KR101649935B1 - Treadmill speed control method using ANOVA of RR interval of ECG - Google Patents

Treadmill speed control method using ANOVA of RR interval of ECG Download PDF

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KR101649935B1
KR101649935B1 KR1020110091096A KR20110091096A KR101649935B1 KR 101649935 B1 KR101649935 B1 KR 101649935B1 KR 1020110091096 A KR1020110091096 A KR 1020110091096A KR 20110091096 A KR20110091096 A KR 20110091096A KR 101649935 B1 KR101649935 B1 KR 101649935B1
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South Korea
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treadmill
heart rate
electrocardiogram
speed control
speed
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KR1020110091096A
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Korean (ko)
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KR20130027712A (en
Inventor
정재훈
한영면
윤자웅
윤욱진
노연식
조승현
이종수
정인철
이계형
정상오
정운모
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주식회사 누가의료기
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Priority to PCT/KR2011/006899 priority patent/WO2013035916A1/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/065—Visualisation of specific exercise parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
    • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
    • A63B2230/062—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only used as a control parameter for the apparatus

Abstract

The present invention relates to a treadmill speed control method by analyzing the variance of an RR interval (heart rate interval) of an electrocardiogram, more specifically, detecting the ECG of the exerciser in real time, detecting the variance of heart rate and RR interval from the ECG, The present invention relates to a treadmill speed control method and apparatus for classifying the intensity of a movement felt by a user and automatically controlling the speed of a treadmill suitable for each user based on the classification.
The present invention provides an electrocardiogram detection unit comprising an electrocardiogram electrode, detecting an electrocardiogram signal, amplifying the electrocardiogram signal, removing noise, and converting the signal into a digital signal; The exercise prescription server receives the output electrocardiogram signal of the electrocardiogram detection unit and generates a treadmill speed control signal according to the variance of the heart rate and the RR interval obtained from the electrocardiogram signal through a host made of a PC or a smart phone, And a treadmill driven according to a speed control signal of the treadmill received through the host from the treadmill,

Figure 112011070247848-pat00037

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,
Is obtained.

Figure R1020110091096

Description

(Treadmill speed control method using ANOVA of RR interval of ECG)

The present invention relates to a treadmill speed control method by analyzing the variance of an RR interval (heart rate interval) of an electrocardiogram, more specifically, detecting the ECG of the exerciser in real time, detecting the variance of heart rate and RR interval from the ECG, The present invention relates to a treadmill speed control method and apparatus for classifying the intensity of a movement felt by a user and automatically controlling the speed of a treadmill suitable for each user based on the classification.

A conventional treadmill equipped with an electrocardiogram measuring device is configured such that a user sets his or her target heart rate and manually adjusts the target heart rate accordingly.

Also, in recent years, the treadmill is made to acquire the heart rate at the handle electrode of the treadmill, which decreases the heart rate by decreasing the velocity when the user's heart rate exceeds the target value in accordance with the preprogrammed motion.

These methods have the disadvantage of outputting the speed uniformly at the same speed at all times even when the user can exercise more sufficiently because the speed depending on one heart rate (HR) variable is output, or when the condition is not good In addition, there is also a disadvantage that the electrode portion of the treadmill must always be held and exercised.

In order to solve these drawbacks, there is a method of monitoring the HR by using equipment such as a polar system (electrocardiogram measurement system) equipped with an exercise program, a method of adjusting the speed by oneself, There is a way to manually change the speed.

The way you monitor your HR and adjust your speed does not allow you to concentrate on your workout. In other words, in this case, the user checks the measured heart rate at the grip type electrode, adjusts the speed and the inclination, and the user has to adjust the speed of the treadmill while checking his / her heart rate, have.

While it is best to manually change the speed while the trainer is monitoring the condition of the exerciser, additional costs (tutoring costs) will be spent.

Therefore, there is a demand for a treadmill exercise system that adjusts the speed of the treadmill in real time to the user by measuring the bio-signal in the treadmill exercise system.

In general, the variance of the RR interval decreases with stress (exercise load), and HR increases. The variance of the RR interval at rest is a variable representing the stress the autonomic nervous system receives. In the low intensity motion, the dispersion of the RR interval is very large and its dispersion decreases as the intensity increases.

From the viewpoint of RR interval (HR), the RR interval with high dispersion is a useful component in high-intensity motion classification, and in terms of dispersion of RR interval, dispersion of RR interval with high dispersion is useful component for low intensity movement.

Therefore, the present invention analyzes the electrocardiogram, calculates the variance of the heart rate and the RR interval, classifies the strength of the user's sensed exercise using these two parameters, and controls the treadmill speed based on the classified intensity, Strength analysis and adjustment of the treadmill speed are made in real time.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a treadmill suitable for each user by detecting the electrocardiogram of the exerciser in real time, detecting the heart rate and the variance of the RR interval from the electrocardiogram, And to provide a method and apparatus for treadmill speed control by analyzing the heartbeat interval variance, which automatically controls the speed in real time.

Another object of the present invention is to determine the activity of the user's autonomic nervous system using the heart rate (HR) information of the electrocardiogram collected in real time and the variance of the RR intervals and to calculate a proportional integral controller (PI) controller, and controlling the speed of the treadmill suitable for each user by automatically changing a proportional coefficient and an integral coefficient of the treadmill controller.

The treadmill speed control system of the present invention includes an electrocardiogram detector for detecting an electrocardiogram signal and converting the electrocardiogram signal into a digital signal by removing noise and providing an electrocardiogram electrode; A exercise prescription server that receives an output electrocardiogram signal of the electrocardiogram detection unit and generates a speed control signal of a treadmill according to a variance of a heart rate and an RR interval obtained from the electrocardiogram signal, through a host including a PC or a smart phone; And a treadmill driven according to a speed control signal of the treadmill received from the exercise prescription server through the host.

The exercise prescription server may determine the speed of the treadmill

Figure 112011070247848-pat00001

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,

.

The exercise prescription server adjusts the proportional constant Kc and the integral constant Ti according to the value of the RR interval dispersion in obtaining the speed of the treadmill.

The Kc

Figure 112011070247848-pat00002

, And the Ti is obtained by

Figure 112011070247848-pat00003

.

The present invention also provides a treadmill speed control method for controlling the speed of a treadmill by detecting an electrocardiogram, the method comprising the steps of: e (k) which is a value obtained by subtracting the current heart rate (PVf) of the exerciser from a predetermined target heart rate (SP)

Figure 112011070247848-pat00004
A first step of obtaining a first step; (K) obtained in the first step is multiplied by a proportional constant (Kc) to obtain a treadmill control speed Up (k), that is,
Figure 112011070247848-pat00005
; U I (k), which is a proportional action,

Figure 112011070247848-pat00006

  (Where Kc is a proportional constant, Ti is an integration constant, and? T is a sampling time of the system)

; Using U (k) obtained in the second step and U I (k) obtained in the third step, the treadmill control speed U (k)

Figure 112011070247848-pat00007

(Where u max = 90, u min = 8)

A fourth step of obtaining by the first step; Using the integration antiwindup on the result of the fourth step,

Figure 112011070247848-pat00008

And a step of obtaining the first image data.

The present invention also provides a treadmill speed control method for controlling the speed of a treadmill by detecting an electrocardiogram, the method comprising the steps of: e (k) which is a value obtained by subtracting the current heart rate (PVf) of the exerciser from a predetermined target heart rate (SP)

Figure 112011070247848-pat00009
; The exercise prescription server calculates the speed (u (k)) of the treadmill

Figure 112011070247848-pat00010

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,

; And a control unit.

Wherein the exercise prescription server adjusts the proportional constant Kc and the integral constant Ti according to the value of the RR interval dispersion in obtaining the speed of the treadmill.

According to another aspect of the present invention, there is provided an electrocardiogram detection apparatus comprising: an electrocardiogram detector for detecting an electrocardiogram signal and converting the electrocardiogram signal into a digital signal by removing noise; A host computer or a smart phone, receives an output electrocardiogram signal of the electrocardiogram detection unit, generates a treadmill speed control signal according to a dispersion of RR intervals obtained from the electrocardiogram signal, and generates a RRI-STD response ST-RRI-STD) of less than 5, a stable state, a warm-up, and a low intensity exercise at a time of 5 or more; And a treadmill driven according to a speed control signal of the treadmill received from the exercise prescription server through the host.

The exercise prescription server may determine the speed of the treadmill

Figure 112011070247848-pat00011

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,

And adjusting the proportional constant Kc and the integral constant Ti according to the value of the RR interval variance,

Figure 112011070247848-pat00012

, And the Ti is obtained by

.

The RRI-STD response to exercise stress (ST-RRI-STD) decreases Kc over 5 and reduces overall Rise time.

The RRI-STD reaction (ST-RRI-STD) is less than 5 interval for the exercise stress since the OverShoot heart rate expected, the Kc, I K (i.e., K I = Kc / Ti) decrease the value of a variable.

According to the treadmill speed control method of analyzing the heart rate variation of the present invention, the electrocardiogram of the exerciser is detected in real time, the variance of the heart rate and the RR interval is detected from the electrocardiogram, the intensity of the motion felt by the user is classified, The speed of the treadmill suitable for each user is controlled automatically in real time, and the user can exercise properly.

In other words, according to the treadmill speed control method of analyzing the heartbeat interval dispersion of the present invention, the heart rate (HR) information of the electrocardiogram collected in real time and the activity of the user's autonomic nervous system The proportional integral controller and the integrator coefficient of the proportional integral controller can be automatically changed to control the speed of the treadmill suitable for each user.

The target heart rate-based speed control treadmill used in conventional fitness clubs provides a uniform speed regardless of the user's condition.

However, when the present algorithm is mounted on a treadmill communicating with an electrocardiogram measuring apparatus according to the present invention, the following effects can be obtained.

First, the user does not have to adjust the speed, thus increasing the concentration on the workout and reducing the cost for the additional trainer.

Second, the user's condition can be reflected in the treadmill speed increase rate through the Gain Update algorithm of Kc and Ti.

Third, by measuring exercise intensity and heart rate at the same time, it provides the speed by judging the exercise intensity received by the user based on the RR interval and the heart rate of the electrocardiogram, thereby reducing the risk of dangerous exercise.

Fourthly, we control the speed so as not to receive unnecessary stress besides the stress caused by the exercise load by providing a gradual change in the exercise load after reaching and reaching the target heart rate. The unnecessary speed here is the speed change in the step waveform form.

Fifth, the ripple of the current heart rate after reaching the target heart rate can be maintained at 5 (BPM).

Sixth, it will be installed as an application on Android smartphone.

1 is a schematic diagram for schematically explaining a system for a treadmill speed control method by analyzing the heartbeat interval variance according to the present invention.
2 is a flowchart for controlling the speed of the treadmill 200 by the PI controller according to an embodiment of the present invention.
3 is a flowchart for controlling the speed of the treadmill 200 by the controller to which the gain update algorithm according to an embodiment of the present invention is applied.
4 shows a scheduling function according to the RR interval standard deviation used in the coefficient update.
FIG. 5 shows an example of motion data for 610 seconds when the target heart rate is 110. FIG.
Figure 6 is an explanatory diagram illustrating the effect when the parameter is independently increased.

Hereinafter, a treadmill speed control method through analysis of variance of heartbeat intervals according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In the present invention, the RRI is an R wave interval time interval of an electrocardiogram, that is, an RR interval, STD denotes a standard deviation (root), and ST denotes a short time, do. RRI-STD refers to the R-R Interval Standard Deviation, which means the standard deviation (root) of the data group that collects the R-wave and R-wave intervals in the electrocardiogram. ST-RRI-STD stands for Short Time R-R Interval Standard Deviation. It refers to the abbreviation of the method of obtaining the standard deviation by limiting the data cluster of RRI to 20 pieces.

FIG. 1 is a schematic view for explaining a system for a treadmill speed control method according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating a system for a treadmill speed control method according to an embodiment of the present invention. (400).

The electrocardiogram detection unit 100 includes means for detecting an electrocardiogram and includes an electrocardiogram electrode and an electrocardiogram preprocessor. The subject mounts the electrocardiogram electrode and performs exercise in the treadmill 200. The electrocardiogram detected by the electrocardiogram detecting unit 100 is transmitted to the server 400 through the host 300. [ Here, the electrocardiogram electrode may be formed of a belt type (Polar).

The host 300 is connected to the treadmill 200 via a RS232 communication with a PC or a smartphone, and the electrocardiogram detecting unit 100 is also connected. The host 300 receives the treadmill exercise program prescribed by the user from the external exercise prescription server 400. This treadmill exercise program consists of target heart rate and exercise time. Also, the host 300 receives the electrocardiogram detected by the electrocardiogram detecting unit 100 and transmits the electrocardiogram to the exercise prescription server 400.

The treadmill 200 is driven in accordance with the treadmill exercise program transmitted from the exercise prescription server 400 via the host 300. [

The exercise prescription server 400 processes and analyzes the electrocardiogram signal received from the electrocardiogram detecting unit 100 through the host 300 and generates a exercise prescription program in which the speed of the treadmill 200 is adjusted. The generated exercise prescription program is transmitted to the treadmill 200 via the host 300.

That is, the host 300 receives the treadmill exercise program and the electrocardiogram from the electrocardiogram detecting unit 100 from the exercise prescription server 400, and the exercise prescription server 400 adjusts the speed of the treadmill based on the information . In this method, the host 300 analyzes the information received from the two paths (the exercise prescription server 400, the electrocardiogram detecting unit 100) to the host 300, and the speed of the treadmill 200 is automatically controlled .

The algorithm of the present invention is based on the PID control method. Hereinafter, the speed control of the treadmill 200 performed by the exercise prescription server 400 of FIG. 1 will be described.

2 is a flowchart for controlling the speed of the treadmill 200 by the PI controller according to an embodiment of the present invention.

In FIG. 2, SP denotes a target heart rate (BPM), that is, a target heart rate, and PV denotes a heart rate of the current user.

During the treadmill exercise, the electrocardiogram detecting unit 100 transmits the RR interval of the ECG to the host 300 in real time. PV f is a value obtained by passing the current user's heart rate (PV) through a median filter, that is, the median-filtered current user's heart rate.

The difference between the target heart rate SP and the median filtered current user's heart rate PV f (hereinafter referred to as the current heart rate for convenience of explanation) is herein referred to as error (e (k)). e (k) is obtained by the following equation (1).

Figure 112011070247848-pat00014

Where e (k) is the difference between the target heart rate and the current heart rate (error).

Up (K), which is the result of the proportional action, is obtained by multiplying the error (e (k)) by the proportional gain (Kc: proportional constant) to produce the treadmill control speed.

Figure 112011070247848-pat00015

U I (k), which is the result of the Integral Action (the integration action of the difference between the current error and the previous error), is constructed in parallel with the Proportional Action by integrating the error (e (k)) to produce the treadmill control rate . We used Trapezoidal Integration to prevent sharp changes in integration action when there is a sudden change in PV f , SP. (3).

Figure 112011070247848-pat00016

  (Kc: proportional constant Ti: integral constant)

Here, Δt is the sampling time of the system, and Δt = 1 sec in this algorithm. Ti is the integral time in minutes. The speed of the treadmill is the sum of the two control speeds (proportional action speed + integral action speed) and is shown in Fig. 2 as u '(k). Actual velocity u (k) is created past the velocity limit u '(k) output limiting block of the treadmill. The following equation (4) is obtained.

Figure 112011070247848-pat00017

Here, the default value is u max = 90, u min = 8. This means that the maximum speed of the treadmill is 9 km / h and 0.08 km / h. This value can also be adjusted according to the athlete's jump jump ability. If it takes a long time to reach the SP (target heart rate), an integration windup phenomenon occurs, and the speed u (k) of the treadmill may saturate for a long time even after reaching SP (target heart rate) . To prevent this, integration antiwindup was used. (5).

Figure 112011070247848-pat00018

(6).

Figure 112011070247848-pat00019

(K) is the velocity of the treadmill at time k, Kc is the proportional gain to obtain the treadmill control velocity, e (k) is the target heart rate (SP) at time k, (PV f ), Ti is the integral time in minutes.

As the algorithm of FIG. 2 approaches SP (target heart rate), the gradient of Speed decreases. However, due to the characteristics of the heart rate system integrator, the phenomenon that the target heart rate is greatly exceeded (overshoot, the user feels burdened by sudden speed change) occurs.

If the SP is in the high-intensity range of motion, the HR overshoot is more likely to occur. In addition, when applying the same target heart rate (SP) to several people, HR over shoot response characteristics are all different. However, if you reduce the system gain (Kc, Ti), some people will get overdamping (too much time to reach the target heart rate) and take too long to reach the SP. Thus, the present invention considers a system in which the gain changes according to the degree of stress of the exercise which is different for each individual.

3 is a flowchart for controlling the speed of the treadmill 200 by the controller to which the gain update algorithm according to an embodiment of the present invention is applied.

FIG. 3 shows a further gain update algorithm added to the algorithm of FIG.

A block indicated by a solid line in FIG. 3 is a block that gives a change in gain according to the user's condition in real time.

The RR interval of the user's electrocardiogram is fed back to the update algorithm block, and the stress of the user's motion is analyzed in this block. We used the standard deviation of the RR interval (root) to represent the stress of the user as the variables to be used for the analysis. Standard deviation (ST-RRI-STD) was used. FIG. 3 shows a system for receiving the RRI in real time from the electrocardiogram detecting unit 100 and updating the Kc and Ti parameters to provide a treadmill speed.

FIG. 4 shows a scheduling function according to the RR interval standard deviation used in the coefficient update. In the present invention, the Gain Update function as shown in FIG. 4 is used. The Kc and Ti parameters are adjusted according to the value of RRI STD (dispersion).

The value of Kc (= Kp), Ti is variable according to the scheduling function of FIG. 4, and the independent variable is ST-RRI-STD in the scheduling function. Thus, the independent variables Kp and Ti are determined. To 4.5 (* 10 -3 ), and Ti is represented by a solid line in the range of 4 to 1 (* 10 3 ).

Equation (7) represents an equation for deriving a constant {Kc (proportional constant) Ti (integral constant)} of the speed control system.

Figure 112011070247848-pat00020

When the RRI of the user in motion in the treadmill is fed back to the Update Algorithm block, the RRI STD value is calculated and the value is multiplied by the Kc (x) proportional constant , Ti (x) ) The integral constant is determined and the proportional and integral constant applied to the system is updated. As a result, the rate of increase or decrease of the treadmill speed depends on the exercise stress received by the user.

The RRI-STD response to exercise stress was divided into two sections. ST-RRI-STD was defined as a high-intensity entry zone of 5 or less, and a stable state, warm-up, and low intensity movement at 5 or higher.

Table 1 shows the effect of Kp (proportional constant) Ki (integral constant).

Figure 112011070247848-pat00021

In the fifth or less high intensity exercise entry section, so that the heart rate OverShoot estimated, in accordance with Table 1, thereby Kp (Kc = Kp), K I (K I = Kc / Ti), reducing the value of the variable. As shown in Table 1, the effect is longer Rise time (target heart rate arrival time) and overshoot is decreased.

In the interval of 5 or more (low intensity, warm up), the total rise time is reduced by decreasing Kc. On the other hand, the Ki factor is increased to prevent the overdamping response (because the rate of increase is very slow due to the decrease of the Rise time = the heart rate increases very slowly), and at the same time, the effect of the warm-up is taken into account. Increasing the Ki coefficient does not directly affect the increase in velocity, but compared to having only a small proportional constant, Kp, the error between the target heart rate and the current heart rate is multiplied by the cumulative Ki and the speed is increased more rapidly.

6, the present invention applies the PID control method theory to the heart rate and the treadmill. The role of the parameters (Kp, Ki) in the PID theory is described with reference to Table 1. The table of FIG. 6 shows a general theory of how the system response reacts when each parameter is increased in the PID control. RiseTime refers to the time to reach the target-heart rate in contrast to the system of the present invention, This last point is called the settling time, the magnitude of the transient response is the overshoot, and the change of the heartbeat in the steady state is the steady-state error. Stability is the possibility that the system can emit.

FIG. 5 shows an example of motion data for 610 seconds when the target heart rate is 110. FIG.

5 is a chart showing the treadmill speed (thin dotted line) and the current heart rate (solid line) when the target heart rate (long dotted line) is set to 110 and exercise.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, .

100: electrocardiogram detection unit 200: treadmill 300: host 400: exercise prescription server

Claims (17)

An electrocardiogram detector for detecting an electrocardiogram signal by amplifying the electrocardiogram signal and converting the electrocardiogram signal into a digital signal by removing the noise;
A exercise prescription server that receives an output electrocardiogram signal of the electrocardiogram detection unit and generates a speed control signal of a treadmill according to a variance of a heart rate and an RR interval obtained from the electrocardiogram signal, through a host including a PC or a smart phone;
A treadmill driven according to a speed control signal of the treadmill received from the exercise prescription server through the host;
The treadmill speed control system comprising:
The exercise prescription server may determine the speed of the treadmill
Figure 112016028748763-pat00022

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,
≪ / RTI >
The exercise prescription server adjusts the proportional constant Kc and the integral constant Ti according to the value of the RR interval dispersion in obtaining the speed of the treadmill,
The Kc
Figure 112016028748763-pat00023

And the treadmill speed control system is provided with a treadmill speed control system. delete delete delete The method according to claim 1,
The Ti
Figure 112015103315766-pat00024

And the treadmill speed control system is provided with a treadmill speed control system. A treadmill speed control method for controlling the speed of a treadmill by detecting an electrocardiogram
E (k) which is a value obtained by subtracting the current heart rate (PVf) of the exerciser from the predetermined target heart rate (SP)
Figure 112016028748763-pat00025
A first step of obtaining a first step;
(K) obtained in the first step is multiplied by a proportional constant (Kc) to obtain a treadmill control speed Up (k), that is,
Figure 112016028748763-pat00026
;
U I (k), which is a proportional action,
Figure 112016028748763-pat00027

(Where Kc is a proportional constant, Ti is an integration constant, and? T is a sampling time of the system)
;
Using U (k) obtained in the second step and U I (k) obtained in the third step, the treadmill control speed U (k)
Figure 112016028748763-pat00028

(Where u max = 90, u min = 8)
A fourth step of obtaining by the first step;
And,
In the fourth step, using integration anti-windup,
Figure 112016028748763-pat00029

Further comprising the step of:
In the second step, Kc is
Figure 112016028748763-pat00044

Wherein the treadmill speed is determined by the treadmill speed control method. delete A treadmill speed control method for controlling the speed of a treadmill by detecting an electrocardiogram
E (k) which is a value obtained by subtracting the current heart rate (PVf) of the exerciser from the predetermined target heart rate (SP)
Figure 112016028748763-pat00030
;
The exercise prescription server calculates the speed (u (k)) of the treadmill
Figure 112016028748763-pat00031

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,
;
/ RTI >
In determining the speed of the treadmill, the exercise prescription server adjusts the proportional constant Kc and the integral constant Ti according to the value of the RR interval variance,
Figure 112016028748763-pat00032

And the treadmill speed is calculated by the following equation. delete delete 9. The method according to any one of claims 6 to 8,
The Ti
Figure 112016028748763-pat00033

Wherein the treadmill speed is determined by the treadmill speed control method. An electrocardiogram detector for detecting an electrocardiogram signal by amplifying the electrocardiogram signal and converting the electrocardiogram signal into a digital signal by removing the noise;
A host computer or a smart phone, receives an output electrocardiogram signal of the electrocardiogram detection unit, generates a treadmill speed control signal according to a dispersion of RR intervals obtained from the electrocardiogram signal, and generates a RRI-STD response ST-RRI-STD) of less than 5, a stable state, a warm-up, and a low intensity exercise at a time of 5 or more;
A treadmill driven according to a speed control signal of the treadmill received from the exercise prescription server through the host;
The treadmill speed control system comprising:
The exercise prescription server may determine the speed of the treadmill
Figure 112016028748763-pat00034

(K) is a proportional constant, e (k) is a difference between a target heart rate at a time point k and a heart rate of a median-filtered current user, and Ti is an integration constant, u (k) is a velocity of a treadmill at a time k,
,
The proportional constant Kc and the integral constant Ti are controlled according to the value of the RR interval dispersion,
The Kc
Figure 112016028748763-pat00035

And a treadmill speed control system for controlling the treadmill speed control system. delete delete 13. The method of claim 12,
The Ti
Figure 112016028748763-pat00036

And the treadmill speed control system is provided with a treadmill speed control system. 13. The method of claim 12,
Wherein the RRI-STD response to exercise stress (ST-RRI-STD) decreases Kc in the range of 5 or more, thereby reducing the overall rise time. The method of claim 12, wherein
Characterized by RRI-STD reaction (ST-RRI-STD) for the exercise stress is because the OverShoot heart rate expected in less than 5, intervals, Kc, K I (i.e., K I = Kc / Ti) decrease the value of a variable A treadmill speed control system.
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