WO2009157433A1 - 他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法とシステム - Google Patents
他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法とシステム Download PDFInfo
- Publication number
- WO2009157433A1 WO2009157433A1 PCT/JP2009/061389 JP2009061389W WO2009157433A1 WO 2009157433 A1 WO2009157433 A1 WO 2009157433A1 JP 2009061389 W JP2009061389 W JP 2009061389W WO 2009157433 A1 WO2009157433 A1 WO 2009157433A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- conditions
- joint
- muscle
- simulation
- support base
- Prior art date
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- 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
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- 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
- A63B21/4027—Specific exercise interfaces
- A63B21/4033—Handles, pedals, bars or platforms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/16—Platforms for rocking motion about a horizontal axis, e.g. axis through the middle of the platform; Balancing drums; Balancing boards or the like
-
- 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
-
- 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
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/04—Training appliances or apparatus for special sports simulating the movement of horses
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
- G16Z99/00—Subject matter not provided for in other main groups of this subclass
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4519—Muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- 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
- A63B2023/006—Exercising apparatus specially adapted for particular parts of the body for stretching exercises
-
- 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
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
- A63B2024/0012—Comparing movements or motion sequences with a registered reference
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
- A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
- A63B2024/0068—Comparison to target or threshold, previous performance or not real time comparison to other individuals
-
- 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
- A63B21/4027—Specific exercise interfaces
- A63B21/4033—Handles, pedals, bars or platforms
- A63B21/4034—Handles, pedals, bars or platforms for operation by feet
-
- 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
- A63B21/4047—Pivoting movement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
-
- 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
- A63B23/02—Exercising apparatus specially adapted for particular parts of the body for the abdomen, the spinal column or the torso muscles related to shoulders (e.g. chest muscles)
- A63B23/0233—Muscles of the back, e.g. by an extension of the body against a resistance, reverse crunch
-
- 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
- A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
Definitions
- the present invention provides a simulation capable of determining an optimal operating condition for a support base of a passive training apparatus, for example, an optimal operating condition for applying a relatively heavy muscle load and a light joint load to a user through the support base. And measurement methods and systems.
- Japanese Patent Application Publication No. 2004-344684 published on December 9, 2004 discloses a balance training apparatus.
- This apparatus is configured to simulate a riding exercise by swinging a support base on which a user can sit in a straddling manner.
- Japanese Patent Application Publication No. 2006-122595 discloses a rocking exercise device.
- This device has a support base that can support a user's buttocks or lumbar region in a posture (sitting position) in which a part of its own weight is supported by a foot, and the user's legs by swinging the support base It is configured to change the proportion of its own weight acting on the.
- it has a support base on which the user can place his / her feet in a standing posture, and by moving the support base so as to change the position and orientation of the user's feet, walking motion and leg joint movement are possible.
- the passive training device when the operating condition of the support base is changed, the magnitude of the load acting on each muscle and the magnitude of the load acting on each joint change. That is, by changing the operating condition of the support base, the type of muscle to which the load mainly acts and the degree of muscle activity of the muscle change, and the inter-articular force at each joint also changes. In general, it is desirable to determine the operating conditions of the support so as to increase muscle activity while reducing the joint force.
- the upper limit is about 20 conditions for the types of operation conditions that can be measured per day. Therefore, if an attempt is made to obtain an optimal operating condition that increases the activity of the muscle of interest and reduces the joint force, it takes a lot of time and has the problem of increasing the burden on the subject. Yes.
- the joint force increases depending on the operating conditions of the support base, in order to perform the measurement in consideration of the safety of the subject, it is necessary to exclude the operating conditions that are expected to increase the joint force. is necessary. As a result, the selection range of operating conditions may be narrowed more than necessary, and operating conditions that are not optimal may be selected.
- the amount of myoelectric discharge may be small. If the muscle usage is determined only from the amount of muscle discharge that can be observed, the determination may be wrong.
- the object of the present invention is to evaluate muscle activity and inter-articular force for many operating conditions in a relatively short time by using computer simulation, and not to determine the operating conditions of the actual machine by computer simulation alone, By evaluating myoelectricity in combination, it is possible to determine the optimum operating condition by a combination of computer simulation and measurement of the amount of myoelectric discharge, and to optimize the operating condition mounted on the actual machine.
- the present invention includes a support base configured to support all or part of the weight of a user, and a drive device configured to move the support base, and the support base through the drive device according to operating conditions.
- a simulation and measurement method associated with optimal operating conditions for a support platform of a passive training apparatus configured to provide passive motion to the user by moving the.
- various muscle activities and various joint forces at the user's site of interest are sequentially obtained by computer simulation.
- the total muscle activity and the total joint force determined sequentially according to each of the conditions are within the predetermined muscle activity and joint force ranges, respectively, it is obtained by including the operation condition in the plurality of intermediate conditions, (C) measuring the myoelectricity of the subject on the support table while controlling the motion simulator configured to move the support table in a plurality of degrees of freedom sequentially according to each of the plurality of intermediate conditions. Based on each myoelectric which are sequentially measured according to each of the intermediate conditions (d) plurality of, including a plurality of computer-executable steps of outputting to determine the optimum operating condition from the intermediate conditions plurality of.
- muscle activity and inter-articular force are estimated under various operating conditions by computer simulation without using the actual machine of the passive motion training apparatus. Therefore, muscle activity and joint force can be evaluated for many operating conditions in a relatively short time. However, there is an error in muscle activity and joint force obtained by computer simulation. In particular, if a large number of operating conditions are to be evaluated in a short time, a simple model with few parameters is used as a model for simulation. Therefore, if the operating conditions are determined only by computer simulation for muscle activity and inter-articular force, the optimal operating conditions may not be selected.
- intermediate conditions are obtained by selecting a plurality of operating conditions in which various muscle activities and various joint forces within the target range of the user's attention site are selected from the results of the computer simulation.
- Optimal operating conditions are obtained from the intermediate conditions. That is, by controlling the motion simulator that moves the support base with multiple degrees of freedom under each intermediate condition, the movement of the support base that matches the intermediate condition obtained by computer simulation is realized.
- the myoelectricity of the subject on the support table is measured, and the operation condition of the support table is determined from the measurement result of the myoelectric for each intermediate condition.
- the myoelectricity of the subject is actually measured using the intermediate conditions narrowed down by computer simulation in this way, various types of operating conditions can be roughly evaluated in a short time. Further, when the intermediate condition is narrowed down from the evaluated operating condition, it is possible to narrow down the focus on the strengthening effect of the muscular strength or the safety for the subject. Furthermore, by performing evaluation based on the myoelectric measurement for the narrowed-down intermediate conditions, the time required for the myoelectric measurement is reduced, and it becomes possible to determine a substantially optimal operating condition in a relatively short time. .
- the step (a) includes the step change of the inverted pendulum over time when at least one inverted pendulum serving as a human body model is sequentially forcedly vibrated according to each of the plurality of operating conditions. Estimating a position change of the user's human joint over time, and applying the estimated position change to a musculoskeletal model to obtain the various muscle activities and the various joint forces. Including.
- the inverted pendulum model which is a mechanical vibration model
- the musculoskeletal model is used to estimate muscle activity and joint force. Therefore, the muscle activity and the joint force can be obtained with a relatively small amount of calculation. That is, computer simulation can be performed in a relatively short time for a large number of operating conditions.
- the step (d) includes determining a maximum average value or maximum peak value of myoelectric discharge amount from each myoelectricity sequentially measured according to each of the plurality of intermediate conditions, and Including determining an intermediate condition corresponding to the maximum peak value as the optimum operating condition.
- the optimal operating condition is determined from the intermediate condition based on the myoelectricity of the subject. The work to determine can be automated.
- the joint force range is not more than a specified value.
- the muscle activity range is a range from the first muscle activity to the second muscle activity.
- the first muscular activity is the highest muscular activity among the muscular activities determined according to a plurality of operating conditions within the joint force range.
- the second muscular activity is a muscular activity lower than the first muscular activity by a specified number out of each muscular activity determined according to a plurality of operating conditions within the joint force range.
- the selection of intermediate conditions can be automated.
- the present invention includes a support base configured to support all or part of the weight of a user, and a drive device configured to move the support base, and the support base through the drive device according to operating conditions.
- a simulation and measurement system related to optimal operating conditions for a support platform of a passive training device configured to provide passive motion to the user by moving the.
- the present invention includes a simulator, a motion simulation device, an electromyogram measurement device, and an evaluation device.
- the simulator (i) sequentially obtains various muscle activities and various joint forces in the region of interest of the user by computer simulation according to each of the plurality of operation conditions, and (ii) a plurality of the plurality of operation conditions The intermediate condition is obtained.
- the various muscle activities are muscle activities related to various muscles.
- the various joint forces are joint forces related to various joints. If the total muscle activity and total joint force sequentially obtained for each of the plurality of motion conditions are within the predetermined muscle activity range and joint force range, respectively, the plurality of intermediate conditions are It is obtained by including in the plurality of intermediate conditions.
- the motion simulator is configured to sequentially move the support base with a plurality of degrees of freedom according to each of the plurality of intermediate conditions.
- the myoelectric measurement device is configured to measure the myoelectricity of the subject on the support table.
- the evaluation device is configured to determine and output an optimum operating condition from the plurality of intermediate conditions based on each myoelectricity sequentially measured according to each of the plurality of intermediate conditions.
- the present invention has the same advantages as the corresponding method.
- the simulator includes a balance simulator and a muscle / skeletal simulator.
- the balance simulator calculates the time of the human joint of the user from the change in position of the inverted pendulum over time when at least one inverted pendulum serving as a human body model is forcibly vibrated according to each of the plurality of operating conditions. It is configured to estimate a change in position over time.
- the muscular / skeletal simulator is configured to obtain various muscle activities and various joint forces by applying the estimated position change to the musculoskeletal model. This embodiment has the same advantages as the corresponding method.
- the evaluation apparatus obtains a maximum average value or a maximum peak value of a myoelectric discharge amount from each myoelectricity sequentially measured according to each of the plurality of intermediate conditions, and the maximum average value or the maximum peak value.
- An intermediate condition corresponding to is determined as the optimum operating condition. This embodiment has the same advantages as the corresponding method.
- the joint force range is not more than a specified value.
- the muscle activity range is a range from the first muscle activity to the second muscle activity.
- the first muscular activity is the highest muscular activity among the muscular activities determined according to a plurality of operating conditions within the joint force range.
- the second muscular activity is a muscular activity lower than the first muscular activity by a specified number out of each muscular activity determined according to a plurality of operating conditions within the joint force range.
- the selection of intermediate conditions can be automated.
- FIG. 1 It is a block diagram which shows embodiment. It is a perspective view which shows the passive training apparatus which is the object of embodiment. It is a figure which shows the other examples of a passive training apparatus. It is a figure which shows another example of a passive training apparatus. It is a side view which shows an example of the operation simulation apparatus used for the same as the above. It is a block diagram which shows the simulator used for the same as the above. It is a figure which shows the example of the model by an inverted pendulum same as the above. It is a figure explaining the restoring force of the inverted pendulum in the same as the above.
- the passive training apparatus includes a support base configured to support all or part of the weight of the user, and the support base is moved by the driving device.
- the passive training apparatus 1 for example, as shown in FIG. 2, there is one used by a user in a standing posture, and this passive training apparatus 1 has a pair of legs on which the user puts the left and right feet respectively.
- the pedestal 41 (first and second support pedestals) is provided, and the position of the foot cradle 41 is displaced by a drive device (not shown) built in the base frame 40.
- the footrest 41 is driven using a driving device that can displace at least one degree of freedom around the front-rear direction, the left-right direction, the up-down direction, the front-rear direction axis, the left-right direction axis, and the up-down direction axis.
- each footrest 41 has 6 degrees of freedom. Displacement is possible.
- the footrest base 41 can be moved with an appropriate degree of freedom by using a mechanism that uses a motor as a drive source and converts a straight movement and a rotational movement by combining a crank and gears. In particular, when there is one drive source, it becomes easy to link the left and right footrest bases 41 in a specific relationship.
- the passive training device 1 includes a support base (seat portion 42) that supports the buttocks of the user H, and the user H is used so as to straddle the seat portion 42.
- a device that causes the user H to perform an exercise simulating a riding exercise by moving the.
- a support base that supports the hips or waist of the user H and a support base (foot rest base 44) on which the left and right feet of the user H are respectively mounted
- the load acting on the leg portion of the user H is changed by supporting the load of the user H at three locations and moving the seat portion 43 so as to tilt and changing the ratio of the load supported by the seat portion 43.
- the footrest 44 is movable in the vertical direction in accordance with the load acting on the footrest 44, and the knee joint angle is kept substantially constant.
- a simulator 2 that obtains a response of the user's body by computer simulation when the operating condition of the support base in the passive training apparatus 1 is changed, and the support of the passive training apparatus 2
- a motion simulation device 3 for simulating the movement of the table under various operating conditions, and a myoelectric measurement device 4 for measuring the myoelectricity of each muscle focused on the subject He supported by the support table of the motion simulation means 3 are provided.
- the operating conditions of the support table mean conditions set by parameters such as the trajectory along which the support table moves, the amplitude (movement range), and the frequency (movement speed).
- the operation condition is expressed as a time change of the representative point position of the support base.
- the support base is set inside the simulator 2. The time change of the representative point position is automatically generated.
- the operating conditions set in the simulator 2 can be set even if the operating conditions are in a range that cannot be set in the actual passive training apparatus 1 or that are unacceptable to the user. If various operating conditions including the operating conditions that cannot be realized are tried by the simulator 2, it is possible to know an approximate tendency regarding the relationship between the operating conditions and the response of the user's body. Therefore, if various operating conditions are tried in the simulator 2, it is possible to narrow down operating conditions that can provide a high exercise effect and can be used safely when applied to a support table on which a person actually rides. .
- a condition narrowing unit 6 is provided for narrowing down intermediate conditions to be tried by the motion simulation device 3 from various operating conditions tried by the simulator 2.
- the simulator 2 and the condition narrowing unit 6 are realized by executing a program in a computer, and include a monitor device such as a CRT or a liquid crystal display and an input device such as a keyboard or a mouse.
- the condition narrowing unit 6 displays the results obtained for various operating conditions tried in the simulator 2 on the screen of the monitor device, and the operator can specify intermediate conditions by using the input device.
- a rule to be adopted as an intermediate condition that is, a rule for selecting an operating condition that can provide a high exercise effect and can be safely used
- an operating condition that conforms to the rule is specified, and an operating condition that conforms to the rule.
- a prescribed plurality for example, about 10
- the operation condition adopted as the intermediate condition in the condition narrowing unit 6 is applied to the operation simulation device 3. Since the motion simulation device 3 simulates the movement of the support base (foot stand 41) of the passive training device 2 shown in FIG. 2, for example, as shown in FIG. A pair of parallel link mechanisms 50 that can move the support bases 51 that support each other with multiple degrees of freedom (six degrees of freedom in the illustrated example) are used.
- the parallel link mechanism 50 supports the support base 51 with six links 53 with respect to the gantry 52, and individually expands and contracts each link 53 using a motor 54 attached to each link 53 and rotating in the forward and reverse directions.
- the support base 51 is moved.
- Each end of each link 53 is coupled to a support base 51 and a pedestal 52 via a universal joint 55.
- the support base 51 can be moved in the front-rear direction, the left-right direction, the up-down direction, the front-rear axis rotation direction, the left-right axis rotation direction, and the upper-lower axis rotation direction by extending and contracting the link 53.
- the rotation amount and the rotation timing of each motor 54 of the operation simulation device 3 are controlled by a controller (not shown). Therefore, in order to move the support base 51 under the intermediate condition adopted in the condition narrowing unit 6, the controller is provided with a conversion calculation unit that converts the intermediate condition into the rotation amount and rotation timing of each motor 54. .
- the conversion operation unit when one intermediate condition is given, the intermediate condition is converted into a time series of operation amounts given to each motor 54. That is, the conversion calculation unit is configured by a computer, and outputs an operation amount of the motor 54 with an intermediate condition as an input. Therefore, the conversion calculation unit can be configured by the same computer as the simulator 2 and the condition narrowing unit 6.
- the motion simulation device 3 is provided for the purpose of measuring the muscle activity of the subject He when the subject He stands on the support base 51 and the support base 51 is moved under intermediate conditions. Therefore, when driving the motion simulation device 3, the myoelectric measurement device 4 detects muscle activity related to various muscles in the region of interest of the subject He. For example, if the passive movement training apparatus 1 shown in FIG. 2 is used, it is considered that muscle activities such as the user's foot, lower leg, thigh, buttocks, lower back, and abdomen are increased. Also in the subject He standing at 3, the myoelectricity is measured by the myoelectric measurement device 4 with these muscles as the target region.
- the electromyogram of the subject He is measured for each of the 10 intermediate conditions.
- the myoelectricity is not measured for only one subject He but the myoelectricity is measured for the subject He of different age and sex. It is desirable to measure myoelectricity several times for one person. If there are about 10 kinds of intermediate conditions, it can be measured in a relatively short period even if the myoelectric measurement is performed.
- the evaluation device 5 determines that the muscle activity is optimal among the intermediate conditions.
- a possible intermediate condition is determined as an operation condition of the passive training device 1.
- the operating condition determined by the evaluation device 5 is finally narrowed down to one from the operating conditions set by the simulator 2, and whether or not the passive training device 1 can be safely used is determined by the simulator 2 and Since it has been verified by the motion simulation device 3 and the exercise effect has been verified by the motion simulation device 3, it can be said that it is optimal as an operation condition to be mounted on the passive motion training device 1.
- the simulator 2 has a configuration in which three types of simulators 10, 20, and 30 that perform computer simulation are integrated.
- the second simulator 20 is referred to as a balance simulator
- the third simulator 30 is referred to as a muscle / skeletal simulator.
- the first simulator 10 includes a device simulation unit 11 that simulates the movement of the support base (footrest 41) in the passive motion training device 1, and the operation conditions provided in the passive motion training device 1 are changed from the motion condition setting unit 12. By being input, the movement of the support base according to the operating conditions is simulated.
- the periodicity is not necessarily required for the movement of the support base, and the movement trajectory of the support base need not be a geometric shape.
- the movement of the support base has a periodicity, and the movement locus adopts a shape represented by a combination of reciprocating movements in one or more directions.
- the movement trajectory is based on a linear reciprocating movement selected from the front-rear direction, left-right direction, and up-down direction, roll (around the front-rear axis), pitch (around the left-right axis), and yaw (around the up-down axis) It is expressed by a combination of a reciprocating movement appropriately selected from the selected rotational reciprocating movement (of course, in the case of one degree of freedom, it is expressed by one type of reciprocating movement).
- the operation condition setting unit 12 as the operation conditions, the reciprocation direction that determines the movement trajectory of the support base, the amplitude and period (frequency) for each reciprocation direction, and each of the cases where a plurality of reciprocation movements are combined.
- the phase relationship of the reciprocating movement and the reference position (such as the center position of the reciprocating movement) of the reciprocating movement can be set.
- the muscle / skeletal simulator 30 uses the body segment (bone), A musculoskeletal model with joints and muscles (muscles) as elements is used.
- the joint force means a force acting on the joint (joint axis) in the normal direction of the contact surface between the body segment (link) and the joint (joint axis).
- the balance simulator 20 a model of a mechanical vibration system simplified to such an extent that the essence of the movement of the human body is not lost is described and used instead of the human body.
- the relationship between the described model and the operation of the passive training apparatus simulated by the apparatus simulation unit 11 is represented by an equation of motion.
- the description of the model of the mechanical vibration system as a substitute for the human body is performed by the vibration model generation unit 21.
- the balance simulator 20 is provided with a dynamic calculation unit 22.
- the dynamics calculation unit 22 obtains a change (position and speed) of the position of the joint of the human body when the passive training apparatus is operated.
- the bending and stretching of the joint is caused by the contraction of the muscle related to the joint, by applying the position change with the passage of time of the joint obtained by the balance simulator 20 to the musculoskeletal model used in the muscular / skeletal simulator 30.
- the load (muscle activity) acting on the muscle related to the joint can be obtained.
- the load acting on the joint (inter-joint force) is obtained by obtaining the load acting on the body segment. That is, the muscle activity (load acting on the muscle) related to the bending and stretching of each joint and the load acting on each joint (inter-joint force) are obtained by inverse dynamics calculation from the change of the joint position (trajectory). It is done.
- the musculoskeletal simulator 30 includes a musculoskeletal model generation unit 31 that describes a musculoskeletal model as a substitute for the human body, and a reverse that obtains the muscular load and joint load from the change in the joint position obtained by the balance simulator 20.
- a dynamics calculation unit 32 is provided.
- the apparatus simulation unit 11 pays attention only to the position of the support base for supporting the user's load and the operating conditions of each support base, and does not consider the mechanism in particular. In other words, the apparatus simulation unit 11 simulates which part of the human body is supported by the support base and where and how the contact part is moved.
- the part of the human body that is supported by the support base is a contact part that contacts the support base, and the contact part is a restraint condition that restrains the movement of the human body.
- the degree of freedom regarding the movement of the support base is included in the direction of reciprocal movement under the operating conditions.
- the device simulator 11 is a footrest. 6-degree-of-freedom operating conditions that define movement for each table 41 are required. However, by using the constraint that the left and right footrests 41 move in opposite phases or symmetrically in the same phase, the amount of description of the motion conditions is reduced as compared with the case where the motion conditions are individually defined for both footrests 41. Can be made.
- the operation condition is expressed as a time change of the representative point position of the footrest 41 inside the simulator 2, but the operation condition input by the operator from the operation condition setting unit 12 is the operation trajectory, the frequency, It is represented by a plurality of parameters such as amplitude and phase.
- the footrest 41 moves along the upper surface of the base frame 40 installed on the floor or the like. Further, in the actual passive movement training apparatus 1, the footrest 41 can rotate and reciprocate around the rotation axis along the upper surface of the base frame 41, and the foot placed on the footrest 41 can be moved to the ankle joint. Although it is possible to rotate around (at least one of bottom flexion and dorsiflexion), the simulation of this operation is omitted in the balance simulator 20 of the present embodiment for easy simulation.
- the movement trajectory is a movement trajectory of the representative point position of the footrest 41 in a plane along the upper surface of the base frame 40, and a movement trajectory such as a straight line, an arc shape, or an 8-character shape can be selected.
- the frequency is the number of reciprocating movements of the footrest 41 in one second, and defines the moving speed of the footrest 41.
- the amplitude defines the moving distance when the footrest 41 is reciprocated.
- the phase is an operation in which the left and right footrests 41 move to the same position (for example, when one footrest 41 is at the front end position of the movement range, the other footrest base 41 also moves to the front end position of the movement range.
- parameters include an angle formed by the moving direction of the footrest base 41 with respect to the front-rear direction of the base frame 40 (an oblique angle), and representative points (for example, center points) of the left and right footrest bases 41. There is an average distance (foot width).
- the balance simulator 20 does not consider bottom flexion or dorsiflexion. However, when the footrest base 41 is rotated up and down to perform bottom flexion or dorsiflexion, the footrest base 41 is used.
- the position / orientation / rotation angle range (rotation amplitude), the angle formed by the center position of the rotation angle range with respect to the upper surface of the base frame 40 (offset angle), and the like are also parameters.
- the coordinate system representing the moving direction is a left-handed orthogonal coordinate system
- the rotation around each coordinate axis is clockwise (clockwise) toward the positive direction of each coordinate axis.
- an appropriate position is set as a reference position having a phase of 0 °
- the direction of one coordinate axis included in a plane orthogonal to the coordinate axis is set.
- the reference position is a phase of 0 °.
- the reference position in the rotational movement around the x axis is the reference in which the y-axis direction or the z-axis direction included in the yz plane orthogonal to the x-axis has a phase of 0 °. Become position.
- the coordinate system in the passive training device 1 is set for each footrest 41, the size of the foot is ignored, the ankle joint is regarded as a joint axis around the y axis, and the upper surface of the footrest 41 is A horizontal position is set as a reference position around the x axis and the y axis.
- the positive direction of the x axis is the direction from the heel to the toe.
- the apparatus simulation unit 11 calculates the position change of the footrest 41 with the passage of time when the above-described parameters are given. That is, the time series of the position of the footrest 41 for every fixed time is output.
- the balance simulator 20 and the muscular / skeletal simulator 30 in order to describe a model (human body model) as a substitute for the human body, conditions relating to the individual physique are required.
- the description of the model is important for evaluating the muscle load and joint load, and not only the height and weight but also the age and gender that determine the muscle distribution are necessary as the condition of the individual physique.
- conditions such as body fat mass and muscle mass are also useful conditions for improving the accuracy of model description.
- “height: 170 cm, weight: 60 kg, age: 70 years, gender: male” is given to the balance simulator 20 and the muscular / skeletal simulator 30 as conditions relating to the individual physique.
- the physique condition is input from the physical information input unit 13. In the present embodiment, it is assumed that (height, weight, age, sex) is input from the physical information input unit 13.
- the physique information input from the physical information input unit 13 is stored in the data collating unit 14 in the form of four sets of (height, weight, age, gender) and (body length, body mass, body mass inertia). And the human body data storage unit 15 registered in association with each other.
- the various data in the human body data storage unit 15 is obtained from statistical values of the human body. However, to reduce the amount of calculation, the age, gender, and moment of inertia of the body segment are not taken into account, and the length of the body segment (upper body height, thigh length, etc.) and the mass of the body segment are added to (height, weight). Keep related.
- anatomically obtained statistical values can be used for the length and mass of the body segment with respect to (height, weight).
- the length and mass of the body segment relative to the standard value of (height, weight) are defined, and when (height, body weight) is given from the physical information input unit 13, the length and mass of the body segment are determined.
- a standard value may also be defined for the restoring force, and correction may be made using data relating to muscular strength for each age and gender.
- the balance simulator 20 describes a model of a mechanical vibration system as a substitute for the human body. That is, since the foot is placed on the footrest 41, the foot is a contact part, and the foot position is restrained by the support base. When the footrest 41 is moved periodically in this state, the user tries to stand straight while maintaining balance.
- an inverted pendulum composed of one link L having a mass M corresponding to the weight of the user can be used (hereinafter referred to as “1”).
- Link model In order to analyze the behavior of this inverted pendulum, the inverted pendulum consists of an inertial element (an element that exerts a force proportional to acceleration: including gravity), a damping element (an element that exerts a force proportional to velocity), and a restoration element ( It is assumed that there are three elements including an element that exerts a force proportional to the displacement.
- the periodic movement of the footrest 41 of the passive training device 1 is represented by an operation of periodically displacing the lower end position of the link L.
- the link L is a joint provided at the lower end position. Only rotation about axis J is allowed. That is, the inertial element, the damping element, and the restoring element of the link L act around the joint axis J. Therefore, the motion of the inverted pendulum can be described by a motion equation including an inertia element, a damping element, and a restoring element.
- the force that the passive training device 1 acts on the inverted pendulum is vibration that changes sinusoidally for each direction as described above, and therefore, by solving the motion equation of forced vibration in the dynamics calculation unit 22, The time change of the position of the inverted pendulum can be calculated.
- the torque T (t) acting around the joint axis J at the time t is obtained by the model shown in FIG.
- T (t) Kp ⁇ ( ⁇ (t) ⁇ 0 ) + Kd ⁇ d ⁇ (t) / dt
- the angle ⁇ (t) is a joint angle, which corresponds to an inclination angle with respect to the upright position of the link L in one link model, and is an angle formed by the links around the joint axis J between the pair of links.
- the joint angle ⁇ (t) an absolute value of the angle formed by the link may be used, or an angle measured using the joint angle at rest (at rest when standing) as a reference angle may be used.
- Kp proportional gain
- Kd differential gain
- the proportional gain Kp and the differential gain Kd are obtained from the muscle strength of the human body as a model.
- the torque T (t) may be only a value proportional to the joint angle ⁇ (t), an integrated value of the joint angle ⁇ (t), or a time delay considering the response time of the human body. Good.
- the term of Formula 1 may be added. Ki in Equation 1 is an integral gain.
- the position of each joint is unknown, so the position of the joint cannot be applied to the musculoskeletal model used in the muscular / skeletal simulator 30. Therefore, as shown in FIG. 9, the positional relationship between the reference point (for example, the center of gravity) of the human body and each joint is actually measured at the initial position of the actual passive motion training apparatus 1, and the positional relationship is determined as the reference point ( For example, each position of the joints j0 to j6 is estimated from the position of the reference point in the inverted pendulum by applying to the position of the center of gravity.
- the reference point for example, the center of gravity
- j0 represents a hip joint
- j1 and j2 represent hip joints
- j3 and j4 represent knee joints
- j5 and j6 represent ankle joints.
- a device such as motion capture is used.
- two-link model Since the one-link model is simple, the amount of calculation is small. However, since the positions of the joints j0 to j6 are estimated from the position of one reference point, the obtained positions of the joints j0 to j6 are highly accurate. It can not be said. Therefore, as shown in FIG. 7B, a model composed of two links L1 and L2 having masses M1 and M2 divided into an upper body and a lower body and two joint axes J1 and J2 (hereinafter referred to as “two-link model”). ) May represent the human body.
- one reference point (such as a hip joint) is associated with one joint axis J1, and a reference point (for example, a center of gravity) is defined for each link L1, L2.
- a reference point for example, a center of gravity
- the movement is mainly considered for the joints j0 to j6 of the lower body, and therefore the link L1 corresponding to the upper half of the links L1 and L2 affects the movement of the link L2 corresponding to the lower half.
- the positional relationship between each joint j0 to j6 and the reference point of the link L1 is unnecessary.
- multi-link model In order to detect each joint position accurately with a model using an inverted pendulum, as shown in FIG. 7C, a model having the same number of body segments and joint axes (joints j0 to j6) as the musculoskeletal model (hereinafter referred to as “multi-link model”). ")", the positions of the joints j0 to j6 can be obtained individually, so that the positions of the joints j0 to j6 obtained by the balance simulator 20 can be applied to the muscle / skeletal simulator 30 as they are. However, since the positions of the joints j0 to j6 are obtained individually by the balance simulator 20, the amount of calculation is greatly increased.
- M21 and M22 are models of the first and second support bases 2, respectively.
- the multi-link model (human body model) includes first to sixth links L1 to L6.
- the first link L1 has a first joint axis J1, which is equivalent to the joint j3 and is arranged at the lower end of the first link L1.
- the second link L2 has a second joint axis J2, which is equivalent to the joint j5 and is arranged at the lower end of the second link L2.
- the upper end of the second link L2 is coupled to the lower end of the first link L1 via the first joint axis J1, while the lower end of the second link L2 is connected to the second joint axis J2.
- the third link L3 has a third joint axis J3, which is equivalent to the joint j4, and is arranged at the lower end of the third link L3.
- the fourth link L4 has a fourth joint axis J4, which is equivalent to the joint j6 and is arranged at the lower end of the fourth link L4.
- the upper end of the fourth link L4 is coupled to the lower end of the third link L3 via the third joint axis J3, while the lower end of the fourth link L4 is connected via the fourth joint axis J4.
- the fifth link L5 has fifth and sixth joint axes J5 and J6, which are equivalent to the joints j1 and j2, respectively, and are arranged at both ends of the fifth link L5.
- both ends of the fifth link L5 are coupled to upper ends of the first and third links L1 and L3 via fifth and sixth joint axes J5 and J6, respectively.
- the sixth link L6 has a seventh joint axis J7, which is equivalent to the joint j0 and is arranged at the lower end of the sixth link L6.
- the lower end of the sixth link L6 is coupled to the center of the fifth link L5 via the seventh joint axis J7.
- a restoring force corresponding to the angle formed by the first and second links L1 and L2 acts around the first joint axis J1.
- a restoring force corresponding to the angle formed by the third and fourth links L3 and L4 acts around the third joint axis J3.
- a restoring force corresponding to the angle of the second link L2 with respect to the upright position acts around the second joint axis J2.
- a restoring force corresponding to the angle of the fourth link L4 with respect to the upright position acts around the fourth joint axis J4.
- the balance simulator 20 it is desirable to select a model as necessary because the calculation amount and accuracy are traded off. For example, for rough evaluation, the range of operation conditions is narrowed down using the one-link model in FIG. 7A or the two-link model in FIG. 7B, and then the evaluation is performed using the multi-link model in FIG. 7C within the narrowed-down range. It is possible to use it.
- the data extracted from the human body data storage unit 15 is the length and mass of each body segment, when using the 1 link model or the 2 link model, the data extracted from the human body data storage unit 15 should be used as it is. Cannot be corrected, and corrections to link length, link mass, and restoring force are required. Therefore, the link length, the link mass, and the restoring force are obtained by correcting the data extracted from the human body data storage unit 15 in the inverted pendulum model correcting unit 23 according to which model is used. In the example shown in FIGS. 9 and 10, a model with a separated head is illustrated, but in this embodiment, the calculation is performed without separating the head.
- the positions of the joints j0 to j6 described above are obtained at predetermined time intervals. That is, the dynamics calculation unit 22 calculates the position change of each of the joints j0 to j6 over time. In other words, the time series of each position of the joints j0 to j6 is output.
- the musculoskeletal simulator 30 applies temporal changes in the positions of the joints j0 to j6 obtained by the dynamics calculation unit 22 of the balance simulator 20 to the musculoskeletal model, and calculates each muscle load and each joint load by inverse dynamics calculation. calculate.
- the musculoskeletal model is set by using (height, weight, age, sex) input from the physical information input unit 13 in the same manner as a human body model using an inverted pendulum. That is, the data collation unit 14 collates the data input from the physical information input unit 13 with the human body data storage unit 15 to obtain the length of the body segment, the mass of the body segment, the moment of inertia of the body segment, and the like. Use.
- the data extracted from the human body data storage unit 15 is corrected by the musculoskeletal model correction unit 33 as necessary.
- the musculoskeletal model generation unit 31 generates a musculoskeletal model using the data corrected as necessary.
- the musculoskeletal model represents a line that does not stretch the muscle, the skeleton as a rigid link, and the joint as a joint axis.
- the inverse dynamics calculation unit 32 provided in the muscular / skeletal simulator 30 applies each position change of the joints j0 to j6 obtained by the balance simulator 20 using the inverted pendulum as a position change of the joint axis of the musculoskeletal model.
- each link is provided with a muscle according to the muscle dynamic model, and the load acting on the muscle and the joint is obtained by inverse dynamics calculation.
- the Hill model is used as the muscle dynamic model. That is, as shown in FIG. 11, a contraction element (a tension generator and a damping element coupled in parallel) 61 and an elastic element 62 are coupled in series, and an elastic element 63 is coupled in parallel to form a muscle. Simulates the function.
- the elastic element 64 is connected in series to the muscle to simulate the function of the tendon.
- the muscle model applied to the musculoskeletal model is not limited to the configuration shown in FIG. 11, but a simple configuration that simulates only an elastic element to reduce the amount of calculation is used, or the muscle contraction speed is increased to increase accuracy. It is also possible to use a configuration in consideration.
- the inverse kinematics calculation unit 32 calculates muscle load and joint load by performing reverse dynamics calculation based on the time change of the position of each part of the musculoskeletal model.
- the position change of the footrest 41 generated by the apparatus simulation unit 11 and the position change of the joints j0 to j6 obtained by the dynamics calculation unit 22 are necessary. By applying the time series of these positions to the musculoskeletal model, it is possible to calculate the time series of muscle activity and joint force.
- a plurality of solutions can be obtained by calculating the loads on the muscles and joints from the positional changes of the plurality of joints. Therefore, it is necessary to narrow down the solution according to some rule (rule).
- the organism narrows down the solution according to the rule that selects the solution with lower energy consumption and better efficiency.
- the solution having the smallest sum of the muscle usage (for example, a value representing the muscle strength actually exhibited with respect to the maximum muscle strength that can be exhibited) is selected from the plurality of solutions.
- the muscle usage not only the muscle usage but also the value obtained by multiplying the muscle volume by the muscle usage or the ratio of the usage of the slow muscle and the fast muscle may be used as an index for selecting a solution.
- the apparatus simulation unit 11 simulates by changing the operation condition set by the operation condition setting unit 12 and the condition of the physique input by the physical information input unit 13 and repeating the processing by the balance simulator 20 and the muscular / skeletal simulator 30.
- the passive motion training apparatus 1 it is possible to calculate the load on each muscle and each joint due to various operating conditions and physiques.
- the calculation result should be evaluated so as to satisfy the condition that the muscle activity of the target muscle is large and the joint force of each joint is small. It is thought that there are many.
- the muscles of interest vary depending on the movement of the passive training device 1 and the purpose of exercise. For example, elderly people strengthen muscle groups to prevent falls or knees to prevent knee pain and back pain. There are cases where the muscles around the back and back are strengthened.
- the average value of the muscle activity of the target muscle (the average value during one cycle of the footrest 41), the average value of the muscle activity of all the muscles set in the musculoskeletal model, and the like are used.
- the muscles of interest can be specified as individual muscles (for example, the inner vastus muscle and the outer vastus muscles), as muscle groups of specific parts of the body (such as the thighs and lower legs), or by function Or as a group (knee extension muscle group, ankle plantar flexor muscle group, etc.).
- the muscles of interest include, for example, thigh extension (stratus thigh muscle, lateral vastus muscle, medial vastus muscle), thigh flexion (biceps femoris long head), crus dorsiflexion (Anterior tibial muscle), lower leg flexion (gastrocnemius, soleus).
- the force acting on a specific joint (a knee joint, an ankle joint, a hip joint, or the like), a specific joint angle, or the like is used for the evaluation of the joint force.
- a specific joint a knee joint, an ankle joint, a hip joint, or the like
- the constraint is 100 degrees or less (the position where the knee joint is extended is 0 degree) or less. Evaluate by condition. It is desirable to give these constraint conditions as limit values in advance and automatically determine whether or not they are out of the limit value range according to the operating conditions and physique.
- FIG. 12 shows the result of simulation for about 2000 kinds of operating conditions.
- simulating exclude operating conditions that are clearly unrealizable in the actual machine of the passive training device 1 or that are known to be considerably lower than the target level of muscle activity. It is desirable to include it, but it is desirable to include even operating conditions that are expected to be out of range.
- the knee shear force can be set to an upper limit value in a range in which the user does not feel pain in the knee.
- an upper limit value is defined for the knee shearing force, and the intermediate condition is extracted in a range where the knee shearing force is smaller than the upper limit value (inter-joint force range). That is, the target range of the joint force is set to a predetermined value or less, and the selection range of the intermediate condition is narrowed down to a range that can be safely used.
- the rule for extracting the intermediate condition is (1) a rule that “the knee shearing force is smaller than the upper limit value” and (2) a rule that “a higher muscle activity rate is desirable” (muscle activity range) ). That is, an operation condition in which rule (1) is satisfied and rule (2) is satisfied is set as an intermediate condition.
- the upper limit value of the knee shearing force is set to 400 [N], and the knee shearing force is within a range smaller than 400 [N],
- the top 10 muscle activity rates are extracted so as to satisfy rule (2).
- the operation condition corresponding to the extracted result is set as an intermediate condition. Since the simulator 2 and the condition narrowing-down unit 6 are computers, all the operating conditions to be simulated by the simulator 2 are stored in a storage device (not shown), and the operating conditions corresponding to 10 selected from the simulation results are stored. It is read from the apparatus and set as an intermediate condition. The intermediate condition is stored in an area different from the operation condition in the storage device.
- muscle activity and inter-articular force differ depending not only on the operating conditions but also on the physique. Therefore, it is possible to obtain a range of a physique capable of performing an appropriate exercise for a specific operation condition, or to obtain an operation condition capable of performing an appropriate exercise for a specific physique.
- These results are preferably stored in a storage device (not shown) so that they can be referred to at any time.
- the intermediate condition adopted by the condition narrowing unit 6 based on the result of the simulation by the simulator 2 is applied to the motion simulation device 3 described above, and the myoelectric measurement device 4 is applied to the subject who is on the support base 51 of the motion simulation device 3. Used to measure myoelectricity. It is desirable that the test subjects have a larger number of people, and it is easier to remove the influence of individual differences, and that the physique, age, and sex are also dispersed.
- the evaluation device 5 After obtaining the myoelectricity for each muscle by the myoelectric measurement device 4, the evaluation device 5 extracts an operation condition that maximizes the average value or peak value of the myoelectric discharge amount from the measured myoelectricity.
- the average value of the muscle discharge amount means a time integral value of the muscle discharge amount obtained for each muscle. Since the average value or peak value of the muscle discharge amount is obtained for each subject and for each muscle, the evaluation device 5 determines the average value or peak value of the muscle discharge amount for the subject so that comparison of intermediate conditions is easy. Are averaged, and the sum is obtained for each muscle. Since the value obtained in this way represents the degree of muscle activity for each intermediate condition, the evaluation device 5 selects the intermediate condition that maximizes muscle activity as the operating condition to be mounted on the actual machine.
- the absolute value of the muscle discharge amount of each muscle is used, but it is desirable to normalize the muscle discharge amount in order to evaluate more strictly. That is, for each muscle, normalization is performed by obtaining a ratio (% MVC) of maximum muscle strength (MVC: Maximum Voluntary Contraction) of demonstrable muscle strength (average value or peak value), and the sum of all muscles of% MVC obtained for each muscle. It is desirable to evaluate the intermediate condition using a value obtained by averaging (or average value) of subjects.
- FIG. 13 shows an average value of% MVC (average% MVC) obtained for all muscles of interest for 10 types of intermediate conditions averaged for the subject.
- FIG. 13 shows the magnitude of muscle activity for the intermediate conditions T1 to T10 (average% MVC for muscles in all parts), and the average% MVC of the intermediate condition T4 is the maximum among the 10 intermediate conditions. Therefore, the intermediate condition T4 is selected as an operation condition to be mounted on the actual machine.
- the evaluation apparatus 5 selects the intermediate condition having the maximum% MVC as the operating condition to be mounted on the actual machine. It becomes possible to automatically select the operation condition to be mounted on the other passive training apparatus 1 by the evaluation apparatus 5.
- myoelectricity is measured by the myoelectric measurement device 4 in order to quantify the muscle activity.
- the muscle activity is quantitatively measured, for example, by measuring oxygen consumption by near infrared spectroscopy. Any value can be used as long as it can be used.
- the passive training apparatus 1 used in a posture in which the user stands as shown in FIG. 2 is described as an example, and the condition that the foot position is restrained in the balance simulator 20 is used.
- the illustrated passive training device 1 is restrained by the seat 42 at the position of the hip joint. That is, the position of the hip joint is determined by the operating condition of the seat 42 (support). Therefore, as the inverted pendulum, in addition to the multi-link model, a one-link model provided with a link L corresponding to the upper body as shown in FIG. 3B can be used.
- the lower end is the joint axis J.
- the position of the hip joint is constrained by the seat 43 and the position of the ankle joint is constrained by the footrest 44.
- the position of the hip joint and the position of the ankle joint are determined by the operating conditions of the seat 43 (support base).
- a one-link model having a link L corresponding to the upper body as shown in FIG. 4B may be used. it can.
- the lower end is the joint axis J.
- the target joint can be estimated from the positional relationship with respect to the reference point.
- the passive training apparatus 1 shown in FIGS. 3 and 4 if it is necessary to divide the contact portion between the human body and the seats 42 and 43 into a plurality of points while sitting on the seats 42 and 43, the operating condition From the above, a change in position for each contact location may be obtained and reflected in the movement of the model.
- the upper body is simulated by a one-link model
- an inverted pendulum model having a plurality of links provided with appropriate joint axes at the positions of the spine and neck may be used.
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Cardiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
T(t)=Kp・(θ(t)-θ0)+Kd・dθ(t)/dt
で表すことができる。
展させた位置を0度としている)以下という制約条件で評価する。これらの制約条件をあらかじめ制限値として与えておき、動作条件や体格に応じて制限値の範囲外か否かを自動的に判断するのが望ましい。
Claims (8)
- 利用者の体重の全部または一部を支えるように構成される支持台と、該支持台を動かすように構成される駆動装置とを備え、動作条件に従って該駆動装置を通じて該支持台を動かすことにより該利用者に他動運動を提供するように構成される他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法であって、
(a)複数の動作条件の各々に従って、順次、コンピュータシミュレーションにより該利用者の着目部位における種々の筋活動および種々の関節間力を求めること、該種々の筋活動は種々の筋の活動であり、該種々の関節間力は種々の関節に関する関節間力であり、
(b)該複数の動作条件から複数の中間条件を求めること、該複数の中間条件は、該複数の動作条件の各々に従って順次求めた全筋活動および全関節間力が、それぞれあらかじめ決定された筋活動および関節間力範囲内にあれば、当該動作条件を該複数の中間条件に含めることにより得られ、
(c)該複数の中間条件の各々に従って、順次、複数の自由度で該支持台を動かすように構成される動作模擬装置を制御しながら、該支持台上の被験者の筋電を計測すること、
(d)該複数の中間条件の各々に従って順次計測された各筋電に基づいて、該複数の中間条件から最適動作条件を決定して出力すること
の複数のコンピュータ実行ステップを含む、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法。 - 該ステップ(a)は、
人体のモデルとなる少なくとも1本の倒立振子を、該複数の動作条件の各々に従って順次強制振動させたときの倒立振子の時間経過に伴う位置変化から、該利用者の人体関節の時間経過に伴う位置変化を推定すること、および
該推定した位置変化を筋骨格モデルに適用することにより該種々の筋活動および該種々の関節間力を求めること
を含む、請求項1記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法。 - 該ステップ(d)は、
該複数の中間条件の各々に従って順次計測された各筋電から、筋放電量の最大平均値または最大ピーク値を求めること、および
該最大平均値または該最大ピーク値に対応する中間条件を、該最適動作条件と定めること
を含む、請求項1記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法。 - 該関節間力範囲は、規定値以下であり、
該筋活動範囲は、第1の筋活動から第2の筋活動の範囲であり、該第1の筋活動は、該関節間力範囲内にある複数の動作条件に従って求められた各筋活動のうちの最も高い筋活動であり、該第2の筋活動は、該関節間力範囲内にある複数の動作条件に従って求められた各筋活動のうちの、規定個数だけ該第1の筋活動よりも低い筋活動である
請求項1記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法。 - 利用者の体重の全部または一部を支えるように構成される支持台と、該支持台を動かすように構成される駆動装置とを備え、動作条件に従って該駆動装置を通じて該支持台を動かすことにより他動運動を該利用者に提供するように構成される他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測のシステムであって、
(i)複数の動作条件の各々に従って、順次、該利用者の着目部位における種々の筋活動および種々の関節間力を、コンピュータシミュレーションにより求め、(ii)該複数の動作条件から複数の中間条件を求める、ように構成されるシミュレータと、該種々の筋活動は種々の筋に関する筋活動であり、該種々の関節間力は種々の関節に関する関節間力であり、該複数の中間条件は、該複数の動作条件の各々について順次求めた全筋活動および全関節間力が、それぞれあらかじめ定められた筋活動範囲および関節間力範囲内にあれば、当該動作条件を該複数の中間条件に含めることにより得られ、
該複数の中間条件の各々に従って、順次、該支持台を複数の自由度で動かすように構成される動作模擬装置と、
該支持台上の被験者の筋電を計測するように構成される筋電測定装置と、
該複数の中間条件の各々に従って順次計測された各筋電に基づいて、該複数の中間条件から最適動作条件を決定して出力するように構成される評価装置と
を備える、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測のシステム。 - 該シミュレータは、
人体のモデルとなる少なくとも1本の倒立振子を、該複数の動作条件の各々に従って強制振動させたときの倒立振子の時間経過に伴う位置変化から、該利用者の人体関節の時間経過に伴う位置変化を推定するように構成されるバランスシミュレータと、
該推定した位置変化を筋骨格モデルに適用することにより種々の筋活動および種々の関節間力を求めるように構成される筋・骨格シミュレータと
を備える、請求項5記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測のシステム。 - 該評価装置は、該複数の中間条件の各々に従って順次計測された各筋電から、筋放電量の最大平均値または最大ピーク値を求め、該最大平均値または該最大ピーク値に対応する中間条件を、該最適動作条件に定めるように構成される、請求項5記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測のシステム。
- 該関節間力範囲は、規定値以下であり、
該筋活動範囲は、第1の筋活動から第2の筋活動の範囲であり、該第1の筋活動は、該関節間力範囲内にある複数の動作条件に従って求められた各筋活動のうちの最も高い筋活動であり、該第2の筋活動は、該関節間力範囲内にある複数の動作条件に従って求められた各筋活動のうちの、規定個数だけ該第1の筋活動よりも低い筋活動である
請求項5記載の、他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測のシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009801299573A CN102112183A (zh) | 2008-06-24 | 2009-06-23 | 与被动训练器支撑台最佳运行条件相关的模拟、测量方法及系统 |
US13/001,280 US20110105962A1 (en) | 2008-06-24 | 2009-06-23 | Method and system of simulation and measurement related to optimum operating condition for support base of passive exercise machine |
EP09770143A EP2305355A1 (en) | 2008-06-24 | 2009-06-23 | Method and system for carrying out simulation and measurement relating to optimum operational condition for support stand of passive training device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-164992 | 2008-06-24 | ||
JP2008164992A JP2010004954A (ja) | 2008-06-24 | 2008-06-24 | 他動訓練装置の移動条件評価方法およびその移動条件評価システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009157433A1 true WO2009157433A1 (ja) | 2009-12-30 |
Family
ID=41444499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/061389 WO2009157433A1 (ja) | 2008-06-24 | 2009-06-23 | 他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法とシステム |
Country Status (7)
Country | Link |
---|---|
US (1) | US20110105962A1 (ja) |
EP (1) | EP2305355A1 (ja) |
JP (1) | JP2010004954A (ja) |
KR (1) | KR20110036066A (ja) |
CN (1) | CN102112183A (ja) |
TW (1) | TW201007578A (ja) |
WO (1) | WO2009157433A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20100085104A (ko) * | 2007-10-31 | 2010-07-28 | 파나소닉 전공 주식회사 | 운동 보조 기기 |
US8366591B2 (en) * | 2009-06-24 | 2013-02-05 | Sabanci University | Reconfigurable ankle exoskeleton device |
US8666719B2 (en) * | 2011-10-25 | 2014-03-04 | Livermore Software Technology Corp. | Methods and systems for numerically simulating muscle movements along bones and around joints |
JP2014068659A (ja) * | 2012-09-27 | 2014-04-21 | Panasonic Corp | 運動補助装置 |
US20160059077A1 (en) * | 2014-08-27 | 2016-03-03 | University Of Utah Research Foundation | Exercise therapy and rehabilitation system and method |
JP6301862B2 (ja) * | 2015-03-04 | 2018-03-28 | 上銀科技股▲分▼有限公司 | 下股運動装置およびその制御方法 |
EP3346956A4 (en) * | 2015-09-09 | 2019-05-15 | Ekso Bionics, Inc. | SYSTEMS AND METHOD FOR PRODUCING TAILOR-MADE EXOSKELETTES |
US11511156B2 (en) | 2016-03-12 | 2022-11-29 | Arie Shavit | Training system and methods for designing, monitoring and providing feedback of training |
CN107213599B (zh) * | 2016-03-21 | 2023-06-02 | 力迈德医疗(广州)有限公司 | 一种平衡康复训练系统 |
US9788659B1 (en) * | 2016-04-22 | 2017-10-17 | Tecview Group Co., Ltd. | Seat for hip shaking |
US11260268B1 (en) * | 2016-10-19 | 2022-03-01 | Md Systems, Inc. | Systems, methods, and apparatus for isometric, isokinetic, isotonic, and isodynamic exercise |
JP6893353B2 (ja) * | 2017-06-27 | 2021-06-23 | 国立研究開発法人産業技術総合研究所 | 筋骨格モデルによる関節負荷推定方法およびシステム |
JP6779848B2 (ja) * | 2017-09-13 | 2020-11-04 | 株式会社日立製作所 | 作業判別システム、学習装置、及び学習方法 |
US10896760B2 (en) | 2017-10-05 | 2021-01-19 | International Business Machines Corporation | Estimation of muscle activities using the muscles relationship during simulating movements |
KR102020129B1 (ko) * | 2017-12-27 | 2019-09-09 | 한국교통대학교산학협력단 | 대상자의 관절 경직도를 고려한 재활 운동 방법 및 그 시스템 |
CN108784722B (zh) * | 2018-07-03 | 2021-02-02 | 广东医诺生物科技有限公司 | 一种用于动物的肌力测试装置 |
CN109885159B (zh) * | 2019-01-16 | 2022-03-01 | 杭州电子科技大学 | 基于正向动力学与希尔模型的状态空间肌电模型构建方法 |
KR102544549B1 (ko) * | 2021-01-28 | 2023-06-20 | 한국과학기술원 | 인체를 보조하는 웨어러블 장치를 설계하기 위한 시뮬레이션 방법 및 이를 수행하는 장치들 |
TWI823561B (zh) * | 2021-10-29 | 2023-11-21 | 財團法人工業技術研究院 | 多模感知協同訓練系統及多模感知協同訓練方法 |
JP2023072397A (ja) * | 2021-11-12 | 2023-05-24 | トヨタ自動車株式会社 | 処理システム、処理方法、及びプログラム |
CN117419916B (zh) * | 2023-11-12 | 2024-03-19 | 山东宝德龙健身器材有限公司 | 一种健身器材用稳定性和疲劳度试验装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10230004A (ja) * | 1997-02-20 | 1998-09-02 | Yaskawa Electric Corp | 訓練装置 |
JP2004344684A (ja) | 2004-09-10 | 2004-12-09 | Matsushita Electric Works Ltd | バランス訓練装置 |
JP2005527004A (ja) * | 2001-06-29 | 2005-09-08 | 本田技研工業株式会社 | 関節力及び関節モーメントのフィードバック推定方法及び装置 |
JP2006034640A (ja) | 2004-07-27 | 2006-02-09 | Matsushita Electric Works Ltd | 運動補助装置 |
JP2006122595A (ja) | 2004-10-01 | 2006-05-18 | Matsushita Electric Works Ltd | 揺動型運動装置 |
JP2007334446A (ja) * | 2006-06-12 | 2007-12-27 | Matsushita Electric Works Ltd | 筋負荷評価システム、製品設計支援システム |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8540652B2 (en) * | 2007-05-22 | 2013-09-24 | The Hong Kong Polytechnic University | Robotic training system with multi-orientation module |
US20090306548A1 (en) * | 2008-06-05 | 2009-12-10 | Bhugra Kern S | Therapeutic method and device for rehabilitation |
-
2008
- 2008-06-24 JP JP2008164992A patent/JP2010004954A/ja not_active Withdrawn
-
2009
- 2009-06-23 WO PCT/JP2009/061389 patent/WO2009157433A1/ja active Application Filing
- 2009-06-23 KR KR1020117001724A patent/KR20110036066A/ko not_active Application Discontinuation
- 2009-06-23 EP EP09770143A patent/EP2305355A1/en not_active Withdrawn
- 2009-06-23 CN CN2009801299573A patent/CN102112183A/zh active Pending
- 2009-06-23 US US13/001,280 patent/US20110105962A1/en not_active Abandoned
- 2009-06-24 TW TW098121163A patent/TW201007578A/zh unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10230004A (ja) * | 1997-02-20 | 1998-09-02 | Yaskawa Electric Corp | 訓練装置 |
JP2005527004A (ja) * | 2001-06-29 | 2005-09-08 | 本田技研工業株式会社 | 関節力及び関節モーメントのフィードバック推定方法及び装置 |
JP2006034640A (ja) | 2004-07-27 | 2006-02-09 | Matsushita Electric Works Ltd | 運動補助装置 |
JP2004344684A (ja) | 2004-09-10 | 2004-12-09 | Matsushita Electric Works Ltd | バランス訓練装置 |
JP2006122595A (ja) | 2004-10-01 | 2006-05-18 | Matsushita Electric Works Ltd | 揺動型運動装置 |
JP2007334446A (ja) * | 2006-06-12 | 2007-12-27 | Matsushita Electric Works Ltd | 筋負荷評価システム、製品設計支援システム |
Also Published As
Publication number | Publication date |
---|---|
JP2010004954A (ja) | 2010-01-14 |
US20110105962A1 (en) | 2011-05-05 |
TW201007578A (en) | 2010-02-16 |
CN102112183A (zh) | 2011-06-29 |
EP2305355A1 (en) | 2011-04-06 |
KR20110036066A (ko) | 2011-04-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2009157433A1 (ja) | 他動訓練装置の支持台用の最適動作条件に関連するシミュレーションおよび計測の方法とシステム | |
JP5149940B2 (ja) | 脚部トレーニング装置 | |
CN109310913B (zh) | 三维模拟方法及装置 | |
KR101138012B1 (ko) | 복수 개의 측정 자세에서 사용자의 균형도를 측정하기 위한 장치 및 방법 | |
JP4148120B2 (ja) | 運動補助装置 | |
KERWIN et al. | Strategies for maintaining a handstand in the anterior-posterior direction | |
Schütz et al. | Joint angles of the ankle, knee, and hip and loading conditions during split squats | |
JP2003116822A (ja) | 筋活動解析装置およびトレーニング装置 | |
US11759674B2 (en) | Kinoped lower extremity performance improvement, injury prevention, and rehabilitation system | |
US20230149777A1 (en) | Processing system, processing method, and non-transitory storage medium | |
JP6281876B2 (ja) | 運動器評価システム及び運動器評価方法 | |
US20230148907A1 (en) | Muscle activity output system | |
CN116115972A (zh) | 处理系统、处理方法和非暂时性存储介质 | |
Rejman et al. | An evaluation of kinesthetic differentiation ability in monofin swimmers | |
JP2009219557A (ja) | 他動訓練装置による運動作用のシミュレーション方法とその装置 | |
JP4258464B2 (ja) | 揺動型運動装置 | |
WO2010150352A1 (ja) | 他動訓練装置の支持台用動作条件に関連するシミュレーション方法とシステム | |
Haraguchi et al. | Human and Passive Lower-Limb Exoskeleton Interaction Analysis: Computational Study with Dynamics Simulation using Nonlinear Model Predictive Control | |
TWI828589B (zh) | 具肢體平衡及安全性監控之重訓輔助系統 | |
Burton | Modelling and Simulation of a Hip Abduction-Adduction Assistive Exoskeleton to Improve Elderly Stability | |
Consiglieri et al. | Analytical approach for the evaluation of the torques using inverse multibody dynamics | |
CN114496158A (zh) | 一种直道途中跑下肢的评价方法及终端 | |
Lorenzetti | Strength training: Towards subject specific modelling, individual internal loading conditions and design of exercises | |
TW201100067A (en) | Simulation method and system of movement conditions used in supporting table of passive training device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980129957.3 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09770143 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13001280 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009770143 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 20117001724 Country of ref document: KR Kind code of ref document: A |