WO2009116631A1 - トレーニング装置、及びトレーニング装置の制御方法 - Google Patents
トレーニング装置、及びトレーニング装置の制御方法 Download PDFInfo
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- WO2009116631A1 WO2009116631A1 PCT/JP2009/055463 JP2009055463W WO2009116631A1 WO 2009116631 A1 WO2009116631 A1 WO 2009116631A1 JP 2009055463 W JP2009055463 W JP 2009055463W WO 2009116631 A1 WO2009116631 A1 WO 2009116631A1
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- load characteristic
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- exerciser
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
- A63B21/4045—Reciprocating movement along, in or on a guide
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03516—For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user
- A63B23/03525—Supports for both feet or both hands performing simultaneously the same movement, e.g. single pedal or single handle
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00058—Mechanical means for varying the resistance
- A63B21/00069—Setting or adjusting the resistance level; Compensating for a preload prior to use, e.g. changing length of resistance or adjusting a valve
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
- A63B2208/0228—Sitting on the buttocks
- A63B2208/0238—Sitting on the buttocks with stretched legs, like on a bed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
Definitions
- the present invention relates to a training apparatus or the like for an exerciser to perform muscular strength training (hereinafter also simply referred to as training), and in particular, a training apparatus and a training for applying a load to an exerciser by a rotational torque of an electric motor.
- the present invention relates to an apparatus control method.
- Motor-type training devices that apply a load to an exerciser by the torque force of an electric motor have begun to spread.
- Motor-type training devices can fine-tune the magnitude of the load by controlling the torque of the electric motor, so exercisers (especially elderly people) can safely, enjoyably and effectively train muscles. It can be performed.
- a training device in which a relative movement position of a foot plate (hereinafter referred to as a pressing plate) of a leg press machine is detected to vary the load.
- a relative movement position of a foot plate hereinafter referred to as a pressing plate
- the relative movement position between the exerciser and the pressing plate when leg pressing is performed by the training device is detected, and the load of the electric motor is controlled based on the load characteristic with respect to the position programmed in advance. This makes it possible to maximize the initial load when the leg press is in the initial motion state, gradually decrease the load with the relative movement of the pressing plate, and minimize the final load during the final motion state.
- the person can perform appropriate muscle training.
- a training device in which the relative movement speed of the pressing plate of the leg press machine is detected to vary the magnitude of the load (see, for example, Patent Document 2).
- the relative movement speed of the pressing plate when leg pressing is performed by the training device is detected, and the load of the electric motor is variably controlled by the change in the relative movement speed.
- the load can be reduced according to the degree of fatigue of the exerciser, such as gradually reducing the load when the relative movement of the pressing plate during leg press becomes slow. It is possible to promote the continuation of muscle training and achieve the target momentum.
- the concentric exercise is an exercise in which a force is exerted while the muscles are contracted.
- the leg press exercise the knee is stretched while pushing the pressing plate.
- the quadriceps muscles muscle group in front of the thigh
- the eccentric exercise is an exercise in which a force is exerted while the muscles are stretched.
- the pressing plate is pushed, but the training is performed in the direction in which the knee bends.
- the quadriceps muscle is exerting a force in a contracting direction while being stretched.
- the eccentric exercise is more effective for strengthening the muscles than the concentric exercise.
- the reason is that the eccentric exercise has a greater degree of muscle fiber damage due to the exercise than the concentric exercise, and muscle hypertrophy is easily obtained by the damage repair mechanism.
- eccentric exercise is an exercise with a high frequency of (late) muscle pain
- concentric exercise is more suitable for elderly people, sick people who are rehabilitating, or injured people, regardless of professional athletes. It is said that Therefore, a concentric exercise is preferable to an eccentric exercise as a training for maintaining health and preventing a decrease in physical fitness. For example, when training with a device such as a conventional leg press machine, press the pressure plate to extend the knee (ie, perform a leg press exercise), and pull the pressure plate to bend the knee.
- Patent Document 1 changes the magnitude of the load applied to the exerciser depending on the relative movement position of the pressing plate when performing leg press with the training device, if the position or posture of the exerciser deviates to some extent (for example, there is a problem that an appropriate load cannot be applied when the sitting position and posture are shifted from day to day or when the sitting position and posture are shifted during exercise.
- Patent Document 2 varies the magnitude of the load according to the relative movement speed of the pressing plate, the load can be reduced according to the degree of fatigue of the exerciser, but the load is bidirectional. There is a problem that the full concentric exercise that gives you cannot be realized.
- the present invention has been made in view of the above problems, and a training apparatus and a training apparatus that can perform training safely and effectively with a load suitable for the individual exercise ability and physical function of the exerciser It is an object to provide a control method.
- the present invention provides a training apparatus that applies a load to an exerciser by a rotational torque of an electric motor to perform muscle strength training, and includes a detection unit that obtains an exercise speed or acceleration in the muscle strength training.
- a load characteristic input device for inputting a speed-load characteristic, which is a load characteristic with respect to the speed, or an acceleration-load characteristic, which is a load characteristic with respect to the acceleration, and the speed-load characteristic or the acceleration-load characteristic.
- a torque command value calculated from the speed-load characteristic or acceleration-load characteristic stored in the load characteristic storage device, and rotation of the electric motor based on the torque command value
- a control means for controlling the torque. Other means will be described later.
- the present invention it is possible to provide a training apparatus and a control method for the training apparatus that can perform training safely and effectively with a load suitable for the individual exercise ability and physical function of the exerciser.
- FIG. 1 is a system configuration diagram of a training apparatus according to a first embodiment of the present invention.
- A is a figure of the speed-load characteristic input into the training apparatus of FIG. 2
- (b) and (c) are figures which show the modification of a speed-load characteristic.
- FIG. 5 is a diagram of speed-load characteristics input to the training apparatus in FIG. 4.
- It is a system block diagram of the training apparatus which concerns on the 3rd Embodiment of this invention.
- FIG. 1 It is a system configuration figure of the training device concerning a 4th embodiment of the present invention. It is a figure of the speed-load characteristic input into the training apparatus of FIG. It is a conceptual diagram which shows the state of the leg muscle training in a full concentric exercise
- Control means 2 Servo motor 3 Movement mechanism 4 Movable part 5 Position detection sensor 6 Speed calculation means 7 Load characteristic input device 8 Load characteristic storage device 9, 9a Control unit 10 Training device 201 Chair 202 Press plate 203 Rail 204 Belt 205 Pulley 206 Fixed member
- FIG. 1 is a structural diagram of a training apparatus according to each embodiment of the present invention.
- the training apparatus 10 includes a control unit 1, a servo motor 2, a position detection sensor 5, a speed calculation unit 6, a chair 201, a pressing plate 202, a rail 203, a belt 204, a pulley 205, and a fixing member 206. It is prepared for.
- the control means 1 is a means for generating a drive current for the servo motor 2 based on the speed information (the rotation speed of the servo motor 2 or the linear movement speed of the belt 204) received from the speed calculation means 6.
- the servo motor 2 is rotationally driven by the drive current generated by the control means 1, generates a rotational torque corresponding to the magnitude of the drive current, and transmits it to the belt 204 to give a linear drive force.
- the position detection sensor 5 is a means for detecting the relative position between the pressing plate 202 and the chair 201 by detecting the movement of the servo motor 2 or the movement of the belt 204, and can be realized by, for example, an encoder.
- the chair 201 is a means for the athlete E to sit during training, and a part of the lower part is fixed to a part of the belt 204.
- the chair 201 slides on the rail 203 in the left-right direction in the drawing as the belt 204 moves.
- the pressing plate 202 is a means for the exerciser E who performs training to fix and press the toes with the fixing member 206.
- the belt 204 is a unit that is wound around the servo motor 2 and the pulley 205 and converts the rotational torque force of the servo motor 2 into a linear driving force.
- the training program here relates to a bi-directional exercise of leg press exercise and lift-off exercise, but a training program of other exercise forms can also be realized.
- the direction in which the servo motor 2 rotates clockwise that is, the direction of the load to be given when the exerciser E performs the leg press, is the positive direction (forward direction) of the load.
- the servo motor 2 generates a rotational torque according to the magnitude of the drive current based on the speed information from the control means 1, transmits the driving force to the belt 204, and moves the exerciser E along with the chair 201 in a straight line. As a result, a load is applied to the leg of the exerciser E via the pressing plate 202.
- the speed calculation means 6 differentiates the movement distance moved in a predetermined time with respect to the speed to obtain the speed. And the speed information is transmitted to the control means 1. As a result, the control means 1 generates a drive current according to the speed information to drive the servo motor 2 to rotate.
- FIG. 2 is a system configuration diagram of the training apparatus according to the first embodiment of the present invention. This system configuration is represented as a control block diagram for controlling the load that the servo motor 2 applies to the athlete E.
- FIG. 3A is a diagram of speed-load characteristics input to the training apparatus of FIG. 2, with the horizontal axis representing speed and the vertical axis representing load. This speed-load characteristic shows a speed-dependent load characteristic in which the magnitude of the load changes according to the speed.
- the speed is the rotational speed of the servo motor 2 shown in FIG. 1 or the linear moving speed of the belt 204.
- a load is a load which the press plate 202 shown in FIG.
- the speed-load characteristic is represented as a characteristic line on the coordinates with speed and load as axes
- the load direction passes through the origin of the coordinate axis and the speed is positive and negative.
- Set as a load characteristic that is reversed and is continuous (differentiable) near the origin (straight line or curve or a combination thereof) or discontinuity near the origin is represented by a light line.
- the exerciser E does not need to receive a strong impact when the exercise direction changes, and can perform a full concentric exercise smoothly.
- the exerciser E may feel (change) some kind of change or impact. That is, the characteristic line can be variously set according to the purpose and application of the exercise.
- (b) and (c) of FIG. 3 are diagrams showing modifications of the speed-load characteristic.
- the system of this training apparatus includes a control means 1, a servo motor 2, an exercise mechanism 3, a movable part 4, a position detection sensor 5, a speed calculation means 6, a load characteristic input device 7, and a load characteristic storage device 8. ing.
- the control means 1, the speed calculation means 6, the load characteristic input device 7, and the load characteristic storage device 8 (and the control unit 9 described later) are a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read It can be realized by a part or all of a computer device including only memory, HDD (hard disk drive), input means (keyboard, mouse, etc.), output means (display, speaker, etc.), communication interface and the like.
- CPU Central Processing Unit
- RAM Random Access Memory
- ROM Read It can be realized by a part or all of a computer device including only memory, HDD (hard disk drive), input means (keyboard, mouse, etc.), output means (display, speaker, etc.), communication interface and the like.
- the control means 1 is means for generating a drive current based on the load command value composed of the speed-load characteristics shown in FIG. 3A and supplying the drive current to the servo motor 2 as a torque command value.
- the servo motor (electric motor) 2 is a means for generating a rotational torque force corresponding to a torque command value (drive current).
- the motion mechanism 3 is a means for converting the rotational motion of the servo motor 2 into a linear motion, and corresponds to the belt 204 and the pulley 205 of the training apparatus 10 shown in FIG.
- the movable portion 4 is a medium that applies a load to the exerciser E through the pressing plate 202 (see FIG. 1) by the movement of the exercise mechanism 3 (belt 204) and exerts an acting force on the exerciser E.
- FIG. The rail 203 and the chair 201 of the training apparatus 10 shown in FIG.
- the position detection sensor 5 is a means for detecting the rotational position of the servo motor 2 or the linear movement position of the movement mechanism 3 (belt 204).
- the speed calculation means 6 is a means for calculating the speed by differentiating the amount of movement (movement distance) of the position detected by the position detection sensor 5 with respect to time. Note that the detection means of claim 1 is realized by the position detection sensor 5 and the speed calculation means 6.
- the load characteristic input device 7 is means for the exerciser E to input a speed-load characteristic as shown in FIG.
- the speed-load characteristic at this time includes the load gradient with respect to the speed of the forward path (that is, the direction of the leg press movement in which the athlete E moves to the right in FIG. 1), and the return path.
- the load gradient with respect to the speed that is, the direction of the lift-off movement in which the exerciser E moves to the left in FIG. 1
- the gradient can be arbitrarily changed depending on the exercise ability of the exerciser E and the like. .
- this speed-load characteristic indicates the direction of the leg press movement in which the load is directed toward the athlete E in the first quadrant of FIG. ) In the third quadrant.
- the speed-load characteristic input from the load characteristic input device 7 may be a linear characteristic of a linear function of speed, and according to the exercise ability of the exerciser E, (b) and (c) in FIG. It may be a non-linear characteristic of an n-order function of speed as shown. That is, n can be a positive number, and load characteristics such as the first power, the second power, the third power, and the first power can be obtained.
- the load characteristic storage device 8 stores the speed-load characteristic as shown in FIG. 3A input by the exerciser E from the load characteristic input device 7 in the form of a function, a map, a table or the like in a memory. Based on this speed-load characteristic, the magnitude of the load with respect to the speed inputted from the speed calculating means 6 is inputted to the control means 1 as a load command value.
- the athlete E refers to the speed-load characteristic input in advance and stored in the load characteristic storage device 8, and the load value corresponding to the speed input from the speed calculation means 6 is controlled as the load command value.
- the value of the load L1 is controlled as a load command value based on the speed-load characteristic stored in the load characteristic storage device 8 in advance. 1 is input.
- the control means 1 supplies a torque command value (drive current) corresponding to the load command value (load L1) to the servo motor 2.
- the servo motor 2 generates a rotational torque corresponding to the load L1 input as the load command value and transmits it to the motion mechanism 3 (the belt 204 in FIG. 1).
- the motion mechanism 3 moves the movable portion 4 (the belt 204 and the chair 201 in FIG. 1) along the rail 203 by a linear motion corresponding to the load L1.
- the exerciser E sitting on the chair 201 has leg muscles that resist the load L1 applied to the pressing plate 202 by the kinetic energy converted from the rotational motion of the servo motor 2 to the linear motion of the movable portion 4. Training can be done.
- the position detection sensor 5 detects the position (movement amount) of the movable part 4 that has moved. Then, the speed calculation means 6 calculates the speed by differentiating the movement amount of the movable part 4 with respect to time, and inputs this speed to the load characteristic storage device 8. Further, the load characteristic storage device 8 obtains the magnitude of the load corresponding to the speed from the speed-load characteristic, and inputs the magnitude of the load to the control means 1 as a load command value to drive the servo motor 2 to rotate. In this way, the exerciser E performs the forward leg press exercise based on the speed-load characteristic input to the load characteristic storage device 8.
- the load gradient in the speed-load characteristics can be changed arbitrarily between the forward path and the return path, so that an optimal full concentric exercise can be realized by performing leg press exercise and lift-off exercise suitable for individual athletes.
- the gradient of the forward path and the return path can be the same, and the speed-load characteristic can be a linear characteristic or a non-linear characteristic.
- the control means 1 controls the rotational torque force of the servo motor 2 in accordance with the speed-load characteristic stored in the load characteristic storage device 8, and the rotational torque force is converted into a linear driving force by the motion mechanism 3 and the movable part 4.
- the position detection sensor 5 detects the position of the movable portion 4, and the speed calculation means 6 differentiates the amount of movement of the position with respect to time to calculate the speed, and inputs this speed information to the load characteristic storage device 8. Accordingly, it is possible to cause the exerciser E to perform the optimum full concentric exercise according to the load characteristic with respect to the speed. Moreover, since the load is given to the exerciser E by the load characteristic as shown in FIG. 3, the load at the time of the initial movement is small, and the exercise gentle to the exerciser E such as the elderly can be realized.
- acceleration calculation means can be used instead of the speed calculation means 6.
- the acceleration calculation means obtains the acceleration by differentiating the movement amount of the position detected by the position detection sensor 5 twice and inputs the acceleration to the load characteristic storage device 8.
- the acceleration-load characteristic is stored in the load characteristic storage device 8 instead of the speed-load characteristic shown in FIG. Therefore, the control means 1 gives a torque command value to the servo motor 2 based on the load command value corresponding to the acceleration-load characteristic.
- the acceleration-load characteristic is, for example, a characteristic in which the vertical axis is the same load and the horizontal axis is acceleration (speed slope (rate of change)) compared to the speed-load characteristic shown in FIG. That's fine.
- the rotation direction of the servo motor 2 is reversed, so that the servo motor 2 serves as a generator to regenerate electric energy during the reverse rotation. Further, the electric energy at this time is charged in a charging device (not shown), and the display of the training device and the like can be driven by this electric energy as necessary.
- FIG. 4 is a system configuration diagram of a training apparatus according to the second embodiment of the present invention.
- the system configuration of FIG. 4 differs from the system configuration of FIG. 2 in that the position detection sensor 5 and the speed calculation means 6 are not provided, and a control unit 9 for inputting various set values exists. That is, the system of the training apparatus includes a control unit 1, a servo motor 2, an exercise mechanism 3, a movable part 4, a load characteristic input device 7, a load characteristic storage device 8, and a control unit 9.
- the exerciser E himself / herself inputs the speed-load characteristic to the load characteristic input device 7, but in the system configuration of the training apparatus in FIG. 4, the trainer (exercise instructor) T Are inputting various set values to the control unit 9 according to the consciousness intensity of the exerciser E.
- FIG. 5 is a diagram of speed-load characteristics input to the training apparatus of FIG. 4, with the horizontal axis representing speed and the vertical axis representing load.
- the speed-load characteristic in FIG. 5 shows an isotonic load characteristic (constant torque load characteristic) in which the load is constant regardless of the speed change in both the forward path in the first quadrant and the return path in the second quadrant.
- the isotonic load characteristic is expressed by the first quadrant and the second quadrant because force in the direction toward the athlete E acts in both the forward path and the return path.
- Such an isotonic load characteristic is realized by a motor system that can be realized by a plate weight type training apparatus.
- control unit 9 is not a configuration essential for setting the isotonic load, but the configuration of the first embodiment (see FIG. 2). Also, the isotonic load can be set using the load characteristic input device 7.
- the trainer T determines the value of the isotonic load characteristic as shown in FIG. 5 (a constant level) based on the awareness of the exercise of the exerciser E and various information about the exerciser E displayed on the control unit 9. Load value).
- the characteristic of the isotonic load set value as shown in FIG. 5 is input from the control unit 9 and stored in the load characteristic storage device 8.
- the load characteristic storage device 8 inputs a load command value corresponding to the isotonic load setting value to the control means 1.
- the control means 1 supplies a torque command value (drive current) corresponding to the load command value to the servo motor 2.
- the servo motor 2 performs a constant torque load control by generating a rotational torque corresponding to the torque command value.
- a load acts in the direction toward the athlete E, so a concentric exercise is performed, and in the return path, a load acts in the direction toward the athlete E, and an eccentric exercise is performed. That is, the concentric-eccentric motion can be performed in the laneing apparatus of the second embodiment shown in FIG.
- FIG. 6 is a system configuration diagram of a training apparatus according to the third embodiment of the present invention.
- the system configuration of FIG. 6 is a combination of the system configuration of the first embodiment shown in FIG. 2 and the system configuration of the second embodiment shown in FIG.
- This training apparatus system includes a control means 1, a servo motor 2, an exercise mechanism 3, a movable part 4, a position detection sensor 5, a speed calculation means 6, a load characteristic input device 7, a load characteristic storage device 8, and a control unit 9. It is prepared for.
- FIG. 7 is a diagram of speed-load characteristics input to the training apparatus of FIG. 6, with the horizontal axis representing speed and the vertical axis representing load.
- This speed-load characteristic shows a speed-dependent load characteristic in which the magnitude of the load changes depending on the speed within a predetermined speed range (in the range of -V3 to V2 in FIG. 7) across the origin of the coordinate axis.
- An isotonic load characteristic (constant torque load characteristic) is shown in which the load is constant regardless of the change in speed outside the predetermined speed range.
- the speed-load characteristic is stored in the load characteristic storage device 8. That is, the speed-load characteristic at this time is obtained by adding the speed-dependent load characteristic input from the load characteristic input device 7 and the isotonic load characteristic set from the control unit 9.
- the position detection sensor 5 detects the movement position of the movable part 4 by the leg press exercise and the lift-off exercise.
- the speed calculation means 6 calculates the speed by differentiating the amount of movement of the position detected by the position detection sensor 5 with respect to time, and inputs this speed to the load characteristic storage device 8.
- the load characteristic storage device 8 refers to the speed-dependent load characteristic stored in its own memory and is input from the speed calculation means 6.
- a load value corresponding to the speed is input to the control means 1 as a load command value.
- the control means 1 supplies a torque command value (drive current) corresponding to the input load command value to the servo motor 2.
- the servo motor 2 generates a rotational torque corresponding to the torque command value and transmits it to the motion mechanism 3.
- the motion mechanism 3 moves the movable part 4 by a linear motion corresponding to the torque command value.
- the exerciser E sitting on the chair 201 is within a predetermined speed range ( ⁇ V3 to V2) by the kinetic energy converted from the rotational motion of the servo motor 2 to the linear motion of the movable portion 4. Muscle training of the legs against the load applied to the pressing plate 202 can be performed.
- the position detection sensor 5 detects the movement position of the movable part 4. Then, the speed calculation means 6 calculates the speed by differentiating the movement amount of the movable part 4 with respect to time, and inputs this speed to the load characteristic storage device 8. Further, the load characteristic storage device 8 obtains the magnitude of the load corresponding to the speed from the speed-load characteristic, and inputs the magnitude of the load to the control means 1 as a load command value to drive the servo motor 2 to rotate. In this way, the exerciser E performs the forward leg press exercise based on the speed-load characteristic input to the load characteristic storage device 8.
- the training apparatus can perform the concentric-concentric exercise (full concentric exercise).
- the system of the training apparatus according to the third embodiment shown in FIG. 6 performs speed proportional load control within a predetermined speed range, and constant torque load control (isotonic load) at a position outside the predetermined speed range.
- Full concentric motion can be realized by hybrid control that performs control.
- bidirectional load control can ensure safety when the load direction is reversed, and it is possible to realize a safe bidirectional motion by the training device. Further, the load during normal exercise and fatigue by the exerciser E can be flexibly changed by the speed-load characteristics described above, so that an appropriate load setting according to the situation of the exerciser E can be performed.
- FIG. 8 is a system configuration diagram of a training apparatus according to the fourth embodiment of the present invention.
- the system configuration of FIG. 8 is substantially the same as the system configuration of the third embodiment shown in FIG. 6, but only the function of the control unit 9a is different. That is, in the third embodiment of FIG. 6, the control unit 9 has a function of setting an isotonic load, whereas in FIG. 8, the control unit 9a has a function of varying the gradient of the speed-load characteristic. is doing. Therefore, in the training device of FIG. 6, the control unit 9 and the reference numeral are attached, and in the training device of FIG. 8, the control unit 9a and the reference numeral are attached. The rest of the configuration is the same as in FIG. In addition, the case of the outbound path will be described as a representative of the outbound path and the return path of the training exercise.
- FIG. 9 is a diagram of speed-load characteristics input to the training apparatus of FIG. 8, with the horizontal axis representing speed and the vertical axis representing load.
- the load characteristic “(a) before change” is given as the speed-load characteristic.
- a load characteristic “before (a) change” a reference speed V4 serving as a reference for an ideal exercise speed for the exerciser E and a point P1 (and the origin) corresponding to the ideal load L4 are shown.
- a straight line is given through.
- the exerciser E is not necessarily exercising at the reference speed V4 and is actually exercising at the speed V5 due to fatigue or the like.
- the load characteristics “(a) before change” when the speed is V5, the load is L5, and the coordinates thereof are P2.
- One method is to reduce the gradient of the speed-load characteristic so that the torque of the servo motor 2 is kept constant. Specifically, as shown in the load characteristic of “(b) after change # 1” in FIG. 9, the load characteristic is changed to a straight line passing through the point P3 (and the origin) where the speed is V4 and the load is L5. That's fine.
- Another method is to reduce the gradient of the speed-load characteristic so that the power (energy) is kept constant.
- the load characteristic is changed to a straight line passing through the point P4 (and the origin) where the speed is V4 and the load is L6. That's fine.
- speed ⁇ load which is the work rate of the exerciser E
- the work rate relating to the point P2 (V5 ⁇ L5) and the work rate relating to the point P4 (V4 ⁇ L6) are constant.
- the slope of the straight line of the load characteristic “(c) after change # 2” may be determined so that
- the exerciser E sends the speed-load characteristic (a) before change (“(a) before change”) (see FIG. 9) to the load characteristic input device 7.
- the speed-load characteristic (a) is stored in the load characteristic storage device 8.
- the position detection sensor 5 detects the position of the movable portion 4, and further, the speed calculation means 6 calculates the speed by differentiating the amount of movement of the position with respect to time. Input to 8.
- control means 1 uses this speed information to control the rotational torque force of the servo motor 2 based on the torque command value corresponding to the speed-load characteristic (a) stored in the load characteristic storage device 8,
- the mechanism 3 and the movable part 4 convert the rotational torque force into a linear driving force, thereby applying a load to the athlete E.
- the exerciser E can perform a full concentric exercise according to the load characteristics with respect to the speed.
- control means 1 changes the speed-load characteristic to “(b) after change # 1” (see FIG. 9) or “(c) after change # in response to the exercise speed of the exerciser E having decreased. 2 ”(see FIG. 9). This change is preferably performed gradually, but may be performed to some extent earlier.
- the control means 1 uses the load characteristics stored in the load characteristic storage device 8 as “(b) after change # 1” (see FIG. 9) or “(c) after change # 2” (see FIG. 9).
- the rotational torque of the servo motor 2 is controlled on the basis of the corresponding torque command value, and the rotational torque is converted into a linear driving force by the motion mechanism 3 and the movable portion 4 to apply a load to the motion athlete E. Concentric exercise can be realized.
- an appropriate full outlet is provided while automatically adjusting the load so that the work rate of the exerciser E or the torque of the servo motor 2 is constant. Rick movement can be realized.
- an emergency function such as generating an alarm or urgently stopping by detecting arrhythmia can be added to the training apparatus. That is, by providing an appropriate automatic load adjustment or emergency stop function according to the physical condition of the exerciser E, the problem of shortage of skilled trainers can be solved.
- the speed-load characteristic is not limited to the linear characteristic as shown in FIG. 9, but may be a non-linear characteristic as described in the first embodiment.
- FIG. 10 is a conceptual diagram showing a state of leg muscle training in a full concentric exercise, where (a) shows a forward leg press exercise, and (b) shows a return lift-off exercise.
- the direction of the load acts in the direction of pushing the toes, and the leg press exercise is performed in the direction of extending the legs against the load.
- muscle training of the triceps surae 21, the quadriceps 22 and the gluteal muscle 23 is performed.
- the direction of the load acts in the direction of extending the leg, and the lift-off motion is performed in the direction of contracting the leg against the load.
- muscle training of the anterior tibial muscle 24, the hamstring 25, and the iliopsoas muscle 26 is performed.
- a novel and useful exercise mode for the elderly can be realized by appropriately performing the lift-off exercise, which is the reverse exercise of the leg press exercise, by the training apparatus of the present embodiment. Furthermore, by strengthening the anterior tibial muscle 24 by muscle training, it is possible to exhibit effects of preventing tripping and improving walking ability. Further, by strengthening the intestinal psoas muscle 26, it is possible to exhibit the effect of raising the thigh and improving walking ability.
- muscle training is performed by the training apparatus of this embodiment, a large number of muscle groups can be strengthened simultaneously.
- muscle training in various exercise forms can be performed with one training device, so training can be performed efficiently in a short time, equipment investment in training gyms can be saved, and equipment installation space can be saved. It becomes possible to make it smaller.
- the main muscle and the antagonist muscle contract alternately during one training cycle, so that fatigue (lactic acid) can be dispersed.
- the load resistance of the forward and backward movements of the bending and stretching movements can be controlled independently.
- full concentric exercises can be used for body-friendly training without the burden of muscle pain.
- the aerobic exercise can be performed by the training apparatus of the present embodiment, it is possible to take measures against metabolic syndrome and strengthen cardiopulmonary function.
- the training apparatus can be applied not only to a leg press machine but also to a general training apparatus that exercises with a load, such as a chest press machine and an arm curl machine.
- a load such as a chest press machine and an arm curl machine.
- a chair on which an exerciser performing strength training sits a bar to be gripped by a hand when the exerciser performs strength training, and an electric motor so that the exerciser sitting on the chair can flex and extend the arm
- movement mechanism which converts the rotational motion of this into linear motion.
- a combination of a bar gripped by the hand and a pressure plate pressed by the toes uses an exercise mechanism that converts the rotational movement of the electric motor to linear movement so that the athlete sitting on the chair can bend and extend the legs and arms It is good also as a training device.
- an exercise mechanism in which the directions of the bending and stretching movements of the legs and arms are reversed can be adopted.
- the pressing plate is fixed and the chair moves, but conversely, the chair may be fixed and the pressing plate may move.
- FIG. 9 when changing the straight line indicating the speed-load characteristic, the gradient is reduced. However, assuming that the exerciser is missing, the gradient is increased. You may change to In addition, the specific configuration can be changed as appropriate without departing from the spirit of the present invention.
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Abstract
Description
2 サーボモータ
3 運動機構
4 可動部
5 位置検出センサ
6 速度算出手段
7 負荷特性入力装置
8 負荷特性記憶装置
9、9a コントロールユニット
10 トレーニング装置
201 イス
202 押圧板
203 レール
204 ベルト
205 滑車
206 固定部材
まず、理解を容易にするためにトレーニング装置の構造について説明する。図1は、本発明の各実施形態に係るトレーニング装置の構造図である。図1に示すように、トレーニング装置10は、制御手段1、サーボモータ2、位置検出センサ5、速度算出手段6、イス201、押圧板202、レール203、ベルト204、滑車205及び固定部材206を備えて構成される。
図4は、本発明の第2の実施形態に係るトレーニング装置のシステム構成図である。図4のシステム構成が図2のシステム構成と異なるところは、位置検出センサ5と速度算出手段6がなく、各種設定値を入力するためのコントロールユニット9が存在している点である。すなわち、このトレーニング装置のシステムは、制御手段1、サーボモータ2、運動機構3、可動部4、負荷特性入力装置7、負荷特性記憶装置8、及びコントロールユニット9を備えて構成されている。
図6は、本発明の第3の実施形態に係るトレーニング装置のシステム構成図である。図6のシステム構成は、図2に示す第1の実施形態のシステム構成と図4に示す第2の実施形態のシステム構成がコンビネーションされたものである。このトレーニング装置のシステムは、制御手段1、サーボモータ2、運動機構3、可動部4、位置検出センサ5、速度算出手段6、負荷特性入力装置7、負荷特性記憶装置8、及びコントロールユニット9を備えて構成されている。
図8は、本発明の第4の実施形態に係るトレーニング装置のシステム構成図である。図8のシステム構成は、図6に示す第3の実施形態のシステム構成とほぼ同じであるが、コントロールユニット9aの機能のみが異なる。すなわち、図6の第3の実施形態ではコントロールユニット9が等張負荷設定を行う機能を有していたのに対し、図8ではコントロールユニット9aは速度-負荷特性の勾配を可変する機能を有している。したがって、図6のトレーニング装置ではコントロールユニット9と符号を付したところを、図8のトレーニング装置ではコントロールユニット9aと符号を付している。それ以外の構成は図6と同じであるので構成の重複説明は省略する。また、トレーニング運動の往路と復路のうち、代表して往路の場合について説明する。
上記の各実施形態で実現されるトレーニング装置によって効果的なフルコンセントリック運動が実現できる状態について、臨床の視点から考察する。図10は、フルコンセントリック運動における脚の筋肉トレーニングの状態を示す概念図であり、(a)は往路のレッグプレス運動、(b)は復路のリフトオフ運動を示している。
Claims (15)
- 電動モータの回転トルクにより運動者に負荷を与えて筋力トレーニングを行わせるトレーニング装置であって、
前記筋力トレーニングにおける運動の速度又は加速度を求める検出手段と、
前記速度に対する負荷の特性である速度-負荷特性、又は前記加速度に対する負荷の特性である加速度-負荷特性を入力するための負荷特性入力装置と、
前記速度-負荷特性、又は前記加速度-負荷特性を記憶する負荷特性記憶装置と、
前記負荷特性記憶装置に記憶された前記速度-負荷特性、又は前記加速度-負荷特性からトルク指令値を算出し、そのトルク指令値に基づいて前記電動モータの回転トルクを制御する制御手段と、
を備えることを特徴とするトレーニング装置。 - 前記電動モータが逆回転したときに発生する過電圧を抑止するためのエネルギー回生手段を備えることを特徴とする請求の範囲第1項に記載のトレーニング装置。
- 前記エネルギー回生手段は、前記電動モータによって実現される発電機であることを特徴とする請求の範囲第2項に記載のトレーニング装置。
- 前記発電機が発生した電気エネルギーを蓄える充電装置を備えることを特徴とする請求の範囲第3項に記載のトレーニング装置。
- 前記充電装置に蓄えられた電気エネルギーによって駆動するディスプレイを備えることを特徴とする請求の範囲第4項に記載のトレーニング装置。
- 前記速度-負荷特性は、速度と負荷とを各軸とする座標上に特性線として表した場合に、座標軸の原点を通り、前記速度が正の場合と負の場合とで前記負荷の向きが逆となる負荷特性であり、
前記制御手段は、当該負荷特性に基づいて前記電動モータの回転トルクを制御することで、双方向の前記筋力トレーニングの往路と復路で前記負荷の向きを変える
ことを特徴とする請求の範囲第1項に記載のトレーニング装置。 - 前記速度-負荷特性は、nを任意の正数としたとき、負荷が速度の大きさのn乗に比例する負荷特性であり、
前記制御手段は、当該負荷特性に基づいて前記電動モータの回転トルクを制御することを特徴とする請求の範囲第6項に記載のトレーニング装置。 - 前記速度-負荷特性は、速度の大きさが前記座標軸の原点を挟んだ所定の範囲内においては負荷が速度に比例する負荷特性であり、前記所定の範囲内をはずれた速度の領域では負荷が速度の変化に関わらず一定となる負荷特性であり、
前記制御手段は、当該負荷特性に基づいて前記電動モータの回転トルクを制御することを特徴とする請求の範囲第6項に記載のトレーニング装置。 - 前記速度-負荷特性は、前記速度が変化したときに、負荷と速度との積で表わされる仕事率、又は、前記電動モータの回転トルクのいずれかが一定となるように変化し、
前記制御手段は、当該負荷特性に基づいて前記電動モータの回転トルクを制御することを特徴とする請求の範囲第6項又は第7項に記載のトレーニング装置。 - 前記速度-負荷特性は、前記座標上に特性線として表した場合に、理想的な運動速度の目安となる基準速度と理想的な負荷とに対応する点を通る線で示される負荷特性であり、
前記制御手段は、当該負荷特性に基づいて前記電動モータの回転トルクを制御することを特徴とする請求の範囲第6項に記載のトレーニング装置。 - 前記筋力トレーニングを行う運動者が座る椅子と、
前記運動者の足先を固定し、前記運動者が前記筋力トレーニングを行うときに足先で押圧する押圧板と、
前記椅子に座った運動者に脚の屈伸運動をさせるように、前記電動モータの回転運動を直線運動に変換する運動機構と、
を備えることを特徴とする請求の範囲第1項に記載のトレーニング装置。 - 前記筋力トレーニングを行う運動者が座る椅子と、
前記運動者が前記筋力トレーニングを行うときに手で握るバーと、
前記椅子に座った運動者に腕の屈伸運動をさせるように、前記電動モータの回転運動を直線運動に変換する運動機構と、
を備えることを特徴とする請求の範囲第1項に記載のトレーニング装置。 - 前記筋力トレーニングを行う運動者が座る椅子と、
前記運動者の足先を固定し、前記運動者が前記筋力トレーニングを行うときに足先で押圧する押圧板と、
前記運動者が前記筋力トレーニングを行うときに手で握るバーと、
前記椅子に座った運動者に脚と腕の屈伸運動をさせるように、前記電動モータの回転運動を直線運動に変換する運動機構と、
を備えることを特徴とする請求の範囲第1項に記載のトレーニング装置。 - 前記運動機構は、
前記運動者が前記筋力トレーニングを行うときに脚と腕の屈伸運動の向きが逆となる機構であることを特徴とする請求の範囲第13項に記載のトレーニング装置。 - 速度に対する負荷の特性である速度-負荷特性、又は加速度に対する負荷の特性である加速度-負荷特性に基づいて、電動モータの回転トルクにより運動者に負荷を与えて筋力トレーニングを行わせるトレーニング装置の制御方法であって、
検出手段が、前記筋力トレーニングにおける運動の速度又は加速度を求めるステップと、
制御手段が、前記求めた運動の速度又は加速度を用いて、前記速度-負荷特性、又は前記加速度-負荷特性からトルク指令値を算出し、そのトルク指令値に基づいて前記電動モータの回転トルクを制御するステップと、
を実行することを特徴とするトレーニング装置の制御方法。
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Also Published As
Publication number | Publication date |
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JP2009225870A (ja) | 2009-10-08 |
JP5565762B2 (ja) | 2014-08-06 |
KR101237194B1 (ko) | 2013-02-25 |
US20110082006A1 (en) | 2011-04-07 |
KR20100133376A (ko) | 2010-12-21 |
EP2255851A1 (en) | 2010-12-01 |
US8858397B2 (en) | 2014-10-14 |
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