A method for controlling training equipment.

Abstract

To provide a control method for a training device using a fluid pressure actuator as a load mechanism, which adjusts the difference between the target load and the actual load in real time. [Solution] The control method for the training device involves setting a load target for each trainee who trains via the movable part in advance, applying a load amount corresponding to the load target to the operation of the movable part using a fluid pressure actuator, and in the process of applying a load amount corresponding to the load target to the operation of the movable part using the fluid pressure actuator, comparing the load amount corresponding to the load target at the position of the movable part acquired by the movable part position acquisition means with the load amount generated by the fluid pressure actuator measured by the load amount measurement means, and adjusting the load amount generated by the fluid pressure actuator according to the difference between the two.

Description

Technical Field

[0001] The present invention relates to a method for controlling a training device.

Background Art

[0002] Conventionally, various training devices have been proposed for an individual to exercise with an appropriate load. Among various training devices, there is a device that applies a load to a muscle and performs repetitive movements in order to train a muscle part targeted by a trainer. Representative examples include devices such as a bench press, an arm curl, or a lat pull-down.

[0003] As such a training device, a so-called weight stack type in which a stack type metal weight suspended by a wire is lifted is widely known. Also, a cylinder type using hydraulic pressure or pneumatic pressure is known instead of the metal weight. In the weight stack type and cylinder type training devices, a constant load is always applied from the starting point to the ending point of the operating range.

[0004] On the other hand, Patent Document 1 discloses a training device using a fluid pressure actuator (also referred to as a "MacKibben type fluid pressure actuator") capable of realizing a desired operation by expansion and contraction of a tube covered with a sleeve as a load means.

[0005] In the fluid pressure actuator type training device described in Patent Document 1, the load amount of the fluid pressure actuator can be controlled using a sensor and a controller, and the amount of fluid flowing into the fluid pressure actuator can be changed according to the position of the gripping part (movable part) of the training device. Thereby, a continuous load change from the starting point to the ending point of the operating range, which was impossible with load means such as the weight stack type, is realized.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-62080 [Overview of the project] [Problems that the invention aims to solve]

[0007] However, with fluid pressure actuators, there is often a discrepancy between the load amount corresponding to the load target at the position of the movable part and the load amount generated by the load application means, which is acquired by the load amount acquisition means. That is, because a fluid pressure actuator has a structure in which a rubber tube is placed inside a sleeve made of woven fibers, the rubber tube itself has a contraction range, which has the advantage of acting as a safety valve when the exerciser's load limit is exceeded. On the other hand, the set value (target load amount) of the fluid pressure actuator may differ from the actual load amount. In such cases, training according to the target load cannot be achieved, so improvement has been required.

[0008] Therefore, the present invention aims to propose a control method for a training device using a fluid pressure actuator as a load means, which measures the actual load and provides feedback control of the load based on the measured value, thereby adjusting the difference between the target load and the actual load in real time when the actual load differs from the target load. [Means for solving the problem]

[0009] The inventors diligently studied methods for feedback-controlled load on a fluid pressure actuator that could solve the above problems, and found that it is effective to provide a control means that continuously feeds back the measured value from a load measurement means (force sensor) that measures the load on the fluid pressure actuator to the control unit of the fluid pressure actuator, and instantly resolves the difference between the pre-set load and the measured value. The present invention is derived from the above findings, and its gist is as follows.

[0010] 1. A control method for a training machine comprising: a movable part capable of reciprocating motion in a straight line or curve; a fluid pressure actuator that applies a load to at least the forward movement of the movable part; a movable part position acquisition means for acquiring the position of the movable part within at least the forward movement range of the movable part; and a load amount measuring means for measuring the load amount generated by the fluid pressure actuator, The load target for each trainee who trains via the aforementioned movable part is set in advance. The load amount corresponding to the load target is applied to the movement of the movable part by the fluid pressure actuator. A control method for a training machine, characterized in that, in the process of applying a load amount corresponding to the load target to the operation of the movable part by the fluid pressure actuator, the load amount corresponding to the load target at the position of the movable part, acquired by the movable part position acquisition means, is compared with the load amount generated by the fluid pressure actuator, measured by the load amount measuring means, and the load amount generated by the fluid pressure actuator is adjusted according to the difference between the two. [Effects of the Invention]

[0011] According to the present invention, in training, the load can be applied without deviating from the target load amount set in advance for each trainee, thus enabling more efficient training. [Brief explanation of the drawing]

[0012] [Figure 1] This is an overall schematic side view of the training device 10. [Figure 2] This is an overall schematic side view of the training device 10 being used by a trainee 20. [Figure 3] This is a side view of the fluid pressure actuator 200 according to this embodiment. [Figure 4] This is a functional block diagram of the training device 10. [Figure 5] This is a flowchart of the control method according to this embodiment.

Mode for Carrying Out the Invention

[0013] (1) Overall schematic configuration of the training device FIG. 1 is an overall schematic side view of a training device 10 according to the present embodiment. Incidentally, the training device 10 shown in FIG. 1 is also referred to as a bench press. In the bench press, a trainee 20 lies supine on a bench part 120, for example, holds a barbell shaft 110 with the distance between the left and right hands slightly wider than the shoulder width, and performs training by raising and lowering the barbell shaft 110. Here, the position where the barbell shaft 110 is lowered to the extent that it touches the position of the trainee 20's chest is called the bottom position. From that position, the trainee extends the arms in the direction perpendicular to the ground and pushes up the barbell shaft, and the position where the barbell shaft is lifted vertically by the length of the arms is called the top position. The bench press is a training device 10 that basically performs a reciprocating motion that repeats an operation from the bottom position to the top position (forward motion) and an operation from the top position to the bottom position (return motion). By repeating this training, it is possible to load and train mainly the pectoralis major muscle and the deltoid muscle of the trainee 20.

[0014] The training device 10 according to the present embodiment does not have a specification in which known stack-type metal weights are mounted in pairs at both ends of the barbell shaft, but instead uses a fluid pressure actuator 200 in place of the metal weights. That is, the outline of the training device 10 is as follows.

[0015] As shown in FIG. 1, the training device 10 has a housing part 100. The housing part 100 includes a shaft part 110, a bench part 120, a rack part 130, a wire 140, a length sensor 150, a force sensor 160, and a fluid pressure actuator 200.

[0016] The shaft portion 110 is gripped by both hands of the trainer 20. That is, the shaft portion 110 is a part that is operated by the movement of the trainer 20 and constitutes a movable part in the present embodiment.

[0017] As shown in FIG. 2, the bench portion 120 is a part where the trainer 20 lies supine. Regarding the length of the bench portion 120, for the convenience of training, any length can be adopted as long as it can ensure a length that allows the trainer 20 to place his / her head and buttocks on the surface of the bench portion 120 when in the supine position. The surface of the bench portion 120 is composed of an elastic member such as a cushion. The height of the bench portion 120 is preferably adjustable.

[0018] The rack portion 130 is a base for stationary placement of the shaft portion 110. That is, before and after training, the shaft portion 110 is in a stationary state on the rack portion 130. When the trainer 20 starts training, after lying supine on the bench portion, the trainer 20 first lifts and removes the shaft portion 110 hanging on the rack portion 130 with both hands to enter a trainable state.

[0019] The wire 140 connects the shaft portion 110 and the fluid pressure actuator portion 200 suspended from the housing portion 100. In the present embodiment, the path of the wire 140 is defined using at least one pulley, but the path of the wire 140 may be appropriately changed according to the shape, size of the housing portion 100, the installation position of the fluid pressure actuator portion 200, etc.

[0020] The length sensor 150 is a wire-type length sensor that measures the length of the wire interlocked with the movement of the wire 140, and can measure the position information of the up-and-down movement of the shaft portion 110 gripped by the trainer 20 via the wire 140. Note that the type of sensor used for the length sensor 150 is not particularly limited.

[0021] The force sensor 160 is directly attached to the housing 100 and connects the fluid pressure actuator 200 to the housing 100. The force sensor 160 may be composed of a spring scale or a load cell, and measures the load force generated by the fluid pressure actuator 200 (the load force applied to the trainee 20 via the wire 140 and shaft 110). There are no particular restrictions on the type of sensor used in the force sensor 160.

[0022] The fluid pressure actuator 200 is connected to the shaft portion 110 (movable portion) via a wire 140. The fluid pressure actuator 200 is an actuator that utilizes the pressure of a fluid, and the load force can be increased or decreased by changing the length and diameter of the fluid pressure actuator 200 according to the amount of working fluid introduced.

[0023] In this embodiment, air is used as the fluid, and a pressure tank 176 (not shown in Figure 1, see Figure 4) is connected to the fluid pressure actuator 200 via a control valve 170. This configuration allows for control of the load by adjusting the amount of working fluid introduced.

[0024] Furthermore, the training device 10 has a controller 300 (see Figure 4) that controls the amount of working fluid introduced into the fluid pressure actuator 200.

[0025] In other words, the controller 300 changes the amount of fluid flowing into the fluid pressure actuator 200 during the exercise of the trainee 20. The controller 300 also changes the amount of fluid flowing out of the fluid pressure actuator 200 during the exercise of the trainee 20. As a result, the fluid pressure actuator 200 expands and contracts, and a predetermined load can be applied to the shaft portion 110.

[0026] Furthermore, the controller 300 uses information measured by the length sensor 150 and the force sensor 160 to control the fluid volume. A detailed mechanism of the control method will be described later.

[0027] Figure 2 is a schematic side view showing the overall movement of a trainee 20 lying supine and actually performing training using the training device 10. Specifically, Figure 2 shows the trainee 20 lying supine on the bench 120 and moving the shaft 110 back and forth. For the sake of simplification, the rack 130 shown in Figure 1 is omitted in Figure 2.

[0028] When trainee 20 grasps the shaft 110 with both hands and moves it back and forth upwards, the position where it is lowered to chest level (bottom position) is shown by a solid line, and the position where both arms are extended (top position) is shown by a dashed line. At this time, the upward direction from the bottom position to the top position is shown by D1, and the downward direction from the top position to the bottom position is shown by D2. Furthermore, the distance between the bottom position and the top position, i.e., the maximum range of motion of the shaft 110, is R. MAX Let's assume that.

[0029] (2) Configuration of the fluid pressure actuator 200 Figure 3 is a side view of the fluid pressure actuator 200 according to this embodiment. As shown in Figure 3, the fluid pressure actuator 200 comprises an actuator body 210 and a connecting portion 220.

[0030] The actuator body 210 is composed of a tube 211 and a sleeve 212. Fluid flows into the actuator body 210 through a fitting 230 and a through hole 240. Connecting parts 220 are provided at both ends of the fluid pressure actuator 200.

[0031] The actuator body 210 is affected by the inflow of fluid into the tube 211, and the axial D of the actuator body 210 AX It contracts in the radial direction D R It expands in that position. Also, the actuator body 210 expands in the axial direction D due to the outflow of fluid from the tube 211. AX It expands in the radial direction D R It contracts in that state.

[0032] The fluid pressure actuator 200 performs its function as an actuator through this change in the shape of the actuator body 210. The fluid pressure actuator 200 is a so-called McKibben type.

[0033] The fluid used to drive the fluid pressure actuator 200 can be either a gas such as air, or a liquid such as water or mineral oil. However, considering that the training device 10 is intended for use by general users and does not require a large contraction force, it is preferable to use air. Therefore, this embodiment will be described based on a fluid pressure actuator 200 using air.

[0034] The fitting 230 protrudes to accommodate a hose 180 (see Figure 4) connected to the drive pressure source of the fluid pressure actuator 200, specifically the control valve 170 (not shown in Figure 3, see Figure 4).

[0035] The fluid that flows in through the fitting 230 passes through the through hole 240 and flows into the inside of the actuator body 210, specifically into the inside of the tube 211.

[0036] Tube 211 is a cylindrical body that expands and contracts due to the pressure of the fluid. Because tube 211 repeatedly expands and contracts due to the fluid, it is made of an elastic material such as butyl rubber. In other words, it is preferable that tube 211 be made of a predetermined rubber material.

[0037] Furthermore, if the fluid pressure actuator 200 is hydraulically driven, it is preferable to use NBR (nitrile rubber), which has high oil resistance, or at least one selected from the group consisting of hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.

[0038] The sleeve 212 is cylindrical and covers the outer surface of the tube 211. The sleeve 212 is a restraining member made of fibers that restrains expansion deformation of the tube 211 beyond a predetermined amount.

[0039] Specifically, the sleeve 212 is an elastic structure made by weaving cords oriented in a predetermined direction, and the intersection of the oriented cords creates a repeating rhombus shape. Due to this shape, the sleeve 212 deforms like a pantograph, following the contraction and expansion of the tube 211 while restricting it.

[0040] It is preferable to use aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET) fiber cords as the cords constituting the sleeve 212. However, it is not limited to these types of fiber cords, and for example, high-strength fibers such as PBO fiber (poly(p-phenylenebenzobisoxazole)) or metal cords composed of ultrafine filaments may also be used.

[0041] Furthermore, the details of the fluid pressure actuator 200 may be the same as those described in, for example, International Publication No. 2017 / 010304.

[0042] (3) Functional block configuration of the training device 10 Figure 4 is a functional block diagram of the training device 10. In Figure 4, the components of the training device 10, namely the control valve 170, length sensor 150, force sensor 160, air compressor 175, pressure tank 176, fluid pressure actuator 200, and controller 300, are schematically shown.

[0043] The control valve 170 is controlled by the controller 300. The control valve 170 is connected to the pressure tank 176.

[0044] An air compressor 175 is connected to the pressure tank 176. The air compressor 175 supplies air to the pressure tank 176. The pressure tank 176 maintains the air supplied by the air compressor 175 at a predetermined pressure.

[0045] When the pressure in the pressure tank 176 drops below a predetermined value due to the operation of the fluid pressure actuator 200, the air compressor 175 supplies air to the pressure tank 176.

[0046] The control valve 170 is connected to the fitting 230 of the fluid pressure actuator 200 via the hose 180. Compressed air is supplied to the fluid pressure actuator 200 through the control valve 170.

[0047] The controller 300 is connected to the control valve 170, as well as the length sensor 150 and the force sensor 160. The controller 300 includes hardware elements such as a processor, memory, input devices, and external interfaces. The functions provided by the controller 300 are realized by executing a computer program (software) using these hardware elements. Some or all of the functions provided by the controller 300 may be realized by a digital signal processor (DSP) or an Application Specific Integrated Circuit (ASIC).

[0048] The controller 300 controls the fluid pressure actuator 200 via the control valve 170.

[0049] Specifically, the controller 300 controls the amount and timing of air supplied to the fluid pressure actuator 200 by controlling the control valve 170. Similarly, the controller 300 controls the amount and timing of air released from the fluid pressure actuator 200 by controlling the control valve 170.

[0050] More specifically, the controller 300 can change the amount of fluid, i.e., the amount of air, flowing into the fluid pressure actuator 200 according to the position of the shaft portion 110 (see Figure 1). The setting of the load amount according to the position of the shaft portion 110 will be described later. In this embodiment, the position information of the shaft portion 110 measured by the length sensor 150 and the load information output from the fluid pressure actuator 200 measured by the force sensor 160 are sent to the controller 300 for calculation, enabling feedback control of the fluid pressure actuator 200. Details of the feedback control will be described later.

[0051] Furthermore, the controller 300 can also change the amount of fluid (air) flowing into the fluid pressure actuator 200 in accordance with the force applied to the shaft portion 110.

[0052] Specifically, the controller 300 changes the amount of air flowing into the fluid pressure actuator 200 according to the force (N) applied to the shaft 110 as the trainee 20 (see Figure 2) pushes the shaft 110 upward (forward movement), causing the shaft 110 to move in the D1 direction. Information on the force (N) applied to the shaft 110 is detected by the force sensor 160 and provided to the controller 300.

[0053] The control valve 170, air compressor 175, pressure tank 176, and controller 300 may be provided in any location within the housing 100 of the training device 10, or they may be provided separately from the housing 100.

[0054] (4) Specific examples of feedback control Next, a specific example of feedback control of the training device 10 will be explained according to the control method flowchart shown in Figure 5.

[0055] S100: The trainee 20 using the training device 10 inputs initial parameters into the controller 300 to pre-set load targets. For example, they can input the target weight they want to lift in the bench press. Alternatively, by inputting personal information of the trainee, such as height, weight, gender, and / or age, the controller 300 can set an appropriate exercise program for each trainee 20.

[0056] S101: Based on the input initial parameters, the controller 300 constructs a control model. The control model is, for example, a relationship between the position of the shaft portion 110 and the load value given according to the position of the shaft portion 110. The simplest model is when the position of the shaft portion 110 is within the maximum movable range R. MAX This is a linear model in which the load increases in proportion to the movement from the bottom position to the top position (forward motion).

[0057] S102: The length sensor 150 acquires positional information of the shaft (movable part) 110. This acquisition of positional information is performed continuously in real time throughout the entire training process, from start to finish. Here, the positional information refers to the R of the shaft 110, as shown in Figure 2. MAX This indicates the position of the shaft portion 110 within the structure.

[0058] S103: In accordance with the control model constructed in S101, the amount of fluid flowing into the fluid pressure actuator 200 is controlled so that the actuator generates a target load amount (hereinafter referred to as the target load amount) corresponding to the position information of the shaft portion 110 obtained in S102, and the target load amount is applied to the shaft portion 110 during its operation via the fluid pressure actuator 200. Here, when the shaft portion 110 is moving forward (in the D1 direction), the applied load amount is a load in the D2 direction, that is, a load on the trainee 20.

[0059] S104: While the trainee 20 continues training under the target load setting according to the control model described above, the force sensor 160 measures the actual load generated by the fluid pressure actuator 200 (hereinafter referred to as the actual load) in real time and continuously acquires the actual load. The acquired information on the actual load is also sent to the controller 300 in real time. This process is referred to as "feedback" in the present invention. Here, the target load value assigned in the process of S103 may not match the actual load measured due to the allowable range of contraction derived from the rubber material of the fluid pressure actuator 200, and / or the magnitude of the rebound force from the trainee 20 against the target load, as explained in the present invention.

[0060] S105: During the continuation of training, the controller 300 compares the target load at the position of the shaft 110 obtained in S102 with the actual load obtained in S104. If there is a difference between the two (YES), proceed to S106. If there is no difference between the two (NO), proceed to S107 and continue training according to the control model.

[0061] If there is a difference between the two load amounts compared in S106:S105, the controller 300 adjusts the actual load amount by changing the amount of fluid (air) flowing into the fluid pressure actuator 200 so that the actual load amount becomes equal to the target load amount. This allows training to continue while accurately outputting the target load amount according to the preset control model. In this invention, this process is called "feedback control".

[0062] S107: By continuing the training, that is, by repeating the reciprocating motion of the shaft section 110, the flow from S104 to S107 is repeated, the "feedback" from the force sensor 160 in S104 is activated in real time, and consequently the "feedback control" in S105 and S106 is also performed continuously in real time, resulting in extremely accurate application of load according to the control model.

[0063] (5) Action and Effects According to the embodiment described above, the load can be continuously changed according to a preset load while the trainee 20 is exercising, that is, while the training device 10 is operating. Furthermore, by feeding back the actual load amount obtained by the force sensor 160 to the controller 300 in real time, the difference between the actual load amount and the target load amount applied according to the position information in a preset control model can be detected, and the actual load amount can be adjusted in real time. This control method makes it possible to adjust the deviation in the load value caused by the tolerance value of the contraction range derived from the rubber material of the fluid pressure actuator used as a load means instead of a weight, and the performance of the fluid pressure actuator can be fully enjoyed. [Industrial applicability]

[0064] The present invention relates to a method for controlling a training machine. [Explanation of Symbols]

[0065] 10 Training devices 20 trainees 100 Housing section 110 Shaft section 120 Bench section 130 Rack section 140 wires 150 Length Sensor 160 Force Sensors 170 Control Valve 175 Air Compressor 176 Pressure Tank 180 hose 200 Fluid pressure actuator 210 Actuator body 211 Tube 212 Sleeves 220 Connection section 230 Fittings 240 Passing hole 300 controllers

Claims

[Claim 1] A control method for a training machine comprising: a movable part capable of reciprocating motion in a straight line or curved line; a fluid pressure actuator that applies a load to at least the forward movement of the movable part; a movable part position acquisition means for acquiring the position of the movable part within at least the forward movement range of the movable part; and a load amount measuring means for measuring the load amount generated by the fluid pressure actuator, The load target for each trainee who trains via the aforementioned movable part is set in advance. The load amount corresponding to the load target is applied to the movement of the movable part by the fluid pressure actuator. A control method for a training machine, characterized in that, in the process of applying a load amount corresponding to the load target to the operation of the movable part by the fluid pressure actuator, the load amount corresponding to the load target at the position of the movable part, acquired by the movable part position acquisition means, is compared with the load amount generated by the fluid pressure actuator, measured by the load amount measuring means, and the load amount generated by the fluid pressure actuator is adjusted according to the difference between the two.

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