WO2023238252A1 - Training device, method, and program - Google Patents

Abstract

A training device according to one embodiment comprises: a calculating unit that, on the basis of time-series data for body center of mass sway when a subject has performed a body motion, calculates features of posture sway when the subject has performed a motion for stabilizing posture when a sense of a different type from a strengthening-target sense that the subject depends upon in order to stabilize posture is not stimulated; and a stimulus presenting unit that determines an agonist muscle, being the target of stimulating the different type of sense, for reducing the features calculated by the calculating unit, and presents the stimulus provided to the different type of sense to the determined agonist muscle.

Description

Training equipment, methods and programs

Embodiments of the present invention relate to a training device, method, and program.

Humans perform postural control themselves to stabilize their body posture, such as body sway, during basic movements such as standing or walking. When controlling posture in humans, information from the outside world is received mainly through three sensory organs: vision (eyes), somatic sensation (sole of the foot, etc.), and vestibular sensation (semicircular canals, etc.), and this information is transmitted to the central nervous system of the brain. It is known that correct sensory integration in the system stabilizes posture, and it is known that each individual tends to rely on a specific sense in sensory integration.

If this bias in sensory dependence continues for many years, a problem arises in that postural control becomes more difficult when the functions of the sensory organs on which the body is strongly dependent decline due to aging.
Considering that the future decline in the function of sensory organs due to aging is difficult to predict due to individual differences, we need skills that allow us to maintain a stable posture even when the function of any sense decreases, that is, visual, somatosensory, and vestibular senses. It is necessary to acquire the skills to stabilize one's posture in a state of heightened sensory dependence on each of the above, in other words, the motor skills to control sensory dependence, while one is still healthy.
This makes it possible to stabilize one's posture under unstable conditions, such as on a soft floor, by relying more heavily on sensations that have not deteriorated.

Conventional training methods that encourage transitions to various sensory-dependent states include methods of applying disturbances through sensory organs or the external environment, and standing on an unstable surface is one such method (for example, see Non-Patent Document 1). reference).

However, the method of applying disturbance through a sensory organ or the external environment as disclosed in Non-Patent Document 1 has the following problems (1) and (2).

(1) It is difficult to induce the desired sensory-dependent changes.
This problem (1) is a problem in that the movement in response to disturbances differs from person to person, resulting in different sensation-dependent changes for each individual, and it is not possible to control the sensation that is desired to be strengthened.
(2) No measures have been taken to reduce postural sway in response to disturbances.
This (2) is an issue that may lead to an increase in center of gravity sway for some people, even if the desired sensory-dependent change can be induced.

The present invention was made in view of the above-mentioned circumstances, and its purpose is to provide a training device, method, and program that enable subjects to strengthen the senses that they rely on to stabilize their body posture. It is about providing.

A training device according to one aspect of the present invention determines the sensations to be strengthened that the subject depends on in order to stabilize the body posture, based on time-series data of the sway of the body's center of gravity when the subject performs a physical movement. is calculated by the calculation unit, which calculates the feature amount of the sway of the body posture when the subject performs an action to stabilize the body posture when no stimulation to different types of sensations is applied; determining a main action muscle to which stimulation to the different types of sensations is to be applied in order to reduce the feature amount, and presenting stimulation to the different types of sensations to the determined main action muscles; and a stimulus presentation unit.

In the training method according to one aspect of the present invention, the calculation unit of the training device allows the subject to stabilize his or her body posture based on time-series data of fluctuations in the center of gravity of the body when the subject performs physical movements. Calculate the feature amount of the sway of the body posture when the subject performs a movement to stabilize the body posture when no stimulation is given to a sensation of a different type than the sensation to be reinforced that depends on the The stimulus presentation unit of the training device determines the main action muscle to which stimulation of the different types of sensations is applied in order to reduce the feature quantity calculated by the calculation unit, and the determined main action muscle In contrast, stimuli to the different types of sensations are presented.

According to the present invention, it is possible to strengthen the senses that the subject relies on to stabilize his or her body posture.

FIG. 1 is a diagram showing an example of functions related to a training device according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of functions related to the training device according to the first embodiment of the present invention. FIG. 3 is a block diagram showing an example of the functional configuration of the training device according to the first embodiment of the present invention. FIG. 4 is a block diagram showing an example of a functional configuration related to sensory dependence measurement/evaluation processing according to the first embodiment of the present invention. FIG. 5 is a flowchart illustrating an example of the procedure of sensory dependence measurement and evaluation processing according to the first embodiment of the present invention. FIG. 6 is a block diagram showing an example of a functional configuration related to balance training processing (without stimulation intervention) according to the first embodiment of the present invention. FIG. 7 is a flowchart illustrating an example of the procedure of balance training processing (without stimulation intervention) according to the first embodiment of the present invention. FIG. 8 is a block diagram showing an example of a functional configuration related to balance training processing (with stimulation intervention) according to the first embodiment of the present invention. FIG. 9 is a flowchart showing an example of the procedure of balance training processing (with stimulation intervention) according to the first embodiment of the present invention. FIG. 10 is a block diagram showing an example of a functional configuration related to retraining determination processing according to the first embodiment of the present invention. FIG. 11 is a flowchart illustrating an example of a procedure for retraining determination processing according to the first embodiment of the present invention. FIG. 12 is a diagram showing an example of functions related to the training device according to the second embodiment of the present invention. FIG. 13 is a block diagram showing an example of the functional configuration of a training device according to the second embodiment of the present invention. FIG. 14 is a block diagram showing an example of a functional configuration related to sensory dependence measurement/evaluation processing according to the second embodiment of the present invention. FIG. 15 is a flowchart illustrating an example of the procedure of sensory dependence measurement and evaluation processing according to the second embodiment of the present invention. FIG. 16 is a block diagram showing an example of a functional configuration related to balance training processing (with EMS intervention) according to the second embodiment of the present invention. FIG. 17 is a flowchart showing an example of the procedure of balance training processing (with EMS intervention) according to the second embodiment of the present invention. FIG. 18 is a block diagram showing an example of a functional configuration related to retraining determination processing according to the second embodiment of the present invention. FIG. 19 is a flowchart illustrating an example of the procedure of retraining determination processing according to the second embodiment of the present invention. FIG. 20 is a block diagram showing an example of the hardware configuration of a training device according to an embodiment of the present invention.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
(Common explanation)
Here, matters common to the first and second embodiments described later will be explained.

FIG. 1 is a diagram showing an example of functions related to a training device according to an embodiment of the present invention.
In one embodiment of the present invention, as shown in FIG. ), S4 (post-balance training)), steps of measuring and evaluating the degree of sensory dependence before and after balance training without this stimulation (S1 (measuring and evaluating the degree of sensory dependence before post-balance training), S5 (post-post balance training)). An exercise to control sensory dependence, whose components include a step (S6) of measuring and evaluating the degree of sensory dependence after balance training) and comparing the results before and after balance training to determine whether retraining is necessary. Explain skill training.

In addition, in the above-mentioned balance training (S3) in which a stimulus corresponding to body sway is intervened, a stable or unstable state is determined based on the center of gravity sway obtained in advance in S2, and a threshold value related to the presentation of the stimulus is determined. Contains the function to determine the

An embodiment of the present invention enables training of motor skills to control sensory dependence, incorporating balance training in which external stimuli are intervened to correct movement during disturbances.
Furthermore, in stimulation intervention, parameters such as a threshold for stimulation presentation can be set for each individual based on the center of gravity sway obtained in advance.

Furthermore, by measuring and evaluating the degree of sensory dependence before and after balance training with the above-mentioned stimulation, balance training without stimulation, and after balance training, we will quantify the state of learning of motor skills that control sensory dependence. This makes it possible to confirm the situation.
Furthermore, by comparing the results before and after balance training and determining whether retraining is necessary, it is possible to repeat the retraining depending on the learning state and advance the learning reliably.

In addition, in the first embodiment described below, visual stimulation that teaches the movement to be performed in response to body sway allows the trainee to voluntarily move the ankle joint in accordance with the stimulation, thereby reducing dependence on foot somatosensation. It is possible to strengthen it.

Furthermore, in a second embodiment described below, ankle joint movement is corrected during disturbances by balance training in which muscle electrical stimulation (EMS (Electrical Muscle Stimulation)) is applied to ankle joint muscles in response to body sway. It becomes possible to strengthen visual dependence.

(First embodiment)
Next, a first embodiment will be described. Here, we will explain motor skill training that strengthens somatosensory dependence.
The background of the first embodiment will be explained. Humans perform postural control on their own in order to stabilize their body posture, for example, body sway, during basic movements such as standing or walking. Postural control in humans involves receiving information from the outside world through three sensory organs: vision (eyes), foot somatosensation (sole of the foot, around ankle joints, etc.), and vestibular sensation (semicircular canals, etc.). It is known that correct sensory integration in the brain's central nervous system stabilizes posture, and it is known that each individual tends to rely on a specific sense when it comes to sensory integration.

If this bias in sensory dependence continues for many years, a problem arises in that postural control becomes more difficult when the functions of the sensory organs on which the body is strongly dependent decline due to aging.
Considering that the future decline in function of sensory organs due to aging is difficult to predict due to large individual differences, it is important to have skills that allow you to stabilize your posture even if the function of any sense decreases, that is, visual sense, somatosensory sensation in the feet, It is necessary to acquire motor skills to transition to a state of strong sensory dependence on each of the vestibular sensations while still healthy.
This makes it possible to stabilize one's posture under unstable conditions, such as on a soft floor, by relying more heavily on sensations that have not deteriorated.

According to the above-mentioned non-patent document 1, it is stated that standing on an unstable surface has the effect of strengthening visual dependence. Therefore, even if this training is applied, if visual function deteriorates in the future, there is a high possibility that the person will not be able to maintain postural stability in unstable situations. Therefore, in the first embodiment of the present invention, a mode will be described in which skill training for stabilizing the posture by increasing reliance on foot somatic sensations in a standing position on an unstable surface will be described.

FIG. 2 is a diagram showing an example of functions related to the training device according to the first embodiment of the present invention.
In the first embodiment of the present invention, as shown in FIG. 2, visual stimulation, which is a stimulus that has the function of teaching movements to be performed in response to body sway, is intervened during standing training on an unstable surface. Balance training step (S13), balance training steps before and after this training in which visual stimulation is not intervened (S12 (pre-balance training), S14 (post-balance training)), and balance training in which visual stimulation is not intervened. The components include steps of measuring and evaluating the degree of somatosensory dependence before and after (S11, S15), and a step of comparing the results before and after balance training to determine whether retraining is necessary. , describes motor skill training that strengthens foot somatosensory dependence.

According to a first embodiment of the present invention, a foot somatosensory-dependent training incorporating a visual stimulation intervention having a function of teaching movements to be performed in response to body sway during training while standing on an unstable surface. It is possible to train motor skills that strengthen the body.

Furthermore, visual stimulation that teaches the movement to be performed in response to body sway allows the trainee to voluntarily move the ankle joint in accordance with the stimulation, making it possible to strengthen the reliance on foot somatosensation.

Furthermore, by measuring and evaluating the degree of sensory dependence after balance training, before and after balance training with visual stimulation, balance training without visual stimulation, and after balance training, we investigated motor skills that strengthen foot somatosensory dependence. It becomes possible to quantitatively check the learning state.
Furthermore, by comparing the results before and after balance training and determining whether retraining is necessary, it is possible to repeat retraining according to the learning state and advance learning reliably.

FIG. 3 is a block diagram showing an example of the functional configuration of the training device according to the first embodiment of the present invention.
As shown in FIG. 3, the training system 100 according to the first embodiment of the present invention includes a floor reaction force meter 101, a motion capture system 102, a training device 103, and a microcomputer (microcomputer). ) 104, a monitor 105 for visual stimulation, and a server 106.

The floor reaction force meter 101, motion capture system 102, and microcomputer 104 are connected to a training device 103, and a monitor 105 is connected to the training device 103 via the microcomputer 104. Of these, the floor reaction force meter 101 measures the position of the center of foot pressure when the subject is standing, and this measurement result is used in S11 and S15 above, that is, the steps of sensory dependence measurement and evaluation processing after balance training. It will be done.
The motion capture system 102, microcomputer 104, and monitor 105 are used in steps S12, S13, and S14, that is, various balance training processing steps.
The motion capture system 102 measures the position of a subject's body or object by attaching a dedicated infrared reflective marker (sometimes simply referred to as a marker) to an arbitrary location on the subject's body or object. According to the measured movement of the marker, a trigger signal, which is a control signal, is transmitted from the training device 103 to the microcomputer 104, and at the timing of receiving this trigger signal, the microcomputer 104 issues a visual stimulus to the monitor 105. send signals regarding

S11: Pre-training sensory dependence measurement/evaluation step FIG. 4 is a block diagram showing an example of a functional configuration related to sensory dependence measurement/evaluation processing according to the first embodiment of the present invention.
S11 is a step of measuring and evaluating the degree of sensory dependence before balance training. As shown in FIG. 4, the floor reaction force meter 101 has a center of gravity sway measurement section 201, the training device 103 has a center of gravity sway evaluation section 202, a somatosensory dependence evaluation section 203, and a first The sensory dependence measurement/evaluation process S11 before balance training according to the embodiment can be realized by these 201 to 203.

FIG. 5 is a flowchart illustrating an example of the procedure of sensory dependence evaluation processing according to the first embodiment of the present invention.
In S11, the subject first stood with both feet on the floor reaction force meter 101 (on a stable surface) for 30 seconds (S11a), and then placed a soft mat on the floor reaction force meter 101 (on an unstable surface). ), repeat standing on both feet for 30 seconds (S11b) multiple times. Note that the standing time is just an example, and may be set to 60 seconds, for example.

・Center of gravity sway measurement unit 201
The center of gravity sway measurement unit 201 measures the foot pressure center position (x _t , y _t ) using the floor reaction force meter 101 when standing on a stable surface, and outputs this measurement result to the training device 103 (S11c).
Similarly, the center of gravity sway measurement unit 201 measures the foot pressure center position (x _t , y _t ) using the floor reaction force meter 101 when standing on an unstable surface, and outputs this measurement result to the training device 103 ( S11d).

- Center of gravity sway evaluation unit 202
The center of gravity sway evaluation unit 202 inputs the measurement result of the foot pressure center position (x _t , y _t ) when standing on a stable surface, and stores it in the training device 103 as time series data of the foot pressure center position. (S11e).
The training device 103 uses this stored data to calculate the center of gravity sway s _S when standing on a stable surface, and outputs the calculation result to the somatosensory dependence evaluation unit 203 (S11f).

Similarly, the center of gravity sway evaluation unit 202 inputs the measurement result of the foot pressure center position (x _t , y _t ) when standing on an unstable surface, and stores it in the training device 103 as time series data of the foot pressure center position. Store it in the storage device (S11g).
The training device 103 uses this stored data to calculate the center of gravity sway s _US when standing on an unstable surface, and outputs the calculation result to the somatosensory dependence evaluation unit 203 (S11h).

In this embodiment, the root mean square (RMS ₎ is calculated using the following _formula (1 ).

Here, x _m , y _m are the average values of the foot pressure center position, and n is the number of time samples. Note that the center of gravity oscillation speed, rectangular area, etc. may be used as other parameters.

・Somatosensory dependence evaluation unit 203
The somatosensory dependence evaluation unit 203 inputs the calculation results of the center of gravity sway s _S when standing on a stable surface and the center of gravity sway s _US when standing on an unstable surface, and based on these calculation results, The somatosensory dependence d _p of is calculated as in the following equation (2) (S11i).

d _p = S _US /S _S ...Formula (2)
In this equation (2), it means that the larger d _p is, the stronger the somatosensory dependence is.

In this embodiment, the somatosensory dependence degree calculated as described above before training is stored in the storage device of the training device 103 as the pre-training somatosensory dependence degree dp_pre.

S12: Pre-balance training step FIG. 6 is a block diagram showing an example of a functional configuration related to balance training processing (without stimulation intervention) according to the first embodiment of the present invention.
S12 is a step of implementing balance training without visual stimulus intervention, before balance training with visual stimulus intervention. As shown in FIG. 6, the motion capture system 102 includes a balance board height measurement section 301 and a balance board sway evaluation section 302, and the motion capture system 102 includes a balance board height measurement section 301 and a balance board sway evaluation section 302. Balance training S12 without stimulation intervention can be realized by these 301 and 302.

FIG. 7 is a flowchart illustrating an example of the procedure of balance training processing (without stimulation intervention) according to the first embodiment of the present invention.
In S12, as a training task, one-legged standing on a balance board tilted only in the front-back direction is performed multiple times for 30 seconds each (S12a). This training task may be performed on a soft floor surface in addition to a balance board.

Next, as a preliminary preparation, a marker for motion capture measurement is pasted on the front end of the balance board and electrically connected to the training device 103. In this embodiment, the fluctuation of the balance board is defined as the fluctuation of the height (h _t ) of the marker attached to the front end of the balance board. Note that the angle may be calculated using a configuration in which markers are attached to both ends of the balance board, and changes in this angle may be referred to as sway. It can also be used as a change in pelvic agitation.

・Balance board height measurement section 301
The balance board height measurement unit 301 of the motion capture system 102 measures the height of the marker (h _t ) as the height of the balance board, and outputs this measurement result to the training device 103 (S12b).

・Balance board sway evaluation section 302
The balance board sway evaluation unit 302 inputs the measurement result of the height (h _t ) of the marker, and stores it in the storage device within the training device 103 as “time series data of the height of the balance board” (S12c).

The balance board sway evaluation unit 302 uses this stored data to calculate the balance board sway S _BB as shown in equation (3) below. In this embodiment, the root mean square (RMS) is used as the balance board oscillation.

Here, h _m is the average height of the balance board, and n is the number of time samples.

In this embodiment, the balance board oscillation acquired in preliminary training is stored in the storage device of the training device 103 as S _{BB_pre} .

S13: Balance training step FIG. 8 is a block diagram showing an example of a functional configuration related to balance training processing (with stimulation intervention) according to the first embodiment of the present invention.
S13 is a step of implementing balance training using visual stimulation. As shown in FIG. 8, the motion capture system 102 includes a balance board height measurement unit 401, and the training device 103 includes a time series data storage unit 402, an agonist muscle threshold determination unit 403, and a balance board height measurement unit 401. The microcomputer 104 has a main action muscle determination section 404, and a visual stimulation presentation section 405. Balance training using visual stimulation according to the first embodiment can be realized by these 401 to 405. The time-series data storage unit 402 stores time-series data of balance board sway during pre-training. In this training, the height of the balance board is measured and transmitted to the training device 103, a trigger is transmitted to the microcomputer 104 according to the measured value, and a visual stimulus is presented in response to this trigger.

FIG. 9 is a flowchart showing an example of the procedure of balance training processing (with stimulation intervention) according to the first embodiment of the present invention.
In S13, as a training task, one-legged standing on a balance board tilted only in the front-back direction is performed multiple times for 30 seconds each (S13a). This training task may be performed on a soft floor surface in addition to a balance board.

Next, as a preliminary preparation, only three channels in total are connected between the external trigger output device attached to the training device 103 and the microcomputer 104, and a monitor for visual stimulation is connected to the training device 103 via the microcomputer 104. The above three channels correspond to, for example, a channel that lights up "keep", a channel that lights up "up", and a channel that outputs "down".

・Balance board height measurement section 401
The balance board height measurement unit 401 of the motion capture system 102 measures the height (ht) of the marker and outputs the measurement result to the training device 103 as time series data of the subject's current body motion (S13b).

- Time series data storage unit 402 of balance board oscillation during pre-training
The "time series data of balance board height" explained in S12b and S12c is stored in the time series data storage unit 402 in the training device 103 as "time series data of balance board sway in pre-training", and is It can be output to the working muscle threshold determination unit 403.

- Main action muscle threshold determination unit 403
The main action muscle threshold determination unit 403 inputs “time series data of balance board sway in pre-training” stored in the time series data storage unit 402, and selects an appropriate main action muscle for reducing balance board sway, i.e. A threshold value h_ta and a threshold h_so for determining the main action muscle to be stimulated in order to stabilize the subject's posture are output to the main action muscle determination unit 404.
In this embodiment, when the height h of the front end of the balance board indicated by the time-series data of the subject's current body movement is less than or equal to the threshold h_ta, the subject's tibialis anterior muscle (TA) is activated as described above. The main action muscle determining unit 404 determines that it is a working muscle. In addition, when the height h of the front end of the balance board shown in the time-series data of the current body movement is greater than or equal to the threshold h_so, it is assumed that the subject's soleus (soleus: SO) is the appropriate main action muscle. The muscle determination unit 404 determines.
If the average value of the time series data of the height h of the front end of the balance board is h_mean, and the standard deviation of the time series data is h_std, the following equations (4) and (5) are defined.

h_ta = h_mean - h_std...Equation (4)
h_so = h_mean + h_std…Equation (5)

Here, regarding the height h of the front end of the balance board indicated by the time-series data of the subject's current body movement, it is assumed that the height h of the front end of the balance board is in the region of "h_ta < h < h_so", that is, it is not below the threshold h_ta but above the threshold h_so as described above. In the region where there is no balance, the subject can maintain balance relatively horizontally, so the height of the front end of the balance board can be called the "stable region."

In addition, regarding the height h of the front end of the balance board shown in the above-mentioned time-series data of the current body movement, in areas other than the above-mentioned "h_ta < h < h_so", that is, in the area below the above-mentioned threshold h_ta or above the threshold h_so, the balance Because the board is highly tilted, the height h of the front edge of the balance board can be called the "unstable region."

- Main action muscle determination unit 404
The main action muscle determination unit 404 inputs the time series data of the subject's current body motion transmitted from the balance board height measurement unit 102, and receives this time series data and the time series data output from the main action muscle threshold determination unit 403. The threshold value and the height _ht of the front end of the balance board at time t from the balance board height measurement unit 401 are input, and it is determined whether the height of the front end of the balance board is in a stable region or an unstable region. In other words, it is determined whether the movement of the subject to stabilize his or her body posture is stable enough to not require stimulation of the senses. When it is determined that it is in the stable region, the main action muscle determining unit 404 transmits a trigger to the microcomputer 104 through the channel that lights up the "keep" button.

Furthermore, when it is determined that the region is unstable, the main action muscle determining unit 404 determines whether the appropriate main action muscle should be the tibialis anterior (TA) or the soleus (SO) (S13c ).
When it is determined that the tibialis anterior muscle is an appropriate main action muscle, the main action muscle determining unit 404 transmits a trigger to the microcomputer 104 through the channel that lights up the above-mentioned "up".
Furthermore, when it is determined that the soleus muscle is an appropriate main action muscle, the main action muscle determining unit 404 transmits a trigger to the microcomputer 104 through the channel that causes the above-mentioned "down" to be output.

・Visual stimulus presentation section 405
When the microcomputer 104 receives the trigger signal transmitted when the unstable region is determined, the visual stimulus presentation unit 405 presents a visual stimulus that causes the main action muscle corresponding to the trigger channel to operate (S13d). The trainee confirms that "up" is lit and performs an action to raise the front end of the balance board, and confirms that "down" is lit and performs an action to lower the front end of the balance board.
Further, when the microcomputer 104 receives the transmitted trigger signal when the unstable region is determined, the visual stimulus presentation unit 405 presents a visual stimulus that maintains the stable region, corresponding to the trigger channel "keep". (S13e). The trainee confirms that the above-mentioned "keep" is lit and performs an action to maintain the balance board in the same state.
After S13d or S13e, the process returns to S13b with the time count advanced.

S14: Post-balance training step S1 is a step of performing balance training without intervention after balance training with visual stimulus intervention, and is the same step as S12. The configuration and flowchart are as shown in FIGS. 6 and 7.

However, in S12 above, it was explained that the balance board sway acquired in the pre-training is stored as S _{BB_pre} in the storage device of the training device 103, but in S14, the balance board sway acquired in the post-training is It is saved in the storage device of the training device 103 as S _{BB_post} .

S15: Post-training sensory dependence evaluation step S15 is a step of measuring and evaluating the sensory dependence after training, and is similar to S11. The configuration and flowchart are as shown in FIGS. 4 and 5.

However, in S11 above, it was explained that the somatosensory dependence degree obtained before training is stored as d _{p_pre} in the storage device of the training device 103, but in S15, the somatosensory dependence degree calculated after training is It is saved in the storage device of the training device 103 as d _{p_post} .

S16: Retraining determination step FIG. 10 is a block diagram showing an example of a functional configuration related to retraining determination processing according to the first embodiment of the present invention.
S16 compares the somatosensory dependence (d _{p_pre} , d _{p_post} ) and balance board sway (S _{BB_pre} , S _{BB_post} ) before and after balance training using visual stimulation, and determines whether retraining of balance training is necessary. This is the step of determining whether or not. As shown in FIG. 6, the training device 103 has a retraining determination unit 501, and S16 can be realized by this 501.

FIG. 11 is a flowchart illustrating an example of a procedure for retraining determination processing according to the first embodiment of the present invention.
-Retraining determination unit 501
In S16, first, the retraining determination unit 501 reads out the balance board sway before and after balance training and the somatosensory dependence degree before and after balance training, which were stored in advance in the storage device of the training device 103. First, the balance board sway before and after balance training is compared (S16a).

The retraining determining unit 501 determines whether the balance board sway after training has been reduced compared to the balance board sway before training (S16b).

If the balance board oscillation after training is reduced compared to the balance board oscillation before training (S _{BB_pre} > S _{BB_post} ) (Yes in S16b), the process advances to the next determination block. If not (No in S16), retraining in S13 is performed.

When it is determined Yes in S16b above, the retraining determination unit 501 compares the degree of somatosensory dependence read above before and after the balance training (S16c).

If the degree of somatosensory dependence after training is stronger than the degree of somatosensory dependence before training (d _{p_pre} < d _{p_post} ) (Yes in S16c), the retraining determination unit 501 determines that the somatosensory dependence is It is determined that learning of the motor skill to be strengthened has progressed, and the training is terminated. If not (No in S16c), retraining in S13 is performed.

(Second embodiment)
Next, a second embodiment will be described. Here, we will explain motor skill training that strengthens visual dependence.
The background of the first embodiment will be explained. Humans perform postural control on their own in order to stabilize their body posture, for example, body sway, during basic movements such as standing or walking. Postural control in humans involves receiving information from the outside world through three sensory organs: vision (eyes), somatic sensation (sole of the foot, etc.), and vestibular sensation (semicircular canals, etc.), and this information is sent to the brain's central nervous system. It is known that correct sensory integration stabilizes posture, and it is known that each individual tends to rely on a specific sense during sensory integration.

If this bias in sensory dependence continues for many years, a problem arises in that postural control becomes more difficult when the functions of the sensory organs on which the body is strongly dependent decline due to aging.
Considering that the future decline in function of sensory organs due to aging is difficult to predict due to large individual differences, we need to develop skills that allow us to maintain a stable posture even when the function of any sense decreases, namely visual, somatosensory, and vestibular functions. It is necessary to acquire motor skills to transition to a state of strong sensory dependence on each of the senses while still healthy.
This makes it possible to stabilize one's posture under unstable conditions, such as on a soft floor, by relying more heavily on sensations that have not deteriorated.

According to the above-mentioned non-patent document 1, it is stated that standing on an unstable surface has the effect of strengthening visual dependence. However, in the case of the technique of applying a disturbance through a sensory organ or the external environment as in Non-Patent Document 1, there is a problem in that the movement in response to the disturbance differs from person to person, resulting in different sensation-dependent changes for each person. Therefore, it is insufficient for training motor skills that strengthen visual dependence. Accordingly, in a second embodiment of the present invention, a mode will be described that implements training for motor skills that strengthen visual dependence, which incorporates training that intervenes with external stimulation to correct movement during disturbances.

FIG. 12 is a diagram showing an example of functions related to the training device according to the second embodiment of the present invention.
In the first embodiment of the present invention, as shown in FIG. 2, the step (S23) of balance training in which muscle electrical stimulation (EMS) is applied to the ankle joint muscles in response to body sway, and the steps before and after this training. Steps of balance training in which EMS is not intervened (S22 (pre-balance training), S24 (post-balance training)) and steps of measuring and evaluating the degree of sensory dependence before and after balance training in which EMS is not intervened (S21, A motor skill training that strengthens visual dependence will be described, the components of which are S25) and a step of comparing the results before and after balance training to determine whether retraining is necessary (S26).

According to the second embodiment of the present invention, it is possible to realize training for motor skills that strengthen visual dependence, which incorporates training in which external stimulation is intervened to correct movement during disturbances.

Furthermore, balance training in which EMS intervenes on the ankle joint muscles in response to body sway makes it possible to correct ankle joint movement during disturbances and strengthen the reliance on vision.

Furthermore, by measuring and evaluating the degree of sensory dependence before and after the above-mentioned balance training with EMS intervention, balance training without EMS intervention, and after balance training, we will quantitatively confirm the learning state of motor skills that strengthen visual dependence. becomes possible.

Furthermore, by comparing the results before and after balance training and determining whether retraining is necessary, it is possible to repeat retraining according to the learning state and advance learning reliably.

FIG. 13 is a block diagram showing an example of the functional configuration of a training device according to the second embodiment of the present invention.
As shown in FIG. 13, a training system 100a according to the second embodiment of the present invention includes a floor reaction force meter 101, a motion capture system 102, a training device 103a, a microcomputer 104a, an electrical stimulation device 105a, and a server 106.

The floor reaction force meter 101, motion capture system 102, and microcomputer 104a are connected to a training device 103a, and an electrical stimulation device 105a is connected to the training device 103a via the microcomputer 104a. Of these, the floor reaction force meter 101 measures the position of the center of foot pressure when the subject is standing, and this measurement result is used in S21 and S25 above, that is, the steps of sensory dependence measurement and evaluation processing after balance training. It will be done.

The motion capture system 102, the microcomputer 104a, and the electrical stimulation device 105a are used in S22, S23, and S24, that is, various balance training steps.

The motion capture system 102 measures the position of a subject's body or object by attaching a dedicated infrared reflective marker to an arbitrary location on the subject's body or object. According to the measured movement of the marker, a trigger is transmitted from the training device 103a to the microcomputer 104a, and at the timing of receiving this trigger, the microcomputer 104a transmits a signal to start electrical stimulation to the electrical stimulation device 105a.

S21: Pre-training sensory dependence measurement/evaluation step FIG. 14 is a block diagram showing an example of a functional configuration related to sensory dependence measurement/evaluation processing according to the second embodiment of the present invention.
S21 is a step of evaluating the degree of sensory dependence before balance training. As shown in FIG. 14, the floor reaction force meter 101 has a center of gravity sway measuring section 201, and the training device 103a has a center of gravity sway evaluation section 202 and a visual dependence evaluation section 203a. The sensory dependence measurement/evaluation process S21 before form-based balance training can be realized by these 201 to 203a.

FIG. 15 is a flowchart illustrating an example of the procedure of sensory dependence evaluation processing according to the second embodiment of the present invention.
In S21, the subject first stands with both feet open on the ground reaction force meter 101 (on a stable surface) for 30 seconds (S21a), and then with both feet closed on the ground reaction force meter 101 (on a stable surface) for 30 seconds (S21a). Repeat 30 seconds (S21b) multiple times. Note that the standing time is just an example, and may be set to 60 seconds, for example.

・Center of gravity sway measurement unit 201
The center of gravity sway measuring unit 201 measures the foot pressure center position (x _t , y _t ) using the floor reaction force meter 101 when standing with both feet open and eyes open, and outputs the measurement result to the training device 103a (S21c).

Similarly, the center of gravity sway measuring unit 201 measures the foot pressure center position (x _t , y _t ) using the floor reaction force meter 101 when standing with both feet closed and eyes closed, and outputs this measurement result to the training device 103a (S21d ).

- Center of gravity sway evaluation unit 202
The center of gravity sway evaluation unit 202 inputs the measurement result of the foot pressure center position (x _t , y _t ) when standing with both feet open, and stores it in the storage device in the training device 103a as time series data of the foot pressure center position. (S21e).
The training device 103a uses this stored data to calculate the center of gravity sway S _EO when standing with eyes open, and outputs the calculation result to the visual dependence evaluation unit 203a (S21f).

Similarly, the center of gravity sway evaluation unit 202 inputs the measurement result of the foot pressure center position (x _t , y _t ) when standing with both feet closed, and stores it in the training device 103a as time series data of the foot pressure center position. The information is stored in the device (S21g).
The training device 103a uses this stored data to calculate the center of gravity sway S _EC when standing with eyes closed, and outputs the calculation result to the visual dependence evaluation unit 203a (S21h).

In this embodiment, the root mean square (RMS) of the center of gravity sway, that is, the center of gravity sway when standing with eyes open S _EO and the center of gravity sway S _EC when standing with eyes closed, is calculated as shown in equation (6) below.

Here, as in the above formula (1), x _m and y _m are the average values of the foot pressure center position, and n is the number of time samples. Note that the center of gravity oscillation speed, rectangular area, etc. may be used as other parameters.

-Visual dependence evaluation unit 203a
The visual dependence evaluation unit 203a inputs the calculation results of the center of gravity sway S _EO when standing with eyes open and the center of gravity sway S _EC when standing with eyes closed, and based on these calculation results, evaluates the visual dependence before training. d _e is calculated as shown in equation (7) below (S21i).

d _e =S _EC /S _EO ...Formula (7)
In this equation (7), the larger d _e is, the stronger the visual dependence is.
In this embodiment, the degree of visual dependence calculated as described above before training is saved as d _{e_pre} in the storage device of the training device 103a.

S22: Pre-balance training step S22 is a step of performing balance training without intervention before balance training in which EMS is intervened (S23), and is the same step as S12 described in the first embodiment. The configuration and flowchart are as shown in FIGS. 6 and 7.

S23: Balance training step FIG. 16 is a block diagram showing an example of a functional configuration related to balance training processing (with EMS intervention) according to the second embodiment of the present invention.
S23 is a step of implementing balance training in which EMS is involved. As shown in FIG. 16, the motion capture system 102 includes a balance board height measurement section 401, and the training device 103a includes a time series data storage section 402, a main action muscle threshold determination section 403, and a main action muscle The microcomputer 104a has a determination unit 404, and the microcomputer 104a has an electrical stimulation presentation unit 405a, and balance training using EMS according to the second embodiment can be realized by these 401 to 405a. The time-series data storage unit 402 stores time-series data of balance board sway during pre-training.

FIG. 17 is a flowchart showing an example of the procedure of balance training processing (with EMS intervention) according to the second embodiment of the present invention.
As a preliminary preparation for S23, electrical stimulation electrodes are attached to the tibialis anterior muscle and soleus muscle of the subject's ankle, respectively, and connected to each channel of the electrical stimulation device 105a. The electrical stimulation device 105a can present EMS to each muscle of the subject to contract the muscle. Further, only two channels in total are connected between the external trigger output device attached to the training device 103a and the microcomputer 104a, and the electric stimulation device 105a is connected to the training device 103a via the microcomputer 104. The above two channels correspond to, for example, a channel that stimulates the tibialis anterior muscle and a channel that stimulates the soleus muscle. In this embodiment, EMS is presented to the tibialis anterior muscle or soleus muscle of the subject in accordance with the movement of the balance board.

In S23, as a training task, one-legged standing on a balance board tilted only in the front-back direction is performed multiple times for 30 seconds each (S23a). This training task may be performed on a soft floor surface in addition to a balance board.

・Balance board height measurement section 401
The balance board height measurement unit 401 of the motion capture system 102 measures the height (ht) of the marker and outputs this measurement result to the training device 103a (S23b).

・Time series data of balance board sway during pre-training In this embodiment, the "time series data of balance board height" explained in S12b and S12c in the first embodiment is "time series data of balance board sway during pre-training". The data is stored in the time series data storage section 402 in the training device 103a as "series data," and can be output to the main action muscle threshold determination section 403.

- Main action muscle threshold determination unit 403
The main action muscle threshold determination unit 403 inputs the “time series data of balance board sway during pre-training” stored in the time series data storage unit 402, and determines the appropriate main action muscle for reducing balance board sway. The threshold value h_ta and the threshold value h_so are output to the main action muscle determination unit 404 together with "time series data of balance board sway in pre-training".
In this embodiment, when the height h of the front end of the balance board is equal to or less than the threshold value h_ta, the main action muscle determining unit 404 determines that the subject's tibialis anterior muscle is the appropriate main action muscle. Furthermore, when the height h of the front end of the balance board is equal to or greater than the threshold value h_so, the main action muscle determining unit 404 determines that the subject's soleus muscle is the appropriate main action muscle.
When the average value of the time-series data of the height h of the front end of the balance board is h_mean, and the standard deviation of the time-series data is h_std, the relationship with the above threshold value is expressed by the equation (4) and the equation (4) described in the first embodiment. It is shown by formula (5).

Here, as in the first embodiment, regarding the height h of the front end of the balance board, in the region of "h_ta < h <h_so", the balance can be maintained relatively horizontally, so the height of the front end of the balance board can be called the "stable region".
In addition, regarding the height h of the front end of the balance board, in areas other than the above "h_ta < h <h_so", the balance board is significantly tilted, so the height of the front end of the balance board is called the "unstable area". I can do it.

- Main action muscle determination unit 404
The main action muscle determination unit 404 inputs the threshold output from the main action muscle threshold determination unit 403 and the height _ht of the front end of the balance board at time t from the balance board height measurement unit 401, and inputs the front end of the balance board Determine whether the height of is in a stable region or an unstable region. When it is determined that it is in the stable region, the main action muscle determination unit 404 does not transmit a trigger to the microcomputer 104a.

Further, when it is determined that the region is unstable, the main action muscle determining unit 404 determines whether the appropriate main action muscle should be the tibialis anterior (TA) or the soleus (SO) (S23c ), sends a trigger to the channel that stimulates the muscle determined to be the appropriate prime mover muscle.

・Electrical stimulation presentation section 405a
When the microcomputer 104a receives the transmitted trigger signal when the unstable region is determined, the electrical stimulation presentation unit 405a presents the EMS using the electrical stimulation device 105a (S23d). When an EMS is presented to the subject's tibialis anterior (TA) muscle, it causes an involuntary movement of raising the front end of the balance board through ankle dorsiflexion. In addition, when EMS is presented to the subject's soleus muscle (SO), it causes an involuntary movement of lowering the front end of the balance board by plantar flexion of the ankle joint.
After S23d or S23e, the process returns to S23b with the time count advanced.

S24: Post-balance training step S24 is a step of performing balance training without intervention after balance training with EMS intervention, and is the same step as S14 described in the first embodiment. The configuration and flowchart are as shown in FIGS. 6 and 7.

S25: Post-training sensory dependence evaluation step S25 is a step of measuring and evaluating the sensory dependence after training, and is similar to S21. The configuration and flowchart are as shown in FIGS. 14 and 15.

However, in S21 above, it was explained that the degree of visual dependence acquired before training is stored as d _{e_pre} in the storage device of the training device 103a, but in S25, the degree of visual dependence calculated after training is stored as d _{e_post} , It is saved in the storage device of the training device 103a.

S26: Retraining determination step FIG. 18 is a block diagram showing an example of a functional configuration related to retraining determination processing according to the second embodiment of the present invention.
S26 compares the degree of visual dependence (d _{e_pre} , d _{e_post} ) and the balance board sway (S _{BB_pre} , S _{BB_post} ) before and after balance training in which EMS has been intervened, and determines whether retraining of balance training is necessary. This step is to As shown in FIG. 18, the training device 103a has a retraining determination unit 501a, and S26 can be realized by this 501a.

FIG. 19 is a flowchart illustrating an example of the procedure of retraining determination processing according to the second embodiment of the present invention.
-Retraining determination unit 501a
In S26, the retraining determination unit 501a first reads out the balance board oscillations before and after balance training and the degree of visual dependence before and after balance training, which have been stored in advance in the storage device of the training device 103a (S26a). First, we compare the balance board sway before and after balance training.

The retraining determining unit 501 determines whether the balance board sway after training has been reduced compared to the balance board sway before training (S26b).

If the balance board oscillation after training is reduced compared to the balance board oscillation before training (S _{BB_pre} > S _{BB_post} ) (Yes in S26b), the process advances to the next determination block. If not (No in S26), retraining in S23 is performed.
When it is determined Yes in the above S26b, the retraining determination unit 501 compares the read visual dependence degrees before and after the balance training (S26c).

If the degree of visual dependence after training is stronger than the degree of visual dependence before training (d _{e_pre} < d _{e_post} ) (Yes in S26c), the retraining determination unit 501 determines whether learning motor skills that strengthen visual dependence is possible. It is determined that progress has been made and the training ends. If not (No in S26c), retraining in S23 is performed.

Next, variations according to this embodiment will be explained in (1) to (3) below.
(1) The time-series data of body movements in pre-training or the calculation results of each degree of dependence, which are stored in the above-described time-series data storage unit 402, may be stored in advance in a storage device (not shown) in the server 106. . In this case, the main action muscle threshold determination unit 403 or the main action muscle determination unit 404 of the training device 103 requests distribution (acquisition) of the stored data to the server 106 via the communication network, as necessary. In response to this distribution request, the distribution unit (not shown) of the server 106 transmits the stored data to the training device 103, which is the source of the distribution request, via the communication network. can be delivered to.

(2) The threshold determined by the main action muscle threshold determination unit 403 described above may be stored in advance in a storage device (not shown) in the server 105 as threshold data.
In this case, if necessary, the main action muscle determining unit 404 of the training device 103 requests the server 106 to distribute the above-mentioned threshold value data, so-called a download request, via the communication network, and the distribution unit of the server 106 In response to this distribution request, the stored threshold data can be distributed via the communication network to the training device 103 that is the source of the distribution request.

(3) The formula for determining the threshold determined by the main action muscle threshold determination unit 403 is not limited to one formula as shown in formulas (4) and (5) above, but may include multiple formulas. The configuration may be such that the user can arbitrarily select different types of threshold values, for example, a formula for professional players and a formula for amateur players. The professional formula is a formula that includes, for example, relatively complex parameters that can be handled by a professional player, and the amateur formula is a formula that includes relatively simple parameters that can be handled by, for example, an amateur player.

In one embodiment of the present invention described above, an external stimulus is applied to correct movement during a disturbance, and the stimulation timing is determined from the center of gravity sway measured in advance for each individual subject. , the subject can control sensory dependence to stabilize body posture.

FIG. 20 is a block diagram showing an example of the hardware configuration of a training device according to an embodiment of the present invention.
In the example shown in FIG. 4, the training device 103 according to the above embodiment is configured by, for example, a server computer or a personal computer, and includes a hardware processor such as a CPU (Central Processing Unit). hardware processor) 611A. A program memory 611B, a data memory 612, an input/output interface 613, and a communication interface 614 are connected to the hardware processor 611A via a bus 615. . The same applies to the microcomputer 104 and server 106 shown in FIG. 1, and the training device 103a, microcomputer 104a, and electric stimulation device 105a shown in FIG. 12, and the server 106 may be configured by the above-mentioned server computer.

The communication interface 614 includes, for example, one or more wireless communication interface units, and enables transmission and reception of information with a communication network NW. As the wireless interface, for example, an interface adopting a low power wireless data communication standard such as a wireless LAN (Local Area Network) is used.

The input/output interface 613 is connected to the floor reaction force meter 101 shown in FIG. 1, the motion capture system 102, the microcomputer 104, and other input devices and output devices (not shown).
The input/output interface 613 can receive operation data input by a user through an input device such as a keyboard, touch panel, touchpad, mouse, etc., and output data on a liquid crystal or organic display. It is possible to output and display the image on an output device including a display device using EL (Electro Luminescence) or the like. Note that the input device and the output device may be a device built into the training device 103, or an input device and an output device of another information terminal that can communicate with the training device 103 via the network NW. may be used.

The program memory 611B is a non-temporary tangible storage medium, such as a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that can be written to and read from at any time. It is used in combination with a nonvolatile memory such as a ROM (Read Only Memory), and stores programs necessary for executing various control processes and the like according to an embodiment.

The data memory 612 is a tangible storage medium that is used in combination with the above-mentioned nonvolatile memory and volatile memory such as RAM (Random Access Memory), and is used to perform various processes. It is used to store various data acquired and created during the process.

The training device 103 according to an embodiment of the present invention can be configured as a data processing device having each section shown in FIGS. 4, 5, etc. as a processing function section using software.

Each information storage unit and time-series data storage unit 402 used as a working memory by each part of the training device 103 may be configured by using the data memory 612 shown in FIG. 20. However, these storage areas are not essential to the training device 103, and may be stored in external storage media such as a USB (Universal Serial Bus) memory, or in a database server located in the cloud. It may also be an area provided in a storage device such as a server.

Any of the above processing function units can be realized by causing the hardware processor 611A to read and execute a program stored in the program memory 611B. Note that some or all of these processing functions may be implemented in a variety of other formats, including integrated circuits such as application specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs). May be realized.

In addition, the method described in each embodiment can be applied to a magnetic disk (floppy (registered trademark) disk, hard disk) as a program (software means) that can be executed by a computer (computer). etc.), optical discs (CD-ROM, DVD, MO, etc.), semiconductor memories (ROM, RAM, Flash memory, etc.), and are stored in recording media, or transmitted and distributed via communication media. can be done. Note that the programs stored on the medium side also include a setting program for configuring software means (including not only execution programs but also tables and data structures) in the computer to be executed by the computer. A computer that realizes this device reads a program recorded on a recording medium, and if necessary, constructs software means using a setting program, and executes the above-described processing by controlling the operation of the software means. Note that the recording medium referred to in this specification is not limited to one for distribution, and includes storage media such as a magnetic disk and a semiconductor memory provided inside a computer or in a device connected via a network.

Note that the present invention is not limited to the above-described embodiments, and can be variously modified at the implementation stage without departing from the gist thereof. Moreover, each embodiment may be implemented in combination as appropriate, and in that case, the combined effect can be obtained. Furthermore, the embodiments described above include various inventions, and various inventions can be extracted by combinations selected from the plurality of constituent features disclosed. For example, if a problem can be solved and an effect can be obtained even if some constituent features are deleted from all the constituent features shown in the embodiment, the configuration from which these constituent features are deleted can be extracted as an invention.

100, 100a... Training system 101... Floor reaction force meter 102... Motion capture system 103, 103a... Training device 104, 104a... Microcomputer (microcomputer)
105...Monitor 105a...Electrical stimulation device 106...Server 201...Center of gravity sway measuring section 202...Center of gravity sway evaluation section 203...Somatosensory dependence evaluation section 203a...Visual dependence evaluation section 301, 401...Balance board height measurement section 302 ...Balance board sway evaluation section 402...Time series data storage section 403...Main action muscle threshold determination section 404...Main action muscle determination section 405...Visual stimulus presentation section 405a...Electrical stimulation presentation section 501, 501a...Retraining judgment section

Claims (7)

1. Based on time-series data of the fluctuation of the body's center of gravity when the subject performs a physical movement, stimulation is not given to a type of sensation different from the sensation to be reinforced that the subject relies on to stabilize his or her body posture. a calculation unit that calculates a feature amount of sway in the body posture when the subject performs an action to stabilize the body posture;
   In order to reduce the feature amount calculated by the calculation unit, a main action muscle to which stimulation of the different types of sensations is applied is determined, and for this determined main action muscle, the different types of stimulation are applied to the main action muscles. a stimulation presentation unit that presents stimulation to the senses;
   A training device equipped with.
2. The stimulus presentation unit is
   Based on time-series data of the body movements of the test subject, determine whether the movement of the subject to stabilize the body posture has stability that does not require stimulation of the different types of sensations. judge,
   When it is determined that the subject does not have stability, the main action muscle of the subject to which stimulation of the different types of sensations is given is determined, and for this determined main action muscle, the different Presenting different types of sensory stimulation,
   A training device according to claim 1.
3. The feature amount calculated by the calculation unit is stored in an external device connectable via a communication network,
   The stimulus presentation unit is
   acquiring the feature amount stored in the external device via the communication network, and determining the main action muscle to which stimulation to the different types of sensations is applied in order to reduce the acquired feature amount; and presenting stimulation to the different types of sensations to the determined main action muscle,
   A training device according to claim 1.
4. the dependent sensation is a somatic sensation in the foot of the subject;
   The stimulus presentation unit is
   determining a main action muscle to which visual stimulation of the subject is to be given, and operating the determined main action muscle, in order to reduce the feature quantity calculated by the calculation unit; present,
   A training device according to claim 1.
5. the dependent sense is the subject's vision;
   The stimulus presentation unit is
   In order to reduce the feature amount calculated by the calculation unit, a main action muscle that is a target for stimulating the ankle joint muscles of the subject is determined, and for this determined main action muscle, the ankle joint muscle is Provides stimulation to muscles,
   A training device according to claim 1.
6. A method performed by a training device, the method comprising:
   The calculation unit of the training device calculates, based on time-series data of the fluctuation of the body's center of gravity when the subject performs a physical movement, a type of sensation that is different from the sensation to be reinforced that the subject relies on to stabilize his or her body posture. Calculating the feature amount of sway in the body posture when the subject performs an action to stabilize the body posture when no stimulation is applied to the sensation,
   The stimulus presentation unit of the training device determines the main movement muscle to which stimulation of the different types of sensations is applied in order to reduce the feature amount calculated by the calculation unit, and the main movement muscle that is the target of the stimulation of the different types of sensations is determined by the stimulation presentation unit of the training device, Presenting stimulation to the different types of sensations to the muscle;
   training method.
7. A program that causes a processor to function as each part of the training device according to any one of claims 1 to 5.

Images