31 to a basic pattern storage unit 32. Control. As the data input unit 31, a three-dimensional sensor (magnetic measuring device, gyro sensor, etc.) attached near the human coccyx
Or a device that analyzes an image of the position of a reflecting sphere (spherical reflecting object) attached near the waist of a person. The basic pattern storage unit 32 is made of a semiconductor memory,
The control information stored in the basic pattern storage unit 32 is converted into the length of each leg 23 of the parallel mechanism 2 in the arithmetic unit 30 (such a conversion operation is called inverse kinematics calculation). The calculation result in the calculation unit 30 is given to the actuator control unit 33. The actuator control unit 33 determines the amount of operation of the actuator 23c according to the length of each leg 23 obtained by the calculation unit 30, and drives the actuator 23c via the drive unit 34. The drive unit 34 controls energization of the actuator 23c based on the operation amount determined by the actuator control unit 33. By the way, as shown in Table 1, the control information stored in the basic pattern storage unit 32 is X
Positions X i , Y i , and Z in the axial, Y, and Z directions
A fixed set of six, i (i is a positive number), and tilts (roll, pitch, yaw) θ Xi , θ Yi , θ Zi (i is a positive number) around the X, Y, and Z axes It is set at time intervals.
This control information includes running speeds such as slow running, fast running, pitch running, stride running, or turning left or right. Each includes a series of vibration patterns for direction changes and the like. Here, a series of vibration patterns means a vibration pattern for one cycle of each of the above-described vibrations having substantially periodicity. Hereinafter, a series of vibration patterns is referred to as a basic pattern. Such a basic pattern is sectioned at a fixed time interval sufficiently shorter than one cycle, and the above-mentioned six sets are set for each section. If a basic pattern is determined from the result of one measurement, a standard basic pattern may not be obtained.
It is desirable to use the average value of the measurement results of several persons or the average value of several measurement results for one person as the basic pattern. [Table 1] Based on the control information as shown in Table 1, the arithmetic unit 30 performs inverse kinematics calculation on the data at each time in Table 1 to obtain the length L ij (i = 1 to 1) of each leg 23 of the parallel mechanism 2.
6, j is a positive number). That is, as shown in Table 2, six legs (in Table 2, legs 1 to 6 in
The length L ij is determined. [Table 2] FIGS. 4 and 5 show examples of the measurement data captured by the data input unit 31. FIG. FIG. 4 shows measurement data obtained by normal walking, and FIG. 5 shows measurement data obtained when the user runs on the spot. 6 and 7 show control information obtained from the respective measurement data. Here, the component in the X-axis direction (that is, the front-back direction) of the measurement data obtained by walking in FIG. 4 includes a component that moves forward by walking. In short, the control information is generated using the difference between the measurement data and the straight line having the inclination obtained by dividing the movement amount by the time. The basic pattern storage unit 32 stores a plurality of types of basic patterns that simulate each exercise, and the arithmetic unit 30 generates a treatment pattern by connecting the basic patterns. That is, since the basic pattern is data for one cycle of the vibration, the continuous operation pattern must be generated by connecting the basic pattern in order to operate the parallel mechanism 2 continuously. Also,
In order to prevent the trainee from becoming accustomed (or not boring due to monotonous swinging), the treatment pattern must be changed over time. Therefore, the basic patterns are connected and the type of the basic patterns is changed with time. Since the treatment pattern is generated by combining a plurality of basic patterns in various ways, a complex treatment pattern can be generated while using a relatively small number of basic patterns. It is possible to prevent trainees from getting used to the training. Moreover, since the treatment pattern is a combination of the basic patterns, it can be generated economically. However, when connecting different basic patterns, as shown in FIG.
Each basic pattern P 1 , P 2 (FIGS. 8A and 8B, respectively)
Insert the connecting pattern P 3 between the illustrated), it is desirable to gradually changing between the two basic patterns P 1, P 2. Connecting pattern P 3 is set in advance based on the basic pattern storage unit 32 the basic pattern P 1 each pair of which is stored in, P 2, it may be stored in the basic pattern storage unit 32. If the use of large computing unit 30 of the processing capacity may be determined by calculating in real time in such a way as to interpolate both the connection portion between the basic pattern P 1 and the basic pattern P 2. Since the change in the treatment pattern is gradual in this manner, the swing changes suddenly at the connection between the basic patterns P 1 and P 2 , and the trainee cannot respond to the sudden change in the swing, so that the trainee starts from the seat 1. Falling can be prevented. As is clear from the above description, the pattern generation section is constituted by the basic pattern storage section 32 and the operation section 30. Further, the treatment pattern generated by the arithmetic unit 30 is given to the parallel mechanism 2 through the actuator control unit 33 and the drive unit 34 as described above, and the seat 1 swings by the operation of the parallel mechanism 2. Incidentally, the first set and the last set of six in the basic pattern and the connecting pattern are set to have the same contents. Also, in the basic patterns different from each other, the first set and the last set are set to have the same contents. Thus, even when different types of basic patterns are connected, the transition to the next basic pattern at the end of the basic pattern allows the transition to a different basic pattern without a sense of incongruity. The selection of the basic pattern is performed by the arithmetic unit 30 based on the data stored in the basic pattern storage unit 32. That is, the order of the basic patterns and the repetition time (or the number of times) are stored in the basic pattern storage unit 32 as a time table, and the arithmetic unit 30 reads them and selects the basic pattern. Further, in order to prevent the treatment pattern from becoming monotonous, the type, order, duration, and the like of the basic patterns in the time table may be determined based on random numbers. Since the trainee with back pain straddles the seat 1, rhythmic swings are given, so that blood circulation around the waist is promoted and back pain is alleviated. In addition, trainees who do not have low back pain should focus on the lower body so that they do not fall from the seat 1 and balance with the upper body, strengthening the muscles of the lower body and the muscles around the waist, and expanding the range of motion of the lumbar spine The effect of preventing the back pain by making the hip joint flexible is obtained. In the above-described embodiment, the parallel mechanism 2 is used as the driving means. However, the present invention is not limited to this. If the parallel mechanism 2 drives the seat 1 with six degrees of freedom, other mechanisms for the robot can be used. (Such as articulated robots)
May be used. According to the first aspect of the present invention, there is provided a seat on which a trainee sits straddling, a position of the seat in a front-rear direction, a left-right direction, and a vertical direction can be changed. A driving unit that can change the inclination around the left-right axis and the up-down axis; and a pattern generation unit that generates a treatment pattern that instructs the driving unit on the position of the seat in each direction and the inclination around each axis. Department is based on a series of data that swings the seat
Basic that stores multiple types of basic patterns as patterns
A pattern storage unit, and a calculation unit that connects the basic patterns in a time series and generates a treatment pattern so that lower back pain is reduced by swinging of the seat.
When connecting patterns, swing the seat between the basic patterns.
It is to insert a bridging pattern that changes the movement smoothly , and in a state where the trainee is sitting on the seat while straddling,
Because the seat is forcibly swung according to the treatment pattern,
There is an advantage that the circulation of thin blood vessels surrounding the nerves of the lumbar region can be promoted and back pain can be alleviated. In addition, by giving an appropriate swing, the effect of relaxing the lumbar muscle, promoting the flow of blood, and making the hip joint flexible can be obtained. Moreover, since the load due to the trainee's own weight is not applied to the knees and legs as in jogging, there is an advantage that the trainees can safely use the knees and legs without causing any obstacles. In addition, even when a trainee who does not have back pain uses it, in order to prevent the trainee from falling off the seat, the lower body is strengthened by applying force so as to pinch the seat, In the upper body, there is an advantage that maintaining the balance strengthens the muscular strength of the muscles around the lower back, such as the abdominal muscles, the back muscles, and the abdominal muscles, thereby preventing lower back pain. In addition, since the treatment pattern is generated by connecting the basic patterns in a time series, there is an advantage that a treatment pattern with various changes can be generated with a small number of basic patterns. In addition, there is an advantage that the trainee does not get used to or get bored by generating various treatment patterns, and when two different basic patterns are connected, that is, the basic pattern changes. Sometimes, by inserting a bridging pattern, a sudden change in the swing of the seat due to a change in the basic pattern can be mitigated, and the swing can be changed with such a gentleness that the trainee does not drop from the seat. There is an effect that can be.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a first embodiment of the present invention, wherein (a) is a side view,
(B) is a rear view. FIG. 2 is a perspective view of a parallel mechanism used in the embodiment. FIG. 3 is a block diagram of the same. FIG. 4 is a diagram showing an example of measurement data of the above. FIG. 5 is a diagram showing an example of measurement data of the above. FIG. 6 is an operation explanatory diagram showing an example of a basic pattern of the above. FIG. 7 is an operation explanatory diagram showing an example of a basic pattern according to the embodiment. FIG. 8 is an operation explanatory diagram showing an example of a treatment pattern used in the embodiment. [Description of Signs] 1 Seat 2 Parallel mechanism 3 Control device 30 Operation unit 31 Data input unit 32 Basic pattern storage unit

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yukio Yoshida 1048 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Works, Ltd. References JP-A-5-329226 (JP, A) JP-A-7-67924 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) A61H 1/00 A63B 22/00 A63B 24 / 00

Claims (1)

  1. (57) [Claims] [Claim 1] A seat on which a trainee sits straddling;
    A driving means for changing the position of the seat in the front-rear direction, the left-right direction, and the up-down direction, and changing the inclination around the front-rear axis, the left-right axis, and the up-down axis; and a pattern generator for generating a treatment pattern for instructing inclination to the drive means, the pattern generating section, the seat
    A series of data that swings the seat is used as a basic pattern
    A basic pattern storage unit that stores types of basic patterns,
    A calculation unit that connects the basic patterns in a time-series manner and generates a treatment pattern so that the lower back pain is alleviated by the swing of the seat ;
    And the arithmetic unit connects a pair of different basic patterns
    When the seat swings smoothly between the two basic patterns
    Back pain preventive exercise equipment, characterized by inserting a connecting pattern for.
JP16131897A 1997-06-18 1997-06-18 Back pain prevention training device Expired - Fee Related JP3394890B2 (en)

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Application Number Priority Date Filing Date Title
JP16131897A JP3394890B2 (en) 1997-06-18 1997-06-18 Back pain prevention training device

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Application Number Priority Date Filing Date Title
JP16131897A JP3394890B2 (en) 1997-06-18 1997-06-18 Back pain prevention training device

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JP3394890B2 true JP3394890B2 (en) 2003-04-07

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1621236A1 (en) 2004-07-27 2006-02-01 Matsushita Electric Works, Ltd. Rocking type exercising apparatus
EP2030657A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2030656A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2030655A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2036592A1 (en) 2007-09-13 2009-03-18 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
US7828705B2 (en) 2007-05-28 2010-11-09 Panasonic Electric Works Co., Ltd. Oscillation-type exercise device
US7931565B2 (en) 2006-03-28 2011-04-26 Panasonic Electric Works Co., Ltd. Swing exercise machine
KR101356640B1 (en) * 2012-04-09 2014-02-03 김상국 6-axis motion contril device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT336286T (en) 2000-06-07 2006-09-15 Matsushita Electric Works Ltd Device for training the balance
CN100423801C (en) * 2004-07-27 2008-10-08 松下电工株式会社 Rocking type exercising apparatus
CN100446742C (en) * 2004-10-21 2008-12-31 期美科技股份有限公司 Riding machine
KR20140049585A (en) * 2011-08-14 2014-04-25 라디언시 인크. Back treatment apparatus

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1621236A1 (en) 2004-07-27 2006-02-01 Matsushita Electric Works, Ltd. Rocking type exercising apparatus
US7347806B2 (en) 2004-07-27 2008-03-25 Matsushita Electric Works, Ltd. Rocking type exercising apparatus
US7931565B2 (en) 2006-03-28 2011-04-26 Panasonic Electric Works Co., Ltd. Swing exercise machine
US7828705B2 (en) 2007-05-28 2010-11-09 Panasonic Electric Works Co., Ltd. Oscillation-type exercise device
EP2030657A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2030656A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2030655A1 (en) 2007-08-31 2009-03-04 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
EP2036592A1 (en) 2007-09-13 2009-03-18 Panasonic Electric Works Co., Ltd. Rocking type exercising apparatus
KR101356640B1 (en) * 2012-04-09 2014-02-03 김상국 6-axis motion contril device

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