Load applying device, load applying method, and control program

Abstract

To provide a load applying device capable of grasping an operation state of a movable operation part by a user and applying operation resistance force according to the state.SOLUTION: The load applying device includes a movable operation unit that is displaced by an external force, a load applying unit that has a functional fluid whose properties change in accordance with an applied electric field or magnetic field and that applies an operation resistance force to the movable operation unit in accordance with the properties of the functional fluid, an external force detector that detects an external force applied to the movable operation unit, and a control unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a load applying device, a load applying method, and a control program. [Background technology]

[0002] Load-applying devices, such as training machines for maintaining health and improving muscle strength, and rehabilitation machines for restoring physical functions, have been put into practical use. A load-applying device includes, for example, a movable operating part operated by a user and a wire connected at one end to the movable operating part and to the other end via a pulley to which a weight is connected. A user can perform muscle training by pulling the movable operating part to pull up the weight. Another type of load-applying device includes an electric motor connected to the movable operating part, and applies a load that resists the movement of the operated movable operating part using the electric motor. The magnitude of the load applied to the user can be controlled by controlling the output of the electric motor.

[0003] Meanwhile, a technique has been disclosed in which a magnetorheological fluid is used to impart a desired operational feel to a wheel unit for rotational operation provided on a mouse for operating a PC (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2024-010554 Summary of the Invention [Problem to be solved by the invention]

[0005] The inventors of the present application came up with the idea that by using a functional fluid such as a magnetorheological fluid as a means for applying an operation resistance force to a movable operating part of a load-applying device, it is possible to safely apply a physical load. By controlling the viscosity of the functional fluid, it is possible to change the magnitude of the operation resistance force that acts against the moving movable operating part. It is also possible to change the operation resistance force depending on the position of the movable operating part. A load-applying device using a functional fluid is extremely safe because it is not configured to apply power such as rotational force to the movable operating part.

[0006] However, if the resistance to operation is too great, the user may be unable to move the movable operating part due to fatigue, muscle strength, or health condition. When pushing the movable operating part while leaning against a wall or a seat, the user's weight may prevent the movable operating part from being pulled back. In this case, the movable operating part remains stopped, and the load application device recognizes that the movable operating part is not being operated, making it impossible to properly control the viscosity of the functional fluid.

[0007] An object of the present disclosure is to provide a load applying device, a load applying method, and a control program that can grasp the operation status of a movable operating part by a user and apply a load according to the status. [Means for solving the problem]

[0008] A load-applying device according to one aspect of the present disclosure comprises a movable operating part that is displaced by an external force, a load-applying part having a functional fluid whose properties change depending on an applied electric or magnetic field, and that applies an operating resistance force to the movable operating part according to the properties of the functional fluid, an external force detector that detects the external force applied to the movable operating part, and a control part, wherein the control part identifies the operating status of the movable operating part by the user based on at least the external force detected by the external force detector, and changes the magnitude of the operating resistance force applied to the movable operating part depending on the identified operating status.

[0009] A load-imparting method according to one aspect of the present disclosure is a load-imparting method for imparting an operating resistance force to a movable operating part that is displaced by an external force, which imparts an operating resistance force to the movable operating part using a functional fluid whose properties change depending on an applied electric or magnetic field, detects the external force applied to the movable operating part, identifies the operating status of the movable operating part by the user based on the detected external force, and changes the magnitude of the operating resistance force imparted to the movable operating part depending on the identified operating status.

[0010] A control program according to one aspect of the present disclosure uses a functional fluid whose properties change depending on an applied electric or magnetic field to cause a load-applying device that applies an operating resistance force to a movable operating part that is displaced by an external force to acquire detection data from an external force detector that detects the external force applied to the movable operating part, identify the operating status of the movable operating part by the user based on the acquired detection data, and execute a process to change the magnitude of the operating resistance force applied to the movable operating part depending on the identified operating status. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to grasp the operation status of a movable operation part by a user and apply a load according to the status. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a right side view showing an outline of a load applying device according to the first embodiment. [Figure 2] 1 is a front view showing an outline of a load applying device according to a first embodiment. [Figure 3] FIG. 2 is a front view showing the first and second load-applying modules. [Figure 4] FIG. 10 is a front view showing the third and fourth load-applying modules. [Figure 5] FIG. 4 is a cross-sectional view showing an example of the configuration of a load applying portion. [Figure 6] FIG. 6 is an enlarged view of part A in FIG. 5. [Figure 7] 1 is a block diagram showing a load applying device according to a first embodiment of the present invention. [Figure 8] 3 is a conceptual diagram showing a first load table and a second load table according to the first embodiment. FIG. [Figure 9] 4 is a flowchart showing a processing procedure for load application control according to the first embodiment. [Figure 10] 1 is a flowchart showing a procedure for releasing a load according to the first embodiment. [Figure 11] 10 is a flowchart showing a processing procedure for load application control according to the second embodiment. [Figure 12] FIG. 10 is a block diagram showing a load applying device according to a third embodiment. [Figure 13] 10 is a flowchart showing a processing procedure for load application control according to the third embodiment. [Figure 14] 10 is a flowchart showing a processing procedure for load application control according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] A load application device, a load application method, and a control program according to embodiments of the present disclosure will be described below with reference to the drawings. Note that the present disclosure is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims. Furthermore, at least some of the embodiments described below may be combined in any desired manner.

[0014] (Embodiment 1) FIG. 1 is a right side view showing an outline of a load-applying device 1 according to the first embodiment, and FIG. 2 is a front view showing an outline of the load-applying device 1 according to the first embodiment. The load-applying device 1 according to the first embodiment is a device such as a training machine or rehabilitation machine that applies a physical training load to a user using a functional fluid, for example, a magnetorheological fluid (MRF) 300 (see FIG. 5). The load-applying device 1 includes a frame 2, first to fourth load-applying modules M1 to M4, a seat 3, a display device 4, and a control device 5. The control device 5 is made up of a content control device 51 and a control panel 52.

[0015] As shown in FIGS. 1 and 2, the frame 2 is formed of a rectangular parallelepiped framework of beams 7 and columns 8, and is placed on a flat floor. Shafts 9 are installed between the columns 8 as needed for reinforcement. Shafts are also installed between the beams 7 as needed for reinforcement. In FIG. 1, the left side of the frame 2 is the rear side (or back side), and the right side is the front side (front side). In FIG. 1, the near side is the right side, and the far side is the left side. Inside the frame 2 configured in this way, first to fourth load-applying modules M1 to M4, seats 3, a display device 4, and a control panel 52 are provided, and a content control device 51 is installed outside the frame 2.

[0016] The seat 3 is installed at the rear inside of the frame 2 so that the user can use the load-applying device 1 while seated. The seat 3 shown in FIG. 1 is, for example, a seat with a backrest, but the form of the seat 3 is not particularly limited. A space is secured inside the frame 2 so that the user can sit on the seat 3 and move their arms and legs. Note that the seat 3 may be omitted depending on the arrangement of the first to fourth load-applying modules M1 to M4.

[0017] The display device 4 is installed, for example, at the front inside of the frame 2 so that the display surface faces the seat 3. In other words, the display device 4 is installed in a location where it can be seen by a user seated in the seat 3. The display device 4 displays an image based on image information supplied from the control device 5. The display device 4 is, for example, a liquid crystal display or an organic EL display.

[0018] The first and second load-applying modules M1, M2 are installed at the upper part inside the frame body 2. The third and fourth load-applying modules M3, M4 are installed at the lower front part inside the frame body 2.

[0019] 3 is a front view showing the first and second load-applying modules M1, M2. As shown in FIG. 3, the first and second load-applying modules M1, M2 each include a load-applying unit 11, a reducer 12, a movable operation unit 131, and a detector 14. The first load-applying module M1 is disposed at the upper right as viewed from a user seated in the seat 3, and the second load-applying module M2 is disposed at the upper left as viewed from the user. As shown in FIG. 2, the first load-applying module M1 and the second load-applying module M2 have the same configuration and are disposed symmetrically to each other.

[0020] The load applying unit 11 includes a rotating shaft 16 for outputting an operation resistance force and applying it to the movable operating unit 131. The load applying unit 11 changes the operation resistance force of the rotating shaft 16 by changing the strength of the magnetic field applied to the magnetorheological fluid 300 sealed inside. The specific configuration of the load applying unit 11 will be described later.

[0021] The reducer 12 is connected to the load applying portion 11 via a coupling 19. The reducer 12 has a load input portion 17 and a load output portion 18. The load input portion 17 is connected to the rotating shaft 16 of the load applying portion 11 via the coupling 19. The rotation input from the load input portion 17 is reduced in speed and output from the load output portion 18. In other words, the load torque input from the load input portion 17 is increased in speed and output from the load output portion 18. A movable operating portion 131 is attached to the load output portion 18. The flange portion 24a of the flanged shaft 24 is further connected to the load output portion 18.

[0022] The movable operation unit 131 is operated by the force of the user's arm. In this embodiment, the base end of the movable operation unit 131 is fixed to the load output unit 18 of the reducer 12, and is configured to rotate when the tip end is pushed or pulled by the user's hand. The movable operation unit 131 illustrated in FIG. 3 includes a movable main body 131a made of a plate material and a handle portion 131b protruding in the plate thickness direction from the tip end of the movable main body 131a. The user can rotate the tip end of the movable operation unit 131 in the front-rear direction by holding the handle portion 131b. The base end of the movable operation unit 131 is sandwiched between the flange portion 24a of the flanged shaft 24 and the load output unit 18 of the reducer 12.

[0023] In this way, the movable operation unit 131 moves or displaces at least in a first direction and an opposite second direction. In this embodiment, the first direction is a movement direction of the movable operation unit 131 in which the user is less likely to apply external force, and the second direction is a movement direction in which the user is more likely to apply external force. In the example shown in FIG. 1, the first direction is the direction in which the movable operation unit 131 is rotated toward the user (rearward) as seen from the user (direction in which the movable operation unit 131 moves from θ4 to θ3), and the second direction is the direction in which the movable operation unit 131 is rotated toward the user (forward) as seen from the user (direction in which the movable operation unit 131 moves from θ3 to θ4). In the example shown in FIG. 1, the movable operation unit 131 moves rotationally, but it may also be configured to move linearly via a belt, wire, speed reduction mechanism, cam mechanism, etc.

[0024] According to the first and second load-applying modules M1, M2 configured in this manner, an operation resistance force is applied to the movable operation unit 131 by the load-applying unit 11. That is, the operation resistance force of the rotation shaft 16 of the load-applying unit 11 is increased by the reducer 12 and transmitted to the movable operation unit 131. An operation resistance force is applied when the movable operation unit 131 rotates forward, backward, or in any other direction.

[0025] The detector 14 includes a displacement detector 14a and an external force detector 14b. The displacement detector 14a detects the displacement or displacement position, such as the rotational position, of the movable operation unit 131. The displacement detector 14a includes, for example, a potentiometer. The input shaft 21 of the displacement detector 14a is connected to the movable operation unit 131 via a flanged shaft 24. Therefore, when the movable operation unit 131 rotates, the input shaft 21 of the potentiometer also rotates together with the movable operation unit 131. As a result, the displacement detector 14a outputs a signal value corresponding to the rotational position of the movable operation unit 131 to the control device 5. The control device 5 receives the signal value transmitted from the displacement detector 14a and can recognize the displacement and rotational position of the movable operation unit 131 based on the received signal value. Note that the displacement detector 14a may detect the rotational position by detecting the amount of rotation from a reference position. The displacement detector 14a may be a mechanical, optical, magnetic, or electric induction type detector, but the detection principle is not particularly limited as long as it is configured to detect the displacement and displacement position of the movable operation unit 131. The information output from the displacement detector 14a to the control unit 51a may be in the form of digital data or an analog signal.

[0026] The external force detector 14b is, for example, a pressure sensor that detects an external force applied to the movable operation unit 131. The external force detector 14b is provided at a location where an external force in a first direction and a second direction is applied to the movable operation unit 131. For example, the external force detector 14b is provided on the movable main body unit 131a. The external force detector 14b includes, for example, a strain gauge that is distorted by the external force applied to the movable operation unit 131 and whose electrical resistance value changes. The external force detector 14b detects a signal corresponding to the resistance value of the strain gauge at a predetermined sampling period and transmits a signal value corresponding to the magnitude and direction of the external force to the control unit 5. The control unit 5 receives the signal value transmitted from the external force detector 14b and can recognize the magnitude and direction of the external force applied to the movable operation unit 131 based on the received signal value. The information output from the external force detector 14b to the control unit 51a may be in the form of digital data or an analog signal.

[0027] Although a pressure sensor using a strain gauge has been described as the external force detector 14b, the method of detecting external force is not particularly limited, and may be a capacitance type pressure sensor, a piezoelectric element type pressure sensor, an optical type piezoelectric sensor, or a semiconductor pressure sensor such as a MEMS (Micro Electro-Mechanical System). In addition, the external force detector 14b may be configured to include a first pressure sensor provided at a location where an external force in a first direction applied to the movable operating part 131 acts, and a second pressure sensor provided at a location where an external force in a second direction applied to the movable operating part 131 acts.

[0028] The first and second load-applying modules M1, M2 configured as described above are fixed to the upper inside of the frame 2 by a module mounting bracket 151. The module mounting bracket 151 is composed of a base portion 151a, a first plate portion 151b, a second plate portion 151c, and a third plate portion 151d, as shown in FIG. 3, for example. The base portion 151a is fixed to the frame 2. The first plate portion 151b extends downward from the base portion 151a and supports the load-applying portion 11. The second plate portion 151c extends downward from the base portion 151a and supports the reducer 12. The third plate portion 151d extends downward from the base portion 151a and rotatably supports the flanged shaft 24 via the bearing housing 10 and the bearing 20.

[0029] Fig. 4 is a front view showing the third and fourth load-applying modules. As shown in Fig. 4, the third and fourth load-applying modules M3 and M4 each include a load-applying unit 11, a reducer 12, a movable operating unit 132, and a detector 14. Similar to the first and second load-applying modules M1 and M2, they each include these components.

[0030] The third load-applying module M3 is disposed at the lower right as viewed from a user seated on the seat 3, and the fourth load-applying module M4 is disposed at the lower left as viewed from the user. The third load-applying module M3 and the fourth load-applying module M4 have the same configuration and are disposed symmetrically to each other.

[0031] The load application unit 11 includes a rotating shaft 16 that outputs an operation resistance force and applies it to the movable operation unit 131. The reducer 12 is connected to the load application unit 11 via a coupling 19. The reducer 12 has a load input unit 17 and a load output unit 18. The load input unit 17 is connected to the rotating shaft 16 of the load application unit 11 via the coupling 19. The movable operation unit 131 is attached to the load output unit 18. A flanged shaft 24 is further connected to the load output unit 18.

[0032] The movable operation unit 132 is operated and operated by the force of the user's leg. In this embodiment, the base end of the movable operation unit 132 is fixed to the load output unit 18 of the reducer 12, and the tip end side is rotated by moving up and down with the user's foot. The movable operation unit 132 illustrated in FIG. 4 includes a movable main body 132a made of a plate material, a pedal unit 132b protruding in the plate thickness direction from the tip end of the movable main body 132a, and a fastener 132c that fastens the user's foot to the pedal unit 132b. The user can swing the tip end side of the movable operation unit 132 up and down by moving their foot up and down. Note that a hook-and-loop fastener type fastener can be used for the fastener 132c. In this embodiment, the movable operation unit 132 is used with the base end always positioned forward of the tip end. In other words, the movable operation unit 132 is always used with the base end positioned farther away from the user than the tip end.

[0033] In this way, the movable operation unit 132 moves or displaces at least in a first direction and an opposite second direction. In this embodiment, the first direction is the direction of movement of the movable operation unit 131 in which the user is less likely to apply external force, and the second direction is the direction of movement in which the user is more likely to apply external force. In the example shown in FIG. 1 , the direction in which the movable operation unit 132 is rotated downward (direction in which it moves from θ2 to θ1) is the first direction, and the direction in which the movable operation unit 131 is rotated upward (direction in which it moves from θ1 to θ2) is the second direction. When the movable operation unit 132 rotates upward or downward, an operation resistance force is applied when it rotates in either direction.

[0034] The third and fourth load-applying modules M3, M4 configured as described above are fixed to the inner bottom of the frame 2 by a module mounting bracket 152. The module mounting bracket 152 is composed of a base portion 152a, a first plate portion 152b, a second plate portion 152c, and a third plate portion 152d, as shown in FIG. 4, for example. The base portion 152a is fixed to the frame 2. The first plate portion 152b extends upward from the base portion 152a and supports the load-applying portion 11. The second plate portion 152c extends upward from the base portion 152a and supports the reducer 12. The third plate portion 152d extends upward from the base portion 152a and rotatably supports the flanged shaft 24 via the bearing housing 10 and the bearing 20.

[0035] Next, the configuration of the load applying unit 11 will be described in detail. FIG. 5 is a cross-sectional view showing an example of the configuration of the load application unit 11, and FIG. 6 is an enlarged view of part A in FIG. 5. The load application unit 11 is a device that changes the operational resistance force of the rotating shaft 16 by changing the strength of the magnetic field applied to the magnetorheological fluid 300 sealed inside. The load application unit 11 shown in FIG. 5 includes a rotating-side member 100 that can rotate about an axis N, and a fixed-side member 200 that is fixed to a non-rotating object such as a frame 2. Torque is transmitted between the rotating-side member 100 and the fixed-side member 200 via the magnetorheological fluid 300. Therefore, the greater the transmitted torque, the greater the operational resistance force exerted by the load application unit 11.

[0036] The rotating member 100 is composed of a rotating shaft 16 that rotates around an axis N, as well as a number of annular disks 120 fixed at predetermined intervals on the outer periphery of the rotating shaft 16, as shown in Fig. 6. The rotating shaft 16 is made of a non-magnetic material, and the disks 120 are made of a magnetic material.

[0037] As shown in Fig. 6, annular thin plate spacers 121 are interposed on the inner diameter side between the numerous disks 120. The disks 120 and thin plate spacers 121 are sandwiched between annular thick plate spacers 123 and a large diameter portion 114 of the rotating shaft 16 that is formed to have a larger diameter than the inner diameter portions of the disks 120, and are fastened together with bolts 122 (see Fig. 5).

[0038] On the other hand, the fixed side member 200 is composed of a number of annular plates 210 respectively arranged between the above-mentioned number of disks 120, magnetic field generating means 220, and support members 231, 232 that support the magnetic field generating means 220, etc. The plate 210 is made of a magnetic material, and the support members 231, 232 are made of a non-magnetic material.

[0039] 6, annular thin plate spacers 211 (with inner and outer diameters larger than those of the thin plate spacers 121) are interposed on the outer diameter sides between the numerous plates 210. The plates 210 and the thin plate spacers 211 are sandwiched between annular thick plate spacers 212 (with inner and outer diameters larger than those of the thick plate spacers 123) and a pair of second yokes 223 (described later), and are fastened together with bolts 213 (see FIG. 5).

[0040] 5, the magnetic field generating means 220 includes a coil 221 provided on the centrifugal side of the plate 210, a first yoke 222 formed so as to surround the coil 221 from the centrifugal side on both sides in the direction of the axis N, and a pair of second yokes 223 respectively connected to both ends of the first yoke 222. The pair of second yokes 223 are arranged so as to sandwich from both sides the portion where the disks 120 and the plates 210 are alternately arranged in the direction of the axis N with the magnetorheological fluid 300 interposed therebetween. The first and second yokes 222, 223 are made of a magnetic material.

[0041] The support members 231 and 232 are provided on the outer periphery of the rotary shaft 16 via a bearing 233 .

[0042] The magnetorheological fluid 300 is a liquid in which magnetic particles are dispersed in a dispersion medium. For example, the magnetic particles may be nano-sized metal particles (metal nanoparticles). The magnetic particles are made of a magnetizable metal material. There are no particular restrictions on the metal material, but soft magnetic materials are preferred. Examples of soft magnetic materials include alloys of iron, cobalt, nickel, and permalloy. There are no particular restrictions on the dispersion medium, but hydrophobic silicone oil is one example. The amount of magnetic particles in the magnetorheological fluid 300 may be, for example, 3 to 40 vol%. Various additives can also be added to the magnetorheological fluid 300 to obtain various desired properties.

[0043] When current is applied to the coil 221 from the power supply control unit 52c of the control panel 52, a magnetic path is formed on the outer diameter side of the first yoke 222, the second yoke 223, the disk 120, and the inner diameter side of the plate 210, as shown by the black arrow B in Figure 5, and the magnetorheological fluid 300 present in the gap between the disk 120 and the plate 210 that crosses the magnetic path develops a predetermined viscosity (shear stress).

[0044] In the load applying unit 11 configured in this manner, the disk 120 and the plate 210 rotate relative to each other with the magnetorheological fluid 300 interposed in the gap between them, and a magnetic field having a strength corresponding to the current value applied to the coil 221 is applied to the magnetorheological fluid 300. Therefore, the rotating shaft 16 generates an operation resistance force corresponding to the current value applied to the coil 221.

[0045] The control device 5 controls the magnetic field applied to the magnetorheological fluid 300 in accordance with the detection values ​​detected by the displacement detector 14a and the external force detector 14b and the content of the image displayed on the display device 4. The control device 5 controls the magnetic field applied to the magnetorheological fluid 300 by controlling the value of the current supplied to the load applying unit 11. Examples of control of the magnetic field applied to the magnetorheological fluid 300 include control of the strength of the magnetic field applied to the magnetorheological fluid 300 and control of the fluctuating frequency of the magnetic field applied to the magnetorheological fluid 300. The "content of the image" refers to, for example, the type of virtual space displayed as the image, the type of object, the state of the object, etc.

[0046] 7 is a block diagram showing the load applying device 1 according to the present embodiment 1. The control device 5 shown in FIG.

[0047] The content control device 51 is, for example, a personal computer on which an OS (operating system) and an application program are installed. The content control device 51 includes a control unit 51a, a storage unit 51b, and a communication unit 51c. The content control device 51 is connected to an input device 27 such as a keyboard and a mouse, and a display device 4.

[0048] The control unit 51a includes an arithmetic processing circuit such as a CPU (Central Processing Unit), a multi-core CPU, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array), an internal storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an I / O terminal. The control unit 51a functions as the load applying device 1 according to this embodiment by executing a control program P (program product) stored in a storage unit 51b (described later). Specifically, the control unit 51a identifies the operation status of the movable operation unit 131 by the user based on at least the magnitude and direction of the external force detected by the external force detector 14b, and executes a process of changing or adjusting the magnitude of the operation resistance force applied to the movable operation unit 131 according to the identified operation status. Details of the process will be described later. Note that each functional unit of the control unit 51a may be realized by software, hardware, or a combination thereof.

[0049] The storage unit 51b is a non-volatile storage device such as a magnetic disk or an EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 51b stores a control program P executed by the control unit 51a, a first load table T1 (first control information), and a second load table T2 (second control information). The control program P, the first load table T1, and the second load table T2 constitute one or more training contents or rehabilitation contents for applying a training load to the user. The first load table T1 and the second load table T2 may be stored in the storage unit 51b in advance, or may be created and stored at an appropriate time based on information input to the load application device 1.

[0050] The control program P includes a program for causing the control unit 51a to execute a process of detecting an external force applied to the movable operating units 131, 132 by the user's training operation, thereby grasping the operation status of the movable operating units 131, 132 by the user, and applying an operation resistance force to the movable operating units 131, 132 according to the operation status.

[0051] The control program P may be provided by a non-transitory recording medium M on which the control program P is readably recorded. The control unit 51a stores the control program P read from the recording medium M by a reading device (not shown). The recording medium M is, for example, a magnetic disk, an optical disk, or a semiconductor memory. The control program P may also be downloaded from an external server connected to a communications network (not shown) and stored in the control unit 51a. The control program P may be a single computer program or may be composed of multiple computer programs, and may be executed on a single computer or on multiple computers interconnected by a communications network.

[0052] FIG. 8 is a schematic diagram showing a first load table T1 and a second load table T2 according to the first embodiment. The storage unit 51b stores the first load table T1 and the second load table T2 corresponding to one or more training contents or rehabilitation contents. The first load table T1 and the second load table T2 shown in FIGS. 8A and 8B, respectively, store the displacement positions of the movable operation units 131 and 132 in association with load control information. The displacement positions are, for example, the rotation positions, i.e., the rotation angles, of the movable operation units 131 and 132. The load application information is, for example, the value of the current to be passed through the coil 221 of the load application unit 11 depending on the displacement position or rotation position. The current value corresponds to the magnitude of the operation resistance force applied to the movable operation units 131 and 132 at the displacement position. In the following, for ease of understanding of the load applying device 1, the displacement position will be described as a rotational position, and the load control information will be described as a current value.

[0053] The current values ​​stored in the first load table T1 are generally smaller than the current values ​​stored in the second load table T2. For example, the first load table T1 stores current values ​​that are one-tenth of the current values ​​stored in the second load table T2. One-tenth is just an example, and the rate of reduction of the current value is not particularly limited. The current values ​​stored in the first load table T1 are values ​​that prevent the user's body from floating when, for example, the user operates the movable operation units 131, 132 in the first direction. The control unit 51a may be configured to receive data indicating the user's weight from the input device 27 (not shown) and calculate the current values ​​to be stored in the first load table T1 based on the received user's weight. The current value stored in the first load table T1 may be set to 0 [A], that is, to zero operational resistance (a state in which no magnetic field is applied and only resistance from the magnetorheological fluid 300 exists). In this case, the process of step S131 in FIG. 10, which will be described later, is not necessary.

[0054] Alternatively, only the second load table T2 may be stored in the storage unit 51b, and the control unit 51a may calculate the first load table T1 as needed based on the second load table T2 and the user's attribute information. The attribute information may include, for example, the user's weight, age, sex, skeletal muscle percentage, medical history, training history, etc. When referring to the user's weight, the load (operation resistance) can be set so as not to exceed the weight, and the lighter the weight, the smaller the load is set.

[0055] In the first load table T1 and the second load table T2 described above, the current value to be passed through the coil 221 is stored, but this is not limited thereto. For example, the value is not limited thereto as long as it is a control parameter for controlling the current of the corresponding current value to flow through the coil 221. An ID corresponding to the current value can also be used. Information for specifying the current value, other control parameters, and ID, etc., is defined as load control information. In other words, the load control information is not particularly limited as long as it is information that substantially corresponds to the current value passing through the coil 221 or the value of the operation resistance force applied to the movable operation units 131, 132.

[0056] The control unit 51a of the content control device 51 configured as described above executes the control program P and various application programs to transmit image data to the display device 4. The control unit 51a also transmits information to the control panel 52 regarding the load to be generated by the load application unit 11 in accordance with the content of the video to be displayed on the display device 4. That is, the control unit 51a transmits information (hereinafter also referred to as "current instruction data") regarding the current value to be supplied to the load application unit 11 in accordance with the content of the video to be displayed on the display device 4 to the control panel 52. The current instruction data includes information regarding the current value, information regarding whether or not to periodically change the current value, information regarding the frequency when the current value is periodically changed, and information regarding the waveform of the current when the current value is periodically changed (sine wave, square wave, etc.). The user can select and execute content to be displayed on the display device 4 by performing a predetermined selection operation on the input device 27.

[0057] In particular, in this embodiment 1, the control unit 51a detects an external force using the external force detector 14b, identifies the operation status of the movable operating unit 13 by the user based on the detected external force, and executes a process of changing the magnitude of the operation resistance force applied to the movable operating unit 13 according to the identified operation status.

[0058] The communication unit 51c is a communication interface that transmits and receives various data to and from the control panel 52 via wired or wireless communication. For example, the communication unit 51c receives rotational position data (displacement position data) and external force data (detection data) detected by the displacement detectors 14a and external force detectors 14b of the first to fourth load-applying modules M1 to M4 and transmitted from the control panel 52. The rotational position data is data that indicates the displacement position, i.e., the rotational position or rotation angle, of each movable operation unit 13 of the first to fourth load-applying modules M1 to M4. The external force data is data that indicates the magnitude and direction of an external force applied to the movable operation unit 131. In addition, the communication unit 51c transmits current instruction data to the control panel 52 to instruct control of the magnitude of the operation resistance force applied to each movable operation unit 13.

[0059] The control panel 52 includes a communication control unit 52a, an A / D conversion unit 52b, and a power supply control unit 52c.

[0060] The communication control unit 52a is an interface that transmits and receives various data to and from the content control device 51. For example, the communication control unit 52a transfers rotational position data and external force data that are detected by the displacement detectors 14a and external force detectors 14b of the first to fourth load application modules M1 to M4 and received via the A / D conversion unit 52b to the content control device 51. The communication control unit 52a also receives current instruction data transmitted from the content control device 51 and transfers the received current instruction data to the power supply control unit 52c.

[0061] The A / D conversion unit 52b converts the analog signals output from the displacement detectors 14a and external force detectors 14b of the first to fourth load-applying modules M1 to M4 into digital signals, and transfers the converted digital signals, that is, the rotational position data and external force data, to the communication control unit 52a.

[0062] The power supply control unit 52c supplies current to each load application unit 11 in accordance with current instruction data received from the content control device 51 via the communication control unit 52a. In other words, the power supply control unit 52c controls the magnitude of the operation resistance force applied to the movable operation unit 13 by each load application unit 11.

[0063] Next, the processing procedure of the control device 5 will be described. The load-applying device 1 according to this embodiment can utilize one or more training or rehabilitation content programs. The content may be any type of content, including track and field sports such as running, combat sports such as boxing, trekking, cycling, or any game content. When content is selected and started using the input device 27, the control unit 51a displays an image corresponding to the selected content on the display device 4. When the user pushes or pulls the handles 131b of the first and second load-applying modules M1 and M2 forward or backward using their arms, the movable operation unit 131 rotates. The control unit 51a changes the image according to the rotational position of the movable operation unit 131 of the load-applying modules M1 and M2. The control unit 51a also references the first load table T1 and the second load table T2 corresponding to the selected content program and applies an operation resistance force corresponding to the rotational position of the movable operation unit 131 to the user via the movable operation unit 131 (handle 131b). In this embodiment, the magnitude of the operation resistance force is changed by switching 049 between the first load table T1 and the second load table T2 to be referred to depending on the operation status of the movable operation unit 131 by the user. In other words, the control unit 51a applies an operation resistance force of an appropriate magnitude depending on the operation status of the movable operation unit 131 by the user. Hereinafter, details of the load application control relating to the change of the operation resistance force according to the operation state of the movable operation unit 131 will be described.

[0064] 9 is a flowchart showing the processing procedure of load application control according to the first embodiment. The control unit 51a detects the displacement of the movable operation units 131, 132, i.e., the rotational positions of the movable operation units 131, 132, using the displacement detector 14a (step S111). The control unit 51a also detects the external force applied to the movable operation units 131, 132 and its direction (step S112) using the external force detector 14b. Note that the external force may include or subtract forces other than those applied by the user, such as gravity. The gravitational component of the external force applied to the external force detector 14b is determined by the rotational positions of the movable operation units 131, 132. Therefore, the control unit 51a may calculate the gravitational component of the external force applied to the external force detector 14b based on the rotational positions of the movable operation units 131, 132 and characteristic values ​​(values ​​determined by weight, shape, etc.) of the movable operation units 131, 132, and subtract the gravitational component from the detected external force. In addition, a table that associates the rotational positions of the movable operating units 131, 132 with the values ​​of the gravity components may be stored in the memory unit 51b, and the control unit 51a may refer to the table using the rotational positions of the movable operating units 131, 132 as a key to determine the values ​​of the gravity components.

[0065] Next, the control unit 51a refers to the second load table T2 and determines a current value according to the positions of the movable operation units 131, 132 (step S113). The control unit 51a applies an operation resistance force according to the rotational positions of the movable operation units 131, 132 to the movable operation units 131, 132 by driving the load application unit 11 so that a current of the determined current value flows through the coil 221 (step S114).

[0066] Next, the control unit 51a calculates an immobility determination threshold according to the current value determined in step S113 (step S115). The current value determines the magnitude of the operation resistance force that the load application unit 11 applies to the movable operation units 131 and 132. The immobility determination threshold calculated in step S115 is the value of this operation resistance force, and is a threshold for determining whether or not the movable operation units 131 and 132 are in a state where they are not moving despite the user's attempt to operate them. For example, the storage unit 51b stores information (information indicating the characteristics of the load application unit 11) indicating a correspondence relationship between the value of the current flowing through the coil 221 of the load application unit 11 and the magnitude of the operation resistance force applied to the movable operation units 131, 132, and the control unit 51a calculates the immobility determination threshold by referring to the information. The information indicating the correspondence relationship may be a table that associates the current value with data indicating the magnitude of the immobility determination threshold, or may be a function that calculates the operation resistance force to be used as the immobility determination threshold from the current value. Furthermore, the control program P may include, as part of the control program P, a calculation process that calculates the operation resistance force to be used as the immobility determination threshold based on the current value.

[0067] Next, the control unit 51a determines whether the direction of the external force is the first direction (step S116). That is, this is processing to determine whether the direction is such that the external force due to the user's operation is unlikely to act on the movable operation units 131, 132. If it is determined that the direction is not the first direction, that is, if it is determined that the direction is the second direction (step S116: NO), the control unit 51a returns the processing to step S111.

[0068] If it is determined that the direction of the external force is the first direction (step S116: YES), the control unit 51a determines whether the external force is equal to or less than the immobility determination threshold calculated in step S115 (step S117). The process of step S117 is a process for determining whether the external force applied by the user to the movable operation units 131, 132 is weak and the movable operation units 131, 132 are not displaced. Note that, if the user inputs and sets the operation resistance force in the second direction (second load table T2), the control unit 51a calculates the immobility determination threshold based on the set operation resistance force in step S115. In this case, the immobility determination threshold can be set to a value equal to or less than the set operation resistance force. The control unit 51a may also receive data indicating the user's weight via the input device 27 (not shown) and calculate the immobility determination threshold based on the weight indicated by the received data.

[0069] If it is determined that the external force is not equal to or less than the immobility determination threshold calculated in step S115, that is, if it is determined that the external force is greater than the immobility determination threshold (step S117: NO), the control unit 51a returns the process to step S111.

[0070] If it is determined that the detected external force is equal to or less than the immobility determination threshold calculated in step S115 (step S117: YES), the control unit 51a determines whether the external force is equal to or greater than a predetermined value (step S118). The predetermined value indicates the weight of the movable operation units 131, 132 or the external force that occurs naturally when the user touches the movable operation units 131, 132. In other words, the process of step S118 is a process for determining whether the user is operating the movable operation units 131, 132 to move them. If it is determined that the external force is less than the predetermined value (step S118: NO), the control unit 51a returns the process to step S111.

[0071] If it is determined that the external force is equal to or greater than a predetermined value (step S118: YES), the control unit 51a determines whether the cancellation conditions of steps S116 to S118 have continued for a predetermined time (step S119). If it is determined that the duration of the cancellation conditions is less than the predetermined time (step S119: NO), the control unit 51a returns the process to step S111. If it is determined that the cancellation conditions have continued for the predetermined time (step S119: YES), the control unit 51a executes a load cancellation process to reduce the operation resistance force applied to the movable operation units 131 and 132 (step S120).

[0072] FIG. 10 is a flowchart showing the load release process according to the first embodiment. The control unit 51a generates a first load table T1 based on the second load table T2 (step S131). For example, the first load table T1 is generated by reducing the current value stored in the second load table T2 to one-tenth the current value. As described above, the first load table T1 may be calculated based on the user's weight. Because a sudden change in the operating resistance can cause discomfort to the user, the current value stored in the first load table T1 may be adjusted or corrected so that the deviation from the current current flowing through the coil 221 of the load application unit 11 falls within a predetermined range. For example, the initial load after switching to the first load table T1 may be determined based on the current rotational positions of the movable operation units 131 and 132 (the load immediately before switching to the first load table T1). The current value may be corrected to a value that gradually reduces the load as the movable operation units 131 and 132 move in the first direction from the current rotational position. A similar correction may be performed when the current value is set to zero. The load applying device 1 may be configured to store a second load table T2 created in advance in the storage unit 51b. Even in this case, the above-described correction according to the current rotational positions of the movable operating units 131 and 132 can be performed.

[0073] The control unit 51a detects the displacement of the movable operation units 131 and 132, i.e., the rotational positions of the movable operation units 131 and 132, using the displacement detector 14a (step S132). The control unit 51a also detects the external force applied to the movable operation units 131 and 132 and its direction using the external force detector 14b (step S133).

[0074] Next, the control unit 51a refers to the first load table T1 and determines a current value according to the positions of the movable operation units 131, 132 (step S134). The control unit 51a applies an operation resistance force according to the rotational positions of the movable operation units 131, 132 to the movable operation units 131, 132 by driving the load application unit 11 so that the determined current value flows through the coil 221 of the load application unit 11 (step S135).

[0075] Next, the control unit 51a determines whether the direction of the external force is the second direction (step S136). If it is determined that the direction of the external force is the second direction (step S136: YES), the control unit 51a ends the load release process and executes the processes from step S111 onwards.

[0076] If it is determined that the direction of the external force is not the second direction, that is, if it is determined that the direction is the first direction (step S136: NO), the control unit 51a determines whether the external force is less than a predetermined value (step S137). If it is determined that the external force is not less than the predetermined value, that is, if it is determined that the external force is equal to or greater than the predetermined value (step S137: NO), the process returns to step S132. That is, the process of applying a weak operation resistance force to the movable operation units 131, 132 continues.

[0077] If it is determined that the external force is less than the predetermined value (step S137: YES), the control unit 51a ends the load release process and executes the processes from step S111 onwards. This makes it possible to prevent the movable operation units 131, 132 from automatically moving in the second direction, for example, when a weak external force due to gravity or the like, rather than an external force from the user, is applied in the second direction. Note that when determining whether to end the load release process routine, it may also be configured to determine whether the conditions indicated in steps S136 and S137 have continued for a predetermined time or more, and to end this subroutine if the conditions have continued for the predetermined time or more.

[0078] As described above, the load applying device 1, the load applying method, and the control program P according to the first embodiment can grasp the operation status of the movable operation units 131, 132 by the user, and apply a load according to the status.

[0079] Specifically, if the user operates the movable operation units 131, 132 in a first direction but the movable operation units 131, 132 do not displace, a load release process is executed, and the operation resistance force is weakened. If the user operates the movable operation units 131, 132 in a second direction, a sufficient operation resistance force is applied to the movable operation units 131, 132 using the second load table T2. In this way, the magnitude of the operation resistance force is adjusted according to the operation status of the movable operation units 131, 132 by the user, and an appropriate load can be applied to the user. The load application device 1 according to this embodiment can identify the operation status of the movable operation units 131, 132 by the user, such as the direction and magnitude of the external force applied to the movable operation units 131, 132, even in a situation where the movable operation units 131, 132 do not displace, and can apply a load appropriate to the identified operation status to the user.

[0080] 1 and 2, when the movable operation unit 131 is pulled backward or the movable operation unit 132 is pressed down, if the operation resistance force is excessive, the user's body may rise up, making it impossible to move the movable operation units 131, 132. According to this embodiment, if the movable operation units 131, 132 do not move despite an attempt to operate them, the operation resistance force is changed to a small value, thereby solving this problem.

[0081] In this embodiment, the magnetorheological fluid 300 has been described as the functional fluid. However, the load application unit 11 may be configured using an electrorheological fluid instead of the magnetorheological fluid 300. The electrorheological fluid is called an ER fluid. The load application unit 11 has electrodes that apply an electric field to the electrorheological fluid. The load application unit 11 can change the viscosity of the electrorheological fluid by controlling the magnitude of the electric field applied to the electrorheological fluid. In this case, the first load table T1 and the second load table T2 store the rotational positions of the movable operation units 131 and 132 and the values ​​of the electric fields applied to the electrorheological fluid by the load application unit 11 in association with each other. The configuration of the load application section 11 described in this embodiment 1 is just one example, and the detailed configuration of the load application section 11 is not particularly limited as long as it is configured to generate an operating resistance force using the magnetorheological fluid 300.

[0082] Although a training machine and a rehabilitation machine have been given as examples of the load-applying device 1, the technical configuration of this embodiment can be applied to any device that requires adjustment of the operational resistance force applied against the user's operation.

[0083] The load applying device 1 may be configured to change the operation resistance force applied to the movable operation parts 131, 132 based only on the direction of the external force applied to the movable operation parts 131, 132.

[0084] In each process shown in Figures 9 and 10, the direction, magnitude, and rotation position of the external force applied to the movable operating units 131, 132 are detected (step S111, step S112, step S132, and step S133), but the direction, magnitude, and rotation position of the external force may be calculated in real time as a separate parallel process separate from each process.

[0085] (Embodiment 2) The load applying device 1 in the second embodiment differs from the first embodiment in that the load applying device 1 determines the operation state of the user based on the external force applied to the movable operating units 131, 132 and the displacement of the movable operating units 131, 132. Since the other configurations of the load applying device 1 are the same as those of the load applying device 1 according to the first embodiment, the same reference numerals are used for the same parts and detailed description will be omitted.

[0086] 11 is a flowchart showing the procedure of load application control according to the second embodiment. As in steps S111 to S114 of the first embodiment, the control unit 51a detects the rotational positions of the movable operation units 131 and 132 and the magnitude and direction of the external force applied to the movable operation units 131 and 132, and executes a process of applying an operation resistance force to the movable operation units 131 and 132 according to the rotational positions of the movable operation units 131 and 132 (steps S211 to S214). Next, the control unit 51a determines whether the direction of the external force is the first direction (step S215). If it is determined that the direction is not the first direction, that is, if it is determined that the direction is the second direction (step S215: NO), the control unit 51a returns the process to step S211.

[0087] If it is determined that the direction of the external force is the first direction (step S215: YES), the control unit 51a determines whether or not the movable operation units 131, 132 are displaced based on the result of detecting the rotational positions of the movable operation units 131, 132 using the displacement detector 14a (step S216). In particular, the control unit 51a may determine whether or not the movable operation units 131, 132 are displaced by determining whether or not the amount of displacement of the movable operation units 131, 132 per unit time is less than a threshold. In this case, if the amount of displacement is equal to or greater than the threshold, it is determined that "displacement is present," and if it is less than the threshold, it is determined that "displacement is absent." If it is determined that the movable operation units 131, 132 are displaced (step S216: NO), the control unit 51a returns the process to step S211. If it is determined that the movable operation parts 131, 132 have not been displaced (step S216: YES), the control part 51a executes the same processes as steps S118 to S120 in the first embodiment (steps S217 to S219).

[0088] Specifically, the control unit 51a determines whether the external force is equal to or greater than a predetermined value (step S217). If it is determined that the external force is less than the predetermined value (step S217: NO), the control unit 51a returns the process to step S211.

[0089] If it is determined that the external force is equal to or greater than a predetermined value (step S217: YES), the control unit 51a determines whether the cancellation conditions of steps S215 to S217 have continued for a predetermined time (step S218). If it is determined that the duration of the cancellation conditions is less than the predetermined time (step S218: NO), the control unit 51a returns the process to step S211. If it is determined that the cancellation conditions have continued for the predetermined time (step S218: YES), the control unit 51a executes a load cancellation process to reduce the operation resistance force applied to the movable operation units 131 and 132 (step S219).

[0090] According to the load applying device 1, load applying method and control program P of the second embodiment, similarly to the first embodiment, it is possible to grasp the operation status of the movable operation units 131, 132 by the user and apply a load according to the status.

[0091] In the second embodiment, an example has been described in which whether or not the movable operation units 131, 132 are displaced by a user's operation is determined using the displacement detector 14a that detects the displacement of the movable operation units 131, 132 or the rotational positions of the movable operation units 131, 132, but a configuration may also be used in which the user's movements are identified by motion capture or a sensor attached to the human body to determine whether or not the movable operation units 131, 132 are displaced. Also, whether or not the movable operation units 131, 132 are displaced can be determined by providing an imaging device that images the movable operation units 131, 132 in real time and determining the changes in the movable operation units 131, 132 by image recognition.

[0092] Furthermore, the control unit 51a may be configured to determine the appropriateness of the operational resistance force to be applied to the movable operation units 131, 132 using a learning model that has been trained to output data indicating the appropriateness of the operational resistance force when displacement position data detected by the displacement detector 14a and external force data detected by the external force detector 14b are input. That is, the control unit 51a inputs the displacement position data and external force data acquired by the displacement detector 14a and the external force detector 14b into the learning model to determine the appropriateness of the operational resistance force, and if it is determined to be inappropriate, executes the load release process of step S219.

[0093] (Embodiment 3) The load application device 1 in the third embodiment differs from the first embodiment in that the load is adjusted according to the operation state of the user. Since the other configurations of the load application device 1 are the same as those of the load application device 1 according to the first embodiment, the same reference numerals are used for the same parts and detailed description will be omitted.

[0094] 12 is a block diagram showing a load applying device 1 according to embodiment 3. The storage unit 51b of the load applying device 1 according to embodiment 3 stores one load table T3 that is independent of the operation directions of the movable operation units 131, 132. The load table T3 stores the rotation positions of the movable operation units 131, 132 and the value of the current flowing through the coil 221 of the load applying unit 11 in association with each other.

[0095] 13 is a flowchart showing the processing procedure of load application control according to the third embodiment. The control unit 51a according to the third embodiment executes the same processes as steps S111 to S118 of the first embodiment except for step S116 (steps S311 to S317). Next, the control unit 51a determines whether the load update condition of steps S316 to S317 has continued for a predetermined time (step S318). Specifically, the control unit 51a determines that the load update condition exists when the external force applied to the movable operation units 131 and 132 is equal to or less than the immobility determination threshold calculated based on the value of the current flowing through the coil 221 of the load application unit 11 and the external force is equal to or greater than a predetermined value.

[0096] If the control unit 51a determines that the duration of the load update condition is less than the predetermined time (step S318: NO), the control unit 51a returns the process to step S311. If the control unit 51a determines that the load update condition has continued for the predetermined time (step S318: YES), the control unit 51a updates the load table T3 (step S319) and returns the process to step S311. That is, the control unit 51a changes the current value stored in the load table T3 to a smaller current value. For example, the control unit 51a multiplies the current value stored in the load table T3 by a coefficient less than 1 and replaces it with the current value obtained by the multiplication. By repeatedly executing the above series of processes, the current value stored in the load table T3 is gradually reduced. Note that a plurality of load tables T3 for applying different operational resistance forces may be stored in the storage unit 51b, and the control unit 51a may be configured to gradually switch from a load table T3 storing a large current value to a load table T3 storing a smaller current value.

[0097] The load application device 1, the load application method, and the control program P according to the third embodiment can grasp the operation status of the movable operation units 131, 132 by the user, and can automatically adjust the load according to the user's muscle strength, physical strength, and health condition. For example, even if the user is unable to exert force due to fatigue, an appropriate operation resistance force according to the fatigue state can be applied to the movable operation units 131, 132.

[0098] The technical configuration of embodiment 3 may be applied to embodiment 1 or embodiment 2. For example, in step S116 of embodiment 1, when it is determined that the direction of the external force applied to the movable operation units 131, 132 is the second direction (step S116: NO), the control unit 51a decreases the operation resistance force when the external force applied to the movable operation units 131, 132 is excessively large, and / or increases the operation resistance force when the external force applied to the movable operation units 131, 132 is small. Similarly, in step S215 of embodiment 2, if it is determined that the direction of the external force applied to the movable operating units 131, 132 is the second direction (step S215: NO), the control unit 51a reduces the operating resistance force when the external force applied to the movable operating units 131, 132 is excessively large, and / or increases the operating resistance force when the external force applied to the movable operating units 131, 132 is small.

[0099] (Embodiment 4) The load applying device 1 in the fourth embodiment differs from the fourth embodiment in that the user's operation state is determined based on the external force applied to the movable operating units 131, 132 and the displacement of the movable operating units 131, 132. Since the other configurations of the load applying device 1 are the same as those of the load applying device 1 according to the third embodiment, the same reference numerals are used for the same parts and detailed description will be omitted.

[0100] 14 is a flowchart showing the procedure of load application control according to the fourth embodiment. As in steps S311 to S314 of the third embodiment, the control unit 51a detects the rotational positions of the movable operation units 131 and 132 and the magnitude and direction of the external force applied to the movable operation units 131 and 132, and executes a process of applying an operation resistance force to the movable operation units 131 and 132 according to the rotational positions of the movable operation units 131 and 132 (steps S411 to S414). Next, the control unit 51a determines whether the movable operation units 131 and 132 have been displaced based on the result of detecting the rotational positions of the movable operation units 131 and 132 using the displacement detector 14a (step S415). If it is determined that the movable operation units 131 and 132 have been displaced (step S415: NO), the control unit 51a returns the process to step S411. If it is determined that the movable operation parts 131, 132 have not been displaced (step S415: YES), the control part 51a executes the same processes as steps S317 to S318 in the third embodiment (steps S416 to S417).

[0101] Specifically, the control unit 51a determines whether the external force is equal to or greater than a predetermined value (step S416). If it is determined that the external force is less than the predetermined value (step S416: NO), the control unit 51a returns the process to step S411.

[0102] If it is determined that the external force is equal to or greater than the predetermined value (step S416: YES), the control unit 51a determines whether the load update conditions of steps S415 to S416 have continued for a predetermined time (step S417). If it is determined that the load update conditions have continued for less than the predetermined time (step S417: NO), the control unit 51a returns the process to step S411. If it is determined that the load update conditions have continued for the predetermined time (step S417: YES), the control unit 51a updates the load table T3 so as to reduce the operation resistance force applied to the movable operation units 131 and 132 (step S418).

[0103] According to the load application device 1, load application method and control program P of embodiment 4, as in embodiment 3, the operation status of the movable operating parts 131, 132 by the user can be grasped and the load can be automatically adjusted according to the user's muscle strength, physical strength and health condition.

[0104] Furthermore, similarly to the third embodiment, the control unit 51a may be configured to determine whether the operational resistance force is appropriate using a learning model, and if it is determined to be inappropriate, to execute the load update process of step S418.

[0105] In the third and fourth embodiments, the process of reducing the operation resistance force when the operation resistance force is excessive has been described. However, the operation resistance force may be increased when the operation resistance force is too small. For example, if the moving speed or acceleration of the movable operation units 131, 132 in the direction in which the external force is applied is equal to or greater than a predetermined value, the control unit 51a may determine that the operation resistance force is too small and increase the operation resistance force (the value of the current flowing through the coil 221). The moving speed and acceleration are calculated by the control unit 51a based on the detection results of the displacement detector 13a. After the load application device 1 starts operating, the operation resistance force (the value of the current flowing through the coil 221) may be gradually increased until the user is no longer able to move the movable operation units 131, 132. The current value at which the user is no longer able to move the movable operation units 131, 132 may be used as a reference, and the operation resistance force may be applied to the movable operation units 131, 132 using a current value smaller than this.

[0106] The technical configuration of embodiment 4 may be applied to embodiment 1 or embodiment 2. For example, in step S116 of embodiment 1, when it is determined that the direction of the external force applied to the movable operation units 131, 132 is the second direction (step S116: NO), the control unit 51a decreases the operation resistance force when the external force applied to the movable operation units 131, 132 is excessively large, and / or increases the operation resistance force when the external force applied to the movable operation units 131, 132 is small. Similarly, in step S215 of embodiment 2, if it is determined that the direction of the external force applied to the movable operating units 131, 132 is the second direction (step S215: NO), the control unit 51a reduces the operating resistance force when the external force applied to the movable operating units 131, 132 is excessively large, and / or increases the operating resistance force when the external force applied to the movable operating units 131, 132 is small.

[0107] The present invention can also be applied to the control of loads on fitness bikes, cross trainers, abdominal crunch machines, rowing machines, chest press machines and other training and rehabilitation devices, as well as on full-body gaming machines.

[0108] The means for solving the problems of the present disclosure are described below. (Appendix 1) a movable operating unit that is displaced by an external force; a load applying unit that has a functional fluid whose properties change in response to an applied electric field or magnetic field, and applies an operation resistance force to the movable operation unit in accordance with the properties of the functional fluid; an external force detector that detects an external force applied to the movable operation unit; Control unit and Equipped with The control unit Identifying an operation state of the movable operation unit by a user based on at least the external force detected by the external force detector; The magnitude of the operation resistance force applied to the movable operation unit is changed according to the identified operation situation. Load application device. (Appendix 2) The control unit The magnitude of the operation resistance force is changed in accordance with the magnitude and / or direction of the external force detected by the external force detector. 2. The load-applying device of claim 1. (Appendix 3) The control unit It is determined whether the movable operation unit has been displaced, and the magnitude of the operation resistance force is changed based on the determination result. 10. The load-applying device according to claim 1 or 2. (Appendix 4) The control unit It is determined whether the external force detected by the external force detector is caused by the user, and if it is caused by the user, the magnitude of the operation resistance force is changed, and if it is not caused by the user, the magnitude of the operation resistance force is not changed. 4. The load-applying device according to any one of claims 1 to 3. (Appendix 5) a displacement detector for detecting a displacement of the movable operation part, the movable operation unit is displaceable in at least a first direction and a second direction, and the external force detector is configured to detect a direction of an external force applied to the movable operation unit; The control unit When an external force in a first direction is applied to the movable operation unit, the magnitude of the external force detected by the external force detector is equal to or greater than a predetermined value, and no displacement of the movable operation unit is detected, a smaller operation resistance force is applied to the movable operation unit compared to when an external force in a second direction is applied to the movable operation unit. 5. The load-applying device according to any one of claims 1 to 4. [Explanation of symbols]

[0109] 1: Load application device 5: Control device 11: Load applying section 13: Movable operating part 14: Detector 14a: Displacement detector 14b: External force detector 51a: control unit 51b: Storage section 221: Coil 300: Magnetorheological fluid M: Recording medium M1: First load module M2: Second load module M3: Third load module M4: Fourth load module P: Control program T1: First load table T2: Second load table T3: Load Table

Claims

1. a movable operating unit that is displaced by an external force; a load applying unit that has a functional fluid whose properties change in response to an applied electric field or magnetic field, and applies an operation resistance force to the movable operation unit in accordance with the properties of the functional fluid; an external force detector that detects an external force applied to the movable operation unit; Control unit and Equipped with The control unit Identifying an operation state of the movable operation unit by a user based on at least the external force detected by the external force detector; The magnitude of the operation resistance force applied to the movable operation unit is changed according to the identified operation situation. Load application device.

2. The control unit The magnitude of the operation resistance force is changed in accordance with the magnitude and / or direction of the external force detected by the external force detector. The load-applying device according to claim 1 .

3. The control unit It is determined whether the movable operation unit has been displaced, and the magnitude of the operation resistance force is changed based on the determination result. The load-applying device according to claim 2 .

4. The control unit It is determined whether the external force detected by the external force detector is caused by the user, and if it is caused by the user, the magnitude of the operation resistance force is changed, and if it is not caused by the user, the magnitude of the operation resistance force is not changed. The load-applying device according to claim 3 .

5. a displacement detector for detecting a displacement of the movable operation part, the movable operation unit is displaceable in at least a first direction and a second direction, and the external force detector is configured to detect a direction of an external force applied to the movable operation unit; The control unit When an external force in a first direction is applied to the movable operation unit, the magnitude of the external force detected by the external force detector is equal to or greater than a predetermined value, and no displacement of the movable operation unit is detected, a smaller operation resistance force is applied to the movable operation unit compared to when an external force in a second direction is applied to the movable operation unit. The load-applying device according to claim 3 .

6. A load applying method for applying an operation resistance force to a movable operating part that is displaced by an external force, comprising: applying an operation resistance force to the movable operation unit using a functional fluid whose properties change in response to an applied electric field or magnetic field; Detecting an external force applied to the movable operation unit; Identifying an operation state of the movable operation unit by a user based on the detected external force; The magnitude of the operation resistance force applied to the movable operation unit is changed according to the identified operation situation. Load application method.

7. A load applying device that applies an operation resistance force to a movable operating part that is displaced by an external force using a functional fluid whose properties change in response to an applied electric field or magnetic field, acquiring detection data from an external force detector that detects an external force applied to the movable operation unit; Identifying an operation status of the movable operation unit by the user based on the acquired detection data; The magnitude of the operation resistance force applied to the movable operation unit is changed according to the identified operation situation. A control program for executing processing.

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