KR101755704B1 - Method for strengthening muscular strength and athletic equipment using the same - Google Patents

Abstract

Measuring a user's strength to derive a weak strength vector; A target calculating step of calculating a target muscle force vector according to the weak muscle strength vector; A trajectory derivation step of deriving a trajectory of movement according to the target muscle force vector; And a motion guiding step of calculating a sum vector of a target muscle force vector as a tangent vector of the locus and calculating a sum vector of the target muscle force vector and causing the exercise device to move along the trajectory when the force applied by the user to the exercise device exceeds a threshold value vector The method of strengthening muscular strength by the included muscular part and the exercise apparatus using the same are introduced.

Description

TECHNICAL FIELD [0001] The present invention relates to a method for strengthening muscular strength of a muscle part,

The present invention relates to a muscular strength strengthening method for each muscle region which can automatically adjust an exercise load per real-time user to induce an effective muscle strength strengthening exercise, and a fitness device using the same.

Recent developments in welfare and medical technology as a result of improved quality of life have led to the rapid aging of human beings, and social attention has been focused worldwide on the prevention and treatment of aging. Muscle damage caused by sports causes muscular atrophy and muscle weakness. In addition, due to weakening of strength due to damage or aging, it interferes with normal life or interferes with improvement of quality of life.

The present invention relates to a control algorithm for performing a muscle strengthening exercise based on a virtual muscle model. In particular, the present invention relates to a system and a method for human muscle strengthening exercise by modeling virtual muscles by simplifying human muscles into three representative pairs of muscles and implementing the proposed control algorithm through a mechanism. Previous methods for rehabilitation and other muscle strengthening exercises have generally been rehabilitated by the choice of the weight through exercise aids, and the intensity is controlled by the user's judgment without an accurate measurement criterion. This is because the practitioner can not confirm to what degree the intensity is applied to the user and rather can cause side effects with an excessive impact (for example, in case of construction relaxation technique, in which case, And isometric contraction for about 5 seconds and stretching the muscle immediately after contraction).

The present invention provides an intelligent algorithm for the upper extremity muscle strengthening exercise to solve the conventional drawbacks as described above, so that the intensity applied according to the user's physical condition can be appropriately adjusted and effectively strengthened.

The present invention refers to an algorithm that effectively controls a mechanical system for strengthening muscular strength of the user's arms or legs. In particular, it refers to a control algorithm that allows a moving part of an arbitrary mechanical system to perform a motion when an external load is applied, and to strengthen the muscle strength of a particular muscle to be damaged or strengthened. In addition, by using a force / torque sensor, the user can measure a different muscle strength and activation level for each user, and then reflect the same on the muscle power system to reset the target exercise load level. Therefore, it is possible to automatically adjust the exercise load per user in real time to induce an effective muscle strengthening exercise.

  Specifically, the core technology of the present invention can be roughly divided into two parts: a user's strength measurement algorithm for each part and a strength training algorithm for each part. First, the muscle force per user is measured by vector-decomposing the maximum force output distribution of the user through the isometric exercise by placing a force / torque sensor at the extremity of the arm and leg muscle strengthening exerciser, The muscle strength of the representative muscles of the. Based on this, we compare it with the target muscle strength value of the general person or site and apply it to the muscle strengthening training program.

Second, a muscle-strengthening training algorithm is designed to strengthen the muscular strength of a particular area while the arm is performing normal exercise. Since the degree of the muscle to be activated varies depending on the joint value of the arm, by moving the overlapping trajectory of the activation trajectory of each muscle force obtained according to the target load of the muscle force to be strengthened, . Each trajectory has a tangential force vector threshold value of the trajectory according to the step size, and the corresponding joint torque is calculated with the resistance value as the target value, and the motor is operated. If the end external force that causes the exercise exceeds the target value, a system that induces the exercise is designed. Threshold value can be adjusted by additional switch operation and gradual load adjustment is possible.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

SUMMARY OF THE INVENTION It is an object of the present invention to enhance muscle strength of a specific muscle by appropriately adjusting the strength applied to the human body in consideration of the physical condition of the patient.

According to another aspect of the present invention, there is provided a method of strengthening muscle strength by muscle area, comprising: measuring a user's strength to derive a weak muscle strength vector; A target calculating step of calculating a target muscle force vector according to the weak muscle strength vector; A trajectory derivation step of deriving a trajectory of movement according to the target muscle force vector; And a motion guiding step of calculating a sum vector of a target muscle force vector as a tangent vector of the locus and calculating a sum vector of the target muscle force vector and causing the exercise device to move along the trajectory when the force applied by the user to the exercise device exceeds a threshold value vector .

Herein, the measuring step may derive the weak muscle strength vector by substituting the measured muscle strength from the user into the virtual muscle model.

In addition, the virtual muscle model includes a representative muscle item, and the measurement step may convert the measured muscle force from the user into a representative muscle item, and compare the measured representative muscle item with a predetermined average representative muscle item to derive the weakness force vector.

The target calculation step may be configured to obtain the target muscle force vector by multiplying the difference between the weak muscle strength vector and the vector of the average representative muscle item by the difficulty gain.

The motion guiding step may allow the user to calculate the threshold vector in such a manner that the sum vector is obtained at the point of the grip portion where the user exerts a force on the exercise device.

Meanwhile, in the motion guiding step, a plurality of check points may be designated along the tangent of the trajectory, and a threshold value vector at each check point may be determined so that the exercise device moves along the trajectory.

Meanwhile, the exercise device using the method for strengthening muscular strength according to the muscular part includes a grip part having a force sensor and receiving a force from a user; A joint part connected to the grip part and having an operating part for transmitting a driving force to the grip part and an encoder for measuring an operating angle of the operating part; And a trajectory data to which the grip part is to be moved. A checkpoint is placed on the trajectory to obtain a threshold value vector which is a tangent vector for each check point. When the force applied by the user exceeds a threshold value vector, And to move to the next check point.

Here, the threshold vector may be calculated by calculating a target muscle force vector according to a user's vulnerable muscle force vector, deriving a motion locus according to the target muscle force vector, and calculating a sum vector of the target muscle force vector as a tangent vector of the motion locus have.

According to the muscle strength strengthening method and the exercise apparatus using the muscle strength strengthening method according to the above-described structure, the user can receive the quantified values in real time through the feedback.

In addition, the muscular strength of a specific muscle can be effectively enhanced by adjusting the strength applied to the human body in consideration of the physical condition of the patient.

In addition, it is recommended to use the program for increasing the strength of the muscles, resistance exercise by the muscular part, autonomic resistance exercise by the user's intention, the muscle strengthening program suitable for the rehabilitation program, , Specific muscle injury rehabilitation training by repetitive athletic athlete's movements (such as pitching), biomechanical interpretation, athlete's specific muscle strengthening training program, sequential and gradual rehabilitation program based on human muscle activity Do.

FIG. 1 is a flowchart of a muscle strength strengthening method according to an embodiment of the present invention.
FIG. 2 is a view for explaining a measurement step of a muscle strength strengthening method for each muscle part shown in FIG. 1; FIG.
FIG. 3 is a view for explaining a target calculating step of the muscle strength strengthening method for each muscle part shown in FIG. 1; FIG.
FIGS. 4 to 5 illustrate a trajectory derivation step and a motion guidance step of the muscle strength strengthening method for each muscle part shown in FIG. 1;

Hereinafter, a method for strengthening muscular strength according to a preferred embodiment of the present invention and a fitness device using the same will be described with reference to the accompanying drawings.

FIG. 1 is a flowchart of a muscle strength strengthening method according to an embodiment of the present invention. The method for strengthening muscular strength according to the present invention includes: a measurement step (S100) of deriving a weak muscle strength vector by measuring a muscle strength of a user; A target calculating step (S200) of calculating a target muscle force vector according to the weak muscle strength vector; A locus derivation step (S300) of deriving a locus of motion corresponding to the target muscle force vector; And a motion guiding step S400 for calculating a sum vector of a target muscle force vector as a tangent vector of the trajectory and a motion mechanism for moving the motion mechanism along a trajectory when a force applied by the user to the motion mechanism exceeds a threshold value vector ).

The method for strengthening muscle strength of the present invention provides an intelligent algorithm for strengthening upper extremity muscles so that the intensity applied according to the user's physical condition can be appropriately adjusted and effectively strengthened. This is an algorithm that effectively controls the mechanical system for

In particular, it refers to a control algorithm that allows a moving part of an arbitrary mechanical system to perform a motion when an external load is applied, and to strengthen the muscular strength of a particular muscle to be damaged or strengthened. In addition, the force / torque sensor is used to measure a different muscle strength and activation degree for each user, and then reflects the magnitude and activation degree to the muscle power system to reset the target exercise load level. Therefore, it is possible to automatically adjust the exercise load per user in real time to induce an effective muscle strengthening exercise.

In order to realize this, the core technology of the present invention can roughly be divided into two parts: a user's strength measurement algorithm for each part and a muscle strengthening training algorithm for each part. First, the muscle force per user is measured by vector-decomposing the maximum force output distribution of the user through the isometric exercise by placing a force / torque sensor at the extremity of the arm and leg muscle strengthening exerciser, The muscle strength of the representative muscles of the. Based on this, we compare it with the target muscle strength value of the general person or site and apply it to the muscle strengthening training program.

 Second, a muscle-strengthening training algorithm is designed to strengthen the muscular strength of a particular area while the arm is performing normal exercise. Since the degree of the muscle to be activated varies depending on the joint value of the arm, by moving the overlapping trajectory of the activation trajectory of each muscle force obtained according to the target load of the muscle force to be strengthened, . Each trajectory has a tangential force vector threshold value of the trajectory according to the step size, and the corresponding joint torque is calculated with the resistance value as the target value, and the motor is operated. If the end external force that causes the exercise exceeds the target value, a system that induces the exercise is designed. Threshold value can be adjusted by additional switch operation and gradual load adjustment is possible.

To this end, the user performs a measurement step (S100) of measuring a muscle strength first through a measuring instrument and deriving a weak muscle strength vector. The measuring instrument measures the maximum strength of each subject in each direction based on the force sensor. Based on virtual muscle modeling, which is assumed to be a representative muscle, it is traced back to the force of each muscle. Then, compared with the existing gender / age average strength database, it derives the muscular part of the subject's weak muscles.

FIG. 2 is a view for explaining a measurement step of a muscle strength strengthening method for each muscle part shown in FIG. 1, in which the distribution of muscles is constituted by three vectors (Fe1, Ff1 / Fe2, Ff2 / Fe3 and Ff3) And shows the average strength 20 of the user to which the user belongs and shows the measured strength 10 of the user so that the weak part can be derived. The vectors in the three directions refer to the direction of the representative force measured through the force sensor at the hand tip when the arm muscle is taken as an example.

After this measurement, a weak force vector is derived. For example, in the case of the illustrated data map, a vector of two directions, that is, a direction vector of Fe1 and Fe2, can be derived as a target vulnerable muscle force vector. That is, in the measuring step S100, the weak muscle strength vector is derived by substituting the muscle force measured by the user for the virtual muscle model.

After the vulnerable muscle force vector is derived, a target calculation step S200 for calculating the target muscle force vector according to the weak muscle force vector is performed.

FIG. 3 is a diagram for explaining a target calculation step of the muscle strength strengthening method for each muscle part shown in FIG. 1. In the target calculating step, a vector matching a component of the muscle strength to be strengthened by the subject is determined based on virtual muscle modeling (The distal force vector corresponding to each virtual muscle model has different vector components depending on the position of the joint). In the present embodiment, the difference between the average value and the measured value in the directions of Fe1 and Fe2 can be derived as a representative target muscle force vector. As shown in FIG. 3, the arm force of the user can be divided into three vectors, which are measured at the distal end. Through this, a weak point is found and a difference between the weak point and the average value is set as a target, thereby intensively moving the corresponding part.

That is, the virtual muscle model includes a representative muscle item, and the measurement step S100 may include deriving the weak muscle strength vector by converting the muscle force measured by the user into the representative muscle item and comparing the measured muscle force item with the average representative muscle item .

The target calculating step S200 may also obtain the target muscle force vector by multiplying the difference between the weak muscle strength vector and the vector of the average representative muscle item by the difficulty gain.

In the target calculation step S200, the target muscle force increase amount and exercise time of each target muscle force vector are selected.

Thereafter, a trajectory deriving step (S300) of deriving a trajectory of movement according to the target muscle force vector is performed. FIGS. 4 to 5 are views for explaining a trajectory derivation step and a motion guidance step of the muscle strength strengthening method for each muscle part shown in FIG. 1. FIG.

As shown in FIG. 4, a virtual trajectory may be formed according to the directions of the target vectors Fe1 and Fe2, and an elliptical trajectory may be formed to set a rest point.

In the motion guiding step S400, a threshold vector, which is a tangent vector of the trajectory, is calculated by a method of obtaining a sum vector of the target muscle force vectors. When the force applied by the user to the exercising device exceeds the threshold vector, the exercise device is moved along the trajectory do. That is, in the motion guiding step S400, the sum vector is calculated at a point of the grip portion where the user exerts a force on the exercise device, thereby calculating the threshold vector.

Of course, the vectors of Fe1 and Fe2 for obtaining the threshold value vector may be obtained for each check point in advance in the measurement step, or the direction of Fe1 and Fe2 may be fixed and selected appropriately within an allowable absolute value along the locus It might be.

In other words, if the tangent vector is set as a threshold vector along the trajectory, and the force applied by the user exceeds the threshold value vector, if the driving unit is controlled to move the fitness device to the next stage, In order to be able to induce.

To this end, a plurality of check points may be specified along the tangent line of the trajectory, and a threshold value vector at each check point may be obtained so that the exercise apparatus moves along the trajectory. In the illustrated embodiment, the threshold vector is Fth1, which is the sum of Fe1 and Fe2, and then Fth2, Fth3, .... Fthi at the next checkpoint.

Specifically, a tangent vector which is a sum vector of target muscle force vectors corresponding to each trajectory for each predetermined check point is calculated as a threshold vector. If the user applies a load equal to or greater than the threshold vector to the tool, the tool moves to the next checkpoint and proceeds. The trajectory is generated as a continuous smooth curve in the tangential vector direction.

For example, the threshold vector (Fthi) at each check point for strengthening the relatively weak Fe2 and Fe1 muscles by the magnitudes A and B, respectively, is calculated as the sum vector of the two vectors as follows.

Fthi = {alpha * A * Fe1 * cos (Fth1i) + beta * B * Fe2 * cos (Fth2i)} i

+ {alpha * A * Fe1 * sin (Fth1i) + beta * B * Fe2 * sin (Fth2i)} j

If the user applies a load equal to or greater than the threshold value in the step, the process moves to the next step and repeats this step. For repetitive movements, the degree of motion is controlled by changing α and β for each cycle (α, β = 0.5 for 1 to 3 cycles, α, β = 0.8 for 4 to 5 cycles).
Here, Fth1i is an angle formed by Fe1 with the x-axis of the reference coordinate system, and Fth2i is an angle formed by Fe2 with the x-axis of the reference coordinate system.

The exercise device for performing the muscle strength strengthening method according to the present invention includes: a grip part having a force sensor for receiving a force from a user; A joint part connected to the grip part and having an operating part for transmitting a driving force to the grip part and an encoder for measuring an operating angle of the operating part; And a trajectory data to which the grip part is to be moved. A checkpoint is placed on the trajectory to obtain a threshold value vector which is a tangent vector for each check point. When the force applied by the user exceeds a threshold value vector, And to move to the next check point.

The threshold value vector may be calculated by calculating the target muscle force vector according to the user's vulnerable muscle force vector, deriving the motion locus according to the target muscle force vector, and calculating the sum vector of the target muscle force vector as the tangent vector of the motion locus have.

That is, the data measured by the measuring mechanism is transmitted to the controller, and the controller computes various vectors to measure the force of the user based on the force sensor, thereby operating the exercise machine operating unit.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

S100: measurement step S200: target calculation step
S300: trajectory derivation step S400: exercise guidance step

Claims (8)

Measuring a user's strength to derive a weak strength vector;
A target calculating step (S200) of calculating a target muscle force vector according to the weak muscle strength vector;
A locus derivation step (S300) of deriving a locus of motion corresponding to the target muscle force vector; And
A motion guiding step S400 of calculating a sum vector of target muscle force vectors by calculating a threshold vector which is a tangent vector of the locus and causing the exercise device to move along the locus when the force applied by the user to the exercise device exceeds a threshold value vector, ; ≪ / RTI > The method according to claim 1,
Wherein the measuring step S100 derives the weak muscle strength vector by substituting the muscle strength measured by the user into the virtual muscle model to derive the weak muscle strength vector. The method of claim 2,
The virtual muscle model includes a representative muscle item, and the measurement step (SlOO) derives the weak muscle strength vector by converting the muscle force measured by the user into a representative muscle item and comparing the measured muscle force item with an average representative muscle item prepared in advance Strengthening muscle strength by muscle area. The method of claim 3,
Wherein the target calculating step (S200) multiplies the difference between the weak muscle strength vector and the vector of the average representative muscle item by the difficulty gain to obtain the target muscle force vector. The method according to claim 1,
Wherein the motion guide step (S400) calculates a threshold value vector by calculating a sum vector at a point of a grip part where a user applies a force to the exercise device. The method according to claim 1,
Wherein the motion guide step S400 designates a plurality of check points along a tangent of the trajectory and obtains a threshold vector at each check point so that the exercise device moves along the trajectory. A grip portion receiving a force from a user and equipped with a force sensor;
A joint part connected to the grip part and having an operating part for transmitting a driving force to the grip part and an encoder for measuring an operating angle of the operating part; And
A trajectory data to which the grip part should be moved and a check point on the trajectory to obtain a threshold value vector which is a tangent vector for each check point. When the force applied by the user exceeds a threshold value vector, the operation part is operated to move the grip part to the next And a control unit for controlling the movement of the muscle to the check point. The method of claim 7,
Wherein the threshold vector is calculated by calculating a target muscle force vector according to a user's vulnerable muscle force vector, deriving a motion locus according to the target muscle force vector, and calculating a sum vector of the target muscle force vector as a tangent vector of the motion locus Muscle strengthening exercises by muscle.

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