JP6860203B2 - Training equipment and training methods - Google Patents

Description

The present invention relates to a training device and a training method for training the muscle strength of a user (trainee).

Various training devices are known for training the muscle strength of the user (trainee)'s hands, feet, chest, abdomen, etc. for improving physical function and maintaining health. Various mechanisms such as weights, springs and motors are used to load the trainee. For example, Patent Documents 1 and 2 disclose a training device using a motor.

Patent No. 5055506 Patent No. 5785716

In order to improve the effectiveness of training, it is first necessary to quantitatively evaluate the muscle strength of the trainee, and further, it is necessary to give an appropriate load based on the muscle strength of the trainee.

It is desirable that the trainee's muscle strength be measured not as a static force such as pushing a wall, but as a dynamic force such as stepping on a foot. Further, it is desirable that the training device can perform training that increases such dynamic force.

Further, in order for a large number of people to use such a training device, it is desirable that the training device is easily and inexpensively configured without using a pressure converter or the like.

Conventionally, a training device capable of satisfying all of these conditions has not been provided.

An object of the present invention is to provide a training device and a training method capable of accurately measuring a trainee's muscle strength in order to give an appropriate load based on the trainee's muscle strength while having a simple and inexpensive configuration. is there.

The training device according to the first aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
A training device including a control unit that controls the drive unit.
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
The first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member is measured.
When the weight of the training portion of the trainee is applied to the movable member, a second torque generated by the servomotor to move the movable member in the movable range is measured.
A third torque applied to the servomotor when the trainee moves the movable member is measured.
Based on the first torque, the mechanical loss of the training device is calculated.
Based on the first and second torques, the weight of the training site is calculated.
Based on the second and third torques, the net force exerted by the trainee on the movable member is calculated.

The training device according to the second aspect of the present invention is the training device according to the first aspect.
The control unit measures the first to third torques by measuring the current flowing through the servomotor.

The training device according to the third aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
A training device including a control unit that controls the drive unit.
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
When the weight of the training portion of the trainee is applied to the movable member, the first torque generated by the servomotor to move the movable member in the movable range is measured.
The second torque applied to the servomotor when the trainee moves the movable member is measured.
Based on the first torque, the mechanical loss of the training device and the total loss due to the weight of the training site are calculated.
Based on the first and second torques, the net force exerted by the trainee on the movable member is calculated.

The training device according to the fourth aspect of the present invention is the training device according to the third aspect.
The control unit measures the first and second torques by measuring the current flowing through the servomotor.

The training device according to the fifth aspect of the present invention is the training device according to one of the first to fourth aspects.
The training device is a seated leg press device.

The training device according to the sixth aspect of the present invention is the training device according to one of the first to fourth aspects.
The training device is a dips device.

The training device according to the seventh aspect of the present invention is the training device according to one of the first to sixth aspects.
The control unit applies a predetermined load determined based on the magnitude of the net force to the trainee, and cancels the mechanical loss of the training device and the weight of the training portion. , A predetermined torque that fluctuates over the movable range is set in the servomotor.

The training device according to the eighth aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
A training device including a control unit that controls the drive unit.
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
The first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member is measured.
The second torque applied to the servomotor when the trainee moves the movable member is measured.
Based on the first torque, the mechanical loss of the training device is calculated.
Based on the first and second torques, the net force exerted by the trainee on the movable member is calculated.

The training device according to the ninth aspect of the present invention is the training device according to the eighth aspect.
The control unit measures the first and second torques by measuring the current flowing through the servomotor.

The training device according to the tenth aspect of the present invention is the training device according to the eighth or ninth aspect.
The training device is a leg curl device.

The training device according to the eleventh aspect of the present invention is the training device according to the eighth or ninth aspect.
The training device is a seated chest press device.

The training device according to the twelfth aspect of the present invention is the training device according to one of the eighth to eleventh aspects.
The control varies over the range of motion to give the trainee a predetermined load determined based on the magnitude of the net force and to cancel the mechanical loss of the training device. A predetermined torque is set in the servomotor.

The training device according to the thirteenth aspect of the present invention is the training device according to the seventh or twelfth aspect.
The control unit determines the magnitude of the load applied to the trainee based on the magnitude of the net force.

The training device according to the 14th aspect of the present invention is the training device according to the 17th or 12th aspect.
The control unit
Information indicating the magnitude of the net force is transmitted to an external server device, and the information is transmitted to an external server device.
Information indicating the magnitude of the load determined by the server apparatus based on the magnitude of the net force is received from the server apparatus.

The training device according to the fifteenth aspect of the present invention is the training device according to one of the first to fourteenth aspects.
The control unit detects the positions at both ends of the movable range.

The training method according to the sixteenth aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A training method using a training device including a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
A step of measuring a first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member.
A step of measuring a second torque generated by the servomotor in order to move the movable member in the movable range when the weight of the training portion of the trainee is applied to the movable member.
A step of measuring a third torque applied to the servomotor when the trainee moves the movable member, and
A step of calculating the mechanical loss of the training device based on the first torque, and
A step of calculating the weight of the training site based on the first and second torques, and
Includes a step of calculating the net force exerted by the trainee on the movable member based on the second and third torques.

The training method according to the seventeenth aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A training method using a training device including a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
A step of measuring a first torque generated by the servomotor in order to move the movable member in the movable range when the weight of the training portion of the trainee is applied to the movable member.
A step of measuring a second torque applied to the servomotor when the trainee moves the movable member, and a step of measuring the second torque.
A step of calculating the mechanical loss of the training device and the total loss due to the weight of the training site based on the first torque.
Includes a step of calculating the net force exerted by the trainee on the movable member based on the first and second torques.

The training method according to the eighteenth aspect of the present invention is
At least one movable member that is moved within a predetermined range of movement by the trainee,
A training method using a training device including a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
A step of measuring a first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member.
A step of measuring a second torque applied to the servomotor when the trainee moves the movable member, and a step of measuring the second torque.
A step of calculating the mechanical loss of the training device based on the first torque, and
Includes a step of calculating the net force exerted by the trainee on the movable member based on the first and second torques.

According to the training device and the training method according to one aspect of the present invention, by measuring the mechanical loss of the device in advance, it is possible to give an appropriate load based on the muscle strength of the trainee while having a simple and inexpensive configuration. , Trainee muscle strength can be measured accurately.

It is a perspective view which shows the structure of the training apparatus 1 which concerns on Embodiment 1. FIG. It is a block diagram which shows the structure of the control device 12 and the drive device 13 of FIG. It is a perspective view which shows the 1st state when the training apparatus 1 of FIG. 1 is used by a trainee 100. It is a perspective view which shows the 2nd state when the training apparatus 1 of FIG. 1 is used by a trainee 100. It is a flowchart which shows the training control processing executed by the training apparatus 1 of FIG. It is the schematic for demonstrating the gravity W1 applied to the shaft 14 and the footrest 15 of FIG. It is a schematic diagram for demonstrating the torque when the shaft 14 and the footrest 15 of FIG. 1 are moved from the lower end position to the upper end position, and from the upper end position to the lower end position. FIG. 5 is a graph showing the net force exerted on the shaft 14 and footrest 15 by various trainees. It is a graph which shows the torque which is set in the servomotor 71 to give a predetermined load to the trainee 3 of FIG. It is a flowchart which shows the modification of the training control processing executed by the training apparatus 1 of FIG. It is a perspective view which shows the structure of the training apparatus 2 which concerns on Embodiment 2. FIG. It is a perspective view which shows the 1st state when the training apparatus 2 of FIG. 11 is used by a trainee 100. It is a perspective view which shows the 2nd state when the training apparatus 2 of FIG. 11 is used by a trainee 100. It is a flowchart which shows the training control processing executed by the training apparatus 2 of FIG. It is a perspective view which shows the structure of the training apparatus 3 which concerns on Embodiment 3. FIG. 5 is a perspective view showing a first state when the trainee 100 uses the training device 3 of FIG. FIG. 5 is a perspective view showing a second state when the trainee 100 uses the training device 3 of FIG. It is a perspective view which shows the structure of the training apparatus 3AA which concerns on the modification of Embodiment 3. It is a perspective view which shows the structure of the training apparatus 4 which concerns on Embodiment 4. FIG. It is a perspective view which shows the 1st state when the training apparatus 4 of FIG. 19 is used by a trainee 100. It is a perspective view which shows the 2nd state when the training apparatus 4 of FIG. 19 is used by a trainee 100. It is a block diagram which shows the structure of the training system which concerns on Embodiment 5.

Embodiment 1.
FIG. 1 is a perspective view showing the configuration of the training device 1 according to the first embodiment. The training device 1 is configured as a seated leg press device for training a predetermined part of the trainee's body, for example, the quadriceps femoris, the gluteus maximus, and the gluteus medius.

The training device 1 includes a console 10, a chassis 11, a control device 12, a drive device 13, a shaft 14, a footrest 15, a seat 16, a handle 17, a support column 18, and a stop switch SW1.

Each component of the training device 1 is attached to the chassis 11.

The shaft 14 and the footrest 15 are movable members that are moved within a predetermined movable range by the trainee. One end of the shaft 14 is connected to a rotating shaft of the drive device 13 and is rotatably supported around the rotating shaft, as will be described later. A footrest 15 is connected to the other end of the shaft 14.

The drive device 13 moves the shaft 14 and the footrest 15 in their movable range, and further applies a predetermined load to the trainee via the shaft 14 and the footrest 15. In the present specification, the drive device 13 is also referred to as a "drive unit".

The console 10 and the control device 12 control the drive device 13. The console 10 executes a predetermined control program, receives user input, and the control device 12 controls the drive device 13 under the control of the console 10. The console 10 may be a tablet terminal device including a display and a touch panel, or may be a personal computer including a display and a keyboard and a pointing device. For example, the control device 12 is connected to the drive device 13 by wire, and the console 10 is connected to the control device 12 by wire or wirelessly. Hereinafter, it is assumed that the console 10 is connected to the control device 12 by Bluetooth (registered trademark). In the present specification, the console 10 and the control device 12 are collectively referred to as a “control unit”.

The console 10 and the control device 12 may be integrated with each other.

The stop switch SW1 stops the movement of the shaft 14 and the footrest 15 when pressed, such as when the trainee desires an emergency stop of the training device 1.

The trainee sits on the seat 16, rests the trainee's feet on the footrest 15, and holds the handle 17 with both hands. In the first embodiment, the foot, which is a part of the trainee for moving the movable members (shaft 14 and footrest 15), is referred to as a “training part”.

The stanchion 18 rotatably supports the console 10 and the stop switch SW1 around the trainee.

FIG. 2 is a block diagram showing the configurations of the control device 12 and the drive device 13 of FIG. The control device 12 includes a control circuit 61, a power supply circuit 62, a Bluetooth communication circuit 63, and a servo amplifier 64. The drive device 13 includes a servomotor 71, a motor encoder 72, and a gearbox 73.

The servomotor 71 generates a predetermined torque under the control of the console 10 and the control device 12. The motor encoder 72 detects the rotational position of the servomotor 71. By detecting the rotational position of the servomotor 71, the positions of the shaft 14 and the footrest 15 can be known. The gearbox 73 decelerates the rotation of the rotation shaft of the servomotor 71 and transmits it to the shaft 14 and the footrest 15.

The power supply circuit 62 receives the supply of 100V AC power from the commercial power supply 55 to generate DC power, and supplies the DC power to the control circuit 61 and the servo amplifier 64.

The Bluetooth communication circuit 63 is wirelessly connected to the console 10.

The servo amplifier 64 controls the servomotor 71 under the control of the control circuit 61. The servo amplifier 64 monitors the current torque, position, and speed of the servomotor 71, and instructs the servomotor 71 of the desired torque, position, and speed. The servo amplifier 64 measures the torque of the servomotor 71 by measuring the current flowing through the servomotor 71. Further, the servo amplifier 64 sets the torque of the servomotor 71 by setting the current flowing through the servomotor 71.

The control circuit 61 receives a monitor signal for monitoring the torque, position, and speed of the servomotor 71 from the servo amplifier 64, and sends a command signal for instructing the torque, position, and speed of the servomotor 71 to the servo amplifier. Send to 64. The control circuit 61 is connected to the servo amplifier 64 via, for example, a parallel or serial interface.

The switches SW2 and SW3 are provided at the limit positions (both end positions) of the movable range of the shaft 14 and the footrest 15, respectively. When the switch SW2 or SW3 is pressed by the shaft 14 and the footrest 15, the control circuit 61 stops the servomotor 71. As a result, it is possible to prevent the training device 1 from breaking down, and it is possible to prevent the trainee's body from being overloaded.

Further, when the trainee presses the stop switch SW1, the control circuit 61 stops the servomotor 71.

FIG. 3 is a perspective view showing a first state when the trainee 100 uses the training device 1 of FIG. FIG. 4 is a perspective view showing a second state when the trainee 100 uses the training device 1 of FIG. In the state of FIG. 3, the console 10 and the control device 12 set a predetermined torque to the servomotor 71 of the drive device 13 so as to apply a predetermined load to the trainee 100. The trainee 100 pushes down the shaft 14 and the footrest 15 so as to change from the state of FIG. 3 to the state of FIG. The console 10 and the control device 12 set a predetermined torque that fluctuates in the process in which the shaft 14 and the footrest 15 change from the state of FIG. 3 to the state of FIG. 4 in the servomotor 71 of the drive device 13. When the shaft 14 and the footrest 15 are pushed down by the trainee 100 to the state shown in FIG. 4, the console 10 and the control device 12 push up the shaft 14 and the footrest 15 to the state shown in FIG. 3 and wait for the trainee 100 to push them down again. By repeating this movement, the trainee 100 trains muscle strength.

FIG. 5 is a flowchart showing a training control process executed by the training device 1 of FIG. Here, it is assumed that the console 10 executes a control program related to the training control process.

First, the trainee places the training site on the movable member (ie, rests the foot on the footrest 15) in order to perform step S1.

In step S1, the console 10 detects the positions of both ends of the movable range of the trainee training site. In the case of the seated leg press device as shown in FIG. 1, the positions of the shaft 14 and the footrest 15 when the trainee's legs are bent as shown in FIG. 3 and the shaft when the trainee's legs are extended as shown in FIG. The positions of 14 and the footrest 15 are detected.

After detecting the positions of both ends of the range of motion of the training site, the trainee temporarily separates the training site from the movable member (that is, lowers the foot from the footrest 15) in order to perform step S2.

In step S2, the console 10 measures the torque generated by the servomotor 71 to move the movable member within the trainee's movable range when the trainee is not touching the movable member (shaft 14 and footrest 15). At this time, the console 10 sets a predetermined speed to the servomotor 71.

FIG. 6 is a schematic view for explaining the gravity W1 applied to the shaft 14 and the footrest 15 of FIG. The point O indicates the rotation axis of the drive device 13. The point P indicates the center of gravity of the region where the trainee training portion and the shaft 14 and the footrest 15 face each other (that is, the position where the trainee's force is applied to the shaft 14 and the footrest 15). R indicates the distance from the point O to the point P. θ indicates the angle of the shaft 14 with respect to the horizontal plane. W1 indicates the weight (kg) of the shaft 14 and the footrest 15 at the point P.

When the shaft 14 is rotatably supported around the point O, the tangential component (kg) of the weight W1 at the center O and the point P on the circumference of the radius R is represented by A1 = W1 · cos θ. Will be done. Therefore, the torque (kg · m) in the tangential direction at the point P caused by this component force A1 is represented by A1 (kg) × R (m).

The torque (kg · m) generated by the sliding friction of the servomotor 71, the gearbox 73, the shaft 14, and the footrest 15 is represented by Fri. The torque Up of the servomotor 71 required to lift the shaft 14 and the footrest 15 and the torque Tdown of the servomotor 71 required to push down the shaft 14 and the footrest 15 are expressed by the following equations.

Tap = Fri + A1 × R
Tdown = Fri-A1 × R

According to the above-mentioned torque Tap and Tdown equations, when the shaft 14 is at an angle close to 90 degrees with respect to the horizontal plane, the torque Fri due to friction or the like is larger than the component force A1, and the shaft 14 collapses. It becomes difficult. As the angle θ becomes smaller, the component force A1 becomes larger, and the shaft 14 rotates so as to be closer to the horizontal plane.

FIG. 7 is a schematic view for explaining the torque when the shaft 14 and the footrest 15 of FIG. 1 are moved from the lower end position to the upper end position and from the upper end position to the lower end position. FIG. 7 shows a case where the shaft 14 has a movable range of 0 to 43 degrees with respect to the horizontal plane. Twice the tangential component force A1 at the point P appears as a hysteresis of the torque in the lifting direction and the pushing direction.

In FIG. 7, when the shaft 14 and the footrest 15 are in the vicinity of the lower end position (θ = 0 degrees) and the upper end position (θ = 43 degrees), the torques may not be strictly balanced. The shaft 14 and footrest 15 may be pressed against other components to hold the position of the shaft 14 and footrest 15. Further, the friction coefficient may change because the shaft 14 and the footrest 15 start to move from a stationary state.

After measuring the torque Tap and Tdown, the trainee repositions the training site on the movable member (ie, rests the foot on the footrest 15) to perform step S3.

In step S3 of FIG. 5, the console 10 has a torque generated by the servomotor 71 to move the movable member in the movable range when the weight of the training portion is applied to the movable member (shaft 14 and footrest 15). Measure T1. At this time, the console 10 sets the servomotor 71 at the same speed as the speed set for the servomotor 71 in step S2. The trainee puts the trainee's foot on the footrest 15 so that the trainee's own force is not applied to the shaft 14 and the footrest 15. The weight of the training part of the trainee is represented by W2, and the component force in the tangential direction at the point P of the weight W2 is represented by A2 = W2 · cosθ. At this time, the torque T1 is expressed by the following equation.

T1 = Fri- (A1 + A2) x R

In step S4, the console 10 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable members (shaft 14 and footrest 15) by the trainee's own force. At this time, the console 10 sets the servomotor 71 at the same speed as the speed set for the servomotor 71 in steps S2 and S3. The console 10 moves the shaft 14 and the footrest 15 to the positions shown in FIG. The trainee pushes down the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri- (A1 + A2) x R + Mes

In step S5, the console 10 calculates the mechanical loss of the training device. The mechanical loss includes torque Fri caused by friction and the like, and torque A1 × R caused by the weight of the shaft 14 and the footrest 15. The torque Fri and the component force A1 are calculated based on the torque Tap and Tdown measured in step S2.

In step S6, the console 10 calculates the weight W2 of the training site. Based on the torque Tdown measured in step S2 and the torque T1 measured in step S3, the torque A2 × R = Tdown-T1 due to the weight W2 of the training part is calculated, whereby the weight W2 of the training part is calculated. It is calculated.

In step S7, the console 10 calculates the torque Mes indicating the net force exerted by the trainee on the movable members (shaft 14 and footrest 15). Based on the torque T1 measured in step S3 and the torque T2 measured in step S4, the torque Mes = T2-T1 generated by the trainee's own force is calculated.

In step S8, the console 10 determines a training menu, which is information indicating the magnitude of the load applied to the trainee, based on the magnitude of the trainee's net force. The magnitude of the load applied to the trainee is set to be smaller than the trainee's net force, for example, 0.6 to 0.7 times the maximum value of the trainee's net force. This makes it possible to prevent the trainee's body from being overloaded. Also, the magnitude of the load applied to the trainee varies over the range of motion of the trainee's training site to achieve the desired training effect.

In step S9, the console 10 sets the torque in the drive device 13 based on the determined training menu. The console 10 applies a predetermined load determined based on the magnitude of the net force to the trainee, and cancels the torque Fri of the mechanical loss of the training device 1 and the weight W2 of the training portion. , A predetermined torque T3 that fluctuates over the movable range is set in the servomotor 71. The torque of a predetermined load determined based on the magnitude of the net force is represented by Tra. At this time, the torque T3 is expressed by the following equation.

T3 = Fri + (A1 + A2) x R + Tra

FIG. 8 is a graph showing the net force exerted on the shaft 14 and footrest 15 by various trainees. FIG. 9 is a graph showing the torque set in the servomotor 71 to apply a predetermined load to the trainee 3 in FIG. The movement distance on the horizontal axis of FIGS. 8 and 9 indicates the movement distance of the point P on the circumference of the center O and the radius R of FIG. By calculating the net force of the trainee 3 who is actually using the training device 1, the training menu most suitable for the trainee 3 can be determined.

In step S10, the console 10 performs trainee strength training. Here, the magnitude of the force generated by the trainee during training is calculated by subtracting each component of the torque T3 from the torque applied to the servomotor 71. In step S11, the console 10 determines whether or not to repeat the training, and if YES, returns to step S10, and if NO, ends the process.

When executing the training control process of FIG. 5, the console 10 instructs the trainee to measure the torque on the display, for example, puts the foot on the footrest 15 (steps S1 and S3), and puts the foot on the footrest 15. It may be displayed that the footrest is lowered from (step S2), the trainee's force is applied to the footrest 15 (step S4), and the like. The console 10 may also display the torque measured in steps S2 to S4 on its display, the mechanical loss of the training device calculated in steps S5 to S7, the weight of the training site, and the net. The force of may be displayed. Further, when a plurality of training menus (for example, training menus having different loads) are available in step S9, the console 10 may acquire user input for selecting the training menu from the trainee.

In the above description, the console 10 executes the control program related to the training control process of FIG. 5, but instead of the console 10, the control device 12 may execute the control program related to the training control process. In this case, the console 10 displays various information on its display and operates as a mere user interface that acquires user input from the trainee.

As described above, according to the training device 1 according to the first embodiment, it is possible to measure in advance a mechanical loss including a torque generated by friction of the device and a torque caused by the weight of the device. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, despite the simple and inexpensive configuration.

FIG. 10 is a flowchart showing a modified example of the training control process executed by the training device 1 of FIG. Here, as in FIG. 5, the console 10 will be described as executing the control program related to the training control process.

In the training control process of FIG. 5, the mechanical loss of the training device 1 and the weight of the training site are calculated separately, but the total loss of these may be calculated.

First, the trainee places the training site on the movable member (ie, rests the foot on the footrest 15) in order to perform step S21.

In step S21, the console 10 detects the positions of both ends of the movable range of the training portion of the trainee, as in step S1 of FIG.

In step S22, the console 10 measures the torque generated by the servomotor 71 to move the movable member in the movable range when the weight of the training portion rests on the movable member (shaft 14 and footrest 15). .. At this time, the console 10 sets a predetermined speed to the servomotor 71. The trainee puts the trainee's foot on the footrest 15 so that the trainee's own force is not applied to the shaft 14 and the footrest 15. The console 10 measures the torque Tap'of the servomotor 71 required when lifting the shaft 14 and the footrest 15 and the torque Tdown' of the servomotor 71 required when pushing down the shaft 14 and the footrest 15.

Tap'= Fri + (A1 + A2) x R
Tdown'= Fri- (A1 + A2) x R

In step S23, the console 10 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable members (shaft 14 and footrest 15) by the trainee's own force, as in step S4 of FIG. At this time, the console 10 sets the servomotor 71 at the same speed as the speed set for the servomotor 71 in step S22. The console 10 moves the shaft 14 and the footrest 15 to the positions shown in FIG. The trainee pushes down the shaft 14 and the footrest 15 from the state of FIG. 3 to the state of FIG. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri- (A1 + A2) x R + Mes

In step S24, the console 10 calculates the mechanical loss of the training device and the total loss due to the weight of the training site. As described above, the mechanical loss includes the torque Fri caused by friction and the torque A1 × R caused by the weight of the shaft 14 and the footrest 15, and the torque A2 caused by the weight W2 of the training portion. × R has occurred. The console 10 calculates the torque Fri and (A1 + A2) × R based on the torque Tap'and Tdown' measured in step S22.

In step S25, the console 10 calculates the torque Mes indicating the net force exerted by the trainee on the movable members (shaft 14 and footrest 15) in the same manner as in step S7 of FIG. Based on the torque Tdown'measured in step S22 and the torque T2 measured in step S23, the torque Mes = T2-Tdown' generated by the trainee's own force is calculated.

After that, steps S26 to S29 are the same as steps S8 to S11 in FIG.

The training control process of FIG. 10 eliminates the need to measure the torque in step S2 of FIG. 5 and calculates the mechanical loss of the training device and the total loss due to the weight of the training site. The process can be simplified as compared with the case of 5.

In creating the training device 1 according to the first embodiment, the positional relationship and dimensions of the footrest 15 and the seat 16 and the movement of the footrest 15 were examined so as to make the movement close to the actual stepping and stepping on the foot. As a result, the movable member does not move in parallel as in the conventional leg press device, but the movable member rotates from a position having an angle of about 50 degrees to a position having an angle of about 0 degrees with respect to the horizontal plane. It was configured in.

In the training device 1 according to the first embodiment, the case where the trainee pushes down the shaft 14 and the footrest 15 has been described, but the trainee's foot may be fixed to the footrest 15 and the trainee may pull up the shaft 14 and the footrest 15.

Embodiment 2.
FIG. 11 is a perspective view showing the configuration of the training device 2 according to the second embodiment. The training device 2 is configured as a leg curl device for training a predetermined part of the trainee's body, for example, a semitendinosus muscle, a semimembranosus muscle, or the like.

The training device 2 includes a console 20, a chassis 21, a control device 22, a drive device 23, a bar assembly 24, cushions 25a and 25b, a seat 26, a handle 27, and a support column 28.

The bar assembly 24 and the cushions 25a and 25b are movable members that are moved within a predetermined movable range by the trainee. The bar assembly 24 is connected to a rotating shaft of the drive 23 and is rotatably supported around the rotating shaft. The bar assembly 24 includes two bars that sandwich the trainee's feet up and down, and cushions 25a and 25b are provided around these bars (ie, positions where they may come into contact with the trainee's feet).

In the second embodiment, the foot, which is a part of the trainee for moving the movable members (bar assembly 24 and cushions 25a, 25b), is referred to as a “training part”.

The other components of the training device 2 are configured substantially in the same manner as the components having the same name in the training device 1 of FIG.

FIG. 12 is a perspective view showing a first state when the trainee 100 uses the training device 2 of FIG. FIG. 13 is a perspective view showing a second state when the trainee 100 uses the training device 2 of FIG. In the state of FIG. 12, the console 20 and the control device 22 set a predetermined torque in the servomotor of the drive device 23 so as to apply a predetermined load to the trainee 100. The trainee 100 pushes up the bar assembly 24 and the cushions 25a and 25b from the state of FIG. 12 to the state of FIG. The console 20 and the control device 22 set a predetermined torque that fluctuates in the process of changing the bar assembly 24 and the cushions 25a and 25b from the state of FIG. 12 to the state of FIG. 13 in the servomotor of the drive device 23. When the bar assembly 24 and the cushions 25a and 25b are pushed up by the trainee 100 to the state shown in FIG. 13, the console 20 and the control device 22 push down the bar assembly 24 and the cushions 25a and 25b to the state shown in FIG. Wait to be done. By repeating this movement, the trainee 100 trains muscle strength.

FIG. 14 is a flowchart showing a training control process executed by the training device 2 of FIG. Here, as in FIG. 5, the console 20 will be described as executing the control program related to the training control process.

In the training device 2 which is a leg curl device, the weight of the training part is not applied to the training device, so that it is not necessary to calculate the weight of the training part.

First, the trainee places the training site on the movable member (ie, places the foot between the cushions 25a, 25b) in order to perform step S31.

In step S31, the console 20 detects the positions of both ends of the movable range of the trainee training site. In the case of the leg curl device as shown in FIG. 11, the positions of the bar assembly 24 and the cushions 25a and 25b when the trainee's legs are lowered as shown in FIG. 11 and the state where the trainee's legs are raised as shown in FIG. The positions of the bar assembly 24 and the cushions 25a and 25b in the above are detected.

After detecting the positions of both ends of the range of motion of the training site, the trainee once separates the training site from the movable member (ie, separates the foot from the bar assembly 24 and the cushions 25a, 25b) in order to perform step S32.

In step S32, the console 20 measures the torque generated by the servomotor 71 to move the movable member within the trainee's movable range when the trainee is not touching the movable member (bar assembly 24 and cushions 25a, 25b). To do. At this time, the console 20 sets a predetermined speed to the servomotor 71. The torque Tap of the servomotor 71 required to lift the movable member and the torque Tdown of the servomotor 71 required to push down the movable member are expressed by the following equations.

Tap = Fri + A1 × R
Tdown = Fri-A1 × R

After measuring the torque Tap and Tdown, the trainee repositions the training site on the movable member (ie, repositions the foot between the cushions 25a, 25b) to perform step S33.

In step S33, the console 20 measures the torque T2 applied to the servomotor 71 when the trainee moves the movable members (bar assembly 24 and cushions 25a, 25b) by the trainee's own force. At this time, the console 20 sets the servomotor 71 at the same speed as the speed set for the servomotor 71 in step S32. The console 20 moves the movable member to the position shown in FIG. The trainee pushes up the movable member from the state of FIG. 12 to the state of FIG. The torque generated by the trainee's own force is represented by Mes. At this time, the torque T2 is expressed by the following equation.

T2 = Fri-A1 x R + Mes

In step S34, the console 20 calculates the mechanical loss of the training device. The mechanical loss includes torque Fri caused by friction and the like, and torque A1 × R caused by the weight of the movable member. The torque Fri and the component force A1 are calculated based on the torque Tap and Tdown measured in step S32.

In step S35, the console 20 calculates a torque Mes indicating the net force exerted by the trainee on the movable members (bar assembly 24 and cushions 25a, 25b). Based on the torque Tdown measured in step S32 and the torque T2 measured in step S33, the torque Mes = T2-Tdown generated by the trainee's own force is calculated.

In step S36, the console 20 determines a training menu, which is information indicating the magnitude of the load applied to the trainee, based on the magnitude of the trainee's net force.

In step S37, the console 20 sets the torque in the drive device 13 based on the determined training menu. The console 20 varies over a range of motion to provide the trainee with a predetermined load determined based on the magnitude of the net force and to cancel the torque Fri of the mechanical loss of the training device 1. Torque T3'is set in the servo motor 71. The torque of a predetermined load determined based on the magnitude of the net force is represented by Tra. At this time, the torque T3'is expressed by the following equation.

T3'= Fri + A1 x R + Tra

In step S38, the console 20 performs trainee strength training. In step S39, the console 20 determines whether or not to repeat the training, returns to step S38 if YES, and ends the process if NO.

Similarly to the training device 1 according to the first embodiment, the training device 2 according to the second embodiment also measures in advance a mechanical loss including a torque generated by friction of the device and a torque caused by the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, despite the simple and inexpensive configuration.

Embodiment 3.
FIG. 15 is a perspective view showing the configuration of the training device 3 according to the third embodiment. The training device 3 is configured as a dips device for training a predetermined part of the trainee's body, for example, the triceps brachii muscle, the pectoralis major muscle, and the deltoid muscle.

The training device 3 includes a console 30, a chassis 31, a control device 32, a drive device 33, shafts 34a, 34b, handles 35a, 35b, links 36a, 36b, levers 37a, 37b, and a seat 38.

The shafts 34a, 34b, handles 35a, 35b, links 36a, 36b, and levers 37a, 37b are movable members that are moved within a predetermined movable range by the trainee. One end of each of the shafts 34a and 34b is connected to a rotating shaft of the drive device 33 and is rotatably supported around the rotating shaft. Handles 35a and 35b are rotatably connected to the other ends of the shafts 34a and 34b, respectively. Lever 37a and 37b having a predetermined length are fixed to the handles 35a and 35b, respectively. One point on each of the levers 37a and 37b is connected to the drive device 33 or the chassis 31 at a position different from the rotation axis of the drive device 33 via the links 36a and 36b, respectively. In the example of FIG. 15, the link 36a and the lever 37a are connected to each other at a position outside the shaft 34a, the link 36b and the lever 37b are connected to each other at a position outside the shaft 34b, and the links 36a and 36b are connected to each other. Each is connected to a position below the rotation axis of the drive device 33. As a result, when the trainee pushes down the shafts 34a and 34b, the handle 35a rotates counterclockwise and the handle 35b rotates clockwise.

The position where the links 36a and 36b are connected to each of the levers 37a and 37b may be changed. Thereby, the ratio of the rotation angle of the handles 35a and 35b to the angle of pushing down the shafts 34a and 34b can be changed. This ratio can be adjusted according to the degree of flexibility of the trainee's body (ie, arms and wrists).

In the third embodiment, the arm which is the part of the trainee for moving the movable members (shafts 34a, 34b, handles 35a, 35b, links 36a, 36b, and levers 37a, 37b) is referred to as a "training part".

The drive device 33 includes one servomotor, and the shafts 34a and 34b may be connected to each other inside the drive device 33. Instead, the drive device 33 may include one servomotor for each of the shafts 34a, 34b.

The other components of the training device 3 are configured substantially in the same manner as the components having the same name in the training device 1 of FIG.

FIG. 16 is a perspective view showing a first state when the trainee 100 uses the training device 3 of FIG. FIG. 17 is a perspective view showing a second state when the trainee 100 uses the training device 3 of FIG. In the state of FIG. 16, the console 30 and the control device 32 set a predetermined torque to the servomotor of the drive device 33 so as to apply a predetermined load to the trainee 100. The trainee 100 pushes down the shafts 34a and 34b and the handles 35a and 35b so as to change from the state of FIG. 16 to the state of FIG. The console 30 and the control device 32 set a predetermined torque that fluctuates in the process of changing the shafts 34a, 34b and the handles 35a, 35b from the state of FIG. 16 to the state of FIG. 17 in the servomotor of the drive device 33. When the shafts 34a, 34b and the handles 35a, 35b are pushed down by the trainee 100 to the state shown in FIG. 17, the console 30 and the control device 32 push the shafts 34a, 34b and the handles 35a, 35b up to the state shown in FIG. Wait to be pushed down by. By repeating this movement, the trainee 100 trains muscle strength.

The console 30 or the control device 32 executes a control program related to the training control process similar to the training control process of FIG. 5 or FIG.

Similarly to the training device 1 according to the first embodiment, the training device 3 according to the third embodiment also measures in advance a mechanical loss including a torque generated by friction of the device and a torque caused by the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, despite the simple and inexpensive configuration.

FIG. 18 is a perspective view showing the configuration of the training device 3AA according to the modified example of the third embodiment. In the example of FIG. 18, the link 36a and the lever 37a are connected to each other at a position inside the shaft 34a, the link 36b and the lever 37b are connected to each other at a position inside the shaft 34b, and the links 36a and 36b are connected to each other. Each is connected to a position below the rotation axis of the drive device 33. As a result, when the trainee pushes down the shafts 34a and 34b, the handle 35a rotates clockwise and the handle 35b rotates counterclockwise.

In order to rotate the handles 35a and 35b, a mechanical mechanism as described with reference to FIGS. 15 and 18 may be used, or an electrical mechanism may be used. By using a mechanical mechanism as described with reference to FIGS. 15 and 18, a simple structure can be constructed at low cost.

The training device 3 according to the third embodiment adds a mechanism for rotating the handles 35a and 35b as the arm descends, and promotes the rotation of the scapula to eliminate stiff shoulders and improve the feeling of exhilaration.

Embodiment 4.
FIG. 19 is a perspective view showing the configuration of the training device 4 according to the fourth embodiment. The training device 4 is configured as a seated chest press device for training a predetermined part of the trainee's body, for example, the pectoralis major muscle.

The training device 4 includes a console 40, a chassis 41, a control device 42, a drive device 43, handles 44a and 44b, guides 45a and 45b, a seat 46, and a support column 48.

The handles 44a and 44b are movable members that are moved within a predetermined movable range by the trainee. The handles 44a, 44b are connected to the rotating shaft of the drive device 43 and are rotatably supported around the rotating shaft. The guides 45a and 45b are formed so that the distance between the handles 44a and 44b becomes narrower as the arm is pushed out in accordance with the actual movement of the arm. Therefore, the axes of the handles 44a and 44b move not only in the front-rear direction of the trainee's body but also in the left-right direction. The training device 4 includes a spring (not shown) for urging the handles 44a, 44b along the guides 45a, 45b.

In the fourth embodiment, the arm, which is a part of the trainee for moving the movable members (handles 44a, 44b), is referred to as a “training part”.

The drive device 43 includes one servomotor, and the handles 44a and 44b may be connected to each other inside the drive device 43. Instead, the drive unit 43 may include one servomotor for each of the handles 44a, 44b.

The other components of the training device 4 are configured substantially in the same manner as the components having the same name in the training device 1 of FIG.

FIG. 20 is a perspective view showing a first state when the trainee 100 uses the training device 4 of FIG. FIG. 21 is a perspective view showing a second state when the trainee 100 uses the training device 4 of FIG. In the state of FIG. 20, the console 40 and the control device 42 set a predetermined torque to the servomotor of the drive device 43 so as to apply a predetermined load to the trainee 100. The trainee 100 pushes the handles 44a and 44b so as to change from the state of FIG. 20 to the state of FIG. 21. The console 40 and the control device 42 set a predetermined torque that fluctuates in the process in which the handles 44a and 44b change from the state of FIG. 20 to the state of FIG. 21 in the servomotor of the drive device 43. When the handles 44a and 44b are pushed back to the state shown in FIG. 21 by the trainee 100, the console 40 and the control device 42 push the handles 44a and 44b back to the state shown in FIG. 20 and wait for the trainee 100 to push them again. By repeating this movement, the trainee 100 trains muscle strength.

The console 40 or the control device 42 executes a control program related to the training control process similar to the training control process of FIG.

Similarly to the training device 1 according to the first embodiment, the training device 4 according to the fourth embodiment also measures in advance a mechanical loss including a torque generated by friction of the device and a torque caused by the weight of the device. be able to. This makes it possible to accurately measure the muscle strength of the trainee and apply an appropriate load based on the muscle strength of the trainee, despite the simple and inexpensive configuration.

Embodiment 5.
FIG. 22 is a block diagram showing a configuration of the training system according to the fifth embodiment. The training system of FIG. 22 includes a plurality of training devices 1A to 4A, a wireless LAN access point device (AP) 51, an Internet 52, and a server device 53. The training devices 1A to 4A correspond to the training devices 1 to 4 according to the first to fourth embodiments, respectively. However, the training devices 1A to 4A replace the consoles 10A to 40A of the training devices 1 to 4 with consoles 10A to 40A that further communicate with the remote server device 53 via the wireless LAN access point device 51 and the Internet 52, respectively. Be prepared.

The training devices 1 to 4 according to the first to fourth embodiments operate standalone, but the training devices 1A to 4A of the training system according to the fifth embodiment operate in cooperation with the server device 53. The server device 53 determines the training menu for a trainee based on the magnitude of the net force of that trainee. Each console 10A-40A receives the training menu determined by the server device 53 instead of determining the training menu itself. Therefore, the consoles 10A to 40A transmit information on the net force of the trainees of the training devices 1A to 4A to the server device 53. The server device 53 determines the training menu for each trainee based on the magnitude of the net force of the trainees of each training device 1A-4A received from each console 10A-40A. Each console 10A-40A receives a training menu from the server device 53. Each of the consoles 10A to 40A sets torques to the drive devices 13 to 43 based on the training menu received from the server device 53.

By determining the training menu by the server device 53, the processing of the consoles 10A to 40A can be simplified as compared with the case where the consoles 10A to 40A themselves determine the training menu. Also, by collecting information on the trainee's net power in the server device 53, it becomes easier for the trainee to determine an appropriate training menu.

According to the training system according to the fifth embodiment, when there are a plurality of training devices 1A to 4A different from each other and / or the same type, each trainee depends on the content of training and according to the state of each trainee. It is possible to accurately measure the muscle strength of each trainee and apply an appropriate load based on the muscle strength of each trainee.

Summary of each embodiment.
The training device according to each embodiment may be configured to perform two or more of the training control processes of FIGS. 5, 10, and 14. The training device may be configured to selectively execute one of the training control processes of FIGS. 5, 10, and 14, for example, in response to user input.

All the training devices according to each embodiment use the servomotor as a driving force to decelerate the rotation of the rotation shaft of the servomotor, and reciprocate the movable member within a movable range of about 0 to 70 degrees. Since the reduction ratio of the gearbox of the drive device is large, it is necessary to reduce the friction. Further, since it is driven not only from the servomotor side but also by the trainee from the movable member side, the gearbox of the drive device needs a mechanism having high transmission efficiency such as planetary gears and hasba gears. By standardizing the drive mechanism of the training device according to each embodiment, it is possible to standardize the hardware and software related to electrical equipment, and it is possible to reduce the cost and simplify the maintenance.

The training device according to each embodiment detects the position of the rotating shaft with a DC servomotor and controls the current (speed control) so as to rotate at a constant speed. When a disturbance is applied to it, the current of the servomotor changes, so the disturbance can be measured by knowing the current (torque).

Considering the structure of the training device, there are three causes of disturbance, for example, as follows.
(1) Friction in the gearbox and transmission mechanism (2) Change in the weight of the movable member in the torque direction due to rotation of the movable member (3) External force given by the muscle strength of the trainee, etc.

By moving the movable member (driving idle) when the trainee is not touching the movable member, the disturbances of (1) and (2) become known. When the movable member is moving at a constant speed, the trainee applies an external force such as pushing or kicking to the movable member, measures the position and force (torque, that is, current value) at that time, and disturbs (1) and (2). By subtracting, the position and muscle strength of the stroke during operation at a constant speed can be dynamically measured.

Further, measuring the speed of the movable member at various different velocities (eg, low speed, medium speed, and high speed) reveals the detailed muscle strength characteristics of the trainee. In general, the measurable force is large at low speeds and the measurable force is small at high speeds.

Repeated training increases muscle strength and range of motion. Therefore, it is also useful to quantify the effect of training by comparing the above-mentioned position and muscle strength patterns and memorizing and comparing the information (chair position and height, etc.) regarding the trainee position with respect to the training device. ..

The measured values of the disturbances of (1) and (2) are memorized, and the latest values of the disturbances of (1) and (2) are measured each time the power is turned on again. You can know the changes in. Therefore, deterioration of the training device, increase in friction, setting error, etc. can be known, which is useful for preventive maintenance.

In the case of a training device in which not only the trainee's force but also a part of the body weight is superimposed on the measured value (for example, the weight of the foot is added) during the measurement, in addition to the disturbance measurement of (1) and (2), the trainee The measurement may be performed in a state where the force is relaxed. Subtracting that data removes the effect of body weight and allows a true force measurement.

If you set the position of the servo motor and the torque pattern at that location based on the position and muscle strength information obtained by the measurement (torque control of the servo motor), you can perform dynamic training with the optimum load according to the trainee. It becomes possible to do. It would be useful if the overall torque could be increased or decreased without changing the pattern depending on the trainee's training progress and physical condition. It is possible to quantify the training effect and improve motivation if the work rate, work amount, etc. at each training can be calculated, displayed, memorized, and compared.

The training device according to each embodiment is useful as an optimal lower limb exercise device for the elderly or a specific elderly person (long-term care prevention target person). It is possible to measure how much muscle strength is exerted in which part of the range of motion of the elderly to be trained. Based on the measurement results, it is possible to apply a load according to the exercise of muscle strength of the elderly person who is training.

The training device according to each embodiment can accurately measure the force of the trainee, remove disturbances such as friction and gravity, and give an accurate load to the trainee, although it has a simple and inexpensive configuration. It is also useful to be able to detect erroneous device settings due to trainees and monitor device abnormalities. Therefore, before the start of exercise, the vehicle is operated in a no-load state, the load is compared with the initial data, and the presence or absence of an abnormality is determined. Further, the desired load is given by applying the load to the load desired to be given to the trainee.

1,1A ... Training equipment (seat leg press equipment),
2,2A ... Training device (leg curl device),
3,3AA, 3A ... Training device (dip device),
4,4A ... Training device (seat chest press device),
10, 10A ... Console,
11 ... Chassis,
12 ... Control device,
13 ... Drive device,
14 ... Shaft,
15 ... Footrest,
16 ... Sheet,
17 ... Handle,
18 ... prop,
20, 20A ... Console,
21 ... Chassis,
22 ... Control device,
23 ... Drive device,
24 ... Bar assembly,
25a, 25b ... Cushion,
26 ... Sheet,
27 ... Handle,
28 ... prop,
30, 30A ... Console,
31 ... Chassis,
32 ... Control device,
33 ... Drive device,
34a, 34b ... Shaft,
35a, 35b ... Handle,
36a, 36b ... Link,
37a, 37b ... lever,
38 ... sheet,
40, 40A ... Console,
41 ... Chassis,
42 ... Control device,
43 ... Drive device,
44a, 44b ... Handle,
45a, 45b ... Guide,
46 ... Sheet,
48 ... props,
51 ... Wireless LAN access point device (AP),
52 ... Internet,
53 ... Server device,
55 ... Commercial power supply,
61 ... Control circuit,
62 ... Power supply circuit,
63 ... Bluetooth communication circuit,
64 ... Servo amplifier,
71 ... Servo motor,
72 ... Motor encoder,
73 ... Gearbox,
100 ... Trainee,
SW1 ... Stop switch,
SW2, SW3 ... Switch.

Claims (9)

At least one movable member that is moved within a predetermined range of movement by the trainee,
A drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
A training device including a control unit that controls the drive unit.
The drive unit includes a servomotor that generates a predetermined torque under the control of the control unit.
The control unit
The first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member is measured.
When the weight of the training portion of the trainee is applied to the movable member, a second torque generated by the servomotor to move the movable member in the movable range is measured.
A third torque applied to the servomotor when the trainee moves the movable member is measured.
Based on the first torque, the mechanical loss of the training device is calculated.
Based on the first and second torques, the weight of the training site is calculated.
Based on the second and third torques, the net force exerted by the trainee on the movable member is calculated.
Training device. The control unit measures the first to third torques by measuring the current flowing through the servomotor.
The training device according to claim 1. The training device is a seated leg press device.
The training device according to claim 1 or 2. The training device is a dips device,
The training device according to claim 1 or 2. The control unit applies a predetermined load determined based on the magnitude of the net force to the trainee, and cancels the mechanical loss of the training device and the weight of the training portion. , Set a predetermined torque that fluctuates over the movable range in the servomotor.
The training device according to any one of claims 1 to 4. The control unit determines the magnitude of the load applied to the trainee based on the magnitude of the net force.
The training device according to claim 5. The control unit
Information indicating the magnitude of the net force is transmitted to an external server device, and the information is transmitted to an external server device.
Information indicating the magnitude of the load determined by the server apparatus based on the magnitude of the net force is received from the server apparatus.
The training device according to claim 5. The control unit detects the positions at both ends of the movable range.
The training device according to any one of claims 1 to 7. At least one movable member that is moved within a predetermined range of movement by the trainee,
A training method using a training device including a drive unit that moves the movable member in the movable range and applies a predetermined load to the trainee via the movable member.
The drive unit includes a servomotor that generates a predetermined torque.
The training method is
A step of measuring a first torque generated by the servomotor to move the movable member in the movable range when the trainee is not touching the movable member.
A step of measuring a second torque generated by the servomotor in order to move the movable member in the movable range when the weight of the training portion of the trainee is applied to the movable member.
A step of measuring a third torque applied to the servomotor when the trainee moves the movable member, and
A step of calculating the mechanical loss of the training device based on the first torque, and
A step of calculating the weight of the training site based on the first and second torques, and
Includes a step of calculating the net force exerted by the trainee on the movable member based on the second and third torques.
Training method.

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