Exercise training system, exercise training device, display method and program

Abstract

To meet a demand that a way of display be contrived so that further training effects can be obtained in a motion training system and a motion training device.SOLUTION: An operation part can move on an XY plane. A driving part includes X-axis and Y-axis direction drive motors, and drives the operation part on the XY plane. A force sensor detects forces Fx and Fy in the X-axis and Y-axis directions. A PC controls the X-axis and Y-axis direction drive motors. A monitor can simultaneously display the direction and magnitude of composite force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor.SELECTED DRAWING: Figure 20

Description

[Technical field]

[0001] The present invention relates to an exercise training system capable of assisting a user in planar exercise, an exercise training device, and a display method and program used in the exercise training system. [Background technology]

[0002] Conventionally, various exercise trainings have been performed to improve motor functions. For example, wiping training, in which the shoulders and elbows are bent and stretched in a motion like wiping a desk, and sanding training, in which the hands are slid up and down on an inclined board, are widely used. In order to support these exercise trainings, various exercise training devices have been proposed.

[0003] For example, Patent Document 1 discloses an exercise training device including an operating unit movable on the XY plane, a drive unit having X-axis and Y-axis direction drive motors for driving the operating unit on the XY plane, a force sensor for detecting X-axis and Y-axis direction forces Fx and Fy acting on the operating unit, and a control unit for controlling the X-axis and Y-axis direction drive motors based on the X-axis and Y-axis direction forces Fx and Fy detected by the force sensor. Patent Document 1 also discloses a configuration capable of displaying on a monitor the trajectory and load fluctuation of the operating unit during or after a user's exercise training. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-89621 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in exercise training systems and exercise training devices, there is a demand for improved display methods that can provide a greater training effect. [Means for solving the problem]

[0006] The present invention One embodiment is a device for providing exercise training to a user. Exercise Training System And an operation unit movable in an XY plane, a drive unit having X-axis and Y-axis direction drive motors and driving the operation unit in the XY plane, and a force sensor detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit; A display unit; X-axis and Y-axis drive motors and the display unit A control unit for controlling wherein the control unit is capable of displaying a circular chart having a center on the display unit; and A resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor By plotting against the chart, the resultant force F 0 The direction and magnitude of the resultant force F can be displayed simultaneously on the display unit. 0 The direction toward the position where is plotted is the resultant force F 0 and the resultant force F 0 The distance to the position where the resultant force F is plotted is 0 The control unit further calculates the magnitude of the resultant force F 0 and a trajectory of the plotted positions of the exercise training system is displayed on the chart. .

[0007] Books The invention One embodiment is a device for providing exercise training to a user. exercise training equipment And a drive unit having an operation unit movable in an XY plane, an X-axis and a Y-axis direction drive motor and driving the operation unit in the XY plane, a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit, and a force sensor for controlling the X-axis and Y-axis direction drive motors. At the same time, information is displayed on a display unit outside the device. A control unit, A circular chart having a center On the display It is viewable, and A resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor By plotting against the chart, the resultant force F 0 The direction and magnitude of the resultant force F can be displayed simultaneously on the display unit. 0 The direction toward the position where is plotted is the resultant force F 0 and the resultant force F 0 The distance to the position where the resultant force F is plotted is 0 The control unit further calculates the magnitude of the resultant force F 0 The exercise training device is characterized in that the trajectory of the plotted positions is displayed on the chart. .

[0008] Books The invention One aspect a manipulation unit movable in an XY plane, a drive unit having X-axis and Y-axis direction drive motors for driving the manipulation unit in the XY plane, and a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the manipulation unit from a user who manipulates the manipulation unit; A display unit and a device for providing exercise training to a user.A display method for displaying information on the display unit in an exercise training system, comprising: a first step of detecting a resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions by the force sensor; A circular chart having a center is displayed on the display unit; and The resultant force F0 detected by the force sensor in the first step By plotting against the chart, the resultant force F Direction and magnitude of 0 Before A second step of simultaneously displaying the information on the display unit. In the chart, the resultant force F 0 The direction toward the position where is plotted is the resultant force F 0 and the resultant force F 0 The distance to the position where the resultant force F is plotted is 0 In the second step, the magnitude of the resultant force F 0 displaying on said chart a locus of positions where Characterized by It is a display method .

[0009] Books The invention One aspect a drive unit having X-axis and Y-axis direction drive motors for driving the operation unit on the XY plane; and a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user who operates the operation unit. ,table A display unit and To provide exercise training for users For exercise training systems Used a first step of detecting a resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions by the force sensor; A circular chart having a center is displayed on the display unit; and The resultant force F0 detected by the force sensor in the first step By plotting against the chart, the resultant force F Direction and magnitude of 0 Before and a second step of simultaneously displaying the information on the display unit. A program, in which the resultant force F 0 The direction toward the position where is plotted is the resultant force F 0 and the resultant force F 0 The distance to the position where the resultant force F is plotted is 0 In the second step, the magnitude of the resultant force F 0 The program is characterized in that the program displays a trajectory of the plotted positions on the chart. . Effect of the Invention

[0010] According to the present invention, a further training effect can be obtained. [Brief description of the drawings]

[0011] [Figure 1] 1 is an external perspective view of an exercise training system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view of a main body of the exercise training device according to the embodiment. [Diagram 3] FIG. 4 is a cross-sectional view showing details of a first actuator mechanism. [Figure 4] FIG. 4 is a cross-sectional view showing details of a second actuator mechanism. [Diagram 5] FIG. [Figure 6] FIG. 2 is a block diagram of a control unit of the exercise training system. [Figure 7] 13A and 13B are diagrams for explaining the relationship between the force acting on the operation unit and the velocity vector when an input value from the operation unit to a force sensor is within a predetermined range in the automatic mode. [Figure 8] 13A and 13B are diagrams for explaining the relationship between the force acting on the operation unit and the velocity vector when an input value from the operation unit to a force sensor exceeds a predetermined range in the automatic mode. [Figure 9] 13A and 13B are diagrams for explaining the relationship between the force acting on the operation unit and the velocity vector when an input value from the operation unit to a force sensor exceeds a predetermined range in the automatic mode. [Figure 10] 13A and 13B are diagrams for explaining the relationship between the force acting on the operation unit and the velocity vector when an input value from the operation unit to a force sensor exceeds a predetermined range in the automatic mode. [Figure 11] 13A and 13B are diagrams for explaining the relationship between the force acting on the operation unit and the velocity vector when an input value from the operation unit to a force sensor exceeds a predetermined range and a predetermined value in the automatic mode. [Figure 12] 13A and 13B are diagrams illustrating the relationship between the force acting on the operation unit and the velocity vector at the start of exercise training in the assisted mode. [Figure 13] 13A and 13B are diagrams illustrating the relationship between the force acting on the operation part and the velocity vector when the position of the operation part operated by the user in the assist mode is within a predetermined target area. [Figure 14] 13A and 13B are diagrams illustrating the relationship between the force acting on the operation part and the velocity vector when the position of the operation part operated by the user in the assist mode is outside a predetermined target area. [Figure 15] 13 is a diagram for explaining the relationship between the force acting on the operation part and the velocity vector when the position of the operation part operated by the user in the assist mode goes out of a predetermined target area and then returns to within the predetermined target area. FIG. [Figure 16] 3A and 3B are diagrams showing a first chart indicating the magnitude and direction of a resultant force detected by a force sensor, and a second chart indicating the position of an operation unit 3 detected by an encoder together with a trajectory. [Figure 17] FIG. 4 is a diagram showing an example of a screen displayed on a monitor. [Figure 18] A diagram showing only the settings display area on the monitor. [Figure 19] A diagram showing only the orbit display area on the monitor. [Figure 20] FIG. 13 shows only the force feedback display area on the monitor. [Figure 21] FIG. 13 is a diagram showing the state in which information is displayed at a clicked position in the first and second charts. [Figure 22] (a) A diagram showing the direction and magnitude of the resultant force in assist mode, and (b) a diagram showing the position of the operating part. [Diagram 23] (a) A diagram showing the direction and magnitude of the resultant force in the automatic mode, and (b) a diagram showing the position of the operating part. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an exercise training device according to an embodiment to which the present invention can be applied will be described with reference to the drawings. The exercise training device according to this embodiment is placed on a substantially horizontal placement surface and is used, for example, for exercise training performed to improve the motor function of the upper limbs of a user (trainee) (see FIG. 1). As shown in FIG. 1, the exercise training device 1 has an operation unit 3, and a user U is positioned in front of the exercise training device 1, and in order to perform upper limb exercise training, for example, the user extends his right arm UL forward and grasps the operation unit 3 with his right hand. In this specification, the side in front of the user U in the exercise training device 1 in FIG. 1 will be referred to as the front side, and the back side will be referred to as the rear side.

[0013] The exercise training device 1 has a device main body 100 and a PC (personal computer) 70. In this embodiment, the exercise training system 1000 is configured by including the device main body 100, the PC 70, and a monitor 76 that displays information about the exercise training device 1. The PC 70 is a control unit that controls the entire exercise training system 1000, and may be a general-purpose PC with a control program installed, or may be a PC dedicated to the exercise training device 1. In either case, the control unit has a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The CPU controls each part while reading a program corresponding to the control procedure stored in the ROM. In addition, working data and input data are stored in the RAM, and the CPU performs control by referring to the data stored in the RAM based on the above-mentioned program, etc.

[0014] The device main body 100 has an operation unit 3 that is movable in the XY plane (a horizontal plane parallel to the placement surface and the base 2), a drive unit 200 that drives the operation unit 3 in the XY plane, and the like. The operation unit 3 and the drive unit 200 are disposed on the base 2. The drive unit 200 has a first motor 6 and a second motor 30 as drive motors in the X-axis and Y-axis directions. Specifically, the drive unit 200 is equipped with a first actuator mechanism AX that has the first motor 6 and moves the operation unit 3 in the X-axis direction (the direction of the arrow X in FIG. 2), and a second actuator mechanism AY that has the second motor 30 and moves the operation unit 3 and the first actuator mechanism AX in the Y-axis direction (the direction of the arrow Y in FIG. 2).

[0015] The operation unit 3 is equipped with a force sensor 60 (see FIG. 5) that detects forces in the X-axis and Y-axis directions acting on the handle member 62. The PC 70 is connected to the force sensor 60, motor control units 27, 31, and a monitor 76. The X-axis and Y-axis direction drive motors 6, 30 are integrally configured with encoders 6a, 30a (FIG. 6) that serve as position detection means for detecting the position of the operation unit 3 on the XY plane.

[0016] With these configurations, the PC 70 as a control unit controls the driving of the first motor 6 and the second motor 30 via the motor control units 27, 31 based on input values ​​from the force sensor 60 and the encoders 6a, 30a, moves the operating unit 3 on the XY plane, and displays training information, the movement trajectory of the operating unit 3, etc. on the monitor 76.

[0017] Each component will be described in detail below with reference to Figs. 2 to 5. The operation unit 3 is attached to a first slider block 4 (first holding member) via a mounting plate 5, and is configured to move integrally with the first slider block 4. The first slider block 4 is provided slidably along first guide rods 9a and 9b extending in the X-axis direction on the XY plane. A part of the first belt 10 is fixed to the first slider block 4 by a belt fixing plate 28 and a screw 29. As a result, when the first belt 10 is rotationally driven by a first motor (X-axis direction drive motor) 6, the first slider block 4 slides in the X-axis direction along the first guide rods 9a and 9b.

[0018] 3, the drive of the first motor 6 of the first actuator mechanism AX is transmitted to the pulley 18 via the shaft 13, pulley 14, belt 15, pulley 17, and shaft 16. The first motor 6 is provided on a support plate 21, which is fixed to the support plate 11. The support plate 11 rotatably supports the shaft 16, and fixedly supports the second slider block 7 and the motor control unit 27. The support plate 11 and the second slider block 7 are collectively referred to as a second holding member that holds one end of the first guide rods 9a, 9b and the pulley 18.

[0019] Support plates 12 and 24 are provided on the opposite side of the first motor 6 in the X-axis direction. The support plates 12 and 24 rotatably support a shaft 19 and fixedly support the third slider block 8. A pulley 20 is provided on the shaft 19, and a first belt 10 is stretched between the pulleys 18 and 19. One ends of the first guide rods 9a and 9b are fixedly supported by the second slider block 7, and the other ends of the first guide rods 9a and 9b are fixedly supported by the third slider block 8. The support plates 12 and 24 and the third slider block 8 are collectively referred to as a third holding member that holds the other ends of the first guide rods 9a and 9b and the pulley 20.

[0020] As described above, a part of the first belt 10 is fixed to the first slider block 4, and when the first motor 6 is driven, the pulley 18 rotates, and the first belt 10 rotates together with the pulley 19. Therefore, the first slider block 4 slides in the X-axis direction along the first guide rods 9a and 9b. The first belt 10 and the first guide rods 9a and 9b are each parallel to the X-axis direction, and the first guide rods 9a and 9b are disposed on both sides of the first belt 10, and the height positions from the base 2 are approximately the same.

[0021] As shown in FIG. 2, the second slider block 7 and the third slider block 8 of the first actuator mechanism AX are supported by the second guide rod 55 and the third guide rod 48 so as to be slidable in the Y-axis direction. The second belt 53 and the third belt 46 rotate, so that the entire first actuator mechanism AX can move in the Y-axis direction. As shown in FIG. 3, a part of the second belt 53 is fixed by a screw 23 to a belt fixing plate provided on a support plate 21 fixed to the second slider block 7. Also, a part of the third belt 46 is fixed by a screw 26 to a belt fixing plate 25 provided on a support plate 24 fixed to the third slider block 8. The third belt 46 and the second belt 53 are rotated by the second motor (Y-axis direction drive motor) 30 of the second actuator mechanism AY being driven to rotate, so that the first actuator mechanism AX slides in the Y-axis direction.

[0022] Next, the second actuator mechanism AY will be described with reference to Figures 2 and 4. The second actuator mechanism AY is a mechanism for moving the first actuator mechanism AX in the Y-axis direction. The second motor 30 and the motor control unit 31 are provided on the upper part of a support frame consisting of a support plate 34, a support column 33 and a support plate 32 provided on the base 2. This support frame is fixed to the center of the rear side of the device (the monitor 76 side of the base 2) opposite the user U.

[0023] The second motor 30 is provided with a shaft and pulley (not shown), and a belt 37 is stretched between the second motor 30 and the pulley 36. A shaft 35 is rotatably supported between the support plates 32 and 34, and pulleys 37, 38, and 39 are provided on the shaft 35. The rotational force of the pulley 36 is transmitted to the pulleys 38 and 39 via the shaft 35.

[0024] Support plates 45a and 52a formed in a U-shape are provided on both sides of the support frames 32 to 34 in the X-axis direction. The support plate 45a rotatably supports a shaft 43, and pulleys 42 and 44a are provided on the shaft 43. A belt 40 is stretched between the pulleys 38 and 42, and transmits the rotational drive of the second motor 30 to the pulley 44a via the belt 37, pulley 36, shaft 35, pulley 38, belt 40, pulley 42, and shaft 43. In other words, the belt 40 is a fifth belt for transmitting the drive of the second motor 30 to the third belt 46.

[0025] A guide support portion 47a is provided near the support plate 45a and supports one end of a third guide rod 48. In addition, on the opposite side in the Y-axis direction (the front right side of the device) of the base 2 to the support plate 45a, a support plate 45b that is paired with the support plate 45a and a guide support portion 47b that is paired with the guide support portion 47a are arranged.

[0026] The support plate 45b rotatably supports the shaft 43b, and the shaft 43b is provided with a pulley 44b that is a pair with the pulley 44a. The third belt 46 is stretched between the pulleys 44a and 44b, and as described above, a part of the third belt 46 is fixed to the belt fixing plate 25 that moves integrally with the third slider block 8. The guide support part 47b supports the other end of the third guide rod 48, and fixedly supports the third guide rod 48 together with the guide support part 47a. The third belt 46 and the third guide rod 48 are each provided to extend in parallel in the Y-axis direction, and are at approximately the same height position from the base 2.

[0027] A support plate 52a is disposed on the opposite side of the support frame to the support plate 45a in the X-axis direction (the left rear side of the base 2). The support plate 52a rotatably supports a shaft 49, and pulleys 50 and 51a are provided on the shaft 49. A belt 41 is stretched between the pulleys 39 and 50, and transmits the rotational drive of the second motor 30 to the pulley 51a via the belt 37, pulley 36, shaft 35, pulley 39, belt 41, pulley 50, and shaft 49. In other words, the belt 41 is a fourth belt for transmitting the drive of the second motor 30 to the second belt 53.

[0028] A guide support portion 54a is provided near the support plate 52a and supports one end of the second guide rod 55. In addition, on the opposite side in the Y-axis direction (the front left side of the device) of the base 2 to the support plate 52a, a support plate 52b that is paired with the support plate 52a and a guide support portion 54b that is paired with the guide support portion 54a are arranged.

[0029] The support plate 52b rotatably supports the shaft 49b, and the shaft 49b is provided with a pulley 51b that is a pair with the pulley 51a. The second belt 53 is stretched between the pulleys 51a and 51b, and as described above, a part of the second belt 53 is fixed to the belt fixing plate 22 that moves integrally with the second slider block 7. The guide support part 54b supports the other end of the second guide rod 55, and fixedly supports the second guide rod 55 together with the guide support part 54a. The third belt 46 and the third guide rod 48 are each provided to extend in parallel to the Y-axis direction, and are at approximately the same height position from the base 2.

[0030] As described above, the rotational drive of the second motor 30 is transmitted to the pulley 44a and the pulley 51a, causing the third belt 46 and the second belt 53 to rotate. As a result, the third slider block 8 and the second slider block 7 (i.e., the entire first actuator mechanism AX), which are fixed to the third belt 46 and the second belt 53, respectively, slide in the Y-axis direction along the second guide rod 8 and the second guide rod 55.

[0031] 4, the belts 40 and 41 extend parallel to the X-axis direction, but are at different positions in the height direction (distance from the base 2). Specifically, the belt 41 is disposed below the belt 40. In addition, in the height direction, the third belt 46, the third guide rod 48, the second belt 53, and the second guide rod 55 are disposed at approximately the same height between the belts 40 and 41.

[0032] 2 and 3, the first guide rods 9a and 9b and the first belt 10 for moving the operation unit 3 in the X-axis direction are disposed between the third guide rod 48 and the second guide rod 55 for moving the operation unit 3 and the first actuator mechanism AX in the Y-axis direction, and are disposed so as to extend in the X-axis direction perpendicular to the third guide rod 48, the third belt 46, the second guide rod 55, and the second belt 53 disposed in parallel to the Y-axis direction. The first belt 10, the first guide rods 9a and 9b, the third belt 46, the third guide rod 48, the second belt 53, and the second guide rod 55 are disposed between the belts 40 and 41 in the height direction. This allows the exercise training device to be configured to be thin in the height direction.

[0033] 4, when the distance from the base 2 to the upper ends of the pulleys 44a and 51a (the direction perpendicular to the XY plane, i.e., the height) is L1, the distance from the base 2 to the lower ends of the pulleys 44a and 51a is L2, the distance from the base 2 to the lower ends of the pulleys 38 and 42 is L3, and the distance from the base 2 to the pulleys 39 and 50 is L4, the members are arranged so that the following relationships are established: "L1>L2", "L3>L1", and "L2>L4". Therefore, "L3>L1>L2>L4", and the pulleys 44a and 51a are arranged between L3 and L4. The belts are each stretched between the upper and lower ends of the pulleys, and the height centers of the third belt 46 and the second belt 53 are approximately the same as the height centers of the third guide rod 48 and the second guide rod 55, and are positioned so that the upper end of the third guide rod 48 does not interfere with the belt 40, and the lower end of the second guide rod 55 does not interfere with the belt 41.

[0034] 3, the distance between the base 2 and the upper ends of the pulleys 18, 19 is L1, and the distance between the base 2 and the lower ends of the pulleys 18, 19 is L2. As described above, the first belt 10, first guide rods 9a, 9b, third belt 46, third guide rod 48, second belt 53, and second guide rod 55 are arranged to overlap each other between L3 and L4 in the height direction, that is, between the lower ends of the pulleys 38, 42 and the upper ends of the pulleys 39, 50.

[0035] In addition, the first belt 10 is disposed so as to be sandwiched between the first guide rods 9a and 9b. Therefore, when the user U applies force to the operating unit 3, the first belt 10 can receive a force that rotates around the first guide rod 9a or 9b, and movement in the rotational direction can be suppressed.

[0036] The operation unit 3 is disposed in front of the first slider block 4 as shown in Fig. 1, and is composed of a relatively short vertical operation rod 61 and a handle member 62 provided at the upper end thereof as shown in Fig. 5. The handle member 62 in this embodiment is formed in a relatively thick and small circular disk shape so that it can be grasped with one hand to train the motor function of the upper limb UL of the user U. The handle member 62 is attached rotatably around the operation rod 61 so that the user U can turn it with the hand that grasps it.

[0037] The operation unit 3 also has a force sensor 60 integrally provided on the operation rod 61. The force sensor 60 is fixed integrally to the slider block 4 of the first actuator mechanism AX via a mounting plate 5. The force sensor 60 detects the force of the user U acting on the operation rod 61 from the handle member 62 in both an active training mode in which the user U moves the operation unit 3 by himself / herself and a passive training mode in which the upper limbs or lower limbs are moved by the force of the operation unit 3. In this embodiment, a six-axis force sensor using a strain gauge is adopted as the force sensor 60.

[0038] In general, a six-axis force sensor can detect forces (Fx, Fy, Fz) in three orthogonal axial directions x, y, and z, and moments (Mx, My, Mz) about the three axes x, y, and z. In this embodiment, the six-axis force sensor is oriented so that its X-axis and Y-axis coincide with the left-right direction (direction parallel to the first guide rods 9a, 9b) and the front-rear direction (direction parallel to the third guide rods 48 and 53) of the first actuator mechanism AX, respectively.

[0039] As a result, when the upper or lower limbs of the user U move the operating unit 3 or are moved by the operating unit, the force sensor 60 can separate the force that the operating rod 61 receives directly from the upper or lower limbs of the user U into a front-to-rear force component, a left-to-right force component, and a vertical force component perpendicular to these, and further detect them as moments acting around each of the axes in the front-to-rear, left-to-right, and vertical directions.

[0040] When the exercise training device 1 is actually used, the force components in the front-back direction (Y-axis direction), left-right direction (X-axis direction), and vertical direction (height direction perpendicular to the XY plane) detected by the force sensor 60 are detected as the difference between the rotational force of the first and / or second drive motor 6, 30 and the force exerted by the user U on the operating unit 3, i.e., the resistance force that the operating unit 3 receives from the upper or lower limbs of the user U.

[0041] As described above, the exercise training device 1 includes a PC 70 as a controller for controlling the first motor 6 and the second motor 30. As shown in Fig. 6, the PC 70 includes a drive controller 71, a signal controller 72, a display controller 73, a memory 74, and a control CPU 75 for controlling and managing them.

[0042] The drive control unit 71 is connected to the first motor 6 and the second motor 30 via the motor control units 27 and 31, and controls the drive thereof. The motor control units 27 and 30 may be incorporated in the PC 70. The signal control unit 72 is connected to the force sensor 60 and the encoders 6a and 30a, and receives signals output from the force sensor 60 and the encoders 6a and 30a. The display control unit 73 is connected to the monitor 76, and controls the display of the monitor 76. The memory 74 stores, in addition to a program for operating the exercise training apparatus 1, data related to training, such as personal data of the user U and training history.

[0043] The control CPU 75 determines the speed of the operating unit 3 based on information input from the force sensor 60, the encoders 6a, 30a, and the non-volatile memory 74, and outputs a current value (output current Ii, duty) to the drive control unit 71 to control the power supply to the first motor 6 and the second motor 30.

[0044] In this embodiment, the operation unit 3 is provided at a position overlapping the first slider block 4 in the height direction via the mounting plate 5, and the operation unit 3 is fixed in a state where its lower end is floating above the base 2. However, the operation unit 3 may be configured so that the lower surface of the mounting plate 5 and the base 2 come into contact with each other after a sliding member such as a freely rotating roller is provided on the lower surface of the mounting plate 5 so that the operation unit 3 moves smoothly on the base 2. This allows the base 2 to receive the force applied downward by the user U. The operation unit 3 may also be attached to the upper part of the first slider block 4. This allows the movable area of ​​the operation unit 3 to be expanded further toward the back of the device.

[0045] Next, the operation of the exercise training system 1000 including the exercise training device 1 of this embodiment will be described. When the user U performs exercise training using the exercise training device 1, for example, the user U grasps the operation unit 3, and the training instructor holds the user U's hand from above and moves the operation unit 3 within a range of motion according to the condition of the user U's upper limbs, so that the exercise training is performed in an exercise training mode through a trajectory setting mode for setting a trajectory to be followed by the operation unit 3, and a load detection mode for detecting the position (trajectory) of the operation unit 3 by the user U and the load received by the operation unit 3 at that time by the user U grasping the operation unit 3 alone and tracing the trajectory set in the trajectory setting mode.

[0046] [Exercise training mode] First, the exercise training mode includes an active training mode (assist mode, training mode) in which the user U moves the operation unit 3 to trace the trajectory set in the trajectory setting mode, and a passive training mode (automatic mode) in which the user U exercises by being pulled by the operation unit 3 which automatically follows the trajectory. The passive training mode is intended primarily for people undergoing rehabilitation, while the active training mode is intended for people in the final stages of rehabilitation and able-bodied people.

[0047] [Automatic Mode] Among the exercise training modes described above, the automatic mode will be described. The automatic mode is a mode in which the operation unit 3 operated by the user U is moved along a predetermined trajectory, and the first motor 6 and the second motor 30 are controlled so that the operation unit 3 operated by the user U is guided to a next target position on the predetermined trajectory when the operation unit 3 deviates from the predetermined trajectory.

[0048] That is, in this embodiment, the control CPU 75 of the PC 70 switches the drive control of the operation unit 3 depending on whether the input value (the magnitude of the resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions) from the operation unit 3 to the force sensor 60 is within a preset predetermined range or exceeds the predetermined range. The predetermined range is set to a relatively small value so as not to cause an excessive burden on the user U even if the operation unit 3, which is driven to move along a predetermined trajectory (target trajectory TL), is forcibly moved by the first motor 6 and the second motor 30, ignoring the resistance force received from the user U.

[0049] Specifically, in the automatic mode, when the magnitude of the resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor 60 is within a predetermined range, the control CPU 75 controls the first motor 6 and the second motor 30 to move the operation unit 3 along a predetermined trajectory. On the other hand, when the magnitude of the resultant force F0 exceeds the predetermined range, the control CPU 75 controls the first motor 6 and the second motor 30 to move the operation unit 3 from the current position according to a first velocity vector having a magnitude that moves the operation unit 3 from the current position toward the next target position on the predetermined trajectory and a second velocity vector having a magnitude based on the magnitude of the resultant force F0.

[0050] An example of such an automatic mode will be described with reference to Figures 7 to 11. Here, a predetermined trajectory in the automatic mode of the operation unit 3 previously set by the control CPU 75 is set as a target trajectory TL, and a trajectory along which the operation unit 3 actually moves, deviating from the target trajectory TL due to the operation of the user U performing training, is set as an operation trajectory AL (not shown).

[0051] In each figure, small circles indicated by symbols LP0 to LP4 on the operation trajectory AL (not shown) indicate the trajectory positions of the operating unit 3 that actually move. Double-line arrows K0 to K4 extending from the trajectory positions LP0 to LP4 indicate the velocity vectors that actually act on the operating unit 3. In addition, a small circle indicated by symbol TP0 on the target trajectory TL indicates the current position of the operating unit 3, and small circles indicated by symbols TP1 to TP4 indicate the next target positions for the current position of the operating unit 3, that is, the next target positions corresponding to the trajectory positions LP1 to LP4, respectively. Broken-line arrows R0 to R4 extending from positions TP0, TP1 to TP4 on the target trajectory TL indicate the velocity vectors that act on the operating unit 3 that moves along the target trajectory TL.

[0052] In this embodiment, each position TP0, TP1 to TP4 on the target trajectory TL of the operation unit 3 is set at a certain time interval with the current position TP0 as the starting point of the exercise training. This time interval Δt is set in advance so as not to cause any hindrance to the smooth exercise training of the user in the automatic training mode and the assist mode described later. The control CPU 75 starts measuring time with the current position TP0 (LP0) as time t0 using a built-in counter at the same time as the start of the exercise training, and determines the current positions LP1 to LP4 on the operation trajectory AL of the operation unit 3 based on the number of pulses input from the encoders 6a and 30a for each of the positions TP1 to TP4 calculated by adding Δt. Note that in each figure, four each of the target positions TP1 to TP4 and the trajectory positions LP1 to LP4 are shown, but this is merely for the sake of simplicity of explanation, and in reality, more target positions are set on the target trajectory.

[0053] 7 shows a case where the input value from the operating unit 3 to the force sensor 60 is within a predetermined range at a trajectory position LP0 on the operation trajectory AL. In the figure, the trajectory position LP0 on the operation trajectory AL, which is the current position of the operating unit 3, is the same as the position TP0 on the target trajectory TL. The predetermined range is represented by a circle D whose outline is centered on the center O of the operating unit 3. A thick arrow FS extending from the center O of the operating unit 3 represents the direction and magnitude of the resistance force applied to the operating unit 3 by the user U, and the magnitude |FS| and the X-axis and Y-axis components representing its direction are detected as input values ​​to the force sensor 60.

[0054] As shown in FIG. 7, when the resistance force FS from the operation unit 3 is within a circle D, the magnitude |FS| of the input value from the operation unit 3 to the force sensor 60 is within a predetermined range. At this time, the control CPU 75 ignores the resistance force FS acting from the user U via the operation unit 3 and controls the driving of the operation unit 3. Specifically, the first motor 6 and the second motor 30 are controlled so that only a velocity vector R0 directed in the tangent direction of the target trajectory TL is generated in the operation unit 3 at the current position LP0 (=TP0) on the target trajectory TL, and the operation unit 3 moves along the target trajectory TL. Therefore, the hand of the user U holding the operation unit 3 undergoes exercise training along the target trajectory TL together with the operation unit 3.

[0055] Fig. 8 shows a case where the current position LP0 of the operating unit 3 is at position TP0 on the target trajectory TL as in Fig. 7, and the resistance force FS from the operating unit 3 extends to the outside of the circle D. In this case, the magnitude |FS| of the input value from the operating unit 3 to the force sensor 60 exceeds a predetermined range, so the control CPU 75 controls the drive of the operating unit 3 in consideration of the magnitude of the input value.

[0056] Specifically, the first motor 6 and the second motor 30 are driven to generate a return force FR acting in a direction returning the operation unit 3, which is at the current position LP0=TP0, to a position on the target trajectory TL against a resistance force FS acting to move the operation unit 3, which is at the current position LP0=TP0, away from the target trajectory TL. This return force FR is smaller than the resistance force FS, and since the operation unit 3 is on the target trajectory TL, it is generated on the same line of action as the resistance force FS in the opposite direction.

[0057] At this time, the difference between the resistance force FS and the return force FR can be expressed by a velocity vector M0 in the same direction as the resistance force FS. As a result, a velocity vector K0 is generated in the operation unit 3, which is a composite vector of the velocity vector R0 and the velocity vector M0 that are oriented in the tangent direction to the target trajectory TL so as to move the operation unit 3 along the target trajectory TL. Therefore, the operation unit 3 moves in the direction of the velocity vector K0 at a speed corresponding to the magnitude of the velocity vector, rather than in the direction from the current position LP0=TP0 toward the next target position TP1.

[0058] Fig. 9 shows a case where the resistance force FS from the operating unit 3 extends to the outside of the circle D when the operating unit 3 moves from the current position=path position LP0 in Fig. 8 to the next path position LP1. In this case as well, the magnitude |FS| of the input value from the operating unit 3 to the force sensor 60 exceeds the predetermined range, so the control CPU 75 controls the drive of the operating unit 3 in consideration of the magnitude of the input value.

[0059] Specifically, the first motor 6 and the second motor 30 are driven to generate a return force FR acting in a direction to return the operation unit 3, which is at the trajectory position LP1, to a target position TP1 on the target trajectory TL corresponding to the trajectory position LP1, i.e., to a position where the operation unit 3 should currently be if it were moving along the target trajectory TL, against a resistance force FS acting to move the operation unit 3, which is at the trajectory position LP1, further away from the target trajectory TL. This return force FR is smaller than the resistance force FS, but increases as the distance between the trajectory position LP1 and the corresponding target position TP1 increases, and is generated in a direction from the operation unit 3 toward the target position TP1 on the target trajectory TL.

[0060] At this time, a velocity vector R1 pointing from the trajectory position LP1 where the operation unit 3 is currently located toward the next target position TP2, and a velocity vector M1 resulting from the resultant force of the resistance force FS and the return force FR are generated in the operation unit 3. As a result, a velocity vector K1 which is a resultant vector of the velocity vectors R1 and M1 is generated in the operation unit 3, as shown in Fig. 9. Therefore, the operation unit 3 moves in the direction of the velocity vector K1 at a velocity corresponding to the magnitude of the velocity vector, rather than in the direction from the trajectory position LP1 where the operation unit 3 is currently located toward the next target position TP2.

[0061] Fig. 10 shows a case where the resistance force FS from the operating unit 3 extends to the outside of the circle D when the operating unit 3 moves from the current position LP1 in Fig. 9 to the next trajectory position LP2. In this case as well, the magnitude |FS| of the input value from the operating unit 3 to the force sensor 60 exceeds the predetermined range, so the control CPU 75 controls the drive of the operating unit 3 in consideration of the magnitude of the input value.

[0062] Specifically, the first motor 6 and the second motor 30 are driven to generate a return force FR acting in a direction to return the operation unit 3, which is at the trajectory position LP1, to the target position TP2 on the target trajectory TL corresponding to the trajectory position LP2, that is, to the position where the operation unit 3 should be if it were moving along the target trajectory TL, against the resistance force FS acting to move the operation unit 3, which is at the trajectory position LP1, further away from the target trajectory TL. This return force FR is smaller than the resistance force FS, but since the distance between the trajectory position LP2 and the corresponding target position TP2 is larger than the distance between the trajectory position LP1 and the target position TP1 in Fig. 9, the return force FR is larger than that in Fig. 9 and is generated in a direction from the operation unit 3 toward the target position TP2 on the target trajectory TL. In the example in Fig. 9, the return force FR is generated in the opposite direction on the same line of action as the resistance force FS.

[0063] At this time, a velocity vector R2 pointing from the trajectory position LP2 where the operation unit 3 is currently located toward the next target position TP3, and a velocity vector M2 resulting from the resultant force of the resistance force FS and the return force FR are generated in the operation unit 3. As a result, a velocity vector K2 which is a composite vector of the velocity vectors R2 and M2 is generated in the operation unit 3, as shown in Fig. 10. Therefore, the operation unit 3 moves in the direction of the velocity vector K2 at a velocity corresponding to the magnitude of the velocity vector, rather than in the direction from the trajectory position LP2 where the operation unit 3 is currently located toward the next target position TP3.

[0064] Next, Fig. 11 shows a case where the operating unit 3 is located at the same trajectory position LP2 as in Fig. 34, but the resistance force FS acting from the operating unit 3 not only extends outside the circle D but also exceeds a preset predetermined threshold. At this time, as in the case of Fig. 10, the resistance force FS is excessively large compared to the return force FR generated according to the distance between the trajectory position LP2 and the target position TP2, so the speed vector M2 generated by the difference between them is also excessively large, and there is a risk that the movement of the operating unit 3 will become too fast, and such an operating state is dangerous for the user.

[0065] Therefore, in this embodiment, a predetermined threshold is set for the magnitude of the resistance force FS that does not cause a dangerous driving state for the user even if the movement of the operation unit 3 becomes fast. Then, when the magnitude of the resistance force FS exceeds the predetermined threshold, the control CPU 75 sets the return force FR and the speed vector R2 from the trajectory position LP2 toward the next target position TP3 to 0. Furthermore, the control CPU 75 controls the first motor 6 and the second motor 30 so that a braking force larger than the return force FR generated according to the distance between the trajectory position LP2 and the target position TP2 acts on the operation unit 3 in the opposite direction to the resistance force FS. This reduces the speed vector KS of the operation unit 3, and the operation unit 3 can be moved slowly in the direction of the resistance force FS, thereby avoiding danger to the user.

[0066] 11, in the above-mentioned embodiment, the return force FR and the velocity vector R2 are set to 0, but in another embodiment, the return force FR can be made smaller than when it is generated according to the distance between the trajectory position LP2 and the target position TP2, and the velocity vector R2 can be made smaller than when moving from the trajectory position LP2 to the next target position TP3. This also makes it possible to reduce the velocity vector KS of the operation unit 3, move the operation unit 3 slowly, and avoid danger to the user.

[0067] [Assist mode] Next, the assist mode will be described with reference to Figs. 12 to 15. In the assist mode, when a user U is operating the operation unit 3 and the position of the operation unit 3 deviates from a predetermined area, an assist force F is applied to return the operation unit 3 to the predetermined area. A This is one of the active training modes in which the first motor 6 and the second motor 30 are controlled to generate

[0068] That is, in this embodiment, the control CPU 75 of the PC 70 switches the drive control of the operation unit 3 between when the position of the operation unit 3 operated by the user U is within a predetermined area and when it is outside the predetermined area. The predetermined area is a range of a certain distance from each point on a preset target trajectory, and this certain distance is set to a size that can be regarded as the operation unit 3 being operated so as to substantially trace the target trajectory from the viewpoint of exercise training. In this embodiment, the PC 70 is capable of executing such an assist mode.

[0069] Specifically, in the assist mode, when the encoders 6a, 30a detect that the position of the operation unit 3, which is operated by the user U and moves on the XY plane, is within a predetermined area, the control CPU 75 of the PC 70 controls the first motor 6 and the second motor 30 in accordance with a first velocity vector based on the magnitude of a resultant force F0 of the forces Fx, Fy in the X-axis and Y-axis directions detected by the force sensor 60. In other words, when the position of the operation unit 3 is within the predetermined area, the control CPU 75 controls the first motor 6 and the second motor 30 in accordance with a first velocity vector based on the magnitude of a resultant force F0 of the forces Fx, Fy in the X-axis and Y-axis directions detected by the force sensor 60. A Does not generate

[0070] On the other hand, when the encoders 6a and 30a detect that the position of the operation unit 3, which is operated by the user U and moves on the XY plane, is outside the predetermined area, the control CPU 75 generates an assist force F that moves the operation unit 3 in an assist direction according to the first velocity vector and a second velocity vector that acts to return the operation unit 3 to within the predetermined area. A The first motor 6 and the second motor 30 are controlled to generate the following:

[0071] 12 shows a case where the center O of the operation unit 3 is arranged to coincide with the start position TP0 on the target trajectory TL at the start of exercise training in the assist mode. The outline of the predetermined area is represented by a circle TR centered on a point on the target trajectory TL (start position TP0 in FIG. 12). A thick arrow FA extending from the center O of the operation unit 3 represents the direction and magnitude of the operation force applied to the operation unit 3 by the user U, and the magnitude |FA| and the X-axis and Y-axis components of the operation force FA representing the direction are detected as input values ​​to the force sensor 60. As shown in the figure, the operation force FA can be represented by a velocity vector N generated in the operation unit 3.

[0072] 12, at the start of the exercise training, the center O of the operation unit 3 is located on the target trajectory TL and is within the target area (predetermined area) TR, so that the control CPU 75 controls the first motor 6 and the second motor 30 to generate a velocity vector Q equal to the velocity vector N in the operation unit 3 based on an input value to the force sensor 60 corresponding to the operation force FA from the user U. In other words, the first motor 6 and the second motor 30 are driven so as to be able to move the operation unit 3 without interfering with the operation of the user U or exerting any extra force other than the operation force FA.

[0073] 13 shows a case where the center O of the current position LP of the operation unit 3, which has been moved from the start position TP0 in FIG. 12 by the operation of the user U, deviates from the target position TP on the target trajectory TL but is within the target region TR. In this case, the control CPU 75 controls the first motor 6 and the second motor 30 so as to generate a speed vector Q equal to the speed vector N in the operation unit 3 based on an input value to the force sensor 60 corresponding to the operation force FA from the user U, similar to the case of FIG. 12. Therefore, the operation unit 3 moves in the direction moved by the user U, based on the input value to the force sensor 60 corresponding to the operation force FA from the user U.

[0074] 14 shows a case where the center O of the operation unit 3 at the current position LP, which has been moved from the position in FIG. 13 by the operation of the user U, is out of the target area TR. In this case, the control CPU 75 controls the first motor 6 and the second motor 30 to generate a velocity vector W acting in a direction returning the operation unit 3 to the target area TR, in addition to a velocity vector N based on an input value to the force sensor 60 corresponding to the operation force FA from the user U. As a result, a velocity vector Q, which is a composite vector of the velocity vector N and the velocity vector W, is generated in the operation unit 3. Therefore, the operation unit 3 can be moved by adjusting the direction of movement by the user U so as to return to the target area TR by adding the velocity vector W to the operation force FA from the user U to assist it.

[0075] 14, when the center O of the operation unit 3 returns to the target area TR from a position outside the target area TR, the control CPU 75 sets the velocity vector W that assists the operating force FA to 0 or to a small value, thereby slowing down the moving velocity of the operation unit 3. This makes it possible to prevent the operation unit 3 from passing through the target area TR and moving to a position outside the target area on the opposite side.

[0076] Fig. 15 shows a case where the velocity vector W is set to 0 when the center O of the operation unit 3 returns to within the target region TR. As the assistance from the velocity vector W is no longer provided, the force and velocity vector acting on the operation unit 3 become the same as in the state shown in Fig. 13 above. That is, the control CPU 75 controls the first motor 6 and the second motor 30 based on an input value to the force sensor 60 corresponding to the operating force FA from the user U so as to generate a velocity vector Q equal to the velocity vector N in the operation unit 3, and the operation unit 3 moves in the direction moved by the user U in response to the operating force FA from the user U.

[0077] [Screen display] Here, the above-mentioned Patent Document 1 discloses a configuration capable of displaying on a monitor the trajectory and load fluctuation of the operation unit during or after the exercise training of the user. However, in order to improve the training effect, it is required to further improve the display method. That is, the training is usually performed while the training instructor judges the training status of the user U, but only the display of the trajectory and load fluctuation of the operation unit does not tell what kind of force and in what direction the user U actually applied to the operation unit 3 during training. On the other hand, if these are known, for example, it can be determined that the force applied at a certain position is small but the direction of the force is abnormal, and it becomes easier to determine the position or action where the user U has difficulty moving the operation unit 3. This makes it easier to determine the method of instruction thereafter.

[0078] Therefore, in this embodiment, the monitor 76 serving as a display unit is capable of simultaneously displaying the direction and magnitude of the resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor 60. Note that the display unit is not limited to a monitor, and may be a device that displays the resultant force F0 using a lamp or the like as long as the direction and magnitude of the resultant force F0 are known. The case of displaying on the monitor 76 will be described below.

[0079] As shown in FIG. 16, a first chart showing the magnitude and direction of the resultant force detected by the force sensor 60 and a second chart showing the position of the operating unit 3 detected by the encoders 6a and 30a as position detection means together with its trajectory can be displayed on the monitor 76 in the same chronological order.

[0080] The first chart is a chart consisting of multiple circles having the same center and different radii, and the detection results of the force sensor 60 are plotted so that the circumferential position from the center indicates the direction of the resultant force and the distance from the center indicates the magnitude of the resultant force. The second chart shown in Fig. 16 is a chart that displays the target trajectory along which the user U moves the operation unit 3, as well as the position of the operation unit 3 along the movement trajectory. In the illustrated example, the target trajectory is a circle, but the shape of the target trajectory is not limited to this.

[0081] In addition, in practice, the monitor 76 displays a screen shown in FIG. 17. The left side of FIG. 17 displays a setting display area 300, which is a screen for various settings, the center of FIG. 17 displays a trajectory display area 400, which is a screen showing the above-mentioned second chart, and the right side of FIG. 17 displays a force sense display area 500, which is a screen showing the above-mentioned first chart, scale settings, and various numerical values. The screen layout in the monitor 76 is not limited to this, and can be changed as appropriate. Of the above-mentioned various information, as long as at least the first chart and the second chart are displayed, the rest may be displayed, for example, on a different screen that is displayed by switching the display, or on a different display unit. Although the first chart and the second chart may be displayed by switching the screen, it is preferable to display them simultaneously on the same screen. The screen display of each part of FIG. 17 will be described below.

[0082] Fig. 18 shows only a setting display area 300, which is a setting screen for various settings displayed on the left side of Fig. 17. On this screen, various settings such as various mode settings, trajectory settings, custom settings, and force sense settings are input and displayed. The various modes include a training mode, an assist mode, an automatic mode, and the like. In the illustrated example, a mode selection area 301 is provided in which a plurality of setting buttons for selecting these modes are displayed, and the mode is executed by clicking any of the setting buttons displayed in this selection area 301. The training mode is an active training mode without an assisting force like the assist mode.

[0083] Trajectory settings include creating a target trajectory, recording an operation trajectory, and playing it back. In the illustrated example, a button for selecting the shape of the trajectory and a button for recording the trajectory are displayed in the trajectory setting area 302. By clicking any of these buttons, various settings or operations are performed. For example, by clicking the button for recording the trajectory (REC) and executing any of the exercise training modes, the contents displayed in the trajectory display area 400 and the force sense display area 500, which will be described later, can be saved, and the contents executed in that mode can be played back later.

[0084] The custom settings include the execution time of the mode, the movement speed of the operation unit 3, the level of assistance, etc., and various buttons that allow customizing the settings according to each mode are displayed in the custom setting area. By clicking any of these buttons, the settings in each mode can be changed.

[0085] The force sense setting is what parameters are used to control the operation unit 3. In the illustrated example, the force sense setting area 304 displays buttons that allow the user to set what load or operation is to be simulated on the operation unit. For example, "Weight" is a parameter that simulates "static friction and kinetic friction" as described in Patent Document 1, and "Slip" is a parameter that simulates a force that maintains the motion (for example, inertial force). By clicking on any of the above-mentioned buttons, the magnitude of these parameters can be set, allowing the user U to select a training that is suitable for the user.

[0086] 18 also displays a run button (RUN), a stop button (Stop), a selection button for selecting whether to perform the movements in the training in a clockwise or counterclockwise direction, etc. Furthermore, the contents that can be displayed in the setting display area 300 are not limited to these, and other display methods may also be used.

[0087] FIG. 19 shows only the trajectory display area 400, which is a screen showing the second chart displayed in the center part of FIG. 17. This screen shows the second chart. Specifically, the target trajectory TL is shown by a dashed line, the trajectory of the position of the operation unit 3, i.e., the operation trajectory AL is shown by a solid line, and the current position LP of the operation unit 3 is shown by a black circle. That is, in the trajectory display area 400, the trajectory (target trajectory TL) that the user U wants to trace, the trajectory (operation trajectory AL) that the operation unit 3 actually moved, and the current position LP of the operation unit 3 can be displayed simultaneously. The operation trajectory AL and the current position LP are displayed based on information detected by the encoders 6a and 30a. Note that the display method is not limited to this, and as long as the target trajectory TL, the operation trajectory AL, and the current position LP can be distinguished, the lines may be displayed in different colors or thicknesses.

[0088] Fig. 20 shows only the force sense display area 500, which is a screen showing the first chart and the like displayed on the right side of Fig. 17. This drawing shows the first chart (Force Ladar) showing the force and its direction acting on the operation unit 3 when the operation unit 3 is viewed from above, i.e., when viewed from a direction perpendicular to the XY plane. As described in Fig. 16, the first chart is a chart consisting of multiple circles (broken lines, chain lines) having the same center and different radii, and the circumferential position from the center indicates the direction of the resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor 60, and the distance from the center indicates the magnitude of the resultant force F0.

[0089] As shown in Fig. 20, the first chart shows the force (resultant force F0) actually applied to the operation unit 3 in that mode and its direction (direction of the resultant force F0) as a locus FL, as displayed by a solid line. The black circle in Fig. 20 is a position FP indicating the current force applied to the operation unit 3 and its direction. Note that the display method is not limited to this, and the line may be displayed by changing the color or thickness as long as the locus FL and the current position FP can be distinguished. Furthermore, the multiple circles on the first chart with different radii may have the same line type, thickness, and color, or at least one of these may be different between the multiple circles, as long as the locus FL and the position FP can be distinguished.

[0090] This screen can also display a setting screen for the force scale of the first chart, the angle of the base 2 (Table Angle), the XY coordinates (Position) of the position of the operation unit 3 at the position of the black circle on the first chart, and the values ​​of Fx and Fy detected by the force sensor 60 at that position. The force scale of the first chart corresponds to the size of each circle on the first chart, and by changing this setting, the scale of the force magnitude shown on the first chart can be changed. Regarding the angle of the base 2, there are cases where it is used at a position where the XY plane is horizontal, and cases where it is used tilted from the horizontal depending on conditions such as the user U and the training situation, and the angle of the base 2 at that time is displayed.

[0091] In this embodiment, the second chart shown in Fig. 19 and the first chart shown in Fig. 20 can be displayed in the same time series. That is, the operation locus AL shown in the second chart corresponds to the locus FL shown in the first chart, and the force and its direction applied to the operating unit 3 while moving along this operation locus AL are displayed in real time by the locus FL. In addition, the position LP of the second chart corresponds to the position FP of the first chart, and when the operating unit 3 is at the position LP of the second chart, it is shown that a force is acting on the operating unit 3 in the direction indicated by the position FP of the first chart.

[0092] In this embodiment, as shown in Fig. 21, when a certain position on the trajectory FL of the first chart is designated (clicked in this embodiment), the direction and magnitude of the resultant force F0 at the time corresponding to that position (black circle in the figure) may be displayed on the first chart. In Fig. 21, the position of the black circle relative to the center of the first chart indicates the direction of the resultant force F0. In addition, when a certain position on the operation trajectory AL of the second chart is designated (clicked in this embodiment), the position and speed of the operation unit 3 at the time corresponding to that position (black circle in the figure) may be displayed on the second chart.

[0093] Here, even if a certain position on either the first chart or the second chart is specified, the above-mentioned respective information is displayed on both charts. That is, in the case of this embodiment, as shown in the above-mentioned Fig. 17, the first chart and the second chart are displayed in the same chronological order on the same screen. Therefore, even if a certain position on either chart is clicked, information is displayed on both charts and can be confirmed on the same screen.

[0094] In other words, when a certain position on the first chart is specified, the position and velocity of the operating unit 3 at the time corresponding to that position can be displayed on the second chart, and when a certain position on the second chart is specified, the magnitude of the resultant force F0 at the time corresponding to that position can be displayed on the first chart.

[0095] At this time, the XY coordinates (position) of the position of the operation unit 3 at the position of the black circle on the first chart and the values ​​of Fx and Fy detected by the force sensor 60 at that position, as explained in the force sense display area 500 shown in Fig. 20, may be displayed at the same time by clicking a certain position on any of the charts. Also, the direction of the resultant force F0 at the clicked position may be displayed numerically. For example, the direction in which the arm is stretched straight out in front may be set to 0 degrees, and the right side may be expressed as plus and the left side as minus.

[0096] In this embodiment, the monitor 76 can simultaneously display the direction and magnitude of the resultant force F0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor 60. For this reason, for example, when the force applied at a certain position is small but the direction of the force is abnormal, a state that is difficult to understand just by looking at the magnitude of the force can be confirmed on the same screen, making it easier for the user U to determine the position or movement where it is difficult to move the operating unit 3. This makes it easier to determine the method of subsequent instruction, and makes it easier to obtain further training effects. In addition, by displaying the direction and magnitude of the resultant force F0 on the first chart described above, it is possible to make it easier to understand visually and intuitively, and to easily grasp the situation.

[0097] In addition to the first chart, the present embodiment also allows the second chart indicating the position of the operation unit 3 to be displayed in the same chronological order, making it easy to confirm the position of the operation unit 3 and the direction and magnitude of the resultant force F0 corresponding to this position. In particular, by displaying these on the same screen, it is possible to easily grasp the training state, and for example, it is visually easy to understand when the training instructor explains to the user U or when the training instructor grasps the training status of the user U, thereby improving the effectiveness of subsequent training.

[0098] At this time, by specifying a certain position on either the first chart or the second chart, it is possible to display information corresponding to the specified position on the other chart, making it easier for the training instructor to explain to the user U and to understand the training status of the user U. In this way, the configuration of this embodiment makes it easier to obtain a further training effect.

[0099] [Screen display in Assist mode] In this embodiment, as shown in FIG. 22(a), when the above-mentioned assist mode is executed, the assist force F A In this case, as shown in FIG. 22(b), the second chart may also display the assist force F A In the illustrated example, the assist force F is applied to the trajectory FL of the first chart and the operation trajectory AL of the second chart. A The area where the assist force F occurs, i.e., the area where the user U is assisted while moving the operation unit 3, is indicated by a dashed line. A The areas where no abnormality occurs are indicated by solid lines.

[0100] Such a display may be made, for example, by clicking a button on the setting screen that distinguishes between areas where assist force is applied and areas where it is not applied. Also, the method of display is not limited to solid and dashed lines as shown in the figure, and any method that visually distinguishes between assisted and unassisted areas may be used, such as changing the color or thickness of the line.

[0101] In this way, by distinguishing between the areas where the assist force is applied and the areas where the assist force is not applied on the first and second charts, it is possible to easily understand in which position or area the user U has difficulty moving the operation unit 3, and in which direction and how much force is being applied to the operation unit 3 at that time. This can be useful for the training instructor to formulate a teaching method for the user U, and can improve the effectiveness of the training.

[0102] [Screen display in automatic mode] In this embodiment, as shown in Figures 23(a) and 23(b), when the training of moving the operation unit 3 along a predetermined trajectory (target trajectory TL) is repeated multiple times in the above-mentioned automatic mode, if the magnitude of the resultant force F0 exceeds a predetermined range at the same position for a predetermined number of times or more, the position may be displayed so as to be distinguished from other positions. For example, as shown in Figure 23(b), when the user U moves the operation unit 3 so as to make five revolutions along the target trajectory TL in the automatic mode, as shown in Figure 23(a), the position indicated by the dashed line is the position where the magnitude of the resultant force F0 exceeds the predetermined range at the same position for a predetermined number of times or more.

[0103] In the illustrated example, as is clear from the second chart in FIG. 23(b), when the operating unit 3 is rotated five times along the target trajectory TL, the operating trajectory AL hardly deviates from the target trajectory TL. However, looking at the first chart in FIG. 23(a), it can be seen that a force of a different direction and magnitude is applied only to a part of the area on the trajectory FL. For this reason, by showing this area with a dotted line and the other areas with a solid line, it becomes clear that although the operating unit 3 moves along the trajectory in the automatic mode, there are positions or actions that are difficult for the operator to move. For this reason, it can be useful for the training instructor to formulate a teaching method for the user U, and the training effect can be improved.

[0104] Such a display may be made, for example, by clicking a button on the setting screen that distinguishes and displays the above-mentioned areas. The display method is not limited to solid and dashed lines as shown in the figure, and may be any method that visually distinguishes the difference, such as changing the color or thickness of the line between the area where the magnitude of the resultant force F0 exceeds the predetermined range at the same position for a predetermined number of times or more and the area where the magnitude of the resultant force F0 does not exceed the predetermined range. When the dashed line portion of the first chart (the area where the magnitude of the resultant force F0 exceeds the predetermined range at the same position for a predetermined number of times or more) is clicked, the corresponding area may be displayed in the second chart to be distinguished from the other areas, for example, by dashed and solid lines or by different colors.

[0105] Furthermore, as described above, when training in which the operating unit 3 is moved along a predetermined trajectory in automatic mode is repeated multiple times, if the magnitude of the resultant force F0 at a certain position at the beginning of the training exceeds the predetermined range but the magnitude of the resultant force F0 at that position decreases as the number of repetitions increases, it is possible to display a message indicating that the training was correct.

[0106] For example, if one training session involves five revolutions around the target trajectory TL, the first time or the first few times of training, a part of the body is in a state where a force of a different direction and magnitude is applied to it from the rest, as shown in Fig. 23(a). As the training continues, the force applied to this part decreases, and when the magnitude of the resultant force F0 falls below a predetermined range or below a threshold value smaller than the predetermined range, it can be determined that the state where a force of a different direction and magnitude is applied to it from the rest is gradually resolved. In this case, the monitor 76 displays a message indicating that the training was successful, such as "Training is going well" or a smiley face.

[0107] In this way, when the training is repeated, if abnormal forces are being applied in some areas, the device will determine that these forces are becoming smaller and will automatically display that the training was correct. This can serve as a reference for the training instructor and encouragement for the user U, thereby improving the effectiveness of the training.

[0108] [Display of abnormality] Not limited to the above-mentioned automatic mode and assisted mode, when a predetermined training is being performed, if the direction or magnitude of the resultant force F0 is abnormal depending on the position of the operation unit 3, a message to that effect may be displayed. For example, if the force sensor 60 detects a force equal to or greater than the upper limit or a force in a direction outside the allowable range at a certain position, this is determined to be abnormal, and a message to that effect is displayed on the screen of the monitor 76 while the training content is being played back during or after the training, or a lamp for displaying an abnormality is turned on if there is one. Examples of the display on the screen of the monitor 76 include changing the background color of the screen from normal, flashing the screen, and displaying a warning to the effect of an abnormality.

[0109] Furthermore, when it is determined that there is an abnormality in this way, the abnormal portion may be displayed in one or both of the first and second charts so as to be distinguishable from other portions. Then, by clicking on that portion, the position and velocity of the operation unit 3 at the time corresponding to that position may be displayed on the second chart, and the magnitude of the resultant force F0 at the time corresponding to that position may be displayed on the first chart.

[0110] For example, if the force sensor 60 detects a resultant force F0 equal to or greater than a preset upper limit during training, or if a resultant force F0 is applied at a certain position in a direction outside a preset allowable range, a message indicating an abnormality is displayed. In this case, the operation of the device may be automatically stopped.

[0111] Furthermore, when the training contents are being played back after the training, the abnormal portion is displayed in one or both of the first and second charts so as to be distinguishable from other portions. For example, as described above, it is possible to distinguish it by solid and dashed lines or by color. Alternatively, in addition to this, it is also possible to change the background color, flash the screen, or display a warning indicating an abnormality. Such a change in background color may be performed at the start of playback so that it is clear that the training was abnormal, or it may be performed when the corresponding portion of the first or second chart is clicked.

[0112] This makes it possible to clearly determine whether any abnormal movements have been made during training, and can serve as a reference for the training instructor in determining the suitability of the training, for example, whether the user is not yet at the stage of this training, thereby improving the effectiveness of the training.

[0113] [Other embodiments] The above-mentioned exercise training system 1000 includes a monitor 76, and a program capable of the above-mentioned control is installed in advance in, for example, a PC 70, but the above-mentioned program may be installed in an exercise training device 1 that does not include a monitor 76, and the above-mentioned display may be performed on an already installed or separately purchased monitor 76. Alternatively, the program may be installed in an exercise training device or computer included in an exercise training system that has already been installed. In other words, the present invention may be a program used in the above-mentioned exercise training system 1000.

[0114] This program is also a program that causes a computer to execute the following display method. That is, the display method and program have the following two steps. First, in the first step, the force sensor 60 detects a resultant force F0 of forces Fx and Fy in the X-axis and Y-axis directions. In the second step, the direction and magnitude of the resultant force F0 detected by the force sensor 60 in the first step are simultaneously displayed on a display unit such as the monitor 76. Note that the display method and program may further cause the display unit such as the monitor 76 to display various displays as described above. [Explanation of symbols]

[0115] 1...Exercise training device 3...Operation unit 6... First motor (X-axis direction drive motor) 6a Encoder (position detection means) 30...Second motor (Y-axis direction drive motor) 30a Encoder (position detection means) 60... Force sensor 70···PC (control unit) 76 Monitor (display unit) 200 Drive unit

Claims

1. An exercise training system for providing exercise training to a user, comprising: An operation unit that is movable on the XY plane; A drive unit having X-axis and Y-axis direction drive motors for driving the operation unit on an XY plane; a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit; A display unit; a control unit that controls the X-axis and Y-axis direction drive motors and the display unit, the control unit is capable of displaying a circular chart having a center on the display unit, and is capable of plotting a resultant force F 0 of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor on the chart, thereby simultaneously displaying a direction and a magnitude of the resultant force F 0 on the display unit; In the chart, a direction from the center to a position where the resultant force F 0 is plotted indicates a direction of the resultant force F 0 , and a distance from the center to the position where the resultant force F 0 is plotted indicates a magnitude of the resultant force F 0 , The control unit is further capable of displaying, on the chart, a trajectory of positions where the resultant force F 0 is plotted from the start of the exercise training to the present. An exercise training system comprising:

2. The chart is made up of a plurality of circles having the same center and different radii.

2. The exercise training system of claim 1 .

3. a position detection unit for detecting a position of the operation unit on the XY plane, The control unit determines the resultant force F ０ a first chart that simultaneously displays the direction and the size of the operation unit and a second chart that displays the position of the operation unit detected by the position detection means, in the same chronological order on the display unit; 3. The exercise training system according to claim 1 or 2.

4. When a certain position on the first chart is specified, the control unit is capable of displaying on the second chart a position and a speed of the operation unit at a time corresponding to the position.

4. The exercise training system according to claim 3.

5. When a certain position on the second chart is specified, the control unit calculates the resultant force F at a time corresponding to the position. ０ The direction and magnitude of the motion can be displayed on the first chart.

5. The exercise training system according to claim 3 or 4.

6. When the position detection means detects that the position of the operation part that is operated by the user and moves on the XY plane is within a predetermined area, the control unit detects a resultant force F of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor. ０ and when the position detection means detects that the position of the operation unit that is operated by the user and moves on the XY plane is out of the predetermined area, an assist force F is applied to move the operation unit in an assist direction according to the first velocity vector and a second velocity vector that acts to return the operation unit to within the predetermined area. Ａ When the assist mode is executed, the assist force F is displayed on the second chart. Ａ Distinguish between areas where the problem has occurred and areas where it has not occurred.

6. The exercise training system according to claim 3, wherein the exercise training system comprises:

7. When the assist mode is executed, the control unit displays the assist force F on the first chart. Ａ Distinguish between areas where the problem has occurred and areas where it has not occurred.

7. The exercise training system according to claim 6.

8. The control unit detects a resultant force Fx of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor. ０ When the magnitude of the resultant force F is within a predetermined range, the X-axis and Y-axis drive motors are controlled so as to move the operation unit along a predetermined trajectory, ０ a first velocity vector having a magnitude for moving the operation unit from the current position to a next target position on the predetermined trajectory when the magnitude of the resultant force F exceeds the predetermined range; ０ and a second velocity vector having a magnitude based on the magnitude of the second velocity vector, the second velocity vector being a second velocity vector having a magnitude based on the magnitude of the second velocity vector, and when the training of moving the operation unit along the predetermined trajectory in the automatic mode is repeated a plurality of times, the resultant force F is generated at the same position a predetermined number of times or more. ０ If the size of the position exceeds the predetermined range, the position is displayed on the display unit so as to be distinguishable from other positions.

8. The exercise training system according to claim 1,

9. The control unit detects a resultant force Fx of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor. ０ When the magnitude of the resultant force F is within a predetermined range, the X-axis and Y-axis direction drive motors are driven to move the operation unit along a predetermined trajectory, and the resultant force F ０ a first velocity vector having a magnitude for moving the operation unit from the current position to a next target position on the predetermined trajectory when the magnitude of the resultant force F exceeds the predetermined range; ０ and a second velocity vector having a magnitude based on the magnitude of the second velocity vector, and an automatic mode is executed in which the X-axis and Y-axis direction drive motors are controlled to move the operation unit from the current position, and when training in which the operation unit is moved along the predetermined trajectory in the automatic mode is repeated a plurality of times, the resultant force F is generated at a position at the beginning of the training. ０ The magnitude of the resultant force F at that position exceeds the predetermined range as the number of times increases. ０ If the size of the difference is smaller, a message is displayed on the display unit indicating that the training was correct.

8. The exercise training system according to claim 1,

10. The control unit, when a predetermined training is being performed, adjusts the resultant force F according to the position of the operation unit. ０ If the direction or size of the signal is abnormal, the display unit displays the abnormality.

10. The exercise training system according to claim 1 ,

11. An exercise training device for providing exercise training to a user, comprising: An operation unit that is movable on the XY plane; A drive unit having X-axis and Y-axis direction drive motors for driving the operation unit on an XY plane; a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit; a control unit that controls the X-axis and Y-axis direction drive motors and displays information on a display unit outside the device; The control unit is capable of displaying a circular chart having a center on the display unit, and a resultant force F of the forces Fx and Fy in the X-axis and Y-axis directions detected by the force sensor. ０ By plotting on the chart, the direction and magnitude of the resultant force F 0 can be displayed simultaneously on the display unit, In the chart, a direction from the center to a position where the resultant force F 0 is plotted indicates a direction of the resultant force F 0 , and a distance from the center to the position where the resultant force F 0 is plotted indicates a magnitude of the resultant force F 0 , The control unit is further capable of displaying, on the chart, a trajectory of positions where the resultant force F 0 is plotted from the start of the exercise training to the present. An exercise training device characterized by:

12. An operation unit that is movable on the XY plane; A drive unit having X-axis and Y-axis direction drive motors for driving the operation unit on an XY plane; a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit; A display method for displaying information on a display unit in an exercise training system for providing exercise training to a user, the method comprising: The force sensor detects a resultant force Fx, Fy in the X-axis and Y-axis directions. ０ A first step of detecting A circular chart having a center is displayed on the display unit, and the resultant force F detected by the force sensor in the first step is ０ and a second step of plotting the resultant force F on the chart to simultaneously display the direction and magnitude of the resultant force F on the display unit, In the chart, a direction from the center to a position where the resultant force F 0 is plotted indicates a direction of the resultant force F 0 , and a distance from the center to the position where the resultant force F 0 is plotted indicates a magnitude of the resultant force F 0 , In the second step, a trajectory of positions where the resultant force F 0 is plotted from the start of the exercise training to the present is further displayed on the chart. A display method comprising:

13. An operation unit that is movable on the XY plane; A drive unit having X-axis and Y-axis direction drive motors for driving the operation unit on an XY plane; a force sensor for detecting forces Fx and Fy in the X-axis and Y-axis directions acting on the operation unit from a user operating the operation unit; A display unit is provided for use in an exercise training system for providing exercise training to a user, The force sensor detects a resultant force Fx, Fy in the X-axis and Y-axis directions. ０ A first step of detecting A circular chart having a center is displayed on the display unit, and the resultant force F detected by the force sensor in the first step is ０ and a second step of plotting the resultant force F 0 on the chart to simultaneously display the direction and magnitude of the resultant force F 0 on the display unit, In the chart, a direction from the center to a position where the resultant force F 0 is plotted indicates a direction of the resultant force F 0 , and a distance from the center to the position where the resultant force F 0 is plotted indicates a magnitude of the resultant force F 0 , In the second step, a trajectory of the positions where the resultant force F 0 is plotted from the start of the exercise training to the present is further displayed on the chart. A program characterized by:

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