Pedal support structure and pedal support system

Abstract

To provide a technique for moving a rotating shaft of a pedal along an elliptical orbit simply and compactly.SOLUTION: A left leg unit 5 includes a vertical piece 11, a horizontal piece 12, a vertical guide groove 20, a horizontal guide groove 21, an outer connection bar 13 for mutually connecting the vertical piece 11 and the horizontal piece 12 by rotatably connecting the vertical piece 11 and the horizontal piece 12, and a pedal 14 rotatably connected to the outer connection bar 13. The vertical guide groove 20 and the horizontal guide groove 21 are extended so as to cross each other. By arranging a rotating shaft 11a of the pedal 14 away from a rotating shaft 11a of the vertical piece 11 and a rotating shaft 12a of the horizontal piece 12 and by arranging it away from a middle point (m) of a segment L for connecting the rotating shaft 11a of the vertical piece 11 and the rotating shaft 12a of the horizontal piece 12, a rotating shaft 14a of the pedal 14 travels along an elliptical orbit T.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a pedal support structure and a pedal support system. [Background technology]

[0002] Patent Document 1 discloses a sprint training machine equipped with a movable base for the right leg and a movable base for the left leg. Each movable base rotatably supports a rotating shaft to which a pedal is attached via an arm. Each movable base can move back and forth via a ball screw connected to a servo motor. An electromagnetic brake is connected to the rotating shaft via a chain. The electromagnetic brake is set so that a load is applied to the rotation of the rotating shaft when the pedal is lower than the rotating shaft, and no load is applied to the rotation of the rotating shaft when the pedal is higher than the rotating shaft. According to the above configuration, the rotating shaft of the arm moves horizontally back and forth and the pedal rotates around the rotating shaft, so that the trajectory of the pedal is a rounded rectangle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 2685131 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in order to eliminate the lack of daily exercise due to desk work, it is typically preferable to install a pedaling exercise machine under the desk. That is, if you use the pedaling exercise machine to pedal while sitting while doing desk work, you can eliminate the lack of daily exercise without having to take the time to exercise. It is also known that when a human walks, the foot draws an approximately elliptical orbit with respect to the pelvis when viewed from a direction perpendicular to the sagittal plane. Therefore, if the rotation axis of the pedal in the above pedaling exercise machine could be moved along an elliptical orbit, the exercise effect using the pedaling exercise machine would be improved.

[0005] However, while the configuration of Patent Document 1 allows the pedal trajectory to be a rectangle with rounded corners, it requires a movable base that moves back and forth and a servo motor to move the movable base back and forth, so the device for realizing the pedal trajectory is inevitably complex and large.

[0006] An object of the present disclosure is to provide a technology for moving the rotation axis of a pedal along an elliptical trajectory in a simple and compact manner. [Means for solving the problem]

[0007] According to a first aspect of the present disclosure, there is provided a pedal support structure including a first slider, a second slider, a first guide for linearly slidably guiding the first slider, a second guide for linearly slidably guiding the second slider, a first connecting portion for connecting the first slider and the second slider to each other by rotatably connecting the first slider and the second slider, and a pedal rotatably connected to the first connecting portion, the first guide and the second guide extend to intersect with each other, and the rotation axis of the pedal is disposed away from the rotation axis of the first slider and the rotation axis of the second slider and is disposed away from the midpoint of the line segment connecting the rotation axis of the first slider and the rotation axis of the second slider, so that the rotation axis of the pedal moves along an elliptical orbit. With the above configuration, the rotation axis of the pedal can be moved along an elliptical orbit in a simple and compact manner. The pedal support structure may further include a load means for applying a load to the movement of the first slider or the second slider. According to the above configuration, it is possible to train mainly the muscles of the lower limbs. The loading means may apply a load to the movement of the first slider or the second slider when the rotation axis of the pedal is located below the major axis of the elliptical orbit when the pedal is moved in a predetermined direction, and may not apply a load to the movement of the first slider or the second slider when the rotation axis of the pedal is located above the major axis of the elliptical orbit. With the above configuration, it is possible to realize a loading condition specific to walking, in which there is no load when the foot is swung forward in the swing phase, and a load is generated when the foot is kicked backward in the stance phase. The load means may apply a load to the first slider or the second slider against the movement of the first slider or the second slider in a direction away from the intersection of the first guide and the second guide. According to the above configuration, the load means can be configured simply. The load means may be a spring provided on the first guide or the second guide for urging the first slider or the second slider toward the intersection. According to the above configuration, the load means can be configured simply. The attachment position of the pedal relative to the first connecting part may be changeable. According to the above configuration, the long and short axes of the elliptical orbit can be easily increased or decreased. Therefore, the long and short axes of the elliptical orbit can be adjusted according to the physique of the user, and the muscle parts used in the exercise can be changed by increasing or decreasing the long and short axes of the elliptical orbit, thereby improving the efficiency of the exercise. Furthermore, by increasing or decreasing the long and short axes of the elliptical orbit, the range in which the joint angles of the hip joint, knee joint, and ankle joint increase or decrease during the exercise can be expanded or reduced, so that the difficulty level of the functional recovery training for each joint can be adjusted. A pedal support system is provided, comprising a left leg pedal support structure as the pedal support structure and a right leg pedal support structure as the pedal support structure, the left leg pedal support structure and the right leg pedal support structure being disposed opposite each other. With the above configuration, the right leg and the left leg can be trained simultaneously. The pedal support system may further include an interlocking mechanism that interlocks the pedal of the left leg pedal support structure with the pedal of the right leg pedal support structure such that, when viewed along the rotation axis of the pedal of the left leg pedal support structure, the rotation axis of the pedal of the left leg pedal support structure and the rotation axis of the pedal of the right leg pedal support structure are point-symmetric with respect to the intersection of the first guide and the second guide of the left leg pedal support structure. With the above configuration, it is possible to more faithfully simulate the movement of the right and left legs during walking. The interlocking mechanism may include a left-leg rack fixed to the second slider of the left-leg pedal support structure, a right-leg rack fixed to the second slider of the right-leg pedal support structure, and a pinion meshing with the left-leg rack and the right-leg rack. With the above configuration, the interlocking mechanism can be realized with a simple configuration. The interlocking mechanism includes a rotatably supported base shaft, a left leg crank arm and a right leg crank arm extending in opposite directions from each other from the base shaft, a left leg second connection portion that connects the first slider and the second slider of the left leg pedal support structure to each other by rotatably connecting the first slider and the second slider of the left leg pedal support structure, and a right leg second connection portion that connects the first slider and the second slider of the right leg pedal support structure to each other by rotatably connecting the first slider and the second slider of the right leg pedal support structure, wherein the left leg crank arm is rotatably connected to the left leg second connection portion at the midpoint of the left leg pedal support structure, and the right leg crank arm is rotatably connected to the right leg second connection portion at the midpoint of the right leg pedal support structure. According to the above configuration, the interlocking mechanism can be realized with a simple configuration.

[0008] According to a second aspect of the present disclosure, there is provided a slider assembly including a first slider, a second slider, a third slider, a first guide that linearly guides the first slider so as to be slidable, a second guide that linearly guides the second slider so as to be slidable, a third guide that linearly guides the third slider so as to be slidable, a first connecting portion that connects the first slider, the second slider, and the third slider to each other by rotatably connecting the first slider, the second slider, and the third slider, and a pedal rotatably connected to a slider portion, the first guide, the second guide, and the third guide extending to intersect with each other at one point, and the rotation axis of the pedal is disposed away from the rotation axis of the first slider, the rotation axis of the second slider, and the rotation axis of the third slider, and is disposed away from the center of gravity of a triangle connecting the rotation axis of the first slider, the rotation axis of the second slider, and the rotation axis of the third slider, so that the rotation axis of the pedal moves along an elliptical orbit. According to the above configuration, the rotation axis of the pedal can be moved along an elliptical orbit in a simple and compact manner. The pedal support structure may further include a load means for applying a load to the movement of the first slider, the second slider, or the third slider. According to the above configuration, it is possible to train mainly the muscles of the lower limbs. The loading means may apply a load to the movement of the first slider, the second slider, or the third slider when the rotation axis of the pedal is located below the major axis of the elliptical orbit when the pedal is moved in a predetermined direction, and may not apply a load to the movement of the first slider, the second slider, or the third slider when the rotation axis of the pedal is located above the major axis of the elliptical orbit. With the above configuration, it is possible to realize a loading condition specific to walking, in which no load is applied when the foot is swung forward in the swing phase, and a load is applied when the foot is kicked backward in the stance phase. The loading means may apply a load against movement of the first slider, the second slider, or the third slider in a direction away from an intersection of the first guide, the second guide, and the third guide. According to the above configuration, the loading means can be simply configured. The load means may be a spring provided on the first guide, the second guide, or the third guide, and biases the first slider, the second slider, or the third slider toward the intersection. According to the above configuration, the load means can be configured simply. The attachment position of the pedal relative to the first connecting part may be changeable. According to the above configuration, the long and short axes of the elliptical orbit can be easily increased or decreased. Therefore, the long and short axes of the elliptical orbit can be adjusted according to the physique of the user, and the muscle parts used in the exercise can be changed by increasing or decreasing the long and short axes of the elliptical orbit, thereby improving the efficiency of the exercise. Furthermore, by increasing or decreasing the long and short axes of the elliptical orbit, the range in which the joint angles of the hip joint, knee joint, and ankle joint increase or decrease during the exercise can be expanded or reduced, so that the difficulty level of the functional recovery training for each joint can be adjusted. A pedal support system is provided, comprising a left leg pedal support structure as the pedal support structure and a right leg pedal support structure as the pedal support structure, the left leg pedal support structure and the right leg pedal support structure being disposed opposite each other. With the above configuration, the right leg and the left leg can be trained simultaneously. The pedal support system may further include an interlocking mechanism that interlocks the pedal of the left leg pedal support structure with the pedal of the right leg pedal support structure so that the rotation axis of the pedal of the left leg pedal support structure and the rotation axis of the pedal of the right leg pedal support structure are point-symmetric with respect to an intersection of the first guide, the second guide, and the third guide of the left leg pedal support structure when viewed along the rotation axis of the pedal of the left leg pedal support structure. With the above configuration, the movement of the right and left legs during walking can be more faithfully simulated. The interlocking mechanism may include a left-leg rack fixed to the second slider of the left-leg pedal support structure, a right-leg rack fixed to the second slider of the right-leg pedal support structure, and a pinion meshing with the left-leg rack and the right-leg rack. With the above configuration, the interlocking mechanism can be realized with a simple configuration. The interlocking mechanism includes a rotatably supported base shaft, a left leg crank arm and a right leg crank arm extending in opposite directions from each other from the base shaft, and a left leg second coupling portion that couples the first slider, the second slider, and the third slider of the left leg pedal support structure to each other by rotatably coupling the first slider, the second slider, and the third slider of the left leg pedal support structure to each other, and a left leg side second coupling portion that couples the first slider, the second slider, and the third slider of the left leg pedal support structure to each other by rotatably coupling the first slider, the second slider, and the third slider of the left leg pedal support structure to each other. and a right-leg second coupling portion that couples the first slider, the second slider, and the third slider of the right-leg pedal support structure to each other by rotatably coupling the second slider and the third slider, wherein the left-leg crank arm may be rotatably coupled to the left-leg second coupling portion at the center of gravity of the left-leg pedal support structure, and the right-leg crank arm may be rotatably coupled to the right-leg second coupling portion at the center of gravity of the right-leg pedal support structure. With the above configuration, the interlocking mechanism can be realized with a simple configuration. Effect of the Invention

[0009] According to the present disclosure, the rotation axis of the pedal can be moved along an elliptical trajectory in a simple and compact manner. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a side view of a pedaling exercise system (first embodiment). [Diagram 2] FIG. 1 is a perspective view of a pedaling exercise device (first embodiment). [Diagram 3] FIG. 1 is a perspective view of the pedaling exercise device as seen from another angle (first embodiment); [Figure 4] FIG. 1 is a perspective view of a pedaling exercise device with the guides omitted (first embodiment); [Diagram 5] FIG. 11 is a perspective view of the pedaling exercise machine from another angle, with the guide omitted (first embodiment). [Figure 6] FIG. 1 is a front view of a pedaling exercise device (first embodiment). [Figure 7] FIG. 1 is a side view of a pedaling exercise device (first embodiment). [Figure 8] FIG. 1 is a diagram for explaining the trajectory of the lower part of the pedal (first embodiment). [Figure 9] FIG. 1 is a diagram for explaining the trajectory of the upper part of the pedal (first embodiment). [Figure 10] FIG. 1 is a diagram for explaining a trajectory of a midpoint (first embodiment). [Figure 11] FIG. 1 is a diagram showing the relationship between the mounting position of the pedal and the size of the elliptical orbit (first embodiment). [Figure 12] FIG. 13 is a plan view showing another specific example of the interlocking unit (modification); [Figure 13] FIG. 11 is a perspective view of a pedaling exercise device (second embodiment). [Figure 14] FIG. 11 is a perspective view of the pedaling exercise machine as seen from a different angle (second embodiment). [Figure 15] FIG. 11 is a perspective view of a pedaling exercise device with the guide omitted (second embodiment); [Figure 16] FIG. 11 is a perspective view of the pedaling exercise machine from a different angle, with the guide omitted (second embodiment). [Figure 17] FIG. 11 is a plan view of the pedaling exercise device (second embodiment). [Figure 18] FIG. 11 is a side view of the pedaling exercise device (second embodiment). [Figure 19] FIG. 11 is a diagram for explaining the trajectory of the lower part of the pedal (second embodiment). [Figure 20] FIG. 11 is a diagram for explaining the trajectory of the upper part of the pedal (second embodiment). [Figure 21] FIG. 13 is a diagram for explaining the trajectory of the center of gravity (second embodiment). [Figure 22] FIG. 11 is a diagram showing the relationship between the mounting position of the pedal and the size of the elliptical orbit (second embodiment). [Diagram 23] FIG. 13 is a plan view showing another example of the interlocking unit (modification); [Figure 24] FIG. 13 is a diagram showing an application example of a pedaling exercise device (modification). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (First embodiment) Hereinafter, a first embodiment of the present disclosure will be described with reference to Figs. 1 to 11. Fig. 1 shows a foot-pedaling exercise system 1. As shown in Fig. 1, the foot-pedaling exercise system 1 includes a foot-pedaling exercise device 2 and a chair 3. The foot-pedaling exercise device 2 is a specific example of a pedal support system. A user U seated on the chair 3 performs deskwork using a laptop computer (not shown) placed on a desk 4. A compact foot-pedaling exercise device 2 is installed under the desk 4. Thus, the user U can perform foot-pedaling exercise using the foot-pedaling exercise device 2 while performing deskwork.

[0012] Here, the terms "front-rear direction" and "width direction" used in this specification are defined. The "front-rear direction" is a horizontal direction in which the foot F is swung out and kicked off. Therefore, the "front-rear direction" can also be defined as a direction perpendicular to the coronal plane of the user U. The front-rear direction includes forward and backward. Forward is the direction in which the foot F is swung out. Rear is the direction in which the foot F is kicked off. The "width direction" is a horizontal direction perpendicular to the front-rear direction. Therefore, the width direction is generally perpendicular to the paper surface of FIG. 1. The front-rear direction and the width direction are both horizontal directions, and therefore perpendicular to the vertical direction.

[0013] Figures 2 to 7 show the foot-pedaling exercise equipment 2. As shown in Figures 2 to 7, the foot-pedaling exercise equipment 2 includes a left leg unit 5, a right leg unit 6, a base 7, and an interlocking unit 8. The left leg unit 5 and the right leg unit 6 are specific examples of pedal support structures. The left leg unit 5 is a specific example of a pedal support structure for the left leg. The right leg unit 6 is a specific example of a pedal support structure for the right leg. The interlocking unit 8 is a specific example of an interlocking mechanism.

[0014] As shown in FIGS. 2 to 7, the left leg unit 5 includes a guide 10, a vertical piece 11, a horizontal piece 12, an outer connecting bar 13, a pedal 14, a vertical coil spring 15, and a horizontal coil spring 16.

[0015] The vertical piece 11 is a specific example of a first slider. The horizontal piece 12 is a specific example of a second slider. The outer connecting bar 13 is a specific example of a first connecting portion. The vertical coil spring 15 and the horizontal coil spring 16 are a specific example of a load means. That is, the load means is composed of the vertical coil spring 15 and the horizontal coil spring 16.

[0016] As shown in Fig. 2 and Fig. 7, in this embodiment, the guide 10 is configured of, for example, a metal plate. The plate thickness direction of the guide 10 is equal to the width direction. A vertical guide groove 20 and a horizontal guide groove 21 are formed in the guide 10. The vertical guide groove 20 is a specific example of a first guide. The horizontal guide groove 21 is a specific example of a second guide.

[0017] The vertical guide groove 20 is formed so as to extend linearly in the vertical direction. The horizontal guide groove 21 is formed so as to extend linearly in the front-rear direction. When the guide 10 is viewed along the width direction, i.e., in a side view, the vertical guide groove 20 and the horizontal guide groove 21 extend so as to intersect with each other. Therefore, the vertical guide groove 20 and the horizontal guide groove 21 intersect with each other so as to form a cross in a side view.

[0018] The vertical guide groove 20 supports the vertical piece 11 so that the vertical piece 11 can slide linearly along the vertical direction. The vertical guide groove 20 prohibits the vertical piece 11 from moving forward and backward and in the width direction. The vertical guide groove 20 restrains the vertical piece 11 in the width direction so that the vertical piece 11 does not fall off the vertical guide groove 20 in the width direction. Typically, a groove extending in the vertical direction is provided on the inner wall surface of the vertical guide groove 20, and the vertical piece 11 is fitted into the groove, thereby realizing the above-mentioned restraint of the vertical piece 11. The vertical coil spring 15 is accommodated in the upper end 20a of the vertical guide groove 20. The vertical coil spring 15 is accommodated in the upper end 20a of the vertical guide groove 20 in an attitude in which the pitch direction coincides with the vertical direction. The upper end of the vertical coil spring 15 is fixed to an upper partition surface 20b that vertically partitions the vertical guide groove 20. The vertical coil spring 15 is typically a compression coil spring.

[0019] The horizontal guide groove 21 supports the horizontal piece 12 so that the horizontal piece 12 can slide linearly along the front-rear direction. The horizontal guide groove 21 prohibits the horizontal piece 12 from moving in the vertical direction and the width direction. The horizontal guide groove 21 restrains the horizontal piece 12 in the width direction so that the horizontal piece 12 does not fall off the horizontal guide groove 21 in the width direction. Typically, a groove extending in the front-rear direction is provided on the inner wall surface of the horizontal guide groove 21, and the horizontal piece 12 is fitted into the groove to achieve the above-mentioned restraint of the horizontal piece 12. The horizontal coil spring 16 is accommodated in the rear end 21a of the horizontal guide groove 21. The horizontal coil spring 16 is accommodated in the rear end 21a of the horizontal guide groove 21 with the pitch direction coinciding with the front-rear direction. The rear end of the horizontal coil spring 16 is fixed to a rear partition surface 21b that divides the horizontal guide groove 21 in the front-rear direction. The horizontal coil spring 16 is typically a compression coil spring.

[0020] Since the vertical guide groove 20 and the horizontal guide groove 21 intersect with each other, the vertical coil spring 15 sliding vertically in the vertical guide groove 20 passes locally through the internal space of the horizontal coil spring 16, and the horizontal coil spring 16 sliding back and forth in the horizontal guide groove 21 passes locally through the internal space of the vertical coil spring 15.

[0021] The outer connecting bar 13 connects the vertical link 11 and the horizontal link 12 to each other. The outer connecting bar 13 is disposed outward in the width direction from the guide 10. The outward width direction used in describing the left leg unit 5 means the width direction in the direction away from the right leg unit 6. The vertical link 11, the horizontal link 12, and the pedal 14 are connected to the outer connecting bar 13 so as to be rotatable (pitch rotatable). Therefore, the vertical link 11 has a rotation shaft 11a relative to the outer connecting bar 13. The rotation shaft 11a extends in the width direction. Similarly, the horizontal link 12 has a rotation shaft 12a relative to the outer connecting bar 13. The rotation shaft 12a extends in the width direction. Similarly, the pedal 14 has a rotation shaft 14a relative to the outer connecting bar 13. The rotation shaft 14a extends in the width direction.

[0022] The external connecting bar 13 has a vertical linkage portion 13a to which the vertical link 11 is rotatably connected, a horizontal linkage portion 13b to which the horizontal link 12 is rotatably connected, and a pedal linkage portion 13c to which the pedal 14 is rotatably connected. The external connecting bar 13 extends so that the vertical linkage portion 13a, the horizontal linkage portion 13b, and the pedal linkage portion 13c are aligned in a straight line. The pedal linkage portion 13c is located on the opposite side of the vertical linkage portion 13a across the horizontal linkage portion 13b. In other words, the horizontal linkage portion 13b is located between the vertical linkage portion 13a and the pedal linkage portion 13c.

[0023] The pedal connecting portion 13c is formed with a plurality of fitting portions 22 to which the pedal 14 can be attached and detached. The plurality of fitting portions 22 are formed in a row along the longitudinal direction of the outer connecting bar 13. Therefore, the mounting position of the pedal 14 relative to the outer connecting bar 13 is changeable. For example, when the pedal 14 is mounted to the fitting portion 22 that is the closest to the horizontal bridge connecting portion 13b among the plurality of fitting portions 22, the distance between the rotation shaft 14a of the pedal 14 and the rotation shaft 12a of the horizontal bridge 12 can be minimized. On the other hand, when the pedal 14 is mounted to the fitting portion 22 that is the farthest from the horizontal bridge connecting portion 13b among the plurality of fitting portions 22, the distance between the rotation shaft 14a of the pedal 14 and the rotation shaft 12a of the horizontal bridge 12 can be maximized.

[0024] 7, no matter to which of the multiple fitting portions 22 the pedal 14 is attached, the rotation shaft 14a of the pedal 14 is disposed away from the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12. More specifically, the rotation shaft 14a of the pedal 14 is disposed away from the midpoint m of the line segment connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12 in a side view. Therefore, as will be described in detail later, the trajectory along which the rotation shaft 14a of the pedal 14 moves is an elliptical trajectory with its major axis in the front-to-rear direction and its minor axis in the vertical direction in a side view.

[0025] 3, the right leg unit 6, like the left leg unit 5, includes a guide 10, a vertical piece 11, a horizontal piece 12, an outer connecting bar 13, a pedal 14, a vertical coil spring 15, and a horizontal coil spring 16. The configuration of the right leg unit 6 is symmetrical with respect to the sagittal plane to the configuration of the left leg unit 5 already described, so a description thereof will be omitted.

[0026] Returning to Fig. 2, the base 7 connects the left leg unit 5 and the right leg unit 6, which are arranged opposite each other in the width direction. Specifically, the base 7 is composed of a metal plate that connects the guide 10 of the left leg unit 5 and the guide 10 of the right leg unit 6.

[0027] 4 to 6, the interlocking unit 8 interlocks the left leg pedaling motion of the left leg unit 5 with the right leg pedaling motion of the right leg unit 6. In other words, the interlocking unit 8 interlocks the pedal 14 of the left leg unit 5 with the pedal 14 of the right leg unit 6. The interlocking unit 8 is provided between the left leg unit 5 and the right leg unit 6 in the width direction.

[0028] As shown in FIGS. 5 and 6, the interlocking unit 8 includes a base shaft 30, a left leg crank arm 31, a right leg crank arm 32, a left leg inner connecting bar 33, and a right leg inner connecting bar .

[0029] The base shaft 30 is a shaft extending in the width direction, and is rotatably supported by a support pillar 35 that protrudes upward from the base 7.

[0030] The left leg crank arm 31 and the right leg crank arm 32 extend in opposite directions from the base shaft 30 .

[0031] Specifically, the left-leg crank arm 31 includes a crank arm body 31a and a horizontal extension 31b. The crank arm body 31a extends from the end of the base shaft 30 on the left-leg unit 5 side. The crank arm body 31a extends in a direction perpendicular to the longitudinal direction of the base shaft 30. The horizontal extension 31b extends outward in the width direction from the tip of the crank arm body 31a.

[0032] Similarly, the right-leg crank arm 32 includes a crank arm body 32a and a horizontal extension 32b. The crank arm body 32a extends from the end of the base shaft 30 on the right leg unit 6 side. The crank arm body 32a extends in a direction perpendicular to the longitudinal direction of the base shaft 30. The horizontal extension 32b extends outward in the width direction from the tip of the crank arm body 32a.

[0033] As shown in FIGS. 5 and 6, the crank arm body 31a of the left leg crank arm 31 and the crank arm body 32a of the right leg crank arm 32 extend in opposite directions perpendicular to the longitudinal direction of the base shaft 30.

[0034] The left-leg inner connecting bar 33, like the outer connecting bar 13 of the left leg unit 5, connects the vertical link 11 and horizontal link 12 of the left leg unit 5 to each other. The left-leg inner connecting bar 33 is positioned widthwise inward of the guide 10 of the left leg unit 5. Therefore, the guide 10 of the left leg unit 5 is sandwiched in the widthwise direction between the outer connecting bar 13 of the left leg unit 5 and the left-leg inner connecting bar 33. The vertical link 11 and horizontal link 12 of the left leg unit 5 are connected to the left-leg inner connecting bar 33 so as to be freely rotatable (pitch-rotatable).

[0035] Similarly, the right-leg inner connecting bar 34 connects the vertical link 11 and horizontal link 12 of the right leg unit 6 to each other, just like the outer connecting bar 13 of the right leg unit 6. The right-leg inner connecting bar 34 is positioned widthwise inward of the guide 10 of the right leg unit 6. Therefore, the guide 10 of the right leg unit 6 is sandwiched in the widthwise direction between the outer connecting bar 13 of the right leg unit 6 and the right-leg inner connecting bar 34. The vertical link 11 and horizontal link 12 of the right leg unit 6 are connected to the right-leg inner connecting bar 34 so as to be freely rotatable (pitch-rotatable).

[0036] 5 and 7, the horizontal extension 31b of the left-leg crank arm 31 is rotatably (pitch-rotatably) connected to the left-leg inner connecting bar 33 at the midpoint m of the line segment connecting the rotation shaft 11a of the vertical link 11 and the rotation shaft 12a of the horizontal link 12 of the left leg unit 5 in the side view of Fig. 7. That is, the horizontal extension 31b of the left-leg crank arm 31 is rotatably (pitch-rotatably) connected to the left-leg inner connecting bar 33 at the center of the left-leg inner connecting bar 33 in the longitudinal direction.

[0037] 5, the horizontal extension 32b of the right-leg crank arm 32 is rotatably (pitch-rotatably) connected to the right-leg inner connecting bar 34 at the midpoint m of the line segment connecting the rotation shaft 11a of the vertical link 11 and the rotation shaft 12a of the horizontal link 12 of the right leg unit 6 in a side view. That is, the horizontal extension 32b of the right-leg crank arm 32 is rotatably (pitch-rotatably) connected to the right-leg inner connecting bar 34 at the center in the longitudinal direction of the right-leg inner connecting bar 34.

[0038] By connecting the left leg unit 5 and the right leg unit 6 via the above-mentioned interlocking unit 8, the pedal 14 of the left leg unit 5 and the pedal 14 of the right leg unit 6 are interlocked in opposite phases as shown in Fig. 7. That is, as shown in Fig. 7, in side view, the rotation shaft 14a of the pedal 14 of the left leg unit 5 and the rotation shaft 14a of the pedal 14 of the right leg unit 6 are always positioned symmetrically with respect to the intersection G of the vertical guide groove 20 and the horizontal guide groove 21 of the left leg unit 5 during pedaling motion.

[0039] Next, referring to Figs. 8 and 9, the mechanism by which the left leg unit 5 realizes the elliptical trajectory T will be described in detail. Figs. 8 and 9 show simplified changes in the posture of the outer connecting bar 13 when the left leg unit 5 is observed from the side. In Figs. 8 and 9, the front is the left side on the paper, and the rear is the right side on the paper. Points p1 to p16 indicate the rotation axis 14a of the pedal 14. Points v1 to v16 indicate the rotation axis 11a of the vertical block 11. Points h1 to h16 indicate the rotation axis 12a of the horizontal block 12. The numbers of these symbols correspond to each other in a time series. That is, at time 1, the rotation axis 14a of the pedal 14 is at point p1, the rotation axis 11a of the vertical block 11 is at point v1, and the rotation axis 12a of the horizontal block 12 is at point h1, and the solid lines connecting points p1, v1, and h1 indicate the outer connecting bar 13 at time 1. 8 and 9 also show the vertical guide groove 20, the horizontal guide groove 21, their intersection G, the vertical coil spring 15, and the horizontal coil spring 16.

[0040] 8 and 9, when the rotation shaft 11a of the vertical block 11 is slidable along the vertical guide groove 20 and the rotation shaft 12a of the horizontal block 12 is slidable along the horizontal guide groove 21, the rotation shaft 14a of the pedal 14 describes an elliptical orbit T centered on the intersection point G as shown from point p1 to point p16. For convenience of explanation, it is assumed that the rotation shaft 14a of the pedal 14 circulates along the elliptical orbit T in a predetermined direction D shown in Figs. 8 and 9, i.e., counterclockwise. That is, the rotation shaft 14a of the pedal 14 moves in the following order: from point p1 to point p2, from point p2 to point p3, ... from point p15 to point p16, and from point p16 to point p1.

[0041] Fig. 8 shows a lower trajectory T1 as a lower trajectory in which the rotation shaft 14a of the pedal 14 is located below the major axis TL of the elliptical trajectory T. Fig. 9 shows an upper trajectory T2 as an upper trajectory in which the rotation shaft 14a of the pedal 14 is located above the major axis TL of the elliptical trajectory T.

[0042] As shown in FIG. 8, when the rotation shaft 14a of the pedal 14 moves from point p1 to point p4, the rotation shaft 11a of the vertical block 11 rises above the intersection point G, and the rotation shaft 12a of the horizontal block 12 moves backward so as to approach the intersection point G in front of the intersection point G.

[0043] When the rotation shaft 14a of the pedal 14 moves from point p5 to point p8, the rotation shaft 11a of the vertical block 11 descends above the intersection point G, and the rotation shaft 12a of the horizontal block 12 moves backward so as to move away from the intersection point G behind the intersection point G.

[0044] As shown in FIG. 9, when the rotation shaft 14a of the pedal 14 moves from point p9 to point p12, the rotation shaft 11a of the vertical block 11 descends below the intersection point G, and the rotation shaft 12a of the horizontal block 12 moves forward so as to approach the intersection point G behind the intersection point G.

[0045] When the rotation shaft 14a of the pedal 14 moves from point p13 to point p16, the rotation shaft 11a of the vertical block 11 rises below the intersection point G, and the rotation shaft 12a of the horizontal block 12 moves forward so as to move away from the intersection point G in front of the intersection point G.

[0046] As shown in FIGS. 7 to 9, a vertical coil spring 15 is disposed at the upper end 20a of the vertical guide groove 20, and a horizontal coil spring 16 is disposed at the rear end 21a of the horizontal guide groove 21.

[0047] 8, when the vertical piece 11 rises above the intersection point G and moves away from the intersection point G, specifically, when the vertical piece 11 rises from point v1 toward point v4, the vertical piece 11 compresses the vertical coil spring 15. By compressing the vertical coil spring 15, the vertical piece 11 receives a downward repulsive force from the vertical coil spring 15. In other words, the vertical coil spring 15 urges the vertical piece 11 toward the intersection point G. Therefore, the vertical coil spring 15 applies a load to the movement of the vertical piece 11, which rises above the intersection point G and moves away from the intersection point G. As a result, when the pedal 14 moves from point p1 toward point p4 below the major axis TL of the elliptical orbit T, the vertical coil spring 15 applies a load to the movement of the pedal 14.

[0048] 8, when the horizontal piece 12 moves backward from the intersection point G, specifically, when the horizontal piece 12 moves backward from point h5 to point h8, the horizontal piece 12 compresses the horizontal coil spring 16. By compressing the horizontal coil spring 16, the horizontal piece 12 receives a forward repulsive force from the horizontal coil spring 16. In other words, the horizontal coil spring 16 urges the horizontal piece 12 toward the intersection point G. Therefore, the horizontal coil spring 16 applies a load to the movement of the horizontal piece 12 that moves backward from the intersection point G to move away from the intersection point G. As a result, when the pedal 14 moves from point p5 to point p8 below the major axis TL of the elliptical orbit T, the horizontal coil spring 16 applies a load to the movement of the pedal 14.

[0049] Therefore, when the rotation axis 14a of the pedal 14 is positioned below the major axis TL of the elliptical orbit T and moves from point p1 to point p8, the vertical coil spring 15 and the horizontal coil spring 16 apply a load to the movement of the vertical block 11 and the horizontal block 12, i.e., the movement of the pedal 14. This load condition simulates the load when the foot is pushed backward during the stance phase, and can be said to realize the load condition when pushing off that is specific to walking.

[0050] On the other hand, in FIG. 9, when the vertical piece 11 descends below the intersection point G and away from the intersection point G, more specifically, when the vertical piece 11 descends from point v9 toward point v12, the vertical piece 11 can move without load.

[0051] Similarly, when the horizontal piece 12 advances ahead of the intersection point G and away from the intersection point G, specifically, when the horizontal piece 12 advances from point h13 toward point h16, the horizontal piece 12 can move without load.

[0052] Therefore, when the rotation axis 14a of the pedal 14 is positioned above the major axis TL of the elliptical orbit T and moves from point p9 to point p16, the vertical coil spring 15 and the horizontal coil spring 16 cause the pedal 14 to move with no load. This load condition simulates the load when the foot is swung forward during the swing phase, and can be said to realize the load condition at the time of swinging forward that is specific to walking.

[0053] Next, please refer to FIG. 10. FIG. 10 shows the trajectory of the midpoint m of the line segment L connecting the rotation axis 11a of the vertical piece 11 and the rotation axis 12a of the horizontal piece 12. Points m1 to m16 indicate the midpoint m of the line segment L. The numbers of these symbols correspond in time series to points p1 to p16 shown in FIG. 8 and FIG. 9. According to FIG. 10, the trajectory of the midpoint m of the line segment L connecting the rotation axis 11a of the vertical piece 11 and the rotation axis 12a of the horizontal piece 12 is nothing but an elliptical trajectory whose major axis length and minor axis length are the same, that is, a circular trajectory centered on the intersection point G. And, when the pedal 14 moves counterclockwise from point p1 to point p16 in the order of the drawing, the midpoint m of the line segment L moves clockwise from point m1 to point m16 in the order of the drawing. That is, the position of the pedal 14 and the position of the midpoint m of the line segment L correspond one-to-one.

[0054] Therefore, as shown in Figure 5, the left leg crank arm 31 is connected to the longitudinal center of the left leg inner connecting bar 33, and the right leg crank arm 32 is connected to the longitudinal center of the right leg inner connecting bar 34. This configuration in which the crank arm body 31a of the left leg crank arm 31 and the crank arm body 32a of the right leg crank arm 32 protrude in opposite directions enables the pedal 14 of the left leg unit 5 and the pedal 14 of the right leg unit 6 to move in opposite phases, as shown in Figures 5 to 7.

[0055] Next, please refer to FIG. 11. FIG. 11 shows the change in the size of the elliptical path T when the mounting position of the pedal 14 relative to the outer connecting bar 13 is changed. That is, as described above with reference to FIG. 2, the mounting position of the pedal 14 relative to the pedal connecting portion 13c of the outer connecting bar 13 can be changed. When the pedal 14 is mounted to the fitting portion 22 farthest from the horizontal bridge connecting portion 13b among the multiple fitting portions 22 of the pedal connecting portion 13c, the path of the rotation shaft 14a of the pedal 14 becomes the lower path T1 as shown in FIG. 11. If the pedal 14 is mounted to the fitting portion 22 nearest to the horizontal bridge connecting portion 13b among the multiple fitting portions 22 of the pedal connecting portion 13c, the path of the rotation shaft 14a of the pedal 14 becomes the lower path T3 defined by points q1 to q8.

[0056] Here, the lower tracks T1 and T3 are both parts of an elliptical track, and the lengths of their major axes are designated as major axis length s1 and major axis length s2, respectively. As shown in FIG. 11, the size of the elliptical track T, i.e., the major axis length, can be easily increased or decreased by simply moving the attachment position of the pedal 14 relative to the pedal connection part 13c of the outer connecting bar 13 closer to or farther from the horizontal linkage part 13b. As is clear from FIG. 11, the minor axis length of the elliptical track T can also be increased or decreased in the same manner. Therefore, the major and minor axes of the elliptical track T, and thus the stride length of the user U during pedaling exercise, can be easily adjusted according to the physique of the user U, by simply changing the attachment position of the pedal 14 relative to the pedal connection part 13c of the outer connecting bar 13, and the major and minor axes of the elliptical track T can be easily adjusted according to the physique of the user U, and the muscle parts used in the exercise can be changed by increasing or decreasing the major and minor axes of the elliptical track T, thereby improving the exercise efficiency. Furthermore, by increasing or decreasing the major and minor axes of the elliptical trajectory T, the range in which the joint angles of the hip, knee, and ankle joints increase or decrease during exercise can be expanded or reduced, making it possible to adjust the difficulty of functional recovery training for each joint.

[0057] Returning to FIG. 1, the chair 3 will now be described. The chair 3 includes a seat 45 and a chair body 46. The chair body 46 supports the seat 45 so that it can yaw, roll, and pitch. By configuring the seat 45 to be oscillating around three axes in this way, a kinetic chain between the lower limbs and the trunk occurs during pedaling, and when pedaling is performed while in a seated position, the trunk muscles, represented by the rectus abdominis, transverse abdominis, and erector spinae, can also be exercised. If the trunk muscles can be exercised as described above, firstly, a reduction in waist size can be expected. Secondly, since the rectus abdominis, transverse abdominis, and erector spinae can be trained, it becomes easier to maintain a posture with the pelvis tilted forward, which will also contribute to the elimination of hunched back and straight neck. Furthermore, if the kinetic chain between the lower limbs and the trunk can be realized as described above, the pelvis will be moved busily, which will increase the flexibility of the iliopsoas muscle in particular, and chronic lower back pain can also be expected to improve.

[0058] The first embodiment of the present disclosure has been described above, and the above embodiment has the following features.

[0059] That is, the left leg unit 5 includes a vertical block 11 (first slider), a horizontal block 12 (second slider), a vertical guide groove 20 (first guide) that linearly guides the vertical block 11 to slide freely, a horizontal guide groove 21 (second guide) that linearly guides the horizontal block 12 to slide freely, an outer connecting bar 13 (first connecting portion) that rotatably connects the vertical block 11 and the horizontal block 12 to each other, and a pedal 14 rotatably connected to the outer connecting bar 13. The vertical guide groove 20 and the horizontal guide groove 21 extend so as to intersect with each other. 8 and 9, the rotation shaft 11a of the pedal 14 is disposed away from the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12, and away from the midpoint m of the line segment L connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12, so that the rotation shaft 14a of the pedal 14 moves along an elliptical orbit T. With the above configuration, the rotation shaft 14a of the pedal 14 can be moved along an elliptical orbit T in a simple and compact manner.

[0060] The left leg unit 5 further includes a vertical coil spring 15 and a horizontal coil spring 16 as load means for applying a load to the movement of the vertical piece 11 and the horizontal piece 12. According to the above configuration, it is possible to train mainly the muscles of the lower leg.

[0061] However, either the vertical coil spring 15 or the horizontal coil spring 16 may be omitted.

[0062] 8 and 9, when the pedal 14 is moved in a predetermined direction D, the loading means applies a load to the movement of the vertical block 11 and the horizontal block 12 when the rotation shaft 14a of the pedal 14 is located below the major axis TL of the elliptical orbit T, and does not apply a load to the movement of the vertical block 11 and the horizontal block 12 when the rotation shaft 14a of the pedal 14 is located above the major axis TL of the elliptical orbit T. With the above configuration, it is possible to realize a loading condition specific to walking, in which there is no load when the foot is swung forward in the swing phase, and a load is generated when the foot is kicked backward in the stance phase.

[0063] 8 and 9, the load means applies a load to the vertical frame 11 and the horizontal frame 12 against their movement in a direction away from the intersection point G. According to the above configuration, the load means can be simply configured.

[0064] 8 and 9, the load means is a spring provided in the vertical guide groove 20 and the horizontal guide groove 21, and biases the vertical piece 11 and the horizontal piece 12 toward the intersection point G. According to the above configuration, the load means can be simply configured.

[0065] Also, as shown in Fig. 2, the attachment position of the pedal 14 relative to the outer connecting bar 13 can be changed. According to the above configuration, the long and short axes of the elliptical trajectory T can be easily increased or decreased as shown in Fig. 11. Therefore, the long and short axes of the elliptical trajectory T and thus the stride length of the user U during pedaling exercise can be adjusted according to the physique of the user U, and by increasing or decreasing the long and short axes of the elliptical trajectory T, the muscle parts used in the exercise can be changed and the exercise efficiency can be improved. Furthermore, by increasing or decreasing the long and short axes of the elliptical trajectory T, the range in which the joint angles of the hip joint, knee joint, and ankle joint increase or decrease during exercise can be expanded or reduced, so that the difficulty level of the functional recovery training for each joint can be adjusted.

[0066] As shown in Fig. 2, the pedaling exercise device 2 (pedal support system) includes a left leg unit 5 (pedal support structure for the left leg) and a right leg unit 6 (pedal support structure for the right leg). The left leg unit 5 and the right leg unit 6 are disposed so as to face each other in the width direction. With the above configuration, the right leg and the left leg can be trained simultaneously.

[0067] 4 to 6, the pedaling exercise device 2 further includes an interlocking unit 8 (interlocking mechanism). As shown in Fig. 7, the interlocking unit 8 interlocks the pedal 14 of the left leg unit 5 with the pedal 14 of the right leg unit 6 so that the rotation axis 14a of the pedal 14 of the left leg unit 5 and the rotation axis 14a of the pedal 14 of the right leg unit 6 are point-symmetric with respect to the intersection point G when viewed along the rotation axis 14a of the pedal 14 of the left leg unit 5. With the above configuration, the movement of the right and left legs during walking can be more faithfully simulated.

[0068] 4 to 6, the interlocking unit 8 includes a rotatably supported base shaft 30, a left-leg crank arm 31 and a right-leg crank arm 32 extending in opposite directions from the base shaft 30, a left-leg inner connecting bar 33 (left-leg second connecting portion) which connects the vertical link 11 and the horizontal link 12 of the left leg unit 5 to each other by rotatably connecting the vertical link 11 and the horizontal link 12 of the left leg unit 5, and a right-leg inner connecting bar 34 (right-leg second connecting portion) which connects the vertical link 11 and the horizontal link 12 of the right leg unit 6 to each other by rotatably connecting the vertical link 11 and the horizontal link 12 of the right leg unit 6. The left-leg crank arm 31 is rotatably connected to the left-leg inner connecting bar 33 at the midpoint m of the left leg unit 5 in a side view. The right-leg crank arm 32 is rotatably connected to the right-leg inner connecting bar 34 at the midpoint m of the right leg unit 6 in a side view. According to the above-mentioned configuration, the interlocking unit 8 can be realized with a simple configuration.

[0069] (Modification) Next, a modified example of the interlocking unit 8 will be described.

[0070] 12 shows a plan view of the interlocking unit 8 in a modified example. In this modified example, the interlocking unit 8 includes a left-leg horizontal rack 40 fixed to the horizontal block 12 of the left-leg unit 5, a right-leg horizontal rack 41 fixed to the horizontal block 12 of the right-leg unit 6, and a pinion 42 that simultaneously meshes with the left-leg horizontal rack 40 and the right-leg horizontal rack 41. The left-leg horizontal rack 40 and the right-leg horizontal rack 41 are specific examples of the left-leg rack and the right-leg rack, respectively.

[0071] The left-leg horizontal rack 40 is fixed to the horizontal link 12 of the left leg unit 5 and extends in the front-rear direction. The right-leg horizontal rack 41 is fixed to the horizontal link 12 of the right leg unit 6 and extends in the front-rear direction. The pinion 42 is typically supported rotatably (yawably) by a support pillar 35 shown in FIG. 6. In this configuration, when the horizontal link 12 of the left leg unit 5 moves forward, the horizontal link 12 of the right leg unit 6 moves backward. Conversely, when the horizontal link 12 of the left leg unit 5 moves backward, the horizontal link 12 of the right leg unit 6 moves forward. In this way, the horizontal link 12 of the left leg unit 5 and the horizontal link 12 of the right leg unit 6 move forward and backward alternately. Even with this configuration, the pedal 14 of the left leg unit 5 and the pedal 14 of the right leg unit 6 can be linked so that the rotation axis 14a of the pedal 14 of the left leg unit 5 and the rotation axis 14a of the pedal 14 of the right leg unit 6 are point-symmetrical with respect to the intersection point G, as shown in Figure 7.

[0072] In summary, the interlocking unit 8 includes a left-leg horizontal rack 40 (left-leg rack) fixed to the horizontal block 12 of the left-leg unit 5, a right-leg horizontal rack 41 (right-leg rack) fixed to the horizontal block 12 of the right-leg unit 6, and a pinion 42 that meshes with the left-leg horizontal rack 40 and the right-leg horizontal rack 41. With the above configuration, the interlocking unit 8 can be realized with a simple configuration.

[0073] Instead of the above configuration, the interlocking unit 8 may include a rack fixed to the vertical block 11 of the left leg unit 5 and extending in the vertical direction, a rack fixed to the vertical block 11 of the right leg unit 6 and extending in the vertical direction, and a pinion that simultaneously meshes with the two racks. Even with this alternative configuration, the interlocking unit 8 can be realized with a simple configuration.

[0074] The above first embodiment can be modified, for example, as follows.

[0075] That is, as shown in FIG. 7, in the first embodiment, the vertical guide groove 20 extends along the vertical direction when viewed from the side, but instead, the vertical guide groove 20 may be inclined with respect to the vertical direction.

[0076] Similarly, in the first embodiment, the horizontal guide groove 21 extends along the front-rear direction in a side view, but instead, the horizontal guide groove 21 may be inclined with respect to the front-rear direction.

[0077] In addition, in the first embodiment described above, the vertical guide groove 20 and the horizontal guide groove 21 extend perpendicular to each other when viewed from the side, but instead, the angle formed by the longitudinal direction of the vertical guide groove 20 and the longitudinal direction of the horizontal guide groove 21 may be an acute angle or an obtuse angle.

[0078] In the first embodiment, the rotation shaft 14a of the pedal 14 is disposed on an extension of a line segment connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12. However, instead of this, the rotation shaft 14a of the pedal 14 can be disposed at any position other than the line segment connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12 and the extension of said line segment. In this case, the major axis TL of the elliptical orbit T shown in Figures 8 and 9 will be inclined with respect to the front-to-rear direction.

[0079] 7, in the first embodiment, the rotation shaft 14a of the pedal 14 is disposed on an extension of a line segment connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12. However, instead of this, the rotation shaft 14a of the pedal 14 may be disposed on a line segment connecting the rotation shaft 11a of the vertical block 11 and the rotation shaft 12a of the horizontal block 12.

[0080] In this way, the rotation axis 14a of the pedal 14 can be arbitrarily arranged relative to the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12. However, as an exception, if the rotation axis 14a of the pedal 14 is aligned with the rotation axis 11a of the vertical block 11 or the rotation axis 12a of the horizontal block 12, the rotation axis 14a of the pedal 14 moves in a straight line in a side view, so it should be noted that the pedal 14 cannot be moved along an elliptical orbit.

[0081] Similarly, as an exception, if the rotation axis 14a of the pedal 14 is positioned at the midpoint m of the line segment L connecting the rotation axis 11a of the vertical block 11 and the rotation axis 12a of the horizontal block 12, the rotation axis 14a of the pedal 14 will move circularly along a circular orbit in a side view, so please note that the pedal 14 cannot be moved along an elliptical orbit.

[0082] Second embodiment A second embodiment of the present disclosure will be described below with reference to Figures 13 to 22. Below, the differences between this embodiment and the first embodiment will be mainly described, and overlapping descriptions will be omitted.

[0083] 13 to 18 show a pedaling exercise device 52. As shown in FIG. 13 to 18, the pedaling exercise device 52 includes a left leg unit 55, a right leg unit 56, a base 57, and an interlocking unit 58. The left leg unit 55 and the right leg unit 56 are specific examples of pedal support structures. The left leg unit 55 is a specific example of a pedal support structure for the left leg. The right leg unit 56 is a specific example of a pedal support structure for the right leg. The interlocking unit 58 is a specific example of an interlocking mechanism. However, in FIG. 13 and FIG. 14, the right leg unit 56 is simply drawn by a two-dot chain line. Also, in FIG. 15 and FIG. 16, the right leg unit 56 is not shown.

[0084] As shown in Figures 13 to 18, the left leg unit 55 includes a guide 60, a front upper diagonal link 61, a horizontal link 62, a rear upper diagonal link 63, an outer connecting bar 64, a pedal 65, a front upper coil spring 66, a horizontal coil spring 67, and a rear upper coil spring 68.

[0085] The front upper diagonal block 61 is a specific example of a first slider. The horizontal block 62 is a specific example of a second slider. The rear upper diagonal block 63 is a specific example of a third slider. The outer connecting bar 64 is a specific example of a first connecting portion. The front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 are specific examples of a loading means. In other words, the loading means is composed of the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68.

[0086] As shown in Figs. 13 and 18, in this embodiment, the guide 60 is configured of, for example, a metal plate. The plate thickness direction of the guide 60 is equal to the width direction. The guide 60 is formed with a front upper guide groove 70, a horizontal guide groove 71, and a rear upper guide groove 72. The front upper guide groove 70 is a specific example of a first guide. The horizontal guide groove 71 is a specific example of a second guide. The rear upper guide groove 72 is a specific example of a third guide.

[0087] The front upper guide groove 70 is formed so as to extend linearly forward and upward and inclined with respect to the front-rear direction. The horizontal guide groove 71 is formed so as to extend linearly in the front-rear direction. The rear upper guide groove 72 is formed so as to extend linearly rearward and upward and inclined with respect to the front-rear direction. When the guide 60 is viewed along the width direction, i.e., in a side view, the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 extend so as to intersect with each other at one point. Therefore, the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 intersect with each other so as to form a three-way intersection in a side view.

[0088] The angle formed by the longitudinal direction of the front-upper guide groove 70 and the longitudinal direction of the horizontal guide groove 71 is 60 degrees. The angle formed by the longitudinal direction of the horizontal guide groove 71 and the longitudinal direction of the rear-upper guide groove 72 is also 60 degrees. Therefore, the angle formed by the longitudinal direction of the front-upper guide groove 70 and the longitudinal direction of the rear-upper guide groove 72 is also 60 degrees.

[0089] The front upper guide groove 70 supports the front upper diagonal piece 61 so that the front upper diagonal piece 61 can slide linearly along the longitudinal direction of the front upper guide groove 70. The front upper guide groove 70 prohibits the front upper diagonal piece 61 from moving in the width direction. The front upper guide groove 70 restrains the front upper diagonal piece 61 in the width direction so that the front upper diagonal piece 61 does not fall out of the front upper guide groove 70 in the width direction. The front upper coil spring 66 is accommodated in the upper end 70a of the front upper guide groove 70. The front upper coil spring 66 is accommodated in the upper end 70a of the front upper guide groove 70 with the pitch direction coinciding with the longitudinal direction of the front upper guide groove 70. The upper end of the front upper coil spring 66 is fixed to an upper partition surface 70b that divides the front upper guide groove 70 in the longitudinal direction of the front upper guide groove 70. The front upper coil spring 66 is typically a compression coil spring.

[0090] The horizontal guide groove 71 supports the horizontal piece 62 so that the horizontal piece 62 can slide linearly along the longitudinal direction of the horizontal guide groove 71. The horizontal guide groove 71 prohibits the movement of the horizontal piece 62 in the vertical and width directions. The horizontal guide groove 71 restrains the horizontal piece 62 in the width direction so that the horizontal piece 62 does not fall off the horizontal guide groove 71 in the width direction. A horizontal coil spring 67 is accommodated in the rear end 71a of the horizontal guide groove 71. The horizontal coil spring 67 is accommodated in the rear end 71a of the horizontal guide groove 71 with its pitch direction coinciding with the longitudinal direction of the horizontal guide groove 71. The rear end of the horizontal coil spring 67 is fixed to a rear partition surface 71b that divides the horizontal guide groove 71 in the front-rear direction. The horizontal coil spring 67 is typically a compression coil spring.

[0091] The rear upper guide groove 72 supports the rear upper diagonal piece 63 so that the rear upper diagonal piece 63 can slide linearly along the longitudinal direction of the rear upper guide groove 72. The rear upper guide groove 72 prohibits the rear upper diagonal piece 63 from moving in the width direction. The rear upper guide groove 72 restrains the rear upper diagonal piece 63 in the width direction so that the rear upper diagonal piece 63 does not fall out of the rear upper guide groove 72 in the width direction. A rear upper coil spring 68 is accommodated in the upper end 72a of the rear upper guide groove 72. The rear upper coil spring 68 is accommodated in the upper end 72a of the rear upper guide groove 72 in an attitude in which the pitch direction coincides with the longitudinal direction of the rear upper guide groove 72. The upper end of the rear upper coil spring 68 is fixed to an upper partition surface 72b that partitions the rear upper guide groove 72 in the longitudinal direction of the rear upper guide groove 72. The rear upper coil spring 68 is typically a compression coil spring.

[0092] Since the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 intersect with each other at one point, the front upper diagonal piece 61 sliding in the front upper guide groove 70 passes locally through the internal space of the horizontal guide groove 71 and the internal space of the rear upper guide groove 72. Similarly, the horizontal piece 62 sliding in the horizontal guide groove 71 passes locally through the internal space of the front upper guide groove 70 and the internal space of the rear upper guide groove 72. Similarly, the rear upper diagonal piece 63 sliding in the rear upper guide groove 72 passes locally through the internal space of the front upper guide groove 70 and the internal space of the horizontal guide groove 71.

[0093] The outer connecting bar 64 connects the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 to each other. The outer connecting bar 64 is disposed outward in the width direction from the guide 60. The outward width direction used in describing the left leg unit 55 means the width direction away from the right leg unit 56. The front upper diagonal piece 61, the horizontal piece 62, the rear upper diagonal piece 63, and the pedal 65 are connected to the outer connecting bar 64 so as to be rotatable (pitch rotatable). Therefore, the front upper diagonal piece 61 has a rotation shaft 61a relative to the outer connecting bar 64. The rotation shaft 61a extends in the width direction. The horizontal piece 62 has a rotation shaft 62a relative to the outer connecting bar 64. The rotation shaft 62a extends in the width direction. The rear upper diagonal piece 63 has a rotation shaft 63a relative to the outer connecting bar 64. The rotation shaft 63a extends in the width direction. The pedal 65 has a rotation shaft 65a relative to the outer connecting bar 64. The rotation shaft 65a extends in the width direction.

[0094] As shown in FIG. 18, the outer connecting bar 64 includes a bar body 64a having an approximately equilateral triangular shape that connects the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 to one another, and a pedal connecting portion 64b to which the pedal 65 is rotatably connected.

[0095] The bar body 64a connects the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 to each other so that the rotation shaft 61a of the front upper diagonal piece 61, the rotation shaft 62a of the horizontal piece 62, and the rotation shaft 63a of the rear upper diagonal piece 63 are located at the vertices of an equilateral triangle in a side view. In other words, a line segment 75 connecting the rotation shaft 61a and the rotation shaft 62a, a line segment 76 connecting the rotation shaft 62a and the rotation shaft 63a, and a line segment 77 connecting the rotation shaft 63a and the rotation shaft 61a form an equilateral triangle N. The pedal connection part 64b extends along an extension of a line segment 79 connecting the center of gravity g of the equilateral triangle N and the rotation shaft 62a. The rotation shaft 65a of the pedal 65 is disposed on an extension of a line segment 79 connecting the center of gravity g of the equilateral triangle N and the rotation shaft 62a. The rotation shaft 65a is located on the opposite side of the center of gravity g across the rotation shaft 62a. That is, the rotation axis 62a is located between the rotation axis 65a and the center of gravity g.

[0096] The pedal connecting portion 64b is formed with a plurality of fitting portions 80 to which the pedal 65 can be attached and detached. The plurality of fitting portions 80 are formed in a line along the longitudinal direction of the pedal connecting portion 64b. Therefore, the mounting position of the pedal 65 relative to the outer connecting bar 64 can be changed. For example, when the pedal 65 is mounted to the fitting portion 80 that is the closest to the rotation shaft 62a of the horizontal block 62 among the plurality of fitting portions 80, the distance between the rotation shaft 65a of the pedal 65 and the rotation shaft 62a of the horizontal block 62 can be minimized. On the other hand, when the pedal 65 is mounted to the fitting portion 80 that is the farthest from the rotation shaft 62a of the horizontal block 62 among the plurality of fitting portions 80, the distance between the rotation shaft 65a of the pedal 65 and the rotation shaft 62a of the horizontal block 62 can be maximized.

[0097] 18, no matter to which of the multiple fitting parts 80 the pedal 65 is attached, the rotation shaft 65a of the pedal 65 is disposed away from the rotation shaft 61a of the front upper diagonal piece 61, the rotation shaft 62a of the horizontal piece 62, and the rotation shaft 63a of the rear upper diagonal piece 63. More specifically, the rotation shaft 65a of the pedal 65 is disposed away from the center of gravity g in a side view. Therefore, as will be described in detail later, the orbit along which the rotation shaft 65a of the pedal 65 moves is an elliptical orbit with the major axis in the front-to-rear direction and the minor axis in the vertical direction in a side view.

[0098] 17, like the left leg unit 55, the right leg unit 56 includes a guide 60, a front upper diagonal link 61, a horizontal link 62, a rear upper diagonal link 63, an outer connecting bar 64, a pedal 65, a front upper coil spring 66, a horizontal coil spring 67, and a rear upper coil spring 68. The configuration of the right leg unit 56 is symmetrical with respect to the sagittal plane to the configuration of the left leg unit 55 already described, and therefore a description thereof will be omitted.

[0099] 13, the base 57 connects the left leg unit 55 and the right leg unit 56, which are disposed opposite each other in the width direction. Specifically, the base 57 is made of a metal plate that connects the guide 60 of the left leg unit 55 and the guide 60 of the right leg unit 56.

[0100] 15 to 17, the interlocking unit 58 interlocks the left leg pedaling motion of the left leg unit 55 with the right leg pedaling motion of the right leg unit 56. In other words, the interlocking unit 58 interlocks the pedal 65 of the left leg unit 55 with the pedal 65 of the right leg unit 56. The interlocking unit 58 is provided between the left leg unit 55 and the right leg unit 56 in the width direction.

[0101] As shown in FIGS. 16 and 17, the interlocking unit 58 includes a base shaft 81, a left leg crank arm 82, a right leg crank arm 83, a left leg inner connector 84, and a right leg inner connector 85.

[0102] The base shaft 81 is a shaft extending in the width direction, and is rotatably supported by a support pillar 86 that protrudes upward from the base 57.

[0103] The left leg crank arm 82 and the right leg crank arm 83 extend in opposite directions from the base shaft 81 .

[0104] Specifically, the left-leg crank arm 82 includes a crank arm main body 82a and a horizontal extension 82b. The crank arm main body 82a extends from the end of the base shaft 81 on the left-leg unit 55 side. The crank arm main body 82a extends in a direction perpendicular to the longitudinal direction of the base shaft 81. The horizontal extension 82b extends outward in the width direction from the tip of the crank arm main body 82a.

[0105] Similarly, the right-leg crank arm 83 includes a crank arm main body 83a and a horizontal extension 83b. The crank arm main body 83a extends from the end of the base shaft 81 on the right-leg unit 56 side. The crank arm main body 83a extends in a direction perpendicular to the longitudinal direction of the base shaft 81. The horizontal extension 83b extends outward in the width direction from the tip of the crank arm main body 82a.

[0106] As shown in FIG. 16, the crank arm body 82a of the left-leg crank arm 82 and the crank arm body 83a of the right-leg crank arm 83 extend in opposite directions perpendicular to the longitudinal direction of the base shaft 81, i.e., the width direction.

[0107] The left-leg inner connector 84 connects the front upper diagonal link 61, the horizontal link 62, and the rear upper diagonal link 63 of the left leg unit 55 to one another, similar to the outer connector bar 64 of the left leg unit 55. As shown in Fig. 17, the left-leg inner connector 84 is disposed widthwise inward of the guide 60 of the left leg unit 55. Therefore, the guide 60 of the left leg unit 55 is located between the outer connector bar 64 of the left leg unit 55 and the left-leg inner connector 84 in the widthwise direction. The front upper diagonal link 61, the horizontal link 62, and the rear upper diagonal link 63 of the left leg unit 55 are connected to the left-leg inner connector 84 so as to be rotatable (pitch-rotatable).

[0108] Similarly, the right-leg inner connector 85 connects the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the right leg unit 56 to one another, just like the outer connector bar 64 of the right leg unit 56. The right-leg inner connector 85 is disposed widthwise inward of the guide 60 of the right leg unit 56. Therefore, the guide 60 of the right leg unit 56 is located between the outer connector bar 64 of the right leg unit 56 and the right-leg inner connector 85 in the widthwise direction. The front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the right leg unit 56 are connected to the right-leg inner connector 85 so as to be freely rotatable (pitch-rotatable).

[0109] As shown in Figure 16, the horizontal extension portion 82b of the left-leg crank arm 82 is freely rotatably (freely pitch-rotatably) connected to the left-leg inner connecting portion 84 at the center of gravity g of an equilateral triangle N that connects the rotation axis 61a of the front upper diagonal link 61, the rotation axis 62a of the horizontal link 62, and the rotation axis 63a of the rear upper diagonal link 63 of the left leg unit 55.

[0110] Similarly, the horizontal extension portion 83b of the right-leg crank arm 83 is rotatably (pitch-rotatably) connected to the right-leg inner connecting portion 85 at the center of gravity g of an equilateral triangle N connecting the rotation axis 61a of the front upper diagonal link 61, the rotation axis 62a of the horizontal link 62, and the rotation axis 63a of the rear upper diagonal link 63 of the right leg unit 56.

[0111] By connecting the left leg unit 55 and the right leg unit 56 via the above-mentioned interlocking unit 58, the pedal 65 of the left leg unit 55 and the pedal 65 of the right leg unit 56 are interlocked in opposite phases as shown in Fig. 18. That is, as shown in Fig. 18, in side view, the rotation shaft 65a of the pedal 65 of the left leg unit 55 and the rotation shaft 65a of the pedal 65 of the right leg unit 56 are always positioned symmetrically with respect to the intersection G of the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 of the left leg unit 55 during pedaling motion.

[0112] Next, the mechanism by which the left leg unit 55 realizes the elliptical trajectory T will be described in detail with reference to Figs. 19 and 20. Figs. 19 and 20 show simplified changes in the posture of the outer connecting bar 64 when the left leg unit 55 is observed from the side. In Figs. 19 and 20, the front is the left side on the paper, and the rear is the right side on the paper. Points p1 to p8 indicate the rotation axis 65a of the pedal 65. Points u1 to u8 indicate the rotation axis 61a of the front upper diagonal piece 61. Points v1 to v8 indicate the rotation axis 62a of the horizontal piece 62. Points w1 to w8 indicate the rotation axis 63a of the rear upper diagonal piece 63. The numbers of these symbols correspond to each other in chronological order. That is, at time 1, the rotation shaft 65a of the pedal 65 is at point p1, the rotation shaft 61a of the front upper diagonal block 61 is at point u1, the rotation shaft 62a of the horizontal block 62 is at point v1, and the rotation shaft 63a of the rear upper diagonal block 63 is at point w1, and the solid lines connecting points u1, v1 and w1 and the solid line connecting points p1 and v1 indicate the outer connecting bar 64 at time 1. Figures 19 and 20 also show the front upper guide groove 70, the horizontal guide groove 71, the rear upper guide groove 72, their intersection G, the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68.

[0113] 19 and 20, when the rotation shaft 61a of the front upper diagonal piece 61 is slidable along the front upper guide groove 70, the rotation shaft 62a of the horizontal piece 62 is slidable along the horizontal guide groove 71, and the rotation shaft 63a of the rear upper diagonal piece 63 is slidable along the rear upper guide groove 72, the rotation shaft 65a of the pedal 65 draws an elliptical orbit T with the intersection point G as the center, as shown from point p1 to point p8. For convenience of explanation, it is assumed that the rotation shaft 65a of the pedal 65 circulates along the elliptical orbit T in a predetermined direction D shown in Figs. 19 and 20, i.e., counterclockwise. That is, the rotation shaft 65a of the pedal 65 moves in the order from point p1 to point p2, from point p2 to point p3, ... from point p7 to point p8, and from point p8 to point p1.

[0114] Fig. 19 shows a lower trajectory T1 as a lower trajectory in which the rotation axis 65a of the pedal 65 is located below the major axis TL of the elliptical trajectory T. Fig. 20 shows an upper trajectory T2 as an upper trajectory in which the rotation axis 65a of the pedal 65 is located above the major axis TL of the elliptical trajectory T.

[0115] 19, when the rotation shaft 65a of the pedal 65 moves from point p1 to point p2, the rotation shaft 61a of the front upper diagonal piece 61 rises above intersection point G and away from intersection point G. The rotation shaft 62a of the horizontal piece 62 moves rearward in front of intersection point G and closer to intersection point G. The rotation shaft 63a of the rear upper diagonal piece 63 rises from below intersection point G to above it and across intersection point G.

[0116] When the rotation shaft 65a of the pedal 65 moves from point p2 to point p3, the rotation shaft 61a of the front upper diagonal piece 61 descends so as to approach intersection point G above intersection point G. The rotation shaft 62a of the horizontal piece 62 moves rearward from in front of intersection point G to the rear, straddling intersection point G. The rotation shaft 63a of the rear upper diagonal piece 63 ascends so as to move away from intersection point G above intersection point G.

[0117] When the rotation shaft 65a of the pedal 65 moves from point p3 to point p4, the rotation shaft 61a of the front upper diagonal piece 61 descends from above intersection G to below, straddling intersection G. The rotation shaft 62a of the horizontal piece 62 moves rearward behind intersection G, moving away from intersection G. The rotation shaft 63a of the rear upper diagonal piece 63 descends above intersection G, approaching intersection G.

[0118] 20, when the rotation shaft 65a of the pedal 65 moves from point p5 to point p6, the rotation shaft 61a of the front upper diagonal piece 61 descends below intersection point G and away from intersection point G. The rotation shaft 62a of the horizontal piece 62 moves forward behind intersection point G and closer to intersection point G. The rotation shaft 63a of the rear upper diagonal piece 63 descends from above intersection point G to below it, straddling intersection point G.

[0119] When the rotation shaft 65a of the pedal 65 moves from point p6 to point p7, the rotation shaft 61a of the front upper diagonal piece 61 rises below intersection point G and approaches intersection point G. The rotation shaft 62a of the horizontal piece 62 moves forward from behind intersection point G to straddle intersection point G. The rotation shaft 63a of the rear upper diagonal piece 63 descends below intersection point G and moves away from intersection point G.

[0120] When the rotation shaft 65a of the pedal 65 moves from point p7 to point p8, the rotation shaft 61a of the front upper diagonal piece 61 rises from below intersection G to above, straddling intersection G. The rotation shaft 62a of the horizontal piece 62 moves forward, away from intersection G, in front of intersection G. The rotation shaft 63a of the rear upper diagonal piece 63 rises, below intersection G, approaching intersection G.

[0121] As shown in Figures 18 to 20, a front upper coil spring 66 is arranged at the upper end 70a of the front upper guide groove 70, a horizontal coil spring 67 is arranged at the rear end 71a of the horizontal guide groove 71, and a rear upper coil spring 68 is arranged at the upper end 72a of the rear upper guide groove 72.

[0122] 19, when the front upper diagonal piece 61 rises above the intersection point G and moves away from the intersection point G, specifically, when the front upper diagonal piece 61 rises from point u1 to point u2, the front upper diagonal piece 61 compresses the front upper coil spring 66. The front upper diagonal piece 61 receives a downward repulsive force from the front upper coil spring 66 by compressing the front upper coil spring 66. In other words, the front upper coil spring 66 urges the front upper diagonal piece 61 toward the intersection point G. Therefore, the front upper coil spring 66 applies a load to the movement of the front upper diagonal piece 61, which rises above the intersection point G and moves away from the intersection point G. As a result, when the pedal 65 moves from point p1 to point p2 below the major axis TL of the elliptical orbit T, the front upper coil spring 66 applies a load to the movement of the pedal 65.

[0123] In addition, when the rear upper diagonal piece 63 rises above the intersection point G and moves away from the intersection point G, specifically, when the rear upper diagonal piece 63 rises from point w2 to point w3, the rear upper diagonal piece 63 compresses the rear upper coil spring 68. The rear upper diagonal piece 63 receives a downward repulsive force from the rear upper coil spring 68 by compressing the rear upper coil spring 68. In other words, the rear upper coil spring 68 urges the rear upper diagonal piece 63 toward the intersection point G. Therefore, the rear upper coil spring 68 applies a load to the movement of the rear upper diagonal piece 63, which rises above the intersection point G and moves away from the intersection point G. As a result, when the pedal 65 moves from point p2 to point p3 below the major axis TL of the elliptical orbit T, the rear upper coil spring 68 applies a load to the movement of the pedal 65.

[0124] Furthermore, when the horizontal piece 62 moves backward so as to move away from the intersection point G behind the intersection point G, specifically, when the horizontal piece 62 moves backward from point v3 to point v4, the horizontal piece 62 compresses the horizontal coil spring 67. By compressing the horizontal coil spring 67, the horizontal piece 62 receives a forward repulsive force from the horizontal coil spring 67. In other words, the horizontal coil spring 67 urges the horizontal piece 62 toward the intersection point G. Therefore, the horizontal coil spring 67 applies a load to the movement of the horizontal piece 62 that moves backward so as to move away from the intersection point G behind the intersection point G. As a result, when the pedal 65 moves from point p3 to point p4 below the major axis TL of the elliptical orbit T, the horizontal coil spring 67 applies a load to the movement of the pedal 65.

[0125] Therefore, when the rotation axis 65a of the pedal 65 is positioned below the major axis TL of the elliptical orbit T and moves from point p1 to point p4, the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 apply a load to the movement of the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63, i.e., the movement of the pedal 65. This load condition simulates the load when the foot is pushed backward during the stance phase, and can be said to realize the load condition when pushing off that is specific to walking.

[0126] On the other hand, in FIG. 20, when the front upper diagonal piece 61 descends below intersection point G and away from intersection point G, more specifically, when the front upper diagonal piece 61 descends from point u5 toward point u6, the front upper diagonal piece 61 can move without load.

[0127] Similarly, when the rear upper diagonal piece 63 descends below the intersection point G and away from the intersection point G, more specifically, when the rear upper diagonal piece 63 descends from point w6 toward point w7, the rear upper diagonal piece 63 can move without load.

[0128] Similarly, when the horizontal piece 62 advances ahead of the intersection point G and away from the intersection point G, specifically, when the horizontal piece 62 advances from point v7 toward point v8, the horizontal piece 62 can move without load.

[0129] Therefore, when the rotation shaft 65a of the pedal 65 is located above the major axis TL of the elliptical orbit T and moves from point p5 to point p8, the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 do not apply a load to the movement of the front upper diagonal block 61, the horizontal block 62, and the rear upper diagonal block 63, i.e., the movement of the pedal 65. In other words, when the rotation shaft 65a of the pedal 65 is located above the major axis TL of the elliptical orbit T and moves from point p5 to point p8, the pedal 65 moves without a load. This load condition simulates the load when the foot is swung forward during the swing phase, and therefore it can be said that the load condition at the time of swinging out that is specific to walking is realized.

[0130] Next, please refer to FIG. 21. FIG. 21 shows the trajectory of the center of gravity g of the equilateral triangle N, which is formed by connecting the rotation axis 61a of the front upper diagonal piece 61, the rotation axis 62a of the horizontal piece 62, and the rotation axis 63a of the rear upper diagonal piece 63. Points g1 to g8 are the chronological arrangement of the centers of gravity g of the equilateral triangle N. The numbers of these symbols correspond in time series to points p1 to p8 shown in FIG. 19 and FIG. 20. According to FIG. 21, the trajectory of the center of gravity g of the equilateral triangle N is nothing but an elliptical trajectory in which the length of the major axis and the length of the minor axis are the same, that is, a circular trajectory centered on the intersection point G. And, when the pedal 65 moves counterclockwise from point p1 to point p8 in the order of the description, the center of gravity g of the equilateral triangle N moves clockwise from point g1 to point g8 in the order of the description. That is, the position of the pedal 65 and the position of the center of gravity g of the equilateral triangle N correspond to each other in a one-to-one relationship.

[0131] Therefore, as shown in Figure 16, the left-leg crank arm 82 is connected to the center of gravity g of the equilateral triangle N at the left-leg inner connecting part 84, and the right-leg crank arm 83 is connected to the center of gravity g of the equilateral triangle N at the right-leg inner connecting part 85. This configuration in which the crank arm body 82a of the left-leg crank arm 82 and the crank arm body 83a of the right-leg crank arm 83 protrude in opposite directions enables the pedal 65 of the left leg unit 55 and the pedal 65 of the right leg unit 56 to move in opposite phases together, as shown in Figures 17 and 18.

[0132] Next, please refer to FIG. 22. FIG. 22 shows the change in the size of the elliptical orbit T when the mounting position of the pedal 65 relative to the outer connecting bar 64 is changed. That is, as described above with reference to FIG. 18, the mounting position of the pedal 65 relative to the pedal connecting portion 64b of the outer connecting bar 64 can be changed. When the pedal 65 is mounted to the fitting portion 80 farthest from the rotation shaft 62a of the horizontal block 62 among the multiple fitting portions 80 of the pedal connecting portion 64b, the orbit of the rotation shaft 65a of the pedal 65 becomes the lower orbit T1 as shown in FIG. 22. If the pedal 65 is mounted to the fitting portion 80 nearest to the rotation shaft 62a of the horizontal block 62 among the multiple fitting portions 80 of the pedal connecting portion 64b, the orbit of the rotation shaft 65a of the pedal 65 becomes the lower orbit T3 defined by points q1 to q4.

[0133] Here, the lower tracks T1 and T3 are both parts of an elliptical track, and the lengths of their major axes are designated as major axis length s1 and major axis length s2, respectively. According to FIG. 22, the size of the elliptical track T, i.e., the length of the major axis, can be easily increased or decreased by simply moving the attachment position of the pedal 65 relative to the pedal connection part 64b of the outer connecting bar 64 closer to or farther from the rotation axis 62a of the horizontal block 62. As is clear from FIG. 22, the length of the minor axis of the elliptical track T can also be increased or decreased in the same manner. Therefore, the major and minor axes of the elliptical track T, and thus the stride length of the user U during pedaling exercise, can be easily adjusted according to the physique of the user U, by simply changing the attachment position of the pedal 65 relative to the pedal connection part 64b of the outer connecting bar 64, and the muscle parts used in the exercise can be changed to improve the exercise efficiency by increasing or decreasing the major and minor axes of the elliptical track T. Furthermore, by increasing or decreasing the major and minor axes of the elliptical trajectory T, the range in which the joint angles of the hip, knee, and ankle joints increase or decrease during exercise can be expanded or reduced, making it possible to adjust the difficulty of functional recovery training for each joint.

[0134] The second embodiment of the present disclosure has been described above, and the above embodiment has the following features.

[0135] That is, as shown in Figures 13 to 18, the left leg unit 55 includes a front upper diagonal piece 61 (first slider), a horizontal piece 62 (second slider), a rear upper diagonal piece 63 (third slider), a front upper guide groove 70 (first guide) that guides the front upper diagonal piece 61 slidably in a linear manner, a horizontal guide groove 71 (second guide) that guides the horizontal piece 62 slidably in a linear manner, a rear upper guide groove 72 (third guide) that guides the rear upper diagonal piece 63 slidably in a linear manner, an outer connecting bar 64 (first connecting portion) that rotatably connects the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 to each other by rotatably connecting them, and a pedal 65 rotatably connected to the outer connecting bar 64. The front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72 extend so as to intersect with each other at one point. As shown in Fig. 18 to Fig. 20, the rotation shaft 65a of the pedal 65 is disposed away from the rotation shaft 61a of the front upper diagonal piece 61, the rotation shaft 62a of the horizontal piece 62, and the rotation shaft 63a of the rear upper diagonal piece 63, and is disposed away from the center of gravity g of the equilateral triangle N connecting the rotation shaft 61a of the front upper diagonal piece 61, the rotation shaft 62a of the horizontal piece 62, and the rotation shaft 63a of the rear upper diagonal piece 63, so that the rotation shaft 65a of the pedal 65 moves along the elliptical orbit T. According to the above configuration, the rotation shaft 65a of the pedal 65 can be moved along the elliptical orbit T in a simple and compact manner.

[0136] The left leg unit 55 further includes a front upper coil spring 66, a horizontal coil spring 67, and a rear upper coil spring 68 as load means for applying load to the movements of the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63. With the above configuration, it is possible to train mainly the muscles of the lower limbs.

[0137] However, any one or two of the front upper coil spring 66, the horizontal coil spring 67, and the rear upper coil spring 68 may be omitted.

[0138] 19 and 20, when the pedal 65 is moved in a predetermined direction D, the loading means applies a load to the movement of the front upper diagonal block 61, the horizontal block 62, and the rear upper diagonal block 63 when the rotation shaft 65a of the pedal 65 is located below the major axis TL of the elliptical orbit T, and does not apply a load to the movement of the front upper diagonal block 61, the horizontal block 62, and the rear upper diagonal block 63 when the rotation shaft 65a of the pedal 65 is located above the major axis TL of the elliptical orbit T. With the above configuration, it is possible to realize a loading condition specific to walking, in which there is no load when the foot is swung forward in the swing phase, and a load is generated when the foot is kicked backward in the stance phase.

[0139] 19 and 20, the load means applies a load to the front upper diagonal frame 61, the horizontal frame 62, and the rear upper diagonal frame 63 against movement in a direction away from the intersection point G. According to the above configuration, the load means can be simply configured.

[0140] 19 and 20, the load means are springs provided in the front upper guide groove 70, the horizontal guide groove 71, and the rear upper guide groove 72, and bias the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 toward the intersection point G. According to the above configuration, the load means can be simply configured.

[0141] Also, as shown in FIG. 18, the attachment position of the pedal 65 relative to the outer connecting bar 64 can be changed. According to the above configuration, as shown in FIG. 22, the long and short axes of the elliptical trajectory T can be easily increased or decreased. Therefore, the long and short axes of the elliptical trajectory T and thus the stride length of the user U during pedaling exercise can be adjusted according to the physique of the user U, and by increasing or decreasing the long and short axes of the elliptical trajectory T, the muscle parts used in the exercise can be changed and the exercise efficiency can be improved. Furthermore, by increasing or decreasing the long and short axes of the elliptical trajectory T, the range in which the joint angles of the hip joint, knee joint, and ankle joint increase or decrease during exercise can be expanded or reduced, so that the difficulty level of the functional recovery training for each joint can be adjusted.

[0142] 13, the pedaling exercise device 52 (pedal support system) includes a left leg unit 55 (pedal support structure for the left leg) and a right leg unit 56 (pedal support structure for the right leg). The left leg unit 55 and the right leg unit 56 are disposed so as to face each other in the width direction. With the above configuration, the right leg and the left leg can be trained simultaneously.

[0143] 15 to 17, the pedaling exercise device 52 further includes an interlocking unit 58 (interlocking mechanism). As shown in Fig. 18, the interlocking unit 58 interlocks the pedal 65 of the left leg unit 55 with the pedal 65 of the right leg unit 56 so that the rotation axis 65a of the pedal 65 of the left leg unit 55 and the rotation axis 65a of the pedal 65 of the right leg unit 56 are point-symmetrical with respect to the intersection point G when viewed along the rotation axis 65a of the pedal 65 of the left leg unit 55. With the above configuration, the movement of the right and left legs during walking can be more faithfully simulated.

[0144] 15 to 17, the interlocking unit 58 includes a rotatably supported base shaft 81, a left-leg crank arm 82 and a right-leg crank arm 83 extending in opposite directions from the base shaft 81, a left-leg inner connecting portion 84 (left-leg second connecting portion) to which the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the left leg unit 55 are rotatably connected, thereby connecting the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the left leg unit 55 to each other, and a right-leg inner connecting portion 85 (right-leg second connecting portion) to which the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the right leg unit 56 are rotatably connected, thereby connecting the front upper diagonal piece 61, the horizontal piece 62, and the rear upper diagonal piece 63 of the right leg unit 56 to each other. The left-leg crank arm 82 is rotatably connected to the left-leg inner connecting part 84 at the center of gravity g of the equilateral triangle N in the left-leg inner connecting part 84 of the left leg unit 55 in a side view. The right-leg crank arm 83 is rotatably connected to the right-leg inner connecting part 85 at the center of gravity g of the equilateral triangle N in the right-leg inner connecting part 85 of the right leg unit 56 in a side view. With the above configuration, the interlocking unit 58 can be realized with a simple configuration.

[0145] (Modification) Next, a modified example of the interlocking unit 58 will be described.

[0146] 23 shows a plan view of the interlocking unit 58 in a modified example. In this modified example, the interlocking unit 58 includes a left-leg horizontal rack 90 fixed to the horizontal block 62 of the left-leg unit 55, a right-leg horizontal rack 91 fixed to the horizontal block 62 of the right-leg unit 56, and a pinion 92 that simultaneously meshes with the left-leg horizontal rack 90 and the right-leg horizontal rack 91. The left-leg horizontal rack 90 and the right-leg horizontal rack 91 are specific examples of the left-leg rack and the right-leg rack, respectively.

[0147] The left-leg horizontal rack 90 is fixed to the horizontal link 62 of the left leg unit 55 and extends in the front-rear direction. The right-leg horizontal rack 91 is fixed to the horizontal link 62 of the right leg unit 56 and extends in the front-rear direction. The pinion 92 is typically supported rotatably (yawably) by a support pillar 86 shown in FIG. 16. In this configuration, when the horizontal link 62 of the left leg unit 55 moves forward, the horizontal link 62 of the right leg unit 56 moves backward. Conversely, when the horizontal link 62 of the left leg unit 55 moves backward, the horizontal link 62 of the right leg unit 56 moves forward. In this manner, the horizontal link 62 of the left leg unit 55 and the horizontal link 62 of the right leg unit 56 move forward and backward alternately. Even with this configuration, the pedal 65 of the left leg unit 55 and the pedal 65 of the right leg unit 56 can be linked so that the rotation axis 65a of the pedal 65 of the left leg unit 55 and the rotation axis 65a of the pedal 65 of the right leg unit 56 are point-symmetrical with respect to the intersection point G, as shown in Figure 18.

[0148] In summary, the interlocking unit 58 includes a left-leg horizontal rack 90 (left-leg rack) fixed to the horizontal block 62 of the left-leg unit 55, a right-leg horizontal rack 91 (right-leg rack) fixed to the horizontal block 62 of the right-leg unit 56, and a pinion 92 that meshes with the left-leg horizontal rack 90 and the right-leg horizontal rack 91. With the above configuration, the interlocking unit 58 can be realized with a simple configuration.

[0149] Instead of the above configuration, the interlocking unit 58 may include a rack fixed to the front upper diagonal piece 61 of the left leg unit 55 and extending along the longitudinal direction of the front upper guide groove 70, a rack fixed to the front upper diagonal piece 61 of the right leg unit 56 and extending along the longitudinal direction of the front upper guide groove 70, and a pinion that simultaneously meshes with the two racks. Even with this alternative configuration, the interlocking unit 58 can be realized with a simple configuration. The rack and pinion type interlocking unit 58 can be similarly applied to the rear upper diagonal piece 63.

[0150] The above second embodiment can be modified, for example, as follows.

[0151] That is, as shown in Figure 18, in the above second embodiment, the angle formed by the front upper guide groove 70 and the horizontal guide groove 71, the angle formed by the horizontal guide groove 71 and the rear upper guide groove 72, and the angle formed by the rear upper guide groove 72 and the front upper guide groove 70 are all 60 degrees, but alternatively, these angles may be different from each other.

[0152] Similarly, in the second embodiment, the horizontal guide groove 71 extends along the front-rear direction in a side view, but instead, the horizontal guide groove 71 may be inclined with respect to the front-rear direction.

[0153] Also, in the second embodiment, the rotation shaft 65a of the pedal 65 is disposed on an extension of a line segment 79 that connects the rotation shaft 62a of the horizontal block 62 and the center of gravity g. However, instead of this, the rotation shaft 65a of the pedal 65 can be disposed at any position other than the line segment 79 that connects the rotation shaft 62a of the horizontal block 62 and the center of gravity g and the extension of the line segment 79. In this case, the major axis TL of the elliptical orbit T shown in Figures 19 and 20 will be inclined with respect to the front-rear direction.

[0154] 18, in the second embodiment, the rotation shaft 65a of the pedal 65 is disposed on an extension of a line segment 79 that connects the rotation shaft 62a of the horizontal block 62 and the center of gravity g. However, instead of this, the rotation shaft 65a of the pedal 65 may be disposed on an equilateral triangle N.

[0155] In this way, the rotation axis 65a of the pedal 65 may be arbitrarily arranged relative to the rotation axis 61a of the front upper diagonal piece 61, the rotation axis 62a of the horizontal piece 62, and the rotation axis 63a of the rear upper diagonal piece 63. However, as an exception, when the rotation axis 65a of the pedal 65 is aligned with any one of the rotation axis 61a of the front upper diagonal piece 61, the rotation axis 62a of the horizontal piece 62, and the rotation axis 63a of the rear upper diagonal piece 63, the rotation axis 65a of the pedal 65 moves linearly in a side view, so it should be noted that the pedal 65 cannot be moved along an elliptical orbit.

[0156] Similarly, as an exception, if the rotation axis 65a of the pedal 65 is placed at the center of gravity g of the equilateral triangle N, the rotation axis 65a of the pedal 65 will move circularly along a circular orbit in a side view, so it should be noted that the pedal 65 cannot be moved along an elliptical orbit.

[0157] The pedaling exercise device 2 shown in Fig. 2 and the pedaling exercise device 52 shown in Fig. 13 can also be applied to bicycles, aero bikes (registered trademark), recumbent bikes, pedaling wheelchairs, and rotary generators. Fig. 24 shows an example in which the pedaling exercise device 2 of the first embodiment is applied to a bicycle 100. If the pedaling exercise device 2 of the first embodiment is applied to the bicycle 100, it is possible to repeatedly generate the elliptical foot trajectory and load conditions that occur during walking while performing aerobic exercise using the bicycle 100. [Explanation of symbols]

[0158] 1. Pedaling exercise system 2. Pedal exercise equipment 3 Chairs 4 desks 5 Left leg unit 6 Right leg unit 7 Pedestal 8 Interlocking Unit 10 Guide 11 Vertical piece 11a Rotation axis 12 horizontal pieces 12a Rotation axis 13 External connecting bar 13a Vertical piece connection part 13b Horizontal piece connection part 13c Pedal connection 14 Pedals 14a Rotation axis 15 Vertical coil spring 16 Horizontal coil spring 20 Vertical guide groove 20a top end 20b Upper ward screen 21 Horizontal guide groove 21a rear end 21b Rear section screen 22 Fitting part 30 Base shaft 31 Left leg crank arm 31a Crank arm body 31b Horizontal extension 32 Right leg crank arm 32a crank arm body 32b Horizontal extension 33 Left leg inner connecting bar 34 Right leg inner connecting bar 35 Support pillar 40 Left leg horizontal rack 41 Right leg horizontal rack 42 Pinion 45 Seating area 46 Chair body 52 Pedal exercise equipment 55 Left leg unit 56 Right leg unit 57 Pedestal 58 Interlocking unit 60 Guide 61 Front upper diagonal piece 61a Rotating shaft 62 horizontal piece 62a Rotating shaft 63 Rear upper diagonal piece 63a Rotation axis 64 External connecting bar 64a Bar body 64b Pedal connection part 65 Pedal 65a Rotating shaft 66 Front upper coil spring 67 Horizontal coil spring 68 Rear upper coil spring 70 Front upper guide groove 70a top end 70b Upper ward screen 71 Horizontal guide groove 71a rear end 71b Rear section screen 72 Rear upper guide groove 72a top end 72b Upper ward screen 75 lines 76 Line Segments 77 Line Segments 79 Line Segments 80 Fitting part 81 Base shaft 82 Left leg crank arm 82a Crank arm body 82b Horizontal extension 83 Right leg crank arm 83a Crank arm body 83b Horizontal extension 84 Left leg inner connection part 85 Right leg inner connection part 86 Support pillar 90 Left leg horizontal rack 91 Right leg horizontal rack 92 Pinion 100 Bicycles U User F foot N equilateral triangle g center of gravity m midpoint G intersection L line segment T elliptical orbit D direction TL major axis T1 lower track T2 upper track T3 lower track s1 major axis length s2 major axis length

Claims

1. A first slider; A second slider; a first guide for guiding the first slider so as to be linearly slidable; a second guide for guiding the second slider so as to be linearly slidable; a first coupling portion that couples the first slider and the second slider to each other by rotatably coupling the first slider and the second slider; and A pedal rotatably connected to the first connecting portion; Equipped with the first guide and the second guide extend so as to intersect with each other, The rotation axis of the pedal is disposed away from the rotation axis of the first slider and the rotation axis of the second slider and away from the midpoint of a line segment connecting the rotation axis of the first slider and the rotation axis of the second slider, so that the rotation axis of the pedal moves along an elliptical orbit; a load means for applying a load against the movement of the first slider or the second slider, the loading means applies a load to the movement of the first slider or the second slider when the rotation shaft of the pedal is located below the major axis of the elliptical orbit in the case where the pedal is moved in a predetermined direction, and does not apply a load to the movement of the first slider or the second slider when the rotation shaft of the pedal is located above the major axis of the elliptical orbit. Pedal support structure.

2. A left foot pedal support structure as the pedal support structure according to claim 1; A right foot pedal support structure as the pedal support structure according to claim 1; Equipped with The left foot pedal support structure and the right foot pedal support structure are disposed opposite each other. Pedal support system.

3. A first slider; A second slider; A third slider; and a first guide for guiding the first slider so as to be linearly slidable; a second guide for guiding the second slider so as to be linearly slidable; a third guide for linearly slidably guiding the third slider; a first coupling portion that rotatably couples the first slider, the second slider, and the third slider to each other; and A pedal rotatably connected to the first connecting portion; Equipped with the first guide, the second guide, and the third guide extend so as to intersect with each other at one point, a rotation axis of the pedal is disposed away from the rotation axis of the first slider, the rotation axis of the second slider, and the rotation axis of the third slider, and is disposed away from the center of gravity of a triangle connecting the rotation axis of the first slider, the rotation axis of the second slider, and the rotation axis of the third slider, so that the rotation axis of the pedal moves along an elliptical orbit; a load means for applying a load to the first slider, the second slider, or the third slider against the movement of the first slider, the loading means applies a load to the first slider, the second slider, or the third slider when the rotation axis of the pedal is located below the major axis of the elliptical orbit in the case where the pedal is moved in a predetermined direction, and does not apply a load to the first slider, the second slider, or the third slider when the rotation axis of the pedal is located above the major axis of the elliptical orbit. Pedal support structure.

4. A left foot pedal support structure as the pedal support structure according to claim 3; A pedal support structure for a right foot as the pedal support structure according to claim 3; Equipped with The left foot pedal support structure and the right foot pedal support structure are disposed opposite each other. Pedal support system.

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