JP3497332B2 - User responsive exercise device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a user-responsive exercise device in which a user walks or runs on an endless orbital surface that is rotated by driving means, and in particular, surgery such as after stroke or diabetes, or joint surgery. Users who are suitable for walking rehabilitation (hereinafter abbreviated as rehabilitation) in medical rehabilitation that is performed later, athletic rehabilitation that is performed after athletes, etc. are injured, or walking training for the purpose of correcting the walking posture for beauty. Responsive exercise device.

[0002]

2. Description of the Related Art A user-responsive exercise device for detecting a user's position and changing a traveling speed is disclosed in Japanese Examined Patent Publication No. 2-47231 and Japanese Patent Laid-Open No. 63-309280. The user-responsive exercise device disclosed in Japanese Examined Patent Publication No. 2-47231 performs constant speed driving of the movable surface when the user is located within a predetermined range on the movable surface, and the position of the user is movable. When it deviates from the predetermined range on the surface, on / off operation of positive or negative acceleration is executed. More specifically, when the position of the runner on the movable surface gradually moves forward and exceeds the forward limit line, acceleration control is performed so that the movable surface accelerates by one step, and the position of the runner gradually retreats and moves backward. When exceeding the limit line, deceleration control is performed so that the movable surface decelerates in one step.

The user-responsive exercise device disclosed in Japanese Patent Laid-Open No. 63-309280 also has a movable surface based on the distance between the runner and the distance measuring device when the runner is out of a predetermined range on the movable surface. Gives the rate of change (acceleration) of.

That is, in the above-mentioned conventional apparatus, the user does not actively control when the vehicle is traveling at a constant speed while staying within the set range.
This is an acceleration (deceleration) control in which acceleration / deceleration is performed when the position of the runner deviates from a predetermined range due to a change in speed, and constant speed running is the default state. As a result, the velocity of the movable surface is determined as a result of acceleration control.

[0005]

When walking rehabilitation is performed using an exercise device of a type in which the moving speed of a movable surface is controlled by turning a button on and off, the user's exercise is often regulated to a constant speed.

In the above prior art, the speed of the user can be changed, but even if the user changes the walking speed,
The moving speed of the movable surface of the device did not change rapidly. For this reason, the speed corresponding to the walking ability of the user cannot be quickly obtained, and the sense of walking remains uncomfortable. In addition, when the user cannot walk and stops, deceleration may not be in time and the user may fall from the traveling surface.

An object of the present invention is to change the moving speed of a movable surface from the start to the end of walking in accordance with the speed of the user, so that even if the walking is stopped, It is an object of the present invention to provide a user-responsive exercise device capable of preventing a user from falling.

Another object of the present invention is to provide a user-responsive exercise device capable of coping with users having different usage patterns such as a runner participating in a running competition such as a marathon and a pedestrian performing walking rehabilitation. is there.

[0009]

According to one aspect of the present invention, an endless track mechanism having a movable surface on which a user walks or runs, and the movable surface moves at a speed based on a control signal input from the outside. Drive means for driving the endless track mechanism, position deviation detection means for detecting a position deviation from a reference position set on the movable surface to a user's position on the movable surface, and the position deviation detection Inputting the position deviation detected by the means, forming an output signal that monotonically increases as the position deviation increases, and sending it as the control signal to the driving means; and means for arbitrarily changing the reference position. A user-responsive exercise device having:

By driving the movable surface at a speed corresponding to the position deviation of the user from the reference position, the movable surface can be moved quickly following the speed of the user. Further, when the positional deviation becomes zero, the velocity of the movable surface becomes zero, so that the position of the user on the movable surface can be prevented from moving backward from the reference position, and the user can be prevented from falling from the movable surface. it can.

According to another aspect of the present invention, in the above-described user-responsive exercise device, when the traveling direction of the user is the positive direction of the position deviation, the control means sets the position deviation to a negative value. A user-responsive exercise device is provided which is characterized in that the output signal is maintained at zero while holding.

The movable surface moves only in the direction opposite to the walking (or running) direction of the user. The movable surface does not move while the user moves up to the reference position on the movable surface, and when the user exceeds the reference position, the movable surface starts moving in the direction opposite to the walking direction of the user. Therefore, the user can safely start walking.

According to still another aspect of the present invention, an endless track mechanism having a movable surface on which a user walks or runs,
Driving means for driving the endless track mechanism so that the movable surface moves at a speed based on a control signal input from the outside, and a user position on the movable surface from a reference position set on the movable surface. Position deviation detection means for detecting the position deviation up to, switching means for outputting a switching signal based on an input operation for switching the use mode of walking and running, and the position deviation detected by the position deviation detection means are input, It is possible to perform a current value corresponding operation that forms a first output having a magnitude corresponding to the deviation and an integration operation that forms a second output having a magnitude corresponding to the amount obtained by integrating the position deviation. The control is performed only by the operation corresponding to the current value, and in the use mode of traveling, it has a switch for performing a control that combines the operation corresponding to the current value and the integral operation, and forms an output signal depending on the use mode. User response type exercise device having a control means for sending a said control signal to said drive means.

With the positional deviation from the reference position to the user's position as the control amount, the control means controls the current value responsive operation and the control combining the current value responsive operation and the integral operation by the switching signal of the switching means. The movable surface can be moved quickly while following the walking speed or running speed of the user.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION A user-responsive exercise device according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a partial schematic front view of a user-responsive exercise device according to an embodiment of the present invention and a block diagram of a control system. Two rollers 4 are attached to the frame 3, and the endless track belt 1 is hung between the two rollers 4. The user 10 walks on the upper surface (movable surface) of the endless track belt 1 at a speed Vh. The movable surface moves at a speed Vh in the direction opposite to the direction in which the user 10 walks. For convenience,
The traveling direction of the user 10 (rightward direction in the figure) is defined as a positive direction. Then, the speed including the direction of the movable surface becomes −Vm. The user 10 has the speed Vh-Vm for the frame 3.
have.

Handrails 12 attached to the frame 3 are arranged on both sides of the user 10. Below the movable surface of the endless track belt 1, the user 10
A support plate 2 that supports the weight of the vehicle is arranged. A rotating force is applied to one roller 4 from a motor 5 via a pulley. The motor 5 is driven by the motor drive device 6.

A distance measuring device 8 composed of an ultrasonic sensor or an optical sensor is arranged in front of the user 10. The distance measuring device 8 measures the position deviation Δx of the user 10 from the reference position 0, and sends the position deviation information corresponding to the position deviation Δx to the user intention reading device 7. When the user 10 is in front of the reference position, the position deviation Δx becomes positive. The user intention reading device 7 determines a preferable moving speed of the movable surface of the endless track belt 1 based on the position deviation information of the user, and sends a motor control signal to the motor driving device 6. Further, acceleration / deceleration information corresponding to the motor control signal is sent to the control information display device 9.

The control information display device 9 visually displays the acceleration / deceleration state to the user 10, based on the acceleration / deceleration information provided from the user intention reading device 7.

Next, the operation of the user response exercise device shown in FIG. 1 will be described. The user 10 goes up from the rear (left side in FIG. 1) of the reference position O on the movable surface to the movable surface and starts walking or running toward the distance measuring device 8 arranged in front.

The distance measuring device 8 is moved from the reference position O to the user 10
The distance to the position, that is, the position deviation Δx is measured. Position deviation Δ when the user 10 is in front of the reference position O
Position deviation Δ when x is positive and is behind the reference position O
Let x be negative.

When the user 10 moves forward from the reference position O, the position deviation Δx becomes positive. The user intention reading device 7 is
When it is detected that the positional deviation Δx becomes positive, the motor drive device 6 is instructed to start the motor rotation. The motor drive device 6 sends a drive signal to the motor 5, the motor 5 starts rotating, and the endless track belt 1 starts rotating.

Next, the operation of the motor drive device 6 and the user intention reading device 7 will be described with reference to FIG.

As shown in FIG. 2, a walking or running motion is performed based on the user's intention to accelerate or decelerate. In the following description, it is assumed that the user 10 walks. The user 10 performs a muscle exercise according to his or her intention, and as a result, reaches a certain speed Vh with respect to the endless orbital belt 1 at a certain time. The movable surface of the endless track belt 1 moves at a speed of −Vm in the direction opposite to the walking direction of the user 10. Therefore, the user 10 on the movable surface moves with respect to the reference position O fixed to the frame 3 at a combined speed of Vh + (− Vm) = Vh−Vm = ΔV, which is a combination of the speed Vh and the speed −Vm. . The integrated value of this combined velocity ΔV becomes the position deviation Δx with respect to the reference position O of the user 10.

That is, the distance measured by the distance measuring device 8 fixed to the frame 3 is the distance between the user 10 moving at the combined velocity ΔV and the distance measuring device 8. The position deviation Δx is obtained by calculating the difference between the distance between the distance measuring device 8 and the reference position O and the measured distance.

The user intention reading device 7 has an amplifier 7b. The output of the user intention reading device 7 is the unidirectional device 7
Input to u. The unidirectional device 7u is formed of, for example, a diode and passes only a positive speed command value. The amplifier 7b multiplies the position deviation Δx by the gain Kv to form the speed command value Pv. Therefore, the unidirectional device 7u passes only the positive value of the speed command value Pv and generates the motor control signal Mc.

FIG. 3 shows the position deviation Δx and the motor control signal Mc.
Shows the relationship with. The motor control signal Mc is zero while the position deviation Δx is negative and zero, and the motor control signal Mc is proportional to Δx in the region where the position deviation Δx is positive. However, the motor control signal Mc has an upper limit value.

That is, the user intention reading device 7 calculates the position deviation between the center of gravity of the user or the position of the body surface and the origin based on the position deviation Δx measured by the distance measuring device 8,
The so-called proportional control is performed in which the endless orbital belt is driven at a speed proportional to the position deviation Δx so that the speed of the endless orbital belt 1 follows the speed that the user wants to walk.

FIGS. 4A and 4B show simulation results when the control shown in FIG. 2 is performed. Here, the gain Kv in the user intention reading device 7 is set to Kv.
FIG. 4 (A) shows a change in the speed Vh of the user 10 and a change in the speed Vm of the movable surface corresponding to the speed Vh = 1.12 (unit: 1 / s). The speed in FIG. 4A is in units (km
/ H).

As shown in FIG. 4A, from when the user 10 exceeds the reference position O (t = 0) to less than 12 seconds,
Accelerate at a speed represented by the following formula (1) with a target of about 3 km / h, and from about 12 seconds to less than 20 seconds, about 4 km / h
With a target of km, the movable surface of the endless track belt 1 is accelerated at a speed represented by the following formula (2) and decelerated at a speed represented by the following formula (3) in order to stop walking after 20 seconds. A change in the moving speed Vm was simulated.

Vh = Vh1 (1) Vh = Vh1 + Vh2 (2) Vh = Vh1 + Vh2-Vh3 (3) where Vh1 = (1-exp (-0.5t)) × 0.833 Vh2 = (1- exp (-0.6 (t-12))) x
0.278 Vh3 = (1-exp (-0.3 (t-20))) *
It was set to 1.111.

FIG. 4A shows a time change of the speed Vh of the user 10 and the moving speed Vm of the movable surface. t is the elapsed time from the start of walking when the pedestrian exceeds the reference position, and 0.
833, 0.278 and 1.111 are the final speeds (unit: m / m) from the formulas (1) to (3) after the infinite time has elapsed.
s).

As shown in FIG. 4A, the speed V of the user
As h increases, the moving speed Vm of the movable surface is slightly delayed,
However, it can be seen that the tracking is continuous and smooth. The acceleration and deceleration of Vh and Vm are the same, and while one is accelerating, the other is not decelerating.

FIG. 4B shows the time variation of the position deviation Δx from the reference position O of the user 10 in the situation of FIG. 4A.

As shown in FIGS. 4 (A) and 4 (B), when the walking speed is increased from the reference position O in accordance with the equations (1) and (2), it is moved forward from the reference position O by about 0.75 m. About 3k
The speed reaches about 4 km / h when the vehicle reaches a speed of m / h and further advances from the reference position O by about 1 m. afterwards,
When the velocity Vh is rapidly reduced according to the equation (3), the position of the user retreats along with it, and eventually the velocity Vh and the moving surface moving velocity Vm both become zero, and the position of the pedestrian also becomes the reference position O. I'm back.

As described above, even if the user suddenly decelerates, the moving speed of the movable surface can be rapidly and smoothly decelerated in accordance with the speed of the user. The device can be stopped without falling, and the safety can be improved when performing walking rehabilitation or the like.

Now, the speed control of this embodiment will be compared with the acceleration control of the conventional exercise device. Even if the user speeds up with a conventional exercise device, if the position of the user is within a predetermined range, the movable surface moves at a constant speed. Only when the user's position crosses the forward limit line will the movable surface begin to accelerate. Eventually, the speed of the movable surface becomes equal to the speed of the user. However, (Vh-Vm) is positive during the period up to this point, and the position of the user continues to move forward and moves forward from the forward movement limit line.

Therefore, the speed of the movable surface cannot help but exceed the speed of the user. When the velocity of the movable surface exceeds the velocity of the user and (Vh-Vm) becomes negative, the position of the user retreats. Only when the user's position is behind the forward limit line, the acceleration stops and the movable surface runs at a constant speed. However, (Vh-Vm) is negative and the user's position continues to retreat. Re-acceleration of the movable surface starts only when the user's position exceeds the backward limit line. Eventually (Vh-Vm) becomes positive, and the position of the user begins to move forward. The reacceleration stops only when the user's position is in front of the backward limit line.

As described above, in the conventional acceleration control, speed overshoot occurs. Also, the user's position is
There is a control time delay until the backward limit line is crossed. In particular, the control time delay becomes large when the acceleration is changed to the deceleration. In the speed control of this embodiment, as shown in FIG. 4 (A), there is no overshoot or control time delay.

The case where the distance measuring device 8 is installed in front of the user 10 has been described as an example. However, when the user 10 walks or runs, he or she swings his arms to give a momentum to the front of his chest. The distance measuring device 8 may detect the arm that has been swung greatly as the position of the user 10, and a deviation may occur between the position of the waist and the position of the chest, resulting in a measurement error.

By the way, when the arm is swung backward, the arm rarely turns to the back of the back. So swinging the arms and the waist,
If the distance measuring device 8 is installed behind the user in order to distinguish the movement of the chest, more accurate measurement can be performed.

As shown in FIG. 5, the user intention reading device 7 may be further provided with a filter 7f. The filter 7f removes the noise due to the user's arm swing included in the position deviation signal given from the distance measuring device 8 to obtain the position deviation Δxf indicating the user's original position. After that, as in the above-described embodiment, the gain Kv is increased in the amplifier 7b.
Is generated to generate the speed command value Pvf, the negative value is cut by the unidirectional device 7u, and the motor control signal Mc is generated.

That is, the user intention reading device 7 removes noise from the position deviation Δx captured by the distance measuring device 8 and estimates the position deviation between the user's center of gravity position or the body surface position and the reference position O. The control is performed by a so-called correction proportional operation in which the deviation Δxf is generated and the speed of the endless track belt 1 is made to follow the desired walking speed of the user based on Δxf. In this way, even if the distance measuring device 8 is provided in front of the user 10 instead of behind it, noise such as arm swing of the user 10 can be removed and the original position can be grasped. The simulation result at this time is shown in FIG.
Since it is almost the same as (B), the description is omitted.

Next, a user-responsive exercise device according to another embodiment of the present invention will be described. FIG. 6 is a partial schematic front view of a user-responsive exercise device and a block diagram of a control system according to another embodiment of the present invention. The user-responsive exercise device shown in FIG. 6 has two modes, a running mode and a walking mode, and is used for the handrail 12 so that the user can select and use either the running mode or the walking mode. A form change switch 13 is provided.

When the user operates the usage mode changeover switch 13, the switching signal Sc causes the user intention reading device 7 and the reference position changing device 14 installed between the user intention reading device 7 and the distance measuring device 8. Given to. Note that the same parts as those of the embodiment shown in FIG.

The reference position changer 14, when the usage mode changeover switch 13 is set to the driving mode by operating the user 10 sets a reference position on the moving surface at a position of the code O _R, is a walking mode When it is set, the output of the distance measuring device 8 is corrected so that the reference position on the movable surface is set to the position of the symbol O,
The position deviation Δx from these reference positions is calculated.

For example, as shown in FIG. 7, the reference position changer 14 includes switches 14a and 14b and a calculator 14c. When the switching signal Sc from the usage mode switching switch 13 is in the walking mode, the switch 14a is turned on and the switch 14b is turned off. In the traveling mode, the switch 1 is turned on.
4a is turned off and switch 14b is turned on.

In the walking mode in which the switch 14a is ON (the switch 14b is OFF), the positional deviation Δx between the user 10 and the reference position O output by the distance measuring device 8 is directly transmitted to the user intention reading device 7. Switch 14b is ON
In the case of the traveling mode (switch 14a is OFF),
Calculator 14c the distance L2 between the reference position O to the distance measuring instrument 8 is out of the position deviation between the user 10 both reference position O-O _R
The position deviation Δx subtracted in step 1 is output.

This is because the distance measuring device 8 is constructed so as to generate a position deviation with reference to the reference position O. It becomes the position O _R and the user 10 sets the traveling mode to be the reference position on the moving surface. The reference position changer 14 makes this adjustment. The user intention reading device 7 receives the position deviation Δx with the position O _R as the reference position on the movable surface. Incidentally, one or a basic position O and O _R is arbitrary. When using the position O _R as the basis, add + L to the switch 14a.
It suffices to connect a computing unit that performs the computation of 2.

The user intention reading device 7 includes an amplifier 7a and an integrator 7c, and has an integral control system for performing control corresponding to the integrated value of the past position deviation and a current value corresponding control system including the amplifier 7a. The outputs of both control systems are added by the adder 7d. A switch 7e is provided in the integral operation system of the user intention reading device 7. The switch 7e is turned on by the switching signal Sc in the traveling mode similarly to the switch 14b of the reference position changer 14, and turned off in the walking mode.

Therefore, in the user intention reading device 7, the integral motion system control and the current value corresponding motion system control work in the running mode, and only the current value corresponding motion system control works in the walking mode.

When the use mode changeover switch 13 is set to the walking mode by the operation of the user 10, that is, when the operation system corresponding to the current value is operated, the user responsive exercise device of FIG. 6 is shown in FIG. The description is omitted because it is almost the same as the one described above. It should be noted that the user intention reading device 7 is provided with a unidirectional device 7u serving as a limiter for stopping the rotation of the motor 5 when the user 10 is behind the reference position O in the walking mode. desirable.

In the walking mode, similarly to the embodiment shown in FIGS. 1 to 5, even if the user 10 suddenly decelerates, the moving speed of the movable surface can be rapidly decelerated corresponding to the walking speed of the user. Therefore, the user 10 can stop the device without falling from the rear part of the movable surface, and can improve the safety when performing walking rehabilitation or the like.

On the other hand, the operation of the user-responsive exercise device when the use mode changeover switch 13 is set to the traveling mode by the operation of the user 10, that is, when the integral operation system and the current value corresponding operation system are operated. This will be described below.

As shown in FIG. 7, the user intention reading device 7
Is composed of a switch 7e, amplifiers 7a and 7b, an integrator 7c and an adder 7d. The amplifier 7a adds a gain Ka to the position deviation Δx given from the distance measuring device 8 via the reference position changer 14 to generate an acceleration command value Pa as shown in FIG. The integrator 7c has an acceleration command value Pa
Is numerically integrated over time to generate a speed command value Ps. Similarly, the amplifier 7b adds a gain Kv to the position deviation Δx to generate a speed command value Pv as shown in FIG.

The adder 7d adds the speed command value Ps and the speed command value Pv and outputs the result to the unidirectional device 7u.
Generates a motor control signal Mc. That is, the user intention reading device 7 performs a control operation in which the current value corresponding operation and the integration operation are combined with the position of the user 10 as a control amount and the position deviation Δx = 0 as a target value.

Although the user 10 switches the switch 13 to the traveling mode, the traveling speed is the same as in the simulation shown in FIG. 4A, the acceleration command value Pa is shown in FIG. 8, and the speed command value Pv is shown in FIG. 9 and the gain Kv
Is Kv = 1.12 (unit: 1 / s), and the gain Ka is Ka
= 1.67 (unit: 1 / s ² ) the simulation results are shown in FIGS.

In FIG. 10A, as shown by the speed Vh of the user 10, the running speed V of the user is maintained for about 2 seconds after the start of running.
The moving speed Vm of the movable surface rises with a delay with respect to the rising of h, and even after the moving speed Vm becomes equal to the speed Vh, the increase of the moving speed Vm does not suddenly decrease but overshoots.
After that, Vm saturates and eventually decreases to about 5 after the start of running.
In about a second, the moving speed Vm becomes equal to the speed Vh. When the user further accelerates at 12 seconds after the start of traveling, the moving speed Vm once overshoots again, but about 2
After about a second, the speed becomes equal to Vh. Similarly, the moving speed Vm becomes equal to the speed Vh in about 2 seconds even if the rapid deceleration is performed 20 seconds after the start of running.

FIG. 10B shows the time variation of the position deviation Δx from the reference position O _R of the user 10 in the situation of FIG. 10A.

[0060] FIG. 10 (A), the (B), the user is the position of the user is approximately 20cm forward from the reference position O _R at the time became about 2km / h enhances the walking speed 5 seconds as in returns to the reference position O _R. User speed Vh is 3km
Even when it reaches the / h remains of the reference position O _R. Even if a rapid acceleration is made 12 seconds after the start of walking, the user 10 just returns slightly to the reference position O _R with only a slight forward movement. When performing rapid deceleration in the running after 20 seconds after the reference position O from _R 20
cm, but gradually returns to the reference position O _R , and the user 1
When 0 stops walking, the moving speed of the movable surface also becomes 0 and the user 10 returns to the reference position O _R.

As described above, in the traveling mode, the user position is controlled by the integral control so as to return to the same position regardless of the speed. Further, even in the traveling mode, since the moving speed of the movable surface can be rapidly decelerated in response to the sudden deceleration according to the intention of the user 10 by the current value corresponding control, the user 10 can move from the movable surface. are prevented falling, you can travel around the reference position O _R.

Further, the case where the distance measuring device 8 is installed in front of the user 10 has been described as an example. However, in order to distinguish the swing of the arm from the movement of the waist and the chest, the distance measuring device 8 is set by the user. You may install in the back. The more accurate the measurement, the better it is installed behind the user.

The user intention reading device 7 estimates a position deviation Δxf between the origin and the position of the user's center of gravity or the surface of the body from the position deviation Δx captured by the distance measuring device 8.
Based on the above, the control operation may be performed by a so-called corrected proportional operation in which the speed of the endless track belt 1 is made to follow the desired walking speed of the user.

For example, as shown in FIG. 11, a filter 7f is provided in front of the amplifier 7b of the user intention reading device 7,
By the filter 7f, noise due to the user's arm swing included in the position deviation signal given from the distance measuring device 8 is removed, and the position deviation Δxf indicating the original position of the user is obtained,
The gain Kv is applied to the amplifier 7b and the speed command value P
vf may be generated. The filter 7f may be provided after the output of the reference position changer 14 and the input of the user intention reading device 7 may be the position deviation Δxf. However, in the integral operation system, the calculated speed command value Ps is not so affected by noise.

That is, even if the distance measuring device 8 is provided in front of the user 10, the original position of the user 10 can be grasped similarly to the case where the distance measuring device 8 is provided behind the user 10, and the installation place of the distance measuring device 8 is limited. You don't have to. Note that the simulation result at this time is almost the same as that in FIGS. 10A and 10B, and thus the description is omitted.

As described above, in the user-responsive exercise device according to the embodiment shown in FIGS. 6 to 11, when the walking mode is selected by the user 10, the user 10 moves backward from the reference position O while walking. Therefore, the reference position O can be set at a position close to the rear end of the movable surface. As a result, the walking path in front of the user 10 becomes longer, and the range in which the user 10 can move forward is expanded. When walking, the user 10 moves forward from the reference position O.
The farther away, the faster the speed Vh of the user 10 becomes. Therefore, the retreat of the reference position O depends on the moving speed V of the endless track belt 1.
Widen the variable speed range of m. In addition, by using the usage mode changeover switch, it is possible to support a wide range of exercises from slow walking to running during rehabilitation.

In the user-responsive exercise device shown in FIGS. 1 and 6, the control information display device 9 is obtained from the acceleration amount of the movable surface and the distance measuring device 8 determined by the user intention reading device 7. The position deviation Δx is displayed by, for example, a bar graph on a CRT, a liquid crystal display panel, or a plasma discharge display panel. By displaying the acceleration / deceleration status of the road, the user can confirm that the acceleration / deceleration of walking is accurately detected and that the control system is working properly, and the user can make a movement different from the user's intention. You can be sure that you are not. Further, by knowing the limit of the followability of the device, it is possible to adjust the acceleration of walking and to exercise safely and comfortably.

Although the case where the amplifiers 7b and 7a have a linear characteristic has been described, it is also possible to use a characteristic other than linear. For example, an amplifier that exhibits a first-order or higher-order output change with respect to an input change may be used. Further, although the case where the control system is configured by an analog circuit is shown, it may be configured by a digital circuit. In this case, the amplifier 7b,
A lookup table or the like may be used instead of 7a. It is also possible to realize characteristics of any shape other than linear.

FIG. 12 shows a use response type exercise device in which the functions of the reference position changer 14 and the runner's intention reading device 7 of FIG. 11 are realized by using a personal computer and an interface. The output signal of the distance measuring device 8 is taken into the personal computer 24 via the input interface 21. The switching signal Sc of the user form switch 13 is the input interface 22.
Can be incorporated into the personal computer 24 via. Based on these pieces of information, the arithmetic unit 26 performs an operation according to the software 25 incorporated in the personal computer, and the motor drive signal Mc is output to the motor drive unit 6 via the output interface 23. The acceleration / deceleration status of the endless track belt 1 is sent to the control information display device 9 via the output interface 27. The processing in the software 25 in the personal computer 24 is performed by converting the processing shown in FIGS. 1 to 11 into software. Since such software processing can be easily realized by existing technology,
It will not be described in detail here.

The present invention has been described above with reference to the embodiments.
The present invention is not limited to these. For example,
It will be apparent to those skilled in the art that various changes, improvements, combinations and the like can be made.

[0071]

As described above, according to the present invention, the moving speed of the movable surface can be controlled to the speed the user wants to run or the speed the user wants to walk without performing any operation during exercise. It is possible to obtain a user-responsive exercise device that can be used.

Further, when only the proportional action is selected as the control action, the movable surface is always stopped when the user returns to the reference position on the movable surface, so that the user can safely exercise. A mold exercise device can be obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a user-responsive exercise device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing details of a control system of the user-responsive exercise device shown in FIG.

3 is a graph showing an example of a characteristic of a motor control signal Mc in the user-responsive exercise device shown in FIG.

FIG. 4 is a graph showing characteristics of the user-responsive exercise device shown in FIG.

5 is a block diagram showing details of another control system of the user-responsive exercise device shown in FIG.

FIG. 6 is a configuration diagram of a user-responsive exercise device according to another embodiment of the present invention.

7 is a block diagram showing details of a control system of the user-responsive exercise device shown in FIG.

8 is a graph showing an example of acceleration command value characteristics of the user intention reading device 7 in the user-responsive exercise device shown in FIG.

9 is a graph showing an example of speed command value characteristics of a user intention reading device 7 in the user-responsive exercise device shown in FIG.

10 is a graph showing characteristics of the user-responsive exercise device shown in FIG.

FIG. 11 is a block diagram showing details of another control system of the user-responsive exercise device shown in FIG. 6.

FIG. 12 is a block diagram showing a configuration example of a user-responsive exercise device using an interface, a computer, and software.

[Explanation of symbols]

1: Endless track belt, 2: Support plate, 3: Frame, 4:
Roller, 5: Motor, 6: Motor drive device, 7: User intention reading device, 7a, 7b: Amplifier, 7u: Unidirectional device,
7c: integrator, 7d: adder, 7e: switch, 7f:
Filter, 8: distance measuring device, 9: control information display device, 1
0: user, 12: handrail, 13: usage pattern change switch, 14: reference position changer, 14a, 14b: switch, 14c: calculator

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Kita Suzuki, 5-2, Koyodai, Ryugasaki-shi, Ibaraki Hitachi Techno Engineering Co., Ltd. Development Laboratory (56) Reference JP-A-63-309280 (JP, A) 10-71216 (JP, A) JP-A-7-136295 (JP, A) JP-A-62-258684 (JP, A) JP-A-55-146176 (JP, A) Actually open 5-35160 (JP, A) U) Actual development Sho 60-43240 (JP, U) Actual development Sho 59-164660 (JP, U) Japanese Patent Publication 2-47231 (JP, B2) (58) Fields investigated (Int.Cl. ⁷ , DB name) ) A61H 1/02 A63B 22/02 A63B 22/06 A63B 23/04

Claims (5)

(57) [Claims] 1. An endless track mechanism having a movable surface on which a user walks or runs, and driving means for driving the endless track mechanism so that the movable surface moves at a speed based on a control signal input from the outside. A position deviation detecting means for detecting a position deviation from the reference position set on the movable surface to the position of the user on the movable surface; and a position deviation detected by the position deviation detecting means, A user-responsive exercise device comprising: a control unit that forms an output signal that monotonically increases as the deviation increases and sends the output signal to the drive unit as the control signal; and a unit that arbitrarily changes the reference position. 2. The user-responsive exercise device according to claim 1, wherein when the traveling direction of the user is a positive direction of the position deviation, the control means is provided while the position deviation has a negative value. A user-responsive exercise device, characterized in that the output signal is maintained at zero. 3. An endless track mechanism having a movable surface on which a user walks or runs, and driving means for driving the endless track mechanism so that the movable surface moves at a speed based on a control signal input from the outside. A position deviation detecting means for detecting a position deviation from the reference position set on the movable surface to the position of the user on the movable surface, and a switching signal based on an input operation for switching between walking and running usage modes. A switching means for outputting and a position deviation detected by the position deviation detecting means are input, and a current value corresponding operation for forming a first output having a magnitude corresponding to the position deviation and a magnitude according to an integrated amount of the position deviation And an integration operation that forms the second output of the current value are performed. In the walking usage mode, control is performed only by the current value corresponding operation, and in the running usage mode, the current value corresponding operation and the integration operation are combined. Has a switch for controlling
A user-responsive exercise device comprising: a control means for forming an output signal depending on a usage mode and sending the output signal to the driving means as the control signal. 4. The user-responsive exercise device according to claim 3, wherein the position deviation detecting means detects a position deviation of a position of the user with respect to a reference position in a use mode of walking of the user, and further, the position. Between the deviation detecting means and the control means, there is provided a reference position changing means for changing the reference position in the walking use mode to the reference position in the walking use mode based on a switching signal issued by the switching means. Characteristic user-responsive exercise device. 5. The user-responsive exercise device according to claim 3, wherein the control means maintains the first output at zero while the position deviation has a negative value. Person-responsive exercise device.