JPH10113345A - Control device for kinetic load device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly decide an optimal target work strength value regardless of a cardiopulmonary function of a living body, and reduce a burden of a subject by deciding the optimal target work strength value on the basis of a break point at increasing time of a load of a kinetic load device, and adjusting the load of the kinetic load device on the basis of its decided value. SOLUTION: A kinetic load is imparted to a subject by using an ergometer as a kinetic load device formed by having an electromagnetic brake 68 connected through a chain to a pedal driven in rotation by the subject, and a change in blood pressure at that time is measured by a continuous blood pressure measuring means 78. In this case, when the ergometer is used, in the case where a break point at increasing time of a load of the ergometer is judged by a break point judging means 90, an optimal target work strength value is decided on the basis of the break poin of its load by an optimal target work strength value deciding means 92, and by a kinetic load adjusting means 84, the electromagnetic brake 68 is controlled to adjust the load of the ergometer so that an actual work strength value coincides with the optimal target work strength value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an exercise load device for applying an exercise load to a living body.

[0002]

2. Description of the Related Art Exercise load devices, such as ergometers and treadmills, which apply a load to a living body by being mechanically operated in association with the movement of the living body are known. When an exercise load is applied to a living body using such an exercise load device for exercise therapy or the like, exercise intensity or heart (pulse) pulse rate determined by exercise prescription is continued for a predetermined time. Was. As the exercise intensity, for example, a target work amount for the exercise load device, that is, a target wattage and its maintenance time are determined, and as the heart (pulse) pulse rate, a target heart (pulse) pulse rate and its maintenance time are determined. In the exercise of such a living body, the load at the time of switching from aerobic exercise to anaerobic exercise is considered as an optimal exercise load in order to enhance exercise efficiency, and in the above exercise prescription, such an optimal exercise load is considered. The target value is determined so that the exercise load is applied to the living body.

For this reason, for example, Japanese Patent Publication No. 7-3888
As described in No. 5, the turning point of the increase of the biological information which occurs in the process of increasing the load of the exercise load device over time is determined as the target value, and the biological information at the turning point is determined. In particular, the exertion intensity PRP (Pressure Rate Product) expressed by the product of the systolic blood pressure value and the pulse rate
A muscle endurance measurement method has been proposed in which the endurance is measured as the muscle endurance of the living body (endurance corresponding to the anaerobic work threshold). When applying an exercise load to a living body using the exercise load device, the muscle endurance measured as described above is used as an optimal target exertion intensity value, and the optimal target exercise intensity value is used as the actual exercise intensity value. It is conceivable that the load of the exercise load device is controlled so that coincides, and the load is continued for a predetermined time.

[0004]

However, in the conventional muscle endurance measuring device, when the muscle endurance is determined, the load of the exercise load device is increased with the lapse of time. In a living body having a high cardiopulmonary function, since the exertion intensity value PRP rises slowly, there is an inconvenience that the time until the occurrence of a break point is significantly longer than that of a general subject. On the other hand, in order to generate a break at a predetermined time irrespective of the subject's athletic ability and weight, the rising rate of the load of the exercise load device is increased by 10 to 2 according to the subject's athletic ability and weight.
It is conceivable that the setting is made in the range of about 0 W / min. However, in such a case, the setting operation is not only complicated but also requires a skill in setting. Further, when the load on the exercise load device is increased even during a predetermined period after passing through the break point in order to reliably determine the break point, the exercise load device is controlled so that the increasing speed of the exertion intensity value PRP is further increased. Since the load is increased, there is a disadvantage that the burden on the subject becomes excessive.

The present invention has been made in view of the above circumstances, and an object of the present invention is to determine the optimal target exertion intensity value quickly and independently of the subject's exercise ability regardless of the cardiopulmonary function of the living body. An object of the present invention is to provide a control device for an exercise load device that can be determined without the need for complicated setting operations related to (1) and that reduces the burden on the subject.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the gist of the present invention is to determine an optimal load of a living body in a movement load device which is mechanically operated in relation to the movement of the living body. And a control device that adjusts the load of the exercise load device so that the optimal load is applied during the exercise period of the living body, and (a) calculates a exertion intensity value that is a product of the blood pressure value and the pulse rate of the living body. Exercise intensity value calculation means, and (b) exercise load adjustment means for adjusting the load of the exercise load device so that the actual exercise intensity calculated by the exercise intensity value calculation means matches the target exercise intensity value, c) as the target exertion intensity in the initial interval of the exercise period of the living body, an increase target exertion intensity value generation means for generating an increase target exercise intensity value that increases at a predetermined speed, and (d) the increase target exercise intensity value generation means. by An optimal target exertion intensity value determining means for determining an optimal target exertion intensity value based on a turning point of an increase in the load of the exercise load device accompanying an increase in the increase target exercise intensity value.

[0007]

In this way, when the increased target exertion intensity value generating means generates the increased target exertion intensity value increasing at a predetermined speed as the target exertion intensity in the initial section of the exercise period of the living body, By exercise load adjustment means,
Since the load of the exercise load device is adjusted such that the actual exertion intensity calculated by the exertion intensity value calculating means coincides with the increase target exercise intensity value, the actual exertion intensity follows the increase target exercise intensity value. At a predetermined speed.
In such a process of increasing the actual exertion intensity, the optimum target exertion intensity value determining means determines the optimal target exertion intensity value based on the turning point of the increase of the load of the exercise load device accompanying the increase of the actual exertion intensity. Is determined. Therefore, according to the present invention, since the actual exertion intensity is increased at a predetermined speed following the increase target exertion intensity value, a break point can be quickly generated regardless of the subject's cardiopulmonary function, and Since no complicated setting operation related to the exercise ability of the subject is required, the optimum target exertion intensity value can be determined quickly and easily. Moreover, after passing the break point, the actual exertion intensity is increased at a predetermined speed following the increase target exertion intensity value, while the increase in the load of the exercise load device is suppressed more than before. Therefore, the burden on the subject for determining the optimal target exertion intensity value is reduced.

[0008]

Preferably, when the optimal target exertion intensity value is determined by the optimal target exertion intensity value determining means, the exercise load adjusting means increases the optimal target exertion intensity value. It is used in place of the target exertion intensity value. With this configuration, when the optimal target exertion intensity value is determined by the optimal target exertion intensity value determining unit, the exercise load adjusting unit uses the optimal target exertion intensity value instead of the increase target exertion intensity value, and Of the exercise load device is adjusted so that the exercise intensity of the subject matches the optimal target exercise intensity value. For this reason, each time the exercise of the living body is performed, after the optimal target exertion intensity is determined in the initial stage, immediately after the exercise, the initial intensity or existence of the anoxic exercise, which is the optimal target exercise intensity value suitable for the physical condition of the day. There is an advantage that the living body can be exercised with the maximum intensity of oxygen exercise.

Preferably, the apparatus further includes a turning point judging means for judging a turning point of an increase in the load of the exercise load device in accordance with an increase in the increasing target exertion intensity value by the increasing target exertion intensity value generating means. The optimal target exertion intensity value determining means determines an optimal target exertion intensity value lower than the exercise intensity value corresponding to the break point by subtracting a preset correction value from the exercise intensity value corresponding to the break point. Things. The preset correction value may be a preset constant value, but is preferably a value determined based on a predetermined relationship based on the age, sex, exercise ability, etc. of the living body. . In this way, the optimal target exertion intensity value is set to a value lower than the value corresponding to the break point of the increase in the exercise intensity value. As compared with the above, there is an advantage that the delay of the response of the living body compensates for the optimum target exertion intensity value becoming higher than the actual value.

Preferably, the apparatus further includes a turning point judging means for judging a turning point of an increase in the load of the exercise load device in accordance with an increase in the increasing target exerting intensity value by the increasing target exertion intensity value generating means. The optimal target exertion intensity value determining means subtracts a value corresponding to a delay time from when the exercise load is applied to the living body to when the blood pressure value or the pulse rate of the living body changes from the exertion intensity value corresponding to the break point. Thus, an optimum target exertion intensity value lower than the exertion intensity value corresponding to the breakpoint is determined. The value corresponding to the delay time is preferably determined based on the actual delay time from when the initial load is applied to the living body by the initial load raising means to when the blood pressure value or the pulse rate of the living body changes. You. In this way, the optimal target exertion intensity value is set to a value lower than the value corresponding to the break point of the increase in the exercise intensity value. As compared with the above, it is compensated that the optimum target exertion intensity value becomes higher than the actual value due to the delay of the response of the living body, and the optimal target exertion intensity value is determined.

Preferably, the control device of the exercise load device controls the living body based on the fact that the elapsed time from the application of the exercise load to the living body reaches a predetermined reference time. Exercise load end determination means for determining the end of application of the exercise load, and when the end of the application of the exercise load to the living body is determined by the exercise load end determination means, the exercise load on the living body is reduced by a preset reduction procedure. And exercise load termination processing means.
With this configuration, when the exercise load termination determining means determines that the application of the exercise load to the living body has been completed, the exercise load termination processing means automatically sets the exercise load on the living body according to a preset reduction procedure. As a result, the inconvenience caused by insufficient cooling down is prevented from occurring in the living body.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram illustrating a configuration of a control device of an exercise load device to which the present invention is applied, and includes a well-known ergometer 6 functioning as an exercise load device and a continuous blood pressure measurement device 8.

The continuous blood pressure measuring device 8 has a rubber bag in a cloth band-shaped bag and is wound around, for example, the upper arm 12 of a patient, and is connected to the cuff 10 via a pipe 20. A pressure sensor 14, a switching valve 16, and an air pump 18. The switching valve 16 is in a pressure supply state allowing the supply of pressure into the cuff 10,
It is configured to be able to switch between three states: a slow exhaust pressure state in which the inside of the cuff 10 is gradually exhausted, and a rapid exhaust pressure state in which the inside of the cuff 10 is quickly exhausted.

The pressure sensor 14 detects the pressure in the cuff 10 and outputs a pressure signal SP representing the pressure to the static pressure discriminating circuit 22.
And the pulse wave discrimination circuit 24. The static pressure discriminating circuit 22 includes a low-pass filter, and a cuff pressure signal S representing a steady pressure included in the pressure signal SP, that is, a cuff pressure.
K is discriminated and the cuff pressure signal SK is supplied to the electronic control unit 28 via the A / D converter 26.

The pulse wave discrimination circuit 24 includes a band pass filter, and a pulse wave signal SM which is a vibration component of the pressure signal SP.
₁ is discriminated in frequency and the pulse wave signal SM ₁ is supplied to the electronic control unit 28 via the A / D converter 29. The cuff pulse wave represented by the pulse wave signal SM ₁ is a pressure vibration wave generated from a brachial artery (not shown) and transmitted to the cuff 10 in synchronization with the heartbeat of the patient.

The electronic control unit 28 includes a CPU 30, R
The microcomputer 30 includes a so-called microcomputer having an OM 32, a RAM 34, an I / O port (not shown), and the like. The CPU 30 executes signal processing using a storage function of the RAM 34 according to a program stored in the ROM 32 in advance. Thus, a drive signal is output from the I / O port to control the switching valve 16 and the air pump 18 and control the display contents of the display 36.

As shown in detail in FIG. 2, the pressure pulse wave sensor 38 has an open end of a container-like housing 44 at a portion of the upper arm 12 on the downstream side of the artery of the patient to which the cuff 10 is attached, for example, at the wrist. Is detachably attached to the wrist by the wearing band 42 in a state of facing the skin 40. In the pressure pulse wave sensor 38, the housing 4
A pressing member 50 fixed to the diaphragm 46 is provided inside the housing 4 so as to be relatively movable and protrudable from an open end of the housing 44. A pressure chamber 45 is formed by the housing 44, the diaphragm 46, and the like. I have. The pressure chamber 45 is supplied with pressurized air from an air pump 56 via a pressure regulating valve 58, whereby the pressing member 50 has a pressing force P _HD corresponding to the pressure in the pressure chamber 45. It is pressed toward the radial artery 48 just below the epidermis 40.

The pressing member 50 is provided with a large number of semiconductor pressure-sensitive elements (not shown) on a flat pressing surface 51 of a semiconductor chip made of, for example, single crystal silicon. Pressure vibration waves transmitted from the radial artery 48 through the epidermis 40 by being pressed toward the radial artery 48 immediately below the epidermis 40 of the wrist, 1 pressure pulse wave
The pressure pulse wave signal SM ₂ representing the pressure pulse wave is detected at every beat, and
It is supplied to the electronic control unit 28 via the / D converter 52.

The CPU 30 of the electronic control unit 28
According to a program stored in the ROM 32 in advance,
Air pump 56 and pressure regulating valve 58 of pressing force adjusting device 54
A drive signal is output to the pressure chamber 45, and the pressure in the pressure chamber 45, that is, the pressing force against the epidermis of the pressing member 50, is determined as the optimum pressing value P _{HDP at} which a part of the tube wall of the radial artery 48 becomes flat, and the value is determined. Adjust to hold. That is, when measuring the continuous blood pressure of the living body, the optimum pressing force P of the pressing member 50 is determined based on the pressure pulse wave sequentially obtained in the pressure change process in the pressure chamber 45.
_HDP is determined, and the pressure regulating valve 58 is controlled so as to maintain the optimum pressing force P _HDP of the pressing member 50.

The setter 60 includes, for example, a keyboard, and outputs set values such as a correction value and an exercise period input by manual operation to the electronic control unit 28. Further, the clock circuit 62 records the current time in the electronic control unit 28 to record the detection time of the pressure pulse wave, the blood pressure value, or the like, or to record the time at the start of the exercise period and determine the end of the exercise period. Output to

The ergometer 6 is a movement mechanism, that is, a movement load device that is driven in association with the movement of the living body.
And an electromagnetic brake 68 operatively connected via a chain 66. The electromagnetic brake 68 controls the rotational resistance by, for example, adjusting the magnitude of the eddy current generated in the rotating disk, or controls the rotational resistance by adjusting the magnitude of the generated current induced in the rotating coil. Control. The electromagnetic brake 68 functions as an exercise load adjusting unit that changes an operation state of the exercise mechanism, thereby changing a load imposed on the living body during exercise.

FIG. 3 is a functional block diagram for explaining a main control function of the electronic control device 28 for controlling the exercise load device. In the figure, the cuff pressure control means 70 is a reference blood pressure measurement means which is activated prior to continuous blood pressure measurement, that is, prior to use of the ergometer 6, for example, for determination of the pressure pulse wave blood pressure correspondence shown in FIG. During the 72 measurement periods, the compression pressure of the cuff 10 is varied according to well-known measurement procedures. For example, after the cuff pressure control means 70 rapidly increases the compression pressure of the cuff 10 to a preset target pressure increase value of about 180 mmHg higher than the systolic blood pressure of the living body, the cuff pressure control means 70 measures 3 mmHg in the measurement section where the blood pressure determination algorithm is executed. When the blood pressure measurement is completed, the pressure of the cuff 10 is released.

The reference blood pressure measuring means 72 is provided in a measuring section prior to exercise load control by the exercise load adjusting means 84.
Based on the change in the magnitude of the cuff pulse wave generated as the pressure oscillation of the cuff 10 in the process of gradually reducing the compression pressure of the cuff 10, the systolic blood pressure value BP _SYS of the living body is calculated by the well-known oscillometric method, The blood pressure value BP _MEAN and the diastolic blood pressure value BP _DIA are respectively measured and displayed on the display 36.

When the blood pressure value is measured by the reference blood pressure measuring means 72 prior to the exercise of the living body by the ergometer 6, ie, exercise load control by the exercise load adjusting means 84, the pressure pulse wave blood pressure correspondence determining means 74 determines lower peak value P _Mmin of the pressure pulse wave magnitude P _M detected by the wave sensor 38
And the upper peak value P _Mmax and its reference blood pressure measuring means 72
The blood pressure value BP (the systolic blood pressure value BP _SYS , the diastolic blood pressure value BP _DIA ) measured according to the above is determined in advance for a predetermined living body. This correspondence is, for example, shown in FIG. 4, and is represented by an equation of EBP = α · P _M + β. Here, α is a constant indicating a slope, β is a constant indicating an intercept, and EBP is an estimated blood pressure value determined continuously.

The estimated blood pressure value determining means 76 determines the correspondence EB determined by the pressure pulse wave blood pressure correspondence determining means 74.
P = the f (P _M), based on the magnitude P _M of the pressure pulse wave detected sequentially by pressure pulse wave sensor 38, the estimated blood pressure value EB
P (systolic blood pressure EBP _SYS , diastolic blood pressure EBP _DIA ) are sequentially determined, and the determined estimated blood pressure EBP is displayed on the display 3.
6 is displayed as a continuous trend. The above-mentioned cuff pressure control means 70, reference blood pressure measurement means 72, pressure pulse wave sensor 38, pressure pulse wave blood pressure correspondence relation determination means 74, estimated blood pressure value determination means 76
However, it functions as a continuous blood pressure measuring means 78 that continuously measures the blood pressure value of the living body in a non-invasive manner in synchronization with the pulse.

The pulse rate calculating means 80 continuously calculates the pulse rate PR of the living body in synchronization with the pulse cycle based on the cycle of the pressure pulse wave output from the pressure pulse wave sensor 38, for example. The exercise intensity value calculating means 82 includes the pulse rate calculating means 8.
0 and the estimated blood pressure value EBP (for example, EB) measured by the continuous blood pressure measuring means 78.
P _SYS) is the product of exertion intensity values PRP (= PR × EB
P _SYS : Presure Rate Product) is sequentially calculated in synchronization with the pulse cycle.

The exercise load adjusting means 84 includes an ergometer 6
In the exercise period of the living body using, the actual exertion intensity PRP follows the target exertion intensity value PRP _M determined by the target exertion intensity value determining means 86, that is, the deviation (PRP _M -PRP) is eliminated. Thus, the load of the ergometer 6 is adjusted by the feedback control.
The straight line in FIG. 5 indicates the target exertion intensity value PRP _M determined by the target exertion intensity value determining means 86, and the one-dot chain line indicates the actual exertion intensity PRP that is followed by the feedback control.

The target exertion intensity value determining means 86 includes an increase target exertion intensity value generating means 88 for determining an increase target exercise intensity value which increases in the initial stage of exercise of the living body, that is, during the optimal target exercise intensity value determination period, and the optimal target intensity value. An optimal target exertion intensity value determining means 92 for determining an optimal target exertion intensity value PRP _MS within the exercise intensity value determination period is provided. The increase target exertion intensity value generation means 88 calculates the target exertion intensity PRP _M in the initial section of the exercise period of the living body as
An increase target exertion intensity value that increases at a predetermined speed is generated, for example, as shown by a solid line in a section from t _{0 to} t ₂ in FIG. This increase target exertion intensity value is a function of time, for example, it increases linearly with time.

The turning point judging means 90 uses the increased target exertion intensity value generated by the increase target exertion intensity value generating means 88 as the target exertion intensity value PRP _M so that the actual exertion intensity value PRP is calculated. During the period of time following the increase in the target exertion intensity value, the break point during the increase in the load of the ergometer 6 that occurs when the exercise intensity value approaches the anaerobic threshold is determined by the electromagnetic brake 68.
Is determined based on the braking torque of the motor or the output from the exercise load adjusting means 84 to the electromagnetic brake 68.

The optimum target exertion intensity value determining means 92
When folding point in the increase in the load of the ergometer 6 by the break point determining means 90 is determined, to determine the optimal target exertion intensity value PRP _MS based on the folding point of the load. For example, when the break point determining means 90 determines the break point F of the load of the ergometer 6 that increases with an increase in the increase target work strength value, the optimum target exertion strength value determining means 92 generates the break point F. A target exertion intensity value PRP _MS that is lower by a predetermined value than the exercise intensity value PRP _F corresponding to the time point, that is, the time point t _{1 in} FIG. 5 is determined. That is, the optimum target exertion intensity value determining means 92
Is a correction value C that is set in advance based on, for example, the age, gender, and athletic ability of a living body from a relationship obtained in advance.
_The optimum target exertion intensity value PRP _MS is determined by subtracting _PRP1 from the exercise intensity value PRP _F corresponding to the _turning point F described above. Alternatively, the optimal target exertion intensity value determining means 92 _calculates the value C _PRP2 corresponding to the delay time from when the load is applied to the living body to when the blood pressure value or the pulse rate of the living body changes in the initial section, at the _turning point F. Work intensity value PR corresponding to
Optimum target effort intensity value PRP by subtracting from P _F
Determine _MS .

Here, the turning point determination means 90 determines that the turning point F is set to a point after a few beats after the load of the ergometer 6 exceeds the value corresponding to the turning point F, is to determine quickly that it has occurred to time point t ₁ of the number of beats before time e.g. 5 than t ₂ when the time for example FIG. For example, break points determining means 90, a regression line KL of the load W _n of ergometer 6 which are sequentially determined in rising section of exertion intensity PRP in the initial interval, a predetermined decision which is determined around the regression line KL by load W _n which exceeds the reference range, for example, + 10% range is detected a predetermined number set in advance in succession to determine the breakpoint F. For example, in two-dimensional orthogonal coordinates composed of the time axis of FIG. 6 and the load axis of the ergometer 6, two or more continuous load values W _{m + 1} , W exceeding the judgment reference range indicated by the broken line.
_{If m + 2} is detected, the previous load value W
_It is determined that a break point F has occurred at the occurrence time t _{F2 of m} or the occurrence time t _F1 of the load value W _m−1 two times before, and the occurrence time t
_F2 or t _F1 in on the regression line KL value F ₂ or F
₁ is determined as a turning point F.

By determining the break point of the load on the ergometer 6 as described above, the optimum target exertion intensity value PR is determined.
When P _MS is determined, the exercise load adjusting means 84 replaces the increased target exertion intensity value generated by the increased target exertion intensity value generator 88 with the optimal target exertion intensity value P.
The RP _MS adopted as a control target, is thereafter it, so that the actual exertion intensity values PRP biological matches the optimum target exertion intensity value PRP _MS, modulate the load of the ergometer 6. The solid line in the section from t _{2 to} t _{3 in} FIG.
_PMS is shown, and the one-dot chain line shows the actual exertion intensity value PRP that is followed by the feedback control.

The exercise load end determination means 94 exercises the living body.
Elapsed time T since load was applied _ELBut for example exercise
A preset format for exercising the living body according to the prescription
Disconnection reference time T_STo the living body based on reaching
End of the exercise load to be applied is determined. End of exercise load
The processing means 96 is generated by the exercise load end determination means 94.
When it is determined that the exercise load has been applied to the body,
Reduce the exercise load on the living body with the preset reduction procedure
I do. This mitigation procedure involves loading in a predetermined order.
Decreased or reduced speed set in advance
And is continuously reduced. T in FIG._Three Or t_Four The section is
This state is shown.

FIG. 7 is a flowchart for explaining a main part of the control operation of the electronic control unit 28, and shows a routine for determining a target exertion intensity. In step S1 in the figure (hereinafter, the steps are omitted), it is determined whether or not the exercise load device has been activated by operating an operation button (not shown). When the exercise load device is activated by operating the operation button, the ergometer 6 is moved so that the exercise intensity PRP of the living body matches the target exercise intensity PRP _M shown in FIG.
A feedback control routine for adjusting the load of the vehicle is simultaneously executed.

First, an ergometer 6 serving as a basis for the present control.
With reference to FIG. 8, the feedback control of the exertion intensity in the above will be described first. At SB1 in FIG. 8, the estimated blood pressure value EBP determined for each beat by the continuous blood pressure measuring means 78.
_SYS is read, and subsequently, in SB2 corresponding to the pulse rate calculating means 80, the pulse rate PR is calculated for each beat from the cycle of the pressure pulse wave detected by the pressure pulse wave sensor 38, for example. At SB3 corresponding to the exertion intensity value calculating means 82, the actual exertion intensity value PRP (= EB) is determined based on the estimated systolic blood pressure value EBP _SYS and the pulse rate PR.
P _SYS × PR) is calculated. This effort intensity value PRP
Is used as an index of myocardial load and correlates with oxygen consumption. Next, at SB4,
The target exertion intensity value PRP _M determined in FIG. 7 is read.

At SB5 to SB8 corresponding to the exercise load adjusting means 84, the actual exertion intensity value PR
The electromagnetic brake 68 of the ergometer 6 is controlled so that P matches the target exertion intensity value PRP _M. That is, S
In B5, the actual exertion intensity value PRP is
Whether exceeds the RP _M is determined. If the determination in SB5 is denied, the actual exertion intensity value PRP has not yet reached the target exertion intensity value PRP _M , so that SB
At 6, the electromagnetic brake 68 in the previous cycle
Work (consumed kinetic energy) W by a predetermined change value ΔW
However, if the determination in SB5 is affirmative, the actual exertion intensity value PRP exceeds the target exertion intensity value PRP _M , and therefore, in SB7, the electromagnetic brake 68 in the previous cycle is increased. By subtracting a predetermined change value ΔW from the work W. Then, at SB8, the exciting current of the exciting coil, that is, the electromagnetic brake 6 is set so that the work W changed as described above is performed by the electromagnetic brake 68.
8 is adjusted.

Subsequently, in SB9, abnormality of the living body is determined. For example, it is determined whether or not the pulse rate PR calculated by the pulse rate calculation means 80 has exceeded a predetermined reference value. If the determination at SB9 is affirmative,
In SB10, an abnormal display indicating an abnormality of the living body
6 and the work W of the electromagnetic brake 68, that is, the rotational resistance of the ergometer 6, is made zero in SB11, and this routine and the routine of FIG. 7 are terminated. However, if the determination in SB9 is negative, this routine is repeatedly executed.

Returning to FIG. 7, if the judgment in S1 is denied, the process is suspended. If the judgment is affirmed, the living body starts to exercise using the ergometer 6. Work intensity P at 6
A preset initial value PRP ₀ is used as the target exertion intensity value PRP _M of the RP feedback control. The initial value PRP ₀ is such that the load of the ergometer 6 is about 20 W
(Watts).

[0039] Then, in S3 corresponding to the increase target exertion intensity value generating means 88, the target exertion intensity values PRP _M by adding the increment value ΔPRP previously set a target exercise intensity value PRP _M until then updates Then, the renewal is repeated for each control cycle, and as shown in the initial load increase section from t _{0 to} t _{2 in} FIG. 5, the increase target exertion intensity that increases linearly with time at a predetermined speed is generated. Can be The increase value ΔPRP is a value that determines an increase speed of the increase target exertion intensity.

At S4, the load W of the ergometer 6
(Watts) from the electronic control unit 28 to the electromagnetic brake 68
After being read based on an output signal to the ergometer 6, in S5 corresponding to the break point determination means 90,
It is determined whether or not the break point of the load W has occurred. By applying a load W that increases with time to the living body,
There is a property that the exertion intensity value PRP, which increases with the anoxic work threshold AT of the living body, increases at a higher rate than before at the turning point. As a result of increasing the exertion intensity value PRP at a constant speed, the load W of the ergometer 6 increases with the increase.
Increases at a lower rate or becomes substantially constant from the anoxic work threshold AT of the living body.

Since the determination in S5 is initially denied, S3 and subsequent steps are repeatedly executed. However, close to the anaerobic threshold of biological, as shown in t ₂ time in FIG. 5, when the generation of the breakpoint F is determined at S5, corresponding to the increase target exertion intensity value generating means 88 S3 Are stopped, and at the same time, S6 to S8 are executed. That is, at S6 corresponding to the optimum target exertion intensity value determining means 92, the time point when the break point F occurs, that is, t _{2 in} FIG.
From the exertion intensity value PRP _F corresponding to the time point, the age of the living body,
Correction value C set in advance based on gender, athletic ability, etc.
_PRP1 or by subtracting the value C _PRP2 corresponding to the delay time from the load to the living body is applied to its blood pressure of the living or pulse rate is changed in the initial interval, a predetermined value than the exertion intensity value PRP _F An optimal target exertion intensity value PRP _{MS that} is lower by ΔPRP is determined.

[0042] Next, in S7, by the optimum target exertion intensity value PRP _MS target exertion intensity value PRP _M, the target exertion intensity value PRP _M is updated. In the present embodiment, S2 to S7 correspond to the target exertion intensity value determining means 86. Then, in S8, the count of the timer counter CT _EL for counting the elapsed time T _EL of occurrence after the breakpoint is permitted. Thus, the ergometer 6 is set so that the target exertion intensity value PRP _M (optimum target exercise intensity value PRP _MS ) and the actual exertion intensity value PRP match.
The load is adjusted. T ₂ time in FIG. 5 shows this state.

Next, the exercise load end determination means 94
In the corresponding S9, the elapsed time T _ELBut for example exercise
A preset format for exercising the living body according to the prescription
Disconnection reference time T_SIs determined. at first
Since the determination at S9 is denied, the cow
Counter CT_ELCount contents T_EL"1" is added to
The contents of the count T_ELAfter the has been updated,
It is executed repeatedly. However, the judgment in S9 is affirmative.
Then, S1 corresponding to the exercise load end processing means 96
In 1, the exercise load end processing, that is, the cooling dow
Is executed, and the load applied to the living body is reduced
Reduced by the procedure. T in FIG._Three Or t_FourThe section is in this state
Is shown.

As described above, according to this embodiment, in the initial section of the movement of the living body using the ergometer 6 whose load is controlled by the exercise intensity feedback control, the predetermined target exercise intensity value generating means 88 (S3) determines the predetermined value. As the exertion intensity PRP of the living body is increased at the speed of, when the turning point F of the increase of the load W of the ergometer 6 increases, the turning point F is determined by the optimum target exertion intensity value determining means 92 (S6). Target effort intensity value PRP _MS based on
Is determined. In this manner, the actual exertion intensity PRP is increased at a predetermined speed following the increase target exertion intensity value, so that the break point F of the load W can be quickly generated regardless of the subject's cardiopulmonary function, In addition, since it does not require complicated setting operations related to the exercise ability of the subject,
The optimal target exertion intensity value PRP _MS can be determined quickly and easily. Moreover, after passing the turning point F, the actual exertion intensity PRP is increased at a predetermined speed following the increase target exertion intensity value, while the increase in the load W of the ergometer 6 is suppressed more than before. Runode, is subject burden for the determination of the optimum target exertion intensity value PRP _MS decreases.

Further, according to the present embodiment, as described above, the optimum target exertion intensity value determining means 92 (S6)
When optimum target exertion intensity value PRP _MS is determined based on that occasion point F, immediately the exercise adjusting means 84 (SB1 to SB8), the actual exertion intensity PRP to follow its target exertion intensity value PRP _M Since the load of the ergometer 6 is adjusted as described above, there is an advantage that an optimal load suitable for the physical condition of the day on which the living body exercises, that is, the initial intensity of the anaerobic exercise or the maximum intensity of the aerobic exercise is provided.

Further, in this embodiment, a turning point judging means for judging a turning point F at which the load W of the ergometer 6 rises with an increase in the increasing target exerting intensity value by the increasing target exertion intensity value generating means 88 (S3). 90 (S5), and the optimal target exertion intensity value determining means 92 (S6) determines the age, sex,
By subtracting the correction value C _PRP1 previously set based like exercise capacity from exertion intensity values PRP _F corresponding to Its corner F, exertion intensity values PRP _F corresponding to Its corner F
A lower optimal target exertion intensity value PRP _MS is determined. Further, the correction value ΔPRP may be a predetermined constant value, but is preferably a value determined based on the age, sex, exercise ability, and the like of the living body from a predetermined relationship. Therefore, the optimal target exertion intensity value PRP
_MS is the value PR corresponding to the turning point F of the increase in the exertion intensity value PRP
Since the value is set to a value lower than P _F , the optimum target exertion intensity value becomes smaller than the actual value due to the delay of the reaction of the living body, compared to the case where the value PRP _F corresponding to the break point F is used as the optimal target exertion intensity value. The advantage is that higher is compensated.

Also, in this embodiment, the increase target exertion intensity value
Increase in increase target exertion intensity value by generating means 88 (S3)
Of turning point F at which load W of ergometer 6 rises due to
A turning point determining means 90 (S5) is provided for
The crop strength determining means 92 (S6) applies an exercise load to the living body.
The blood pressure value or pulse rate of the living body changes after being given
C corresponding to the delay time until_PRP2Corresponds to the break point F
Exercise intensity value PRP _FBy subtracting
Exercise intensity value PRP corresponding to break point F_FLower than optimal eye
Effort strength value PRP_MSIs determined. That delay
Value ΔPRP corresponding to time_TwoPreferably load on the living body
The blood pressure value or pulse rate of the living body changes after the
The delay is determined based on the actual delay time. this
Therefore, the optimal target exertion intensity value increases the exercise intensity value PRP.
Value PRP corresponding to break point F_FSet to a lower value than
Therefore, the value PRP corresponding to the turning point F_FThe optimal goal exertion
Compared to the case of strength value, due to the delay of biological response
Optimal target work intensity PRP _MSIs higher than the actual value
Is compensated, and the optimal target exertion intensity value PRP_MSIs determined
You.

[0048] Further, the control unit of the exercise device of this embodiment, breakpoint F is generated elapsed time T set _EL in advance since the optimal exercise load is applied to the living body has been determined reference time T Exercise load end determining means 94 for determining the end of exercise load application to the living body based on reaching _S
(S9), when the exercise load end determination means 94 determines that the exercise load has been applied to the living body, the exercise load end processing means 96 (which reduces the exercise load on the living body by a preset reduction procedure) S11). For this reason, when it is determined that the exercise load end determining means 94 has finished applying the exercise load to the living body,
The exercise load termination processing means 96 automatically reduces the exercise load on the living body according to a preset reduction procedure, so that inconvenience due to insufficient cooling down is prevented from occurring in the living body.

Although the embodiment of the present invention has been described with reference to the drawings, the present invention can be applied to other embodiments.

For example, the optimum target effort strength in the above-described embodiment
The degree value deciding means 92 performs an effort corresponding to the time point
Strength value PRP_F, Age, gender, motor skills, etc.
Correction value C set in advance based on_PRP1Or the initial section
The blood pressure of the living body after the load is applied to the living body
Alternatively, a value C corresponding to the delay time until the pulse rate changes
_PRP2Is subtracted to obtain the exertion intensity value PRP_FYo
Optimum target effort intensity value PRP lower by a predetermined value ΔPRP
_MSWas determined, but it was corrected or
The corrected value is the optimum target exertion intensity value PRP_MSDecided as
Work intensity corresponding to the point of occurrence of break point F
Value PRP_FIs the optimal target work intensity PRP _MSAs well
The prima facie effect of Ming is obtained. In short, break point F
Exertion value PRP corresponding to the time of occurrence of_FBased on
Appropriate target work intensity PRP_MSShould be determined
You.

In the above embodiment, the pulse rate P
R and the estimated blood pressure value EBP are determined for each beat, and the exertion intensity value PRP is calculated for each beat. However, the exercise intensity value PRP is not necessarily calculated for each beat. It may be calculated.

[0052] In addition, the elapsed time T _EL of the foregoing examples, was the elapsed time from the time t ₂ the breakpoint F is determined,
A time elapsed from the time point t ₁ where the initial load rising section is started may be. In short, it only needs to be the elapsed time after the exercise load is applied to the living body.

Although the pressure pulse wave blood pressure correspondence in the above-described embodiment is of a primary type, if the pressure pulse wave sensor 38 is not pressed so as to keep the wall of the artery flat, the pressure pulse wave May be used.

The reference blood pressure measuring means 72 determines the reference blood pressure value based on the change in the cuff pulse wave in the process of gradually lowering the cuff pressure. The reference blood pressure value may be determined based on the change in the cuff pulse wave. In addition, the reference blood pressure determining means 72 determines the blood pressure value based on the change state of the magnitude of the pressure pulse wave that changes according to the compression pressure of the cuff 10 according to the so-called oscillometric method. The blood pressure value of the living body may be measured based on the occurrence and disappearance of Korotkoff sounds generated from the ten compression parts.

In the above-described embodiment, the ergometer 6 is used as the exercise load device. Instead, for example, a treadmill 100 as shown in FIG. 9 may be used. In this treadmill 100, an endless belt 104 provided on a base 102 is driven to rotate by an electric motor 106.
Exercise load is given by running the living body located above. This electric motor 106
For example, the load of the running motion of the living body is changed by changing its rotation speed in accordance with a command from the electronic control unit 28.

In addition, the present invention can be variously modified without departing from the gist thereof.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a control device of an exercise load device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a pressure pulse wave sensor and a pressing force control device of the embodiment of FIG. 1 in detail.

FIG. 3 is a functional block diagram for explaining a main part of a control function of the electronic control device in the embodiment of FIG. 1;

FIG. 4 is a diagram exemplifying a correspondence determined by a pressure pulse wave blood pressure correspondence determination unit in FIG. 3;

FIG. 5 is a time chart showing an exercise load controlled by the electronic control unit in the embodiment of FIG.

FIG. 6 is a diagram illustrating a method of determining a break point by a break point determining unit in FIG. 3;

7 is a flowchart illustrating a main part of a control operation of the electronic control device of the embodiment of FIG. 1, and is a diagram illustrating a target exertion intensity determination routine.

FIG. 8 is a flowchart illustrating a main part of a control operation of the electronic control device of the embodiment of FIG. 1, and is a diagram illustrating an exercise load control, that is, an exercise intensity feedback control routine of the ergometer 6;

FIG. 9 is a diagram illustrating a treadmill which is an exercise load device according to another embodiment of the present invention.

[Description of sign]

 6: Ergometer (exercise load device) 82: Exercise intensity value calculation means 84: Exercise load adjustment means 88: Increase target exercise intensity value generation means 90: Breakpoint determination means 92: Optimal target exercise intensity value determination means 94: End of exercise load Determination means 96: Exercise load end processing means 100: Treadmill (exercise load device)

Claims (5)

[Claims] 1. An exercise load device that is mechanically actuated in connection with the movement of a living body, wherein the exercise load is determined such that the optimum load of the living body is determined and the optimum load is applied during the movement of the living body. A control device for adjusting a load of the device, comprising: an exercise intensity value calculating unit that calculates an exercise intensity value that is a product of the blood pressure value and the pulse rate of the living body; and an actual effort calculated by the exertion intensity value calculation unit. Exercise load adjusting means for adjusting the load of the exercise load device so that the intensity matches the target exertion intensity value; and an increase target exercise intensity that increases at a predetermined speed as a target exercise intensity in an initial section of the exercise period of the living body. An increased target exertion intensity value generating means for generating a value, based on a turning point of an increase in the load of the exercise load device with an increase in the increased target exertion intensity value by the increased target exertion intensity value generating means. Control device for exercise apparatus characterized by an optimum target exertion intensity value determining means for determining an optimum target exertion intensity value comprises. 2. The exercise load adjusting means, wherein when the optimal target exertion intensity value is determined by the optimal target exertion intensity value determining means, the optimal target exertion intensity value is replaced with the increased target exercise intensity value. The exercise load control device according to claim 1, wherein: 3. The optimum target exertion intensity includes a break point judging unit for judging a turning point of an increase in the load of the exercise load device with an increase in the increase target exertion intensity value by the increase target exertion intensity value generating unit. The value determining means determines an optimal target exertion intensity value lower than the exertion intensity value corresponding to the break point by subtracting a preset correction value from the exertion intensity value corresponding to the break point. Item 6. The exercise load control device according to item 1 or 2. 4. An optimal target exertion intensity which includes a break point judging unit for judging a break point of a rise in the load of the exercise load device in accordance with an increase in the increase target exertion intensity value by the increase target exertion intensity value generating unit. The value determining means subtracts a value corresponding to a delay time from a change in blood pressure value or a pulse rate of the living body after the exercise load is applied to the living body from the exertion intensity value corresponding to the break point, 3. The exercise load control apparatus according to claim 1, wherein an optimal target exertion intensity value lower than the exercise intensity value corresponding to the break point is determined. 5. Exercise load end determining means for judging the end of the application of the exercise load to the living body based on the fact that the elapsed time since the exercise load was applied to the living body has reached a predetermined reference time. And exercise load termination processing means for reducing the exercise load on the living body by a preset lightening procedure when the exercise load termination determination means determines the end of the application of the exercise load to the living body. A control device for the exercise load device according to any one of 1 to 4.