WO2022239849A1

WO2022239849A1 - Exercise training system and program

Info

Publication number: WO2022239849A1
Application number: PCT/JP2022/020122
Authority: WO
Inventors: 達也大森; 康太日原
Original assignee: キヤノンファインテックニスカ株式会社
Priority date: 2021-05-14
Filing date: 2022-05-12
Publication date: 2022-11-17
Also published as: JP2022175863A

Abstract

The present invention provides an exercise training system in which a first exercise training device 1A and a second exercise training device are connected so as to enable transmission and reception of data. The first exercise training device 1A has a first operation part 3A operated by an operator, and the first operation part 3A can be moved in a first movable range α1 of an x-y plane. The second exercise training device has a second operation part operated by an operator, and the second operation part can be moved in a second movable range α2 of the x-y plane, the second movable range α2 being smaller than the first movable range α1. A PC of the first exercise training device 1A is capable of restricting the movable range of the first operation part 3A in the x-y plane to the second movable range α2. It is thereby possible to perform effective exercise training even if a user and a training instructor are distant from each other.

Description

Exercise training system and program

The present invention relates to an exercise training system capable of supporting a user's planar exercise, and a program used in the exercise training system.

Conventionally, various exercise training is performed to improve motor function. For example, wiping training in which the shoulders and elbows are bent and stretched like wiping a desk, and sanding training in which hands are slid up and down on an inclined board are widely performed. Various exercise training devices have been proposed to support these exercise trainings.

For example, Patent Literature 1 discloses an operation unit that can move on the XY plane, a drive unit that has X-axis and Y-axis drive motors and drives the operation unit on the XY plane, an X-axis and a Y-axis that act on the operation unit. a force sensor for detecting axial forces Fx and Fy; and a controller for controlling the X-axis and Y-axis direction drive motors based on the X-axis and Y-axis directions forces Fx and Fy detected by the force sensors. An exercise training device is disclosed.

Japanese Patent Application Laid-Open No. 2020-89621

A system that provides effective exercise training even when the user and the training instructor are in separate locations is desired.

The exercise training system of the present invention has a first operating section movable in a first movable region on the XY plane, and a first X-axis and first Y-axis direction drive motor, and drives the first operating section on the XY plane. a first force sensor for detecting X-axis and Y-axis direction forces Fx and Fy acting on the first operation portion from an operator who operates the first operation portion; and the first X-axis and a first control unit that controls a first Y-axis direction drive motor; and a second operation movable in a second movable area narrower than the first movable area in the XY plane. a second drive unit having a second X-axis and a second Y-axis direction drive motor and driving the second operation unit in the XY plane; a second force sensor for detecting X-axis and Y-axis direction forces Fx and Fy acting on the first motion a training device and a second exercise training device connected so as to be able to transmit and receive data; The movement of the first operation part and the second operation part is possible within the second movable area based on the input values of the first force sensor and/or the second force sensor.

Further, the program of the present invention has a first operating section movable in a first movable area on the XY plane, and a first X-axis and first Y-axis direction driving motor, and drives the first operating section on the XY plane. a first force sensor for detecting X-axis and Y-axis direction forces Fx and Fy acting on the first operation portion from an operator who operates the first operation portion; and the first X-axis and a first control unit that controls a first Y-axis direction drive motor; and a second operation movable in a second movable area narrower than the first movable area in the XY plane. a second drive unit having a second X-axis and a second Y-axis direction drive motor and driving the second operation unit in the XY plane; a second force sensor for detecting X-axis and Y-axis direction forces Fx and Fy acting on the first motion A program used in an exercise training system having an exercise device and a second exercise training device connected so as to be able to transmit and receive data, wherein a first step of acquiring the second movable region and the first operation unit a second step of limiting the movable region in the XY plane of the above to the second movable region obtained in the first step; and a third step of moving within based on the input value of the first force sensor and/or the second force sensor.

According to the present invention, effective exercise training can be performed even when the user and the training instructor are in separate positions.

1 is an external perspective view of an exercise training device according to an embodiment; FIG. The perspective view of the apparatus main body of the exercise|movement training apparatus of embodiment. Sectional drawing which shows the detail of a 1st actuator mechanism. Sectional drawing which shows the detail of a 2nd actuator mechanism. FIG. 2 is an exploded perspective view showing the configuration of the operating portion; A block diagram of a control unit of the exercise training device. Schematic of the exercise|movement training system of embodiment. 1 is a block diagram of an exercise training system according to an embodiment; FIG. The schematic diagram which shows the movable area of the larger one. The schematic diagram which shows the movable area of the smaller one. 4 is a flow chart showing the flow of control for setting the movable region of the exercise training system.

An exercise training system according to an embodiment to which the present invention can be applied will be described below with reference to the drawings. The exercise training system of this embodiment includes a plurality of exercise training devices connected so as to be able to transmit and receive data, as will be described later in detail. For this reason, first, one exercise training device will be described.

[Exercise training device]
The exercise training device of this embodiment is placed on a substantially horizontal mounting surface, and is used, for example, in exercise training for the purpose of improving motor function of the upper limbs of a user (exercise trainee) (see FIG. 1). . As shown in FIG. 1, the exercise training device 1 has an operation unit 3, and the user U is positioned in front of the exercise training device 1 and stretches the right arm UL forward to perform upper limb exercise training, for example. He is holding the operation unit 3 with his right hand. In this specification, the front side of the user U in the exercise training apparatus 1 of FIG. 1 is called the front side, and the back side is called the rear side.

The exercise training device 1 has a device body 100 and a PC (personal computer) 70. Further, the exercise training device 1 of the present embodiment includes a monitor 76 as a display section for displaying information of the exercise training device 1 in addition to the device body 100 and the PC 70 . The PC 70 is a control unit that controls the entire exercise training apparatus 1 , and may be a general-purpose PC in which a control program is installed, or may be dedicated to the exercise training apparatus 1 . In any case, the control section has a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The CPU controls each part while reading a program corresponding to the control procedure stored in the ROM. The RAM stores work data and input data, and the CPU performs control by referring to the data stored in the RAM based on the above-described programs and the like.

The device main body 100 has an operation unit 3 that can move in the XY plane (horizontal plane parallel to the placement surface and the base 2), a drive unit 200 that drives the operation unit 3 in the XY plane, and the like. These operating section 3 and driving section 200 are arranged on the base 2 . The drive unit 200 has a first motor 6 and a second motor 30 as X-axis and Y-axis direction drive motors. Specifically, the drive unit 200 has a first motor 6 and a first actuator mechanism AX for moving the operation unit 3 in the X-axis direction (direction of arrow X in FIG. 2), and a second motor 30. and a second actuator mechanism AY for moving the operation unit 3 and the first actuator mechanism AX in the Y-axis direction (direction of arrow Y in FIG. 2).

The operation unit 3 includes a force sensor 60 (see FIG. 5) that detects forces acting on the handle member 62 in the X-axis and Y-axis directions. The PC 70 is connected to the force sensor 60, the

motor controllers

27 and 31 and the monitor 76. The X-axis and Y-axis

direction drive motors

6, 30 are integrally configured with

encoders

6a, 30a (FIG. 6) as position detection means for detecting the position of the operating portion 3 on the XY plane.

With these configurations, the PC 70 as a control unit controls the driving of the first motor 6 and the second motor 30 via the

motor control units

27 and 31 based on the input values from the force sensor 60 and the

encoders

6a and 30a. Then, the operation unit 3 is moved on the XY plane, and the training information, the movement trajectory of the operation unit 3, and the like are displayed on the monitor 76. FIG.

Each configuration will be described in detail below based on FIGS. The operation part 3 is attached to the first slider block 4 (first holding member) via the attachment plate 5 and is configured to move integrally with the first slider block 4 . The first slider block 4 is slidably provided along

first guide rods

9a and 9b extending in the X-axis direction on the XY plane. A portion of the first belt 10 is fixed to the first slider block 4 by a belt fixing plate 28 and screws 29 . Thus, when the first belt 10 is rotationally driven by the first motor (X-axis direction drive motor) 6, the first slider block 4 slides in the X-axis direction along the

first guide rods

9a and 9b.

　The drive of the first motor 6 of the first actuator mechanism AX is transmitted to the pulley 18 via the shaft 13, the pulley 14, the belt 15, the pulley 17 and the shaft 16, as shown in FIG. The first motor 6 is provided on a support plate 21 , and the support plate 21 is fixed to the support plate 11 . The support plate 11 rotatably supports the shaft 16 and fixedly supports the second slider block 7 and the motor control section 27 . The support plate 11 and the second slider block 7 are collectively referred to as a second holding member that holds one end of the

first guide rods

9a and 9b and the pulley 18. As shown in FIG.

Support plates

12 and 24 are provided on the opposite side of the first motor 6 in the X-axis direction. The

support plates

12 and 24 rotatably support the shaft 19 and fixedly support the third slider block 8 . A pulley 20 is provided on the shaft 19 , and the first belt 10 is stretched between the

pulleys

18 and 20 . One ends of the

first guide rods

9a and 9b are fixedly supported by the second slider block 7, and the other ends of the

first guide rods

9a and 9b are fixedly supported by the third slider block 8. As shown in FIG. The

support plates

12 and 24 and the third slider block 8 are collectively referred to as a third holding member that holds the other ends of the

first guide rods

9a and 9b and the pulley 20. As shown in FIG.

As described above, a portion of the first belt 10 is fixed to the first slider block 4 , and when the first motor 6 is driven, the pulley 18 rotates and the first belt 10 rotates together with the pulley 20 . Therefore, the first slider block 4 slides in the X-axis direction along the

first guide rods

9a and 9b. The first belt 10 and the

first guide rods

9a and 9b are arranged parallel to the X-axis direction, and the

first guide rods

9a and 9b are arranged on both sides of the first belt 10. are approximately the same.

As shown in FIG. 2, the second slider block 7 and the third slider block 8 of the first actuator mechanism AX are slidably supported in the Y-axis direction with respect to the second guide rod 55 and the third guide rod 48. It is By rotating the second belt 53 and the third belt 46, the entire first actuator mechanism AX can move in the Y-axis direction. As shown in FIG. 3 , part of the second belt 53 is fixed by screws 23 to a belt fixing plate provided on a support plate 21 fixed to the second slider block 7 . A part of the third belt 46 is fixed by screws 26 to the belt fixing plate 25 provided on the support plate 24 fixed to the third slider block 8 . Then, the third belt 46 and the second belt 53 are rotated by rotating the second motor (Y-axis direction drive motor) 30 of the second actuator mechanism AY, thereby moving the first actuator mechanism AX in the Y-axis direction. slide to move.

Next, the second actuator mechanism AY will be explained using FIGS. 2 and 4. FIG. The second actuator mechanism AY is a mechanism for moving the first actuator mechanism AX in the Y-axis direction. The second motor 30 and the motor control unit 31 are provided on the upper part of a support frame composed of a support plate 34 , a column 33 and a support plate 32 provided on the base 2 . This support frame is fixed to the central portion of the back side of the apparatus opposite to the user U (on the monitor 76 side of the base 2).

A shaft and a pulley (not shown) are provided on the second motor 30 , and a belt 37 is stretched between the second motor 30 and the pulley 36 . A shaft 35 is rotatably supported between the

support plates

32 and 34. The shaft 35 is provided with

pulleys

36, 38 and 39, and the rotational force of the pulley 36 is transferred to the

pulleys

38 and 39 through the shaft 35. transmitted.

U-shaped support plates

45a and 52a are provided on both sides of the

support plates

32 and 34 in the X-axis direction. The support plate 45a rotatably supports the shaft 43, and the shaft 43 is provided with

pulleys

42 and 44a. A belt 40 is stretched between the

pulleys

38 and 42, and the rotational drive of the second motor 30 is transmitted to the pulley 44a through the belt 37, the pulley 36, the shaft 35, the pulley 38, the belt 40, the pulley 42 and the shaft 43. introduce. In other words, the belt 40 is a fifth belt for transmitting the drive of the second motor 30 to the third belt 46 .

A guide support portion 47a is provided in the vicinity of the support plate 45a and supports one end of the third guide rod 48. On the base 2, on the opposite side of the support plate 45a in the Y-axis direction (right front side of the device), there are a support plate 45b paired with the support plate 45a and a guide support portion 47b paired with the guide support portion 47a. are placed.

The support plate 45b rotatably supports the shaft 43b, and the shaft 43b is provided with a pulley 44b paired with the pulley 44a. The third belt 46 is stretched between the

pulleys

44a and 44b, and part of it is fixed to the belt fixing plate 25 that moves integrally with the third slider block 8 as described above. Further, the guide support portion 47b supports the other end of the third guide rod 48, and fixedly supports the third guide rod 48 together with the guide support portion 47a. The third belt 46 and the third guide rod 48 extend parallel to the Y-axis direction, and the height positions from the base 2 are substantially the same.

A support plate 52a is arranged on the opposite side of the support plate 45a (on the far left side of the base 2) with respect to the support frame in the X-axis direction. The support plate 52a rotatably supports the shaft 49, and the shaft 49 is provided with pulleys 50 and 51a. A belt 41 is stretched between the pulleys 39 and 50, and the rotation of the second motor 30 is transmitted through the belt 37, the pulley 36, the shaft 35, the pulley 39, the belt 41, the pulley 50 and the shaft 49 to the pulley 51a. to That is, the belt 41 is a fourth belt for transmitting the drive of the second motor 30 to the second belt 53 .

A guide support portion 54a is provided in the vicinity of the support plate 52a and supports one end of the second guide rod 55. On the base 2, a support plate 52b paired with the support plate 52a and a guide support portion 54b paired with the guide support portion 54a are arranged on the opposite side of the support plate 52a in the Y-axis direction (front left side of the device). It is

The support plate 52b rotatably supports the shaft 49 in the same manner as the support plate 52a, and the shaft 49 is provided with a pulley 51b that is a pair of the pulley 51a. The second belt 53 is stretched between the

pulleys

51a and 51b, and part of it is fixed to the belt fixing plate 22 that moves integrally with the second slider block 7 as described above. Further, the guide support portion 54b supports the other end of the second guide rod 55, and fixedly supports the second guide rod 55 together with the guide support portion 54a. The third belt 46 and the third guide rod 48 extend parallel to the Y-axis direction, and the height positions from the base 2 are substantially the same.

As described above, the rotational drive of the second motor 30 is transmitted to the

pulleys

44a and 51a, causing the third belt 46 and the second belt 53 to rotate. As a result, the third slider block 8 and the second slider block 7 fixed to the third belt 46 and the second belt 53 (that is, the entire first actuator mechanism AX) are connected to the third guide rod 48 and the second guide rod 55. slides in the Y-axis direction.

Here, referring to FIG. 4, the

belts

40 and 41 extend parallel to the X-axis direction, but their positions in the height direction (distance from the base 2) are different. Specifically, a belt 41 is arranged below the belt 40 . In this height direction, the third belt 46, the third guide rod 48, the second belt 53, and the second guide rod 55 are arranged at substantially the same height between the

belts

40 and 41. As shown in FIG.

2 and 3, the

first guide rods

9a and 9b and the first belt 10 for moving the operating section 3 in the X-axis direction move the operating section 3 and the first actuator mechanism AX in the Y-axis direction. The third guide rod 48, the third belt 46, the second guide rod 55, and the third guide rod 48, the third belt 46, the second guide rod 55, and the third guide rod 48 and the second guide rod 55, which are arranged in parallel to the Y-axis direction, are arranged between the third guide rod 48 and the second guide rod 55 for moving the 2 are arranged so as to extend in the X-axis direction perpendicular to the belt 53 . The first belt 10, the

first guide rods

9a and 9b, the third belt 46, the third guide rod 48, the second belt 53 and the second guide rod 55 are separated from the

belts

40 and 41 in the height direction. is placed between. As a result, the size of the exercise training device in the height direction can be made thin.

In other words, in FIG. 4, the distance from the base 2 to the upper ends of the

pulleys

44a and 51a (the direction perpendicular to the XY plane, that is, the height) is L1, the distance from the base 2 to the lower ends of the

pulleys

44a and 51a is L2, When the distance from the base 2 to the lower ends of the

pulleys

38 and 42 is L3, and the distance from the base 2 to the pulleys 39 and 50 is L4, the members are arranged so that the following relationship holds. "L1>L2", "L3>L1", "L2>L4". Therefore, "L3>L1>L2>L4" holds, and the pulley 44a and the pulley 51a are arranged between L3 and L4. The belts are respectively stretched between the upper end and the lower end of the pulleys, and the center of the third belt 46, the second belt 53 in the height direction and the height of the third guide rod 48, the second guide rod 55 It is arranged so that the upper end of the third guide rod 48 does not interfere with the belt 40 and the lower end of the second guide rod 55 does not interfere with the belt 41 .

Also, in FIG. 3, the distance between the base 2 and the upper ends of the

pulleys

18 and 19 is L1, and the distance between the base 2 and the lower ends of the

pulleys

18 and 19 is L2. From the above, the first belt 10, the

first guide rods

9a and 9b, the third belt 46, the third guide rod 48, the second belt 53, and the second guide rod 55 are positioned between L3 and L4 in the height direction, That is, the lower ends of the

pulleys

38 and 42 and the upper ends of the pulleys 39 and 50 overlap each other.

Also, the first belt 10 is arranged so as to be sandwiched between the

first guide rods

9a and 9b. Therefore, when the user U applies a force to the operation portion 3, it can receive a force to rotate around the

first guide rod

9a or 9b, and movement in the rotation direction can be suppressed.

The operation part 3 is arranged in front of the first slider block 4 as shown in FIG. 1, and as shown in FIG. consists of The handle member 62 of this embodiment is formed in the shape of a relatively thick and small circular disk so that it can be grasped with one hand to train the motor function of the user's U upper limbs UL. The handle member 62 is attached so as to be rotatable about the operating rod 61 so that it can be turned by the user's U hand.

Further, the operation section 3 has a force sensor 60 integrally provided with the operation rod 61 . The force sensor 60 is integrally fixed to the slider block 4 of the first actuator mechanism AX via the mounting plate 5 . The force sensor 60 acts on the operation rod 61 from the handle member 62 in both the active training mode in which the user U moves the operation part 3 by himself and the passive training mode in which the user U moves the upper limb or lower limb with the force of the operation part 3. Detect person U's power. In this embodiment, a six-axis force sensor using strain gauges is employed as the force sensor 60 .

In general, a six-axis force sensor detects forces (Fx, Fy, Fz) in three orthogonal three-axis directions (Fx, Fy, Fz) and moments (Mx, My, Mz) around the three axes x, y, z. can be done. In this embodiment, the 6-axis force sensor has its X-axis and Y-axis aligned in the horizontal direction (direction parallel to the

first guide rods

9a and 9b) and the front-back direction (the third guide rod 48) of the first actuator mechanism AX. and the direction parallel to the second guide rod 55), respectively.

As a result, the force sensor 60 detects the force that the operation rod 61 receives directly from the upper or lower limb of the user U when the upper or lower limb of the user U moves or is moved by the operation portion 3 in the front-rear direction. It can be divided into a force component, a lateral force component, and a vertical force component orthogonal to these components, and can be detected as moments acting around respective axes in the longitudinal, lateral, and vertical directions.

In the actual use of the exercise training device 1, the force components detected by the force sensor 60 in the front-rear direction (Y-axis direction), the left-right direction (X-axis direction), and the vertical direction (height direction orthogonal to the XY plane) are 1 and/or the

second driving motors

6 and 30 and the force applied to the operation unit 3 by the user U, that is, the reaction force the operation unit 3 receives from the user U's upper or lower limbs.

As described above, the exercise training device 1 includes the PC 70 as a control unit for controlling the first motor 6 and the second motor 30. As shown in FIG. 6, the PC 70 includes a drive control section 71, a signal control section 72, a display control section 73, a memory 74, and a control CPU 75 for controlling and managing them.

The drive control section 71 is connected to the first motor 6 and the second motor 30 via the

motor control sections

27 and 31, and controls their driving.

Motor controllers

27 and 30 may be incorporated into PC 70 . The signal control unit 72 is connected to the force sensor 60 and the

encoders

6a and 30a and receives signals output from the force sensor 60 and the

encoders

6a and 30a. The display control section 73 is connected to the monitor 76 and controls the display of the monitor 76 . The memory 74 stores, in addition to a program for operating the exercise training apparatus 1, training-related data such as user U's personal data and training history.

The control CPU 75 obtains the speed of the operation unit 3 based on information input from the force sensor 60, the

encoders

6a and 30a, and the non-volatile memory 74, and outputs the current value (output current Ii, duty) to the drive control unit 71. output to control power supply to the first motor 6 and the second motor 30 .

In this embodiment, the operation part 3 is provided at a position overlapping the first slider block 4 in the height direction via the mounting plate 5, and the operation part 3 is fixed in a state where the lower end of the operation part 3 is floating from the base 2. A sliding member such as a freely rotating roller is provided on the lower surface of the mounting plate 5 so as to move smoothly on the base 2, and then the lower surface of the mounting plate 5 and the base 2 come into contact with each other. It may be configured as Thereby, the force applied downward by the user U can be received by the base 2 . Also, the operating portion 3 may be attached to the upper portion of the first slider block 4 . By doing so, the movable area of the operation unit 3 can be extended to the back side of the device.

[Exercise training system]
Next, the exercise training system 1000 of this embodiment will be described with reference to FIGS. 7 to 10. FIG. Conventionally, when the user U performs exercise training using the exercise training device 1, for example, the user U grasps the operation unit 3, and the training instructor takes the hand of the user U from above and moves the upper limbs of the user U. By moving the operation unit 3 within an operation range according to the situation, the trajectory that the operation unit 3 traces is set. Then, only the user U grasps the operation unit 3 and traces the set trajectory, thereby performing an exercise training mode in which the position of the operation unit 3 by the user U and the load applied to the operation unit 3 at that time are detected. rice field.

However, in some cases, such as when the patient (user) who needs rehabilitation is in a remote location, it may be difficult for the training instructor to directly train the user. Also, even in the same building, training may be performed in a state where the user and the exercise trainee are in different rooms. Therefore, there is a demand for a system that provides effective exercise training even when the user and the training instructor are in separate locations. Therefore, in this embodiment, remote exercise training is made possible by using an exercise training system having a plurality of exercise training devices.

As shown in FIGS. 7 and 8, the exercise training system 1000 has a first exercise training device 1A and a second exercise training device 1B, and uses the first exercise training device 1A and the second exercise training device 1B as data. are connected so that they can be sent and received. For example, both are connected by a LAN (Local Area Network) or an Internet line. In the case of this embodiment, the first exercise training device 1A and the second exercise training device 1B each have the same configuration as the exercise training device 1 described above, and FIGS. are shown with suffixes "A" and "B". Further, in this embodiment, it is assumed that a training instructor T as an operator operates the first exercise training device 1A and a user U as an operator operates the second exercise training device 1B. The user U may operate the first exercise training device 1A, and the training instructor T may operate the second exercise training device 1B.

Specifically, as shown in FIG. 8, the first exercise training device 1A includes a first operation section 3A, a first driving section 200A, a first force sensor 60A, a PC 70A as a first control section, a first position detection It has encoders 6Aa and 30Aa as means. The first drive section 200A has a first motor 6A and a second motor 30A as first X-axis and first Y-axis direction drive motors, and drives the first operation section 3A on the XY plane. The first force sensor 60A detects forces Fx and Fy in the X-axis and Y-axis directions acting on the first operation portion 3A from the user who operates the first operation portion 3A. The PC 70A controls the first motor 6A and the second motor 30A. The encoders 6Aa and 30Aa detect the position of the first operation section 3A on the XY plane.

Similarly, the second exercise training device 1B includes a second operation section 3B, a second drive section 200B, a second force sensor 60B, a PC 70B as a second control section, a position detection means and an encoder 6Ba as a second position detection means. , 30Ba. The second drive section 200B has a first motor 6B and a second motor 30B as second X-axis and second Y-axis direction drive motors, and drives the second operation section 3B on the XY plane. The second force sensor 60B detects forces Fx and Fy in the X-axis and Y-axis directions acting on the second operation portion 3B from the training instructor who operates the second operation portion 3B. The PC 70B controls the first motor 6B and the second motor 30B. The encoders 6Ba and 30Ba detect the position of the second operation section 3B on the XY plane.

The first exercise training device 1A also has a first distance sensor 80A and a first input section 81A. The first distance sensor 80A is, for example, a laser sensor or an ultrasonic sensor capable of detecting the distance between the device and the operator. The first distance sensor 80A is provided, for example, on the front side of the device main body 100 (see FIG. 1) of the exercise training device 1A, and the operator (user U or training instructor T) present on the front side of the device main body 100, The distance to the device main body 100 is measured. The first input unit 81A is, for example, a keyboard or numeric keypad attached to the PC 70A, or an input device separately provided exclusively for the first exercise training device 1A, capable of inputting numerical values. In this embodiment, the first input unit 81A can input the length of the upper limbs of the operator (user U or training instructor T) who operates the first exercise training device 1A.

Similarly, the second exercise training device 1B has a second distance sensor 80B and a second input section 81B. The second distance sensor 80B is, for example, a laser sensor or an ultrasonic sensor capable of detecting the distance between the device and the operator. The second distance sensor 80B is provided, for example, on the front side of the device main body 100 (see FIG. 1) of the exercise training device 1B, and the operator (user U or training instructor T) present on the front side of the device main body 100, The distance to the device main body 100 is measured. The second input unit 81B is, for example, a keyboard or numeric keypad attached to the PC 70B, or an input device that is separately provided exclusively for the second exercise training device 1B and is capable of inputting numerical values. In this embodiment, the second input unit 81B can input the length of the upper limbs of the operator (user U or training instructor T) who operates the second exercise training device 1B.

Of the first exercise training device 1A and the second exercise training device 1B, the exercise training device operated by the training instructor T (the first exercise training device 1A in this embodiment) has the distance sensor and the input unit described above. may be omitted.

In the exercise training system 1000 including the first exercise training device 1A and the second exercise training device 1B, the PC 70A of the first exercise training device 1A receives the input value of the first force sensor 60A and the input value of the second force sensor 60B. The first motor 6A and the second motor 30A can be controlled based on the combined value. Similarly, the PC 70B of the second exercise training device 1B can control the first motor 6B and the second motor 30B based on the combined value of the input value of the first force sensor 60A and the input value of the second force sensor 60B. is.

As a result, for example, when the training instructor T operates the first operation section 3A and the user U operates the second operation section 3B, the first force is applied to each of the first operation section 3A and the second operation section 3B. A force based on the combined value of the input value of the sensor 60A and the input value of the second force sensor 60B can be generated. It is possible to reproduce the state of taking U's hand and moving the operation part.

As described above, in the case of this embodiment, data transmission/reception is performed between the first exercise training device 1A and the second exercise training device 1B in order to perform effective exercise training even when the user and the training instructor are in separate positions. connected as possible. However, if the movable regions of the operation units of the connected exercise training devices are different from each other, there is a possibility that the exercise cannot be performed appropriately.

As an exercise training device, a large device can be installed in a large training facility, etc., but when used in a small facility or in the user's home, etc., it may not be possible to install a large device. is desired. For example, a training instructor T at a training facility uses a large exercise training device (in this embodiment, the first exercise training device 1A), and a user U at home or the like uses a small exercise training device (in this embodiment, It is conceivable to use a second exercise training device 1B).

When the exercise training devices having different sizes are connected so as to be able to transmit and receive data as described above, the operator who is operating the first exercise training device 1A, which is larger, can operate the second exercise training device, which is smaller. Even if the first operation portion 3A of the exercise training device 1B is operated in a region wider than the movable region of the second operation portion 3B, the second operation portion 3B of the second exercise training device 1B does not follow the movement of the first operation portion 3A. cannot follow. In addition, if no measures are taken, it is difficult for the operator who operates the first exercise training device 1A to operate the first operation section 3A in accordance with the movable range of the second exercise training device 1B.

Therefore, in this embodiment, the movable area is limited so that the movable area of the larger device matches the movable area of the smaller device. In particular, in this embodiment, the movable area can be limited by limiting the movement range of the operation unit driven by the motor by software (soft limit) without using a special tool. .

Specifically, the movable region of the first operation unit 3A of the first exercise training device 1A shown in FIG. 9A is defined as the first movable region α1, and the second operation unit 3B of the second exercise training device 1B shown in FIG. Let the movable area be a second movable area α2 narrower than the first movable area α1. 9A and 9B are schematic diagrams showing the movable regions of the operation section within the XY plane of each device. Further, the movable area of the operation part is the area within the XY plane in which the operation part can be moved to the maximum extent in the device.

In this embodiment, the PC 70A of the first exercise training device 1A can limit the movable area of the first operation section 3A on the XY plane to the second movable area α2. That is, the PC 70A acquires the information of the second movable area α2 from the PC 70B of the second exercise training device 1B connected so as to be able to transmit and receive data, and sets the movable area of the first exercise training device 1A to the normal time. 9A) to the second movable region α2 (broken line range in FIG. 9A).

Here, when the information of the second movable area α2 of the second exercise training device 1B is stored in the PC 70B in advance, by transmitting this information to the PC 70A of the first exercise training device 1A, the PC 70A can You can get this information. However, if such information is not saved in the PC 70B, the information of the second movable area α2 cannot be obtained. Therefore, in this embodiment, the second operation section 3B is actually moved to the limit of the movable area of the second exercise training device 1B, and the second movable area α2 can be grasped from that position.

That is, the PC 70A moves the first operating section 3A based on the position of the second operating section 3B detected by the encoders 6Ba and 30Ba when the second operating section 3B is moved to the end of the second movable area α2. limit the movable area in the XY plane of For example, the second operation section 3B of the second exercise training device 1B is automatically or manually moved to both ends in the X-axis direction and both ends in the Y-axis direction. At this time, the encoders 6Ba and 30Ba detect the position at which the second operation unit 3B cannot move further in that direction, and the PC 70B transmits the information of this detected position to the PC 70A. Based on this information, the PC 70A limits the movable area of the first exercise training device 1A.

At this time, the home position of the first operation unit 3A in the first movable area α1 normally used in the first exercise training device 1A and the home position of the first operation unit 3A in the newly restricted second movable area α2 are changed. may not match. In this case, the PC 70A newly sets a home position that matches the second movable area α2. That is, the first exercise training device 1A has, as the home position of the first operation unit 3A, a first home position that matches the first movable region α1 and a second home position that matches the second movable region α2. will have.

For example, let the position of the first operation unit 3A indicated by the solid line in FIG. 9A be the first home position HP1, and the position of the second operation unit 3B indicated by the solid line in FIG. 9B be the second home position HP2. In this case, the PC 70A sets the position of the first operation portion 3A indicated by the dashed line in FIG. 9A to the second home position HP2 matching the second movable area α2.

It should be noted that the body size of the operator, especially the length of the upper limb in the case of upper limb training, varies from person to person. Therefore, the first exercise training device 1A and the second exercise training device 1B respectively have the first distance sensor 80A and the second distance sensor 80B capable of detecting the distance between the device and the operator, as described above. Thereby, the position of the operator's body with respect to the home position can be matched for each operator. For example, the home position of the operation unit may be set according to the operator, or the operator may be instructed in which position the body should be placed.

Also, in the present embodiment, as described above, the first exercise training device 1A and the second exercise training device 1B have the first input section 81A and the second input section 81B, respectively. For example, the operator's upper limb length can be input from the first input section 81A and the second input section 81B. Thereby, the position of the operator's body with respect to the home position can be matched for each operator.

By combining the length of the upper limbs with information on the distance between the device and the operator measured by the above-described distance sensor, it is possible to more appropriately set the positional relationship between the home position and the operator's body. Even just a little information is fine. That is, either one of the distance sensor and the input section may be omitted. Also, the exercise training device operated by the training instructor T may omit both the distance sensor and the input unit.

In addition, the first exercise training device 1A can display the movable area of the first operation section 3A on the monitor 76. That is, in a normal state in which the second exercise training device 1B is not connected, the monitor 76 displays the first movable area α1. The monitor 76 also displays the position of the first operation section 3A detected by the encoders 6Aa and 30Aa. Therefore, the operator operating the first exercise training device 1A can grasp the position of the first operation section 3A within the first movable area α1 by looking at the monitor 76 .

In the present embodiment, as described above, when the movable area α1 of the first exercise training device 1A is limited to the second movable area α2, the display of the movable area is displayed according to the second movable area α2. I am trying to switch to Therefore, by looking at the monitor 76, the operator can grasp the position of the first operation unit 3A within the second movable area α2, and even if the movable area is changed, the operator can operate the first operation unit 3A. Easy to remove.

[Flow of control of movable area setting of exercise training system]
A control flow for setting the movable region in the exercise training system 1000 will be described with reference to the flowchart of FIG. 10 . First, let "apparatus A" shown in FIG. The control CPU 75 (see FIG. 6) of the PC 70A of the first exercise training device 1A requests device information from the PC 70B of the second exercise training device 1B (S101). PC 70B transmits device information of second exercise training device 1B to PC 70A in response to this request (S201). This device information includes the second movable area α2. If the information on the second movable area α2 is stored in advance in the PC 70B as described above, the PC 70B transmits this information to the PC 70A. If not stored, the position of the second movable area α2 based on the detection by the encoders 6Ba and 30Ba is transmitted to the PC 70A by moving the second operation portion 3B as described above.

The PC 70A acquires the device information transmitted from the PC 70B (S102). Based on this information, the movable range of the first exercise training device 1A is determined (S103), and the movable range of the first operation section 3A is limited to the second movable range α2 (S104). That is, a soft limit is set. In addition, the PC 70A sets the display coordinates of the monitor 76 along with the setting of the soft limits (S105). Specifically, the movable area of the first operation section 3A displayed on the monitor 76 is set to the second movable area α2.

Next, the PC 70A moves the first operation section 3A to the second home position HP2 aligned with the second movable area α2 (S106). After transmitting the device information in S201, the second exercise training device 1B moves the second operation unit 3B to the home position (S202). When the movement of the first operation unit 3A to the home position is completed in S106, the PC 70A notifies the PC 70B that the area setting has been completed (S107). This completes the preparation of the first exercise training device 1A and the second exercise training device 1B. After that, for example, the training instructor T operates the first operation section 3A within the second movable area α2 to train the user U using the second exercise training device 1B.

Note that the relationship between the devices A and B described above may be reversed. That is, the user U may operate the first exercise training apparatus 1A as "apparatus A", and the training instructor T may operate the second exercise training apparatus 1B as "apparatus B". That is, even if the exercise training device used by the user U is larger, the movable area is similarly limited.

In the exercise training system 1000 as described above, the first operation unit 3A and the second operation unit 3B are moved within the second movable area α2 based on the input values of the first force sensor 60A and/or the second force sensor 60B. move. Exercise training modes using such an exercise training system 1000 include an active training mode (assist mode, self-training mode) in which the operation unit is moved so as to trace a trajectory set by the user U himself, and an active training mode (assist mode, voluntary training mode). There is also a passive training mode (training guidance mode, automatic mode) in which the robot is pulled by an operating unit that follows a trajectory. The passive training mode is assumed to be an exercise training mode mainly for people in rehabilitation, and the active training mode is assumed to be an exercise training mode for people in the final stages of rehabilitation and healthy people.

[Passive training mode]
Among the exercise training modes described above, the passive training mode will be described. In the following, a case will be described where the user U operates the first exercise training apparatus 1A as "apparatus A" and the training instructor T operates the second exercise training apparatus 1B as "apparatus B". The passive training mode is a mode in which the first operation unit 3A operated by the user U is automatically moved. The passive training mode of this embodiment has a training guidance mode and an automatic mode. In the training instruction mode of the present embodiment, the control CPU 75 of the PC 70A of the first exercise training device 1A moves the first operation section 3A based on the input value of the second force sensor 60B. Then, when there is an input from the first force sensor 60A during execution of the training instruction mode, the first motor is operated based on the combined value of the input value from the first force sensor 60A and the input value from the second force sensor 60B. 6A and the second motor 30A. That is, the training instructor T operates the second operating section 3B while the user U is holding the first operating section 3A. Then, the input value of the second force sensor 60B is transmitted to the PC 70A of the exercise training device 1B, and the first operation section 3A moves. At this time, the input value of the second force sensor 60B, which is the sensor value on the training instructor T side, and the input value of the first force sensor 60A, which is the sensor value on the user U side, are synthesized, and based on this synthesized value A first motor 6A and a second motor 30A that drive the first operation unit 3A are controlled. At this time, the control CPU 75 of the PC 70B of the second exercise training apparatus 1B drives the second operation section 3B based on the combined value of the input value of the first force sensor 60A and the input value of the second force sensor 60B. You may make it control the 1st motor 6B and the 2nd motor 30B which do.

For example, when the training instructor T operates the second operation section 3B, a force in the same direction as this operation direction is generated in the first operation section 3A. cannot sufficiently follow this operation direction, a resistance force acts on the first operation portion 3A. A combined force of the force in the same direction as the operation direction and the resistance force is generated in the first operation portion 3A and the second operation portion 3B by the respective motors.

As a result, the first operation section 3A does not move in the operation direction of the second operation section 3B ignoring the resistance received from the user U, and the excessive burden on the user U can be reduced. At the same time, a similar force is also generated in the second operation portion 3B, so that a force corresponding to the resistance force that the first operation portion 3A receives from the user U is generated in the second operation portion 3B, and the second operation is performed. The training instructor T who operates the part 3B can grasp the position where the user U cannot easily move the upper limb. Therefore, the training instructor T can operate the second operation unit 3B at a speed and trajectory according to the user U. As a result, even when the user U and the training instructor T are separated from each other, the user U grasps the operation unit 3 and the training instructor takes the user U's hand from above. It is possible to perform training equivalent to training for moving the operation unit 3 within a motion range according to the upper limb condition of the person U.

On the other hand, in the automatic mode of the present embodiment, the first operation unit 3A operated by the user U is automatically moved along a predetermined trajectory set in the device. In this mode, the first motor 6A and the second motor 30A are controlled so that, when the 1 operation unit 3A deviates from the predetermined trajectory, it is guided to the next target position on the predetermined trajectory. At that time, the movement of the first operation section 3A is reproduced on the second operation section 3B on the side of the training instructor T, and the training instructor T can confirm the contents of the user U's training. Further, it is desirable to display the training information such as the locus of movement of the first operation unit 3A and the input value of the first force sensor 60A on the monitor of the training instructor T side.

[Active training mode]
Next, the active training mode will be described. In the following, a case will be described where the user U operates the first exercise training apparatus 1A as "apparatus A" and the training instructor T operates the second exercise training apparatus 1B as "apparatus B". The active training mode is a mode in which the user U actively operates the first operation unit 3A. The active training mode of this embodiment has an assist mode and a self-training mode. In the assist mode of the present embodiment, when the user U is operating the first operation unit 3A and the position of the first operation unit 3A deviates from the predetermined trajectory, the operation unit 3 is moved to the predetermined trajectory. It is one of the active training modes that controls the first motor 6A and the second motor 30A so as to generate a turning assist force. In this embodiment, the assist force is generated when the training instructor T operates the second operation section 3B to input force to the second force sensor 60B.

In other words, the control CPU 75 of the first exercise training apparatus 1A controls the control CPU 75 when the training instructor T operates the second operation section 3B while the user U is moving the first operation section 3A along a predetermined trajectory. The input value of the second force sensor 60B becomes the assist force, and the first motor 6A and the second It controls the motor 30A. The predetermined trajectory is a preset target trajectory.

Further, when the assist mode is executed, the control CPU 75 of the second exercise training device 1B performs the second operation along the trajectory along which the first operation unit 3A moves while the training instructor T is holding the second operation unit 3B. The first motor 6B and the second motor 30B are controlled to move the part 3B.

Specifically describing the above assist mode, when the user U moves the first operation unit 3A along a predetermined trajectory, the second exercise training device 1B is activated based on the input value of the first force sensor 60A. The second operation section 3B also moves. At this time, the training instructor T is holding the second operation section 3B. When training is being carried out in this state, for example, if the first operation unit 3A deviates from the predetermined trajectory, the second operation unit 3B also moves in the same way. is operated to move the second operation portion 3B so that the first operation portion 3A returns toward a predetermined trajectory, an assist force is generated, and the input value of the second force sensor 60B and the input of the first force sensor 60A The first operation unit 3A is moved based on the composite value with the value.

As a result, even when the user U and the training instructor T are separated from each other, the training instructor T can provide support when it is difficult for the user U to move the first operation unit 3A along the predetermined trajectory. .

On the other hand, the voluntary training mode of the present embodiment is a mode in which the user U can freely move the first operation unit 3A, and the user U moves the first operation unit 3A along a predetermined trajectory. Operate to let At that time, the training instructor T is not supported, and the movement of the first operation unit 3A is reproduced in the second operation unit 3B on the training instructor T side in the same manner as in the above-described automatic mode. You can check U's training content. Further, it is desirable to display the training information such as the locus of movement of the first operation unit 3A and the input value of the first force sensor 60A on the monitor of the training instructor T side.

Also, in the self-training mode, the device may automatically generate the assist power of the assist mode described above. In that case, when the user U is moving the first operation unit 3A along a predetermined trajectory and deviates from the predetermined trajectory by a predetermined amount or more, an assist force to return the first operation unit 3A to the predetermined trajectory is generated, and the first motor 6A and the second motor Drives 30A.

It should be noted that in any of the exercise training modes described above, the input value of either one of the first force sensor 60A and the second force sensor 60B may not be used. For example, when the assist mode is executed, in order to eliminate the influence of the input value of the second force sensor 60B of the second operation unit 3B held by the training instructor, the input value of the second force sensor 60B may be disabled. . Also, the input value of one of the first force sensor 60A and the second force sensor 60B may be ignored by switching a switch or the like.

In the present embodiment, as described above, in the exercise training system 1000 in which two exercise training devices with different movable areas of the operation units are connected, the larger movable area is limited to the smaller movable area. Therefore, effective exercise training can be performed even when the user and the training instructor are separated from each other, and appropriate exercise training can be performed even between apparatuses having different movable regions.

[Other embodiments]
In the above-described exercise training system 1000, for example, the PC 70A and PC 70B are pre-installed with a program capable of the above-described control, but the above-described control unit provided in the first exercise training device 1A and the second exercise training device 1B You can install the program. Alternatively, this program may be installed in a computer included in an already installed exercise training device or exercise training system. That is, the present invention may be a program used in the exercise training system 1000 described above.

This program is also a program that causes the computer to execute the following processes. That is, the program has the following three steps. First, in the first step, the second movable region α2 of the second exercise training device 1B is acquired. In the second step, the movable region on the XY plane of the first operation unit 3A is limited to the second movable region α2 acquired in the first step. In the third step, the first operation portion 3A and the second operation portion 3B are moved within the second movable area α2 based on the input values of the first force sensor 60A and/or the second force sensor 60B.

Further, the disclosure of this embodiment includes the following configurations and programs.
(Configuration 1)
a first operation unit movable in a first movable area on the XY plane;
a first drive unit having a first X-axis and a first Y-axis direction drive motor and driving the first operation unit in the XY plane;
a first force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the first operation unit from an operator who operates the first operation unit;
a first exercise training device comprising: a first controller for controlling the first X-axis and first Y-axis driving motors;
a second operation section movable in a second movable area narrower than the first movable area in the XY plane;
a second drive unit having a second X-axis and a second Y-axis direction drive motor for driving the second operation unit in the XY plane;
a second force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the second operation portion from an operator who operates the second operation portion;
a second exercise training device connected to the first exercise training device so as to be able to transmit and receive data;
The first control unit is capable of limiting a movable region of the first operation unit on the XY plane to the second movable region,
An exercise training system for moving the first operating section and the second operating section within the second movable region based on input values of the first force sensor and/or the second force sensor.
(Configuration 2)
further comprising position detection means for detecting the position of the second operation section on the XY plane,
The first control unit controls the position of the second operation unit detected by the position detection means when the second operation unit is moved to the end of the second movable area. The exercise training system according to configuration 1, wherein the movable area of the operation unit on the XY plane is restricted.
(Composition 3)
The first exercise training device is configured to have a first home position matched with the first movable region and a second home position matched with the second movable region as home positions of the first operation unit. 3. The exercise training system according to 1 or 2.
(Composition 4)
The first exercise training device has a display unit capable of displaying a movable area of the first operation unit,
The display unit switches the display of the movable area to a display that matches the second movable area when the movable area of the first exercise training device is limited to the second movable area. 4. The exercise training system according to any one of 3.
(Composition 5)
5. The exercise training system according to any one of configurations 1 to 4, wherein the first exercise training device has a first distance sensor capable of detecting a distance between the device and the operator.
(Composition 6)
6. The exercise training system according to any one of configurations 1 to 5, wherein the second exercise training device has a second distance sensor capable of detecting the distance between the device and the operator.
(Composition 7)
7. The exercise training system according to any one of configurations 1 to 6, wherein the first exercise training device has a first input unit capable of inputting the length of the operator's upper limb.
(Composition 8)
8. The exercise training system according to any one of configurations 1 to 7, wherein the second exercise training device has a second input unit capable of inputting the length of the operator's upper limb.
(Program 1)
a first operation unit movable in a first movable area on the XY plane;
a first drive unit having a first X-axis and a first Y-axis direction drive motor and driving the first operation unit in the XY plane;
a first force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the first operation unit from an operator who operates the first operation unit;
a first exercise training device comprising: a first controller for controlling the first X-axis and first Y-axis driving motors;
a second operation section movable in a second movable area narrower than the first movable area in the XY plane;
a second drive unit having a second X-axis and a second Y-axis direction drive motor for driving the second operation unit in the XY plane;
a second force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the second operation portion from an operator who operates the second operation portion;
a second exercise training device connected to the first exercise training device so as to be able to transmit and receive data; A program used for
A first step of obtaining the second movable region;
a second step of limiting the movable region of the first operation unit on the XY plane to the second movable region obtained in the first step;
a third step of moving the first operation portion and the second operation portion within the second movable region based on the input values of the first force sensor and/or the second force sensor, by a computer; program to run.

INDUSTRIAL APPLICABILITY The exercise training system and program according to the present invention are suitable for use in exercise training for the purpose of improving the motor function of the user's upper limbs, especially when the user and the training instructor are separated from each other. It is suitable for use in exercise training.

1A First exercise training device 1B Second exercise training device 3A First operation unit 3B Second operation unit 6A First motor (first X-axis direction drive motor)
6Aa Encoder (first position detection means)
6B... First motor (second X-axis direction drive motor)
6Ba... Encoder (second position detecting means)
30A Second motor (first Y-axis direction drive motor)
30Aa Encoder (first position detection means)
30B: Second motor (second Y-axis direction drive motor)
30Ba... Encoder (position detection means, second position detection means)
60A First force sensor 60B Second force sensor 70A PC (first controller)
70B... PC (second control section)
75... Control CPU
76 Monitor (display unit)
80A First distance sensor 80B Second distance sensor 81A First input section 81B Second input section 200A First drive section 200B Second drive section

Claims

a first operation unit movable in a first movable area on the XY plane;
a first drive unit having a first X-axis and a first Y-axis direction drive motor and driving the first operation unit in the XY plane;
a first force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the first operation unit from an operator who operates the first operation unit;
a first exercise training device comprising: a first controller for controlling the first X-axis and first Y-axis driving motors;
a second operation section movable in a second movable area narrower than the first movable area in the XY plane;
a second drive unit having a second X-axis and a second Y-axis direction drive motor for driving the second operation unit in the XY plane;
a second force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the second operation portion from an operator who operates the second operation portion;
a second exercise training device connected to the first exercise training device so as to be able to transmit and receive data;
The first control unit is capable of limiting a movable region of the first operation unit on the XY plane to the second movable region,
An exercise training system for moving the first operating section and the second operating section within the second movable region based on input values of the first force sensor and/or the second force sensor.
further comprising position detection means for detecting the position of the second operation section on the XY plane,
The first control unit controls the position of the second operation unit detected by the position detection means when the second operation unit is moved to the end of the second movable area. 2. The exercise training system according to claim 1, wherein the movable area of the operation unit on the XY plane is restricted.
The first exercise training device has a first home position matched with the first movable region and a second home position matched with the second movable region as home positions of the first operation unit. Item 3. The exercise training system according to Item 1 or 2.
The first exercise training device has a display unit capable of displaying a movable area of the first operation unit,
2. When the movable area of the first exercise training device is limited to the second movable area, the display unit switches the display of the movable area to a display corresponding to the second movable area. 4. The exercise training system according to any one of items 1 to 3.
The exercise training system according to any one of claims 1 to 4, wherein the first exercise training device has a first distance sensor capable of detecting the distance between the device and the operator.
The exercise training system according to any one of claims 1 to 5, wherein the second exercise training device has a second distance sensor capable of detecting the distance between the device and the operator.
The exercise training system according to any one of claims 1 to 6, wherein the first exercise training device has a first input unit capable of inputting the length of the operator's upper limbs.
The exercise training system according to any one of claims 1 to 7, wherein the second exercise training device has a second input unit capable of inputting the length of the operator's upper limbs.
a first operation unit movable in a first movable area on the XY plane;
a first drive unit having a first X-axis and a first Y-axis direction drive motor and driving the first operation unit in the XY plane;
a first force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the first operation unit from an operator who operates the first operation unit;
a first exercise training device comprising: a first controller for controlling the first X-axis and first Y-axis driving motors;
a second operation section movable in a second movable area narrower than the first movable area in the XY plane;
a second drive unit having a second X-axis and a second Y-axis direction drive motor for driving the second operation unit in the XY plane;
a second force sensor that detects X-axis and Y-axis direction forces Fx and Fy acting on the second operation portion from an operator who operates the second operation portion;
an exercise training system comprising: a second exercise training device connected to the first exercise training device so as to be able to transmit and receive data; A program used for
A first step of obtaining the second movable region;
a second step of limiting the movable region of the first operation unit on the XY plane to the second movable region obtained in the first step;
a third step of moving the first operating portion and the second operating portion within the second movable region based on the input values of the first force sensor and/or the second force sensor, by a computer; program to run.