JP7071820B2 - Exercise training device - Google Patents

Description

The present invention particularly relates to an exercise training device for improving the motor function of the user.

Conventionally, in order to improve a person's motor function, various exercise trainings according to the motor function have been performed. For example, in order to improve the motor function of the upper and lower limbs of the user, wiping movement training to bend and extend the shoulders and elbows by wiping the desk, strengthening the muscle strength of the upper limbs and improving the range of motion of the joints, Sanding motion training is widely practiced in which hands are slid up and down on an inclined board. Various training devices have been developed and proposed to support these exercises.

For example, an upper limb suspension support device suspended from a crossing portion of two guide members erected in a cross shape is subjected to a linear drive device including a reversible rotary motor provided at the guide member and the crossing portion in the front-back, left-right, and up-down directions. A device for supporting upper limb function recovery training has been proposed (see, for example, Patent Document 1). The sensor device detects the motion trajectory of the user's upper limbs supported by the upper limb suspension support device, and the difference between the motion trajectory and the target trajectory is calculated by a computer and fed back to the image display device. , Can recognize the training state through vision.

Further, a training device is known in which a base member fixing a user's lower limbs or upper limbs is reciprocated by a reciprocating motion mechanism portion of the main body of the device to flex and extend the crotch, knee, foot or shoulder, elbow, and hand. (See, for example, Patent Document 2). The main body of the device can be used not only in the horizontal position but also in the inclined position and the vertical position by erecting and fixing the arms attached to both side surfaces in the longitudinal direction. In the reciprocating motion mechanism, a slide table that fixes the base member is screwed into a feed screw that is rotationally driven by a motor to guide it in the axial direction, or rodless that slides in the cylinder tube in the axial direction by air pressure. A structure that is integrally attached to the piston of the cylinder is adopted.

Japanese Unexamined Patent Publication No. 2000-271800 Japanese Unexamined Patent Publication No. 2002-119555

In the conventional device described in Patent Document 1, training by passive exercise that moves the upper limbs along the target trajectory regardless of the user's intention and movement of the upper limbs along the target trajectory according to the user's intention. It is possible to perform training by automatic exercise to make it. The upper limbs supported by the upper limb suspension support device move along the target trajectory by driving each linear drive device by an operation signal output based on the target trajectory input and set before the start of training.

With the conventional device, only the target trajectory and the target operating speed are displayed, so it is not possible to fully grasp the load applied to the user from the operating member and the force applied by the user to the operating member when performing exercise training, which is effective. There is a problem that it is not possible to perform general exercise training.

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and an object thereof is to support training for improving the motor function of the upper limbs and / or lower limbs of the user. It is an object of the present invention to provide an exercise training device that can clearly show the movement locus of an operation unit, the load applied to the user from the operation member, and the degree of force applied by the user to the operation member when exercise training is performed.

The exercise training device of the present invention is made to achieve the above object, is an exercise training device for improving a person's motor function, and moves between the device frame and a position in the device frame. A possible operation unit, a drive unit for moving the operation unit , a control unit for controlling the drive unit, a force sensor for detecting the force received by the operation unit from the upper limb or the lower limb of the user, and the operation . It is provided with a display unit that visually displays the transition between the movement locus of the unit and the direction and strength of the force received by the operation unit detected by the force sensor at each position of the movement locus on the same screen .

Here, the display unit may display the movement locus of the operation unit and the transition of the force and / or the rotational force at each position of the movement locus on the same screen. Further, the display unit displays on the screen the transition between a predetermined range in the movement locus of the operation unit and the direction and strength of the force received by the operation unit detected by the force sensor at each position within the range. To do . Thereby , for example, the range of the movement locus where the load fluctuation is large can be clearly shown.

Further, the storage means stores at least one operation basic pattern of a predetermined movement locus of the operation unit and constant or fluctuating load data at each position of the movement locus, and the control unit may store one or more of the operation basic patterns. Based on one operation basic pattern selected from the above, movement control and load control of the operation unit are performed. Then, the storage means stores the test data of the predetermined movement locus of the operation unit by the user and the load fluctuation at each position of the movement locus, and the display unit stores the test data of the load fluctuation at each position of the movement locus, and the display unit stores the test data based on the test data. An image is displayed of the predetermined movement locus of the operation unit and the load fluctuation at each position of the movement locus.

In one embodiment, the control unit compares the test data with the operation basic pattern and displays the result of the comparison on the display unit. Alternatively, when the control unit acquires the test data, the control unit displays the movement locus of the operation unit in one operation basic pattern selected in advance from the one or a plurality of the display units. As a result, the training result can be visually confirmed, which is an effective exercise training.

In this case, the transition of the direction and strength of the force received by the operation unit detected by the force sensor at each position of the movement locus of the operation unit is the same as the biaxial coordinates of the cross and the center of the coordinates in the display unit. It can be displayed as a radar graph composed of a circular display with a center .

According to the exercise training device of the present invention, when the user performs exercise training, the movement locus of the operation unit, the load from the operation member to the user, and the degree of force applied by the user to the operation member are clearly shown. It is possible to support appropriate training according to the user's condition.

The perspective view which shows the 1st Embodiment of the exercise training apparatus of this invention is shown. The perspective view which shows the apparatus main body of 1st Embodiment is shown. The cross-sectional view of the apparatus main body in line III-III of FIG. 2 is shown. The cross-sectional view of the apparatus main body in line IV-IV of FIG. 2 is shown. An exploded perspective view of the actuator mechanism of the main body of the device is shown. The partially enlarged view of the 1st actuator part in FIG. 3 is shown. The partially enlarged view of the 2nd actuator part in FIG. 4 is shown. The top view of the actuator mechanism which shows the home position of an operation part is shown. The top view of the actuator mechanism which shows the moving range of an operation part is shown. The block diagram of the control part of 1st Embodiment is shown. The diagram of the basic control of the output of a drive motor in 1st Embodiment. The flowchart of the processing procedure of the control CPU in the movement locus setting mode is shown. The flowchart of the processing procedure of the control CPU in the load detection mode is shown. (A) shows a schematic diagram of the movement locus, and (b) shows an explanatory diagram showing the detection value of the force sensor on the time axis. The flowchart of the processing procedure of the control CPU in a training mode is shown. (A) shows an explanatory diagram of an image displaying the set movement locus and the movement locus traced by the user, and (b) shows an explanatory diagram showing the detected value of the force sensor on the time axis. An explanatory diagram showing the training result on a radar graph is shown.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The exercise training device 1 of the first embodiment shown in FIG. 1 is used especially for exercise training performed for the purpose of improving the motor function of the upper limbs of the user U. It should be noted that, throughout the accompanying drawings and the present specification, similar components are designated by the same reference numerals.

The exercise training device 1 is composed of a rectangular box-shaped device body 2 having a relatively low height as a whole, and is used by being placed on a horizontal installation surface. As shown in FIG. 1, the exercise training device 1 has an operation unit 3 protruding from the upper surface of the device main body 2, and the periphery of the operation unit is substantially entirely covered with top surface covers 4a to 4d. In FIG. 1, the user U is located on the front side of the exercise training device 1, and for example, in order to perform wiping motion training, the right arm UL is extended forward and the operation unit 3 is gripped by the right hand HR. In the present specification, the front side of the user U in the exercise training device 1 of FIG. 1 is referred to as the front side, and the back side is referred to as the rear side.

FIG. 2 shows the device main body 2 in a state where the upper surface covers 4a to 4d, the front cover 5, the rear cover 6, and the left and right side covers 7 and 8 are removed from the exercise training device 1 of FIG. In FIG. 2, the front side, that is, the front side in the figure is the front side of the device main body 2, and the back side, that is, the back side is the rear side.

The upper surface covers 4a to 4d are arranged in the front-rear direction and the left-right direction of the operation unit 3, respectively, and are composed of a bellows-structured sheet that can be expanded and contracted in the surface of the top surface cover according to the movement of the operation unit 3. In another embodiment, the top cover is formed of, for example, a relatively flexible sheet made of resin or cloth, and has a roll mechanism (not shown) arranged inside the front, rear, left, and right side edges of the apparatus main body 2. Due to the spring structure that urges in the winding direction, it can be freely retracted and retracted. This type of roll mechanism has been widely used for screens covering windows of vehicles and buildings. Further, as the upper surface cover, various conventionally known structures can be used in addition to the bellows structure and the roll mechanism.

As shown in FIG. 2, the apparatus main body 2 has a frame structure composed of an outer frame 11 having a substantially rectangular frame shape. Horizontal rod-shaped handle portions 12 are fixed to the left and right outer surfaces of the outer frame 11 so that the exercise training device 1 can be lifted or carried by hand.

As shown in FIGS. 2 to 4, three front-rear fixed frames 13a to 13c extending in the front-rear direction are arranged in parallel on the inside of the outer frame 11 so as to be separated from each other in the left-right direction, and both ends thereof are outside. It is fixed near the lower end of the inner wall of the frame 11. On the front-rear fixed frames 13a to 13c, two left-right fixed frames 14a and 14b orthogonal to them and extending in the outer frame 11 in the left-right direction are arranged in parallel with each other separated in the front-rear direction, and both ends thereof are arranged. Each is fixed near the lower end of the inner wall of the outer frame 11.

In the present embodiment, the left and right fixing frames 14a and 14b are placed on the front and rear fixing frames 13a to 13c and are integrally fixed by the set screw. In another embodiment, the left and right fixed frames 14a and 14b and the front and rear fixed frames 13a to 13c may not be integrally connected or may be separated in the vertical direction. Further, on the lower surface of the outer frame 11, more specifically, on the lower surfaces of the front and rear fixed frames 13a to 13c and the lower surface of the right side portion of the outer frame 11, a plurality of short pieces for mounting the exercise training device 1 on the installation surface. The leg portion 15 is projected.

On the front and rear inner walls of the outer frame 11, stepped surfaces 16a and 16b having a constant width over substantially the entire length in the left-right direction are extended inward at a height slightly lower than the upper end thereof. There is. Further, the upper ends of the front and rear inner walls of the outer frame 11 are bent inward at right angles to form bent plate portions 17a and 17b having a constant width over substantially the entire length in the left-right direction, and below the bent plate portions 17a and 17b. A low-height gap is defined between the stepped surfaces 16a and 16b. In this gap, the left and right side portions of the upper surface covers 4a and 4b are inserted over substantially the entire length in the front-rear direction, and when the operation unit 3 moves in the left-right direction as described later, the top surface cover moves in accordance with the movement. It serves as a guide for expanding and contracting the bellows.

The apparatus main body 2 includes an actuator mechanism 20 for moving the operation unit 3 in the front-rear direction and the left-right direction on a predetermined plane in the outer frame 11. The predetermined plane is a horizontal plane parallel to the installation surface in the present embodiment. As shown in FIG. 2, the actuator mechanism 20 is provided inside the outer frame 11 on the front-rear fixed frames 13a to 13c and the left-right fixed frames 14a and 14b. The actuator mechanism 20 includes a first actuator unit 21 for linearly reciprocating the operation unit 3 along the front-rear direction, and a second actuator unit 22 for linearly reciprocating the operation unit 3 along the left-right direction orthogonal to the first actuator unit 21. The first and second actuator units 21 and 22 are so-called linear actuators that convert the rotational motion of the drive unit into the linear motion of the driven portion, respectively.

The first actuator unit 21 includes a first guide unit 23 for linearly guiding the operation unit 3 in the front-rear direction, and a first drive unit 24 for driving the operation unit along the first guide unit 23. Has. The first drive unit 24 is provided integrally with the first guide unit at one end of the first guide unit 23 (in this embodiment, the rear end as shown in FIGS. 2 and 4).

In the present embodiment, as shown in FIG. 5, the first guide portion 23 includes a rectangular channel-shaped first guide frame 25 opened upward and a rod-shaped feed screw 26 extending the inside thereof in the longitudinal direction. , The slider block 27. The upper surfaces of both sides of the first guide frame 25 in the longitudinal direction provide slide rails for guiding the slider block 27 in the longitudinal direction thereof. The slider block 27 has a nut portion that is screwed into the thread groove of the feed screw 26 via a ball made of a plurality of steel balls, and is combined with the feed screw to form a known ball screw structure.

As shown in FIGS. 4 and 5, the first drive unit 24 has a first drive motor 30 capable of forward / reverse rotation, and a deceleration interposed between the rotation shaft of the first drive motor and the feed screw 26. It is composed of a gear unit 31. A sensor such as a known rotary encoder is attached to the first drive motor 30 in order to detect and control the rotation direction and rotation amount thereof. The reduction gear unit 31 is composed of a gear train that decelerates the rotation of the first drive motor 30 and transmits it to the feed screw 26. The reduction gear ratio of the reduction gear unit is set so that sufficient torque can be generated to transmit the driving force of the first drive motor 30 to the upper limbs or lower limbs of the user via the operation unit 3.

The gear ratio of the reduction gear unit 31 is preferably set relatively high so that the first drive motor 30 does not easily rotate due to the reverse input from the feed screw 26 side when the power is cut off. In another embodiment, a braking means such as an electromagnetic brake can be provided so as to stop and hold the rotation of the first drive motor 30 when the power is cut off.

The second actuator section 22 includes a second guide section 33 for linearly guiding the first actuator section 21 in the left-right direction, and a second guide section 33 for driving the first actuator section along the second guide section 33. It has a drive unit 34. The second drive unit 34 is provided integrally with the second guide unit at one end of the second guide unit 33 (in this embodiment, the right end of FIGS. 2 and 3).

Similar to the first guide portion 23, the second guide portion 33 includes a rectangular channel-shaped second guide frame 35 opened upward, a rod-shaped feed screw 36 extending the inside thereof in the longitudinal direction, and a slider block. It consists of 37. The upper surfaces of both sides of the second guide frame 35 in the longitudinal direction provide slide rails for guiding the slider block 37 in the longitudinal direction thereof. The slider block 37 has a nut portion that is screwed into the thread groove of the feed screw 36 via a ball made of a plurality of steel balls, and is combined with the lead screw to form a known ball screw structure.

As shown in FIGS. 3 and 5, the second drive unit 34 has a second drive motor 38 capable of forward / reverse rotation, and a deceleration interposed between the rotation shaft of the second drive motor and the feed screw 36. It is composed of a gear unit 39. A sensor such as a known rotary encoder is attached to the second drive motor 38 in order to detect and control the rotation direction and rotation amount thereof. The reduction gear unit 39 includes a gear train that decelerates the rotation of the second drive motor 38 and transmits it to the feed screw 36. The gear ratio of the reduction gear unit 39 is such that sufficient torque can be generated to transmit the driving force of the second drive motor 38 to the upper limbs or lower limbs of the user via the first actuator unit 21 and the operation unit 3. Set.

The gear ratio of the reduction gear unit 39 is preferably set relatively high so that the second drive motor 38 does not easily rotate due to the reverse input from the feed screw 36 side when the power is cut off. In another embodiment, a braking means such as an electromagnetic brake can be provided so as to stop and hold the rotation of the second drive motor 38 when the power is cut off.

As shown in FIGS. 2 to 4, the first actuator portion 21 is integrally provided with a movable frame 41 that extends the inside of the outer frame 11 in the front-rear direction over substantially the entire length. The movable frame 41 is composed of a pair of movable frame members 41a and 41b having a substantially L-shaped cross section as shown in FIG. 6 extending along the longitudinal direction of the first guide portion 23. The movable frame members 41a and 41b are fixed to both sides of the first guide frame 25 in the longitudinal direction with set screws or the like with the inside of the L-shape facing the first guide portion 23 side, respectively. As a result, between the first guide portion 23 and the movable frame members 41a and 41b, horizontal planes 42a and 42b having a constant width extending laterally from the side surface of the first guide frame 25 and a groove-shaped space having a rectangular cross section. Sa and Sb are defined.

The upper ends of the movable frame members 41a and 41b fixed to the first guide frame 25 are bent inward, that is, at a right angle to the first guide frame side over the entire length in the longitudinal direction, and the bent plate portion having a constant narrow width is bent. It forms 43a and 43b. On the vertical inner surface of the L-shape of the movable frame members 41a and 41b, a veneer portion 44a having a constant narrow width extending at a right angle from the inner surface to the first guide frame 25 side at a height slightly lower than the upper end thereof. , 44b are integrally formed over substantially the entire length excluding both ends in the longitudinal direction. As a result, inside the upper ends of the movable frame members 41a and 41b, a low-height gap between the bent plate portions 43a and 43b and the veneer portions 44a and 44b extends over substantially the entire length excluding both ends in the longitudinal direction. Is defined. In this gap, the front-rear side portions of the top cover 4c and 4d are inserted over substantially the entire length in the left-right direction, and when the operation unit 3 moves in the front-rear direction as described later, the top cover is moved in accordance with the movement. It serves as a guide for expanding and contracting the bellows.

As shown in FIGS. 2 and 4, both ends of the movable frame members 41a and 41b in the longitudinal direction are cut off from the portions below the veneer portions 44a and 44b, and the remaining portions are the protrusions 45a in the longitudinal direction. It forms 45b. When the actuator mechanism 20 is mounted in the outer frame 11, the protruding portions 45a and 45b are between the bent plate portions 17a and 17b of the front and rear inner walls of the outer frame and the stepped surfaces 16a and 16b, respectively. It is inserted into the defined gap with a margin between it and its inner surface.

As shown in FIG. 5, the operation unit 3 includes a relatively short vertical operation rod 48 and a handle member 49 provided at the upper end thereof. The handle member 49 of the present embodiment is formed in the shape of a relatively thick small circular disk so that it can be grasped with one hand in order to train the motor function of the upper limb UL of the user U. The handle member 49 is rotatably attached around the operation rod 48 so that the handle member 49 can be turned by a hand grasped by the user. In another embodiment, the handle member 49 can be fixed to the operating rod 48 so as not to rotate.

The handle member 49 is detachably attached to the operation rod 48. Thereby, the handle member 49 can be replaced with various engaging members suitable for engaging the upper limbs or lower limbs of the user according to the purpose of use of the exercise training device 1, the state of the user, and the like. can. For example, if the user's hand cannot grasp the handle member 49 well, an engaging member with a belt for fixing the hand (or upper limb) can be used. As a result, the force is transmitted from the user's hand (or upper limb) to the operation rod 48 to move the operation unit 3, or the hand (or upper limb) receives the force from the moving operation unit 3 via the operation rod 48. Can be moved. Similarly, when training the lower limbs of the user, instead of the handle member 49, a platform on which the user's feet are placed or an engaging member with a belt for fixing the feet can be used.

The operation unit 3 has a force sensor 51 integrally provided with the operation rod 48. The force sensor 51 is a user's force sensor 51 that acts on the operation rod 48 from the handle member 49 in both the automatic operation in which the user moves the operation unit 3 by himself and the passive operation in which the upper limb or the lower limb is moved by the force of the operation unit 3. Detect force. In the present embodiment, a commercially available 6-axis force sensor using a strain gate is adopted as the force sensor 51.

Generally, a 6-axis force sensor detects a force (Fx, Fy, Fz) in orthogonal 3-axis directions and a moment (Mx, My, Mz) around the x, y, z3 axes. Can be done. In the present embodiment, the 6-axis force sensor is oriented so that its x-axis and y-axis coincide with the front-back direction and the left-right direction of the actuator mechanism, respectively.

Usually, a commercially available force sensor has a base on a fixed side and a detection unit for receiving an external force to be detected. In the present embodiment, as shown in FIG. 5, the force sensor 51 includes a base portion having a substantially short columnar shape and a detection unit provided on the upper surface thereof. An operation rod 48 is integrally fixed to the detection unit of the force sensor 51 vertically upward in the center of the upper surface thereof. The base portion of the force sensor 51 is integrally fixed on the slider block 27 of the first actuator portion 21 via the mounting plate 52.

As a result, the force sensor 51 receives the force directly received by the operation rod 48 from the user's upper limbs or lower limbs when the user's upper limbs or lower limbs move the operation unit 3 or is moved by the operation unit 3 in the front-rear direction. It can be divided into a force component in the left-right direction and a force component in the vertical direction orthogonal to them, and can be further detected as a moment acting around each axis in the front-rear direction, the left-right direction, and the vertical direction.

In the actual use of the exercise training device 1, the force components in the front-rear direction, the left-right direction, and the vertical direction detected by the force sensor 51 are the first and / or the second drive of the first and / or the second actuator units 21 and 22. It is detected as the difference between the rotational force of the motors 30 and 38 and the force exerted by the user on the operation unit 3, that is, the drag force received by the operation unit 3 from the upper or lower limbs of the user. For example, in passive motion training, the user's force is a load or rotational drag acting on the first and / or second drive motors 30, 38 as resistance to movement of the operating unit 3. In the automatic operation training, the rotational force of the first and / or the second drive motors 30 and 38 acts as a resistance, that is, to give a load to the user with respect to the movement of the operation unit 3 by the force of the user.

Conventionally, a capacitance type or an optical type sensor has been widely used as a force sensor in addition to the one using a strain gate. Any type of force sensor can be adopted for the force sensor 51 of the present invention. In another embodiment, a sensor device such as a strain gauge is directly attached to the operation rod 48 or the connection portion between the operation rod and the mounting plate 52 without using a commercially available force sensor, and the user attaches the sensor device to the operation unit 3. It is also possible to detect the force exerted.

The mounting plate 52 forming a part of the operation unit 3 is composed of a rectangular plate member, and as shown in FIG. 6, is slightly smaller than the inner width of the movable frame in the width direction orthogonal to the longitudinal direction of the movable frame 41. Has dimensions. Both sides of the mounting plate 52 along the longitudinal direction of the movable frame 41 are cut off at right angles on the lower surface side, and the side portions 53a, which are thinner than the height of the gap between the bent plate portions 43a and 43b and the veneer portions 44a and 44b, It forms 53b.

The mounting plate 52 crosses the groove-shaped spaces Sa and Sb defined between the first guide portion 23 and the movable frame members 41a and 41b, and the side side portions 53a and 53b are bent plate portions 43a and 43b and the veneer. It is inserted into the gap between the portions 44a and 44b with a margin and attached to the slider block 27. As a result, when the operation unit 3 is moved in the front-rear direction, the mounting plate 52 travels directly above the first guide frame 25 and the groove-shaped spaces Sa and Sb along the longitudinal direction thereof.

As shown in FIG. 5, the first actuator portion 21 is mounted on the second actuator portion 22 via the connecting member 53. The connecting member 53 is made of a rectangular plate member, is coupled to the lower surface of the first guide frame 25, and integrally fixes the first guide portion 23 on the slider block 37 of the second actuator portion 22. As a result, when the operation unit 3 is moved in the left-right direction, the first actuator unit 21 travels directly above the second guide frame 35 along its longitudinal direction.

The first actuator unit 21 has a pair of limit sensors 55a and 55b in order to limit the movement range of the operation unit 3 in the front-rear direction. As shown in FIG. 2, the limit sensors 55a and 55b are placed on a horizontal plane 42b between the first guide portion 23 and one of the movable frame members 41b (on the right side in the figure) from the front portion and the rear portion of the outer frame 11, respectively. It is located in the foreground position.

The limit sensors 55a and 55b of the present embodiment have a known structure in which the arm lever is spring-forced so as to be swingable in the horizontal direction. An actuating block 56 for actuating the arm levers of the limit sensors 55a and 55b is integrally projected on the lower surface of the mounting plate 52. As a result, when the operation unit 3 moves in the front-rear direction and reaches the limit position, the operation block 56 rotates the arm lever to turn on the limit sensors 55a and 55b.

The first actuator unit 21 further has a home position sensor 57 for stopping / maintaining the operation unit 3 in the home position in the front-rear direction. As shown in FIG. 2, the home position sensor 57 is arranged on the horizontal plane 42b between the movable frame member 41b and slightly ahead of the limit sensor 55a on one side (front side in the figure).

The home position sensor 57 of the present embodiment is a transmissive photosensor having a light projecting unit and a light receiving unit arranged so as to face each other with a small gap. For example, when light passes from the light emitting unit to the light receiving unit, the home position sensor 57 is turned off. When the light receiving portion is shielded from light, it is turned on. On the mounting plate 52, a plate-shaped sensor flag member 58 projecting vertically downward passes through the gap between the light emitting portion and the light receiving portion of the home position sensor 57 when the operating portion 3 is moved in the front-rear direction. Installed to get.

Similarly, the second actuator unit 22 has a pair of limit sensors 61a and 61b in order to limit the movement range of the first actuator unit 21 in the left-right direction. As shown in FIG. 2, the limit sensors 61a and 61b are arranged on the left and right fixed frames 14a on the back side at positions in front of the left and right side portions of the outer frame 11, respectively.

The limit sensors 61a and 61b of the present embodiment also have a known structure in which the arm lever is spring-forced so as to be swingable in the horizontal direction. As shown in FIG. 7, on the lower surface of one of the movable frame members 41a (on the left side of FIG. 2), an actuating block 62 for actuating the arm levers of the limit sensors 61a and 61b is integrated via a mounting plate 63. It is rushed to. As a result, when the operation unit 3 moves in the left-right direction together with the first actuator unit 21 and reaches the limit position, the operation block 62 rotates the arm lever to turn on the limit sensors 61a and 61b.

The second actuator unit 22 further has a home position sensor 64 for stopping / maintaining the operation unit 3 in the home position in the left-right direction. As shown in FIG. 2, the home position sensor 64 is arranged on the left and right fixed frames 14a on the back side, slightly closer to the center than the limit sensor 61b on one side (right side in the figure).

The home position sensor 64 of the present embodiment is a transmissive photosensor having a light emitting part and a light receiving part which are similarly arranged facing each other with a small gap, and is turned off when light passes from the light emitting part to the light receiving part, for example. In the state, when the light receiving portion is shielded from light, it is turned on. On the lower surface of the movable frame member 41a, a plate-shaped sensor flag member 65 projecting vertically downward is a gap between the light emitting portion and the light receiving portion of the home position sensor 64 when the operation portion 3 is moved in the left-right direction. It is attached by a mounting plate 63 so that it can pass through.

FIG. 8 shows a state in which the operation unit 3 is arranged at the home position. As shown in the figure, the home position of the operation unit 3 is set on the front side in the front-rear direction and on the right side in the left-right direction with respect to the center position of the upper surface of the exercise training device 1. As a result, when the user U is positioned in front of the exercise training device 1 as shown in FIG. 1, the user U can immediately touch the handle member 49 of the operation unit 3 when the right hand is extended forward. However, in the present invention, the home position of the operation unit 3 is not limited to the position shown in FIG.

FIG. 9 shows the movable range of the operation unit 3 in the actuator mechanism 20 in the front-rear direction and the left-right direction. As shown in the figure, the range of movement of the operation unit 3 in the front-rear direction is directly determined by the first guide frame 25. The range of movement of the operation unit 3 in the left-right direction is determined by the second guide frame 35 via the first actuator unit 21.

Further, the exercise training device 1 includes a control unit 70 for controlling the first and second actuator units 21 and 22. As shown in FIG. 10, the control unit 70 controls and manages the drive control unit 71, the signal control unit 72, the display control unit 73, the memory 74, the storage unit 78, the input unit 79, and the like. The control CPU 75 of the above is provided.

The drive control unit 71 is connected to the first and second drive motors 30, 38 and the reduction gear units 31, 39, and controls their drive. The signal control unit 72 is connected to the force sensor 51, the limit sensors 55a, 55b, 61a, 61b, the home position sensors 57, 64, and the position sensor 80, and inputs signals output from the sensors.

The position sensor 80 detects the coordinate information for obtaining the XY coordinate position of the operation unit 3, and is operated by, for example, an encoder provided on each of the drive motors 30 and 38 to detect the rotation amount of the motor. By detecting the amount of rotation (forward and reverse) of the motors 30 and 38 from the state where the unit 3 is in the home position and outputting the result to the control CPU 75, the control CPU 75 can calculate the coordinate information of the operation unit 3. can.

The display control unit 73 is connected to the monitor device 76 and controls the display of the monitor device. The memory 74 stores, for example, data related to training such as personal data of the user and training history, in addition to the program for operating the exercise training device 1.

The storage unit 78 includes data on the drive or load of the drive motor 30 and the drive motor 38 and the detection result of the force sensor 51 when the control CPU 75 controls the drive control unit 71 to drive the drive motors 30 and 38. Record the data. The input unit 79 is used for inputting an operation command to the control CPU 75 and the like.

In the exercise training device 1 of the present invention, a basic concept for controlling the outputs of the first and second drive motors 30 and 38 of the first and second actuator units 21 and 22 when training the user. Will be described below. In order to simplify the explanation, consider a case where the second actuator unit 22 is stopped and only the first actuator unit 21 is used.

FIG. 11 shows the fluctuation of the user's force detected by the force sensor 51 and the fluctuation of the output of the first drive motor 30 controlled by the control unit 70 according to the user's force along the time axis. Shows. In the figure, the user's force received by the operation unit 3 and the rotational force of the first drive motor 30 are shown by being replaced with the output (kW) of the first drive motor. In the vertical axis of the figure, upward (+) represents a force pushing the operation unit 3 forward, and downward (−) represents a force pulling the operation unit 3 toward the front side.

As shown in FIG. 11, when the force sensor 51 detects the force of the output value 5 at the time t1, the output signal is input to the signal control unit 72 of the control unit 70, and the control CPU 75 is the first drive motor at the time t2. The drive control unit 71 is controlled so that 30 generates the same rotational force of the output value 5. When the input signal from the force sensor 51 becomes 0 at time t3, the control CPU 75 controls the drive control unit 71 so that the output of the first drive motor 30 becomes 0 at time t4.

According to the present invention, since the force sensor 51 is substantially provided in the operation unit 3, the detected force of the user can be output to the control unit 70 as it is. Therefore, the time delay from the time t1 at which the force sensor 51 outputs a signal to the time t2 at which it is reflected in the first drive motor 30 can be shortened to such an extent that the user cannot experience it. Further, since the output signal from the force sensor 51 does not need to be amplified or converted into a signal in the control unit 70, it is optimal for the first drive motor 30 to output a rotational force according to the user's force. Can be driven to.

The exercise training device 1 can be used in a state where the device main body 2 is tilted in the front-rear direction or the left-right direction, for example, for performing sanding motion training. Therefore, the apparatus main body 2 can be provided with an inclination sensor 77 for detecting the inclination state, that is, the inclination direction and the inclination angle. In this case, the exercise training device 1 is installed on a separate support structure in which the tilt angle can be adjusted. The output signal of the tilt sensor 77 is input to the control unit 70, and in order to control the output of the first and / or the second drive motors 30, 38 according to the magnitude of the tilt direction and tilt angle of the apparatus main body 2. used.

As the tilt sensor 77, for example, a conventionally known gyro sensor can be used, but the tilt sensor 77 is not limited thereto. For example, when the exercise training device 1 is tilted and supported on a separate support structure, the support structure may be provided with a tilt sensor. In this case, as the tilt sensor, an encoder of an electric motor for tilting the support structure or a motor drive pulse counter may be used, or a sensor or a scale for specifying the tilt may be provided on a hinge portion for tilting the installation surface of the support structure. can.

In order to perform exercise training on the upper limbs of the user using the exercise training device 1 having the above configuration, the following three steps are performed. The control CPU 75 performs control processing in the selected step according to the operation command input to the input unit 79.

In step 1, the user holds the operation unit 3, and the training instructor holds the user's hand from above and moves the operation unit 3 within the operating range according to the situation of the upper limbs of the user 3. This is a movement locus setting mode in which the user operates the operation unit 3 to set the movement locus to be followed by the upper limbs.

In the movement locus setting mode, the control CPU 75 executes the processing procedure shown in FIG. 12 to perform processing as the movement locus setting means. In this process, the control CPU 75 adjusts the gear ratios of the reduction gear units 31 and 39 so that a predetermined load is applied to the user when the operation unit 3 held by the user is moved under the initiative of the training instructor. Adjust to control the drive of the drive motors 30 and 38 (procedure P1). The load data at this time is recorded in the storage unit 78. When the operation unit 3 moves within the operating range of the user by the training instructor, the position sensor 80 outputs rotation amount information of the drive motors 30 and 38 to the control CPU 75 along the movement, and the control CPU 75 controls the operation unit 3. Calculate the position (procedure P2). Then, the control CPU stores the position information on the XY coordinate axes that are sequentially input in the storage unit 78 and stores the movement locus (procedure P3). The display control unit 73 plots the position information at each point where the operation unit 3 detected by the position sensor 80 moves on the monitor device 76 and displays the movement locus.

In the next step 2, only the user has the operation unit 3, and the operation unit 3 is moved by the locus set in the movement locus setting mode, so that the movement locus of the operation unit 3 by the user and the movement locus of the operation unit 3 are moved. This is a load detection mode that detects the load on the user.

In the load detection mode, the control CPU 75 executes the processing procedure shown in FIG. 13 to perform processing as the load information setting means. In this process, the control CPU 75 controls the drive of the drive motors 30 and 38 so that the operation unit 3 reproduces the locus set in the movement locus setting mode (procedure P11). At this time, the force sensor 51 detects the load (rotational drag) acting on the drive motors 30 and 38. Therefore, the force sensor 51 detects the fluctuation of the force as the resistance of the user to the movement of the operation unit 3 in the process of tracing the movement locus of the operation unit 3 (procedure P12). Then, the control CPU 75 stores the load value detected by the force sensor 51 in the sequential storage unit 78 (procedure P13).

FIG. 14 schematically shows a screen in the load detection mode of the monitor device 76, and simultaneously displays a movement locus traced by the user by moving the operation unit 3 and a load fluctuation at each position of the movement locus. ing. At this time, the display control unit 73 plots the position information of each point of the movement locus from the position sensor 80 on the screen of the monitor device 76, and displays the movement locus on the screen (a). Further, the display control unit 73 displays a graph of load fluctuation on the time axis of the value detected from the force sensor 51 on the part (b) of the screen.

In the example of FIG. 14, it is shown that a large force is applied from the user to the operation unit 3 in the range of time T1 to T2. The display control unit 73 surrounds this range with a chain line as shown in the figure and highlights it. Alternatively, the display color may be different. Therefore, it can be determined that the movement locus in the range of time T1 to T2 is difficult for the user to move, and the therapist can create a program for exercise training of the user based on this data.

Step 3 is a training mode for exercise training. The control CPU 75 executes the processing procedure shown in FIG. The training mode includes a passive control mode in which the user's upper limbs are pulled by the operation unit 3 that moves according to the set movement locus, and a passive control mode in which the user himself / herself moves the operation unit 3 according to this movement locus. There is an active control mode that performs the above-mentioned automatic operation. The passive control mode and the active control mode are also selected by the operation command input to the input unit 79.

When the passive control mode is selected, the control CPU 75 drives and controls the drive motors 30 and 38 so as to reproduce the locus set in the movement locus setting mode, and moves the operation unit 3 (procedure P21). The user's force applied to the operation unit 3 at this time becomes a load acting on the drive motors 30 and 38, that is, a rotational drag as a resistance to the movement of the operation unit 3.

At the same time, as shown in FIG. 16, the display control unit 73 plots the position information of each point of the movement locus from the position sensor 80 operated by the user on the screen of the monitor device 76, and the display control unit 73 plots the position information on the screen of the monitor device 76, and the (a) portion of the screen. The movement locus is displayed on the screen, and a graph of load fluctuation showing the value detected from the force sensor 51 on the time axis is displayed as test data in the part (b) of the screen.

Then, the control CPU 75 has the same detection value of the force sequentially input from the force sensor 51 in the process of tracing the movement locus by the user in the operation unit 3 and the movement locus accumulated in the storage unit 78 in the load setting mode. The load value (set load value) at the point is sequentially compared (procedure P22). FIG. 16 shows the screen of the monitor device 76 displayed by the display control unit 73 at this time. In this example, the part (a) displays the movement locus of the operation basic pattern set in the movement locus setting mode with a solid line, and displays the movement locus of the subject tracing on the solid line with a broken line. In this case, the overlapping portion of the lines is indicated by a solid line, and only the portion of the movement locus of the subject who deviates from the basic operation pattern is indicated by a broken line. Further, the part (b) displays the fluctuation of the set load stored in the storage unit 78 with a solid line, and the detection value sequentially input from the force sensor 51 while the user traces the movement locus with the operation unit 3. The test data, which is fluctuation (load fluctuation), is indicated by a broken line. Similarly, since the overlapping part of the line is shown by the solid line, only the part deviating from the set load value of the test data is shown by the broken line. In this way, the comparison result between the basic operation pattern and the movement locus of the subject is displayed on the monitor device 76.

At this time, if the detected value of the force sensor 51 exceeds the expected allowable range of the set load value stored in the storage unit 78, the driving of the drive motors 30 and 38 is stopped (procedure P24). Therefore, in this case, it is assumed that the burden on the user is excessively increased, and the exercise training is temporarily terminated. Or, even if it does not end, drive control of the drive motors 30 and 38 is performed so that the movement locus is closer to the subject than the set movement locus so as to narrow the movement range, or the load of the drive motors 30 and 38 is performed. The outputs of the drive motors 30 and 39 may be adjusted so as to weaken the torque.

On the other hand, as a result of sequentially comparing each point of the movement locus, if the detected value exceeds the set load value but is within the planned allowable range, the detection value and the setting at the next point of the movement locus are set in the repeating procedure P22. Compare with the load value. Then, when the end point of the movement locus is reached (“YES” in procedure P23), the drive of the drive motors 30 and 38 is stopped (procedure P24).

The display of the result of such training can be displayed, for example, by the radar graph shown in FIG. In the illustrated radar graph, the two-axis coordinates of the cross and the circle having a plurality of radii that are the same as the center of the coordinates represent the fluctuation of the set load stored in the storage unit 78, and the portion deviated from the set load in the test data. Is indicated by a broken line, and the values p and q at that time are displayed. In this radar graph, the distance from the center is the magnitude of the load value, and the position is the direction of the load value applied to the operation unit 3. Expressed in such a radar graph, the direction and strength of the force applied to the operation unit 3 can be displayed at the same time, so it is possible to confirm in which direction and how much load (force) is applied in a predetermined movement locus. be able to. Further, also in the graph shown in FIG. 14B, the translational force in the moving direction of the operation unit 3 can be displayed in the positive direction, and the couple can be displayed in the negative direction.

In the active control mode, the control CPU 75 adjusts the gear ratios of the reduction gear units 31 and 39 so that a predetermined load is applied to the user when the user moves the operation unit 3, and the drive motors 30 and 38. (Procedure P31). With respect to the movement of the operation unit 3 by the force of the subject at this time, the rotational force of the drive motors 30 and 38 gives a load to the user as a resistance.

Then, in the process of the operation unit 3 tracing the movement locus, the control CPU 75 sequentially inputs the position information of the operation unit 3 sequentially input from the position sensor 80 at each point of the movement locus, and the movement locus stored in the storage unit 78. The set position information at the same point in the above is sequentially compared (procedure P32). Also in this case, the display control unit 73 is in the process of tracing the movement locus of the operation basic pattern by the solid line, the movement locus of the subject by the broken line, and the movement locus by the user in the operation unit 3, as shown in FIG. The monitor device 76 displays the test data, which is the fluctuation (load fluctuation) of the detected value sequentially input from the force sensor 51. As a result of the comparison, if the difference between the two position information is within the allowable range, the position information from the position sensor 80 at the next point of the movement locus and the set position information are compared in the repeating procedure P32. Then, at the end point of the movement locus (“YES” in procedure P34), the drive of the drive motors 30 and 38 is stopped (procedure P35).

However, in the process of procedure P32, if the position information detected by the position sensor 80 deviates from the set position information stored in the storage unit 78, the control CPU 75 calculates the difference, and the difference is within the planned allowable range. If so, the drive motors 30 and 38 are driven and controlled so as to return to the movement locus set by the operation unit 3 accordingly (procedure P33). In this case, the control CPU 75 adjusts the outputs of the motors 30 and 38 through the drive control unit 71 to increase the rotational torque.

In this way, if the difference between the position information detected by the position sensor 80 and the position information at the same point of the movement locus stored in the storage unit 78 is within the allowable range, the operation unit 3 is set to the scheduled movement locus each time. When the user moves to the final point of the movement locus of the operation unit 3 while returning to (Procedure P35), the active control mode ends (Procedure P36).

In step P33, when the drive motors 30 and 38 are driven to return the operation unit 3 to the planned movement trajectory, the upper limb of the user is pulled by the operation unit 3, so that the operation is performed in the same manner as in the passive control mode. The user's force applied to the unit 3 becomes a load acting on the drive motors 30 and 38 as resistance to the movement of the operation unit 3. The control CPU 75 compares the load value (set load value stored in the storage unit 78) at the position closest to the current operation unit 3 position with the force detection value at the current operation unit 3 position. , It is determined whether the difference is within the allowable range (procedure P34).

At this time, if the detected value of the force sensor 51 exceeds the set load value stored in the storage unit 78 within the planned allowable range, the driving of the drive motors 30 and 38 is stopped (procedure P34). Therefore, in this case, it is assumed that the burden on the user is excessively increased, and the exercise training is temporarily terminated. Or, even if it does not end, drive control of the drive motors 30 and 38 is performed so that the movement locus is closer to the subject than the set movement locus so as to narrow the movement range, or the load of the drive motors 30 and 38 is performed. The outputs of the drive motors 30 and 39 may be adjusted so as to weaken the torque.

The exercise training device 1 of the present embodiment is provided with a reproduction mode for reproducing the training content after the exercise training is completed. In the reproduction mode, the control CPU 75 controls the drive motors 30 and 38 to move the operation unit 3 during training so as to reproduce the movement locus. Further, the movement locus of the operation unit 3 and the force information detected by the force sensor 51 on the display unit 76 (couple (load value) with respect to the movement direction of the operation unit 3 in the passive control mode. Used in the active control mode. A translational force with respect to the movement direction of the operation unit 3 by a force applied to the operation unit 3 by a person.) Is displayed in parallel with the movement of the operation unit 3.

In this reproduction mode, a part of the training content can be reproduced, and if a part of the graph showing the movement locus and the load value displayed on the display unit 76 is selected, the training content can be reproduced only in that part. .. This makes it possible for the user to confirm in which range of movement the upper limbs are difficult to move or to apply force, and the training instructor can create an optimal training program tailored to the user.

In the above-mentioned exercise training device 1, in the movement locus setting mode, the operation unit 3 is actually moved, and the movement locus is stored in the storage unit 78 by the position information detected by the position sensor 80 at that time, and the operation basic pattern is used. The movement trajectory of is set. However, the position information digitized in advance may be input from the input unit 79. Further, a plurality of basic patterns may be stored in the storage unit 78 in advance, and one basic pattern may be stored in the input unit 79 according to the user.

Although the present invention has been described above in relation to the preferred embodiment, the present invention is not limited to the above embodiment, and can be implemented with various changes or modifications within the technical scope thereof. Needless to say.

1 Exercise training device 2 Device body 3 Operation unit 11 Outer frame 20 Actuator mechanism 21 1st actuator unit 22 2nd actuator unit 23 1st guide unit 24 1st drive unit 25 1st guide frame 30 1st drive motor 33 2nd guide Unit 34 2nd drive unit 35 2nd guide frame 38 2nd drive motor 41 Movable frame 51 Force sensor 70 Control unit 71 Drive control unit 72 Signal control unit 73 Display control unit 74 Memory 75 Control CPU
76 Monitor device (display unit)
78 Memory

Claims (3)

It is an exercise training device for improving human motor function.
With the device frame,
An operation unit that can move the position in the device frame,
The drive unit that moves the operation unit and
A control unit that controls the drive unit and
A force sensor for detecting the force received by the operation unit from the upper limbs or lower limbs of the user, and
A display unit that visually displays the transition between the movement locus of the operation unit and the direction and strength of the force received by the operation unit detected by the force sensor at each position of the movement locus on the same screen .
An exercise training device characterized by being equipped with. The display unit displays on the screen the transition between a predetermined range in the movement locus of the operation unit and the direction and strength of the force received by the operation unit detected by the force sensor at each position within the range. The exercise training device according to claim 1 . The transition of the direction and strength of the force received by the operation unit detected by the force sensor at each position of the movement locus of the operation unit is such that the biaxial coordinates of the cross and the same center as the coordinate center are used in the display unit. The exercise training device according to claim 1 or 2 , wherein the radar graph is displayed as a radar graph having a circular display.

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