JP4138814B2 - 運動管理システム - Google Patents
運動管理システム Download PDFInfo
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- JP4138814B2 JP4138814B2 JP2006105182A JP2006105182A JP4138814B2 JP 4138814 B2 JP4138814 B2 JP 4138814B2 JP 2006105182 A JP2006105182 A JP 2006105182A JP 2006105182 A JP2006105182 A JP 2006105182A JP 4138814 B2 JP4138814 B2 JP 4138814B2
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Description
+g(xL−xR)+K(dφHL/dt),
(d2xR/dt2)=ξ(1−xR 2)(dxR/dt)−ωMR 2xR
+g(xR−xL)+K(dφHR/dt) ‥(1)
dθm/dt=ωm+ε・sin(θ h −θ m ) ‥(2.2)
δθ2=arcsin[(ωh−ωm)/2ε] ‥(2.3)
=ε(tid)−η{V1(tid+1)−V1(tid)}/{ε(tid)−ε(tid-1)},
V(tid+1)≡(1/2){δθ1(tid+1)−δθ2(tid)}2 ‥(2.4)
×sin[sin-1{(ωh(t)−ωm(tid-1))/2ε(tid)}−δθ1(tid)]) ‥(2.5)
×sin[sin-1{(ωh(tid)−ωm(t))/2ε(tid)}−δθd])
‥(2.6)
+f1(ωML)+f2(ωML)K(φL),
τ1L-・duL-/dt=−uL-+wL-/L+yL++wL-/R-yR-−λLvL-
+f1(ωML)+f2(ωML)K(φL),
τ1R+・duR+/dt=−uR++wR+/L+yL++wR+/R-yR-−λRvR+
+f1(ωMR)+f2(ωMR)K(φR),
τ1R-・duR-/dt=−uR-+wR-/L-yL-+wR-/R+yR+−λRvR-
+f1(ωMR)+f2(ωMMR)K(φR),
τ2i・dvi/dt=−vi+yi,
yi=H(ui−uth),H≡0(ui<uth),1(ui≧uth)または
yi=fs(ui)≡1/{1+exp(−ui/ξ)} ‥(3)
t(ωMR)/ωMR−γR(i=R+,R-)‥(3.1)
また、τ2iは自己抑制因子viの変化特性を規定する時定数である。さらに、wi/j(<0)は複数の第2要素(神経要素)iおよびjの相関関係を第2モデルにしたがって生成される複数の(第2要素の)出力振動信号の相関関係に反映させるための第2相関係数(定数)である。「λL」および「λR」は慣れ係数である。Kは股関節角度φHに応じたフィードバック係数である。
f2(ω)≡c0+c1ω+c2ω2 ‥(3.3)
z1R=g1+(ωmR)g+(φHR)yR+−g1-(ωmR)g-(φHR)yRR- ‥(4)
g1-(p,ω)≡Σkak-ωk (ak-:係数,k=0〜3)‥(4.2)
g+(φ)≡c1+(φ−φ0+)+c2+(φ−φ0+)3
(c1+,c2;:係数,φ0+:屈曲方向の股関節角度φHの目標値)‥(4.3)
g-(φ)≡c1-(φ−φ0-)+c2-(φ−φ0-)3
(c1-,c2-:係数,φ0-:伸展方向の股関節角度φHの目標値)‥(4.4)
+g2-(ωmL)(dφHL/dt)H-(φHL)yL-,
z2R=−g2+(ωmR)(dφHR/dt)H+(φHR)yR+
+g2-(ωmR)(dφHR/dt)H-(φHR)yR-‥(5)
g2+(ω)≡Σkbk+ωk (bK+:係数,k=0〜3)‥(5.1)
g2-(ω)≡Σkbk-ωk (bk-:係数,k=0〜3)‥(5.2)
H+(φ)≡0(φ≦0),1(φ>0) ‥(5.3)
H-(φ)≡0(φ>0),1(φ≦0) ‥(5.4)
z1R=g1+(p0,ωmR)g+(q0,φHR)yR+−g1-(p0,ωmR)g-(q0,φHR)yRR-,
p0≡(v/k0)1/2,q0≡(vk0)1/2‥(6)
g1-(p0,ω)≡Σkak-(p0)ωk(ak-(p0):係数,k=0〜3)‥(6.2)
g+(q0,φ)≡c1+(φ−φ0+(q0))+c2+(φ−φ0+(q0))3
(c1+,c2;:係数,φ0+:屈曲方向の股関節角度φHの目標値)‥(6.3)
g-(q0,φ)≡c1-(φ−φ0-(q0))+c2-(φ−φ0-(q0))3
(c1-,c2-:係数,φ0-:伸展方向の股関節角度φHの目標値)‥(6.4)
+g2-(p0,ωmL)(dφHL/dt)H-(φHL)yL-,
z2R=−g2+(p0,ωmR)(dφHR/dt)H+(φHR)yR+
+g2-(p0,ωmR)(dφHR/dt)H-(φHR)yR-‥(7)
(bK+(p0):係数,k=0〜3)‥(5.1)
g2-(p0,ω)≡Σkbk-(p0)ωk
(bk-(p0):係数,k=0〜3)‥(5.2)
Claims (6)
- 動物の運動を管理するシステムであって、
前記動物に力を作用させることによって前記動物の指定運動を誘導するように作動する第1運動誘導装置と、
前記動物に装着される第1装具および第2装具と、前記第1装具に取り付けられたアクチュエータと、前記アクチュエータおよび前記第2装具に連結されている力伝達部材とを備え、かつ、前記アクチュエータが前記力伝達部材および前記第2装具を介して前記動物に力を作用させることによって前記動物の運動リズムと調和したリズムで前記動物に力を作用させることによって前記動物の運動スケールを調節しながら前記動物の前記指定運動を誘導するように作動する第2運動誘導装置と、
前記第2運動誘導装置の動作を制御する制御部と、
前記動物の前記指定運動の速さを表す第1運動変数を前記第1運動誘導装置の動作の速さに応じた信号を出力する、前記第1運動誘導装置に設けられている第1センサの出力信号に基づいて測定する第1運動変数測定部と、
前記動物の前記指定運動のリズムを表す第2運動変数を前記第1運動誘導装置と前記動物との相互作用力に応じた信号を出力する、前記第1運動誘導装置に設けられている第2センサの出力信号の時間変化パターンまたは前記制御部により制御されている前記第2運動誘導装置の動作状態に基づいて測定する第2運動変数測定部と、
前記第1運動変数および前記第2運動変数の両方を変数とする関数の値を、前記第1運動誘導装置および前記第2運動誘導装置のそれぞれの動作により前記動物の前記指定運動が誘導されている状態における前記第1運動変数測定部による前記第1運動変数の測定値と前記第2運動変数測定部による前記第2運動変数の測定値とに基づき、前記指定運動をしている前記動物の状態を表わす運動変数の値として測定する運動変数測定部と、
前記第1運動誘導装置および前記第2運動誘導装置のそれぞれの動作により前記動物の前記指定運動が誘導されている状態において、前記動物の生理状態に応じた信号を出力する生理変数センサからの出力信号に基づいて生理変数を測定する生理変数測定部と、
前記制御部により前記運動変数の値が変化するように制御されている前記第2運動誘導装置の動作により前記動物の前記指定運動が誘導されている過程で、前記運動変数の値および前記生理変数測定部により測定された生理変数に基づいて前記運動変数および前記生理変数の関係を求め、前記関係に基づいて前記生理変数の前記動物の身体機能の活性化または身体負荷の軽減のための最適値に対応する前記運動変数の値を前記運動変数の推奨値として設定する推奨値設定部とを備え、
前記制御部が、前記運動変数が前記推奨値に一致するように前記第2運動誘導装置の動作を制御することを特徴とする運動管理システム。 - 請求項1記載の運動管理システムにおいて、
前記第1運動誘導装置および前記第2運動誘導装置のそれぞれが前記動物の前記指定運動としての歩行運動または走行運動を誘導するように作動し、
前記第1運動変数測定部が前記動物の歩行または走行速度を前記第1運動変数として測定し、前記第2運動変数測定部が動物の歩行率(単位時間当たりの歩数を意味する。)を前記第2運動変数として測定することを特徴とする運動管理システム。 - 請求項2記載の運動管理システムにおいて、
前記運動変数測定部が前記第2運動変数としての歩行率の二乗に対する前記第1運動変数としての歩行または走行速度の比率である歩行比を前記運動変数として測定することを特徴とする運動管理システム。 - 請求項1記載の運動管理システムにおいて、
前記第1運動変数測定部が、前記第1運動誘導装置が有する回動体の回動に伴ってこの回動体に接触する動物の身体部分がこの回動体から力を受ける方向の反対方向に運動が誘導されている前記動物の前記第1運動変数を、前記回動体の回動速度に基づいて測定することを特徴とする運動管理システム。 - 請求項1記載の運動管理システムにおいて、
前記第1運動誘導装置および前記第2運動誘導装置のそれぞれが前記動物の前記指定運動としての歩行運動または走行運動を誘導するように作動し、
前記第1運動変数測定部が、前記第1運動誘導装置としてのトレッドミルが有する複数のローラに掛け渡された回動体としての無端ベルトの動きに逆らう方向に誘導されている前記動物の歩行または走行運動の速さを表す前記第1運動変数としての歩行または走行速度を前記無端ベルトの駆動速度に基づいて測定することを特徴とする運動管理システム。 - 請求項1記載の運動管理システムにおいて、
前記推奨値設定部が、複数の前記動物のそれぞれの身体的特徴を識別するための識別子を認識した上で各動物の複数の前記推奨値を予備的に設定し、認識した前記識別子ごとに予備的に設定済みの前記推奨値に基づいて新たな前記推奨値を設定することにより、前記識別子および前記推奨値が対応付けられているデータベースを構築することを特徴とする運動管理システム。
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AT07739632T ATE480308T1 (de) | 2006-04-06 | 2007-03-26 | Trainingsmanagementsystem |
US12/295,759 US7771321B2 (en) | 2006-04-06 | 2007-03-26 | Exercise management system |
DE602007009078T DE602007009078D1 (de) | 2006-04-06 | 2007-03-26 | Trainingsmanagementsystem |
DK07739632.3T DK2011551T3 (da) | 2006-04-06 | 2007-03-26 | Træningskontrolsystem |
PCT/JP2007/056194 WO2007116681A1 (ja) | 2006-04-06 | 2007-03-26 | 運動管理システム、運動管理方法、運動管理プログラム |
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US7771321B2 (en) | 2010-08-10 |
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EP2011551A1 (en) | 2009-01-07 |
EP2011551A4 (en) | 2009-07-08 |
US20090137366A1 (en) | 2009-05-28 |
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