JP4715394B2 - Strength training system - Google Patents

Description

  The present invention relates to a strength training system.

  Conventionally, a muscle force measurement system using a two-joint link mechanism such as a two-joint arm device has been proposed (see, for example, Patent Document 1). In the measurement system, the muscle outputs of the subject's anti-joint muscle group and antagonist bi-articular muscle group are measured by a pressure sensor.

In addition, as an actuator for driving the bi-joint link mechanism, we proposed a model of bi-joint muscle that functions to bend the arm in animals including humans, and researched the motion control of the bi-joint link mechanism using the model. (For example, refer nonpatent literature 1). In this research, in order to control the force and rigidity of the arm tip in a two-joint link mechanism equipped with a two-joint simultaneous drive source, the drive source has a contraction element and an elastic element that exert force in the contraction direction. It is preferred to use an actuator model.
JP 2000-210272 A Tomohiko Fujikawa and three others, “Cooperative control function by antagonistic muscle group”, Transactions of the Japan Society of Mechanical Engineers (C), Vol. 63, No. 607 (1997-3), p. 769-776, paper no. 96-1040

  However, in the conventional measurement system, it is necessary for the subject to measure with a strong awareness of the direction of the output, and since the pressure sensor is used as the output detection sensor, there is a strong sense of discomfort because there is no stroke, There was a problem that the burden on the test subject increased.

  Furthermore, the measurement system could measure the strength of the antagonistic joint muscle group and the antagonistic biarticular muscle group, but could not perform the strength training of the antagonistic joint muscle group and the antagonistic biarticular muscle group. .

  The present invention solves the problems of the conventional system, and fixes the tip of the upper limb or the lower limb of the subject to the tip of the bi-joint arm device, and generates muscle strength that antagonizes the output of the bi-joint arm device. It is an object of the present invention to provide a muscle strength training system that can measure a subject's muscle strength easily and with high accuracy and can train the subject's muscle strength without imposing a burden on the subject. To do.

  For this purpose, the strength training system of the present invention has a bi-joint arm device having a structure simulating a human upper limb or lower limb, and the tip of the subject's upper limb or lower limb is fixed to the tip of the bi-joint arm device. When the bi-joint arm device generates a force, the subject does not move the position of the tip of the upper limb or the lower limb against the force of the bi-joint arm device. Measure muscle strength and train.

In another strength training system of the present invention, a base, a second link having a root end rotatably attached to the base, and a root end rotatably attached to a distal end portion of the second link A two-joint arm device comprising a first link, wherein the first and second actuators and third and fourth actuators generate driving forces for independently rotating the first and second links. And a bi-joint arm device further comprising a fifth actuator and a sixth actuator for generating a driving force for simultaneously rotating the first link and the second link with respect to the base, and the first link according to a predetermined driving sequence. A control device that operates a sixth actuator to generate a force in six directions at the tip of the first link Have a, and the the tip end of the first link to secure the tip of the subject's arm or leg, to antagonize the force of the the six force generated at the distal end of the first link subject, By measuring the force in six directions generated at the tip of the upper limb or lower limb of the subject, the muscular strength of the antagonistic joint muscle group and the antagonistic biarticular muscle group of the subject's upper limb or lower limb is measured .

  In still another strength training system according to the present invention, the muscle of the upper limb or the lower limb of the subject whose strength is reduced is identified based on the result of measuring the strength of the subject, and is generated at the distal end portion of the first link. By controlling the force in six directions, the muscular strength of the identified one joint muscle group and the second joint muscle group of the upper limb or the lower limb of the subject is trained.

  In still another muscle strength training system of the present invention, the display device further includes a display device connected to the control device, and displays the movement locus and the target locus of the tip portion of the first link on the display device, By generating a force on the subject so that the motion trajectory coincides with the target trajectory, the muscular strength of the antagonistic joint joint group and the antagonistic joint joint group of the subject's upper limb or lower limb is measured and trained.

  According to the present invention, the tip of the upper limb or the lower limb of the subject is fixed to the tip of the two-joint arm device, and the subject is caused to generate a muscle force that antagonizes the output of the two-joint arm device. Thus, the subject's muscle strength can be measured easily and with high accuracy without imposing a burden on the subject, and the subject's muscle strength can be trained.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a configuration of a two-joint arm device according to an embodiment of the present invention, FIG. 2 is a diagram showing a side surface of a joint portion in the embodiment of the present invention, and FIG. FIG.

  In FIG. 1, reference numeral 10 denotes a two-joint arm device included in the muscle strength training system according to the present embodiment, and has a structure imitating a human upper limb, that is, an arm portion. The bi-joint arm device 10 may have a structure simulating a human lower limb, that is, a leg portion, but here, a case where it has a structure simulating an upper limb will be described.

  Reference numeral 11 denotes a first link corresponding to the lower arm of the two-joint arm device 10 having a structure simulating the upper limb, and reference numeral 12 denotes an upper arm of the two-joint arm device 10 having a structure simulating the upper limb. The corresponding second link. Reference numeral 13 denotes a frame as a base corresponding to the shoulder, and a base end portion (upper end portion in the figure) is fixed to a fixing member 33 fixed to a base or the like not shown. And the root end part of the 2nd link 12 is rotatably connected to the front-end | tip part (lower end part in a figure) of the said frame 13 via the 2nd joint part 15 applicable to a shoulder joint. Further, a root end portion of the first link 11 is rotatably connected to a distal end portion of the second link 12 via a first joint portion 14 corresponding to an elbow (elbow) joint.

  Reference numerals 16 to 21 denote first to sixth actuators, 22 denotes a first bracket for fixing the first actuator 16 and the second actuator 17 to the first link 11, and 23 denotes a first bracket to the frame 13. The second bracket fixes the fifth actuator 20 and the sixth actuator 21. 24 to 31 are wires, the wire 24 connects the second actuator 17 and the second link fixing elbow pulley 14a, the wire 25 connects the first actuator 16 and the second link fixing elbow pulley 14a, The wire 26 connects the third actuator 18 and the first link fixed elbow pulley 14b, the wire 27 connects the third actuator 18 and the frame fixed shoulder pulley 15b, and the wire 28 connects the fourth actuator 19 and the frame fixed shoulder pulley. 15b, the wire 29 connects the fourth actuator 19 and the frame fixed shoulder pulley 15b, the wire 30 connects the fifth actuator 20 and the second link fixed shoulder pulley 15a, and the wire 31 connects to the sixth actuator. 21 and the second link fixed shoulder pulley 15a are connected to each other.

  In this case, the first actuator 16, the second actuator 17, the third actuator 18, and the fourth actuator 19 generate driving forces for independently rotating the first link 11 and the second link 12, respectively. Further, the fifth actuator 20 and the sixth actuator 21 generate a driving force for simultaneously rotating the first link 11 and the second link 12 with respect to the frame 13.

  As shown in FIG. 2, the second joint portion 15 includes a second link fixed shoulder pulley 15a and a frame fixed shoulder pulley 15b as pulleys. The second link fixed shoulder pulley 15 a is fixed to the second link 12 so as not to rotate, and the frame fixed shoulder pulley 15 b is fixed to the frame 13 so as not to rotate. Moreover, the 2nd link 12 and the flame | frame 13 are connected by the bush 15c, and can mutually rotate. Reference numeral 15d denotes an encoder that measures the rotation angle of the frame 13 with respect to the second link 12. The wire 31 and the wire 30 are wound around the second link fixed shoulder pulley 15a, and the terminal ends are fixed to the second link fixed shoulder pulley 15a. Similarly, the wire 29 and the wire 27 are wound around the frame fixed shoulder pulley 15b, and the terminal ends are fixed to the frame fixed shoulder pulley 15b.

  Moreover, as FIG. 3 shows, the 1st joint part 14 has the 2nd link fixed elbow pulley 14a and the 1st link fixed elbow pulley 14b as a pulley. The second link fixed elbow pulley 14 a is fixed to the second link 12 so as not to rotate, and the first link fixed elbow pulley 14 b is fixed to the first link 11 so as not to rotate. Moreover, the 1st link 11 and the 2nd link 12 are connected by the bush 14c, and can mutually rotate. Reference numeral 14d denotes an encoder that measures the rotation angle of the first link 11 with respect to the second link 12. Moreover, the wire 24 and the wire 25 are wound around the 2nd link fixed elbow pulley 14a, and the termination | terminus is being fixed to the 2nd link fixed elbow pulley 14a. Similarly, the wire 28 and the wire 26 are wound around the first link fixed elbow pulley 14b, and the terminal ends are fixed to the first link fixed elbow pulley 14b.

  Next, the configuration of the first actuator 16 to the sixth actuator 21 will be described.

  FIG. 4 is a diagram showing the configuration of the actuator in the embodiment of the present invention, and FIG. 5 is a circuit block diagram showing a control device for controlling the operation of the two-joint arm device in the embodiment of the present invention.

  In the present embodiment, the first actuator 16 to the sixth actuator 21 have substantially the same configuration, and as shown in FIG. 4, a motor 40, a worm 41, a helical gear 42, a rack 43, A first potentiometer 44, a second potentiometer 45, a spring 46, a first bracket 47, a second bracket 48, and a wire 49 are provided. The wire 49 corresponds to an end portion on the actuator side of the wires 24 to 31 shown in FIG. 1 and is fixed to the first bracket 47. The opposite ends of the wires 24 to 31 are fixed to the second link fixed elbow pulley 14a, the first link fixed elbow pulley 14b, the second link fixed shoulder pulley 15a, and the frame fixed shoulder pulley 15b. In the first actuator 16 and the second actuator 17, the motor 40 is fixed to the first bracket 22, and in the fifth actuator 20 and the sixth actuator 21, the motor 40 is fixed to the second bracket 23. Further, in the third actuator 18 and the fourth actuator 19, the motor 40 is fixed to the second link fixed shoulder pulley 15a and the frame fixed shoulder pulley 15b.

  Here, the spring 46 may be made of a material other than metal as long as it has elasticity. For example, the spring 46 may be made of synthetic resin. In the example shown in FIG. 4, the spring 46 is a coil spring, and the axial center of the coil extends perpendicular to the surface of the first bracket 47 and the second bracket 48 fixed to the rack 43. It is arranged to do. The position of the spring 46 changes as the rack 43 moves in parallel.

  The rack 43 is attached so as to be slidable in the left-right direction in FIG. 4 along a guide member fixed to a fixing member (not shown), and meshes with the helical gear 42. The meshing teeth in the rack 43 are formed on the surface on the helical gear 42 side, that is, the upper side surface in FIG.

  The helical gear 42 is rotatably attached to a rotating shaft fixed to a fixing member (not shown). The helical gear 42 meshes with the rack 43 in the lower part in FIG. 4 and meshes with the worm 41 in the upper part in FIG. 4. In this case, the helical gear 42 functions as a worm wheel and is rotated around the rotation axis by the worm 41.

  Here, the worm 41 is attached to the rotating shaft of the motor 40 and is rotated. The rotating shaft of the motor 40 and the worm 41 rotate around an axis extending in the left-right direction in FIG. As a result, when the worm 41 is rotated by the motor 40, the helical gear 42 meshing with the worm 41 is rotated, and the rack 43 meshing with the helical gear 42 is shown in FIG. Is moved in the left-right direction.

  The motor 40 is fixed to a fixing member (not shown) and is driven by a driving current from drivers 53 to 58, which will be described later, to rotate the rotating shaft in a predetermined direction at a predetermined speed. The motor 40 is a DC motor, for example, but may be any type of motor.

  Here, the control device for controlling the operation of the two-joint arm device 10 has a configuration as shown in FIG. In FIG. 5, reference numeral 50 denotes a CPU as a calculation means, and a ROM 51 for storing a program executed by the CPU 50 and a RAM 52 for temporarily storing data etc. when the CPU 50 executes the program are connected. . The CPU 50 is connected to drivers 53 to 58 as drive circuits for operating the first actuator 16 to the sixth actuator 21. The drivers 53 to 58 operate the first actuator 16 to the sixth actuator 21 in response to an instruction from the CPU 50. Furthermore, an encoder 14 d that measures the rotation angle of the first link 11 relative to the second link 12 and an encoder 15 d that measures the rotation angle of the frame 13 relative to the second link 12 are connected to the CPU 50.

  The CPU 50 is communicably connected to a host device (not shown) via a network or the like. Here, the host device is a computer provided with arithmetic means such as CPU and MPU, storage means such as magnetic disk and semiconductor memory, input means such as keyboard and mouse, display means such as CRT and liquid crystal display, communication means and the like. Yes, it is a device that comprehensively controls the operation of the two-joint arm device 10. Then, the CPU 50 transmits a control signal to the drivers 53 to 58 to drive the motor 40 in accordance with a program incorporated in advance or an operator command input from the input means.

  For example, when the CPU 50 transmits a contraction command for generating an output in the contracting direction to the first actuator 16 to the sixth actuator 21, the motor 40 is driven, and the rotating shaft of the motor 40 and the worm 41 rotate in a predetermined direction. To do. Then, the helical gear 42 meshed with the worm 41 is rotated, and the rack 43 meshed with the helical gear 42 is further moved leftward in FIG. Then, the spring 46 is moved in the left direction, and the first bracket 47 is moved in the left direction.

  Thus, the motor 40, the worm 41, the helical gear 42, and the rack 43 function as means for controlling the position of one end of the spring 46 as an elastic body. The first bracket 47 functions as a means for taking out the elastic force of the spring 46 from the other end of the spring 46, that is, the spring force as the output of the first actuator 16 to the sixth actuator 21. The drivers 53 to 58 function as means for receiving a command to generate contractile force.

  Next, the operation of the strength training system configured as described above will be described. First, the operation of the two-joint arm device 10 will be described.

  FIG. 6 is a diagram showing the actuator drive sequence and the direction of force in the embodiment of the present invention, and FIG. 7 is a diagram showing the operation of the two-joint arm device in the embodiment of the present invention. The vertical axis of FIG. 6 represents the actuator output in units of [%].

  7, a to f indicate the direction of the force generated at the tip of the first link 11. For example, when the force is generated in the direction a of FIG. 7, the drive sequence a in FIG. As described above, this can be realized by controlling the outputs of the first actuator 16 to the sixth actuator 21. As described above, the drive sequences a to f in FIG. 6 correspond to the force generation directions a to f in FIG. 7. FIG. 6 also shows the correspondence between each actuator and each muscle in the upper limb described later.

  The output of the first actuator 16 is F2, the output of the second actuator 17 is E2, the output of the third actuator 18 is F3, the output of the fourth actuator 19 is E3, the output of the fifth actuator 20 is F1, and the sixth actuator When the output of 21 is E1, and the generated force of a to f when each actuator is driven according to the drive sequence shown in FIG. 6, the generated force becomes a hexagon as shown in FIG. It has been known.

  Further, the length of the line segment ab and the line segment de is equal to the sum of F3 and E3, the length of the line segment bc and the line segment ef is equal to the sum of F2 and E2, and the lengths of the line segments cd and af are It is known that the length is equal to the sum of F1 and E1.

  Next, the outputs of the first actuator 16 to the sixth actuator 21 will be described.

  As shown in FIG. 4, the wire 49 corresponding to the end of the wires 24 to 31 on the actuator side is fixed to the first bracket 47. The opposite ends of the wires 24 to 31 are fixed to the second link fixed elbow pulley 14a, the first link fixed elbow pulley 14b, the second link fixed shoulder pulley 15a, and the frame fixed shoulder pulley 15b. In the first actuator 16 and the second actuator 17, the motor 40 is fixed to the first bracket 22, and in the fifth actuator 20 and the sixth actuator 21, the motor 40 is fixed to the second bracket 23. Further, in the third actuator 18 and the fourth actuator 19, the motor 40 is fixed to the second link fixed shoulder pulley 15a and the frame fixed shoulder pulley 15b.

  Here, a state in which the wire 49 is stretched without looseness and the tension of the wire 49 is 0 is defined as an actuator output 0. The state in which the tension of the wire 49 is maximized at the position where the motor 40 is driven and the second bracket 48 is moved by the maximum amount in the direction of the arrow from the state of the actuator output 0 is defined as the actuator output 100 [%].

  Next, a method for measuring a subject's muscle strength will be described.

  FIG. 8 is a diagram for explaining a method for measuring the muscle strength of a subject in the embodiment of the present invention.

In the figure, 60 is a subject, 61 is a shoulder joint that connects the upper body and upper arm of the subject 60, 62 is an elbow joint that connects the upper arm and lower arm of the subject 60, and 63 is a subject. 60 is a wrist joint that connects the lower arm and the hand, and is the tip of the upper limb. 64 to 69 are muscles in the upper limb of the subject 60, 64 is anterior deltoid muscle, 65 is a rear part of the deltoid muscle, 66 is a long head of the biceps, 67 is a long head of the triceps, 68 is a brachial muscle , 69 is the triceps lateral head. Here, the center point of the shoulder joint 61 is O ₁ , the center point of the elbow joint 62 is O ₂ , and the center point of the wrist joint 63 is O ₃ . In the two-joint arm device 10, the center point of the circular portion at the tip of the first link 11 is O ₄ , the center point of the first joint portion 14 is O ₅ , and the center point of the second joint portion 15 is O _6. And

And when measuring the muscular strength of the test subject 60, the positional relationship between the two-joint arm device 10 and the test subject 60 is as shown in FIG. That is, the center points O ₁ , O ₃ , O ₄ and O ₆ are on the same straight line. The angle between the line segment O ₁ O ₂ and the straight line drawn from the center point O _{1 in the} vertical direction is θ ₁ , and the angle between the line segment O ₂ O ₃ and the straight line drawn from the center point O _{2 in the} vertical direction the theta _2, the line segment O ₅ O ₆ and the angle theta ₅ that linearly and forms drawn from the center point O ₅ in the vertical direction, and a straight line drawn from the line segment O ₅ O ₆ and the center point O ₆ in the vertical direction Assuming that the angle formed is θ ₆ , it is set so that θ ₁ = θ ₂ = θ ₅ = θ ₆ = θ _ref . Note that θ _ref is a predetermined angle and can be set arbitrarily.

  Next, a method for measuring the muscle strength of each muscle of the subject 60 will be described.

  FIG. 9 is a diagram showing an example of the output value of the actuator in the embodiment of the present invention.

  First, the subject 60 faces the bi-joint arm device 10 and the positional relationship between the subject 60 and the bi-joint arm device 10 is as shown in FIG. Then, using this positional relationship as an initial position, the count values of the encoder 14d and the encoder 15d are recorded. The wrist joint 63 of the subject 60 is fixed to the distal end portion of the first link 11 by any means. For example, the wrist joint 63 may be fixed to the distal end portion of the first link 11 by tying the wrist joint 63 of the subject 60 and the distal end portion of the first link 11 with a string (string). The wrist joint 63 may be fixed to the distal end portion of the first link 11 by gripping the distal end portion of the first link 11. Further, even if the subject 60 receives a force from the two-joint arm device 10, the force is applied to the upper limb against the received force, and the position of the wrist joint 63 is shown in the initial position, that is, FIG. An instruction to prevent the movement from the position is given in advance.

  Then, the two-joint arm device 10 generates a force in the direction a shown in FIG. 7 at the distal end portion of the first link 11. In this case, a force is generated in the direction a by controlling the outputs of the first actuator 16 to the sixth actuator 21 as in the drive sequence a of FIG. Specifically, the outputs of the first actuator 16, the third actuator 18 and the sixth actuator 21 are fixed at 0, the outputs of the second actuator 17, the fourth actuator 19 and the fifth actuator 20 are simultaneously set, and Change to be equal, ie, synchronize and gradually increase from zero. Thereby, the force which the front-end | tip part of the 1st link 11 of the two-joint arm apparatus 10 generate | occur | produces toward a direction increases gradually.

  On the other hand, the subject 60 generates a force to move the wrist joint 63 in the direction opposite to the a direction, that is, the d direction in accordance with an instruction given in advance, so that the position of the wrist joint 63 does not move from the initial position. In order to make the upper limbs. And since the force which the front-end | tip part of the 1st link 11 generate | occur | produces toward a direction increases gradually, in order not to move the position of the wrist joint 63 fixed to the front-end | tip part of the 1st link 11, The force that the subject 60 puts in the upper limb also gradually increases.

  Further, the two-joint arm device 10 increases the outputs of the second actuator 17, the fourth actuator 19, and the fifth actuator 20 in synchronization with each other, and detects the deviation from the initial position of the tip portion of the first link 11 with the encoder 14d. Monitoring is performed based on the count value with the encoder 15d.

  Since the subject 60 applies force to the upper limb so that the position of the wrist joint 63 does not move, the force applied by the subject 60 to the upper limb and the force generated by the two-joint arm device 10 are balanced and antagonized. Meanwhile, the position of the tip of the first link 11 fixed to the wrist joint 63 does not move from the initial position. However, when the force generated by the two-joint arm device 10 increases and the limit of the force that the subject 60 can put into the upper limb, that is, exceeds the maximum value, the force generated by the two-joint arm device 10 enters the upper limb. Since the force is overcome, the tip of the first link 11 moves in the direction a. Therefore, when the tip of the first link 11 starts to move in the direction a, the force generated by the bi-joint arm device 10 is the maximum force that the subject 60 puts in the upper limb to move the wrist joint 63 in the direction d. It can be considered that the value is the maximum value of the muscle strength of the upper limb of the subject 60.

  Therefore, in the present embodiment, when it is determined that the position of the tip of the first link 11 has moved in the direction a from the initial position based on the count values of the encoder 14d and the encoder 15d, the tip of the first link 11 The values of the output E2 of the second actuator 17, the output E3 of the fourth actuator 19, and the output F1 of the fifth actuator 20 at the time when the position of the part moves in the direction a from the initial position are recorded. The output values of the second actuator 17, the fourth actuator 19, and the fifth actuator 20 recorded in this way correspond to the maximum value of the upper limb muscle strength generated by the subject 60 to move the wrist joint 63 in the d direction. The output value to be Thereby, in order to move the wrist joint 63 in the d direction, the output value of each actuator of the bi-joint arm device 10 corresponding to the maximum value of the upper limb muscle force generated by the subject 60 can be recorded.

  Subsequently, the bi-joint arm device 10 repeats the above-described operation to generate a force in the b to f direction at the distal end of the first link 11 and to move the wrist joint 63 in the e to c direction. The output value of each actuator of the two-joint arm apparatus 10 corresponding to the maximum value of the upper limb muscle force generated by 60 is recorded. In addition, the order of the direction in which the two-joint arm device 10 generates force is not limited to the order of a to f, and can be changed as appropriate.

By the way, assuming that the force generated by the two-joint arm device 10 in the direction a at the tip of the first link 11 is the actuator output Fa, the actuator output Fa can be calculated by the following equation (1). As shown in FIG. 9, the angle between the straight line drawn from the center point O ₄ and the line segment O ₄ O ₆ is θ ₃ , and the straight line and line segment drawn from the center point O _{4 in the} vertical direction. This is because θ ₃ = θ ₄ = θ _ref when the angle formed with O ₅ O ₆ is θ ₄ .
Fa = E2 + F1 × sin θ _ref + E3 × sin θ _ref Expression (1)
Here, the unit of Fa is [%].

  Similarly, the actuator outputs Fb to Ff can be obtained as the forces generated by the two-joint arm device 10 in the b to f direction at the distal end portion of the first link 11. Based on this result, a hexagon as shown in FIG. 7 can be drawn.

  Next, a method for calculating the muscular strength of each muscle of the subject 60 based on the recorded output value of each actuator of the bi-joint arm device 10 will be described.

In this case, the muscle strength of the front part of the deltoid muscle 64 in the upper limb of the subject 60 is f1, the muscle power of the back part of the deltoid muscle 65 is e1, the muscle strength of the biceps long head 66 is f3, and the muscle strength of the triceps long head 67 is e3. Assuming that the strength of the upper arm muscle 68 is f2 and the strength of the triceps outer head 69 is e2, the relationship between the output value of each actuator of the bi-articular arm device 10 and the muscle strength of each muscle in the upper limb of the subject 60 is as follows. (2) to (4).
F2 + E2 = f2 + e2 Formula (2)
F3 + E3 = f3 + e3 Formula (3)
F1 + E1 = f1 + e1 Formula (4)
Therefore, the maximum value of the muscular strength of each muscle in the upper limb of the subject 60 can be obtained by substituting the recorded output value of each actuator of the two-joint arm device 10 into the equations (2) to (4).

  Thus, the two-joint arm device 10 has a structure imitating a human upper limb, and each muscle of the upper-limb antagonistic one-joint muscle group and the antagonistic-biarticular muscle group, that is, the deltoid muscle front part 64, the deltoid muscle rear part. 65, actuators corresponding to the biceps long head 66, the triceps long head 67, the humerus 68, and the triceps lateral head 69. Therefore, the wrist joint 63 of the subject 60 is fixed to the distal end portion of the first link 11, and the wrist joint 63 is not moved from the initial position even when the subject 60 receives a force from the bi-joint arm device 10. Thus, it is possible to measure the output of each muscle of the antagonistic joint articular muscle group and the antagonistic biarticular muscle group in the upper limb of the subject 60, that is, the muscle strength. That is, the six-direction force generated at the tip of the upper limb of the subject 60 can be measured by antagonizing the six-direction force generated at the tip of the first link 11 and the force of the subject 60. . In this case, the muscular strength for moving the wrist joint 63 in six directions can be measured by changing the direction of the force generated at the tip of the first link 11 in six directions.

  Therefore, since it is not necessary for the subject 60 to be aware of the output direction, the muscle strength of the subject 60 can be measured easily and with high accuracy without imposing a burden on the subject 60.

  Next, a method for training the muscle strength of the subject 60 will be described.

  FIG. 10 is a diagram illustrating an example of a measurement result of a subject's muscle strength according to the embodiment of the present invention.

  Here, in the upper limb of the subject 60, measurement of muscle strength of the anterior deltoid muscle 64, the deltoid muscle 65, the biceps long head 66, the triceps long head 67, the brachial muscle 68 and the triceps outer head 69 Is completed. As a result of the measurement, as shown in FIG. 10, when it is found that the muscle strength of some muscles is weak, it is necessary to train and improve the corresponding muscle strength.

  In the example shown in FIG. 10, a hexagon drawn with a solid line around the wrist joint 63 represents the measurement result of the muscular strength of the subject 60, and the muscular strength of the biceps long head 66 is significantly reduced. It is shown that. On the other hand, a hexagon drawn with a dotted line indicates a case where the strength of the biceps long head 66 is normal.

  In this case, the muscle strength of the subject 60 can be trained using the two-joint arm device 10. In the example in which the measurement result of the muscular strength is shown in FIG. 10, since the muscle output of the biceps long head 66 is weak, the biceps long head 66 is subjected to a higher load than other muscles, It is effective to train. Then, by executing a training menu for improving the muscle output of the biceps long head 66, the subject 60 can perform appropriate strength training.

  When training the muscle strength of the subject 60 using the bi-joint arm device 10, the subject 60 faces the bi-joint arm device 10 as shown in FIG. It becomes a state. Then, the wrist joint 63 of the subject 60 is fixed to the distal end portion of the first link 11 by any means. Further, even if the subject 60 receives a force from the two-joint arm device 10, the force is applied to the upper limb against the received force, and the position of the wrist joint 63 is shown in the initial position, that is, FIG. An instruction to prevent the movement from the position is given in advance.

  By the way, according to Non-Patent Document 1, muscle cooperative activities are performed in the same pattern as in FIG. FIG. 6 shows the correspondence between the actuators of the two-joint arm device 10 and the muscles in the human upper limb. The human upper limb is associated with the driving sequences a to f in FIG. The direction of force generation when the muscle strength of each muscle is generated corresponds to a to f shown in FIG. The direction of af shown in FIG. 10 has shown the direction seen from the test subject 60 side, and is symmetrical with the direction of af seen from the bi-joint arm apparatus 10 side as shown in FIG. It is in.

  Therefore, for example, when the distal end portion of the first link 11 of the two-joint arm device 10 generates a force in the direction b shown in FIG. 7, the subject 60 applies a force to the upper limb to move the position of the wrist joint 63. Otherwise, the subject 60 generates a force to move the wrist joint 63 in the direction b shown in FIG. That is, a load that moves the wrist joint 63 in the direction b shown in FIG. 10 is given to each muscle in the upper limb of the subject 60. In this case, as shown in the driving sequence b of FIG. 6, the anterior deltoid muscle 64, the triceps outer head 69, and the biceps long head 66 are loaded and generate muscle strength.

  Further, for example, when a load is applied to the upper limb of the subject 60 so that the subject 60 moves the wrist joint 63 in the d direction shown in FIG. 10, as shown in the drive sequence d of FIG. The humerus muscle 68 and the biceps long head 66 are loaded and generate muscular strength.

  Furthermore, for example, when a load that moves the wrist joint 63 in the b direction and the d direction shown in FIG. 10 is given to the upper limb of the subject 60 at a ratio of 1: 1, one joint muscle, that is, deltoid muscle A load is evenly applied to the front part 64, the rear part of the deltoid muscle 65, and the humerus muscle 68, and a load twice as large as that of the joint muscle is applied to the long biceps long head 66, and the triceps long head 67 Is not loaded. Therefore, in this case, a high load is selectively given to the biceps long head 66 and a low load is selectively given to the triceps long head 67.

  In addition, the magnitude | size of the load given to the test subject 60 is controlled based on the measurement result of a muscular strength. In this case, by controlling the output of each actuator of the two-joint arm device 10 so that a load corresponding to the measured output of each muscle is applied to each muscle, it is possible to continue to give an optimum load to each muscle. it can.

  In this way, by selectively applying an optimal load to each muscle in the upper limb of the subject 60, effective training can be performed without applying an excessive load to the subject 60. The muscular strength can be effectively improved and the balance of muscular strength can be improved.

  Further, when there is a request from the subject 60 to further improve the muscle strength from the current level, the target muscle strength is set from the measurement result of the muscle strength of each muscle of the subject 60 at the present time, and training is performed. In this case, training is performed while gradually increasing the outputs of the first actuator 16 to the sixth actuator 21 corresponding to the drive sequences a to f shown in FIG. 6 from the values corresponding to the muscle strength of each muscle of the subject 60 at present. By repeating the above, it is possible to improve the muscle strength of the entire upper limb of the subject 60 in a balanced manner.

  Thus, the two-joint arm device 10 has a structure imitating a human upper limb, and each muscle of the upper-limb antagonistic one-joint muscle group and the antagonistic-biarticular muscle group, that is, the deltoid muscle front part 64, the deltoid muscle rear part. 65, actuators corresponding to the biceps long head 66, the triceps long head 67, the humerus 68, and the triceps lateral head 69. Therefore, the wrist joint 63 of the subject 60 is fixed to the distal end portion of the first link 11, and the wrist joint 63 is not moved from the initial position even when the subject 60 receives a force from the bi-joint arm device 10. Thus, an effective training can be performed by selectively applying a load to each muscle of the antagonistic joint articular muscle group and the antagonistic biarticular muscle group in the upper limb of the subject 60. In this case, by selecting the direction of the force generated at the distal end portion of the first link 11 by the two-joint arm device 10, it is possible to select a muscle to be trained by applying a load.

  Further, by using the two-joint arm device 10 used for the measurement of the muscle strength, the muscle strength of the subject 60 can be trained, and it is not necessary to prepare separate devices for the muscle strength measurement and training. Cost can be reduced.

  Furthermore, since the two-joint arm device 10 has a structure imitating a human upper limb, the subject 60 can effectively perform training without feeling uncomfortable.

  Next, a method for displaying muscle strength measurement and training status will be described.

  FIG. 11 is a diagram showing an example of a display screen that displays muscle strength measurement and training status in the embodiment of the present invention. 11A is a diagram showing the position of the tip of the first link of the two-joint arm device, and FIG. 11B is a diagram showing the operation locus of the tip of the first link of the two-joint arm device. 11 (c) is a diagram showing a measurement result of muscle strength.

  In FIG. 11, reference numeral 70 denotes a display as a display device such as a CRT, a liquid crystal display, and an LED (Light Emitting Diode) display. The display 70 may be a part of a display unit included in a host device of a control device that controls the operation of the bi-joint arm device 10, or may be connected to the control device or the host device separately from the display unit. It may be.

In FIG. 11A, 71 is an icon indicating the initial position of the tip of the first link 11 in the two-joint arm device 10, and 72 is the center point O of the circular portion at the tip of the first link 11. ₄ is an icon indicating the current position. The positions of the icons 71 and 72 indicate the position of the center point O ₄ of the circular portion at the tip of the first link 11 calculated from the rotation angles of the encoders 14d and 15d. Here, the icon 72 indicates in real time the current position of the center point O ₄ of the circular portion at the tip of the first link 11 based on the rotation angles of the encoders 14 d and 15 d. When measuring muscle strength and training muscle strength, since the wrist joint 63 of the subject 60 is fixed to the distal end of the first link 11 as described above, the icons 71 and 72 are , Substantially showing the initial position and the current position of the wrist joint 63 of the subject 60, respectively.

  First, when measuring the muscular strength of each muscle of the subject 60, before the measurement is started, the wrist joint 63 of the subject 60 and the distal end portion of the first link 11 are in the initial positions. It is in the same position. And when a measurement is started, the front-end | tip part of the 1st link 11 will generate | occur | produce a force toward six directions of af. On the other hand, the subject 60 generates a force to move the wrist joint 63 in a direction opposite to the force generated at the tip of the first link 11 in accordance with an instruction given in advance, and sets the position of the wrist joint 63 to the initial position. Do not move from position.

  At this time, the subject 60 can prevent the position of the wrist joint 63 from moving from the initial position by not moving the icon 72 from the position of the icon 71 while looking at the display 70. Therefore, the subject 60 can measure the muscular strength with the same game sensation as playing a game such as a video game.

  Before starting the measurement, even if a force is applied to the subject 60 from the bi-joint arm device 10 in advance, force is applied to the upper limb so that the position of the wrist joint 63 is not moved from the initial position. An instruction to do so can be displayed on the display 70. In addition, when an audio output device such as a loudspeaker (not shown) is connected to the control device or the host device together with the display 70, the instruction can be given to the subject 60 by audio output.

  Next, the case of training muscular strength will be described.

In the case of training muscular strength, as shown in FIG. 11B, the motion locus 73 of the center point O ₄ of the circular portion at the tip of the first link 11, the first target locus 74 during training, and the training The second target locus 75 in the middle is displayed on the display 70. In addition, even if a force is given to the subject 60 in advance from the bi-joint arm device 10, an instruction to force the upper limb so as not to move the position of the wrist joint 63 from the initial position is a muscular strength. Can be displayed on the display 70 in the same manner as when measuring. Further, when a voice output device (not shown) is connected to the control device or the host device, the instruction can be given to the subject 60 by voice output.

  When training is started, the subject 60 receives a force from the bi-joint arm device 10, but the subject 60 puts a force on the upper limb and looks at the display 70, and the icon 72 indicating the position of the wrist joint 63 is the first. The target locus 74 or the second target locus 75 is traced. That is, the motion trajectory 73 is made to coincide with the first target trajectory 74 or the second target trajectory 75. As a result, each muscle in the upper limb of the subject 60 is given a load in a preset direction from the tip of the first link 11 to generate muscle strength, so that the subject 60 trains muscle strength in a game sense. Can do.

  Further, before starting the muscle strength training and after ending the muscle strength training, the muscle strength of the subject 60 is measured, and the measurement result is displayed on the display 70 as shown in FIG. Can be confirmed on the spot. In the example shown in FIG. 11C, the hexagon drawn with a dotted line represents the measurement result of the muscle strength of the subject 60 before starting the training, and the hexagon drawn with a solid line finished the training. The measurement result of the muscular strength of the test subject 60 later is shown.

Thus, since the position of the center point O ₄ of the circular portion at the distal end portion of the first link 11 of the two-joint arm device 10 is displayed on the display 70, the subject 60 performs muscle strength measurement and training in a game sense. be able to. Moreover, since the result of measuring the muscular strength of the subject 60 is displayed, the muscular strength measurement result and the training result can be visually confirmed, the muscular strength measurement becomes accurate, and the muscular strength can be effectively trained. it can.

  As described above, in this embodiment, the muscle has a structure imitating a human upper limb, and each muscle of the antagonistic joint joint group and the antagonistic joint joint group of the upper limb, that is, the front part of the deltoid muscle 64, the rear part of the deltoid muscle 65, using the biarticular arm device 10 including actuators corresponding to the biceps long head 66, the triceps long head 67, the humerus 68 and the triceps outer head 69, The muscle strength of the antagonistic joint muscle group and the antagonistic joint muscle group is measured and the muscle strength is trained. Therefore, the muscle strength of the subject 60 can be measured easily and with high accuracy without imposing a burden on the subject 60, the muscle strength of the subject 60 can be effectively improved, and the balance of the muscle strength can be improved. be able to.

  In the present embodiment, the case of training by measuring the muscle strength of the antagonistic one-joint muscle group and the antagonistic two-joint muscle group of the upper limb has been described. Since it has a muscle arrangement structure including biarticular muscles, it is also possible to measure and measure the muscle strength of the antagonistic one joint muscle group and the antagonistic biarticular muscle group of the lower limbs using the biarticular arm device 10. .

  Further, in the present embodiment, the positional relationship between the subject 60 and the two-joint arm device 10 has been described as an example where the subject 60 and the two-joint arm device 10 face each other. It is also possible to adopt a positional relationship in which the operation direction of the joint arm device 10 is the same and the bi-joint arm device 10 is installed in front of or behind the subject 60.

  Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made based on the spirit of the present invention, and they are not excluded from the scope of the present invention.

It is a figure which shows the structure of the two-joint arm apparatus in embodiment of this invention. It is a figure which shows the side surface of the joint part in embodiment of this invention. It is a figure which shows the side surface of the joint part in embodiment of this invention. It is a figure which shows the structure of the actuator in embodiment of this invention. It is a circuit block diagram which shows the control apparatus which controls operation | movement of the two joint arm apparatus in embodiment of this invention. It is a figure which shows the drive sequence and force direction of an actuator in embodiment of this invention. It is a figure which shows operation | movement of the two-joint arm apparatus in embodiment of this invention. It is a figure explaining the method to measure the test subject's muscular strength in embodiment of this invention. It is a figure which shows the example of the output value of the actuator in embodiment of this invention. It is a figure which shows an example of the measurement result of the test subject's muscular strength in embodiment of this invention. It is a figure which shows the example of the display screen which displays the measurement of the muscular strength in the embodiment of the present invention, and the state of training.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Two-joint arm apparatus 11 1st link 12 2nd link 13 Frame 16 1st actuator 17 2nd actuator 18 3rd actuator 19 4th actuator 20 5th actuator 21 6th actuator 60 Test subject 64 Triangular muscle front part 65 Triangular muscle rear part 66 biceps long head 67 triceps long head 68 humerus 69 triceps lateral head 70 display 73 motion trajectory 74 first target trajectory 75 second target trajectory

Claims (4)

(A) a bi-joint arm device having a structure imitating a human upper limb or lower limb;
(B) fixing the tip of the upper limb or the lower limb of the subject to the tip of the two-joint arm device;
(C) When the two-joint arm device generates a force, the subject does not move the position of the tip of the upper limb or the lower limb against the force of the two-joint arm device, whereby the upper limb or the lower limb of the subject A muscle strength training system that measures and trains muscle strength. (A) A two-joint arm comprising a base, a second link having a root end rotatably attached to the base, and a first link having a root end rotatably attached to a tip end of the second link A device,
(B) a first actuator, a second actuator, a third actuator, a fourth actuator, and a first link and a second link that generate a driving force for independently rotating the first link and the second link. A bi-joint arm device further comprising a fifth actuator and a sixth actuator for generating a driving force for simultaneously rotating the actuator with respect to the base;
(C) a predetermined operating the said first to sixth actuator according to the driving sequence, have a control unit that generates six force at the distal end of the first link,
(D) fixing the tip of the upper limb or the lower limb of the subject to the tip of the first link, antagonizing the force in the six directions generated at the tip of the first link and the force of the subject, By measuring the force in six directions generated at the tip of the subject's upper limb or lower limb, the muscular strength of the antagonistic one joint muscle group and the antagonistic biarticular muscle group of the subject's upper limb or lower limb is measured. Strength training system. By specifying the muscle of the upper limb or the lower limb of the subject whose muscular strength has been reduced based on the result of measuring the muscular strength of the subject, and by controlling the six-direction forces generated at the tip of the first link, The muscular strength training system according to claim 2 , wherein the muscular strength of the antagonistic one-joint muscle group and the antagonistic bi-joint muscle group of the upper limb or the lower limb of the subject is trained. A display device connected to the control device; causing the display device to display an operation trajectory and a target trajectory of the tip of the first link; and allowing the subject to match the operation trajectory with the target trajectory. The muscular strength training system according to claim 3 which measures and trains the muscular strength of the antagonistic joint joint muscle group and the antagonistic joint joint muscle group of the upper limb or the lower limb of the subject by generating force.

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