JPH0471570A - Swing operation analyzing device - Google Patents

Abstract

PURPOSE:To analyze the swing operation synthetically and precisely by using a six axis force sensor as load cell for detecting the forces in three directions X, Y, and Z and the moments around the X, Y, and Z axes, and detecting the data such as the position of foot, direction of foot, load distribution on the back of the foot, etc., on each measurement board. CONSTITUTION:Six axis force sensors 2L and 2R are load detectors, and the load applied to a sensor body is detected in separation to the forces in three axes (X, Y, Z) in crossing at right angles and three moments around axes. A strain is generated on a strain gauge installed on the sensor body according to the deformation of the sensor body due to the load, and the resistance value of the strain gauge is varied by the strain, and the output voltage in proportion to the load applied from a corresponding Whetstone bridge circuit. Accordingly, the data such as the position of foot, direction of foot, load distribution on the back of the foot, etc., is detected by the pressure sensitive sensors 10L and 10R, and the position of the center of gravity on the surface of a foot stepping plate is obtained, and the swing operation is analyzed synthetically, together with the detection data of the six axis force sensors.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention measures the force acting on each of the feet of a subject and the position of the center of gravity during a swing in sports such as golf, tennis, baseball, etc. This relates to a device for quantitatively analyzing.

(Prior Art) Conventionally, a golf swing motion analysis device as shown in FIGS.
6298). In these figures, the left foot 1 and right foot 2 of the person to be measured are supported by a left foot measuring stand 5a and a right foot measuring stand 5b, respectively. Three load cells 6a, 6 are provided on the measuring stands 5a, 5b for the left foot and right foot, respectively.
b, '6c and 6d.

6e and 6f are attached, and the load cells 6a to 6f are attached.
6f is supported by the total load measuring table 3, and this total load measuring table 3 is also attached with three load cells 4a, 4b, and 4c. Here, the load cells are load-to-voltage converters, and each load cell attachment outputs a voltage signal proportional to the vertical load applied to the location.

Load cells 4a and 4b of the total load measuring table 3.

4c is connected to a comprehensive center of gravity measurement and recording section 101 that includes a buffer 102, an arithmetic circuit 103, an X-Y recorder 106, and a pen UP-DOWN control section 105. The comprehensive center of gravity measurement and recording section 101 calculates the position of the center of gravity of the subject and displays the calculation result on the X-Y recorder 106, and receives an impact reset signal from the input end 104 indicating the point of impact of the swing. Then, the pen of the X-Y recorder 106 can be raised/lowered to display the point of impact.

The load cells 6a to 6f of the left foot and right foot measuring tables are connected to a center of gravity measurement display section 107, which calculates the center of gravity position for each foot and displays the results.

(Problem to be Solved by the Invention) However, although the conventional swing motion analysis device described above can detect the magnitude of the load in the vertical direction of each of the left and right feet and the position of the center of gravity for each leg, The magnitude of the force in the direction, the three-dimensional direction of the force acting on multiple legs, the torsional moment of multiple legs, etc. cannot be detected. This is indispensable for accurately understanding body movements, which is an important point in such situations.

Furthermore, in order to analyze the swing motion comprehensively, in addition to the data mentioned above, we need to know where the foot is resting on the measurement table and in what direction, and where the weight is being applied on the sole of the foot. That is, it is also necessary to detect data such as whether the subject's posture during swing is a forward leaning posture or a backward leaning posture, or whether the subject is in an open stance or a closed stance.

The present invention has been developed in order to solve the above-mentioned conventional problems, and it is possible to reduce the torsional moment exerted on the measuring table by the left and right feet, the force in the direction parallel to the surface of the measuring table, and the three-dimensional force. In addition to the above data, it is also possible to detect the position of the foot on each measurement platform, the direction the foot is facing, and the load distribution on the sole of the foot, allowing you to comprehensively monitor the swing movement. Further, a swing motion analysis device capable of performing accurate analysis is provided.

(Means for Solving 51 Problems) In order to achieve the above object, the present invention provides a load cell in each of a footrest for the left foot and a footrest for the right foot that measure the load of a subject, and provides detection output data of the load cell. In the swing motion analysis device, the swing motion analysis device includes a calculation means for calculating and processing the calculation result, and a display device for displaying the calculation result, wherein X is used as the load cell.

It is characterized by using a 6-axis force sensor that detects forces in three directions of the Y and Z axes and moments around the x, y and z axes.

Further, it is preferable that a pressure-sensitive sensor is disposed on the surface of each footrest.

(Function) A 6-axis force sensor measures the load and moment of the person to be measured, and calculates 6 data: the forces acting in the three directions of the x, y, and z axes, and the moments acting around the x, y, and z axes. is detected, and these detected data are subjected to predetermined calculation processing by the calculation means, thereby calculating the torsional moment exerted on the measuring table by the left and right feet, the force in the direction parallel to the surface of the measuring table, and the three-dimensional force. The direction of is detected, and the calculation result is displayed on a display device.

Furthermore, data such as the position of the foot, the direction the foot is facing, and the load distribution on the sole of the foot are detected by the pressure sensor, and the position of the center of gravity on the surface of the foot plate is determined, and the detected data of the six-axis force sensor is In conjunction with this, the swing motion will be comprehensively analyzed.

(Example) Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a block diagram of a swing motion analysis device according to an embodiment of the present invention, and this device is applied to a golf swing motion analysis device. In the figure, 6-axis force sensors 2L and 2R of 211 are fixed to a base 1 fixed to the ground or the floor at a distance from each other, and the upper end surfaces of these 6-axis force sensors 2L and 2R are attached to a base l fixed to the ground or floor. A footstool 3L for the left foot and a footstool 3 for the right foot that support the left foot and right foot, respectively.
R is fixed respectively.

A ball 4 is placed on a support 5 on the base l at a position midway between the footrests 3L and 3R.

The six-axis force sensors 2L and 2R are connected to a computer 7 via an A/D converter 6, and the output side of the computer 7 is connected to a display device 8.

Further, in order to detect the moment when the ball 4 makes an impact, a light emitting part 9a and a light receiving part 9b of a photoelectric switch are arranged on both sides of the base 1 with the ball 4 in between (FIG. 2).

Note that the six-axis force sensors 2L and 2R are, for example, disclosed in Japanese Patent Application Laid-Open No.
This is a load detector proposed in Publication No. 32140, and the load applied to the sensor body is measured by three orthogonal axes (x, y,
The force in the direction z) and the moment around the three axes are detected separately, and as the sensor body deforms due to the load, strain occurs in the strain gauge attached to the sensor body, and the strain This changes the resistance value of the strain gauge and generates an output voltage proportional to the load applied from the corresponding Wheatstone bridge circuit.

FIG. 3 is a diagram in which coordinates for calculation are set for the 6-axis force sensor 2L(R) and the footplate 3L(R).

As shown in FIG. 3, each of the six-axis force sensors 2L and 2R has an It is arranged on the base 1 so that the Y axis, which is orthogonal to the above, extends perpendicularly to the surface. The coordinate origin 0 and the force and moment detection origin O' of the six-axis force sensors 2L and 2R are separated by a distance Zo. Also, in Figure 3, l + J + k are X and Y, respectively.
, Z indicate the fundamental vector of each axis.

The output voltage of the six-axis force sensors 2L and 2R is A/DT:I
After being converted into a digital signal by an inverter 6, it is input to a computer 7, where it undergoes predetermined arithmetic processing, which will be described later.
Predetermined data during the swing motion can be obtained.

Next, the operation of this embodiment will be explained. First, in FIG. 1, when swinging, a load is applied to the 6-axis force sensors 2L and 2R via the left foot treadle 3L and right foot treadle 3R, respectively, and x and y are proportional to the thickness of the load. , z The output voltages corresponding to the forces Fx, Fy, Fz on each axis and the moments Mx, My, Mz around those axes are
The digital load signals are converted into digital signals by the /D converter 6, and each digital load signal is processed by the computer 7, and the magnitude of the load in the vertical direction of each of the left and right feet and the center of gravity position of the surface of the multi-legged footboard are determined. (i) Torsional moment (M) exerted by each left and right foot on the footstool, (■) Force (fl, fl) in a direction parallel to the plane of the footstool exerted by each left and right foot on the footstool, (iii) ) Direction of the three-dimensional force exerted by the left and right feet on the footrest (F
), etc. can be obtained.

To explain the calculation method of the computer 7, the force and moment that the footboard 3L (3R) receives during swing are as follows:
One force vector F and moment M around that vector
represented by. The force vector F has its starting point at the position (xo, yo) where the force of the foot is acting, and is expressed as follows. f+, fl, and fy are components of the vector in the X, Y, and Z axis directions, respectively. 6-axis force sensor 2L,
If the load vector that is the output of 2R is g, then Fx, Fy, Fz are the 6-axis force sensors 2L, 2
Indicates the force in the X, Y, and Z axis directions acting on R, Mx.

My and Mz are the detection origins 0' of the 6-axis force sensors 2L and 2R.
Indicates the moment in the X, Y, and Z axis directions.

, and the moments Mx, My, and Mz are Mx=f2
Zo+f:+yo+-177-・・'-”・(6)My
= -b Zo-fsxo+-177-・---(7)
MZ=flyO+"2XO+■==-.

However, 1?1 is the size of vector f It is.

When formulas (6) to (8) are summarized in a matrix, we get (
10) Multiply both sides of the equation by the inverse matrix A-' of A from the left.

Therefore, the vector S (formula (2)), which is the output value of the 6-axis force sensors 2L and 2R, and (3), (4), (
From each equation (5) and (12), the direction of the three-dimensional force acting during the swing motion, that is, the vector F = Fx-
i+Fy-Ryo+Fz-M, So(7) 太! slself = F
x' + F y" + F z" - Torsional moment M of the foot and position where the force of the foot is acting (xo, yO)
etc. can be obtained.

The data calculated by the above method is sequentially calculated by the computer 7 during a series of swing movements in which the person to be measured enters address, impacts the ball, and then finishes, and the calculation results are displayed on a display device 8 made of, for example, a CRT. be done. Further, the moment of impact is detected by a photoelectric switch, and the impact signal is taken into the computer 7 via the A/D converter 6.

In this way, according to this embodiment, in addition to the magnitude of the vertical load on each of the left and right feet and the position of the center of gravity of the surface of the multi-legged footrest, the magnitude of the torsional moment of the subject's foot and the foot It is now possible to measure forces parallel to the surface of the step stool, for example, the relationship between the torsional moment of the foot and the flight distance of the ball, or the relationship between the force parallel to the step stool and the tightness of the knee, making it more precise. Multifaceted swing motion analysis can be performed.

Furthermore, the calculation of the above data may be performed separately for the left and right feet, and furthermore, the movement of the center of gravity of the whole body during the swing can be measured by combining the respective load vectors of the left and right feet. I can do it.

Furthermore, there is an advantage that the position of the foot on the step stool during measurement is not particularly defined and can be placed anywhere on the measurement table.

FIG. 4 shows another embodiment of the swing motion analysis device of the present invention. In this embodiment, pressure-sensitive sensors IOL and IOR each having a plurality of pressure-sensitive sensor elements E are arranged on the surfaces of the left and right footrests 3L and 3R of the embodiment shown in FIG. Since this embodiment is similar to the embodiment shown in FIG. 1, corresponding elements and portions are designated by the same reference numerals and their explanations will be omitted.

FIG. 5 shows a pressure-sensitive sensor element E constituting the pressure-sensitive sensors IOL and IOR, and in the figure, two substrates E4. E
Electrodes Et, Es and a pressure-sensitive conductive rubber E1 are interposed between the upper substrate E5 and a foamed sheet E6 covering the surface of the upper substrate E5 to protect the pressure-receiving surface and equalize the distribution of the pressing force.

The pressure-sensitive sensor elements E are arranged on the sensor body in a predetermined number in a grid pattern in the vertical and horizontal directions, and the resistance value of the pressure-sensitive sensor elements E changes in the area where the pressing force is applied. The corresponding output will be generated.

The pressure-sensitive sensors IOL and IOR configured as described above are connected to a computer 7 via an A/D converter 6.

When swinging, 2L left and right 6-axis force sensors.

By 2R, in addition to the magnitude of the vertical load on each of the left and right feet and the position of the center of gravity of the surface of the multi-foot footplate, the position of the center of gravity of each of the left and right feet, the footrest Torsional moment on 3L and 3R and footrest 3
Forces parallel to the planes L and 3R are measured, and at the same time, the pressure sensor 10L.

The positions of the feet on the footrests 3L and 3R, the load distribution on the soles of the feet,
You can measure the direction your feet are facing. Therefore, 6-axis force sensors 2L, 2R and pressure-sensitive sensor IOL.

By merging both data of 10R and analyzing it by computer 7, it can be determined whether the body posture is leaning forward or backward during the swing motion, or whether the stance is open stance or closed stance. at the same time,
The output signals of the 6-axis force sensors 2L and 2R allow you to determine the force or moment in any direction acting on one foot, such as the twisting force of the pivot foot or the kicking force of the rear foot, so you can judge the swing motion comprehensively and more precisely. be able to.

In the above-described embodiments, the device of the present invention is used to analyze golf swings, but the present invention is not limited to this, and the present invention can also be applied to analyzes of tennis swings, baseball batting, etc. .

(Effects of the Invention) As detailed above, according to the swing motion analysis device of claim 1, since a six-axis force sensor is used as a load cell, the torsional moment exerted on the measuring table by each of the left and right feet, and the surface of the measuring table It is possible to detect the force in the direction parallel to the direction and the direction of three-dimensional force, and therefore it is possible to display the twisting force of the pivot leg and the kicking force of the rear leg, etc., which are important factors in improving swing motion in sports. .

Furthermore, according to the swing motion analysis device of claim 2, by using the pressure sensor in combination with the 6-axis force sensor, the position of the foot on each measuring table, the direction the foot is facing, and the load on the sole of the foot can be determined. Data such as distribution can be detected, allowing more comprehensive and precise analysis of swing motion.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the configuration of a swing motion analysis device according to an embodiment of the present invention, Fig. 2 is a layout diagram showing the relationship between the photoelectric switch and the ball, and Fig. 3 is a diagram showing the setting of coordinate axes for calculation. FIG. 4 is a diagram showing the configuration of a swing motion analysis device according to another embodiment of the present invention, FIG. 5 is a partially cutaway perspective view of the pressure-sensitive sensor element used in FIG. 4, and FIG. A),
, (B) is a diagram showing the configuration of a conventional swing motion analysis device. 2L, 2R...6-axis force sensor (load cell), 3L. 3R... Footrest for left foot and right foot, 7... Computer (calculating means), 8... Display device, IOL, IOR
Pressure sensor. Alt&

Claims (1)

[Scope of Claims] 1. A load cell is provided in each of a left foot footrest and a right foot footrest for measuring the load of a person to be measured, and a calculation means for calculating the detection output data of the load cell, and a calculation means for calculating the result of the calculation. In the swing motion analysis device, the load cell is configured to detect forces in three directions of the X, Y, and Z axes and moments around the X, Y, and Z axes.
A swing motion analysis device characterized by using an axial force sensor. 2. The swing motion analysis device according to claim 1, wherein a pressure-sensitive sensor is disposed on the surface of each of the footrests.