JP7112628B2 - treadmill - Google Patents

Description

TECHNICAL FIELD The present invention relates to a treadmill capable of running on an endless belt, and more particularly to a treadmill capable of applying a load to the legs as if they were actually running on the ground. It is.

In general, a treadmill is provided so that a person can train his/her legs and cardiopulmonary function by running on a revolving endless belt (Patent Document 1, etc.).

JP 2016-22176 A

By the way, when a human actually runs on the ground, he/she applies force to his legs to push his weight forward. As a result, the load on the legs is significantly reduced. Therefore, even if the runner runs the same distance, there is a problem that the leg strength that can be trained is different from that when running on the ground.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a treadmill that allows a user to exercise leg strength as if they were actually running on the ground.

That is, in order to solve the above-described problems, the treadmill of the present invention includes an endless belt on which a person runs, a kicking detection unit for detecting kicking of the person while running on the endless belt, and the kicking detection unit. and a control unit that controls to reduce the circulating speed of the endless belt when kicking out of a person is detected by the The kicking is detected by detecting the load caused by the kicking of the endless belt along the plane direction by the force plate .

With this configuration, the speed of the endless belt is reduced when kicking, so a load close to the weight of a human being can be applied to the legs so as to move forward, making it appear as if the robot is actually running on the ground. You can train your leg strength. Also, by detecting the load along the horizontal direction, it is possible to detect a state close to the actual kicking out.

Further, in such an invention, when the force plate detects a jumping state of a person, the controller restores the circulating speed of the endless belt to the circulating speed immediately before kicking out.

With this configuration, when the person hops back and returns to the ground, the endless belt returns to its original rotation speed, so that the person's position on the endless belt can be fixed.

In addition, a connecting member connected between a fixed portion other than the endless belt and the human, and a force sensor for detecting a force acting on the connecting member, wherein the force sensor detects a load of a predetermined value or more. When detected, the controller increases the speed of the endless belt.

With this configuration, when the person advances slightly forward due to kicking and the speed reduction of the endless belt, this can be detected by the force sensor provided on the connecting member, and the circulating speed of the endless belt can be increased. to return the human to its original position.

Also, the connecting member is made of an elastic material.

With this configuration, the elastic body such as rubber can return the human to its original position when the human jumps, so that the endless belt can run the human over a substantially constant range of distance. Become.

According to the present invention, the speed of the endless belt is reduced at the time of kicking out, so that the legs can be loaded with a load close to the weight of a human being to move forward, as if actually running on the ground. You can train your legs. Also, by detecting the load along the horizontal direction, it is possible to detect a state close to the actual kicking out.

The figure which shows the structure of the treadmill in one embodiment of this invention. Functional block diagram of a treadmill in the same configuration A diagram showing the relationship between human running motion and force in the same morphology A diagram showing the position of the foot during running in the same configuration Flowchart showing the operation of the treadmill in the same configuration

As shown in FIG. 1, the treadmill 1 of this embodiment comprises an endless belt 2 on which a person runs and a force plate 40 provided below the person placing surface 21 of the endless belt 2. It is the one that was made. Characteristically, when the person is running on the treadmill 1, the kicking phase of the person is detected, and the circulating speed of the endless belt 2 is reduced to apply a load to the legs. . The configuration of the treadmill 1 according to this embodiment will be described in detail below.

First, the endless belt 2 is made so that a person can run, and is made of resin such as rubber that goes around in the vertical direction. The endless belt 2 can be circulated by a motor 3, and its circulating speed is controlled by a control section 8 (see FIG. 2).

On the other hand, the force plate 40 is provided so as to be in contact with the lower side of the person placing surface 21 of the endless belt 2, and is constructed by providing load cells 41 below the four corners of a metal plate 42. As shown in FIG. Using this load cell 41, it is possible to detect the load in the Z-axis direction and the load in the Y-axis direction acting on the human through the endless belt 2. FIG. Here, the positive direction of the Z-axis direction is downward in the vertical direction, and the positive direction of the Y-axis direction is backward in the running direction. When the load in the Z-axis direction is detected by these load cells 41, the load in the Z-axis direction is detected by adding the loads in the Z-axis direction of the load cells 41 provided at the four corners, and the load in the Y-axis direction is detected. is detected, the load in the Y-axis direction is detected by adding the loads in the Y-axis direction of the load cells 41 at the four corners. In addition, using the load cells 41 provided at these four corners, the moment is calculated from the load in the Z-axis direction, and the position of the center of gravity of the person and the movement speed of the person are also detected. If the force plate 40 is provided adjacently below the endless belt 2 in this manner, the initial load is detected by the weight of the endless belt 2 and friction, but these loads are offset. Then, load is detected using the load cell 41 provided in the force plate 40, and the value is output to the kick-out detection unit 4 (see the functional block diagram of FIG. 2). is detected, and the control unit 8 is used to control so as to reduce the speed of the endless belt 2 at that time.

First, when detecting the kick-off period of a human, the motion of the human when running on the treadmill 1 and the load corresponding thereto will be described.
<Kicking period>

First, when a human runs, as shown in FIG. 3(a), from the state where the human foot exists directly under the body (standing state), the leg is bent in preparation for the next kick. become. Then, along with this, the load Fz in the Z-axis direction gradually increases, reaching a maximum at the moment P2 when the player starts kicking the hardest, and then Fz gradually increases until the foot is separated from the endless belt 2. becomes smaller.

On the other hand, as for the load in the Y-axis direction, in addition to the load obtained by multiplying the Fz load by the frictional resistance due to the rotation of the endless belt 2, the Y-axis direction load due to kicking is applied to the force plate 40. . Similarly to Fz, the Fy load gradually increases from P1 to P2, and then decreases toward P3, which is the timing of the jumping period.
<Jumping period>

From the state (P3) when the person kicks the ground and the tip of the foot leaves the ground (P3), the load of Fz is no longer applied (Fz=0). However, since the endless belt 2 moves while contacting the force plate 40, a load obtained by multiplying the self weight of the endless belt 2 by the coefficient of friction is applied, but this value is ignored by the offset.
<Landing period>

When the foot on the opposite side lands on the endless belt 2 from the jumping state (P4), the heel lands on the endless belt 2 . Here, it is assumed that the foot touches the ground from the heel, but depending on the running method, the tip of the foot may touch the ground. At this moment, the load in the Z-axis direction is suddenly applied to the force plate 40, and then the load decreases as the leg bends. As for the load in the Y-axis direction, a large load is applied for a moment (P5), and after the value decreases due to the bending of the leg, the load is applied again. Depending on how the vehicle is run, the load in the Y-axis direction may momentarily be applied in the positive direction of the Y-axis, and then may be applied in the negative direction again. After landing in this manner, the endless belt 2 circulates so that the foot is directly under the body, and the kicking period (from P1 onwards) begins again.

Based on such motions and loads, the kicking detector 4 (see the functional block diagram of FIG. 2) detects the kicking period of the human from the loads in these motions. Normally, when a person kicks his/her foot, the force plate 40 is kicked backward greatly via the endless belt 2 . Therefore, when the load is detected to be greater than a predetermined value, it is determined that the "kicking period" has started, and when the load becomes smaller than the predetermined value, the "kicking period" ends. I judge. Specifically, when the load of Fz becomes larger than a predetermined value, it is determined that the "kicking period" has started, and when Fz becomes smaller than the predetermined value, it is determined that the "kicking period" has ended. do. However, with only the vertical load due to Fz, the load increases both when jumping and when landing, making it difficult to accurately determine the timing of the "kicking period." For this reason, it is determined that the "kicking period" has started, using the state in which the load Fy, which is the load along the plane direction (Y-axis direction), is greater than a predetermined value.

The control unit 8 controls the motor 3 so as to reduce the circulating speed of the endless belt 2 when the kicking detecting unit 4 determines that the "kicking period" has started. In order to reduce the circulating speed of the endless belt 2, there is a method of stopping the endless belt 2, but if the endless belt 2 is suddenly stopped, there is a possibility that the running balance will be lost. Here, when it is judged that the "kicking period" has started, the circulating speed is gradually reduced in accordance with the increase/decrease in the load of Fz. Specifically, Fz increases from time point P1, and the motor 3 is controlled using the control unit 8 so as to gradually reduce the rotation speed in response to the increase in the load. Then, the revolving speed of the endless belt 2 is returned to the original revolving speed corresponding to the decrease of the load Fz from the moment the peak P2 is reached. Then, when the human jumps completely, the circling speed is restored to the speed just before entering the "kicking period". However, when the circulating speed of the endless belt 2 is slowed down in the kick-out period, the human relatively moves forward on the treadmill 1 . That is, as shown in FIG. 4, the endless belt 2 slows down when kicking is started from the standing position (a), so the human position moves slightly forward (FIGS. 4(b) to (c). )). Therefore, a connection member 6 made of an elastic material such as rubber is connected between a fixed portion 5 such as a floor, a wall surface, or the frame of the treadmill 1 and a person (for example, a waist), and the force of the elastic material is applied when jumping. The human is returned to its original position (Fig. 4(d)).

Also, even if the connecting member 6 is used to pull back the person, there is a possibility that the kicking force of the person may cause the person to advance further forward than the fixed position and gradually advance toward the front side of the endless belt 2 . be. Therefore, when a load exceeding a predetermined value is detected by the force sensor 7 provided on the connecting member 6, that is, when the human advances too far forward, the circulating speed of the endless belt 2 is increased. . However, when a human lands on the ground, if the speed is faster than immediately before entering the kicking period, there is a possibility that the running balance will be lost, so the lap speed should be gradually increased after landing. When the circling speed is increased in this manner, the force plate 40 detects the position of the center of gravity of the person, and the circulating speed is increased so that the position of the center of gravity stays at a fixed position.

Next, the operation flow of the treadmill 1 configured in this manner will be described with reference to FIG.

First, when a person starts running on the endless belt 2 of the treadmill 1, one leg is in a standing state and the other leg is stepped forward (FIG. 3(a)).

At this time, the treadmill 1 detects the load Fz in the Z-axis direction and the load Fy in the Y-axis direction by means of the force plate 40 (step S1), and when these values exceed predetermined values, the "starting period ” (step S2).

Then, the control unit 8 performs control so as to gently reduce the rotation speed of the endless belt 2 according to the magnitude of the load Fz (step S3). At this time, at the timing (P1 to P2) when a person steps in and kicks out, the speed of the endless belt 2 gradually decreases, and then the circulating speed of the endless belt 2 returns to its original speed. This allows humans to apply force to their legs in an attempt to propel their weight forward.

Next, when human jumping is detected (step S4), the vertical load Fz and the horizontal load Fy return to the unloaded state, so the controller 8 returns the circulating speed to that immediately before the "kicking period" (step S4). S5). It should be noted that, during this jumping period, due to the leg strength of the human, the kicking position will move forward a little, but it will be pulled back to the original position by the connecting member 6 such as rubber attached to the waist of the human ( 4(c)-(d)).

Next, when a human lands on the ground, Fz increases abruptly, and it is detected that the landing period has started (step S6). At the time of landing, Fz is greater than the predetermined value, but Fy does not exceed the predetermined value, so it is determined that it is not the "kicking period".

After entering the landing period, if a load exceeding a predetermined value is detected by the force sensor 7 of the connecting member 6 during the previous jumping period (step S7), the endless belt 2 is gradually lifted according to the load. The circulating speed is increased (step S8), and the endless belt 2 is circulated so that a person can be seated at a predetermined position of the endless belt 2.例文帳に追加

Similarly, kicking, jumping, landing, etc. are repeated with the opposite leg (steps S1 to S7).

As described above, according to the above-described embodiment, the endless belt 2 on which a person runs, the kick detection unit 4 that detects the kick of the person while running on the endless belt 2, and the kick detection unit 4 detect the movement of the human A treadmill 1 comprising a controller 8 for controlling the rotation speed of the endless belt 2 to be reduced when kicking out of the endless belt 2 is detected. Since the kicking is detected by detecting the load along the plane direction of the endless belt 2 by the force plate 40 provided below, the speed of the endless belt 2 is reduced at the time of kicking, and the weight of the person is reduced. You will be able to load the leg to advance a load close to As a result, it is possible to train the leg strength while actually running on the ground. Also, by detecting the load along the horizontal direction, it is possible to detect a state close to the actual kicking out.

Furthermore, when the force plate 40 detects the jumping state of the human, the controller 8 returns the circling speed of the endless belt 2 to the circulating speed immediately before kicking out. When returning to the landing state, the endless belt 2 returns to its original rotation speed, so that the position of the person on the endless belt 2 can be fixed.

In addition, a connecting member 6 connected between a fixed portion 5 other than the endless belt 2 and a person, and a force sensor 7 for detecting a force acting on the connecting member 6 are provided. When a load equal to or greater than a predetermined value is detected, the speed of the endless belt 2 is increased by the control unit 8. Therefore, when the person moves forward a little by kicking, the This can be detected by the force sensor 7, and the rotation speed of the endless belt 2 can be increased to return the person to the original position.

In addition, since the connecting member 6 is made of an elastic material, it becomes possible to return the person to the original position when the person jumps with rubber or the like, so that the person can run within a substantially fixed range. will be able to

It should be noted that the present invention is not limited to the above embodiments, and can be implemented in various modes.

For example, in the above embodiment, the connecting member 6 made of rubber or the like is attached to the waist of the person and pulled back. The rotation speed may be increased so as to pull it back when it moves to the right.

In the above-described embodiment, the force sensor 7 is attached to the connecting member 6 to control the circulating speed of the endless belt 2. You can pull it back.

Furthermore, in the above embodiment, the force plate 40 is used to detect the position of the human. may be controlled.

Further, in the above embodiment, the kick-out period can be detected by the horizontal load Fy, but the kick-out period may be detected by the vertical load Fz accompanying the kick.

Further, in the above-described embodiment, as an example of a person running on an endless belt, a person running in a jumping manner was taken as an example. It can also be applied to cases such as

REFERENCE SIGNS LIST 1 Treadmill 2 Endless belt 21 Human placement surface 3 Motor 4 Kick detection unit 40 Force plate 41 Load cell 42 Metal plate 5: Fixed portion 6: Connection member 7: Force sensor 8: Control unit

Claims (4)

an endless belt on which a human runs;
a kick-out detection unit that detects a kick-out of a person while running on the endless belt;
A treadmill comprising a control unit that controls to reduce the circulating speed of the endless belt when the kicking detection unit detects the kicking of a person,
The kick-out detection unit detects the kick-out by detecting a load due to the kick-out along the plane direction of the endless belt by a force plate provided below the endless belt. treadmill to do . 2. The treadmill according to claim 1 , wherein when the force plate detects a jumping state of a person, the controller returns the circling speed of the endless belt to the circulating speed immediately before kicking. Furthermore, a connecting member connected between a fixed part other than the endless belt and a human,
a force sensor that detects a force acting on the connecting member;
with
2. The treadmill according to claim 1, wherein the controller increases the speed of the endless belt when the force sensor detects a load equal to or greater than a predetermined value. 4. The treadmill according to claim 3 , wherein said connecting member is made of an elastic material.

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