WO2009084495A1

WO2009084495A1 - Exercise assisting system

Info

Publication number: WO2009084495A1
Application number: PCT/JP2008/073273
Authority: WO
Inventors: Takahisa Ozawa; Youichi Shinomiya; Kazuhiro Ochi; Takao Gotou
Original assignee: Panasonic Electric Works Co., Ltd.
Priority date: 2007-12-28
Filing date: 2008-12-22
Publication date: 2009-07-09
Also published as: TW200934552A; EP2233178A1; TWI377078B; CN101909702B; KR20100108412A; US20100267534A1; CN102652869A; JP5033198B2; JPWO2009084495A1; CN101909702A

Abstract

Disclosed is an exercise assisting system, which comprises a support portion (1) for supporting the body of a user, and a drive device (2). The support portion (1) includes a pair of foot rests (4) having placing portions (40), on which the user places the right and left feet individually. The drive device (2) is constituted such that the body of the user is so moved by the support portion (1) that the loads to be applied to the lower limbs of the user may change. The exercise assisting system further comprises a tilting device (A). This tilting device (A) includes a load detecting unit (5), a tiling mechanism unit (6) and a control unit (8). The load detecting unit (5) is composed of two load sensors (50) mounted individually on the outer side portions (40a) and the inner side portions (40b) of the placing portions (40). The tiling mechanism unit (6) is so constituted as to incline the placing portions (40) to the outer sides or inner sides of the feet. The control unit (8) is constituted to control the tiling mechanism unit (6) so that the difference between the loads detected individually by the two load sensors (50) may become small.

Description

Exercise assistance device

The present invention relates to an exercise assisting device that can obtain an exercise effect without performing spontaneous (active) exercise.

Conventionally, various exercise assisting devices that give a movement effect to the user by passive movement have been proposed. The passive movement is an exercise in which the user expands and contracts the muscle group by applying an external force to the user's body without spontaneously exerting the muscle strength. That is, by using such an exercise assisting device, the user can obtain the same exercise effect as when the muscles are spontaneously exerted.

As a configuration of this type of exercise assisting device, a configuration that promotes expansion and contraction of muscle groups related to the joint by bending and stretching of the joint, and a configuration that expands and contracts muscle groups by stimulating the body and causing the reflection of the nervous system Is known.

Also, the posture during use varies depending on the muscle group to be expanded and contracted. For example, there is an exercise assisting device used in a standing position by a user. In particular, Japanese Laid-Open Patent Publication No. 2003-290386 and Japanese Laid-Open Patent Publication No. 10-55131 describe devices that simulate walking motion.

The training apparatus described in the Japanese Patent Publication No. 2003-290386 has a pair of steps for placing the left and right feet respectively. In the training apparatus, the user is caused to perform a pseudo skating operation by combining each step with a forward / backward / left / right linear reciprocating motion. That is, the nervous system is reflexed so as to maintain balance by shifting the position of the user's center of gravity back and forth and left and right, and the muscle group is expanded and contracted. Therefore, the user does not need to exercise voluntarily or actively, and can simply move on the step and move dynamically as the step moves. In addition, the walking experience device described in Japanese Patent Laid-Open No. 10-55131 has a configuration in which a pair of left and right walking plates are driven by a walking plate horizontal drive device. The walking experience device is used for walking training and virtual reality experience.

The devices disclosed in Japanese Patent Laid-Open Publication No. 2003-290386 and Japanese Patent Laid-Open Publication No. 10-55131 are used when a person with knee pain or the like trains a lower limb. There are many. Here, the main cause of knee pain is knee osteoarthritis. Osteoarthritis develops when the skeleton of the lower limbs such as the O and X legs is distorted, that is, when the load axis of the lower limb (the axis passing through the hip and ankle joints) is out of the center of the knee for a long time. There is a case. Therefore, in order to prevent knee pain, it is important to eliminate the distortion of the skeleton of the lower limbs. However, in the devices disclosed in Japanese Patent Laid-Open No. 2003-290386 and Japanese Patent Laid-Open No. 10-55131, no consideration is given to eliminating the distortion of the limb skeleton. It was.

The present invention has been made in view of the above points, and an object of the present invention is to provide an exercise assisting device that can eliminate the distortion of the limb skeleton.

The exercise assisting device according to the present invention includes a support unit that supports the user's body and a driving device. The support portion includes a pair of foot support bases having placement portions on which the left and right feet of the user are respectively placed. The said drive device is comprised so that a user's body may be moved by the said support part so that the load concerning a user's leg may be changed. The exercise assisting device according to the present invention further includes a tilting device. The tilting device includes at least a part of the placement unit so that a difference between a load applied to the outer side corresponding to the outer side of the foot and a load applied to the inner side corresponding to the inner side of the foot is reduced. Is configured to be inclined.

According to the present invention, at least a part of the mounting part is inclined so that the difference between the load applied to the outer part of the mounting part and the load applied to the inner part becomes small. Therefore, when the load applied to the outer side of the placement unit is larger than the load applied to the inner side (that is, when it is an O-leg), the inner side of the lower limb is greater than when the foot width direction is horizontal. The load that is applied increases. Thereby, the muscle group inside the lower limb can be trained intensively. On the other hand, when the load applied to the inner part of the placement part is greater than the load applied to the outer part (that is, when it is an X leg), the outer side of the lower limbs is greater than when the foot width direction is horizontal. The load that is applied increases. Thereby, the muscle groups outside the lower limbs can be trained intensively. Therefore, in either case of the O leg or the X leg, it is possible to improve the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limbs. As a result, distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). In addition, the user can be exercised in a state in which the balance of the load on the lower limb is adjusted (the load applied on the outer side of the lower limb and the load applied on the inner side are substantially equal). As a result, the load on the knee joint is reduced, so that knee pain during exercise (during exercise) can be alleviated. Therefore, even a person who feels knee pain during walking or the like can perform passive movement without difficulty.

In a preferred embodiment, the tilting device includes a load detection unit that is provided on the foot support and detects a load applied to the mounting unit, and a tilting mechanism unit that tilts at least a part of the mounting unit to the outside or the inside of the foot. And have. Furthermore, the tilting device has a control unit that controls the tilting mechanism unit based on the magnitude of the load detected by the load detection unit.

According to the present invention, at least a part of the placement portion is inclined outward or inward of the foot based on the magnitude of the load detected by the load detection portion. Therefore, the inclination of the placement unit can be set to be suitable for the user.

In a more preferred form, the load detection unit is composed of two load sensors provided on each of the outer part and the inner part of the mounting part. The control unit is configured to control the tilting mechanism unit so that a difference between loads detected by the two load sensors is small.

According to the present invention, the load applied to the outer portion and the load applied to the inner portion of the placement portion are detected. Therefore, it is possible to correctly grasp the distortion of the user's lower limbs. Therefore, the inclination of the mounting portion can be set to be suitable for the user.

In a more preferred form, the load detection unit is composed of a load sensor provided on either the outer part or the inner part of the mounting part. The control unit is configured to obtain a difference between the load applied to the outer side and the load applied to the inner side by comparing the magnitude of the load detected by the load sensor with a predetermined threshold value.

According to the present invention, only one load sensor is required. Therefore, cost reduction can be achieved.

A is a block diagram of the principal part of the exercise assistance apparatus of Embodiment 1, and B is a schematic sectional drawing of the principal part of the exercise assistance apparatus same as the above. It is a top view of the exercise assistance apparatus same as the above. It is operation | movement explanatory drawing of the exercise assistance apparatus same as the above. FIG. 9 is an operation explanatory diagram of the exercise assistance device according to the second embodiment. It is operation | movement explanatory drawing of the principal part in the other example of the exercise assistance apparatus same as the above. It is operation | movement explanatory drawing of the principal part in the other example of the exercise assistance apparatus same as the above. The other example of the exercise assistance apparatus same as the above is shown, A is a schematic side view, B is a schematic top view.

(Embodiment 1)
The exercise assisting device of the first embodiment is used by being installed on the floor. As shown in FIGS. 1 and 2, the exercise assisting device includes a support portion 1 that supports the body of a user M (see FIG. 3), a drive device 2, and a housing 3. Here, the support unit 1 includes a pair of foot support bases 4 on which the left and right feet of the user M are placed. The drive device 2 is configured to move the body of the user M with the pair of foot support bases 4 so that the load applied to the lower limbs of the user M with the left and right feet respectively placed on the pair of foot support bases 4 changes. ing. The housing 3 accommodates the support portion 1 and the driving device 2.

The housing 3 has a rectangular parallelepiped base plate 30 that serves as a mount for mounting on the floor. On the base plate 30, a pair of foot support 4 and the driving device 2 are arranged. In this embodiment, the base plate 30 has a rectangular parallelepiped shape, but the outer peripheral shape of the base plate 30 is not particularly limited. In the following, for the sake of simplicity, it is assumed that the upper surface (one surface in the thickness direction) of the base plate 30 is parallel to the floor surface with the base plate 30 placed on the floor. Therefore, the top and bottom in FIG. 1B are the top and bottom when the exercise assisting device is used.

An upper plate 31 is disposed above the base plate 30. The housing 3 is formed by joining the base plate 30 and the upper plate 31. In the following description, the direction of the arrow X in FIG. In FIG. 2, the upper plate 31 is not shown.

The upper plate 31 is provided with two opening windows 31a that expose the pair of foot support bases 4 in the thickness direction. Each opening window 31a is opened in a rectangular shape. However, each opening window 31 a is inclined with respect to the front-rear direction of the housing 3 at the center line along the longitudinal direction. Further, the distance between the center lines of the respective opening windows 31 a is larger on the front end side of the housing 3 than on the rear end side.

The pair of foot support bases 4 each have a mounting portion 40 made of a footrest plate on which one foot of the user M is placed. In the following description, the foot support base 4 on which the left foot of the user M is placed is referred to as a left foot support base and is denoted by reference numeral 4A as necessary to distinguish the pair of foot support bases 4. Further, the foot support 4 on which the right foot of the user M is placed is referred to as a right foot support and is denoted by reference numeral 4B. Further, the pair of foot support bases 4 has a similar structure. Therefore, only the left foot support 4A will be described with reference to FIG. 1B, and the description of the right foot support 4B will be omitted.

The left foot support 4A has a mounting portion 40 on which the left foot of the user M is placed. The placement unit 40 is formed in a rectangular plate shape. The magnitude | size of the mounting part 40 is a magnitude | size which can mount the user's M whole leg | foot. A material or shape that increases the coefficient of friction is used for a placement surface (upper surface in FIG. 1B) on which the user M places his / her foot in the placement unit 40.

The mounting unit 40 is provided with a load detection unit 5 that detects a load applied to the mounting unit 40. The load detection unit 5 has two load sensors 50. One load sensor 50 (hereinafter, denoted by reference numeral 50A as necessary) is provided in an outer portion (left portion in FIG. 1B) 40a corresponding to the outer side of the foot in the placement portion 40. The other load sensor 50 (hereinafter, indicated by reference numeral 50B as necessary) is provided in an inner portion (right portion in FIG. 1B) 40b corresponding to the inner side of the foot in the placement portion 40. That is, the load detection unit 5 includes a load sensor 50A used for detecting a load applied to the outer side portion 40a and a load sensor 50B used for detecting a load applied to the inner side portion 40b. In addition, as the load sensor 50, the sensor formed using the semiconductor is employable. Further, as the load sensor 50, a load cell using a strain gauge or the like can be adopted.

A base portion 41 that pivotally mounts the placement portion 40 is disposed below the placement portion 40 (between the placement portion 40 and the base plate 30). A side wall portion 42 protrudes from the surface of the base portion 41 facing the inner portion 40b of the mounting portion 40 (upper surface in FIG. 1B). A tilting shaft portion 43 for pivotally mounting the placement portion 40 is formed at the distal end portion of the side wall portion 42. Correspondingly, a tilt bearing portion 44 having a shaft hole 44 a for the tilt shaft portion 43 is provided on the lower surface (back surface) of the inner portion 40 b of the placement portion 40. Here, the tilting shaft portion 43 is formed such that the central axis direction thereof is a direction along the front-rear direction of the user M's foot. Therefore, by rotating the mounting part 40 around the tilting shaft part 43, the mounting part 40 may be tilted outward (left side in FIG. 1B) or inward (right side in FIG. 1B) of the left foot of the user M. it can. When the mounting unit 40 is tilted, the mounting surface on which the user M puts his / her foot in the mounting unit 40 is also tilted.

By the way, the foot support 4 is provided with an inclination adjusting part 45 for adjusting the inclination of the mounting part 40. The inclination adjusting unit 45 includes a rack 45 a provided on the lower surface side of the outer side portion 40 a of the placement unit 40. In addition, the inclination adjustment unit 45 includes a gear 45 b provided on the base unit 41. The gear 45b meshes with the rack 45a. Further, the inclination adjustment unit 45 includes an adjustment motor 45c formed of a stepping motor (pulse motor) that rotates the gear 45b in both forward and reverse directions. Note that an insertion hole 41a for the rack 45a is provided in the base portion 41 in the thickness direction.

The inclination adjusting unit 45 drives the adjusting motor 45c to rotate the gear 45b in the forward direction or the reverse direction. As a result, the rack 45a moves up and down with respect to the gear 45b, and the distance between the mounting portion 40 and the base portion 41 on the other side in the width direction of the foot support 4 (the outer portion 40a of the mounting portion 40) is increased. change. Therefore, the inclination of the mounting part 40 changes. 2, illustration of the base part 41, the side wall part 42, the tilting shaft part 43, the tilting bearing part 44, and the tilt adjusting part 45 is omitted.

As described above, the left foot support 4A includes a load detection unit 5 that detects a load applied to the placement unit 40 (a load applied by the left foot of the user M), and the placement unit 40 on the outside of the foot (left foot) or A tilt mechanism 6 that tilts inward is provided. Similarly, the right foot support 4B includes a load detection unit 5 that detects a load applied to the placement unit 40 (a load applied by the right foot of the user M), and the placement unit 40 on the outer side or the inner side of the foot (right foot). And a tilting mechanism 6 that tilts toward the center. In the following description, in order to distinguish the load detection unit 5 and the tilting mechanism unit 6 between the left foot support 4A and the right foot support 4B, the load detection unit 5 of the left foot support 4A is denoted by reference numeral 5A as necessary. The tilting mechanism unit 6 is represented by reference numeral 6A. Further, the load detection unit 5 of the right foot support 4B is represented by reference numeral 5B, and the tilting mechanism unit 6 is represented by reference numeral 6B.

Also, a pair of bearings 46 are provided integrally with the base portion 41 on the lower surface of the base portion 41. The pair of bearings 46 are separated from each other in the width direction of the placement portion 40. A bearing plate 47 having a U-shaped cross section opened upward is pivotally attached to the base portion 41. For the pivot attachment of the bearing plate 47, both leg pieces 47a of the bearing plate 47 and the shaft portion 48 passing through both the bearings 46 are used. Thus, the shaft portion 46 is disposed along the width direction of the placement portion 40. Further, the mounting portion 40 can be rotated around the shaft portion 48 such that the longitudinal direction of the mounting portion 40 moves up and down with respect to the bearing plate 47. In FIG. 1B, the bearing 46, the bearing plate 47, and the shaft portion 48 are not shown.

Incidentally, the bearing plate 47 is attached to the upper surface of a footrest cover (not shown). The footrest cover is slidably attached to the base plate 30. A carriage 70 is attached to the lower surface of the footrest cover. The carriage 70 is formed in a U-shaped cross section that is open on the lower surface.

Two wheels 71 are attached to the outer surface of the carriage 70. Two rails 72 are fixed to the upper surface of the base plate 30 for each of the left foot support 4A and the right foot support 4B. The carriage 70 is placed on the rail 72 so that the wheel 71 rolls in a rail groove 72 a provided on the upper surface of the rail 72. Further, a derailment prevention plate (not shown) is fixed to the upper surface of the rail 72 in order to prevent the wheel 71 from falling off the rail groove 72a.

By the way, the longitudinal direction of the rail 72 is different from the longitudinal direction of the opening window 31 a provided in the housing 3. As described above, the opening window 31a is inclined such that the center line in the longitudinal direction is larger at the front end side of the housing 3 than at the rear end side. Further, the longitudinal direction of the rail 72 is similarly inclined with respect to the longitudinal direction of the housing 3.

However, in the rail 72, the angle with respect to the front-rear direction of the housing 3 is larger than that of the opening window 31a. For example, if the angle of the housing 3 with respect to the longitudinal direction is 30 degrees in the longitudinal direction of the opening window 31a, the longitudinal direction of the rail 72 is set to 45 degrees. That is, the longitudinal direction of the rail 72 is the left foot support 4A along the rail 72 in a state where the foot is placed on the left foot support 4A and the right foot support 4B and the center line of the foot is aligned with the longitudinal direction of the opening window 31a. And even if the position of the foot is changed by moving the right foot support base 4B, the shearing force is not applied to the knee. Further, the longitudinal direction of the left foot support 4A and the right foot support 4B is set to make an angle of, for example, about 9 degrees with respect to the front-rear direction (the direction of the arrow X). As a result, when standing on the left foot support 4A and the right foot support 4B, the user's legs are not twisted and become a natural standing position. In the present embodiment, as a desirable operation, an example is shown in which the left foot support base 4A and the right foot support base 4B move along a moving path that combines the front-rear direction and the left-right direction. However, the left foot support 4A and the right foot support 4B can be moved in the front-rear direction and the left-right direction depending on the direction in which the rail 72 is arranged.

The above configuration allows the left foot support 4A and the right foot support 4B to reciprocate along the longitudinal direction of the rail 72. Here, the longitudinal direction of the rail 72 is inclined with respect to the center line of the longitudinal direction of the opening window 31a. Therefore, the mounting portion 40 moves in the direction intersecting the longitudinal direction in the opening window 31a. That is, the cart 70, the wheel 71, and the rail 72 described above function as the guide unit 7 that restrains the movement path of the left foot support 4A and the right foot support 4B. In addition, in FIG. 1B, the guide part 7 is simplified and shown.

The driving device 2 is provided to move the pair of foot support bases 4 respectively. In the drive device 2, a drive motor 20 including a rotary motor is employed as a drive source that generates a drive force for moving the pair of foot support bases 4. In addition, the drive device 2 includes a system separation unit 21 and a reciprocating drive unit 22. The system separation unit 21 is configured to separate into two systems so as to transmit the driving force generated by the drive motor 20 to the left foot support 4A and the right foot support 4B, respectively. The reciprocating drive unit 22 is configured to reciprocate the carriage 70 along the rail 72 using the driving force. In the present embodiment, a configuration is adopted in which the driving force generated by the drive motor 20 is separated by the system separating unit 21 and the separated driving force is transmitted to the reciprocating motion unit 22. However, the driving force of the reciprocating drive obtained by the reciprocating drive unit 22 can be separated into two systems by the system separating unit 21.

The system separation unit 21 includes a worm (first gear) 21a and a pair of worm wheels (second gear) 21b. The worm 21 a is connected to the output shaft 20 a of the drive motor 20. Each worm wheel 21b is meshed with the worm 21a. The worm 21 a and the two worm wheels 21 b are housed in a gear box (not shown) fixed to the base plate 30. A pair of bearings (not shown) are attached in the gear box. The pair of bearings are configured to support both longitudinal ends of the worm 21a.

Rotating shaft 21c housed in the gear box is inserted through worm wheel 21b. Here, the worm wheel 21b and the rotating shaft 21c are coupled so that the rotating shaft 21c rotates as the worm wheel 21b rotates. A coupling portion 21d is formed at the upper end of the rotating shaft 21c. The coupling portion 21d has a non-circular cross section (rectangular shape in the illustrated example).

The reciprocating motion unit 22 includes a crank plate 22a, a crankshaft 22b, and a crack rod 22c. One end of the crank plate 22a is coupled to the coupling portion 21d of the rotating shaft 21c. The crank rod 22c is coupled to the crank plate 22a via a crank shaft 22b. Here, one end of the crankshaft 22b is fixed to the crank plate 22a. The other end of the crankshaft 22b is held by a bearing 22d held by one end of the crank rod 22c. That is, one end of the crank rod 22c is rotatably coupled to the crank plate 22b. The other end of the crank rod 22c is coupled to the carriage 70 using a shaft body 22e. Therefore, the other end portion of the crank rod 22c is rotatably coupled to the carriage 70.

As is clear from the above-described configuration, the crank rod 22c functions as a conversion mechanism that converts the rotational force of the worm wheel 21b into the reciprocating movement of the carriage 70. The crank rod 22c is provided for each worm wheel 21b. The cart 70 is provided separately for the left foot support 4A and the right foot support 4B. Therefore, the crank rod 22c functions as a conversion mechanism that converts the rotational force of the worm wheel 21b into reciprocal movement between the left foot support 4A and the right foot support 4B.

As described above, the movement path of the carriage 70 is restricted by the wheels 71 and the rails 72. Therefore, the carriage 70 reciprocates along the longitudinal direction of the rail 72 with the rotation of the worm wheel 21b. Here, the driving force of the drive motor 20 is transmitted to the crank plate 22b via the worm 21a and the worm wheel 21b. Therefore, the carriage 70 reciprocates on a straight line along the rail 72 by the crank rod 22c coupled to the crank plate 22b. As a result, the mounting portion 40 coupled to the carriage 70 reciprocates along the rail 72. In this way, the left foot support 4A and the right foot support 4B reciprocate in the longitudinal direction of the rail 72.

In this embodiment, the driving force is separated into two systems by the worm 21a and the two worm wheels 21b. And it uses as driving force of 4 A of left foot support bases, and 4 A of right foot support bases for every system | strain. Therefore, the drive device 2 drives the left foot support 4A and the right foot support 4B in association with each other. Here, the position where each worm wheel 21b meshes with the worm 21a is different by 180 degrees. Therefore, when the left foot support 4A is located at the rear end of the movement range, the right foot support 4B is located at the front end of the movement range. The rear end in the moving range of the left foot support 4A is the right end of the moving range of the left foot support 4A. On the other hand, the front end in the movement range of the right foot support 4B is the right end of the movement range of the right foot support 4B. Therefore, in the left-right direction, the left foot support 4A and the right foot support 4B move in the same direction.

As is clear from the above-described configuration, a phase difference in the movement between the left foot support 4A and the right foot support 4B can be appropriately provided depending on the position where the worm 21a and the worm wheel 21b are engaged with each other. In the case of standing and standing on the left foot support 4A and the right foot support 4B, it is preferable to give a phase difference of 180 degrees as in this embodiment. In this way, the user can be used even if the balance function is lowered because the center of gravity movement in the front-rear direction of the user is reduced. Conversely, if the phase difference is not provided, the center-of-gravity movement in the front-rear direction of the user increases. Therefore, it is useful not only for the exercise of the muscles of the legs, but also for the exercise of the muscles such as the back of the back to maintain the balance function.

By the way, each foot support 4 can be rotated around the shaft portion 48. Therefore, the height positions of the front end portion and the rear end portion of the placement portion 40 can be changed. In other words, by changing the height positions of the toe and the heel of the foot placed on the placement unit 40, the ankle joint can be bent and dorsiflexed. In the present embodiment, the following configuration is adopted in order to interlock the rotation of the mounting portion 40 around the shaft portion 48 with the reciprocating movement along the rail 72. That is, a guide surface (not shown) having an inclined surface at least in part along the movement path of the mounting portion 40 is formed on the base plate 30. In addition, a copying projection (not shown) that contacts the guide surface is provided on the lower surface of the base portion 41. A roller that rolls on the guide surface is provided at the tip of the copying projection. However, instead of providing a roller, the material and shape of the tip of the copying projection may be selected so that the coefficient of friction with respect to the guide surface is small.

In the case where the above-described configuration is provided, when each leg support 4 reciprocates as the drive motor 20 rotates, the copying projection comes into contact with the inclined surface provided on the guide surface. At this time, the angle of the mounting portion 40 and the base portion 41 with respect to the base plate 30 changes as the base portion 41 rotates around the shaft portion 48. Thus, plantar flexion and dorsiflexion of the ankle joint are performed.

In the exercise assistance device of the present embodiment, the control of the drive device 2 (the operation control of the drive motor 20 of the drive device 2) and the control of the tilt mechanism unit 6 (the operation control of the adjustment motor 45c of the tilt mechanism unit 6) are: This is performed by the control unit 8.

The control unit 8 includes, for example, a microcomputer. The controller 8 controls the power supplied to the drive motor 20 and the adjustment motor 45c from a power source (not shown), thereby starting and stopping the operation of the drive motor 20, adjusting the rotation speed, and the like. The control unit 8 starts the operation of the drive motor 20 when a switch (not shown) provided in the housing 3 is turned on, and stops the operation of the drive motor 20 when the switch is turned off. It is configured.

Further, the control unit 8 is configured to adjust the inclination of the mounting unit 40 by supplying pulse power from the power source to the adjustment motor 45c of the tilting mechanism unit 6.

Here, the control unit 8 refers to the detection result of each load detection unit 5 when adjusting the inclination of the placement unit 40. The control unit 8 controls the tilting mechanism unit 6 (tilts the mounting unit 40) such that the difference between the loads detected by the two

load sensors

50A and 50B constituting the load detection unit 5 is reduced. In particular, in the present embodiment, the control unit 8 is configured so that the difference between the two

load sensors

50A and 50B is substantially zero (in other words, the loads detected by the two

load sensors

50A and 50B are equal). 6 is controlled.

Therefore, in the exercise assisting apparatus according to the present embodiment, the load detection unit 5 including the two load sensors 50, the tilting mechanism unit 6, and the control unit 8 are configured so that the load applied to the outer side portion 40a of the placement unit 40 and the inner side portion thereof. The tilting device A that tilts the placing portion 40 is configured so that the difference from the load applied to 40b becomes small.

Hereinafter, the operation of the exercise assisting device of the present embodiment will be described. In the initial state, it is assumed that the switch is off and the left foot support base 4A and the right foot support base 4B are located at predetermined initial positions. In this initial position, the left foot support 4A and the right foot support 4B are located at the same position in the front-rear direction. That is, at the initial position, the left foot support 4A and the right foot support 4B are aligned on a straight line in the left-right direction. Therefore, when the user M sits on the left foot support 4A and the right foot support 4B in the initial position, the straight line drawn from the center of gravity of the user M in the vertical direction is between the left foot support 4A and the right foot support 4B. It will pass through almost the center.

The inclination of the mounting unit 40 is adjusted so that the loads detected by the

load sensors

50A and 50B become equal as described above. Therefore, in the initial state, before the user M places his / her foot on the foot support 4, the placement surface of the placement portion 40 is substantially horizontal.

Here, when the user M places both feet on the foot support 4, the following operation is performed.

For example, when the load applied to the outer portion 40a of the mounting portion 40 is larger than the load applied to the inner portion 40b (that is, when the user M is an O-leg as shown in FIG. 3A), the mounting portion 40 is tilted by the tilting device A so that the outer portion 40a is positioned above the inner portion 40b (in other words, inward) (see FIG. 3B). Moreover, the mounting part 40 is tilted until the difference between the loads detected by the two

load sensors

50A and 50B becomes zero as described above. In this way, when the outer portion 40a of the placement portion 40 is positioned above the inner portion 40b, the foot width direction is horizontal (the placement surface of the placement portion 40 is a horizontal plane). Increases the load on the inside of the lower limbs. Therefore, the muscle group inside the lower limb can be trained intensively. However, it is not always necessary to set the difference between the loads to 0 in a strict sense, as long as it can be considered that there is almost no difference between the loads.

On the other hand, when the load applied to the inner portion 40b of the mounting portion 40 is larger than the load applied to the outer portion 40a (that is, when the user M is an X leg), the mounting portion 40 is moved to the tilting device A. Therefore, the inner portion 40b is inclined so as to be positioned above the outer portion 40a (in other words, outward). Moreover, the mounting part 40 is tilted until the difference between the loads detected by the two

load sensors

By the way, when the load applied to the outer part 40a of the mounting part 40 is equal to the load applied to the inner part 40b (that is, when the user M is not the O leg or the X leg), the mounting part 40 is It cannot be tilted by the tilting device A.

To operate the exercise assisting device from the initial state described above, the switch may be turned on. When the switch is turned on, the control unit 8 supplies power to the drive motor 20, whereby the operation of the drive motor 20 is started. When the operation of the drive motor 20 is started, the left foot support base 4A and the right foot support base 4B change the position in the front-rear direction, and also change the position in the left-right direction as the position changes in the front-rear direction. Here, the left foot support 4A and the right foot support 4B reciprocate on a straight line along the rail 72, and the left foot support 4A and the right foot support 4B move in a direction different from the front-back direction of the foot. For example, it moves in a direction that forms 45 degrees with respect to the front-rear direction of the housing 3. This moving distance is, for example, about 20 mm.

Furthermore, simultaneously with the left foot support 4A and the right foot support 4B reciprocatingly moved along the rail 72, the mounting portion 40 and the base portion 41 are rotated around the shaft portion 48. When the mounting portion 40 moves forward, the copying projection rises on the inclined surface of the guide surface. Therefore, the ankle joint is dorsiflexed at the front end positions of the left foot support base 4A and the right foot support base 4B, and the ankle joint is bent at the rear end positions of the left foot support base 4A and the right foot support base 4B. The position of the shaft portion 48 is set in the vicinity of the heel on the sole, and the angle between the bottom flexion and the dorsiflexion is set to about 10 degrees with respect to the reference plane with the upper surface of the base plate 30 as the reference plane. It should be noted that the relationship between the front and back positions of the left foot support 4A and the right foot support 4B and the bottom flexion and dorsiflexion can be reversed from the above example. Further, the angle of the bottom flexion and the dorsiflexion with respect to the reference plane may be varied. These operations can be easily realized by appropriately setting the shape of the guide surface.

The exercise assistance device of the present embodiment causes the user M to perform a passive movement by moving the left foot support 4A and the right foot support 4B as described above.

As described above, according to the exercise assisting device of the present embodiment, the mounting portion 40 is inclined so that the difference between the load applied to the outer portion 40a of the mounting portion 40 and the load applied to the inner portion 40b is reduced. . Therefore, when the load applied to the outer side portion 40a of the placement portion 40 is larger than the load applied to the inner side portion 40b (that is, when it is an O-leg), the foot width direction is horizontal. Increases the load on the inside of the lower limbs. Thereby, the muscle group inside the lower limb can be trained intensively. On the other hand, when the load applied to the inner part 40b of the mounting part 40 is larger than the load applied to the outer part 40a (that is, when it is an X leg), the foot width direction is horizontal. Increases the load on the outside of the leg. Thereby, the muscle groups outside the lower limbs can be trained intensively. Therefore, in either case of the O leg or the X leg, it is possible to improve the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limbs. As a result, distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). In addition, knee pain during exercise (during training) can be relieved. Therefore, even a person who feels knee pain during walking or the like can perform passive movement without difficulty.

Further, the load applied to the outer portion 40a and the load applied to the inner portion 40b of the placement portion 40 are detected by the two

load sensors

50A and 50B of the load detection portion 5, respectively. Therefore, it is possible to correctly grasp the distortion of the user's lower limbs. And the mounting part 40 is inclined to the outer side or inner side of a leg | foot by controlling the tilting mechanism part 6 so that the difference between the load detected by each of these two

load sensors

50A and 50B may become small. Therefore, the inclination of the placement unit 40 can be set to be suitable for the user M.

By the way, the configuration of the tilting mechanism unit 6 is not limited to the above example. For example, the tilting mechanism unit 6 has a conventionally known configuration such as a rotation motor and a feed screw, a rotation motor and a belt, a rotation motor and a pantograph mechanism, a linear motion mechanism using a solenoid, and a linear motion mechanism using an airbag. Can be adopted.

In the configuration example described above, the system separation unit 21 includes a worm 21a and a worm wheel 21b. This system separation unit 21 enables transmission between the output shaft 20a of the drive motor 20 and a rotation shaft 21c that rotates together with the worm wheel 21b, and performs deceleration. However, the system separation unit 21 may be configured to perform transmission between the right axis of the output shaft 20a of the drive motor 20 and the rotation shaft 21c by a belt. In this case, a pulley around which a belt is wound is used instead of the worm wheel 21b. Further, the worm 21a can be omitted.

Furthermore, in the above configuration example, the output shaft 20 a of the drive motor 20 is disposed along the upper surface of the base plate 30. Here, when the output shaft 20a is disposed so as to be orthogonal to the upper surface of the base plate 30, the rotational force is transmitted and the system is separated by a combination of spur gears, not a combination of the worm 21a and the worm wheel 21b. It is possible. In this configuration, the spur gear can be replaced with a pulley, or a rotational force can be transmitted between the pulleys by a belt.

The configuration of the reciprocating drive unit 22 is not limited to the configuration using the crank plate 22a and the crank rod 22c. For example, in the configuration of the reciprocating drive unit 22, a cam follower that transmits the rotational force of the drive motor 20 to the grooved cam to rotate the grooved cam and follows the cam groove of the grooved cam is used instead of the crank rod 22c. It is also possible to adopt a configuration. In this type of configuration, a configuration using a grooved cam having a rotating shaft parallel to the output shaft 20a of the drive motor 20 can be employed instead of the worm wheel 21b. In this case, the rotational force can be transmitted from the output shaft 20a to the grooved cam by a pinion.

Furthermore, it is possible to employ a configuration in which only one grooved cam is used and the rotational force of the output shaft 20a of the drive motor 20 is transmitted to the grooved cam. In this case, two cam followers are arranged in the cam groove of the grooved cam. Thereby, the functions of the system separating unit 21 and the reciprocating drive unit 22 can be realized by the grooved cam and the cam follower.

In the above example, the guide surface is provided on the base plate 30, and the copying projection is provided on the base 41. However, even if the guide surface is provided on the base 41 and the copying projection is provided on the base plate 30, the operation is the same.

Incidentally, the exercise assisting device of the present embodiment has a load detection unit 5. Therefore, the exercise assisting device automatically sets the inclination of the placement unit 40. However, the load detection unit 5 is not necessarily provided. That is, the user may be able to manually set the inclination of the placement unit 40 based on the state of his / her legs (for example, whether the leg is the X leg or the O leg). In this case, for example, an operation unit (not shown) for operating the tilting mechanism unit 6 may be provided in the housing 3.

In addition, although the structure of the exercise assistance apparatus of this embodiment is a structure which mounts and uses on a floor, the structure embedded and used for a floor may be sufficient. In addition, it is possible to appropriately select whether to adopt a configuration in which a fixed position is adopted as the exercise assisting device or a configuration in which position movement is possible. The points described above are the same in the second embodiment described later.

(Embodiment 2)
The exercise assisting device of the present embodiment is different from that of the first embodiment in the configuration of the tilting device A. In addition, since the other structure of the exercise assistance apparatus of this embodiment is the same as that of Embodiment 1, the same code | symbol is attached | subjected about the same structure and description is abbreviate | omitted.

In the tilting device A in the present embodiment, the load detection unit 5 includes a load sensor 50 that detects a load applied to the inner portion 40b of the placement unit 40, as shown in FIGS. 4A to 4C. That is, unlike the first embodiment, the load detection unit 5 in the present embodiment includes only one load sensor 50.

The control unit 8 in the present embodiment controls the tilting mechanism unit 6 based on the load detected by the one load sensor 50. Here, the control unit 8 is configured to obtain a difference between the load applied to the outer side portion 40a and the load applied to the inner side portion 40b by comparing the magnitude of the load detected by the load sensor 50 with a predetermined threshold value. ing. As the predetermined threshold value, a load applied to the inner portion 40b when the load is applied evenly to the outer portion 40a and the inner portion 40b of the placement portion 40 by the user M can be employed. In this case, the difference between the load applied to the outer portion 40a and the load applied to the inner portion 40b is determined depending on how much the load detected by the load sensor 50 deviates from the threshold value. The predetermined threshold can be estimated from the weight of the user M. Accordingly, the user M inputs his / her weight in advance to the exercise assisting device when using the exercise assisting device. Further, the predetermined threshold value can be estimated from the detection result of the load sensor 50 of the load detection unit 5 of each foot support 4.

Further, the control unit 8 has a determination value in addition to the threshold value as a value to be compared with the load detected by the load sensor 50. The determination value is a value for determining whether or not the foot of the user M is placed on the foot support 4. If the load detected by the load sensor 50 is less than the determination value, the control unit 8 determines that the foot is not placed on the foot support 4. At this time, the control unit 8 controls the tilting mechanism unit 6 so that the mounting surface of the mounting unit 40 of each foot support 4 is a horizontal plane.

In the present embodiment, the control unit 8 supplies pulse power from the power source to the adjustment motor 45c of the tilting mechanism unit 6 to incline the mounting unit 40, whereby a load applied to the outer side portion 40a and a load applied to the inner side portion 40b. Reduce the difference. As described above, when the threshold is the load applied to the inner part 40b when the load is applied evenly to the outer part 40a and the inner part 40b of the placement part 40 by the user M, the control is performed. The unit 8 tilts the mounting unit 40 so that the load detected by the load sensor 50 becomes the threshold value.

In the exercise assisting apparatus of the present embodiment, the tilting device A is configured by the load detecting unit 5 including the single load sensor 50, the tilting mechanism unit 6, and the control unit 8.

Hereinafter, the operation of the exercise assisting device of the present embodiment will be described.

Before the user M places his / her foot on the foot support 4 in the initial state, the load detected by the load sensor 50 is less than the determination value. Therefore, the control part 8 controls the tilting mechanism part 6 so that the mounting surface of the mounting part 40 becomes a horizontal surface (refer FIG. 4A).

For example, when the load applied to the outer part 40a of the mounting part 40 is larger than the load applied to the inner part 40b, the mounting part 40 is positioned above the inner part 40b by the tilting device A. (In other words, inward) (see FIG. 4B). Here, the mounting portion 40 is tilted until the difference between the load detected by the load sensor 50 and the threshold value becomes zero as described above. In this way, when the outer portion 40a of the placement portion 40 is positioned above the inner portion 40b, the foot width direction is horizontal (the placement surface of the placement portion 40 is a horizontal plane). Increases the load on the inside of the lower limbs. Therefore, the muscle group inside the lower limb can be trained intensively.

On the other hand, when the load applied to the inner part 40b of the mounting part 40 is larger than the load applied to the outer part 40a, the mounting part 40 is positioned above the outer part 40a by the tilting device A. (In other words, outward) (see FIG. 4C). Here, the mounting portion 40 is tilted until the difference between the load detected by the load sensor 50 and the threshold value becomes zero as described above. In this way, when the outer portion 40a of the placement portion 40 is positioned above the inner portion 40b, the foot width direction is horizontal (the placement surface of the placement portion 40 is a horizontal plane). Increases the load on the inside of the lower limbs. Therefore, the muscle group inside the lower limb can be trained intensively.

In addition, when the load applied to the outer side part 40a of the mounting part 40 is equal to the load applied to the inner side part 40b, the mounting part 40 is not tilted by the tilting device A (see FIG. 4A).

Then, after the user M puts both feet on the foot support 4, the above-described passive movement can be performed by operating the switch.

According to the exercise assisting device of the present embodiment described above, as in the first embodiment, the mounting portion is configured so that the difference between the load applied to the outer portion 40a of the mounting portion 40 and the load applied to the inner portion 40b is reduced. 40 is tilted. Therefore, when the user M is an O leg, the muscle group inside the lower limb can be trained intensively. Further, when the user M is an X leg, the muscle group outside the lower limb can be trained intensively. Therefore, in either case of the O leg or the X leg, it is possible to improve the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limbs. As a result, distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). In addition, knee pain during exercise (during training) can be relieved. Therefore, even a person who feels knee pain during walking or the like can perform passive movement without difficulty.

Also, the placement unit 40 tilts to the outside or inside of the foot based on the magnitude of the load detected by the load sensor 50 of the load detection unit 5. For this reason, the inclination of the placement unit 40 can be set to be suitable for the user. In particular, in the present embodiment, unlike the first embodiment, the number of load sensors 50 used in the load detection unit 5 may be one, so that the cost can be reduced.

In the above example, the load sensor 50 detects the load on the inner portion 40b, but the load on the outer portion 40a may be detected. In this case, the predetermined threshold value can be a load applied to the outer portion 40a when the load is applied evenly to the outer portion 40a and the inner portion 40b of the placement portion 40 by the user M. In the above-described example, the control unit 8 controls the tilt mechanism unit 6 so that the load detected by the load sensor 50 becomes the threshold value, so that the mounting unit 40 is tilted. In addition, the control unit 8 may be configured to change the inclination angle of the placement unit 40 in a stepwise manner. For example, when the load detected by the load sensor 50 is equal to or greater than the first threshold, the control unit 8 tilts the mounting unit 40 outward by a predetermined angle with respect to the horizontal direction. Further, when the load detected by the load sensor 50 is equal to or less than the second threshold value, the control unit 8 tilts the placement unit 40 inward by a predetermined angle with respect to the horizontal direction. And the control part 8 will level the mounting part 40, if the load detected with the load sensor 50 is less than the 2nd threshold value excess 1st threshold value.

By the way, as the exercise assisting device, those shown in FIGS. 5A to 5C can be considered. The exercise assisting device shown in FIG. 5 is different from the example shown in FIG. Since other configurations are the same as those in the example shown in FIG. 4 and the first embodiment, the same configurations are denoted by the same reference numerals and description thereof is omitted.

In the foot support 4 shown in FIG. 5, a pair of airbags (air cells) 60 that define the distance between the mounting part 40 and the base part 41 are provided between the mounting part 40 and the base part 41. ing. Each of the pair of airbags 60 has the same shape. Each of the pair of airbags 60 is disposed so as to support the outer portion 40 a and the inner portion 40 b of the placement portion 40. Therefore, when one airbag 60 is inflated or contracted more than the other airbag 60, the placement portion 40 is inclined. That is, in the exercise assisting device shown in FIG. 5, the tilting mechanism unit 6 is configured by a pair of airbags 60. Note that an air pump (not shown) for supplying air to each airbag 60 is accommodated in the housing 3. Further, the base part 41 is provided with regulating pieces 41b at both ends in the width direction. The restricting piece 41b defines the tilting range of the placing portion 40.

Such an airbag 60 is provided with a valve body (not shown). The valve body is configured to close the exhaust passage 60a until the pressure in the airbag 60 exceeds a predetermined value. Here, the predetermined value is a value capable of supplying air to the airbag 60 such that the placement surface of the placement portion 40 of the foot support 4 is a horizontal plane. In other words, the predetermined position is a value that prevents the airbag 60 from being exhausted when the mounting portion 40 is supported by the airbag 60 so that the mounting surface is a horizontal plane.

The holding part 40c is provided in each of the outer part 40a and the inner part 40b of the mounting part 40 shown in FIG. The holding part 40c is configured to hold the exhaust passage 60a of the airbag 60 between the holding part 40c. An insertion hole 40d for the exhaust valve 49 is provided in the thickness direction at a portion of the mounting portion 40 that faces the holding portion 40c. The exhaust valve 49 is formed in an L shape integrally including a valve portion 49a that opens and closes the exhaust passage 60 and a load detection portion 49b that protrudes laterally from the valve portion 49a. Here, the valve part 49b is penetrated by the penetration hole 40d. The exhaust valve 49 is used to forcibly close the exhaust passage 60 a of the airbag 60.

An elastic member 51 is interposed between the load detection part 49b of the exhaust valve 49 and the mounting part 40. The elastic member 51 is formed using an elastic material such as rubber so as to contract when a load of a predetermined value or more is applied. Here, when the elastic member 51 is not applied with a load greater than the predetermined value, the exhaust valve 49 is held by the elastic member 51 at a position where the exhaust passage 60 a is opened. On the other hand, when a load equal to or greater than the predetermined value is applied to the elastic member 51, the elastic member 51 contracts, whereby the exhaust valve 49 moves to a position where the exhaust passage 60 is closed. Here, the predetermined value is based on the load applied to the outer portion 40a (or the inner portion 40b) when the load is applied evenly to the outer portion 40a and the inner portion 40b of the mounting portion 40 by the user M. A slightly smaller value is selected. In addition, since such an elastic member 51 can be comprised by a conventionally well-known thing, detailed description is abbreviate | omitted.

In the example shown in FIG. 5, the tilting device A is configured using the airbag 60, the exhaust valve 49, and the elastic member 51. In the following description, in order to distinguish the pair of airbags 60, the pair of exhaust valves 49, and the pair of elastic members 51, the airbag 60, the exhaust valve 49, The elastic member 51 is represented by

reference numerals

60A, 49A, 51A, respectively. Moreover, the airbag 60, the exhaust valve 49, and the elastic member 51 corresponding to the outer side part 60a are represented by

reference numerals

60B, 49B, and 51B, respectively.

Hereinafter, the operation of the exercise assisting device shown in FIG. 5 will be described. First, in the initial state, each airbag 60 is supplied with air by the air pump so that the placement surface of the placement portion 40 becomes a horizontal plane. And before the user M puts a foot | leg on the foot support stand 4 in the said initial state, the exhaust path 60a of the airbag 60 is closed by the said valve body. Therefore, as shown in FIG. 5A, the placement unit 40 is supported by the airbag 60 so that the placement surface is a horizontal plane.

Here, when the user M places both feet on the foot support 4, the following operation is performed. For example, when the load applied to the outer portion 40a of the placement portion 40 is the same as the load applied to the inner portion 40b, the valve bodies of the

airbags

60A and 60B open at substantially the same timing. And after air is discharged | emitted from the inside of the airbag 60,

elastic member

51A, 51B shrinks at substantially the same timing. Accordingly, the

exhaust valves

49A and 49B close the exhaust passages 60a of the

airbags

60A and 60B at the same timing. Therefore, the mounting unit 40 is not inclined and the state where the mounting surface is a horizontal plane is maintained.

When the load applied to the outer side portion 40a of the placement portion 40 is larger than the load applied to the inner side portion 40b, air is discharged from each of the

airbags

60A and 60B, but the elastic member 51A comes before the elastic member 51B. It will shrink. That is, the exhaust path 60a of the airbag 60A is closed before the airbag 60B. Thereby, in the outer side part 40a, the distance of the mounting part 40 and the base part 41 is kept constant by the airbag 60A (refer FIG. 5B). If it does so, the load concerning the inner side part 40b will become large, and the elastic member 51B will shrink | contract eventually. As a result, the exhaust path 60a of the airbag 60B is closed, and the distance between the mounting portion 40 and the base portion 41 is also kept constant by the airbag 60B in the inner portion 40b (see FIG. 5C). When the exhaust passages 60a of the

airbags

60A and 60B are closed in this way, the airbag 60A in which the exhaust passage 60a is closed first is more in the airbag 60 than the airbag 60B in which the exhaust passage 60a is closed later. The amount of air increases. Therefore, the space | interval of the mounting part 40 and the base part 41 becomes wider in the outer side part 40a rather than the inner side part 40b. As a result, the placement unit 40 is inclined inward.

When the load applied to the inner side portion 40b of the placement portion 40 is larger than the load applied to the outer side portion 40a, air is discharged from each of the

airbags

60A and 60B, but the elastic member 51B comes before the elastic member 51A. It will shrink. That is, the exhaust path 60a of the airbag 60B is closed before the airbag 60A. Thereby, in the inner side part 40b, the distance of the mounting part 40 and the base part 41 is kept constant by the airbag 60B. If it does so, the load concerning the inner side part 40b will become large, and 51 A of elastic members will shrink over time. As a result, the exhaust path 60a of the airbag 60A is closed, and the distance between the mounting portion 40 and the base portion 41 is kept constant by the airbag 60A also in the outer portion 40a. When the exhaust passages 60a of the

airbags

60A and 60B are closed in this way, the airbag 60B in which the exhaust passage 60a is closed first is more in the airbag 60A than the airbag 60A in which the exhaust passage 60a is closed later. The amount of air increases. Therefore, the space | interval of the mounting part 40 and the base part 41 becomes wider in the inner side part 40b rather than the outer side part 40a. As a result, the placement unit 40 is inclined outward.

As described above, also in the exercise assisting device shown in FIG. 5, the mounting portion 40 can be inclined so that the difference between the load applied to the outer portion 40 a of the mounting portion 40 and the load applied to the inner portion 40 b becomes small. Therefore, the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limb can be improved. As a result, distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). In addition, knee pain during exercise (during training) can be relieved. Therefore, even a person who feels knee pain during walking or the like can perform passive movement without difficulty. Moreover, since an electric circuit such as the load detection unit 5 is not required, a reduction in manufacturing cost can be expected.

By the way, in the exercise assisting apparatus shown in FIG. 5, the mounting portion 40 does not necessarily need to be formed of one plate material. For example, as shown to FIG. 6A, the structure divided into 2 in the foot width direction may be sufficient. In addition, about the structure similar to the exercise assistance apparatus shown in FIG. 5, the same code | symbol is attached | subjected and description is abbreviate | omitted.

In the example shown in FIG. 6A, the mounting portion 40 is divided into a rectangular plate-shaped outer portion 40a and an inner portion 40b. Each of the outer side portion 40a and the inner side portion 40b is pivotally attached to each of a pair of side wall portions 42 provided at the center portion in the width direction of the base portion 41 using a tilting shaft portion 43 and a tilt bearing portion 44. Therefore, in the example illustrated in FIG. 6A, the placement portion 40 tilts the outer portion 40a and the inner portion 40b separately.

Therefore, in the example shown in FIG. 6A, the tilting device A is configured by the airbag 60, the exhaust valve 49, and the elastic member 51.

The configuration for dividing the mounting portion 40 in this way can also be adopted in the example shown in FIG. 4 and the first embodiment. That is, the tilting device A tilts at least a part, not all, of the mounting part 40 so that the difference between the load applied to the outer part 40a of the mounting part 40 and the load applied to the inner part 40b is reduced. If it is. Moreover, the mounting part 40 should just be comprised so that the balance of the load concerning the outer part 40a and the inner part 40b of the mounting part 40 can be changed not only in the above-mentioned example.

In the example shown in FIG. 5 and FIG. 6 described above, the mounting portion 40 is inclined by contracting the airbag 60 from the inflated state. As another example, it is conceivable that the airbag 60 is inflated by supplying air to the airbag 60 from an air pump, and the mounting portion 40 is tilted.

In the example shown in FIG. 6B, the holding part 40c is pivotally attached to the tilting shaft part 43 together with the outer part 40a or the inner part 40b on the rear side of each of the outer part 40a and the inner part 40b of the mounting part 40. In addition, each of the outer portion 40a and the inner portion 40b of the placement portion 40 is formed with a protruding piece 40e used as a valve of the exhaust passage 60a. Elastic members 51 are respectively disposed between the outer portion 40a and the inner portion 40b and the holding portion 40c (however, the elastic member 51 is not shown in FIG. 6B). The elastic member 51 is configured to be contracted when a load larger than a predetermined load is applied and to close the exhaust passage 60a by the protruding piece 40e. Here, the predetermined load is, for example, a load applied to the outer portion 40a (or the inner portion 40b) when the load is evenly applied to the outer portion 40a and the inner portion 40b of the placement portion 40 by the user M. It is.

6B, the airbag 60 is disposed between the holding piece 40c and the base part 41. The air supply path 60b of both airbags 60 is connected to the above-described air pump. The air pump is configured so that when the user M applies a load evenly to the outer portion 40a and the inner portion 40b of the placement portion 40, the placement surfaces of the outer portion 40a and the inner portion 40b of the placement portion 40, respectively. Is configured to supply air to both airbags 60 (pressurize both airbags 60) so as to be horizontal.

Next, the operation of the exercise assisting device shown in FIG. 6B will be described. When the user M places both feet on the foot support 4, the load applied to the outer portion 40 a of the mounting portion 40 is the same as the load applied to the inner portion 40 b (that is, the user M is not O-leg or X-leg). In such a case, the

elastic members

51A and 51B do not shrink. Therefore, the exhaust passages 60a of the

airbags

60A and 60B are not closed. In this case, the mounting surfaces of the outer portion 40a and the inner portion 40b become horizontal surfaces due to the preload of the air pump.

On the other hand, when the load applied to the outer side portion 40a of the placement portion 40 is larger than the load applied to the inner side portion 40b, the elastic member 51A contracts before the elastic member 51B. Therefore, the exhaust path 60a of the airbag 60A is closed before the airbag 60B. In this case, since the airbag 60A is inflated by the supply of air from the air pump, the outer portion 40a is lifted by the airbag 60A. If it does so, the load concerning the inner side part 40b (namely, load concerning the elastic member 51B) will become large. As a result, the elastic member 51B contracts and the exhaust path 60a of the airbag 60B is closed. Then, since the load applied to the elastic member 51A becomes small, the exhaust path 60a of the airbag 60A is opened. In this case, since the airbag 60B is inflated and the airbag 60A is contracted, the inner portion 40b is lifted and the load applied to the inner portion 40b is reduced. As a result, the load applied to the outer portion 50a increases. Then, this time, the exhaust path 60a of the airbag 60A is closed and the exhaust path 60B of the airbag 60B is opened. By repeating such an operation, each of the outer portion 40a and the inner portion 40b is tilted so that the load applied to the outer portion 40a and the inner portion 40b becomes equal. Such a point is the same even when the load applied to the inner portion 40b of the placement portion 40 is larger than the load applied to the outer portion 40a.

As described above, also in the exercise assisting device shown in FIG. 6B, the mounting portion 40 is inclined so that the difference between the load applied to the outer side portion 40a of the mounting portion 40 and the load applied to the inner side portion 40b is reduced. Therefore, the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limb can be improved, and as a result, the distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). it can. In addition, knee pain during exercise (during training) can be relieved. Therefore, even a person who feels knee pain during walking or the like can perform passive movement without difficulty. Moreover, since an electric circuit such as the load detection unit 5 is not required, a reduction in manufacturing cost can be expected.

Incidentally, the technical idea of the present invention can also be applied to the exercise assisting device shown in FIGS. 7A and 7B.

The exercise assisting device shown in FIG. 7 has a gantry 30 placed at a fixed position such as a floor. A support base 32 and a handle post 33 are provided on the base 30. The support base 32 includes a sheet portion 9 on which the user's M's buttocks rests on the upper end portion. The handle post 33 includes a handle 33a that the user M holds by hand as necessary. A pair of foot support bases 4 is provided at a position between the support base 32 and the handle post 33 in the gantry 30. The foot support 4 has the same configuration as the foot support 4 shown in the first embodiment and FIGS. 4 to 6. In the exercise assistance apparatus shown in FIG. 7, the support portion 1 is configured by the pair of foot support 4 and the seat portion 9.

The support base 32 is provided with a driving device 2 that swings the seat portion 9. The drive device 2 is a part of the support unit 1 using a drive source (not shown) for the user M in a state where the buttocks are mounted on the seat unit 9 and the foot is mounted on each foot support base 4. The seat portion 9 is swung to change the position of the collar portion. Accordingly, the driving device 2 changes its own weight acting on the leg portion of the user M. That is, in the state where the weight of the user M is distributed and supported by the buttocks and legs, the weight of the user M supported by the buttocks is increased or decreased by changing the position of the buttocks. If it does in this way, the dead weight which acts on a leg part will be changed as a result.

Here, if the knee is bent by a predetermined angle, the load acting on the thigh of the user M increases when the proportion of weight supporting the seat portion 9 decreases. This makes it possible to contract the thigh muscle group in the same manner as when the knee is bent by performing a squat exercise. That is, when the seat portion 9 is swung by the driving device 2, the thigh muscle group repeats tension and relaxation due to a passive motion that is not a spontaneous motion of the user M. Therefore, it is possible to exercise mainly the thigh muscle groups.

Also in the exercise assisting device shown in FIG. 7, the mounting portion 40 is inclined so that the difference between the load applied to the outer side portion 40 a of the mounting portion 40 of each foot support base 4 and the load applied to the inner side portion 40 b becomes small. Therefore, in either case of the O leg or the X leg, the balance (ability imbalance) between the outer muscle group and the inner muscle group of the lower limb can be improved. As a result, distortion of the lower limb skeleton can be eliminated (alignment of the lower limb skeleton). In addition, knee pain during exercise (during training) can be relieved. Therefore, even a person who feels knee pain during walking or the like can perform a passive movement without difficulty.

Claims

A support part for supporting the user's body;
A drive device,
The support portion includes a pair of foot support bases having placement portions on which the left and right feet of the user are respectively placed;
In the exercise assisting device configured to move the user's body by the support unit so that a load applied to the lower limb of the user changes,
Equipped with a tilting device,
The tilting device includes at least a part of the placement unit such that a difference between a load applied to the outer side corresponding to the outer side of the foot and a load applied to the inner side corresponding to the inner side of the foot is reduced. It is comprised so that it may incline, The exercise assistance apparatus characterized by the above-mentioned.
The tilting device includes a load detection unit that is provided on the foot support and detects a load applied to the mounting unit, a tilting mechanism unit that tilts at least a part of the mounting unit toward the outside or the inside of the foot, and load detection The exercise assisting device according to claim 1, further comprising a control unit that controls the tilting mechanism unit based on the magnitude of the load detected by the unit.
The load detection unit is composed of two load sensors provided on each of the outer part and the inner part of the placement part,
The exercise assisting device according to claim 2, wherein the control unit is configured to control the tilting mechanism unit so that a difference between the loads detected by the two load sensors is small.
The load detector comprises a load sensor provided on either the outer part or the inner part of the placement part,
The control unit is configured to obtain a difference between a load applied to the outer part and a load applied to the inner part by comparing the magnitude of the load detected by a load sensor with a predetermined threshold value. The exercise assisting device according to claim 2.