JP4300875B2 - Passive exercise training device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a passive exercise training apparatus that detects the movement of a person and equipment and automatically feedback-controls the apparatus to an optimum state.
[0002]
[Prior art]
Most conventional strength-training devices are designed to allow the user to pedal and run based on their own intentions, but in recent years, the movement of the device has been affected by the operation of the device itself. Passive exercise equipment that can be trained dynamically according to the situation is also commercialized.
[0003]
When physical training is performed using this type of passive exercise equipment, it is recognized that the training effect is extremely high because it responds to match the movement of the body with the movement of the equipment.
[0004]
However, depending on the user's ability to exercise, there are cases in which the movement of the device cannot be followed, and in such a case, it is not only an effective exercise, but also an extra burden is placed on the body and there is even a risk of injury.
[0005]
In addition, there are things that can set the operation speed etc. of the equipment according to the user's athletic ability, but since it works only at a constant speed once set, it can not respond dynamically to changes in the human operating state, It could not be said that the safety of users was fully considered.
[0006]
For this reason, it has been desired to commercialize a passive exercise apparatus that has a high training effect and is safe.
[0007]
The human body motion discrimination device disclosed in Patent Document 1 is a device that wears an accelerometer on a human body and detects its motion state to discriminate a specific motion of the wearer. It has a strong nature and does not have a training function that gives action to the human body based on the determined result.
[0008]
[Patent Document 1]
JP 2000-213967 A
[Problems to be solved by the invention]
The present invention has been proposed in consideration of the above circumstances, and is a highly effective and safe training system that comprehensively analyzes the movement of the body of the exercise apparatus and the movement of the person to dynamically control the apparatus to the optimum state. An object is to provide a dynamic exercise training device.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, a passive exercise training apparatus according to claim 1 is a passive exercise training device having an interpersonal motion equipment unit that exerts a motion influence on a human body, and includes the following parts: Consists of.
[0011]
That is, this passive motion training apparatus includes, in addition to the interpersonal motion device unit, a human motion detection unit that detects a human motion, a device motion detection unit that detects a motion of the interpersonal motion device unit, and the two detection units. position obtained by the speed, or when human operation state data of the series of acceleration, and waveform processing for each of the data of the device, calculates their phase difference, equipment operation based on the phase difference Analysis means for determining the appropriateness of the information processing apparatus, and control means for performing feedback control of the interpersonal motion device unit based on the determination result obtained by the analysis means.
[0012]
According to such a configuration, the operation state of the person and the device can be detected, and the device itself can determine whether an appropriate device operation is performed on the person by comparing the state. Feedback control can be performed in real time. In addition, since no extra burden is placed on the body, it is possible to prevent injuries due to unreasonable driving.
[0013]
According to a second aspect of the present invention, the interpersonal motion device section includes a seat section having a variable inclination angle and a drive device that reciprocates the seat section in a predetermined manner.
[0014]
Here, the reciprocating motion of the predetermined method includes a reciprocating motion such as a rectilinear reciprocating motion in the front / rear, left / right, and up / down directions, and a rotational reciprocating motion around the front / rear, left / right, and up / down axes.
[0015]
In other words, this device is a device intended for balance training by a person riding on a horse, and by the above feedback control, balance training suitable for the user can be performed, and danger such as falling can be prevented.
[0016]
According to claim 3, control means, based on the determination result, as the seat portion is reciprocated in a predetermined manner at optimum speed, characterized by a drive control child driving device.
[0017]
The passive motion training device according to claim 4 is a passive motion training device having an interpersonal motion device unit that exerts motion influence on a human body, and a human motion detection means for detecting a human motion , Device operation detection means for detecting the movement of the interpersonal operation device section, and time series operation state data of any one of position, velocity and acceleration obtained by the two detection means as waveforms for each data of the person and the device Processing, calculating an amplitude difference between them, an analysis unit for determining the appropriateness of the device operation based on the amplitude amount difference , and feedback control of the interpersonal operation device unit based on the determination result obtained by the analysis unit And a control means.
[0018]
According to a fifth aspect of the present invention, the interpersonal motion device section includes a seat section having a variable inclination angle and a drive device that reciprocates the seat section in a predetermined manner.
[0019]
(Delete)
[0020]
(Delete)
[0021]
(Delete)
[0022]
(Delete)
[0023]
According to a sixth aspect of the present invention , the control means controls the inclination of the seat so that the seat has an optimum inclination angle based on the determination result output from the analysis means.
[0024]
The passive exercise training apparatus according to claim 7 is configured to further include a notifying unit for notifying predetermined determination information based on the determination result and the determination result.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0026]
FIG. 1 is a block diagram showing an example of the basic configuration of the passive exercise training apparatus of the present invention.
[0027]
The passive exercise training apparatus described here is an exercise apparatus that allows a user to perform balance training across the main body of the apparatus, but the present invention apparatus is not limited to such an apparatus. For example, a treadmill, It may be a training device such as an exercise bike in which a person operates spontaneously. That is, it is sufficient that at least the device operates and the device operation has some physical influence on the user.
[0028]
In the drawing, reference numeral 1 denotes an interpersonal motion device section (main body section) including a seat section 1a having a variable inclination and a driving device (motor) 1b configured to reciprocate the seat in a predetermined manner. Here, the reciprocating motion of the predetermined method includes motions such as linearly reciprocating motion in the front-rear, left-right, and vertical directions, and rotational reciprocating motion around the front-rear, left-right, and vertical axes.
[0029]
Reference numeral 2 denotes a human motion that detects a person's movement optically or magnetically, measures the position, velocity, and acceleration of the person on a spatial coordinate at predetermined time intervals, and detects these changes. It is a detection means. Reference numeral 3 measures the position, speed, and acceleration of the device main body 1a in the spatial coordinates based on the actual driving amount such as the rotation speed of the driving motor 1b, and detects these changes. This is a device operation detection means. Reference numeral 4 is an analysis unit that evaluates and determines the motion state based on the data acquired by the detection units 2 and 3 and outputs a feedback control command. Reference numeral 5 denotes a control means for allowing the seat angle control unit 5a and the drive motor control unit 5b to control and output each of the target devices based on this command. Reference numeral 6 denotes an informing unit for informing the state by screen display, voice guide, or the like.
[0030]
Each of the above means 2 to 5 is constituted by a CPU, a program, and the like, and is built in the main body 1 or embedded in the basement surface of the main body. Further, a central monitoring and control device including a part or all of each of the above means 2 to 5 may be provided to remotely control and monitor a plurality of passive exercise training devices.
[0031]
In addition, the display screen of the notification unit 6 may be installed at the front part of the seat, or may be installed as a separate body at a position that is easy for the user to see a little away from the main body.
[0032]
Hereinafter, the human motion detection unit 2, the device motion detection unit 3, and the analysis unit 4 will be described in more detail.
[0033]
The human motion detection means 2 optically detects a human movement by attaching a marking point to a joint point such as a user's shoulder or waist and reflecting a light beam such as infrared light on the marking point. According to this method, a position that changes with time can be easily detected with a very simple configuration. Moreover, the speed which changes every time based on the position for every time can also be calculated.
[0034]
FIG. 2 shows a trajectory graph of the movement position by infrared light detection of the user's body center of gravity. Here, the vertical axis indicates the coordinate position in the vertical direction, and the horizontal axis indicates the coordinate position in the front-rear direction.
[0035]
As other human motion detection methods, there are a method of attaching a magnetic sensor between certain points of the user, a speed detection method of reflecting laser light from a laser distance meter at one point, and the like. In general, a magnetic sensor is used to measure the speed, displacement, number of rotations, etc. of a member based on changes in the magnetic field signal from a magnet attached to a movable part of the member. It can measure human speed. The laser rangefinder can accurately detect the two-dimensional shape and distance of an object. The laser distance meter reflects a laser beam at one point of a moving object and detects the three-dimensional distance information of the object based on the amount of reflection. Furthermore, the speed can be obtained from this distance information.
[0036]
An acceleration sensor may be attached to detect a change in human acceleration.
[0037]
According to the configuration using the speed sensor and the acceleration sensor, it is possible to calculate the speed and the like more accurately and in a short time compared to the case of calculating the speed and acceleration based on the position with respect to the time change.
[0038]
Then, using the method as described above, the position, velocity, and acceleration of the person on the spatial coordinates are stored as time series information in a storage unit (not shown) in the apparatus.
[0039]
On the other hand, the device operation detection means 3 detects a change in the position of the main body 1 by measuring the number of rotations of the drive motor 3 for causing the main body 1 to reciprocate with a counter (not shown). The driving amount such as the rotation speed may be a performance value, but may be counted based on a control signal output from the control means 5. Further, the position, speed, and acceleration on the spatial coordinates may be detected using a detection device similar to the above-described human motion detection method.
[0040]
Then, using the method as described above, the position, speed, and acceleration of the main body unit 1 in the spatial coordinates are stored in the storage unit in the apparatus as time series information.
[0041]
Next, the analysis unit 4 sequentially executes a waveform process 4a, a phase difference analysis process 4b, and a determination process 4c as shown in FIG. 1 based on the information stored in each of the detection units 2 and 3. The determination result and a control command for the control means 5 are output.
[0042]
In the waveform processing 4a, waveform processing is performed so that each detection value detected by the human motion detection means 2 and the device motion detection means 3 is expressed as a time displacement. Next, the human motion detection value for each time change is matched with the start time (origin) of the device motion detection value, and both waveforms are superimposed.
[0043]
FIG. 3 is an example of a waveform diagram showing a person's exercise speed with respect to time. FIG. 4 shows a human velocity waveform diagram (FIG. 3) and a device velocity waveform diagram (not shown) of the same form. A superimposed waveform diagram is shown.
[0044]
Further, in the phase difference analysis process 4b, as shown in FIG. 5, the peak values of the human motion waveform and the device motion waveform are specified, and the time difference (phase difference) _An and the speed difference (amplitude amount difference) B _{n of the} peak values. Is calculated.
[0045]
Since the phase difference _An is a time difference between the operation of the device and the operation of the person caused by the device operation, a certain time difference occurs. If this time difference is almost constant, there is no problem, but if it is not constant, it cannot be said that it is a proper passive motion. That is, when the phase difference _An is not kept constant, it is possible to determine that the device speed is inappropriate.
[0046]
The amplitude difference B _n represents the speed difference between the person and the device. Therefore, if there is an extreme difference, it can be determined that the operation of the device is not sufficiently transmitted to the person. Therefore, it can be estimated that there is a problem in the way the person sits on the seat.
[0047]
Therefore, in the determination process 4c, the appropriateness of the device operation is determined based on such a determination criterion. Specifically, it is determined whether the speed of the device is appropriate based on the phase difference, and it is determined whether the tilt angle of the device (seat) is appropriate based on the difference in amplitude. In the case of inappropriateness, the determination result and the control command are output to the control means 5 so that the drive motor 1a and the seat portion 1b can be dynamically changed to an appropriate speed and inclination angle during the movement of the device. .
[0048]
By such determination processing, it is possible to determine the appropriateness of the equipment movement in real time, and therefore, real-time feedback control of the passive exercise training apparatus can be realized based on the determination result.
[0049]
Next, an example of a more specific determination method will be described.
[0050]
FIG. 6 shows a velocity waveform diagram in an ideal motion state. This data and actual data are compared to determine the appropriateness of the phase difference and the amplitude amount difference.
[0051]
Here, the average values (average phase difference A _mean , average amplitude difference B _mean ) calculated from 10 consecutive data (A _{n to} A _{n + 9} , B _{n to} B _{n + 9} ) are used as the performance data to be determined. .
[0052]
1) Appropriate determination of phase difference If the average phase difference A _mean satisfies equation (1), the device is determined to be at the optimum speed,
A'-0.08 sec ≤ A _mean ≤ A '+ 0.08 sec (1)
If the expression (1) is not satisfied, the expression (2) is executed,
A _mean > A '+ 0.08 sec (2)
When the expression (2) is satisfied, it is determined that the speed of the device for this user is too fast, and when it is not satisfied, it is determined that the speed is too slow.
[0053]
2) Appropriate determination of the amplitude amount difference If the average amplitude amount difference B _mean satisfies Equation (3), it is determined that the amount is the optimum amplitude amount,
B′−30 mm / sec ≦ B _mean ≦ B ′ + 30 mm / sec (3)
If the expression (3) is not satisfied, the expression (4) is executed,
B _mean > B ′ + 30 mm / sec (4)
When Expression (4) is satisfied, it is determined that the amplitude for the user is too large, and when not satisfied, it is determined that the amplitude is too small.
[0054]
FIG. 7 shows a flowchart showing the determination process in the analysis unit 4 and the corresponding control contents of the control unit 5, and FIG. 8 shows the correspondence between the determination result and the control contents.
[0055]
The analysis unit 4 outputs an appropriate control command based on the determination result output in this manner, and the control unit 5 determines the rotation speed of the drive motor 1b and the seat 1a based on the determination result and the control command. The change control of the inclination angle is performed, and the notification unit 6 displays the average phase difference A _mean , average amplitude difference B _mean , judgment result, control command contents (for example, “decrease the number of revolutions”), etc. on the screen display and voice. Inform. Moreover, you may make it alert | report by the screen or an audio | voice for the user himself / herself to adjust how to ride and to sit down.
[0056]
Such a notification unit 6 allows the user to confirm whether or not proper device movement is being performed while watching the screen or listening to voice guidance, and can adjust the seat position and the like by himself / herself.
[0057]
In the example of the embodiment described above, the analysis unit 4 outputs the simplest control command such as “increase / decrease the rotation speed” in order to change the control amount of the device operation. The target set value may be output as a control command, and the rotational speed may be automatically controlled on the control means 5 side.
[0058]
In the example of the above embodiment, the device operation is determined by analyzing the speed of the person and the device. However, it goes without saying that the position and acceleration on the spatial coordinates may be the analysis target.
[0059]
Further, as described above, the passive exercise training device is not limited to the above-described balance training device, and may be any device as long as the device operates and the device operation has some influence on the user. . In other words, any configuration may be used as long as the device can be automatically controlled or feedback-controlled based on the operating states of the device and the person.
[0060]
【The invention's effect】
As can be understood from the above explanation, the passive exercise training apparatus according to claims 1 and 4 feeds back the equipment based on the proper judgment of the equipment operation obtained by analyzing the operation state data of the person and the equipment. Since the device is controlled, the user of the device can exercise according to his / her exercise ability and physical condition at that time. Moreover, the overload with respect to a body can be removed and the injury by an unreasonable passive movement can be prevented.
According to the first aspect, the proper operation of the device is determined based on the phase difference between the person and the device, so that the device itself can determine the moving speed of the device for each user and in real time.
On the other hand, in claim 4, since the appropriateness of the device operation is determined based on the amplitude difference between the person and the device, the device itself can make a self-determination regarding the seat inclination angle of the device for each user and in real time. .
[0061]
In the claims 2 and 5, a person directed to a balance exercise machine that enables various reciprocating motion across the seat, the above structure, the user performing the balance exercise for a long time without fear falling be able to.
[0062]
Further, it is possible human operation detecting means for detecting a position change of each be configured to detect light biological or magnetically human motion, with a simple structure to paste the sensor or the like to the body of human time . Further, not only the coordinate position information but also the speed can be calculated based on the time change of the position.
[0063]
Furthermore, if the human motion detection means is configured to detect changes in human speed and acceleration , it is possible to easily collect speed information and the like in a short time, and as a result, perform accurate feedback control. Can do.
[0064]
Furthermore, the driving amount of braking system drive is device operation detecting means, when configured to detect the position change of the spatial coordinates of the main body, without using a sensor or the like, recognizes accurate position information, collected be able to.
[0065]
Further, if configured to detect the velocity change or acceleration change of equipment devices activity detector, it can be easily collected in a short period of time to ensure the speed information or the like, and as a result, accurate feedback control be able to.
[0066]
(Delete)
[0067]
According to the third aspect , since the driving device is controlled based on the output determination result, the device can be operated at an appropriate speed according to the state of the user at that time.
[0068]
(Delete)
[0069]
According to the sixth aspect , since the seat inclination angle is adjusted and controlled based on the output determination result, it is possible to exercise at an appropriate seat inclination angle that matches the user's condition.
[0070]
In Claim 7 , since the notification part which alert | reports a determination result etc. is provided, the user can confirm whether the proper apparatus exercise | movement is being performed, seeing a screen or listening to voice guidance, and a user. You can adjust the seating position yourself.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a basic configuration of an embodiment of a passive exercise training apparatus of the present invention.
FIG. 2 is a graph showing a locus of a movement position of a user's body center of gravity in the present embodiment.
FIG. 3 is a waveform diagram showing changes in human exercise speed with respect to time changes in the present embodiment.
FIG. 4 is a diagram in which waveforms of a speed change of a person and a speed change of an apparatus are superposed in the present embodiment.
FIG. 5 is an example diagram showing a phase difference and an amplitude difference between a person and a device in the present embodiment.
FIG. 6 is a superposition speed waveform diagram in an ideal motion state in the present embodiment.
FIG. 7 is a flowchart showing determination processing and control contents.
FIG. 8 is a diagram illustrating a correspondence relationship between a determination result and control content.
[Explanation of symbols]
1 Interpersonal motion equipment (main part)
DESCRIPTION OF SYMBOLS 1a Seat part 1b Drive device 2 Person motion detection means 3 Apparatus motion detection means 4 Analysis means 5 Control means 6 Notification part

Claims (7)

A passive exercise training device having an interpersonal motion device unit that affects the motion of a human body,
Human motion detection means for detecting human movement;
Device operation detecting means for detecting the movement of the interpersonal operation device unit;
The time-series operation state data of position, velocity, or acceleration obtained by the above two detection means is subjected to waveform processing on the data of each person and device, and the phase difference is calculated. An analysis means for determining the appropriateness of the device operation based on the above;
A passive exercise training apparatus comprising control means for feedback-controlling the interpersonal motion equipment unit based on the determination result obtained by the analysis means. In claim 1,
The interpersonal motion device section includes a seat section having a variable inclination angle and a drive device for reciprocating the seat section in a predetermined manner. In claim 2,
The above-mentioned control means drives and controls the above-mentioned drive device so that the above-mentioned seat part performs reciprocating motion of a predetermined method at the optimum speed based on the above-mentioned judgment result, The passive exercise training device characterized by things. A passive exercise training device having an interpersonal motion device unit that affects the motion of a human body,
Human motion detection means for detecting human movement;
Device operation detecting means for detecting the movement of the interpersonal operation device unit;
Position obtained by the two detecting means, speed, the operation state data of any time series of acceleration human, and waveform processing for each of the data of the device, calculates their amplitude amount difference, the amplitude of Analysis means for determining the appropriateness of the device operation based on the difference ;
A passive exercise training apparatus comprising control means for feedback-controlling the interpersonal motion equipment unit based on the determination result obtained by the analysis means. In claim 4,
The interpersonal motion device section includes a seat section having a variable inclination angle and a drive device for reciprocating the seat section in a predetermined manner. In claim 5,
The passive exercise training apparatus, wherein the control means controls the inclination of the seat so that the seat portion has an optimum inclination angle based on the determination result. In any one of Claims 1-6,
A passive exercise training apparatus further comprising a notifying unit for notifying predetermined determination information based on the determination result and the determination result.

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