JP3788159B2 - Balance training equipment - Google Patents

Balance training equipment Download PDF

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Publication number
JP3788159B2
JP3788159B2 JP2000017595A JP2000017595A JP3788159B2 JP 3788159 B2 JP3788159 B2 JP 3788159B2 JP 2000017595 A JP2000017595 A JP 2000017595A JP 2000017595 A JP2000017595 A JP 2000017595A JP 3788159 B2 JP3788159 B2 JP 3788159B2
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JP
Japan
Prior art keywords
drive
seat
swing
swing pattern
control unit
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Expired - Fee Related
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JP2000017595A
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Japanese (ja)
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JP2001079113A (en
Inventor
葉一 四宮
修 関根
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松下電工株式会社
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Priority to JP20192099 priority Critical
Priority to JP11-201920 priority
Application filed by 松下電工株式会社 filed Critical 松下電工株式会社
Priority to JP2000017595A priority patent/JP3788159B2/en
Publication of JP2001079113A publication Critical patent/JP2001079113A/en
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a balance training apparatus used for training a balance function for the purpose of activating the body, training or recovery of a motor function, and the like.
[0002]
[Prior art]
In general, it is known that maintaining a balance so as not to fall while riding on a horse is a balance maintenance exercise, and also promotes activation of the back and back muscles group and also a exercise for preventing back pain. However, the places where you can ride horses are limited. Therefore, it is considered to use a mechanical device that can realize the same operation as that on a horse so that balance training can be easily performed without being restricted by a place or weather.
[0003]
As this type of mechanical device (balance training device), for example, as described in Japanese Patent Publication No. 6-65350, a device that has six drive sources and drives a horse-shaped vehicle with six degrees of freedom is proposed. Has been. In this configuration, it is possible to swing the vehicle by combining six operations of the linear reciprocating movement in the front-rear direction, the left-right direction, and the up-down direction and the rotational reciprocating movement about the front-rear axis, the left-right axis, and the vertical axis. In addition, the six operations can be individually controlled. Therefore, swinging that is close to the state of riding on a horse is possible.
[0004]
[Problems to be solved by the invention]
However, what is described in the above publication is provided with six drive sources and controls each drive source individually, so that the operation timing, speed, operation range, etc. of each drive source are individually controlled. Therefore, it is necessary to perform very complicated control. Further, since six drive sources are provided, there is a problem that the size is easily increased and the cost is increased. This problem is not limited to the so-called 6-degree-of-freedom serial robot used in the above publication, but also applies to a 6-degree-of-freedom parallel robot having a relatively simple structure. Although the structure is simple, the cost of the component parts is high, resulting in a further increase in cost.
[0005]
The present invention has been made in view of the above-mentioned reasons, and the object thereof is to make it possible to give a swing like a state of riding a horse using a relatively simple configuration, An object of the present invention is to provide a balance training apparatus that enables balance training at the same level.
[0006]
[Means for Solving the Problems]
  The invention of claim 1 is a seat on which a person sits;Move the seat back and forth in a straight line and move the seat back and forth around the left and right axis.A first drive unit;Move the seat back and forth around the axisA second drive unit;The phase relationship between the first and second drive units can be adjusted so that a swing simulating the normal walking and fast walking of the horse can be selected as the seat swing, and the horse is used as the seat swing. It is possible to adjust the phase relationship between the first and second drive units and the ratio of the period of reciprocation by the first and second drive units so that the swing simulating the walking gait can be selected. Drive control unitThingsThe
[0007]
According to this configuration, there are three types of seat movements,Compare with the case where 6 types of operation are possible.And structureEasy to complete. Moreover, although the movement is limited to three types, the type of movement is a combination of linear reciprocating movement in the front-rear direction, rotational reciprocating movement around the front-rear axis, and rotational reciprocating movement around the left-right axis. When used for training (balance maintenance training, back pain prevention training), an effect equivalent to that of a device capable of six types of operations can be obtained. That is, the above-described three types of operations can be realized using two drive units, and the two drive units are individually controlled by instructions from the drive control unit to adjust the phase relationship, thereby It is possible to select and simulate from walking with walking and walking.
[0008]
in addition,Horse walkingLikeSince it can be imitated, it is possible to simulate three types of gaits that are considered to be necessary for balance training: regular walking, fast walking, and driving. In addition, horse walks have a walk, but are not necessary for balance training.
According to a second aspect of the present invention, in the first aspect of the invention, the drive control unit sets the cycle ratio of the first drive unit and the second drive unit to 1: 2 for normal walking and fast walking, and runs Then, the ratio of the period of the 1st drive part and the 2nd drive part shall be 1: 1.
According to a third aspect of the present invention, in the first or second aspect of the present invention, the seat is formed so as to be seated so that a person straddles it.
[0009]
According to a fourth aspect of the present invention, in the first to third aspects of the invention, the drive control unit temporarily stops the operations of the first and second drive units during a transition period in which the swing pattern of the seat is changed. Thereafter, the driving is resumed. According to this configuration, since the swing is temporarily stopped when the seat swing pattern is changed, the change of the swing pattern can be informed to the user, and the swing pattern can be used by sudden change. The risk that a person falls from the seat can be reduced.
[0010]
According to a fifth aspect of the present invention, in the first to third aspects of the invention, the drive control unit swings one of the first and second drive units during a transition period in which the swing pattern of the seat is changed. The operation is temporarily stopped until the phase relationship after the change of the moving pattern is obtained, and then the driving is resumed so that the changed swing pattern is obtained. According to this configuration, since one drive unit is operating during the transition period in which the swing pattern of the seat is changed, the swing pattern can be changed while continuing to swing the seat.
[0011]
According to a sixth aspect of the present invention, in the first to third aspects of the present invention, in the transition period in which the drive control unit changes the swing pattern of the seat, one of the first and second drive units is turned on. The cycle of the reciprocating movement is changed until the phase relationship after the change of the swing pattern is obtained, and then the drive is performed so that the changed swing pattern is obtained. According to this configuration, since both the drive units are operating in the transition period in which the seat swing pattern is changed, the swing pattern can be smoothly changed in the transition period while the seat swing is continued. .
[0012]
According to a seventh aspect of the present invention, in the first to sixth aspects of the present invention, the swing parameter for determining the seat swing pattern and the operation of the drive unit during the transition period when the seat swing pattern is changed are determined. And a parameter input unit that supplies the drive control unit with a change parameter to be changed. According to this configuration, the type of the swing pattern and the operation of the drive unit during the transition period in which the swing pattern is changed can be specified by the parameter input means, so that the swing of the seat is changed according to individual differences. Or change the swing of the seat so as to reduce monotony.
[0013]
  The invention of claim 8 is the invention of claim 1.Or claim 3In the invention ofThe first drive unit includes a first drive source that is reciprocally rotated, the second drive unit includes a second drive source that is reciprocally rotated,The drive control unit includes first and second drivesSource timesBy controlling the rotation angle rangeThe seatThe amplitude of each reciprocating movement is adjusted. According to this configuration, since the drive source is reciprocally rotated and the rotation angle range can be adjusted, the amplitude of the swing pattern can be controlled, and a swing pattern with a high motion effect can be generated.
[0014]
  The invention according to claim 9 is the invention according to claim 8, wherein the drive control unit is configured to perform reciprocal rotation operation of the first and second drive sources.Center positionCan be adjusted. According to this configuration, the reciprocating rotation operation is performed.Center positionBy appropriately setting, rocking with an inclination in the front-rear and left-right directions becomes possible. That is, it is possible to simulate an uphill, downhill, or left / right turn. By providing such an inclination, it is possible to change the swing pattern of the seat so as not to get tired of the user.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
As shown in FIG. 1A, the present embodiment is configured to swing a seat 1 on which a person is seated by a drive device 3 (see FIG. 1B) housed in a base 2. The seat is formed in the shape of a horse bowl, and a person sits in a form straddling the seat 1. Further, as shown in FIG. 5, the driving device 3 is controlled by the arithmetic control unit 5 via the motor driving units 4a and 4b.
[0016]
As shown in FIGS. 2 to 4, the driving device 3 includes a rectangular parallelepiped base 2 and includes a movable base 31 that is held so as to be movable with respect to the base 2. The base 2 has an open upper surface, and a pair of left and right rail portions 21 that run in the front-rear direction are formed on the top of the base 2. Each rail portion 21 has a U-shaped cross section and is formed so that the opening sides face each other.
[0017]
The movable base 31 is provided with two left and right shafts 32 and 33 in the front-rear direction, and one end of an arm 34 is attached to both ends of the front shaft 32 at positions eccentric from the axis of the shaft 32. Both arms 34 are pivotally attached to the shaft 32, and the centers of rotation of both arms 34 are positioned on a straight line. The other ends of both arms 34 are pivotally attached to the rear end of the base 11 that holds the seat 1. The front end of the base 11 is pivotally attached to a support plate 35a disposed in front of the movable base 31. The support plate 35a is fixed to the mounting bar 35, and a pair of runners 36 are pivotally attached to both ends of the mounting bar 35 via the mounting plate 35b. The runner 36 is inserted into the left and right rail portions 21 and rolls in the rail portion 21. Accordingly, when the shaft 32 rotates, the rear end portion of the base 11 coupled to the other end portion of the arm 34 moves up and down, and the height position of the front end portion of the base 11 is kept constant. The pedestal 11 swings back and forth (pitch) around the left and right axis.
[0018]
A pair of runners 37 eccentric from the axis of the shaft 33 are attached to both ends of the rear shaft 33 so as to be rotatable with respect to the shaft 33. Both runners 37 are inserted into the left and right rail portions 21, respectively, but are provided so that the central axes are different from each other. Therefore, when the shaft 33 rotates, the movable mount 31 swings (rolls) left and right around the front-rear axis.
[0019]
A rotating shaft 38 protrudes from the lower surface of the movable mount 31, and one end of the link 39 is pivotally attached at a position eccentric with respect to the axis of the rotating shaft 38. The other end portion of the link 39 is pivotally attached to the front end portion of the base 2, and the movable frame 31 moves back and forth when the rotation shaft 38 rotates. The relationship between the base 2 and the movable mount 31 is schematically shown in FIG.
[0020]
As described above, by rotating the shafts 32 and 33 and the rotation shaft 38 respectively, a reciprocating rotational movement around the front and rear axes, a reciprocating rotational movement around the left and right axes, and a rectilinear reciprocating movement in the front and rear direction. It becomes possible and three kinds of operations can be realized. The drive sources for rotating the shafts 32 and 33 and the rotating shaft 38 are two motors 30a and 30b that are rotationally operated. In this embodiment, one motor 30a is used for rotating the shaft 33, and The other motor 30 b is used for rotating the shaft 32 and the rotating shaft 38. Therefore, the reciprocating movement (roll) in the left-right direction (that is, around the front and rear axes) is operated by the motor 30a, and the reciprocating movement in the front-rear direction and the reciprocating movement (pitch) in the front-rear direction (that is, around the left-right axis). Is operated by the motor 30b. In other words, the driving device 3 includes two driving units 3a and 3b, and the driving units 3a and 3b use the motors 30b and 30a as driving sources, respectively. Here, a bevel gear 30c (see FIG. 3) is used to transmit the rotational force from the motors 30a and 30b to the shafts 32 and 33 and the rotary shaft 38. As described above, the reciprocating movement in the front-rear direction and the right-and-left direction is performed by the motors 30a and 30b. Therefore, it is possible to give the base 11 a complicated movement by changing one of the movements.
[0021]
For example, the normal person's balance function predicts movements in about 2 to 3 seconds for periodic fluctuations, and in order to strengthen the balance function, only periodic fluctuations are less effective. However, by using the two types of motors 30a and 30b, it is possible to change the motion of the swing, and it is possible to give a motion that a person does not expect or a motion that does not bore the person.
[0022]
  Both motors 30a and 30b are controlled by the arithmetic control unit 5 via the motor drive units 4a and 4b (see FIG. 5) described above. The arithmetic control unit 5 is configured by using a computer device, and controls the motors 30 a and 30 b based on control information given by the data input unit 6. The control information of the data input unit 6 is set so that the seat 1 can be given a swing that simulates a horse's gait. In addition, the control information includes a rotation method (continuous rotation or reciprocal rotation) of each motor 30a, 30b, a rotation angle in the case of reciprocal rotation, and the like so that the swing of the seat 1 does not become monotonous.Center positionThe rotation speed and the phase relationship are set to be changed. Here, the continuous rotation means that the motors 30a and 30b are rotated in a certain direction, and the reciprocating rotation means that the motors 30a and 30b are alternately rotated in the forward and reverse directions. Thus, the arithmetic control unit 5 constitutes a drive control unit together with the data input unit 6 and the motor drive units 4a and 4b.
[0023]
  By the way, the maximum amplitude of the swing in each direction during one rotation of the motors 30a and 30b is determined by the eccentric amount of the mounting position of the arm 34, the eccentric amount of the runner 37, and the eccentric amount of the link 39. That is, if the motors 30a and 30b are continuously rotated in the same direction, the amplitude of the swing of the seat 1 is constant. On the other hand, when the reciprocating rotation is performed and the rotation angle ranges φ1 and φ2 of the motors 30a and 30b, which are drive sources, are adjustable as shown in FIG. be able to. That is, when the rotation angle ranges φ1 and φ2 are set, the motors 30a and 30b are not rotated continuously, but are reciprocally rotated within the set rotation angle ranges φ1 and φ2. 6 (a) and 6 (b) are diagrams showing the rotating shaft 30c rotating in conjunction with the motors 30a and 30b, and a member attached eccentrically with respect to the axis of the rotating shaft 30c (that is, the arm 34). , Runner 37, link 39) 30d schematically shows the positional relationship. In FIG. 6, a horizontal line passing through the center of the rotating shaft 30c is used as a reference line, and when the motors 30a and 30b are reciprocally rotated, the mounting position of the member 30d with respect to the rotating shaft 30c is the same width up and down with respect to the reference line. Reciprocating rotation operationCenter position(That is, the center position of the reciprocating movement) is set. Therefore, if the angle of the reference line is set to 0 degrees, the seat 1 can be swung around 0 degrees as shown on the right side of FIGS. 6 (a) and 6 (b). Here, it is assumed that the position set as the reference line is associated with the neutral position of the seat 1 (that is, the position where the seat 1 has no front / rear / left / right tilt or front / rear position shift).
[0024]
  On the other hand, during the reciprocating rotation operation of the motors 30a and 30b, as shown on the left side of FIG. 7, the attachment position of the member 30d with respect to the rotation shaft 30c is shifted from the reference line.Center positionIs changed, the center position of the swing of the seat 1 is shifted from the neutral position as shown on the right side of FIG. In other words, for reciprocating rotational movement around the front-rear axis or the left-right axisaboutIf it says, it will rock | fluctuate with a right-and-left inclination or a front-back inclination. For example, if a tilt is given back and forth, a person sitting on the seat 1 can feel as if they are going up or down a hill, and if a tilt is given to the left or right, it can be moved to the right or left. You will get the feeling of turning. By adopting such a change in inclination, it is possible to give a movement that does not bore the user. The swing pattern of the seat 1 can also be changed by changing the speed of the motors 30a and 30b during the reciprocating rotation operation.
[0025]
In this embodiment, in order to control the swing pattern of the seat 1 so as to simulate the regular foot, the fast walking, and the running of the horse, the drive units 3a and 3b (that is, the rotation of the motors 30a and 30b) are as follows. To control. First, considering the regular foot of the horse, the linear reciprocation in the front-rear direction is as shown in (1) in FIG. It becomes like ▼. From these relationships, it can be seen that the rectilinear reciprocating movement in the front-rear direction and the reciprocating rotational movement about the left-right axis are almost half of the period of the reciprocating rotation around the front-rear axis. Therefore, the motor 30a performs the rotational reciprocation around the front and rear axes, and the motor 30b performs the linear reciprocation in the front and rear direction and the rotation reciprocation around the left and right axes. If set, the swing pattern of the seat 1 can be a pattern simulating a regular foot. Here, the phase difference between the reciprocating movements also has a substantially constant relationship. Therefore, if the two motors 30a and 30b (that is, the drive units 3a and 3b) are controlled by giving a predetermined phase difference, the horse's constant movement You can simulate a gait.
[0026]
On the other hand, considering fast walking, the linear reciprocating movement in the front-rear direction is as shown in (1) in FIG. become. That is, even in rapid walking, the linearly reciprocating movement in the front-rear direction and the rotational reciprocating movement around the left-right axis are almost half of the period of the rotational reciprocation around the front-rear axis. Therefore, if the ratio of the cycle of rotational reciprocation around the front-rear axis and the period of rectilinear reciprocation in the front-rear direction and rotation reciprocation around the left-right axis is set to 2: 1, the swing pattern of the seat 1 is changed. It becomes possible to make a pattern simulating rapid walking. Here, when comparing regular walking and rapid walking, there is no significant difference in the phase difference between the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement around the left and right axes. There is a large shift in the phase difference from the movement. Therefore, by adjusting the phase difference between the two motors 30a and 30b (that is, the drive units 3a and 3b), it is possible to distinguish the walking style from normal walking and fast walking.
[0027]
As for the driving, the linear reciprocation in the front-rear direction is as shown in (1) in FIG. . In other words, in the driving, the rotation reciprocating movement about the front and rear axis, the rectilinear reciprocating movement in the front and rear direction, and the rotating reciprocating movement about the left and right axis are substantially equal. Therefore, if the ratio of the cycle of rotational reciprocation around the front-rear axis and the period of rectilinear reciprocation in the front-rear direction and rotation reciprocation around the left-right axis is set to 1: 1, the swing pattern of the seat 1 can be changed. It becomes possible to make a pattern simulating a run. Also in this case, by adjusting the phase difference of the motors 30a and 30b (that is, the drive units 3a and 3b) so as to give an appropriate phase difference for each reciprocating movement, it becomes possible to simulate the running gait. .
[0028]
  In these various swing patterns, the amplitude change accompanying the reciprocating rotation operation of the motors 30a and 30b described above,Center positionBy giving this change together, the seat 1 can be given a complicated swing pattern, and the seat 1 can be swung so as not to get tired of the user.
[0029]
By the way, when the swing pattern of the seat 1 is changed, a transition period for shifting from the swing pattern before the change to the swing pattern after the change is provided. That is, while the cycle and phase difference change before and after the change of the swing pattern, the drive device 3 can only change the position continuously, so the position of the drive device 3 is adjusted during the transition period. is there. There are the following three types of control methods for the motors 30a and 30b for changing the swing pattern during the transition period.
[0030]
In the first method, as shown in FIG. 11, both the motors 30a and 30b are temporarily stopped from the state where the motors 30a and 30b are controlled so that the swing pattern P1 is obtained before the transition period Ts. Here, after the predetermined stop period Ta has elapsed, the drive of the drive unit 3a having the longer cycle in the swing pattern P2 is resumed, and the stop position of the drive unit 3b in the swing pattern P1 is determined as the swing pattern P2. After waiting for the phase adjustment period Tb until the position corresponding to the phase difference (phase relationship) with respect to the driving unit 3a is reached, the driving of the driving unit 3b is resumed. By such control, it is possible to shift from the swing pattern P1 to the swing pattern P2.
[0031]
In the second method, the stop period Ta is omitted from the first method. As shown in FIG. 12, the transition period Ts coincides with the phase adjustment period Tb. That is, only the drive unit 3b having the shorter cycle after the change is stopped among the drive units 3a and 3b, and the drive is performed when the stop position reaches a position corresponding to the phase difference with respect to the drive unit 3a in the swing pattern P2. The driving of the unit 3b is resumed. If such control is performed, since one drive part 3a is driven also in the transition period Ts, the seat 1 continues to swing.
[0032]
As shown in FIG. 13, the third method does not stop the driving unit 3b even in the phase adjustment period Tb in the second method, and continues to swing the seat 1 at an appropriate cycle in the transition period Ts. The swing patterns P1 and P2 are shifted. Thus, by not stopping the driving units 3a and 3b even during the transition period Ts, the swing patterns P1 and P2 can be smoothly transitioned so as not to cause a sense of incongruity.
[0033]
Note that the data input unit 6 has a function as parameter input means for instructing the swing pattern of the seat 1 and the operation during the transition period when changing the swing pattern. The swing pattern can be controlled by designating the rotation speed of the motor 30a, the rotation ratio (the rotation speed of the motor 30b / the rotation speed of the motor 30a), and the phase difference. The operation in the transition period requires the time to stop the drive unit 3b or change the cycle of the drive unit 3b (stop time / change time), that is, the above-described phase adjustment period Tb. Further, if the period of the drive unit 3b is to be changed, it is necessary to specify the number of rotations of the motor 30b in the phase adjustment period Tb.
[0034]
Therefore, as shown in FIG. 14, the data input unit 6 includes a swing parameter (rotation speed, rotation ratio, phase difference) for determining a swing pattern and a transition period when changing the swing pattern of the seat 1. Parameter input means is provided that enables input of change parameters (stop time / change time and rotation speed) that determine the operation of the drive units 3a and 3b. The parameter input means is realized by a combination of display on the display screen of the computer device and a keyboard or mouse.
[0035]
In FIG. 14, a start button SW1 and a stop button SW2 are commands for starting and stopping driving of the driving device 3, and correspond to the rotation speed, rotation ratio, phase difference, stop, change time, and change rotation speed, respectively. If a numerical value is appropriately input in the fields F1 to F5 and the start button SW1 is selected and operated, the driving device 3 is driven based on the input data. That is, if data corresponding to any one of regular walking, fast walking, and driving of a horse's gait is input to the fields F1 to F3, the seat 1 has a swing pattern that simulates either regular walking, fast walking, or driving. Can be swung.
[0036]
Further, in the case of temporarily stopping as in the first method described above during the transition period, after the driving device 3 is stopped by the stop button SW2, the data of the next swing pattern is input to the fields F1 to F3. The drive may be resumed by the start button SW1. When only one drive source 30b is stopped as in the second method, a required time is input in the stop / change time field F4 and 0 is input in the change rotation speed field F5, and then the change is started. The button SW3 may be selected and operated. When the rotational speed is changed without stopping one drive source 30b as in the third method, the required time is input to the stop / change time field F4 and the required speed is input to the changed rotational speed field F5. After inputting the rotation speed, the change start button SW3 is selected and operated.
[0037]
  As described above, by inputting appropriate numerical values to the fields F1 to F5 and selecting the buttons SW1 to SW3, the swing pattern of the seat 1 can be changed as appropriate, and the monotonousness of the swing pattern can be changed. Can be relaxed. Although not shown, the rotation angle range when the motors 30a and 30b are reciprocally rotated andCenter positionCan also be set in the data input unit 6.
[0038]
【The invention's effect】
  The invention of claim 1 is a seat on which a person sits;Move the seat back and forth in a straight line and move the seat back and forth around the left and right axis.A first drive unit;Move the seat back and forth around the axisA second drive unit andAs the swing of the seat, the phase relationship of the first and second drive units can be adjusted so that the swing that simulates the walking of the horse's regular foot and fast walking can be selected, and the swing of the seat The phase relationship between the first and second drive units and the ratio of the period of reciprocating movement by the first and second drive units can be adjusted so that the swing that simulates the horse's running gait can be selected. Drive control unitIs,Since there are three types of seat movements,Compare with the case where 6 types of operation are possible.And structureThere is an advantage that the composition becomes simple. Moreover, although the movement is limited to three types, the type of movement is a combination of linear reciprocating movement in the front-rear direction, rotational reciprocating movement around the front-rear axis, and rotational reciprocating movement around the left-right axis. When used for training (balance maintenance training, back pain prevention training), an effect equivalent to that of a device capable of six types of operations can be obtained. That is, the three types of operations described above can be realized using two drive units.
[0039]
Moreover,By adjusting the phase relationship by controlling the two drive units separately according to instructions from the drive control unit, there is an advantage that it is possible to select and simulate from the gait of the horse's regular foot and fast walking.
[0040]
in addition,Horse walkingLikeSince it can be imitated, there is an advantage that it is possible to simulate three types of gait, normal walking, fast walking, and driving, which are all gait considered necessary for balance training.
According to a second aspect of the present invention, in the first aspect of the invention, the drive control unit sets the cycle ratio of the first drive unit and the second drive unit to 1: 2 for normal walking and fast walking, and runs Then, the ratio of the period between the first drive unit and the second drive unit is set to 1: 1, and the first drive unit and the second drive are performed without changing the cycle ratio between normal walking and fast walking. What is necessary is just to give and control by giving a predetermined phase difference to a part, and what is necessary is just to adjust the phase difference of a 1st drive part and a 2nd drive part by the ratio of a period different from normal walking and fast walking in driving.
In the invention of claim 3, in the invention of claim 1 or claim 2, the seat is formed so that a person sits in a straddling manner, and can realize the same operation as a state of riding on a horse. .
[0041]
According to a fourth aspect of the present invention, in the first to third aspects of the invention, the drive control unit temporarily stops the operations of the first and second drive units during a transition period in which the swing pattern of the seat is changed. After that, the driving is resumed, and when the swing pattern of the seat is changed, the swing is temporarily stopped. Therefore, the change of the swing pattern can be notified to the user, and the swing pattern suddenly changes. By changing, there is an advantage that the possibility that the user falls from the seat can be reduced.
[0042]
According to a fifth aspect of the present invention, in the first to third aspects of the invention, the drive control unit swings one of the first and second drive units during a transition period in which the swing pattern of the seat is changed. It is temporarily stopped until the phase relationship after the change of the movement pattern is obtained, and then the drive is resumed so that the changed swing pattern can be obtained. In the transition period in which the swing pattern of the seat is changed Since one drive part is operating, there is an advantage that the swing pattern can be changed while the swing of the seat is continued.
[0043]
According to a sixth aspect of the present invention, in the first to third aspects of the present invention, in the transition period in which the drive control unit changes the swing pattern of the seat, one of the first and second drive units is turned on. Change the cycle of the reciprocating motion until the phase relationship after changing the swing pattern is obtained, and then drive to obtain the changed swing pattern, and change the swing pattern of the seat Since both drive units are operating during the period, there is an advantage that the swing pattern can be smoothly changed during the transition period while the seat swings continuously.
[0044]
According to a seventh aspect of the present invention, in the first to sixth aspects of the present invention, the swing parameter for determining the seat swing pattern and the operation of the drive unit during the transition period when the seat swing pattern is changed are determined. Parameter input means for giving the change parameter to the drive control unit, the type of the swing pattern and the operation of the drive unit during the transition period for changing the swing pattern can be specified by the parameter input means. Therefore, there is an advantage that the swing of the seat can be changed according to individual differences, or the swing of the seat can be changed so as to reduce monotony.
[0045]
  The invention of claim 8 is the invention of claim 1.Or claim 3In the invention ofThe first drive unit includes a first drive source that is reciprocally rotated, the second drive unit includes a second drive source that is reciprocally rotated,The drive control unit includes first and second drivesSource timesBy controlling the rotation angle rangeThe seatThe amplitude of each reciprocating movement is adjusted, and the driving source is reciprocatingly rotated and the rotation angle range can be adjusted. There is an advantage that it is possible to generate.
[0046]
  The invention according to claim 9 is the invention according to claim 8, wherein the drive control unit is configured to perform reciprocal rotation operation of the first and second drive sources.Center positionCan be adjusted.Center positionBy appropriately setting, swinging with tilting forward and backward or left and right is possible, and an operation simulating turning up or down or turning left or right becomes possible. By providing such an inclination, there is an advantage that it is possible to change the swing pattern of the seat so as not to bore the user.
[Brief description of the drawings]
FIGS. 1A and 1B show a first embodiment of the present invention, in which FIG. 1A is an external perspective view, and FIG.
FIG. 2 is a side view of an essential part of the drive device used in the above.
FIG. 3 is a plan view of the driving device used in the above.
FIG. 4 is a front view of the driving device used in the above.
FIG. 5 is a main part block diagram of the above.
FIG. 6 is an operation explanatory view of the above.
FIG. 7 is an operation explanatory diagram of the above.
FIG. 8 is a diagram showing a rocking pattern in a regular foot of a horse.
FIG. 9 is a view showing a swing pattern in a fast walking of a horse.
FIG. 10 is a diagram showing a rocking pattern in horse running.
FIG. 11 is an operation explanatory diagram showing a control example of the transition period same as above.
FIG. 12 is an operation explanatory diagram showing another control example of the transition period same as above.
FIG. 13 is an operation explanatory diagram showing still another control example of the above transition period.
FIG. 14 is a diagram showing an example of parameter input means used in the above.
[Explanation of symbols]
1 seat
2 base
3 Drive unit
3a, 3b drive unit
4a, 4b Motor drive unit
5 Operation control unit
6 Data input part
30b, 30a motor

Claims (9)

  1. A seat on which a person is seated, a first drive unit that moves the seat back and forth in a straight line and rotates the seat back and forth around a left and right axis, and a second drive unit that moves the seat back and forth around a back and forth axis And the phase relationship of the first and second drive units can be adjusted so that the swing of the seat can be selected as a swing simulating the normal foot and the fast walking of the horse, and the swing of the seat Adjusting the phase relationship between the first and second drive units and the ratio of the period of reciprocating movement by the first and second drive units so that the swing simulating the running of the horse can be selected. A balance training apparatus comprising a drive control unit that is enabled .
  2. The drive control unit sets the ratio of the cycle of the first drive unit and the second drive unit to 1: 2 for normal walking and fast walking, and between the first drive unit and the second drive unit for driving. The balance training apparatus according to claim 1, wherein the cycle ratio is 1: 1 .
  3. The balance training device according to claim 1, wherein the seat is formed so that a person sits in a straddling manner .
  4.   The drive control unit temporarily stops the operation of the first and second drive units during a transition period in which the swing pattern of the seat is changed, and then restarts the drive. 4. The balance training apparatus according to any one of 3 above.
  5.   The drive control unit temporarily stops one of the first and second drive units until the phase relationship after the change of the swing pattern is obtained during the transition period in which the swing pattern of the seat is changed, and then The balance training apparatus according to any one of claims 1 to 3, wherein the driving is resumed so that the changed swing pattern is obtained.
  6.   The drive control unit reciprocates the cycle of one of the first and second drive units until the phase relationship after the change of the swing pattern is obtained during the transition period in which the swing pattern of the seat is changed. The balance training apparatus according to any one of claims 1 to 3, wherein the balance training apparatus is driven so as to obtain a changed swing pattern.
  7.   A parameter input means for providing the drive control unit with a swing parameter for determining a swing pattern of the seat and a change parameter for determining an operation of the drive unit during a transition period when changing the swing pattern of the seat; The balance training apparatus according to any one of claims 1 to 6, wherein the balance training apparatus is characterized.
  8. The first drive unit includes a first drive source that is operated in a reciprocating manner, the second drive unit includes a second drive source that is operated in a reciprocating manner, and the drive control unit includes the first and second drive units. balance exercise device according to any one of claims 1 to 3, characterized in that adjusting the amplitude of each reciprocal movement of the seat by controlling the rotation angle range of the drive source.
  9. The balance training apparatus according to claim 6, wherein the drive control unit is capable of adjusting a center position of the reciprocating rotation operation of the first and second drive sources.
JP2000017595A 1999-07-15 2000-01-26 Balance training equipment Expired - Fee Related JP3788159B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP20192099 1999-07-15
JP11-201920 1999-07-15
JP2000017595A JP3788159B2 (en) 1999-07-15 2000-01-26 Balance training equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000017595A JP3788159B2 (en) 1999-07-15 2000-01-26 Balance training equipment

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JP2001079113A JP2001079113A (en) 2001-03-27
JP3788159B2 true JP3788159B2 (en) 2006-06-21

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Publication number Priority date Publication date Assignee Title
JP3666486B2 (en) 2003-01-17 2005-06-29 松下電工株式会社 Balance training equipment
JP3666485B2 (en) * 2003-01-17 2005-06-29 松下電工株式会社 Balance training equipment
JP4039428B2 (en) 2004-07-27 2008-01-30 松下電工株式会社 Oscillating motion device
JP4915556B2 (en) * 2006-05-26 2012-04-11 パナソニック株式会社 Balance training equipment
JP4915557B2 (en) * 2006-05-26 2012-04-11 パナソニック株式会社 Balance training equipment
JP4788487B2 (en) * 2006-06-15 2011-10-05 パナソニック電工株式会社 Balance training equipment
JP4743013B2 (en) * 2006-06-21 2011-08-10 パナソニック電工株式会社 Balance training equipment
JP4743011B2 (en) * 2006-06-21 2011-08-10 パナソニック電工株式会社 Balance training equipment
JP2008011897A (en) * 2006-07-03 2008-01-24 Alinco Inc Horse-riding type body training machine
KR101064864B1 (en) 2008-10-15 2011-09-15 유도스타자동화 주식회사 Horseback riding motion-driven device
KR101198255B1 (en) * 2012-04-12 2012-11-07 주식회사 모션디바이스 Motion simulator
CN105825763B (en) * 2016-05-23 2019-03-19 成都泛美视界科技有限公司 A kind of spherical tanks three-jaw force transmission mechanism

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