Auxiliary Systems

Abstract

To provide an assist system capable of assisting rotational movement of the lower back. [Solution] The assistance system 1 includes a sensor 10, an upper anchor 11, a lower anchor 12, an actuator 13, and a controller 15. The sensor 10 detects a backswing motion of a subject. The upper anchor 11 is attached to a first body part above the subject's biceps femoris, one of the subject's left and right biceps femoris. The lower anchor is attached to a second body part below the subject's biceps femoris. The actuator is connected to the upper anchor and the lower anchor, and is positioned so as to be aligned at least with the subject's biceps femoris. The controller starts contraction of the actuator after a predetermined time has elapsed from a first timing at which the sensor detects a backswing motion.

Description

[Technical Field]

[0001] The present disclosure relates to an auxiliary system. [Background technology]

[0002] Assist devices worn on the body to assist the movement of body parts have been developed. For example, Japanese Patent Application Laid-Open No. 2017-46754 (Patent Document 1) discloses a physical assist device equipped with a McKibben actuator for assisting walking and other movements. Japanese Patent Application Laid-Open No. 2008-132153 (Patent Document 2) discloses a device for restoring and assisting the function of the tibialis anterior muscle. International Publication No. 2011 / 036906 (Patent Document 3) discloses a lower back assist device that assists a user's forward bending movement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-46754 [Patent Document 2] Japanese Patent Application Laid-Open No. 2008-132153 [Patent Document 3] International Publication No. 2011 / 036906 [Non-patent literature]

[0004] [Non-Patent Document 1] Jeffrey R. Bechler, Frank W. Jobe, Marilyn M. Pink, Jacquelin Perry, and Patrick A. Ruwe, “Electromyographic analysis of the hip and knee during the golf swing” Clinical Journal of Sport Medicine, Vol. 5, p.162-166, 1995 Summary of the Invention [Problem to be solved by the invention]

[0005] Sports such as golf, baseball, tennis, and table tennis involve rotational movement of the waist. The rotational movement of the waist is one of the factors that determine swing speed. Therefore, a system that assists the rotational movement of the waist is desired. The devices disclosed in Patent Documents 1 to 3 do not assist the rotational movement of the waist.

[0006] The present disclosure has been made in view of the above circumstances, and its purpose is to provide an assist system capable of assisting the rotational movement of the lower back. [Means for solving the problem]

[0007] An assistance system according to one aspect of the present disclosure includes a sensor, an upper anchor, a lower anchor, an actuator, and a controller. The sensor detects a backswing motion of a subject. The upper anchor is attached to a first body part above one of the subject's left and right biceps femoris. The lower anchor is attached to a second body part below the subject's biceps femoris. The actuator is connected to the upper anchor and the lower anchor and is positioned along at least the subject's biceps femoris. The controller starts contraction of the actuator after a predetermined time has elapsed from a first timing at which the sensor detects the backswing motion. [Effects of the Invention]

[0008] The assist system according to the present disclosure can assist with rotational movement of the lower back. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of an auxiliary system according to an embodiment. [Figure 2] FIG. 2 is a front view showing an example of the configuration of an actuator. [Figure 3] FIG. 10 is a diagram illustrating an example of the relationship between the contraction rate and contractile force of an artificial muscle. [Figure 4] FIG. 10 shows an example of an upper anchor. [Figure 5] FIG. 10 illustrates an example of a lower anchor. [Figure 6] FIG. 1 is a rear view showing a subject fitted with an upper anchor, a lower anchor, and an actuator. [Figure 7] FIG. 1 is a side view showing a subject fitted with an upper anchor, a lower anchor, and an actuator. [Figure 8] FIG. 1 is a front view showing a subject fitted with an upper anchor, a lower anchor, and an actuator. [Figure 9] FIG. 10 is a diagram illustrating an example of sensor installation. [Figure 10] FIG. 10 is a diagram showing the transition of estimated muscle strength of the right gluteus maximus and right biceps femoris during a golf swing. [Figure 11] FIG. 10 is a diagram showing the transition of estimated muscle strength of the left gluteus maximus, left biceps femoris, and left vastus lateralis during a golf swing. [Figure 12] FIG. 10 is a diagram illustrating an example of a control method of the controller. [Figure 13] FIG. 10 is a diagram showing an example of the transition in length of an artificial muscle during a swing motion. [Figure 14] FIG. 10 is a diagram showing changes in the hip joint valgus-eversion angular velocity of each of the left and right hip joints during a swing motion of a subject. [Figure 15] FIG. 10 is a diagram showing changes in the angular velocity of internal and external hip joint rotation in the swing motion of a subject. [Figure 16] FIG. 10 is a diagram showing measurement results of head speed in a golf swing of a subject. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to the accompanying drawings, in which the same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

[0011] <System configuration> Fig. 1 is a diagram showing a schematic configuration of an assist system according to an embodiment. The assist system 1 shown in Fig. 1 is installed, for example, at a practice field for a sport involving rotational movement of the waist. Typically, the assist system 1 is installed at a golf lesson facility and used by users. Users include not only subjects who play sports but also their instructors.

[0012] As shown in FIG. 1, the support system 1 according to the embodiment includes a sensor 10, an upper anchor 11, a lower anchor 12R for the right leg, a lower anchor 12L for the left leg, an actuator 13R for the right leg, an actuator 13L for the left leg, valves 14R and 14L, a controller 15, a user interface 16, and a reset switch 17.

[0013] The sensor 10 detects the subject's backswing. The backswing is a movement in ball games or throwing sports in which the upper limbs or sports equipment are swung backward to gain momentum and increase hitting or throwing power. Ball games include, for example, golf, baseball, tennis, table tennis, etc. Sports equipment includes, for example, a golf club, a bat, a racket, etc.

[0014] The upper anchor 11 is attached to a first body part above the subject's left or right biceps femoris. The first body part includes, for example, the lower back around the pelvis.

[0015] Each of the right leg lower anchor 12R and the left leg lower anchor 12L is attached to a second body part below the biceps femoris of the subject, such as the lower leg and the foot (including the sole).

[0016] The right leg actuator 13R is connected to the upper anchor 11 and the right leg lower anchor 12R and is arranged along the gluteus maximus, biceps femoris, vastus lateralis, and tensor fasciae latae of the right leg. The left leg actuator 13L is connected to the upper anchor 11 and the left leg lower anchor 12L and is arranged along the gluteus maximus, biceps femoris, vastus lateralis, and tensor fasciae latae of the left leg. Each of the right leg actuator 13R and the left leg actuator 13L assists the function of the biceps femoris and the surrounding muscles by contracting. The surrounding muscles of the biceps femoris include the gluteus maximus, vastus lateralis, and tensor fasciae latae.

[0017] The right leg actuator 13R and the left leg actuator 13L include, for example, pneumatic artificial muscles that contract when supplied with air. Pneumatic artificial muscles are typically McKibben artificial muscles. In the following description, it is assumed that the right leg actuator 13R and the left leg actuator 13L include pneumatic artificial muscles. However, the right leg actuator 13R and the left leg actuator 13L may also include piezoelectric or electrostatic artificial muscles instead of pneumatic artificial muscles.

[0018] The valves 14R and 14L are, for example, solenoid valves. The valve 14R is provided in a pipe between an air tank (not shown) and the right leg actuator 13R. The valve 14L is provided in a pipe between an air tank (not shown) and the left leg actuator 13L. The air tank stores compressed air.

[0019] The controller 15 is, for example, a programmable logic controller (PLC). The controller 15 controls the opening and closing of the valves 14R and 14L, thereby controlling the contraction of the right leg actuator 13R and the left leg actuator 13L. The controller 15 controls the opening and closing of the valves 14R and 14L in accordance with a pre-created program and pre-set operating parameters. Details of the control by the controller 15 will be described later.

[0020] The user interface 16 is, for example, a touch panel, and presents information to the user and accepts input operations from the user. Specifically, the user interface 16 is used to set operation parameters that determine the control content of the controller 15.

[0021] The reset switch 17 is used to stop the control of the valves 14R, 14L by the controller 15. When pressed, the reset switch 17 outputs a stop signal to the controller 15. When the controller 15 receives the stop signal from the reset switch 17, it maintains the valves 14R, 14L in a closed state. If the user does not want the right leg actuator 13R and the left leg actuator 13L to contract, the user can simply press the reset switch 17.

[0022] Hereinafter, when there is no particular distinction between the right leg lower anchor 12R and the left leg lower anchor 12L, each of the right leg lower anchor 12R and the left leg lower anchor 12L will be referred to as the "lower anchor 12." When there is no particular distinction between the right leg actuator 13R and the left leg actuator 13L, each of the right leg actuator 13R and the left leg actuator 13L will be referred to as the "actuator 13." When there is no particular distinction between the valves 14R, 14L, each of the valves 14R, 14L will be referred to as the "valve 14."

[0023] <Actuator configuration> Fig. 2 is a front view showing an example of the configuration of an actuator. As shown in Fig. 2, the actuator 13 includes multiple artificial muscles 131, binding parts 132 and 133, strip-shaped members 134 and 136, connecting members 135 and 137, and an air tube 138. In the example shown in Fig. 2, the actuator 13 includes four artificial muscles 131. However, the number of artificial muscles 131 included in the actuator 13 is not limited to four. The number of artificial muscles 131 may be different on the left and right sides.

[0024] The artificial muscle 131 is a McKinven type. The artificial muscle 131 includes an inner tube that expands when pressurized, and an outer sleeve that covers the outer surface of the inner tube and restricts the expansion of the inner tube. When compressed air is injected into the inner tube, the inner tube expands and contracts in the longitudinal direction. The artificial muscle 131 has an outer diameter of, for example, 100 mm, and a natural length of, for example, 210 mm. However, the outer diameter and length of the artificial muscle 131 are not limited to these. The outer diameter and length of the left and right artificial muscles 131 may be different.

[0025] FIG. 3 is a diagram showing an example of the relationship between the contraction rate and contraction force of an artificial muscle. FIG. 3 shows a graph that represents the force (contraction force) measured in a tensile test in which the muscle is stretched from a contracted state to its natural length and then returned to the contracted state. In the graph, the horizontal axis represents the contraction rate, and the vertical axis represents the contraction force. FIG. 3 shows the relationship between the contraction rate and contraction force of an artificial muscle 131 that has a maximum contraction rate of 16.7% and a maximum contraction force of 54.5 N. Note that the final contraction rate and maximum contraction force depend on the material of the artificial muscle 131, the dimensions of the artificial muscle 131, the pressure of the compressed air supplied, and so forth. Therefore, the material of the artificial muscle 131, the dimensions of the artificial muscle 131, the pressure of the compressed air supplied, and so forth can be adjusted separately for the left and right sides as appropriate according to the required final contraction rate and maximum contraction force.

[0026] The air tube 138 has an end that communicates with the artificial muscle 131 and an end that communicates with the valve 14. By controlling the valve 14 to be in an open state, compressed air is supplied to the artificial muscle 131 via the air tube 138.

[0027] One end of each of the multiple artificial muscles 131 is detachably connected to a binding part 132. The other end of each of the multiple artificial muscles 131 is detachably connected to a binding part 133.

[0028] The force applied between the binding parts 132 and 133 when compressed air is supplied to the artificial muscle 131 is the sum of the contraction forces of the artificial muscles 131 connected to the binding parts 132 and 133. Therefore, the user can change the number of artificial muscles 131 connected to the binding parts 132 and 133 as appropriate, depending on the muscle strength, skill, etc. of the subject. This allows the user to easily change the force applied between the binding parts 132 and 133 when compressed air is supplied to the artificial muscle 131, depending on the muscle strength, skill, etc. of the subject.

[0029] The thicker the artificial muscle 131, the greater the contractile force of the artificial muscle 131. Furthermore, the longer the artificial muscle 131, the longer the time period over which the artificial muscle 131 generates a contractile force. Therefore, the user may change the length or thickness of the artificial muscle 131 connected to the binding parts 132, 133 as appropriate, depending on the height, muscle strength, skill, and so forth of the subject. In other words, the user only needs to connect to the binding parts 132, 133 artificial muscles 131 having a length and thickness that suit the height, muscle strength, and skill of the subject.

[0030] Belt-shaped member 134 connects connecting member 135 and binding part 132. Belt-shaped member 136 connects connecting member 137 and binding part 133. The lengths of belt-shaped members 134 and 136 can be adjusted according to the height of the subject.

[0031] The connecting members 135 and 137 are, for example, female buckles that form a side release buckle. The connecting member 135 is used for connecting to the upper anchor 11. The connecting member 137 is used for connecting to the lower anchor 12.

[0032] <Upper anchor configuration> Fig. 4 is a diagram showing an example of an upper anchor. The upper anchor 11 is wrapped around the waist of a subject 2. As shown in Fig. 4, the upper anchor 11 includes a belt main body 111, connecting members 112R and 112L, and belt-shaped members 113R and 113L.

[0033] The belt body 111 is made of a material such as polyester or nylon. The belt body 111 is wrapped around the pelvis of the subject 2 and secured to the waist of the subject 2 using a hook-and-loop fastener. FIG. 4 shows the outer circumferential surface of the belt body 111. A hook-and-loop fastener hook portion 20 is attached to the inner circumferential surface near the right end of the belt body 111. A hook-and-loop fastener loop portion 21L is attached to the outer circumferential surface near the left end of the belt body 111. When the belt body 111 is wrapped around the pelvis of the subject 2, the hook portion 20 engages with the loop portion 21L. The pelvis is the part of the body that is most receptive to tightening force. Therefore, the belt body 111 is secured more securely to the waist of the subject 2.

[0034] The belt-shaped member 113R connects the belt main body 111 and the connecting member 112R. Specifically, one end of the belt-shaped member 113R is sewn to the belt main body 111. The other end of the belt-shaped member 113R supports the connecting member 112R. The belt-shaped member 113R extends from the belt main body 111 at an angle in a lower right direction. The length of the belt-shaped member 113R can be adjusted according to the height of the subject.

[0035] Similarly, the belt-shaped member 113L connects the belt main body 111 and the connecting member 112L. Specifically, one end of the belt-shaped member 113L is sewn to the belt main body 111. The other end of the belt-shaped member 113L supports the connecting member 112L. The belt-shaped member 113L extends from the belt main body 111 at an angle downward and to the left. The length of the belt-shaped member 113L is adjustable according to the height of the subject.

[0036] The connecting members 112R and 112L are, for example, male buckles that constitute a side release buckle. The connecting member 112R is used to connect to the connecting member 135 of the right leg actuator 13R. The connecting member 112L is used to connect to the connecting member 135 of the left leg actuator 13L.

[0037] The belt body 111 has a structure that allows the distance between the connecting members 112R and 112L to be adjusted to suit the physique of the subject. Specifically, the belt body 111 includes a right part 111R and a left part 111L.

[0038] The right part 111R includes a strip-shaped member 114R, a strip-shaped member 115R extending leftward from the upper half of the left end of the strip-shaped member 114R, and a strip-shaped member 116R having one end sewn near the center of the strip-shaped member 114R. A square ring 117R is attached to the lower half of the left end of the strip-shaped member 114R. The square ring 117R is also called a "square ring." However, the material of the square ring 117R is not limited to metal and may be plastic.

[0039] The left part 111L includes a strip-shaped member 114L, a strip-shaped member 115L extending rightward from the lower half of the right end of the strip-shaped member 114L, and a strip-shaped member 116L having one end sewn near the center of the strip-shaped member 115L. A square ring 117L is attached to the upper half of the right end of the strip-shaped member 114L. The square ring 117L is also called a "square ring." However, the material of the square ring 117L is not limited to metal and may be plastic.

[0040] The above-mentioned hook portion 20 is attached to the inner peripheral surface near the right end of the belt-shaped member 114R. A hook-and-loop portion 21R is attached to the outer peripheral surface of the belt-shaped member 114R, to the right of the location where the belt-shaped member 116R is sewn. The above-mentioned loop portion 21L is attached to the outer peripheral surface of the belt-shaped member 114L, to the left of the location where the belt-shaped member 116L is sewn.

[0041] The above-mentioned connecting member 112R is attached to the strip-shaped member 114R via the strip-shaped member 113R. The connecting member 112L is attached to the strip-shaped member 114L via the strip-shaped member 113L.

[0042] The belt-shaped member 115R is threaded through a square ring 117L. An adjuster 118R is attached to the end of the belt-shaped member 115R, through which the belt-shaped member 116R is threaded. Similarly, the belt-shaped member 115L is threaded through a square ring 117R. An adjuster 118L is attached to the end of the belt-shaped member 115L, through which the belt-shaped member 116L is threaded. The adjusters 118R and 118L are so-called movable rings, and are also called belt sliders. However, the material of the adjusters 118R and 118L is not limited to metal and may be plastic.

[0043] The belt-shaped member 116R is threaded through the adjuster 118R. A hook portion 22R of a hook-and-loop fastener is attached near the other end of the belt-shaped member 116R (the end opposite to the end sewn near the center of the belt-shaped member 114R). The hook portion 22R is engaged with the loop portion 21R.

[0044] The belt-shaped member 116L is threaded through the adjuster 118L. A hook portion 22L of a hook-and-loop fastener is attached near the other end of the belt-shaped member 116L (the end opposite to the end sewn near the center of the belt-shaped member 114L). The hook portion 22L engages with the loop portion 21L.

[0045] The position at which the band-shaped member 115R penetrates the angular ring 117L changes depending on the position of the adjuster 118R on the band-shaped member 116R and the engagement position between the hook portion 22R and the loop portion 21R. Similarly, the position at which the band-shaped member 115L penetrates the angular ring 117R changes depending on the position of the adjuster 118L on the band-shaped member 116L and the engagement position between the hook portion 22L and the loop portion 21L. As a result, the distance between the connecting member 112R and the connecting member 112L changes. Therefore, the user can adjust the distance between the connecting members 112R and 112L to suit the user's physique by adjusting the positions of the adjusters 118R and 118L on the band-shaped members 116R and 116L and the engagement positions between the hook portions 22R and 22L and the loop portions 21R and 21L.

[0046] <Bottom anchor configuration> Fig. 5 is a diagram showing an example of a lower anchor. Fig. 5 shows a lower anchor 12R for a right leg. The shape of the lower anchor 12L for a left leg is bilaterally symmetrical to the shape of the lower anchor 12R for a right leg. As shown in Fig. 5, the lower anchor 12 includes an insole 121, a belt-shaped member 122, and a connecting member 123.

[0047] The insole 121 has a shape corresponding to the sole of the target lower leg including the biceps femoris. In the example shown in Fig. 5, the insole 121 has a shape corresponding to the sole of the right foot.

[0048] The strip-shaped member 122 has one end connected to the outside of the heel region of the insole and the other end connected to the connecting member 123. The length of the strip-shaped member 122 is adjustable according to the height of the subject.

[0049] The connecting member 123 is connected to the lower end of the actuator 13. The connecting member 123 is, for example, a male buckle that constitutes a side release buckle, and is used for connection with a connecting member 137 included in the actuator 13.

[0050] <How to attach the anchor and actuator> A method of attaching the upper anchor 11, the lower anchor 12, and the actuator 13 to a subject will be described with reference to Figures 6 to 8. Figure 6 is a rear view showing a subject to which the upper anchor, the lower anchor, and the actuator are attached. Figure 7 is a side view showing a subject to which the upper anchor, the lower anchor, and the actuator are attached. Figure 8 is a front view showing a subject to which the upper anchor, the lower anchor, and the actuator are attached.

[0051] 6 to 8, the belt body 111 of the upper anchor 11 is wrapped around the pelvis and fixed to the waist of the subject 2. The user adjusts the distance between the connecting members 112R and 112L so that the connecting members 112R and 112L face the upper parts of the right and left gluteus maximus muscles of the subject 2, respectively.

[0052] As described above, the strip-shaped member 113R extends from the belt main body 111 at an angle to the lower right. Therefore, the strip-shaped member 113R is approximately parallel to the muscle fibers of the right gluteus maximus. On the other hand, the strip-shaped member 113L extends from the belt main body 111 at an angle to the lower left. Therefore, the strip-shaped member 113L is approximately parallel to the muscle fibers of the left gluteus maximus.

[0053] The connecting member 112R is connected to the connecting member 135 of the right leg actuator 13R. Because the belt-shaped member 113R extends obliquely in a downward right direction from the belt main body 111, the right leg actuator 13R connected to the connecting member 112R is positioned along the right femoral biceps of the subject 2. In other words, the artificial muscle 131 of the right leg actuator 13R is approximately parallel to the muscle fibers of the right femoral biceps.

[0054] The connecting member 112L is connected to the connecting member 135 of the left leg actuator 13L. Because the belt-shaped member 113L extends obliquely downward and left from the belt main body 111, the left leg actuator 13L connected to the connecting member 112L is disposed along the left biceps femoris of the subject 2. In other words, the artificial muscle 131 of the left leg actuator 13L is approximately parallel to the muscle fibers of the left biceps femoris.

[0055] The insole 121 of the lower anchor for right leg 12R is placed in the right shoe. The insole 121 of the lower anchor for left leg 12L is placed in the left shoe. When the subject 2 puts on the shoes, the insole 121 is fixed to the sole of the subject 2's foot.

[0056] The belt-shaped member 122 of the lower anchor 12 is wound spirally around the front surface of the lower leg of the subject 2. The connecting member 123 of the lower anchor 12 is connected to the connecting member 137 of the actuator 13 on the outside of the upper part of the lower leg of the subject 2.

[0057] When compressed air is supplied from the air tube 138 and the actuator 13 contracts, a contraction force is applied to the upper anchor 11 and the lower anchor 12. The upper anchor 11 is wrapped around the pelvis, which is the part of the body that has a high receptivity to tightening forces. Therefore, displacement of the upper anchor 11 due to the contraction force of the actuator 13 is suppressed. Furthermore, even when the contraction force of the actuator 13 is applied to the upper anchor 11, the impact of the upper anchor 11 on the skin in the lower back is small.

[0058] The insole 121 of the lower anchor 12 is sandwiched between the subject 2 and the shoe. Therefore, displacement of the lower anchor 12 due to the contraction force of the actuator 13 is suppressed. In addition, the sole of the foot is receptive to force. Therefore, even if the contraction force of the actuator 13 is applied to the lower anchor 12, the impact of stress on the skin of the sole due to the insole 121 is small. Furthermore, because the strip-shaped member 122 of the lower anchor 12 is spirally wrapped around the front of the lower leg, the impact of stress on the skin on the front of the lower leg is also small.

[0059] It is preferable that the lengths of the belt-shaped members 113R, 113L, 122, 134, and 136 are adjusted so that the actuator 13 is slightly stretched longer than its natural length when attached to the subject 2. This allows the actuator 13 to generate a greater contractile force.

[0060] <Sensor installation example> The sensor 10 includes, for example, a photoelectric sensor, a laser sensor, a proximity sensor, or a displacement sensor, and detects the presence or absence of an object in a detection target area. The sensor 10 is installed so that the upper limbs of the subject 2 or the sports equipment held by the subject 2 pass through the detection target area during a backswing. The sensor 10 outputs an ON signal when an object is present in the detection target area, and outputs an OFF signal when an object is not present in the detection target area. The ON signal indicates that a backswing is being performed. The OFF signal indicates that a backswing is not being performed.

[0061] Fig. 9 is a diagram showing an example of sensor installation. The sensor 10 shown in Fig. 9 is a photoelectric sensor and includes a light projector 10a and a light receiver 10b. The light receiver 10b is installed facing the light projector 10a. When an object is present on the optical path from the light projector 10a, the amount of light received by the light receiver 10b changes. Therefore, the sensor 10 detects the presence or absence of an object in the detection target area, which is the optical path from the light projector 10a, based on the amount of light received by the light receiver 10b.

[0062] As shown in FIG. 9, the light projector 10a and the light receiver 10b are installed so that the upper limbs of the subject 2 or the exercise equipment 3 held by the subject 2 pass through the light path from the light projector 10a during the backswing. If the subject 2 is a right-handed hitter, the backswing is performed toward the rear right side. Therefore, the light projector 10a and the light receiver 10b are installed on the right side of the subject 2. On the other hand, if the subject 2 is a left-handed hitter, the backswing is performed toward the rear left side. Therefore, the light projector 10a and the light receiver 10b are installed on the left side of the subject 2. This allows the sensor 10 to detect the backswing of the subject 2.

[0063] If projector 10a and receiver 10b are installed so that a thin shaft such as a golf club passes through the detection target area, the detection accuracy of the backswing motion may decrease. Therefore, when exercise equipment 3 is a golf club, projector 10a and receiver 10b are preferably installed so that the upper limbs of subject 2 pass through the detection target area.

[0064] <Valve control method using a controller> A golf swing is divided into four phases: backswing, forward swing, acceleration, and follow-through. The backswing is the period from the start of the swing until the club reaches the top. The forward swing is the period from the top of the club until it is level with the ground. The acceleration period is the period from the club is level with the ground until it hits the ball. The follow-through period is the period from the club hits the ball until the end of the swing.

[0065] Jeffrey R. Bechler, Frank W. Jobe, Marilyn M. Pink, Jacquelin Perry, and Patrick A. Ruwe, "Electromyographic analysis of the hip and knee during the golf swing," Clinical Journal of Sports Medicine, Vol. 5, pp. 162-166, 1995 (Non-Patent Document 1), discloses the transition of muscle strength exerted by each muscle during a golf swing. Specifically, Non-Patent Document 1 discloses that during the forward swing phase, in a right-handed hit, the right gluteus maximus, gluteus medius, biceps femoris, and semimembranosus push the right hip joint forward, initiating pelvic rotation. Non-Patent Document 1 also discloses that during the acceleration phase, the left gluteus maximus assists pelvic rotation, and the left biceps femoris fixes the knee position, thereby transmitting power from the pelvic rotation to the trunk and arms.

[0066] Fig. 10 shows the transition of estimated muscle strength of the right gluteus maximus and right biceps femoris during a golf swing. Fig. 11 shows the transition of estimated muscle strength of the left gluteus maximus, left biceps femoris, and left vastus lateralis during a golf swing. In the graphs shown in Figs. 10 and 11, the horizontal axis represents time, and the vertical axis represents estimated muscle strength. The time when the club hits the ball is set to 0.

[0067] The graphs in Figures 10 and 11 show the results obtained by performing a musculoskeletal simulation of the swing of one experienced right-handed golfer. The musculoskeletal simulation calculates the estimated muscle force of each muscle by performing an inverse dynamics analysis of the movement of markers placed all over the body of the subject performing the swing.

[0068] As shown in Figure 10, the estimated muscle forces of the right gluteus maximus and right biceps femoris are greatest during the forward swing phase. As shown in Figure 11, the estimated muscle forces of the left biceps femoris rise sharply during the acceleration phase. The estimated muscle forces of these muscles promote rotation of the hips.

[0069] Taking into consideration the transition of the estimated muscle strength of each muscle, the controller 15 controls the actuator 13 arranged along one of the left and right biceps femoris muscles on the side of the backswing motion to exert a contraction force during the forward swing phase. For example, if the subject 2 is a right-handed hitter, the controller 15 controls the right leg actuator 13R to exert a contraction force during the forward swing phase. This allows the assistance system 1 to assist the rotational movement of the subject's waist.

[0070] Furthermore, the controller 15 controls the actuator 13 arranged along the other of the left and right biceps femoris to exert a contraction force during the acceleration phase. For example, if the subject 2 is a right-handed batter, the controller 15 controls the left leg actuator 13L to exert a contraction force during the acceleration phase. This allows the assistance system 1 to assist the rotational movement of the subject's waist.

[0071] FIG. 12 is a diagram showing an example of a control method of the controller. FIG. 12 shows a control method when the subject is a right-handed hitter. The controller 15 determines whether the sensor 10 has detected a backswing motion based on the output signal from the sensor 10. Specifically, the controller 15 recognizes the timing t1 at which the output signal from the sensor 10 changes from an OFF state to an ON state as the timing at which the sensor 10 has detected a backswing motion. The timing t1 is an example of the "first timing" of the present disclosure.

[0072] The controller 15 controls the valve 14R to an open state at time t2, which is a predetermined time T1 after time t1. This starts the supply of compressed air to the right leg actuator 13R, and the right leg actuator 13R starts contracting. Time T1 is an example of the "first specified time" in the present disclosure. Time t2 is an example of the "second timing" in the present disclosure.

[0073] The controller 15 controls the valve 14L to an open state at timing t3, which is a predetermined time T2 after timing t2. This starts the supply of compressed air to the left leg actuator 13L, and the left leg actuator 13L starts contracting. Note that timing t3 is also referred to as the timing when a predetermined time (T1+T2) has elapsed since timing t1. Time T2 is an example of the "second specified time" in the present disclosure. Timing t3 is an example of the "third timing" in the present disclosure.

[0074] Furthermore, at timing t4, which is the time Ts after timing t3, the controller 15 controls the valves 14R and 14L to the closed state.

[0075] If the target player is a left-handed batter, the controller 15 controls the valve 14L to be in an open state at timing t2, and controls the valve 14R to be in an open state at timing t3.

[0076] The times T1, T2, and Ts are set by the user. That is, the user interface 16 displays a screen prompting the user to input the times T1, T2, and Ts, and accepts the input of the times T1, T2, and Ts. The controller 15 controls the valves 14R and 14L according to the times T1, T2, and Ts input to the user interface 16. The user can set the times T1, T2, and Ts by checking the swing motion of the subject.

[0077] Fig. 13 is a diagram showing an example of the change in the length of an artificial muscle during a swing motion. In the graph shown in Fig. 13, the horizontal axis represents time, and the vertical axis represents the length of the artificial muscle 131. Note that on the horizontal axis, the time when the club hits the ball is set to 0. Also, on the vertical axis, the natural length of the artificial muscle 131 is set to 0.

[0078] 13, immediately after the start of the swing motion, the artificial muscle 131 is longer than its natural length. At time t2, which is the time T1 after time t1 when the sensor 10 detected the backswing motion, the valve 14R is controlled to an open state. This starts the supply of compressed air to the right leg actuator 13R, causing the artificial muscle 131 of the right leg actuator 13R to contract and shorten.

[0079] Furthermore, at timing t3, which is the time T2 after timing t2, the valve 14L is controlled to be in an open state, which starts supplying compressed air to the left leg actuator 13L, causing the artificial muscle 131 of the left leg actuator 13L to contract and shorten.

[0080] The user may set the time T1 so that the contractile force of the artificial muscle 131 of the right leg actuator 13R becomes large at the timing when the swing motion of the subject person 2 enters the forward swing phase (i.e., the timing t10 ​​when the club reaches the top position).

[0081] Furthermore, the user may set the time T2 so that the contractile force of the artificial muscle 131 of the left leg actuator 13L is large during the acceleration period of the swing motion of the subject person 2 (i.e., the period immediately before the timing t11 when the club hits the ball).

[0082] <Effects of actuator drive> FIG. 14 shows the transition of the hip joint internal / external rotation angular velocity for each of the left and right hip joints during a swing motion of a certain subject. FIG. 15 shows the transition of the hip joint internal / external rotation angular velocity for each of the left and right hip joints during a swing motion of a certain subject. In the graphs shown in FIGS. 14 and 15, the horizontal axis represents time. The time when the club hits the ball is set to 0. The vertical axis of the graph in FIG. 14 represents the hip joint internal / external rotation angular velocity. When the hip joint internal / external rotation angular velocity is a positive value, its absolute value represents the varus angular velocity. When the hip joint internal / external rotation angular velocity is a negative value, its absolute value represents the valgus angular velocity. The vertical axis of the graph in FIG. 15 represents the hip joint internal / external rotation angular velocity. When the hip joint internal / external rotation angular velocity is a positive value, its absolute value represents the internal rotation angular velocity. When the hip joint internal / external rotation angular velocity is a negative value, its absolute value represents the external rotation angular velocity. FIGS. 14 and 15 show the transition of angular velocity from when the club reaches the top to when it hits the ball. 14 and 15 also show the results when the controller 15 controls the valves 14R and 14L according to the control method shown in FIG. 12 (when the actuator 13 is contracted) and when the valves 14R and 14L are maintained in a closed state (when the actuator 13 is not contracted).

[0083] 14, by controlling the valves 14R and 14L to the open state at timings t2 and t3, respectively, the valgus angular velocity of the right hip joint decreases and the varus angular velocity of the left hip joint decreases. This phenomenon indicates that the movement of the pelvis toward the ball is suppressed.

[0084] 15, by controller 15 controlling valves 14R and 14L to the open state at times t2 and t3, respectively, the external rotation angular velocity of the right hip joint increases, which starts approximately 0.1 seconds after the club reaches the top. Also, by controller 15 controlling valves 14R and 14L to the open state at times t2 and t3, respectively, the internal rotation angular velocity of the left hip joint decreases, approximately 0.1 seconds before the impact at which the club hits the ball.

[0085] In this way, the controller 15 controls the valves 14R and 14L to the open state at the timings t2 and t3, respectively, thereby changing the hip joint varus / valgus angular velocity and the hip joint varus / valgus angular velocity. These changes can affect the rotational movement of the hips and, ultimately, the swing speed.

[0086] Fig. 16 is a diagram showing measurement results of head speed in a golf swing of a certain subject. Fig. 16 shows measurement results of head speed when the subject uses the assist system 1 according to this embodiment and measurement results of head speed when the subject does not use the assist system 1. Each measurement result shows the average value of head speed for 20 swings.

[0087] As shown in Figure 16, it was confirmed that the head speed improved by 1.2 m / s (approximately 2.6%) by using the assistance system 1. As a result, by using the assistance system 1, the subject can learn how to apply force to each muscle when performing waist rotation exercises, which leads to an improvement in head speed.

[0088] <Variation 1> In the above description, the assist system 1 is described as including both the right leg actuator 13R and the left leg actuator 13L. However, the assist system 1 may include only one of the right leg actuator 13R and the left leg actuator 13L. For example, a subject who wishes to correct the amount of force being applied to their right leg may use an assist system 1 that includes only the right leg actuator 13R. Conversely, a subject who wishes to correct the amount of force being applied to their left leg may use an assist system 1 that includes only the left leg actuator 13L.

[0089] <Variation 2> The assist system 1 can be applied not only to practicing golf swing movements, but also to other sports involving rotational movements of the waist (baseball, tennis, table tennis, throwing sports, etc.).

[0090] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. Unless inconsistent, at least two or more of the embodiments disclosed herein may be combined. The basic scope of the present disclosure is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0091] Various aspects of the present disclosure are summarized below as appendices. (Appendix 1) 1. An auxiliary system comprising: a sensor that detects a backswing motion of a subject; an upper anchor attached to a first body portion above the subject's biceps femoris, one of the subject's left and right biceps femoris; a lower anchor attached to a second body portion of the subject below the biceps femoris; an actuator coupled to the upper anchor and the lower anchor and positioned along at least the biceps femoris muscle of the subject; and a controller that starts contracting the actuator after a predetermined time has elapsed from a first timing at which the sensor detects the backswing motion. (Appendix 2) The actuator is A first actuator is arranged along one of the left and right biceps femoris muscles on the side of the backswing direction as the target biceps femoris muscle; a second actuator disposed along the other of the left and right biceps femoris as the target biceps femoris; 2. The auxiliary system of claim 1, wherein the controller starts contraction of the first actuator at a second timing that is a first specified time after the first timing, and starts contraction of the second actuator at a third timing that is a second specified time after the second timing. (Appendix 3) The upper anchor is a belt body to be wrapped around the waist of the subject; a first connecting member attached to the belt body and connected to the first actuator; a second connecting member attached to the belt body and connected to the second actuator; The auxiliary system described in Appendix 2, wherein the belt body is capable of adjusting the distance between the first connecting member and the second connecting member. (Appendix 4) The lower anchor is an insole corresponding to the target lower leg including the biceps femoris; a third connecting member connected to a lower end of the actuator; a strip-shaped member having a first end connected to a heel region of the insole and a second end connected to the third connecting member; 4. The assist system according to any one of claims 1 to 3, wherein the belt-shaped member is wound spirally around the front of the lower leg. (Appendix 5) The sensor Detecting the presence or absence of an object in the detection target area; 5. The assistance system according to any one of appendices 1 to 4, wherein the assistance system is installed so that the upper limbs of the subject or an exercise tool held by the subject pass through the detection target area during the backswing movement. [Explanation of symbols]

[0092] 1 Assistance system, 2 Subject, 3 Exercise equipment, 10 Sensor, 10a Light projector, 10b Light receiver, 11 Upper anchor, 12 Lower anchor, 12L Lower anchor for left leg, 12R Lower anchor for right leg, 13 Actuator, 13L Left leg actuator, 13R Right leg actuator, 14, 14L, 14R Valve, 15 Controller, 16 User interface, 17 Reset switch, 20, 22L, 22R Hook portion, 21L, 21R Loop portion, 111 Belt body, 111L Left part, 111R Right part, 112L, 112R, 123, 135, 137 Connecting member, 113L, 113R, 114L, 114R, 115L, 115R, 116L, 116R, 122, 134, 136 Belt-shaped member, 117L, 117R Angular ring, 118L, 118R Adjuster, 121 Insole, 131 Artificial muscle, 132, 133 Binding parts, 138 Air tube.

Claims

1. 1. An auxiliary system comprising: a sensor that detects a backswing motion of a subject; an upper anchor attached to a first body portion above the subject's biceps femoris, one of the subject's left and right biceps femoris; a lower anchor attached to a second body portion of the subject below the biceps femoris; an actuator coupled to the upper anchor and the lower anchor and positioned along at least the biceps femoris muscle of the subject; and a controller that starts contracting the actuator after a predetermined time has elapsed from a first timing at which the sensor detects the backswing motion.

2. The actuator is a first actuator that is disposed along one of the left and right femoral biceps as the target femoral biceps, the first actuator being disposed along one of the left and right femoral biceps on the side of the backswing motion direction; a second actuator disposed along the other of the left and right biceps femoris as the target biceps femoris; 2. The assist system of claim 1, wherein the controller starts contraction of the first actuator at a second timing that is a first specified time after the first timing, and starts contraction of the second actuator at a third timing that is a second specified time after the second timing.

3. The upper anchor is a belt body to be wrapped around the waist of the subject; a first connecting member attached to the belt body and connected to the first actuator; a second connecting member attached to the belt body and connected to the second actuator; The assist system according to claim 2 , wherein the belt body is configured such that the distance between the first connecting member and the second connecting member is adjustable.

4. The lower anchor is an insole corresponding to the target lower leg including the biceps femoris; a third connecting member connected to a lower end of the actuator; a band-shaped member having a first end connected to a heel region of the insole and a second end connected to the third connecting member; The assist system according to claim 1 , wherein the belt-shaped member is wound spirally on the front of the lower leg.

5. The sensor Detecting the presence or absence of an object in the detection target area; The assistance system according to claim 1 , wherein the assistance system is installed so that the upper limbs of the subject or exercise equipment held by the subject pass through the detection target area during the backswing motion.

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