Pedal support structure and pedal support system

Abstract

The present invention provides a pedal support structure and a pedal support system. In the present invention, the left foot unit includes: a vertical block; a horizontal block; a vertical guide groove; a horizontal guide groove; an external connecting rod that connects the vertical block and the horizontal block in a rotatable manner, thereby connecting the vertical block and the horizontal block to each other; and a pedal that is rotatably connected to the external connecting rod. The vertical guide groove and the horizontal guide groove extend in a manner that intersects with each other. The pedal's rotation axis is configured to be separated from the rotation axis of the vertical block and the rotation axis of the horizontal block and to be separated from the midpoint of the line segment connecting the rotation axis of the vertical block and the rotation axis of the horizontal block, so that the pedal's rotation axis moves along an elliptical orbit.

Description

Technical Field

[0001] The invention relates to a pedal supporting structure and a pedal supporting system. Background Art

[0002] Patent document 1 (Japanese Patent Gazette No. 2685131) discloses a sprint training machine having a movable base for the right foot and a movable base for the left foot. Each movable base supports a rotating shaft to which a pedal is mounted via an arm in a freely rotatable manner. Each movable base can move back and forth via a ball screw connected to a servo motor. In addition, an electromagnetic brake is connected to the rotating shaft via a chain. The electromagnetic brake is set to apply a load to the rotation of the rotating shaft when the pedal is lower than the rotating shaft, and not to apply a load to the rotation of the rotating shaft when the pedal is higher than the rotating shaft. According to the above structure, since the rotating shaft of the arm moves horizontally back and forth and the pedal rotates around the rotating shaft, the trajectory of the pedal becomes a rounded rectangle. Summary of the Invention

[0003] However, in order to eliminate the lack of exercise that accompanies daily desk work, it is typically preferred to provide a pedal exerciser under the desk. That is, if one uses a pedal exerciser to perform foot exercise while sitting in a seat during desk work, one can eliminate the lack of exercise that occurs during daily work without having to specifically ensure time for exercise. In addition, it is known that when a human walks, when viewed from a direction perpendicular to the sagittal plane, the foot roughly describes an elliptical orbit relative to the pelvis. Therefore, in the above-mentioned pedal exerciser, if the rotation axis of the pedal can be moved along the elliptical orbit, the exercise effect of using the pedal exerciser can be improved.

[0004] However, in the structure of the above-mentioned patent document 1, although the trajectory of the pedal can be set to a rounded rectangle, since a movable base that moves back and forth and a servo motor for moving the movable base back and forth are required, the device for realizing the trajectory of the above-mentioned pedal has to become complicated and large.

[0005] An object of the present disclosure is to provide a technology for moving a rotation axis of a pedal along an elliptical orbit in a simple and compact manner.

[0006] According to a first aspect of the present disclosure, a pedal support structure is provided, comprising: a first slider; a second slider; a first guide member that guides the first slider in a linearly sliding manner; a second guide member that guides the second slider in a linearly sliding manner; a first connecting portion that connects the first slider and the second slider to each other by rotatably connecting the first slider and the second slider; a pedal that is rotatably connected to the first connecting portion, the first guide member and the second guide member extending in a mutually intersecting manner, and the pedal's rotation axis being configured to be separated from the rotation axis of the first slider and the rotation axis of the second slider and to be separated from the midpoint of a line segment connecting the rotation axis of the first slider and the rotation axis of the second slider, thereby causing the pedal's rotation axis to move along an elliptical orbit. According to the above structure, the pedal's rotation axis can be moved along the elliptical orbit in a simple and compact manner.

[0007] Alternatively, the pedal support structure may further include a load unit configured to apply a load to the movement of the first slider or the second slider. According to the above structure, the muscles of the lower limbs can be mainly trained.

[0008] Alternatively, the load unit may be configured such that, when the pedal is moved in a predetermined direction, a load is applied to the movement of the first or second slider when the pedal's rotation axis is located below the major axis of the elliptical track, and no load is applied to the movement of the first or second slider when the pedal's rotation axis is located above the major axis of the elliptical track. This configuration achieves load conditions unique to walking, such as no load when the foot is swung forward during the swing phase and a load when the foot is kicked backward during the stance phase.

[0009] Alternatively, the load unit may apply a load to the first slider or the second slider when the first slider or the second slider moves in a direction away from the intersection of the first guide and the second guide.

[0010] Alternatively, the load unit may be a spring provided on the first guide or the second guide and biasing the first slider or the second slider toward the intersection.

[0011] Alternatively, the following method may be adopted, that is, the mounting position of the pedal relative to the first connecting portion can be changed. According to the above structure, the major axis and the minor axis of the elliptical track can be simply increased or decreased. Therefore, since the major axis and the minor axis of the elliptical track can be adjusted according to the user's physique, the muscle parts used in the exercise can be changed by increasing or decreasing the major axis and the minor axis of the elliptical track, thereby improving the exercise efficiency. Furthermore, since the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise is mainly expanded or reduced by increasing or decreasing the major axis and the minor axis of the elliptical track, the difficulty of each joint during functional recovery training can be adjusted.

[0012] A pedal support system is provided, comprising: a left foot pedal support structure as the aforementioned pedal support structure; and a right foot pedal support structure as the aforementioned pedal support structure, wherein the left foot pedal support structure and the right foot pedal support structure are arranged opposite each other. With this structure, both the right and left feet can be trained simultaneously.

[0013] Alternatively, the pedal support system may further include a linkage mechanism that links the pedal of the left-foot pedal support structure and the pedal of the right-foot pedal support structure so that, when viewed along the rotation axis of the pedal of the left-foot pedal support structure, the rotation axis of the pedal of the left-foot pedal support structure and the rotation axis of the pedal of the right-foot pedal support structure are point-symmetrical about the intersection of the first guide and the second guide of the left-foot pedal support structure. This configuration allows for more faithful simulation of the movement of the right and left feet during walking.

[0014] Alternatively, the linkage mechanism may include a left-foot rack fixed to the second slider of the left-foot pedal support structure, a right-foot rack fixed to the second slider of the right-foot pedal support structure, and a pinion meshing with the left-foot rack and the right-foot rack. With the above configuration, the linkage mechanism can be implemented with a simple structure.

[0015] Alternatively, the linkage mechanism may include: a base shaft rotatably supported; a left-foot crank arm and a right-foot crank arm extending in opposite directions from the base shaft; a left-foot second connecting portion rotatably connecting the first and second sliders of the left-foot pedal support structure, thereby connecting the first and second sliders of the left-foot pedal support structure to each other; and a right-foot second connecting portion rotatably connecting the first and second sliders of the right-foot pedal support structure, thereby connecting the first and second sliders of the right-foot pedal support structure to each other, the left-foot crank arm being rotatably connected to the left-foot second connecting portion at the midpoint of the left-foot pedal support structure, and the right-foot crank arm being rotatably connected to the right-foot second connecting portion at the midpoint of the right-foot pedal support structure. With the above configuration, the linkage mechanism can be realized with a simple structure.

[0016] According to a second aspect of the present disclosure, there is provided a pedal support structure comprising: a first slider; a second slider; a third slider; a first guide member that linearly slides and guides the first slider; a second guide member that linearly slides and guides the second slider; a third guide member that linearly slides and guides the third slider; a first connecting portion that rotatably connects the first, second, and third sliders to each other; and a pedal rotatably connected to the first connecting portion, wherein the first, second, and third guide members extend so as to intersect each other at a point, and the pedal's rotation axis is arranged so as to be separated from the rotation axes of the first, second, and third sliders and so as to be separated from the center of gravity of a triangle connecting the rotation axes of the first, second, and third sliders, thereby causing the pedal's rotation axis to move along an elliptical orbit. According to the above configuration, the rotation axis of the pedal can be moved along the elliptical orbit in a simple and compact manner.

[0017] Alternatively, the pedal support structure may further include a load unit configured to apply a load to the movement of the first slider, the second slider, or the third slider.

[0018] Alternatively, the load unit may be configured such that, when the pedal is moved in a predetermined direction, a load is applied to the movement of the first, second, or third slider when the pedal's rotation axis is located below the major axis of the elliptical track, and no load is applied to the movement of the first, second, or third slider when the pedal's rotation axis is located above the major axis of the elliptical track. This configuration achieves load conditions unique to walking, such as no load when the foot is swung forward during the swing phase and a load when the foot is kicked backward during the stance phase.

[0019] The load unit may apply a load to the first slider, the second slider, or the third slider in a direction away from an intersection of the first guide, the second guide, and the third guide.

[0020] According to the above configuration, the load unit can be configured simply.

[0021] Alternatively, the load unit may be a spring provided on the first guide, the second guide, or the third guide and biasing the first slider, the second slider, or the third slider toward the intersection. With the above configuration, the load unit can be simply constructed.

[0022] Alternatively, the following method may be adopted, that is, the mounting position of the pedal relative to the first connecting portion can be changed. According to the above structure, the major axis and the minor axis of the elliptical track can be simply increased or decreased. Therefore, since the major axis and the minor axis of the elliptical track can be adjusted according to the user's physique, the muscle parts used in the exercise can be changed by increasing or decreasing the major axis and the minor axis of the elliptical track, thereby improving the exercise efficiency. Furthermore, since the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise is mainly expanded or reduced by increasing or decreasing the major axis and the minor axis of the elliptical track, the difficulty of each joint during functional recovery training can be adjusted.

[0023] A pedal support system is provided, comprising: a left foot pedal support structure as the aforementioned pedal support structure; and a right foot pedal support structure as the aforementioned pedal support structure, wherein the left foot pedal support structure and the right foot pedal support structure are arranged opposite each other. With this structure, both the right and left feet can be trained simultaneously.

[0024] Alternatively, the pedal support system may further include a linkage mechanism that links the pedal of the left-foot pedal support structure and the pedal of the right-foot pedal support structure so that, when viewed along the rotation axis of the pedal of the left-foot pedal support structure, the rotation axis of the pedal of the left-foot pedal support structure and the rotation axis of the pedal of the right-foot pedal support structure are point-symmetrical about the intersection of the first guide, the second guide, and the third guide of the left-foot pedal support structure. This configuration allows for more faithful simulation of the movements of the right and left feet during walking.

[0025] Alternatively, the linkage mechanism may include a left-foot rack fixed to the second slider of the left-foot pedal support structure, a right-foot rack fixed to the second slider of the right-foot pedal support structure, and a pinion meshing with the left-foot rack and the right-foot rack. With the above configuration, the linkage mechanism can be implemented with a simple structure.

[0026] The following method can also be adopted, that is, the linkage mechanism includes: a base shaft, which is supported in a rotatable manner; a left-foot-side crank arm and a right-foot-side crank arm, which extend in opposite directions from the base shaft; a left-foot-side second connecting portion, which connects the first slider, the second slider and the third slider of the left-foot pedal supporting structure to each other by rotatably connecting the first slider, the second slider and the third slider of the right-foot pedal supporting structure; a right-foot-side second connecting portion, which connects the first slider, the second slider and the third slider of the right-foot pedal supporting structure to each other by rotatably connecting the first slider, the second slider and the third slider of the right-foot pedal supporting structure, the left-foot-side crank arm is rotatably connected to the left-foot-side second connecting portion at the center of gravity of the left-foot pedal supporting structure, and the right-foot-side crank arm is rotatably connected to the right-foot-side second connecting portion at the center of gravity of the right-foot pedal supporting structure. According to the above configuration, the interlocking mechanism can be realized with a simple structure.

[0027] According to the present disclosure, the rotation axis of the pedal can be moved along the elliptical orbit in a simple and compact manner.

[0028] The above and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description and accompanying drawings given below, which are given by way of illustration only and thus should not be considered as limiting the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A side view of the pedaling system. (First embodiment)

[0030] Figure 2 This is a perspective view of a pedal exercise machine. (First embodiment)

[0031] Figure 3 This is a perspective view of the pedal exercise machine from another angle. (First embodiment)

[0032] Figure 4 This is a perspective view of a pedal exercise machine with the guide omitted. (First embodiment)

[0033] Figure 5 This is a perspective view of the pedal exercise machine from another angle, with the guide omitted from the illustration. (First embodiment)

[0034] Figure 6 This is a front view of a pedal exerciser. (First embodiment)

[0035] Figure 7 This is a side view of a pedal exerciser. (First embodiment)

[0036] Figure 8 This is a diagram for explaining the track around which the pedals are wound. (First embodiment)

[0037] Figure 9 This is a diagram for explaining the track around which the pedal is wound. (First embodiment)

[0038] Figure 10 This is a diagram illustrating a trajectory for a midpoint. (First embodiment)

[0039] Figure 11 This figure shows the relationship between the mounting position of the pedal and the size of the elliptical track. (First embodiment)

[0040] Figure 12 This is a top view showing another specific example of the linkage unit. (Modification)

[0041] Figure 13 This is a perspective view of a pedal exercise machine. (Second embodiment)

[0042] Figure 14 This is a perspective view of the pedal exercise machine from another angle. (Second embodiment)

[0043] Figure 15 This is a perspective view of a pedal exercise machine with the guide omitted. (Second embodiment)

[0044] Figure 16 This is a perspective view of the pedal exerciser from another angle, with the guide omitted from the illustration. (Second embodiment)

[0045] Figure 17 This is a top view of a pedal exercise machine. (Second embodiment)

[0046] Figure 18 This is a side view of a pedal exerciser. (Second embodiment)

[0047] Figure 19 This is a diagram for explaining the track around which the pedal is wound. (Second embodiment)

[0048] Figure 20 This is a diagram for explaining the track around which the pedal is wound. (Second embodiment)

[0049] Figure 21 This is a diagram for explaining the trajectory of the center of gravity. (Second embodiment)

[0050] Figure 22 This figure shows the relationship between the mounting position of the pedal and the size of the elliptical track. (Second embodiment)

[0051] Figure 23 This is a top view showing another specific example of the linkage unit. (Modified Example)

[0052] Figure 24 This figure shows an application example of a pedal exercise machine. (Modification Example) DETAILED DESCRIPTION

[0053] (First embodiment)

[0054] Below, refer to Figures 1 to 11 A first embodiment of the present disclosure will be described. Figure 1 Shown is a pedal exercise system 1. Figure 1 As shown, a pedal exercise system 1 includes a pedal exerciser 2 and a chair 3. The pedal exerciser 2 is a specific example of a pedal support system. A user U, seated on chair 3, performs paperwork using a laptop computer (not shown) placed on a table 4. A small pedal exerciser 2 is installed beneath table 4. Thus, the user U can perform pedal exercises using the pedal exerciser 2 while doing paperwork.

[0055] Here, the "front-back direction" and "width direction" used in this specification are defined. The so-called "front-back direction" is a horizontal direction, and is the direction in which the foot F is swung or kicked out. Therefore, the "front-back direction" can also be defined as a direction perpendicular to the face of the user U. The front-back direction includes the front and the back. The front is the direction in which the foot F is swung out. The back is the direction in which the foot F is kicked out. The "width direction" is a horizontal direction, and is a direction perpendicular to the front-back direction. Therefore, the width direction is roughly the same as Figure 1 Since the front-to-back direction and the width direction are both horizontal directions, they are perpendicular to the vertical direction.

[0056] exist Figures 2 to 7 In FIG, a pedal exerciser 2 is shown. Figures 2 to 7 As shown, the pedal exerciser 2 includes a left foot unit 5, a right foot unit 6, a base 7, and a linkage unit 8. The left foot unit 5 and the right foot unit 6 are specific examples of a pedal support structure. The left foot unit 5 is a specific example of a pedal support structure for the left foot. The right foot unit 6 is a specific example of a pedal support structure for the right foot. The linkage unit 8 is a specific example of a linkage mechanism.

[0057] like Figures 2 to 7 As shown, the left foot unit 5 includes a guide 10, a vertical piece 11, a horizontal piece 12, an outer connecting rod 13, a pedal 14, a vertical coil spring 15, and a horizontal coil spring 16.

[0058] Vertical block 11 is a specific example of a first slider. Horizontal block 12 is a specific example of a second slider. External connecting rod 13 is a specific example of a first connecting portion. Vertical coil spring 15 and horizontal coil spring 16 are specific examples of a load unit. Specifically, the load unit is comprised of vertical coil spring 15 and horizontal coil spring 16.

[0059] like Figure 2 as well as Figure 7 As shown, in this embodiment, the guide member 10 is formed of, for example, a metal plate. The thickness of the guide member 10 is equal to its width. The guide member 10 is formed with a vertical guide groove 20 and a horizontal guide groove 21. The vertical guide groove 20 is a specific example of a first guide member. The horizontal guide groove 21 is a specific example of a second guide member.

[0060] The vertical guide groove 20 is formed to extend linearly in the vertical direction. The horizontal guide groove 21 is formed to extend linearly in the front-to-back direction. When the guide member 10 is viewed along its width, that is, when viewed from the side, the vertical guide groove 20 and the horizontal guide groove 21 extend so as to intersect each other. Therefore, the vertical guide groove 20 and the horizontal guide groove 21 intersect each other to form a cross when viewed from the side.

[0061] The vertical guide groove 20 supports the vertical block 11 so that it can slide linearly in the vertical direction. The vertical guide groove 20 prohibits movement of the vertical block 11 in the front-to-back and width directions. The vertical guide groove 20 constrains the vertical block 11 in the width direction, preventing it from falling out of the vertical guide groove 20. Typically, this constraint is achieved by providing a vertically extending groove on the inner wall of the vertical guide groove 20, into which the vertical block 11 fits. A vertical coil spring 15 is housed at the upper end 20a of the vertical guide groove 20. The vertical coil spring 15 is housed in the upper end 20a of the vertical guide groove 20 with its pitch aligned with the vertical direction. The upper end of the vertical coil spring 15 is fixed to the upper dividing surface 20b that vertically divides the vertical guide groove 20. The vertical coil spring 15 is typically a compression coil spring.

[0062] The horizontal guide groove 21 supports the horizontal block 12 so that it can slide linearly along the front-to-back direction. The horizontal guide groove 21 prohibits vertical and widthwise movement of the horizontal block 12. The horizontal guide groove 21 constrains the horizontal block 12 in the widthwise direction, preventing it from falling out of the horizontal guide groove 21. Typically, this constraint is achieved by providing a groove extending in the front-to-back direction on the inner wall of the horizontal guide groove 21, into which the horizontal block 12 fits. A horizontal coil spring 16 is housed at the rear end 21a of the horizontal guide groove 21. The horizontal coil spring 16 is housed in the rear end 21a of the horizontal guide groove 21 with its pitch aligned with the front-to-back direction. The rear end of the horizontal coil spring 16 is fixed to a rearward dividing surface 21b that divides the horizontal guide groove 21 in the front-to-back direction. The horizontal coil spring 16 is typically a compression coil spring.

[0063] Since the vertical guide groove 20 and the horizontal guide groove 21 intersect each other, the vertical coil spring 15 sliding in the vertical guide groove 20 in the vertical direction will partially pass through the internal space of the horizontal coil spring 16, and the horizontal coil spring 16 sliding in the horizontal guide groove 21 in the front-to-back direction will partially pass through the internal space of the vertical coil spring 15.

[0064] The outer connecting rod 13 connects the vertical block 11 and the horizontal block 12 to each other. The outer connecting rod 13 is arranged on the outside of the guide member 10 in the width direction. The meaning of the outside in the width direction used when describing the left foot unit 5 refers to the direction in the width direction and away from the right foot unit 6. The vertical block 11, the horizontal block 12, and the pedal 14 are connected in a manner that allows free rotation (free pitch rotation) relative to the outer connecting rod 13. Therefore, the vertical block 11 has a rotation axis 11a relative to the outer connecting rod 13. The rotation axis 11a extends in the width direction. Similarly, the horizontal block 12 has a rotation axis 12a relative to the outer connecting rod 13. The rotation axis 12a extends in the width direction. Similarly, the pedal 14 has a rotation axis 14a relative to the outer connecting rod 13. The rotation axis 14a extends in the width direction.

[0065] The outer connecting rod 13 includes a vertical block connecting portion 13a rotatably connected to the vertical block 11, a horizontal block connecting portion 13b rotatably connected to the horizontal block 12, and a pedal connecting portion 13c rotatably connected to the pedal 14. The outer connecting rod 13 extends so that the vertical block connecting portion 13a, the horizontal block connecting portion 13b, and the pedal connecting portion 13c are aligned in a straight line. The pedal connecting portion 13c is located on the opposite side of the vertical block connecting portion 13a, across the horizontal block connecting portion 13b. In other words, the horizontal block connecting portion 13b is located between the vertical block connecting portion 13a and the pedal connecting portion 13c.

[0066] The pedal connection portion 13c is formed with a plurality of interlocking portions 22 that allow the pedal 14 to be easily attached and detached. The plurality of interlocking portions 22 are arranged in a row along the length of the outer connecting rod 13. Therefore, the installation position of the pedal 14 relative to the outer connecting rod 13 can be changed. For example, when the pedal 14 is installed on the interlocking portion 22 closest to the horizontal block connection portion 13b among the plurality of interlocking portions 22, the distance between the rotation axis 14a of the pedal 14 and the rotation axis 12a of the horizontal block 12 can be minimized. Conversely, when the pedal 14 is installed on the interlocking portion 22 farthest from the horizontal block connection portion 13b among the plurality of interlocking portions 22, the distance between the rotation axis 14a of the pedal 14 and the rotation axis 12a of the horizontal block 12 can be maximized.

[0067] like Figure 7As shown, regardless of which of the multiple engaging portions 22 the pedal 14 is mounted on, the rotation axis 14a of the pedal 14 is arranged so as to be separated from the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12. Furthermore, the rotation axis 14a of the pedal 14 is arranged so as to be separated from the midpoint m of the line segment connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 when viewed from the side. Therefore, although the details will be described later, the path along which the rotation axis 14a of the pedal 14 moves forms an elliptical path, with the major axis being in the front-to-back direction and the minor axis being in the vertical direction, when viewed from the side.

[0068] like Figure 3 As shown, similar to the left foot unit 5, the right foot unit 6 includes a guide 10, a vertical block 11, a horizontal block 12, an outer connecting rod 13, a pedal 14, a vertical coil spring 15, and a horizontal coil spring 16. Since the structure of the right foot unit 6 is symmetrical with the structure of the left foot unit 5 already described with respect to the sagittal plane, a description thereof will be omitted.

[0069] Back to Figure 2 The base 7 connects the left foot unit 5 and the right foot unit 6 that are arranged opposite to each other in the width direction. Specifically, the base 7 is composed of a metal plate that connects the guide 10 of the left foot unit 5 and the guide 10 of the right foot unit 6.

[0070] like Figures 4 to 6 As shown, the linkage unit 8 is a unit that links the pedaling motion of the left foot in the left foot unit 5 and the pedaling motion of the right foot in the right foot unit 6. In other words, the linkage unit 8 links the pedal 14 of the left foot unit 5 and the pedal 14 of the right foot unit 6. The linkage unit 8 is provided between the left foot unit 5 and the right foot unit 6 in the width direction.

[0071] like Figure 5 as well as Figure 6 As shown, the linkage unit 8 includes a base shaft 30 , a left-foot crank arm 31 , a right-foot crank arm 32 , a left-foot inner connecting rod 33 , and a right-foot inner connecting rod 34 .

[0072] The base shaft 30 is a shaft extending in the width direction and is rotatably supported by a support column 35 protruding upward from the base 7 .

[0073] The left-leg crank arm 31 and the right-leg crank arm 32 extend from the base shaft 30 in opposite directions.

[0074] Specifically, the left-leg crank arm 31 includes a crank arm body 31a and a horizontal extension 31b. The crank arm body 31a extends from the end of the base shaft 30 on the left leg unit 5 side. The crank arm body 31a extends in a direction perpendicular to the longitudinal direction of the base shaft 30. The horizontal extension 31b extends outward in the width direction from the top end of the crank arm body 31a.

[0075] Similarly, the right-leg crank arm 32 includes a crank arm body 32a and a horizontal extension 32b. The crank arm body 32a extends from the end of the base shaft 30 on the right leg unit 6 side. The crank arm body 32a extends in a direction perpendicular to the longitudinal direction of the base shaft 30. The horizontal extension 32b extends outward in the width direction from the top end of the crank arm body 32a.

[0076] Moreover, if Figure 5 as well as Figure 6 As shown, the crank arm body 31 a of the left crank arm 31 and the crank arm body 32 a of the right crank arm 32 extend in directions perpendicular to the longitudinal direction of the base shaft 30 and in opposite directions to each other.

[0077] The left-foot inner connecting rod 33, like the outer connecting rod 13 of the left foot unit 5, connects the vertical block 11 and the horizontal block 12 of the left foot unit 5. The left-foot inner connecting rod 33 is positioned inward in the width direction relative to the guide 10 of the left foot unit 5. Therefore, the guide 10 of the left foot unit 5 is sandwiched in the width direction between the outer connecting rod 13 of the left foot unit 5 and the left-foot inner connecting rod 33. The vertical block 11 and the horizontal block 12 of the left foot unit 5 are connected so as to be rotatable (pitch-rotatable) relative to the left-foot inner connecting rod 33.

[0078] Similarly, the right-foot-side inner connecting rod 34, like the outer connecting rod 13 of the right foot unit 6, connects the vertical block 11 and the horizontal block 12 of the right foot unit 6. The right-foot-side inner connecting rod 34 is positioned inward in the width direction relative to the guide 10 of the right foot unit 6. Therefore, the guide 10 of the right foot unit 6 is sandwiched in the width direction between the outer connecting rod 13 of the right foot unit 6 and the right-foot-side inner connecting rod 34. The vertical block 11 and the horizontal block 12 of the right foot unit 6 are connected so as to be freely rotatable (pitch-rotatable) relative to the right-foot-side inner connecting rod 34.

[0079] Then, if Figure 5 as well as Figure 7 As shown, the horizontal extension 31b of the left-foot side crank arm 31 is Figure 7The left foot unit 5 is rotatably connected to the left foot inner connecting rod 33 at the midpoint m of the line segment connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 when viewed from the side. In other words, the horizontal extension 31b of the left foot crank arm 31 is rotatably connected to the left foot inner connecting rod 33 at the center of the left foot inner connecting rod 33 in the longitudinal direction.

[0080] Likewise, if Figure 5 As shown, the horizontal extension 32b of the right-foot crank arm 32 is rotatably connected (able to pitch and rotate freely) to the right-foot inner connecting rod 34 at the midpoint m of the line segment connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 of the right foot unit 6 when viewed from the side. In other words, the horizontal extension 32b of the right-foot crank arm 32 is rotatably connected (able to pitch and rotate freely) to the right-foot inner connecting rod 34 at the center of the right-foot inner connecting rod 34 in the longitudinal direction.

[0081] By connecting the left foot unit 5 and the right foot unit 6 via the above-mentioned linkage unit 8, Figure 7 As shown in FIG, the pedal 14 of the left foot unit 5 and the pedal 14 of the right foot unit 6 are linked in opposite phases. Figure 7 As shown, when viewed from the side, the rotation axis 14a of the pedal 14 of the left foot unit 5 and the rotation axis 14a of the pedal 14 of the right foot unit 6 are in a point-symmetrical positional relationship about the intersection G of the vertical guide groove 20 and the horizontal guide groove 21 of the left foot unit 5, and the positional relationship always holds true during the pedaling movement.

[0082] Next, refer to Figure 8 as well as Figure 9 The mechanism of the left foot unit 5 realizing the elliptical orbit T is described in detail. Figure 8 as well as Figure 9 , the change in the posture of the outer connecting rod 13 when the left foot unit 5 is viewed from the side is depicted in a simplified manner. Figure 8 as well as Figure 9 In the figure, the front is toward the paper and the left is the direction, and the rear is toward the paper and the right is the direction. Points p1 to p16 show the rotation axis 14a of the pedal 14. Points v1 to v16 show the rotation axis 11a of the vertical block 11. Points h1 to h16 show the rotation axis 12a of the horizontal block 12. The numbers of these symbols correspond to each other in time series. That is, at time 1, the rotation axis 14a of the pedal 14 is at point p1, the rotation axis 11a of the vertical block 11 is at point v1, and the rotation axis 12a of the horizontal block 12 is at point h1. The solid line connecting point p1 and points v1 and h1 shows the external connecting rod 13 at time 1. At Figure 8 as well as Figure 9, the vertical guide groove 20 and the horizontal guide groove 21 , their intersection G, the vertical coil spring 15 , and the horizontal coil spring 16 are shown simultaneously.

[0083] like Figure 8 as well as Figure 9 As shown in the figure, when the rotation axis 11a of the vertical block 11 slides freely along the vertical guide groove 20 and the rotation axis 12a of the horizontal block 12 slides freely along the horizontal guide groove 21, the rotation axis 14a of the pedal 14 describes an elliptical orbit T centered at the intersection G as shown from point p1 to point p16. For the sake of convenience, it is assumed that the rotation axis 14a of the pedal 14 slides freely along the vertical guide groove 20 and the horizontal guide groove 21. Figure 8 as well as Figure 9 The pedal 14 circulates in the predetermined direction D shown, that is, counterclockwise, along the elliptical orbit T. That is, the rotation axis 14a of the pedal 14 moves sequentially from point p1 to point p2, from point p2 to point p3, ..., from point p15 to point p16, and from point p16 to point p1.

[0084] exist Figure 8 In FIG. 1 , the rotation axis 14a of the pedal 14 in the elliptical track T is located below the major axis TL of the elliptical track T, which is a lower track T1 that is wound downward. Figure 9 , an upper track T2 serving as an upwardly wound track in which the rotation axis 14 a of the pedal 14 in the elliptical track T is located above the major axis TL of the elliptical track T is shown.

[0085] like Figure 8 As shown, when the rotation axis 14a of the pedal 14 moves from point p1 to point p4, the rotation axis 11a of the vertical block 11 rises above the intersection G and the rotation axis 12a of the horizontal block 12 moves toward the rear in a manner that approaches the intersection G from the front side.

[0086] When the rotation axis 14a of the pedal 14 moves from point p5 to point p8, the rotation axis 11a of the vertical block 11 moves downward above the intersection G, and the rotation axis 12a of the horizontal block 12 moves backward from the intersection G.

[0087] like Figure 9 As shown, when the rotation axis 14a of the pedal 14 moves from point p9 to point p12, the rotation axis 11a of the vertical block 11 descends below the intersection G and the rotation axis 12a of the horizontal block 12 moves toward the front in a manner that approaches the intersection G from behind the intersection G.

[0088] When the rotation axis 14a of the pedal 14 moves from point p13 to point p16, the rotation axis 11a of the vertical block 11 rises below the intersection G, and the rotation axis 12a of the horizontal block 12 moves forward in a manner that separates from the intersection G in front of the intersection G.

[0089] However, if Figures 7 to 9 As shown, a vertical coil spring 15 is disposed at an upper end 20 a of the vertical guide groove 20 , and a horizontal coil spring 16 is disposed at a rear end 21 a of the horizontal guide groove 21 .

[0090] Therefore, in Figure 8 In the diagram, when vertical block 11 rises above and away from intersection G, specifically, when vertical block 11 rises from point v1 toward point v4, vertical block 11 compresses vertical coil spring 15. By compressing vertical coil spring 15, vertical block 11 receives a repulsive force from below. In other words, vertical coil spring 15 urges vertical block 11 toward intersection G. Therefore, vertical coil spring 15 applies a load to the movement of vertical block 11, which rises above and away from intersection G. Consequently, when pedal 14 moves below the major axis TL of elliptical track T from point p1 toward point p4, vertical coil spring 15 applies a load to the movement of pedal 14.

[0091] Next, refer to Figure 8 When the horizontal block 12 retreats farther from the intersection G than the rear, away from the intersection G, specifically, when the horizontal block 12 retreats from point h5 toward point h8, the horizontal block 12 compresses the horizontal coil spring 16. By compressing the horizontal coil spring 16, the horizontal block 12 receives the repulsive force from the front. In other words, the horizontal coil spring 16 urges the horizontal block 12 toward the intersection G. Therefore, the horizontal coil spring 16 applies a load to the movement of the horizontal block 12 as the horizontal block 12 retreats farther from the intersection G than the rear. Thus, when the pedal 14 moves from point p5 toward point p8 below the major axis TL of the elliptical track T, the horizontal coil spring 16 applies a load to the movement of the pedal 14.

[0092] Therefore, when the rotation axis 14a of the pedal 14 is located below the major axis TL of the elliptical track T and moves from point p1 to point p8, the vertical coil spring 15 and the horizontal coil spring 16 apply a load to the movement of the vertical block 11 and the horizontal block 12, that is, the movement of the pedal 14. This load condition simulates the load when the foot is kicked backward during the stance phase, thus achieving the load condition during kicking that is unique to walking.

[0093] On the other hand, Figure 9 In the embodiment, when the vertical block 11 is lowered below the intersection G so as to be separated from the intersection G, specifically, when the vertical block 11 is lowered from the point v9 toward the point v12, the vertical block 11 can move without a load.

[0094] Likewise, when the horizontal block 12 advances ahead of the intersection point G so as to separate from the intersection point G, specifically, when the horizontal block 12 advances from the point h13 toward the point h16 , the horizontal block 12 can move without a load.

[0095] Therefore, when the rotation axis 14a of the pedal 14 is located above the major axis TL of the elliptical orbit T and the pedal 14 moves from point p9 to point p16, the vertical coil spring 15 and the horizontal coil spring 16 will move without load. This load condition simulates the load when the foot is swung forward during the swing phase, thus achieving the load condition during the swing phase that is unique to walking.

[0096] Next, refer to Figure 10 . Figure 10 The trajectory of the midpoint m of the line segment L connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 is shown. Points m1 to m16 show the midpoint m of the line segment L. The numbers of these symbols correspond to the time series. Figure 8 as well as Figure 9 Points p1 to p16 are shown. Figure 10 The orbit of the midpoint m of the line segment L connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 is nothing more than an elliptical orbit whose major and minor axes are equal in length, that is, a circular orbit centered at the intersection point G. Furthermore, when the pedal 14 moves counterclockwise from point p1 toward point p16 in the order described, the midpoint m of the line segment L moves clockwise from point m1 toward point m16 in the order described. In other words, the position of the pedal 14 corresponds one-to-one to the position of the midpoint m of the line segment L.

[0097] Therefore, if Figure 5As shown, the left-side crank arm 31 is connected to the center of the length direction of the left-side inner connecting rod 33, and the right-side crank arm 32 is connected to the center of the length direction of the right-side inner connecting rod 34. Figures 5 to 7 As shown, the crank arm body 31a of the left crank arm 31 and the crank arm body 32a of the right crank arm 32 protrude in opposite directions, which enables the pedal 14 of the left foot unit 5 and the pedal 14 of the right foot unit 6 to move in conjunction with each other in opposite phases.

[0098] Next, refer to Figure 11 . Figure 11 FIG. 1 shows a change in the size of the elliptical track T when the mounting position of the pedal 14 relative to the outer connecting rod 13 is changed. Figure 2 As described above, the mounting position of the pedal 14 relative to the pedal connection portion 13c of the outer connecting rod 13 is set to be changeable. When the pedal 14 is mounted on the fitting portion 22 farthest from the horizontal block connection portion 13b among the plurality of fitting portions 22 of the pedal connection portion 13c, as shown in FIG. Figure 11 As shown, the path of the rotation axis 14a of the pedal 14 is the lower track T1. If the pedal 14 is mounted on the fitting portion 22 closest to the horizontal block connecting portion 13b among the multiple fitting portions 22 of the pedal connecting portion 13c, the path of the rotation axis 14a of the pedal 14 is the lower track T3 defined by points q1 to q8.

[0099] Here, the lower track T1 and the lower track T3 are both parts of an elliptical track, and the lengths of their major axes are respectively set to major axis length s1 and major axis length s2. Figure 11 The size of the elliptical track T, that is, the length of the major axis, can be easily increased or decreased by simply adjusting the mounting position of the pedal 14 relative to the pedal connection portion 13c of the outer connecting rod 13, either closer to the horizontal block connection portion 13b or farther away from the horizontal block connection portion 13b. Figure 11 As is clear, the length of the minor axis of the elliptical track T can also be increased or decreased in the same manner. Therefore, by simply changing the installation position of the pedal 14 relative to the pedal connection portion 13c of the outer connecting rod 13, the major axis and minor axis of the elliptical track T, and even the stride of the user U during pedaling exercise, can be easily adjusted according to the physique of the user U. Therefore, by increasing or decreasing the major axis and minor axis of the elliptical track T, the muscle parts used for exercise can be changed, thereby improving exercise efficiency. Furthermore, since increasing or decreasing the major axis and minor axis of the elliptical track T mainly expands or contracts the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise, it is also possible to adjust the difficulty of each joint during functional recovery training.

[0100] Here, return to Figure 1, the chair 3 will be described. The chair 3 includes a seat 45 and a chair body 46. The chair body 46 supports the seat 45 in a manner that enables yaw, roll, and pitch rotation. By configuring the seat 45 to swing about three axes in this manner, a kinematic chain is generated between the lower limbs and the trunk during pedaling. This allows the trunk muscles, represented by the rectus abdominis, transverse abdominis, and erector spinae, to be simultaneously exercised while the foot is pedaling while remaining seated. Furthermore, if the trunk muscles can be exercised as described above, first, a reduction in waist size can be expected. Second, since the rectus abdominis, transverse abdominis, and erector spinae are exercised, it is easier to maintain a posture that tilts the pelvis forward, thereby helping to eliminate hunchbacks or straight necks. Furthermore, if the kinematic chain between the lower limbs and the trunk can be achieved as described above, the pelvis will be constantly moving, primarily improving the flexibility of the iliopsoas muscle, which can also be expected to improve chronic low back pain.

[0101] Although the first embodiment of the present disclosure has been described above, the above embodiment has the following features.

[0102] That is, the left foot unit 5 includes: a vertical block 11 (first slider); a horizontal block 12 (second slider); a vertical guide groove 20 (first guide member) that guides the vertical block 11 in a linearly sliding manner; a horizontal guide groove 21 (second guide member) that guides the horizontal block 12 in a linearly sliding manner; an external connecting rod 13 (first connecting portion) that connects the vertical block 11 and the horizontal block 12 to each other by connecting them in a rotatable manner; and a pedal 14 that is rotatably connected to the external connecting rod 13. The vertical guide groove 20 and the horizontal guide groove 21 extend in a manner that intersects with each other. Figure 8 as well as Figure 9 As shown, the rotation axis 11a of the pedal 14 is arranged so as to be separated from the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12, and is also arranged so as to be separated from the midpoint m of the line segment L connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12. This allows the rotation axis 14a of the pedal 14 to move along the elliptical orbit T. With the above configuration, the rotation axis 14a of the pedal 14 can be moved along the elliptical orbit T in a simple and compact manner.

[0103] The left foot unit 5 also includes a vertical coil spring 15 and a horizontal coil spring 16 as load means for applying load to the movement of the vertical block 11 and the horizontal block 12. With the above configuration, it is possible to train mainly the muscles of the lower limbs.

[0104] However, either the vertical coil spring 15 or the horizontal coil spring 16 can be omitted.

[0105] In addition, if Figure 8 as well as Figure 9 As shown, when the pedal 14 is moved in a predetermined direction D, the load unit applies a load to the movement of the vertical block 11 and the horizontal block 12 when the rotation axis 14a of the pedal 14 is located below the major axis TL of the elliptical track T. However, when the rotation axis 14a of the pedal 14 is located above the major axis TL of the elliptical track T, no load is applied to the movement of the vertical block 11 and the horizontal block 12. With the above configuration, it is possible to achieve load conditions unique to walking, such as no load when the foot is swung forward during the swing phase and a load when the foot is kicked backward during the stance phase.

[0106] In addition, if Figure 8 as well as Figure 9 As shown, the load unit applies a load to the vertical block 11 and the horizontal block 12 when they move in a direction away from the intersection G. With the above configuration, the load unit can be simply configured.

[0107] In addition, if Figure 8 as well as Figure 9 As shown, the load unit is a spring provided in the vertical guide groove 20 and the horizontal guide groove 21 to urge the vertical block 11 and the horizontal block 12 toward the intersection G. With the above configuration, the load unit can be simply constructed.

[0108] In addition, if Figure 2 As shown in FIG, the mounting position of the pedal 14 relative to the outer connecting rod 13 can be changed. Figure 11 As shown, the major and minor axes of the elliptical track T can be easily increased or decreased. Therefore, since the major and minor axes of the elliptical track T, and even the stride length of the user U during pedaling exercises, can be adjusted according to the physique of the user U, the muscles used during exercise can be changed by increasing or decreasing the major and minor axes of the elliptical track T, thereby improving exercise efficiency. Furthermore, since increasing or decreasing the major and minor axes of the elliptical track T mainly expands or contracts the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise, the difficulty of functional recovery training for each joint can be adjusted.

[0109] In addition, if Figure 2 As shown, the pedal exerciser 2 (pedal support system) includes a left foot unit 5 (pedal support structure for the left foot) and a right foot unit 6 (pedal support structure for the right foot). The left foot unit 5 and the right foot unit 6 are arranged so as to face each other in the width direction. With the above structure, the right and left feet can be trained simultaneously.

[0110] In addition, if Figures 4 to 6 As shown, the pedal exercise machine 2 further includes a linkage unit 8 (linkage mechanism). Figure 7 As shown, the linkage unit 8 links the pedal 14 of the left foot unit 5 and the pedal 14 of the right foot unit 6 so that, when viewed along the rotation axis 14a of the pedal 14 of the left foot unit 5, the rotation axis 14a of the pedal 14 of the left foot unit 5 and the rotation axis 14a of the pedal 14 of the right foot unit 6 are point-symmetrical about the intersection G. With the above structure, the movement of the right and left feet during walking can be simulated more faithfully.

[0111] In addition, if Figures 4 to 6 As shown, the linkage unit 8 includes a base shaft 30 rotatably supported; a left-foot crank arm 31 and a right-foot crank arm 32 extending from the base shaft 30 in opposite directions; a left-foot inner connecting rod 33 (left-foot second connecting portion) rotatably connecting the vertical block 11 and the horizontal block 12 of the left foot unit 5, thereby connecting the vertical block 11 and the horizontal block 12 of the left foot unit 5 to each other; and a right-foot inner connecting rod 34 (right-foot second connecting portion) rotatably connecting the vertical block 11 and the horizontal block 12 of the right foot unit 6, thereby connecting the vertical block 11 and the horizontal block 12 of the right foot unit 6 to each other. The left-foot crank arm 31 is rotatably connected to the left-foot inner connecting rod 33 at the aforementioned midpoint m of the left foot unit 5 when viewed from the side. The right-foot crank arm 32 is rotatably connected to the right-foot inner connecting rod 34 at the aforementioned midpoint m of the right-foot unit 6 in a side view. With the above configuration, the interlocking unit 8 can be realized with a simple structure.

[0112] (Change example)

[0113] Next, a modification example of the interlocking unit 8 will be described.

[0114] exist Figure 12 , a top view of linkage unit 8 in a modified example is shown. In this modified example, linkage unit 8 includes: a left-foot horizontal rack 40, which is fixed to the horizontal block 12 of the left foot unit 5; a right-foot horizontal rack 41, which is fixed to the horizontal block 12 of the right foot unit 6; and a pinion 42, which meshes with both the left-foot horizontal rack 40 and the right-foot horizontal rack 41. The left-foot horizontal rack 40 and the right-foot horizontal rack 41 are specific examples of left-foot racks and right-foot racks, respectively.

[0115] The left foot side horizontal rack 40 is fixed to the horizontal block 12 of the left foot unit 5 and extends in the front-to-back direction. The right foot side horizontal rack 41 is fixed to the horizontal block 12 of the right foot unit 6 and extends in the front-to-back direction. Figure 6The support column 35 shown is supported in a rotatable manner (rotatable in yaw). In this structure, when the horizontal block 12 of the left foot unit 5 moves forward, the horizontal block 12 of the right foot unit 6 moves backward. Conversely, when the horizontal block 12 of the left foot unit 5 moves backward, the horizontal block 12 of the right foot unit 6 moves forward. In this way, the horizontal block 12 of the left foot unit 5 and the horizontal block 12 of the right foot unit 6 move forward and backward differently from each other. Even according to this structure, Figure 7 As shown, the pedals 14 of the left foot unit 5 and the right foot unit 6 can be linked so that the rotation axes 14a of the pedals 14 of the left foot unit 5 and the rotation axes 14a of the pedals 14 of the right foot unit 6 are point-symmetrical with respect to the intersection G.

[0116] In summary, the linkage unit 8 includes: a left-foot horizontal rack 40 (left-foot rack), which is fixed to the horizontal block 12 of the left foot unit 5; a right-foot horizontal rack 41 (right-foot rack), which is fixed to the horizontal block 12 of the right foot unit 6; and a pinion 42 that meshes with the left-foot horizontal rack 40 and the right-foot horizontal rack 41. With the above structure, the linkage unit 8 can be realized with a simple structure.

[0117] Alternatively, the linkage unit 8 may include, instead of the above-described structure, a rack fixed to the vertical block 11 of the left foot unit 5 and extending in the vertical direction, a rack fixed to the vertical block 11 of the right foot unit 6 and extending in the vertical direction, and a pinion meshing with both racks. Even with this alternative structure, the linkage unit 8 can be implemented with a simple structure.

[0118] The above-mentioned first embodiment can be modified in the following manner, for example.

[0119] That is, although Figure 7 As shown, in the first embodiment, the vertical guide groove 20 is a member extending in the vertical direction when viewed from the side. However, instead of this, the vertical guide groove 20 may be inclined with respect to the vertical direction.

[0120] Likewise, in the first embodiment, the horizontal guide groove 21 is configured to extend along the front-rear direction in a side view. However, instead of this, the horizontal guide groove 21 may be inclined with respect to the front-rear direction.

[0121] In addition, although in the above-mentioned first embodiment, the vertical guide groove 20 and the horizontal guide groove 21 are components extending in a manner perpendicular to each other when viewed from the side, instead of this, the angle formed by the length direction of the vertical guide groove 20 and the length direction of the horizontal guide groove 21 can be set to either an acute angle or an obtuse angle.

[0122] Furthermore, in the first embodiment described above, the rotation axis 14a of the pedal 14 is arranged on the extension line of the line segment connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12. However, instead of this, the rotation axis 14a of the pedal 14 may be arranged at any position other than the line segment connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 or the extension line of the line segment. In this case, Figure 8 as well as Figure 9 The major axis TL of the illustrated elliptical track T is inclined with respect to the front-rear direction.

[0123] In addition, if Figure 7 As shown in FIG. 1 , in the first embodiment, the rotation axis 14 a of the pedal 14 is arranged on the extension line of the line segment connecting the rotation axis 11 a of the vertical block 11 and the rotation axis 12 a of the horizontal block 12. However, instead of this, the rotation axis 14 a of the pedal 14 may be arranged on the line segment connecting the rotation axis 11 a of the vertical block 11 and the rotation axis 12 a of the horizontal block 12.

[0124] In this manner, the arrangement of the rotation axis 14a of the pedal 14 relative to the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12 is arbitrary. However, as an exception, please note that if the rotation axis 14a of the pedal 14 is aligned with the rotation axis 11a of the vertical block 11 or the rotation axis 12a of the horizontal block 12, the pedal 14 will not be able to move along an elliptical orbit because the rotation axis 14a of the pedal 14 will move linearly when viewed from the side.

[0125] Similarly, as an exception, please note the following situation, that is, when the rotation axis 14a of the pedal 14 is arranged on the midpoint m of the line segment L connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12, the pedal 14 cannot be moved along an elliptical orbit because the rotation axis 14a of the pedal 14 will move in a circular orbit when viewed from the side.

[0126] (Second embodiment)

[0127] Below, refer to Figures 13 to 22 Hereinafter, the second embodiment of the present disclosure will be described. The following description will focus on the differences between this embodiment and the first embodiment, and any duplicate description will be omitted.

[0128] Figures 13 to 18 A pedal exerciser 52 is shown. Figures 13 to 18As shown, the pedal exerciser 52 includes: a left foot unit 55, a right foot unit 56, a base 57, and a linkage unit 58. The left foot unit 55 and the right foot unit 56 are a specific example of a pedal support structure. The left foot unit 55 is a specific example of a pedal support structure for the left foot. The right foot unit 56 is a specific example of a pedal support structure for the right foot. The linkage unit 58 is a specific example of a linkage mechanism. However, in Figure 13 as well as Figure 14 In FIG, the right foot unit 56 is simply depicted by a two-dot chain line. Figure 15 as well as Figure 16 In the figure, the depiction of the right foot unit 56 is omitted.

[0129] like Figures 13 to 18 As shown, the left foot unit 55 includes a guide 60 , a front upper inclined block 61 , a horizontal block 62 , a rear upper inclined block 63 , an outer connecting rod 64 , a pedal 65 , a front upper coil spring 66 , a horizontal coil spring 67 , and a rear upper coil spring 68 .

[0130] The front upper inclined block 61 is a specific example of a first slider. The horizontal block 62 is a specific example of a second slider. The rear upper inclined block 63 is a specific example of a third slider. The outer connecting rod 64 is a specific example of a first connecting portion. The front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 are specific examples of a load unit. Specifically, the load unit comprises the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68.

[0131] like Figure 13 as well as Figure 18 As shown, in this embodiment, the guide member 60 is formed, for example, from a metal plate. The thickness of the guide member 60 is equal to its width. The guide member 60 is formed with a front upper guide groove 70, a horizontal guide groove 71, and a rear upper guide groove 72. The front upper guide groove 70 is a specific example of a first guide member. The horizontal guide groove 71 is a specific example of a second guide member. The rear upper guide groove 72 is a specific example of a third guide member.

[0132] The front upper guide groove 70 is formed so as to extend linearly forward and upward, at an angle relative to the front-to-back direction. The horizontal guide groove 71 is formed so as to extend linearly in the front-to-back direction. The rear upper guide groove 72 is formed so as to extend linearly rearward and upward, at an angle relative to the front-to-back direction. The front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 extend so as to intersect at a point when the guide member 60 is viewed along its width, that is, when viewed from the side. Therefore, the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 intersect each other, forming a three-way intersection when viewed from the side.

[0133] The angle formed between the longitudinal direction of the front upper guide groove 70 and the longitudinal direction of the horizontal guide groove 71 is 60 degrees. The angle formed between the longitudinal direction of the horizontal guide groove 71 and the longitudinal direction of the rear upper guide groove 72 is also 60 degrees. Therefore, the angle formed between the longitudinal direction of the front upper guide groove 70 and the longitudinal direction of the rear upper guide groove 72 is also 60 degrees.

[0134] The front upper guide groove 70 supports the front upper inclined block 61 so that it can slide linearly along the longitudinal direction of the front upper guide groove 70. The front upper guide groove 70 prohibits the front upper inclined block 61 from moving in the width direction. The front upper guide groove 70 constrains the front upper inclined block 61 in the width direction to prevent it from falling out of the front upper guide groove 70 in the width direction. The front upper coil spring 66 is housed at the upper end 70a of the front upper guide groove 70. The front upper coil spring 66 is housed at the upper end 70a of the front upper guide groove 70 with its pitch direction aligned with the longitudinal direction of the front upper guide groove 70. The upper end of the front upper coil spring 66 is fixed to an upper dividing surface 70b that divides the front upper guide groove 70 in the longitudinal direction of the front upper guide groove 70. The front upper coil spring 66 is typically a compression coil spring.

[0135] The horizontal guide groove 71 supports the horizontal block 62 so that it can slide linearly along the length of the horizontal guide groove 71. The horizontal guide groove 71 prohibits vertical and widthwise movement of the horizontal block 62. The horizontal guide groove 71 constrains the horizontal block 62 in the widthwise direction to prevent it from falling out of the horizontal guide groove 71. A horizontal coil spring 67 is housed at the rear end 71a of the horizontal guide groove 71. The horizontal coil spring 67 is housed at the rear end 71a of the horizontal guide groove 71 with its pitch aligned with the lengthwise direction of the horizontal guide groove 71. The rear end of the horizontal coil spring 67 is fixed to a rearward dividing surface 71b that divides the horizontal guide groove 71 in the front-to-back direction. The horizontal coil spring 67 is typically a compression coil spring.

[0136] The rear upper guide groove 72 supports the rear upper inclined block 63 so that it can slide linearly along the longitudinal direction of the rear upper guide groove 72. The rear upper guide groove 72 prohibits the rear upper inclined block 63 from moving in the width direction. The rear upper guide groove 72 constrains the rear upper inclined block 63 in the width direction to prevent it from falling out of the rear upper guide groove 72 in the width direction. The rear upper coil spring 68 is housed at the upper end 72a of the rear upper guide groove 72. The rear upper coil spring 68 is housed at the upper end 72a of the rear upper guide groove 72 with its pitch aligned with the longitudinal direction of the rear upper guide groove 72. The upper end of the rear upper coil spring 68 is fixed to an upper dividing surface 72b that divides the rear upper guide groove 72 in the longitudinal direction of the rear upper guide groove 72. The rear upper coil spring 68 is typically a compression coil spring.

[0137] Because the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 intersect at one point, the front upper inclined block 61 sliding in the front upper guide groove 70 partially passes through the interior space of the horizontal guide groove 71 and the interior space of the rear upper guide groove 72. Similarly, the horizontal block 62 sliding in the horizontal guide groove 71 partially passes through the interior space of the front upper guide groove 70 and the interior space of the rear upper guide groove 72. Similarly, the rear upper inclined block 63 sliding in the rear upper guide groove 72 partially passes through the interior space of the front upper guide groove 70 and the interior space of the horizontal guide groove 71.

[0138] The outer connecting rod 64 connects the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63. The outer connecting rod 64 is positioned widthwise outward from the guide member 60. When describing the left foot unit 55, the term "widthwise outward" refers to a direction in the width direction and away from the right foot unit 56. The front upper inclined block 61, the horizontal block 62, the rear upper inclined block 63, and the pedal 65 are connected so as to be freely rotatable (able to pitch and rotate) relative to the outer connecting rod 64. Therefore, the front upper inclined block 61 has a rotation axis 61a relative to the outer connecting rod 64. The rotation axis 61a extends in the width direction. The horizontal block 62 has a rotation axis 62a relative to the outer connecting rod 64. The rotation axis 62a extends in the width direction. The rear upper inclined block 63 has a rotation axis 63a relative to the outer connecting rod 64. The rotation axis 63a extends in the width direction. The pedal 65 has a rotation axis 65a relative to the outer connecting rod 64. The rotation shaft 65a extends in the width direction.

[0139] like Figure 18 As shown, the outer connecting rod 64 includes a substantially equilateral triangle-shaped rod body 64a that connects the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63, and a pedal connecting portion 64b to which the pedal 65 is rotatably connected.

[0140] The rod body 64a interconnects the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63 so that the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63 are located at the vertices of an equilateral triangle when viewed from the side. In other words, the line segment 75 connecting the rotation axis 61a and the rotation axis 62a, the line segment 76 connecting the rotation axis 62a and the rotation axis 63a, and the line segment 77 connecting the rotation axis 63a and the rotation axis 61a form an equilateral triangle N. Furthermore, the pedal connecting portion 64b extends along the extension of the line segment 79 connecting the center of gravity g of the equilateral triangle N and the rotation axis 62a. The rotation axis 65a of the pedal 65 is located on the extension of the line segment 79 connecting the center of gravity g of the equilateral triangle N and the rotation axis 62a. The rotation axis 65a is located on the opposite side of the rotation axis 62a from the center of gravity g. That is, the rotation axis 62a is located between the rotation axis 65a and the center of gravity g.

[0141] The pedal connecting portion 64b is formed with a plurality of interlocking portions 80 that allow the pedal 65 to be freely attached and detached. The plurality of interlocking portions 80 are arranged in a row along the length of the pedal connecting portion 64b. Therefore, the installation position of the pedal 65 relative to the outer connecting rod 64 can be changed. For example, if the pedal 65 is installed in the interlocking portion 80 closest to the rotation axis 62a of the horizontal block 62 among the plurality of interlocking portions 80, the distance between the rotation axis 65a of the pedal 65 and the rotation axis 62a of the horizontal block 62 can be minimized. Conversely, if the pedal 65 is installed in the interlocking portion 80 farthest from the rotation axis 62a of the horizontal block 62 among the plurality of interlocking portions 80, the distance between the rotation axis 65a of the pedal 65 and the rotation axis 62a of the horizontal block 62 can be maximized.

[0142] Then, if Figure 18 As shown, regardless of which of the multiple engaging portions 80 the pedal 65 is mounted, the rotation axis 65a of the pedal 65 is disposed so as to be separated from the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63. Furthermore, the rotation axis 65a of the pedal 65 is disposed so as to be separated from the center of gravity g when viewed from the side. Therefore, although details will be described later, the path along which the rotation axis 65a of the pedal 65 moves forms an elliptical path, with the major axis being in the front-to-back direction and the minor axis being in the vertical direction, when viewed from the side.

[0143] like Figure 17As shown, similarly to the left foot unit 55, the right foot unit 56 includes a guide 60, a front upper inclined block 61, a horizontal block 62, a rear upper inclined block 63, an outer connecting rod 64, a pedal 65, a front upper coil spring 66, a horizontal coil spring 67, and a rear upper coil spring 68. Since the structure of the right foot unit 56 is symmetrical with the structure of the left foot unit 55 already described with respect to the sagittal plane, its description is omitted.

[0144] Back to Figure 13 The base 57 connects the left foot unit 55 and the right foot unit 56 that are arranged opposite to each other in the width direction. Specifically, the base 57 is composed of a metal plate that connects the guide 60 of the left foot unit 55 and the guide 60 of the right foot unit 56.

[0145] like Figures 15 to 17 As shown, the linkage unit 58 is a component that links the pedaling motion of the left foot in the left foot unit 55 and the pedaling motion of the right foot in the right foot unit 56. In other words, the linkage unit 58 links the pedal 65 of the left foot unit 55 and the pedal 65 of the right foot unit 56. The linkage unit 58 is provided between the left foot unit 55 and the right foot unit 56 in the width direction.

[0146] like Figure 16 as well as Figure 17 As shown, the linkage unit 58 includes a base shaft 81 , a left-foot crank arm 82 , a right-foot crank arm 83 , a left-foot inner connection portion 84 , and a right-foot inner connection portion 85 .

[0147] The base shaft 81 is a shaft extending in the width direction and is rotatably supported by a support column 86 that protrudes upward from the base 57 .

[0148] The left-leg crank arm 82 and the right-leg crank arm 83 extend from the base shaft 81 in opposite directions.

[0149] Specifically, the left-leg crank arm 82 includes a crank arm body 82a and a horizontal extension 82b. The crank arm body 82a extends from the end of the base shaft 81 on the left leg unit 55 side. The crank arm body 82a extends in a direction perpendicular to the longitudinal direction of the base shaft 81. The horizontal extension 82b extends outward in the width direction from the top end of the crank arm body 82a.

[0150] Similarly, the right-leg crank arm 83 includes a crank arm body 83a and a horizontal extension 83b. The crank arm body 83a extends from the end of the base shaft 81 on the right leg unit 56 side. The crank arm body 83a extends in a direction perpendicular to the longitudinal direction of the base shaft 81. The horizontal extension 83b extends outward in the width direction from the top end of the crank arm body 82a.

[0151] Moreover, if Figure 16As shown, the crank arm body 82a of the left crank arm 82 and the crank arm body 83a of the right crank arm 83 extend in the longitudinal direction of the base shaft 81, that is, in a direction perpendicular to the width direction, and in opposite directions.

[0152] Like the outer connecting rod 64 of the left foot unit 55, the left foot inner connecting portion 84 connects the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 of the left foot unit 55 to each other. Figure 17 As shown, the left foot inner connecting portion 84 is positioned inward in the width direction relative to the guide 60 of the left foot unit 55. Therefore, the guide 60 of the left foot unit 55 is positioned in the width direction between the outer connecting rod 64 of the left foot unit 55 and the left foot inner connecting portion 84. The front upper inclined block 61, horizontal block 62, and rear upper inclined block 63 of the left foot unit 55 are connected so as to be rotatable (pitch-rotatable) relative to the left foot inner connecting portion 84.

[0153] Similarly, the right-foot-side inner connecting portion 85 and the outer connecting rod 64 of the right foot unit 56 similarly connect the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63 of the right foot unit 56. The right-foot-side inner connecting portion 85 is positioned inward in the width direction relative to the guide 60 of the right foot unit 56. Therefore, the guide 60 of the right foot unit 56 is located between the outer connecting rod 64 of the right foot unit 56 and the right-foot-side inner connecting portion 85 in the width direction. The front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63 of the right foot unit 56 are connected so as to be freely rotatable (pitch-rotatable) relative to the right-foot-side inner connecting portion 85.

[0154] like Figure 16 As shown, the horizontal extension 82b of the left foot side crank arm 82 is connected to the left foot side inner connecting portion 84 in a rotatable manner (freely pitching and rotating) at the center of gravity g of the equilateral triangle N connecting the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63 of the left foot unit 55.

[0155] Similarly, the horizontal extension 83b of the right foot side crank arm 83 is connected to the right foot side inner connecting portion 85 in a rotatable manner (freely pitching and rotating) at the center of gravity g of the equilateral triangle N connecting the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63 of the right foot unit 56.

[0156] By connecting the left foot unit 55 and the right foot unit 56 via the above-mentioned linkage unit 58, Figure 18 As shown in FIG, the pedal 65 of the left foot unit 55 and the pedal 65 of the right foot unit 56 are linked in opposite phases. Figure 18As shown, when viewed from the side, the rotation axis 65a of the pedal 65 of the left foot unit 55 and the rotation axis 65a of the pedal 65 of the right foot unit 56 are in a point-symmetrical positional relationship about the intersection G of the front upper guide groove 70, the horizontal guide groove 71 and the rear upper guide groove 72 of the left foot unit 55, and this relationship always holds true during pedaling movement.

[0157] Next, refer to Figure 19 as well as Figure 20 The mechanism by which the left foot unit 55 realizes the elliptical orbit T is described in detail. Figure 19 as well as Figure 20 , the change in the posture of the outer connecting rod 64 when the left foot unit 55 is viewed from the side is depicted in a simplified manner. Figure 19 as well as Figure 20 In the figure, the front is toward the left and the rear is toward the right. Points p1 to p8 show the rotation axis 65a of the pedal 65. Points u1 to u8 show the rotation axis 61a of the front upper inclined block 61. Points v1 to v8 show the rotation axis 62a of the horizontal block 62. Points w1 to w8 show the rotation axis 63a of the rear upper inclined block 63. The numbers of these symbols correspond to each other in time series. That is, at time 1, the rotation axis 65a of the pedal 65 is at point p1, the rotation axis 61a of the front upper inclined block 61 is at point u1, the rotation axis 62a of the horizontal block 62 is at point v1, and the rotation axis 63a of the rear upper inclined block 63 is at point w1. The solid line connecting point u1, point v1 and point w1 and the solid line connecting point p1 and point v1 show the external connecting rod 64 at time 1. At Figure 19 as well as Figure 20 , the front upper guide groove 70, the horizontal guide groove 71, the rear upper guide groove 72, their intersection G, the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 are shown at the same time.

[0158] like Figure 19 as well as Figure 20 As shown in FIG. 1 , when the rotation axis 61a of the front upper inclined block 61 slides freely along the front upper guide groove 70, the rotation axis 62a of the horizontal block 62 slides freely along the horizontal guide groove 71, and the rotation axis 63a of the rear upper inclined block 63 slides freely along the rear upper guide groove 72, as shown from point p1 to point p8, the rotation axis 65a of the pedal 65 draws an elliptical orbit T centered at the intersection G. For ease of explanation, it is assumed that the rotation axis 65a of the pedal 65 slides freely along the intersection G. Figure 19 as well as Figure 20 The pedal 65 circulates in the predetermined direction D shown, that is, counterclockwise along the elliptical orbit T. That is, the rotation axis 65a of the pedal 65 moves from point p1 to point p2, from point p2 to point p3, ..., from point p7 to point p8, and from point p8 to point p1 in sequence.

[0159] exist Figure 19 In FIG. 1 , the rotation axis 65a of the pedal 65 in the elliptical track T is located below the major axis TL of the elliptical track T, which is a lower track T1 that is wound downward. Figure 20 , an upper track T2 serving as an upwardly wound track in which the rotation axis 65 a of the pedal 65 in the elliptical track T is located above the major axis TL of the elliptical track T is shown.

[0160] like Figure 19 As shown, when the rotation axis 65a of the pedal 65 moves from point p1 to point p2, the rotation axis 61a of the front upper inclined block 61 rises above the intersection G and moves away from the intersection G. The rotation axis 62a of the horizontal block 62 moves toward the rear from a position forward of the intersection G and approaches the intersection G. The rotation axis 63a of the rear upper inclined block 63 rises from below the intersection G to above the intersection G and crosses the intersection G.

[0161] When the rotation axis 65a of the pedal 65 moves from point p2 to point p3, the rotation axis 61a of the front upper inclined block 61 descends from above the intersection G to approach the intersection G. The rotation axis 62a of the horizontal block 62 moves rearward from the front of the intersection G to the rear, crossing the intersection G. The rotation axis 63a of the rear upper inclined block 63 ascends from above the intersection G to move away from the intersection G.

[0162] When the rotation axis 65a of the pedal 65 moves from point p3 to point p4, the rotation axis 61a of the front upper inclined block 61 descends from above the intersection G to below the intersection G. The rotation axis 62a of the horizontal block 62 moves rearward to separate from the intersection G. The rotation axis 63a of the rear upper inclined block 63 descends to approach the intersection G from above the intersection G.

[0163] like Figure 20 As shown, when the rotation axis 65a of the pedal 65 moves from point p5 to point p6, the rotation axis 61a of the front upper inclined block 61 descends below the intersection G and moves away from the intersection G. The rotation axis 62a of the horizontal block 62 moves forward from behind the intersection G and approaches the intersection G. The rotation axis 63a of the rear upper inclined block 63 descends from above the intersection G to below the intersection G.

[0164] When the rotation axis 65a of the pedal 65 moves from point p6 to point p7, the rotation axis 61a of the front upper inclined block 61 rises below the intersection G and approaches the intersection G. The rotation axis 62a of the horizontal block 62 moves forward from behind the intersection G to the front, crossing the intersection G. The rotation axis 63a of the rear upper inclined block 63 descends below the intersection G and moves away from the intersection G.

[0165] When the rotation axis 65a of the pedal 65 moves from point p7 to point p8, the rotation axis 61a of the front upper inclined block 61 rises from below the intersection G to above the intersection G. The rotation axis 62a of the horizontal block 62 moves forward from a position forward of the intersection G to separate from the intersection G. The rotation axis 63a of the rear upper inclined block 63 rises from a position below the intersection G to approach the intersection G.

[0166] However, if Figures 18 to 20 As shown, a front upper coil spring 66 is arranged at the upper end 70a of the front upper guide groove 70, a horizontal coil spring 67 is arranged at the rear end 71a of the horizontal guide groove 71, and a rear upper coil spring 68 is arranged at the upper end 72a of the rear upper guide groove 72.

[0167] Therefore, in Figure 19 In the example, when the front upper inclined block 61 rises above and away from the intersection G, specifically, when the front upper inclined block 61 rises from point u1 toward point u2, the front upper inclined block 61 compresses the front upper coil spring 66. By compressing the front upper coil spring 66, the front upper inclined block 61 receives the repulsive force from below. In other words, the front upper coil spring 66 urges the front upper inclined block 61 toward the intersection G. Therefore, the front upper coil spring 66 applies a load to the movement of the front upper inclined block 61 as the front upper inclined block 61 rises above and away from the intersection G. Thus, when the pedal 65 moves below the major axis TL of the elliptical track T from point p1 toward point p2, the front upper coil spring 66 applies a load to the movement of the pedal 65.

[0168] Furthermore, when the rear upper inclined block 63 rises above and away from the intersection G, specifically, when the rear upper inclined block 63 rises from point w2 toward point w3, the rear upper inclined block 63 compresses the rear upper coil spring 68. By compressing the rear upper coil spring 68, the rear upper inclined block 63 receives a downward repulsive force from the rear upper coil spring 68. In other words, the rear upper coil spring 68 urges the rear upper inclined block 63 toward the intersection G. Therefore, the rear upper coil spring 68 applies a load to the movement of the rear upper inclined block 63 as the rear upper inclined block 63 rises above and away from the intersection G. Consequently, when the pedal 65 moves below the major axis TL of the elliptical track T from point p2 toward point p3, the rear upper coil spring 68 applies a load to the movement of the pedal 65.

[0169] Furthermore, when horizontal block 62 retreats farther from intersection G, specifically, when horizontal block 62 retreats from point v3 toward point v4, horizontal block 62 compresses horizontal coil spring 67. By compressing horizontal coil spring 67, horizontal block 62 receives the forward repulsive force from horizontal coil spring 67. In other words, horizontal coil spring 67 urges horizontal block 62 toward intersection G. Therefore, horizontal coil spring 67 applies a load to the movement of horizontal block 62 as horizontal block 62 retreats farther from intersection G. Consequently, when pedal 65 moves from point p3 toward point p4 below the major axis TL of elliptical track T, horizontal coil spring 67 applies a load to the movement of pedal 65.

[0170] Therefore, when the rotation axis 65a of the pedal 65 is located below the major axis TL of the elliptical track T and moves from point p1 to point p4, the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 apply a load to the movement of the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63, that is, the movement of the pedal 65. Since this load condition simulates the load when the foot is kicked out backward during the stance phase, it can be said that the load condition during kicking out, which is unique to walking, is achieved.

[0171] On the other hand, Figure 20 When the front upward inclined block 61 descends below the intersection G so as to be separated from the intersection G, specifically, when the front upward inclined block 61 descends from point u5 toward point u6, the front upward inclined block 61 can move without a load.

[0172] Likewise, when the rear upper inclined block 63 descends below the intersection G to separate from the intersection G, specifically, when the rear upper inclined block 63 descends from point w6 toward point w7, the rear upper inclined block 63 can move without a load.

[0173] Likewise, when the horizontal block 62 advances ahead of the intersection point G so as to separate from the intersection point G, specifically, when the horizontal block 62 advances from point v7 toward point v8, the horizontal block 62 can move without a load.

[0174] Therefore, when the rotation axis 65a of the pedal 65 is located above the major axis TL of the elliptical track T and the pedal 65 moves from point p5 to point p8, the front upper coil spring 66, horizontal coil spring 67, and rear upper coil spring 68 do not apply a load to the movement of the front upper inclined block 61, horizontal block 62, and rear upper inclined block 63, that is, the movement of the pedal 65. In other words, when the rotation axis 65a of the pedal 65 is located above the major axis TL of the elliptical track T and the pedal 65 moves from point p5 to point p8, the pedal 65 moves without a load. This load condition simulates the load when the foot is swung forward during the swing phase, thus achieving the load condition during swing phase that is unique to walking.

[0175] Next, refer to Figure 21 . Figure 21 The figure shows the trajectory of the center of gravity g of the equilateral triangle N connecting the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63. Points g1 to g8 are points obtained by arranging the center of gravity g of the equilateral triangle N in sequence in time series. The numbers of these symbols correspond to the time series. Figure 19 as well as Figure 20 Points p1 to p8 are shown. Figure 21 The orbit of the center of gravity g of the equilateral triangle N is nothing more than an elliptical orbit whose major and minor axes are equal in length, that is, a circular orbit centered at the intersection point G. Furthermore, when the pedal 65 moves counterclockwise from point p1 toward point p8 in the order described, the center of gravity g of the equilateral triangle N moves clockwise from point g1 toward point g8 in the order described. In other words, the position of the pedal 65 corresponds one-to-one to the position of the center of gravity g of the equilateral triangle N.

[0176] Therefore, if Figure 16 As shown, the left-side crank arm 82 is connected to the center of gravity g of the equilateral triangle N in the left-side inner connecting portion 84, and the right-side crank arm 83 is connected to the center of gravity g of the equilateral triangle N in the right-side inner connecting portion 85. Figure 17 as well as Figure 18As shown, the crank arm body 82a of the left crank arm 82 and the crank arm body 83a of the right crank arm 83 protrude in opposite directions to each other, which enables the pedal 65 of the left foot unit 55 and the pedal 65 of the right foot unit 56 to move in conjunction with each other in opposite phases.

[0177] Next, refer to Figure 22 . Figure 22 FIG. 6 shows a change in the size of the elliptical track T when the mounting position of the pedal 65 relative to the outer connecting rod 64 is changed. Figure 18 As described above, the mounting position of the pedal 65 relative to the pedal connection portion 64b of the outer connection rod 64 can be changed. When the pedal 65 is mounted on the fitting portion 80 farthest from the rotation axis 62a of the horizontal block 62 among the plurality of fitting portions 80 of the pedal connection portion 64b, as shown in FIG. Figure 22 As shown, the path of the rotation axis 65a of the pedal 65 is the lower track T1. If the pedal 65 is mounted on the fitting portion 80 closest to the rotation axis 62a of the horizontal block 62 among the multiple fitting portions 80 of the pedal connecting portion 64b, the path of the rotation axis 65a of the pedal 65 is the lower track T3 defined by points q1 to q4.

[0178] Here, the lower track T1 and the lower track T3 are both parts of an elliptical track, and the lengths of their major axes are respectively set to major axis length s1 and major axis length s2. Figure 22 The size of the elliptical track T, that is, the length of the major axis, can be easily increased or decreased by simply adjusting the mounting position of the pedal 65 relative to the pedal connecting portion 64b of the outer connecting rod 64, or by adjusting the position closer to or farther from the rotation axis 62a of the horizontal block 62. Figure 22 As is clear, the length of the minor axis of the elliptical track T can also be increased or decreased in the same manner. Therefore, by simply changing the installation position of the pedal 65 relative to the pedal connection portion 64b of the outer connecting rod 64, the major axis and minor axis of the elliptical track T, and even the stride of the user U during pedaling exercise, can be easily adjusted according to the physique of the user U. Therefore, by increasing or decreasing the major axis and minor axis of the elliptical track T, the muscle parts used for exercise can be changed, thereby improving exercise efficiency. Furthermore, since increasing or decreasing the major axis and minor axis of the elliptical track T mainly expands or contracts the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise, it is also possible to adjust the difficulty of each joint during functional recovery training.

[0179] As mentioned above, although the second embodiment of the present disclosure has been described, the above embodiment has the following features.

[0180] That is, Figures 13 to 18As shown, the left foot unit 55 includes: a front upper inclined block 61 (first slider); a horizontal block 62 (second slider); a rear upper inclined block 63 (third slider); a front upper guide groove 70 (first guide member), which guides the front upper inclined block 61 in a linearly sliding manner; a horizontal guide groove 71 (second guide member), which guides the horizontal block 62 in a linearly sliding manner; a rear upper guide groove 72 (third guide member), which guides the rear upper inclined block 63 in a linearly sliding manner; an external connecting rod 64 (first connecting part), which connects the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 to each other by connecting them in a rotatable manner; and a pedal 65, which is rotatably connected to the external connecting rod 64. The front upper guide groove 70, the horizontal guide groove 71 and the rear upper guide groove 72 extend in a manner that they intersect each other at one point. Figures 18 to 20 As shown, the rotation axis 65a of the pedal 65 is arranged so as to be separated from the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63. Furthermore, the rotation axis 65a is arranged so as to be separated from the center of gravity g of the equilateral triangle N connecting the rotation axis 61a of the front upper inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upper inclined block 63, so that the rotation axis 65a of the pedal 65 moves along the elliptical orbit T. According to the above structure, the rotation axis 65a of the pedal 65 can be moved along the elliptical orbit T in a simple and compact manner.

[0181] In addition, the left foot unit 55 also includes a front upper coil spring 66, a horizontal coil spring 67, and a rear upper coil spring 68 as a load unit that applies load to the movement of the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63. According to the above structure, the muscles of the lower limbs can be trained.

[0182] However, any one or two of the front upper coil spring 66 , the horizontal coil spring 67 , and the rear upper coil spring 68 may be omitted.

[0183] In addition, if Figure 19 as well as Figure 20 As shown, when the pedal 65 is moved in the predetermined direction D, the load unit applies a load to the movement of the front upward inclined block 61, the horizontal block 62, and the rear upward inclined block 63 when the rotation axis 65a of the pedal 65 is located below the major axis TL of the elliptical track T. However, when the rotation axis 65a of the pedal 65 is located above the major axis TL of the elliptical track T, no load is applied to the movement of the front upward inclined block 61, the horizontal block 62, and the rear upward inclined block 63. With the above configuration, it is possible to achieve load conditions unique to walking, such as no load when the foot is swung forward during the swing phase and a load when the foot is kicked rearward during the stance phase.

[0184] In addition, if Figure 19 as well as Figure 20 As shown, the load unit applies a load to the front upper inclined block 61 , the horizontal block 62 , and the rear upper inclined block 63 when they move in a direction away from the intersection G. With the above configuration, the load unit can be simply constructed.

[0185] In addition, if Figure 19 as well as Figure 20 As shown, the load unit is a spring provided in the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72, and biases the front upper inclined block 61, the horizontal block 62, and the rear upper inclined block 63 toward the intersection G. With the above configuration, the load unit can be simply constructed.

[0186] In addition, if Figure 18 As shown, the mounting position of the pedal 65 relative to the outer connecting rod 64 can be changed. Figure 22 As shown, the major and minor axes of the elliptical track T can be easily increased or decreased. Therefore, since the major and minor axes of the elliptical track T, and even the stride length of the user U during pedaling exercises, can be adjusted according to the physique of the user U, the muscles used during exercise can be changed by increasing or decreasing the major and minor axes of the elliptical track T, thereby improving exercise efficiency. Furthermore, since increasing or decreasing the major and minor axes of the elliptical track T mainly expands or contracts the range of increase or decrease of the joint angles of the hip joint, knee joint, and ankle joint during exercise, the difficulty of functional recovery training for each joint can be adjusted.

[0187] In addition, if Figure 13 As shown, the pedal exerciser 52 (pedal support system) includes a left foot unit 55 (pedal support structure for the left foot) and a right foot unit 56 (pedal support structure for the right foot). The left foot unit 55 and the right foot unit 56 are arranged so as to face each other in the width direction. With the above structure, the right and left feet can be trained simultaneously.

[0188] In addition, if Figures 15 to 17 As shown, the pedal exercise machine 52 further includes a linkage unit 58 (linkage mechanism). Figure 18 As shown, the linkage unit 58 links the pedal 65 of the left foot unit 55 and the pedal 65 of the right foot unit 56 so that, when viewed along the rotation axis 65a of the pedal 65 of the left foot unit 55, the rotation axis 65a of the pedal 65 of the left foot unit 55 and the rotation axis 65a of the pedal 65 of the right foot unit 56 are point-symmetrical about the intersection G. With the above structure, the movement of the right and left feet during walking can be simulated more faithfully.

[0189] In addition, if Figures 15 to 17 As shown, the linkage unit 58 includes: a base shaft 81, which is supported in a rotatable manner; a left-foot side crank arm 82 and a right-foot side crank arm 83, which extend in opposite directions from the base shaft 81; a left-foot side inner connecting portion 84 (the second connecting portion on the left foot side), which connects the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 of the left foot unit 55 in a rotatable manner, thereby connecting the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 of the left foot unit 55 to each other; and a right-foot side inner connecting portion 85 (the second connecting portion on the right foot side), which connects the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 of the right foot unit 56 in a rotatable manner, thereby connecting the front upper inclined block 61, the horizontal block 62 and the rear upper inclined block 63 of the right foot unit 56 to each other. The left-foot crank arm 82 is rotatably connected to the left-foot inner connecting portion 84 of the left foot unit 55 at the center of gravity g of the equilateral triangle N in the left-foot inner connecting portion 84 when viewed from the side. The right-foot crank arm 83 is rotatably connected to the right-foot inner connecting portion 85 of the right foot unit 56 at the center of gravity g of the equilateral triangle N in the right-foot inner connecting portion 85 when viewed from the side. With the above structure, the linkage unit 58 can be realized with a simple structure.

[0190] (Change example)

[0191] Next, a modification example of the interlocking unit 58 will be described.

[0192] exist Figure 23 , a top view of linkage unit 58 in a modified example is shown. In this modified example, linkage unit 58 includes: a left-foot horizontal rack 90, which is fixed to horizontal block 62 of left foot unit 55; a right-foot horizontal rack 91, which is fixed to horizontal block 62 of right foot unit 56; and a pinion 92, which meshes with both left-foot horizontal rack 90 and right-foot horizontal rack 91. Left-foot horizontal rack 90 and right-foot horizontal rack 91 are specific examples of left-foot racks and right-foot racks, respectively.

[0193] The left foot side horizontal rack 90 is fixed to the horizontal block 62 of the left foot unit 55 and extends in the front-to-back direction. The right foot side horizontal rack 91 is fixed to the horizontal block 62 of the right foot unit 56 and extends in the front-to-back direction. Figure 16The support column 86 shown is supported in a rotatable (yaw-rotatable) manner. In this structure, when the horizontal block 62 of the left foot unit 55 moves forward, the horizontal block 62 of the right foot unit 56 moves backward. Conversely, when the horizontal block 62 of the left foot unit 55 moves backward, the horizontal block 62 of the right foot unit 56 moves forward. In this way, the horizontal block 62 of the left foot unit 55 and the horizontal block 62 of the right foot unit 56 move forward and backward differently from each other. Even according to this structure, as Figure 18 As shown, the pedal 65 of the left foot unit 55 and the pedal 65 of the right foot unit 56 can be linked by making the rotation axis 65a of the pedal 65 of the left foot unit 55 and the rotation axis 65a of the pedal 65 of the right foot unit 56 point-symmetrical about the intersection G.

[0194] In summary, the linkage unit 58 includes: a left-foot horizontal rack 90 (left-foot rack), which is fixed to the horizontal block 62 of the left foot unit 55; a right-foot horizontal rack 91 (right-foot rack), which is fixed to the horizontal block 62 of the right foot unit 56; and a pinion 92 that meshes with the left-foot horizontal rack 90 and the right-foot horizontal rack 91. With the above structure, the linkage unit 58 can be realized with a simple structure.

[0195] Alternatively, the linkage unit 58 may include, in place of the aforementioned mechanism, a rack fixed to the front upper inclined block 61 of the left foot unit 55 and extending along the longitudinal direction of the front upper guide groove 70, a rack fixed to the front upper inclined block 61 of the right foot unit 56 and extending along the longitudinal direction of the front upper guide groove 70, and a pinion meshing with both racks. Even with this alternative structure, the linkage unit 58 can be implemented with a simple structure. The same can be applied to the rear upper inclined block 63 in the rack-and-pinion linkage unit 58.

[0196] The second embodiment described above can be modified as follows, for example.

[0197] That is, although Figure 18 As shown, in the above-mentioned second embodiment, it is set as follows, that is, the angle formed by the front upper guide groove 70 and the horizontal guide groove 71, the angle formed by the horizontal guide groove 71 and the rear upper guide groove 72, and the angle formed by the rear upper guide groove 72 and the front upper guide groove 70 are all 60 degrees, but instead of this case, these angles can also be different from each other.

[0198] Likewise, in the second embodiment, the horizontal guide groove 71 is configured to extend along the front-rear direction in a side view. However, instead of this, the horizontal guide groove 71 may be inclined with respect to the front-rear direction.

[0199] Furthermore, in the second embodiment, the rotation axis 65a of the pedal 65 is arranged on the extension line of the line segment 79 connecting the rotation axis 62a of the horizontal block 62 and the center of gravity g. However, instead of this, the rotation axis 65a of the pedal 65 may be arranged at any position other than the line segment 79 connecting the rotation axis 62a of the horizontal block 62 and the center of gravity g or the extension line of the line segment 79. In this case, Figure 19 as well as Figure 20 The major axis TL of the illustrated elliptical track T is tilted relative to the fore-aft direction.

[0200] In addition, if Figure 18 As shown in the second embodiment, the rotation axis 65a of the pedal 65 is arranged on the extension line of the line segment 79 connecting the rotation axis 62a of the horizontal block 62 and the center of gravity g. However, instead of this, the rotation axis 65a of the pedal 65 may be arranged on the equilateral triangle N.

[0201] In this manner, the arrangement of the rotation axis 65a of the pedal 65 relative to the rotation axis 61a of the front upward inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upward inclined block 63 is arbitrary. However, as an exception, please note that if the rotation axis 65a of the pedal 65 is aligned with any of the rotation axis 61a of the front upward inclined block 61, the rotation axis 62a of the horizontal block 62, and the rotation axis 63a of the rear upward inclined block 63, the pedal 65 cannot be moved along an elliptical orbit because the rotation axis 65a of the pedal 65 moves linearly when viewed from the side.

[0202] Similarly, as an exception, please note the following: when the rotation axis 65a of the pedal 65 is arranged on the center of gravity g of the equilateral triangle N, the pedal 65 cannot be moved along an elliptical orbit because the rotation axis 65a of the pedal 65 moves in a circular orbit when viewed from the side.

[0203] Figure 2 The pedal exerciser 2 shown, and Figure 13 The pedal exerciser 52 shown can also be used in a bicycle or exercise bike (registered trademark), a recumbent bicycle, a pedal wheelchair, or a rotary generator. Figure 24 , an example is shown in which the pedal exerciser 2 of the first embodiment is applied to a bicycle 100. If the pedal exerciser 2 of the first embodiment is applied to the bicycle 100, when performing aerobic exercise using the bicycle 100, the elliptical trajectory of the foot during walking and the load conditions can be simultaneously and repeatedly generated.

[0204] From the disclosure described thus, it will be apparent that the embodiments of the present disclosure may be modified in various ways. Such modification should not be considered as departing from the spirit and scope of the present disclosure, and it will be apparent to those skilled in the art that all such modifications are encompassed by the appended claims.

Claims

1. A pedal support structure comprising: First slider; Second slider; a first guide member for guiding the first slider in a linearly sliding manner; a second guide member for guiding the second slider in a linearly sliding manner; a first connecting portion that connects the first slider and the second slider to each other by rotatably connecting the first slider and the second slider; a pedal rotatably connected to the first connecting portion; a load unit that applies a load in response to the movement of the first slider or the second slider, The first guide member and the second guide member extend in a manner of crossing each other. The pedal's rotation axis is arranged so as to be separated from the rotation axis of the first slider and the rotation axis of the second slider and is also arranged so as to be separated from the midpoint of a line segment connecting the rotation axis of the first slider and the rotation axis of the second slider, so that the pedal's rotation axis moves along an elliptical orbit. The load unit applies a load to the first slider or the second slider when the first slider moves away from the intersection of the first guide and the second guide. The load unit is a spring provided on the first guide or the second guide and biasing the first slider or the second slider toward the intersection.

2. The pedal support structure according to claim 1, wherein: For the load unit, when the pedal is moved in a predetermined direction, when the rotation axis of the pedal is located below the long axis of the elliptical orbit, a load is applied to the movement of the first slider or the second slider; when the rotation axis of the pedal is located above the long axis of the elliptical orbit, no load is applied to the movement of the first slider or the second slider.

3. The pedal support structure according to claim 1, wherein: The mounting position of the pedal relative to the first connecting portion is changeable.

4. A pedal support system comprising: A left foot pedal support structure as the pedal support structure according to any one of claims 1 to 3; As the pedal support structure for the right foot according to any one of claims 1 to 3, The left foot pedal support structure and the right foot pedal support structure are arranged to face each other.

5. The pedal support system according to claim 4, wherein: It also has a linkage mechanism, which links the pedal of the left foot pedal support structure and the pedal of the right foot pedal support structure in the following manner, that is, when viewed along the rotation axis of the pedal of the left foot pedal support structure, the rotation axis of the pedal of the left foot pedal support structure and the rotation axis of the pedal of the right foot pedal support structure are point-symmetrical about the intersection of the first guide member and the second guide member of the left foot pedal support structure.

6. The pedal support system according to claim 5, wherein: The linkage mechanism comprises: a left-foot-side rack fixed to the second slider of the left-foot pedal support structure; a right-foot-side rack fixed to the second slider of the right-foot pedal support structure; A small gear is engaged with the left-foot side rack and the right-foot side rack.

7. The pedal support system according to claim 5, wherein: The linkage mechanism comprises: a base shaft supported in a rotatable manner; a left-foot-side crank arm and a right-foot-side crank arm, which extend from the base axis in opposite directions; a left-foot-side second connecting portion that rotatably connects the first slider and the second slider of the left-foot pedal support structure, thereby connecting the first slider and the second slider of the left-foot pedal support structure to each other; a second right-foot-side connecting portion that rotatably connects the first slider and the second slider of the right-foot pedal support structure, thereby connecting the first slider and the second slider of the right-foot pedal support structure to each other; The left-foot-side crank arm is rotatably connected to the left-foot-side second connecting portion at the midpoint of the left-foot pedal support structure. The right-foot-side crank arm is rotatably connected to the right-foot-side second connection portion at the midpoint of the right-foot pedal support structure.

8. A pedal support structure comprising: First slider; Second slider; Third slider; a first guide member for guiding the first slider in a linearly sliding manner; a second guide member for guiding the second slider in a linearly sliding manner; a third guide member for guiding the third slider in a linearly sliding manner; a first connecting portion that connects the first slider, the second slider, and the third slider to each other by rotatably connecting the first slider, the second slider, and the third slider; a pedal rotatably connected to the first connecting portion; a load unit that applies a load to the movement of the first slider, the second slider, or the third slider, The first guide, the second guide, and the third guide extend in a manner of crossing each other at one point. The pedal's rotation axis is arranged in a manner separate from the rotation axes of the first slider, the second slider, and the third slider, and is also arranged in a manner separate from the center of gravity of a triangle connecting the rotation axes of the first slider, the second slider, and the third slider, so that the pedal's rotation axis moves along an elliptical orbit. The load unit applies a load to the first slider, the second slider, or the third slider in a direction away from an intersection of the first guide, the second guide, and the third guide. The load unit is a spring provided on the first guide, the second guide, or the third guide, and biases the first slider, the second slider, or the third slider toward the intersection.

9. The pedal support structure according to claim 8, wherein: For the load unit, when the pedal is moved in a predetermined direction, when the rotation axis of the pedal is located below the long axis of the elliptical orbit, a load is applied to the movement of the first slider, the second slider or the third slider; when the rotation axis of the pedal is located above the long axis of the elliptical orbit, no load is applied to the movement of the first slider, the second slider or the third slider.

10. The pedal support structure according to claim 8, wherein The mounting position of the pedal relative to the first connecting portion is changeable.

11. A pedal support system comprising: A left foot pedal support structure as the pedal support structure according to any one of claims 8 to 10; As the pedal support structure for the right foot according to any one of claims 8 to 10, The left foot pedal support structure and the right foot pedal support structure are arranged to face each other.

12. The pedal support system of claim 11, wherein: It also has a linkage mechanism, which links the pedal of the left foot pedal support structure and the pedal of the right foot pedal support structure in the following manner, that is, when viewed along the rotation axis of the pedal of the left foot pedal support structure, the rotation axis of the pedal of the left foot pedal support structure and the rotation axis of the pedal of the right foot pedal support structure are point-symmetrical about the intersection of the first guide, the second guide and the third guide of the left foot pedal support structure.

13. The pedal support system of claim 12, wherein: The linkage mechanism comprises: a left-foot-side rack fixed to the second slider of the left-foot pedal support structure; a right-foot-side rack fixed to the second slider of the right-foot pedal support structure; A small gear is engaged with the left-foot side rack and the right-foot side rack.

14. The pedal support system of claim 12, wherein: The linkage mechanism comprises: a base shaft supported in a rotatable manner; a left-foot-side crank arm and a right-foot-side crank arm, which extend from the base axis in opposite directions; a left-foot-side second connecting portion that rotatably connects the first slider, the second slider, and the third slider of the left-foot pedal support structure, thereby connecting the first slider, the second slider, and the third slider of the left-foot pedal support structure to each other; The second connecting portion on the right foot side connects the first slider, the second slider, and the third slider of the right foot pedal support structure in a rotatable manner, thereby connecting the first slider, the second slider, and the third slider of the right foot pedal support structure to each other. The left-foot-side crank arm is rotatably connected to the left-foot-side second connection portion at the center of gravity of the left-foot pedal support structure. The right-foot-side crank arm is rotatably connected to the right-foot-side second connection portion at the center of gravity of the right-foot pedal support structure.

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