JP6485277B2 - Control method for balance training system - Google Patents

Description

  The present invention relates to a control method for a balance training system.

  An inverted two-wheeled mobile body (hereinafter simply referred to as a mobile body) that can be operated by a user has been proposed.

  For example, Patent Document 1 discloses a moving body that controls traveling based on its own posture information detected by a posture sensor of the moving body. Specifically, when the occupant moves the center of gravity in the training mode, the posture sensor detects its own pitch angle and roll angle. The control unit of the moving body controls driving of the wheel based on the detected pitch angle and roll angle. Thus, the mobile body according to Patent Document 1 can improve the physical function and balance function of the passenger in the training mode.

JP 2011-203549 A

  When a person whose balance sensation has fallen due to a stroke or aging is on a moving body such as that described in Patent Document 1, training of balance sensation is carried out to ensure the safety of the training. It is common to use tools. In order to perform effective training for the trainee, it is necessary to set a certain amount of slack (extra length) in the suspension so that the trainee with the suspension attached is not excessively restrained. On the other hand, it is necessary to set the surplus length of the hanger so that sufficient safety can be ensured regardless of the physical characteristics of the trainee. Here, ensuring sufficient safety means that it is possible to avoid dangers such as hitting the body even if the trainee loses balance during the training and falls.

  However, it is assumed that the position of the moving body can sufficiently secure the slack of the suspension when the trainee is a person who has a tendency to move the upper body often in the early stages of rehabilitation, such as the elderly who have a bent back. Even within the training range, the slack of the lifting tool disappears by bending the waist and the state, and the trainer may be pulled away from the moving body by the tension from the lifting tool.

  In view of the above background, the present invention can ensure sufficient safety regardless of differences in the physical characteristics of the trainee and prevent the trainee from being pulled away from the moving body due to the tension from the suspension. An object of the present invention is to provide a control method for a balance training system that can be used.

  The present invention is a moving body that is mounted on a trainer and moves while maintaining an inverted state by a trainer's operation, and a vertical position above the reference position where the moving body is located at the start of training and above the trainee. A hanger for connecting the fixing member fixed to the position and the body of the trainee to prevent the trainee from falling, and a position for moving the moving body relative to the trainer according to the training menu during the training. An instruction unit for instructing a load, a load detection unit for detecting a load applied to the hanger, and a maximum position from the reference position at which the instruction unit can instruct a trainee to move the moving body. A control unit for controlling a distance, and a control method for a balance training system, wherein the control unit monitors whether the load exceeds a predetermined threshold during training, and Load is the threshold A step in which the controller is to reduce the said maximum distance when was example, and has a.

  The present invention connects a moving body that moves while maintaining an inverted state by a trainer's operation on board, and a trainer's body by connecting a fixed member fixed above the trainer and the trainer's body. Control method for a balance training system, comprising: a suspension device that prevents the suspension, a load detection unit that detects a load applied to the suspension device, and a mobile body control unit that controls a control gain that determines the ease of movement of the mobile body The mobile control unit monitoring whether or not the load exceeds a predetermined threshold during training, and when the load exceeds the threshold, the mobile control unit Lowering the control gain.

  According to the present invention, it is possible to ensure sufficient safety regardless of the physical characteristics of the trainee and to prevent the trainee from being pulled away from the moving body by the tension from the suspension tool.

It is an external view which shows schematic structure of the balance training system which the control method of the balance training system concerning Embodiment 1 uses. It is a figure explaining the training area of the balance training system which the control method of the balance training system concerning Embodiment 1 uses. It is a figure explaining the threshold value used as the standard for changing the maximum distance LM in the control method of the balance training system concerning Embodiment 1. FIG. FIG. It is a figure explaining the tennis game which is a training menu of the balance training system which the control method of the balance training system concerning Embodiment 1 uses. It is a figure explaining the range which the player in FIG. 4 can return a ball | bowl. It is a figure explaining the rodeo game which is a training menu of the balance training system which the control method of the balance training system concerning Embodiment 1 uses. 3 is a flowchart showing a control processing flow for changing a maximum distance LM in the control method of the balance training system according to the first exemplary embodiment; In the control method of the balance training system concerning Embodiment 2, it is a figure explaining the method to change the magnitude | size of a control gain in consideration of the movement distance from a reference position with the tension | tensile_strength concerning a suspension tool. In the control method of the balance training system concerning Embodiment 2, it is a figure explaining the method to change the magnitude | size of a control gain in consideration of the movement distance from a reference position with the tension | tensile_strength concerning a suspension tool. 7 is a flowchart showing a processing flow for changing a control gain that determines the ease of movement of a moving body 2 in the control method of the balance training system according to the second exemplary embodiment.

[Embodiment 1]
Embodiments of the present invention will be described below with reference to the drawings.
First, the balance training system 1 using the control method of the training system concerning this Embodiment is demonstrated.

  FIG. 1 is an external view showing a schematic configuration of a balance training system 1 used in the balance training system control method according to the present embodiment. As shown in FIG. 1, the balance training system 1 includes a moving body 2, a hanger 3, an instruction unit 4, a load detection unit 5, and a control unit 100.

  The moving body 2 moves on the trainer S while maintaining the inverted state by the trainer's operation. The moving body 2 includes a vehicle body 10, an operation handle 11, step portions 12R and 12L, and wheels 13R and 13L. The operation handle 11 is a handle connected to the vehicle body 10, and the trainer S can move the moving body 2 by operating the operation handle 11. For example, when the trainee S tilts the operation handle 11 in the front-rear direction, the forward or backward operation of the moving body 2 is performed, and when the trainer S tilts in the roll direction (left-right direction), the turning operation of the moving body 2 is performed. Can do. The vehicle body 10 supports the operation handle 11 so as to be rotatable in the roll direction.

  A pair of step portions 12 </ b> R and 12 </ b> L are provided on the upper surface of the vehicle body 10 and on the left and right sides of the operation handle 11. Each step part 12R, 12L is a step in which the trainee S gets on one foot. The wheel 13 </ b> R is rotatably supported on the lower right side of the moving body 2, and the wheel 13 </ b> L is rotatably supported on the lower left side of the moving body 2. The pair of wheels 13 </ b> R and 13 </ b> L are coaxially arranged on both sides in the direction orthogonal to the traveling direction of the vehicle body 10. The moving body 2 includes a moving body control unit that controls the torque of the wheels 13R and 13L so as to perform desired traveling while maintaining the inverted state.

  The lifting tool 3 has one end connected to the fixing member 6 and the other end connected to the body of the trainee S. The body of the trainer S and the fixing member 6 are connected to each other by the hanger 3, thereby preventing the trainee S from falling during training. When the training is started, the position of the moving body 2 is at the reference position P1. The fixing member 6 is above the reference position P1 where the moving body 2 is located at the start of training in the frame 7 which is the framework of the balance training system 1 (above the broken line arrow in the figure) and above the trainee S. It is fixed in position.

  The instruction unit 4 instructs the trainee to move the moving body 2 according to the training menu during the training. The instruction unit 4 includes a monitor and gives instructions to the trainee through the monitor. The load detection unit 5 detects a load (tension) applied to the hanger 3 with a sensor such as a load cell. Moreover, the load detection part 5 detects the peak value (maximum tension) of the tension | tensile_strength detected by sampling the tension | tensile_strength concerning the hanger 3 by a peak hold. The control unit 100 shortens or extends the maximum distance LM, which will be described later, in accordance with the magnitude of the maximum tension of the hanger 3 detected by the load detection unit 5. The control unit 100 may be realized by hardware or software.

  As shown in FIG. 2, the position where the instruction unit 4 can instruct the trainee S to move the moving body 2 is within the range (training area) where the distance from the reference position P1 is the maximum distance LM. Either position. In response to an instruction from the instruction unit 4, the trainer S moves the moving body 2 back and forth or turns left and right.

  When the trainer S is a person with a bent back, which is often found in elderly people, or a person who tends to move a large upper body in the early stage of rehabilitation, the instruction unit 4 instructs the trainer S to move the moving body 2. Even if the maximum distance LM from the reference position P <b> 1 of the possible position is the same as that of a normal person, the maximum tension applied to the hanger 3 during training is relatively large. When the maximum tension applied to the hanger 3 exceeds the limit value, the trainee S is more likely to be separated from the moving body 2 due to the tension from the hanger 3.

  FIG. 3 is a diagram for explaining a threshold value serving as a reference for changing the maximum distance LM. In FIG. 3, the horizontal axis represents time, and the vertical axis represents the tension detected by the load detection unit 5. As shown in FIG. 3, a threshold value (second threshold value) smaller than the limit value is set in advance. The control unit 100 monitors whether or not the peak value of tension (maximum tension) detected by sampling the tension applied to the hanger 3 with the peak hold of the load detection unit 5 exceeds the second threshold value. When the value exceeds the second threshold, the maximum distance LM is shortened. Thereby, it is possible to prevent the trainee S from being separated from the moving body 2 due to the tension from the hanger 3.

  On the other hand, when the maximum tension applied to the hanger 3 is smaller than a predetermined standard value (first threshold), it is considered that the training is too much for the trainer S. The control unit 100 monitors whether or not the maximum tension is smaller than the first threshold value. When the maximum tension applied to the hoist 3 is smaller than a predetermined standard value (first threshold value), the maximum distance LM is set. Elongate. Thereby, the training for the trainee S can be made more effective.

  In the training menu, so-called “active” training in which the moving body 2 is moved in the direction in which the trainee S wants to move, and the mobile body 2 trying to move without permission are maintained in their original positions. There is so-called “passive” training. These training menus are played in the form of games such as tennis and rodeo. These training menus will be specifically described with a tennis game and a rodeo game as examples.

  The tennis game is an “active” balance menu training menu. FIG. 4 is a diagram for explaining balance training by a tennis game. As shown in FIG. 4, in order for the player to hit the ball hit by the computer on the monitor, it is necessary to move the player in the direction of the ball flying. The movement of the moving body 2 and the movement of the player on the monitor are linked. That is, when the moving body 2 is moved forward (weight is applied forward), the player moves to the back side of the monitor, and when the moving body 2 is moved backward (weight is applied backward), the player is moved to the front side of the monitor. To do.

  FIG. 5 is a diagram for explaining a range in which the player in FIG. 4 can hit the ball back. If the trainee S moves the moving body 2 and can move the player so that the ball comes within the range surrounded by the solid line W shown in FIG. 5, the player can hit the ball back. The higher the score, the higher the player hits the ball hitting the player at the front center of the player (the center of the range surrounded by the solid line W). In the tennis game, the trainer S is only required to move the moving body 2 in the front-rear direction and is not required to turn. That is, the trainer S needs to move the moving body back and forth while maintaining the left and right balance so as not to turn the moving body 2.

  The training area in the tennis game is a range that is within a maximum distance in the front-rear direction around the reference position P1. When the peak value (maximum tension) of the tension detected by the load detection unit 5 is large, the instruction unit 4 narrows the range of hitting the ball on the monitor so that the ball can be hit without moving the player back and forth too much. To. That is, the maximum distance from the reference position P1 in the front-rear direction at which the instruction unit 4 can instruct the trainee S to move the moving body 2 is shortened. As a result, the range in the front-rear direction in which the trainee S has to move the moving body 2 during training is narrowed, so that the trainer S is prevented from being separated from the moving body 2 due to the tension from the hanger 3. can do.

  On the other hand, when the maximum tension detected by the load detection unit 5 is small, the instruction unit 4 widens the range of hitting the ball on the monitor so that the ball cannot be hit unless the player moves back and forth. That is, the maximum distance from the reference position P1 of the position in the front-rear direction in which the instruction unit 4 can instruct the trainee S to move the moving body 2 is extended. Thereby, since the range of the front-back direction which the trainer S must move the mobile body 2 during training becomes wide, the training with respect to the trainer S can be made more effective.

  The rodeo game is a “passive” training menu with a sense of balance between front, back, left and right. FIG. 6 is a diagram for explaining balance training by a rodeo game. As shown in FIG. 6, on the monitor, the horse on which the player rides moves from the center of the circle to the front, back, left, and right, so that the horse moves in the front-rear direction or the left and right to keep the horse inside the circle. It is necessary to manipulate to turn.

  The movement of the moving body 2 and the movement of the horse on the monitor are linked. If the horse is going to move backward, the moving body 2 also moves backward. The trainee S puts weight in the forward direction and stops the moving body 2 from trying to move backward. Similarly, if the horse is going forward, the trainer S puts his weight in the backward direction and stops the moving body 2 from going forward. If the horse is going to turn left, the trainer S puts his weight in the right direction and stops the mobile body 2 from turning left. If the horse is going to turn right, the trainer S puts his weight in the left direction and stops the mobile body 2 from turning right. If you continue to stay inside the circle with the numbers in Figure 6, you will get points. The score is higher as the center of the circle is at the reference position P1 and the horse is in a circle closer to the reference position P1.

  The training area in the rodeo game has a radius within the maximum distance LM with the reference position P1 as the center. When the peak value (maximum tension) of the tension detected by the load detection unit 5 is large, the instruction unit 4 narrows the range in which the horse moves on the monitor, and the player does not move the moving body back and forth and right and left so much. The horse can be kept near the center of the circle. That is, the maximum distance from the reference position P1 of the position in the front-rear and left-right directions where the instruction unit 4 can instruct the trainee S to move the moving body 2 is shortened. As a result, the range in the front-rear and left-right directions in which the trainee S has to move the moving body 2 during training is narrowed, so that the trainer S is pulled away from the moving body 2 due to the tension from the hanger 3. Can be prevented.

  On the other hand, when the maximum tension detected by the load detection unit 5 is small, the instruction unit 4 widens the range on which the horse moves, and if the player does not move the moving body back and forth and right and left, Do not allow them to stay near the center. That is, the maximum distance from the reference position P1 of the position in the front-rear and left-right directions where the instruction unit 4 can instruct the trainee S to move the moving body 2 is extended. Thereby, since the range of the front-back and left-right direction which the trainer S has to move a mobile body during training becomes wide, the training with respect to the trainer S can be made more effective.

A control flow for changing the maximum distance LM of the balance training system 1 will be described below.
FIG. 7 is a flowchart showing a processing flow of control for changing the maximum distance LM of the balance training system 1. As shown in FIG. 7, first, the control unit 100 sets a training area (maximum distance LM) to an initial value (step S1), and starts training (step S2). And the instruction | indication part 4 gives a training subject to the trainer S through a monitor (step S3).

  Subsequent to step S3, the load detector 5 samples the peak value (maximum tension) of the tension of the hanger 3 by peak hold (step S4). Next, the control unit 100 determines whether or not the maximum tension is greater than a second threshold value (see FIG. 3) (step S5). If it is determined in step S5 that the maximum tension is greater than the second threshold, the control unit 100 narrows the maximum distance LM that determines the exercise area by a specified amount (step S6).

  Following step S6, it is determined whether or not the prescribed training time has ended (step S7). If it is determined in step S7 that the prescribed training time has ended, sampling of the maximum tension of the hanger 3 by the load detector 5 is ended (step S8). If it is determined in step S7 that the prescribed training time has not ended, the process returns to step S3. Following step S8, the instructing unit 4 confirms whether or not the trainer S is to perform the next training (step S9). If it is confirmed that the next training is performed in step S9, the process returns to step S2. If it is confirmed in step S9 that the next training is not performed, the process is terminated.

  If it is determined in step S5 that the maximum tension is equal to or less than the second threshold (maximum tension ≦ second threshold), it is determined whether the maximum tension is smaller than the first threshold (see FIG. 3) (step S10). ). If it is determined in step S10 that the maximum tension is smaller than the first threshold, the control unit 100 increases the maximum distance LM for determining the exercise area by a specified amount (step S11), and the process proceeds to step S7. If it is determined in step S10 that the maximum tension is equal to or greater than the first threshold value (maximum tension ≧ first threshold value), the process proceeds to step S7.

  As described above, the load (maximum tension) applied to the hoist during the training is compared with a predetermined threshold value, and the instruction unit 4 moves the moving body 2 relative to the trainee S based on the comparison result. The maximum distance from the reference position P1 of the position that can be instructed to be changed is changed. In this way, it is possible to ensure sufficient safety regardless of differences in the physical characteristics of the trainee, and to prevent the trainee from being pulled away from the moving body due to the tension from the suspension.

[Embodiment 2]
A second embodiment related to the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is common in Embodiment 1, and the description is abbreviate | omitted.
The schematic configuration of the balance training system 201 using the control method of the balance training system according to the present embodiment is basically the same as the schematic configuration of the balance training system 1 described with reference to FIG. 1 in the first embodiment. The balance training system 201 does not need to include the control unit 100 in the balance training system 1.

  In the control method of the training system according to the present embodiment, the moving body control unit 300 that controls the torque of the wheels 13R and 13L (see FIG. 1) so as to perform a desired traveling while maintaining the inverted state in the moving body 2, The magnitude of the control gain that determines the ease of movement of the moving body 2 is changed according to the tension information of the hanger 3 detected by the load detector 5. Note that the tension information of the hanger 3 detected by the load detection unit 5 is sent to the moving body control unit 300 of the moving body 2 by wire or wirelessly.

  In the balance training system 201, when the tension of the hanger 3 detected by the load detection unit 5 is larger than a predetermined upper limit value of the tension, the trainer S further moves the moving body 2 in the direction away from the reference position P1. As a result, the tension of the hanger 3 further increases, and the possibility that the trainee S is separated from the moving body 2 by the tension from the hanger 3 increases. In this case, the moving body control unit 300 reduces the magnitude of the control gain that determines the ease of movement of the moving body 2 to make it difficult for the moving body 2 to move. Thereby, it is possible to prevent the trainee S from being separated from the moving body 2 due to the tension from the hanger 3.

  On the other hand, in the balance training system 201, when the tension of the hanger 3 detected by the load detection unit 5 is smaller than the predetermined upper limit value of the tension and the control gain is equal to or lower than the predetermined upper limit value of the control gain, There is a low possibility that the trainer S is pulled away from the moving body 2 due to the tension from the suspension 3. In this case, the moving body control unit 300 increases the control gain to make it easier to move the moving body 2. Thereby, the training effect with respect to the trainer S can be heightened.

  In addition, in changing the control gain that determines the ease of movement of the moving body 2, the distance (movement distance) from the reference position P <b> 1 of the position of the moving body 2 may be considered together with the tension applied to the hanger 3. 8 and 9 are diagrams illustrating a method of changing the magnitude of the control gain that determines the ease of movement of the moving body 2 in consideration of the moving distance as well as the tension applied to the hanger 3.

  As shown by the alternate long and short dash line in FIG. 8 (case 1), when the tension is not detected by the load detection unit 5 near the reference position P1 (the hanging tool 3 is slack), the one-point difference line in FIG. As shown in case 1), the control gain in the vicinity of the reference position P1 is increased to the control gain upper limit value to make it easier to move the moving body 2 in the vicinity of the reference position P1. Further, as shown by a broken line (case 2) in FIG. 9, when the tension detected by the load detector 5 gradually increases as the moving distance increases, as shown by a broken line (case 2) in FIG. In addition, the control gain is lowered so that the difference from the initial gain (the curve shown by the solid line in FIG. 9) increases as the movement distance increases. Further, as indicated by a two-dot chain line (case 3) in FIG. 8, the tension detected by the load detection unit 5 is a predetermined upper limit of the tension from when the position of the moving body 2 is at the reference position P1. When the value exceeds the value, as shown by a two-dot chain line (case 3) in FIG. 9, the control gain is lowered below the initial gain (curve indicated by the solid line in FIG. 9) in the entire range of the movement distance.

A control flow for changing the control gain that determines the ease of movement of the moving body 2 will be described below.
FIG. 10 is a flowchart showing a processing flow for changing the control gain that determines the ease of movement of the moving body 2. As shown in FIG. 10, first, the moving body control unit 300 sets a control gain to an initial value (step S101), and starts training (step S102). Next, the instruction unit 4 issues a training task to the trainer S through the monitor (step S103).

  Next, the load detection unit 5 monitors the tension of the hanger 3 and monitors the moving distance of the moving body 2 from the reference position P1 (step S104). The moving distance from the reference position P1 of the moving body 2 may be calculated from the history of the motor rotation speed of the moving body 2, or a camera is installed in the balance training system 201 and is photographed by the camera using image recognition technology. The position of the moving body 2 in the obtained image may be determined. Next, it is determined whether or not the tension of the hanger 3 is greater than a predetermined upper limit value of tension (see FIG. 8) (step S105). If it is determined in step S105 that the tension of the hanger 3 is greater than a predetermined upper limit value of the tension, the moving body control unit 300 decreases the control gain (step S106).

  Following step S6, it is determined whether or not the prescribed training time has ended (step S107). If it is determined in step S107 that the prescribed training time has ended, sampling of the maximum tension of the hanger 3 by the load detector 5 is ended (step S108). If it is determined in step S107 that the prescribed training time has not ended, the process returns to step S103. Subsequent to step S108, the instruction unit 4 confirms whether or not the trainer S is to perform the next training (step S109). If it is confirmed in step S9 that the next training is to be performed, the process returns to step S102. If it is confirmed in step S109 that the next training is not performed, the process is terminated.

  If it is determined in step S105 that the tension of the hanger 3 is equal to or lower than the predetermined upper limit value of the tension (the tension of the hanger 3 ≦ the upper limit value of the tension), the control gain is further set to the upper limit of the predetermined control gain. It is determined whether or not the value is greater than or equal to the value (step S110). If it is determined in step S110 that the control gain is equal to or greater than the upper limit value of the predetermined control gain, the mobile control unit 300 decreases the control gain by a specified amount (step S111), and the process proceeds to step S107. If it is determined in step S110 that the control gain is smaller than the predetermined control gain upper limit value (control gain <control gain upper limit value), the process proceeds to step S107.

  By doing so, it is possible to ensure sufficient safety regardless of differences in the physical characteristics of the trainee and to prevent the trainee from being pulled away from the moving body due to the tension from the suspension. Note that this embodiment can be combined with Embodiment 1.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in Embodiment 1 described above, the training area (maximum distance LM) is changed as needed according to the maximum tension of the suspension tool 3 during training. On the other hand, you may make it review the initial value of the training area (maximum distance LM) of the day according to the training condition of the previous day (elapsed history of the maximum tension of the lifting device 3).

DESCRIPTION OF SYMBOLS 1 Balance training system 2 Mobile body 3 Hanging tool 4 Instruction part 5 Load detection part 100 Control part

Claims (1)

A moving body that moves the trainer while maintaining the inverted state by the trainer's operation;
A hanger that prevents a trainee from falling down by connecting a fixing member fixed to a position that is vertically above a reference position where the moving body is located and above a trainee at the start of training and the trainee's body. When,
An instruction unit that instructs a trainee to move the moving body according to a training menu during the training,
A load detection unit for detecting a load applied to the hanger;
A control unit that controls a maximum distance from the reference position of a position at which the instruction unit can instruct a trainee to move the moving body, and a control method for a balance training system,
The control unit monitoring whether the load exceeds a predetermined threshold during training, and
A control method for a balance training system, comprising: the control unit shortening the maximum distance when the load exceeds the threshold value.

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