Foot-pedaling exercise system, control method, and program

Abstract

To provide a technology to encourage a user to start pedaling exercise when performing pedaling exercise.SOLUTION: A pedaling exercise system 100 includes: a pedal unit 7 including a pair of pedals 12; a device body 8 for rotatably supporting the pedal unit 7; a servo motor 30 as a rotation actuator for rotating the pedal unit 7; an infrared sensor 6 as an exercise monitoring sensor for detecting presence or absence of pedaling exercise using the pedal unit 7; and a controller 31. When it is determined that the pedaling exercise is not performed on the basis of a detection result of the infrared sensor 6, the controller 31 controls the servo motor 30 so that the servo motor 30 rotates the pedal unit 7.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a foot-pedaling exercise system, a control method, and a program. [Background technology]

[0002] Patent Document 1 discloses a pedaling exercise device that is equipped with an electric assist function, making it usable by sick people who have suffered functional damage to the nerves in their lower limbs due to cerebral infarction or the like, or people whose leg muscles have weakened excessively due to aging. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-171421 A Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, 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 do pedaling exercise while sitting while doing desk work, you can eliminate the lack of daily exercise without having to take the trouble to set aside time for exercise.

[0005] However, simply placing a pedaling device under a desk does not necessarily mean that everyone will start pedaling. This is because motivation for pedaling varies from person to person. In other words, for people with low motivation, it is difficult to start pedaling.

[0006] Therefore, an object of the present disclosure is to provide a technology that encourages a user to start a leg-pedaling exercise when performing the leg-pedaling exercise. [Means for solving the problem]

[0007] According to a first aspect of the present disclosure, there is provided a foot-pedaling exercise system comprising a pedal unit including a pair of pedals, a device body rotatably supporting the pedal unit, a rotary actuator for rotating the pedal unit, a motion monitoring sensor for detecting the presence or absence of foot-pedaling using the pedal unit, and a controller, wherein the controller controls the rotary actuator to rotate the pedal unit when it is determined that the foot-pedaling is not being performed based on the detection result of the motion monitoring sensor. With the above configuration, the pedal unit automatically starts to rotate if the user does not perform the foot-pedaling exercise, so that the user can be encouraged to start the foot-pedaling exercise. The controller may control the rotary actuator to rotate the pedal unit when it is determined based on the detection result of the motion monitoring sensor that the state in which the pedaling motion is not being performed has continued for a first time period or more. With the above configuration, it is possible to ensure that the user has time to rest without forcing the user to perform the pedaling motion all the time. The controller may stop control of the rotation actuator to rotate the pedal unit when a predetermined condition is satisfied after the rotation actuator starts to control the rotation actuator to rotate the pedal unit. With the above configuration, the user can be encouraged to start a pedaling motion until the predetermined condition is satisfied. The predetermined condition may be that a second time period has elapsed since the controller starts control for the rotation actuator to rotate the pedal unit. With the above configuration, the user can be encouraged to start pedaling until the second time period has elapsed. The movement monitoring sensor may be a movement detection sensor that detects the movement of the user's lower limbs. The motion monitoring sensor may be a rotation detection sensor that detects the rotation of the pedal unit. The pedaling exercise system may further include a seat on which a user performing the pedaling exercise can sit, and the seat may be configured to be swingable with three degrees of freedom. With the above configuration, when the pedal unit starts to rotate automatically, the trunk muscles can be trained by an ascending kinetic chain. According to a second aspect of the present disclosure, there is provided a control method for a foot-pedaling exercise system including a pedal unit including a pair of pedals, a device body rotatably supporting the pedal unit, a rotary actuator for rotating the pedal unit, and a motion monitoring sensor for detecting the presence or absence of foot-pedaling using the pedal unit, the control method determining whether the foot-pedaling exercise is being performed based on a detection result of the motion monitoring sensor, and controlling the rotary actuator to rotate the pedal unit when it is determined that the foot-pedaling exercise is not being performed. According to the above method, the pedal unit automatically starts to rotate if the user does not perform a foot-pedaling exercise, so that the user can be encouraged to start the foot-pedaling exercise. A program is provided that causes a computer to execute the above control method.

[0008] According to a third aspect of the present disclosure, there is provided a foot-pedaling exercise system including a pedal unit including a pair of pedals, a device body rotatably supporting the pedal unit, a seat configured to be capable of yaw rotation or roll rotation, a rotation actuator for yaw rotation or roll rotation of the seat, a motion monitoring sensor for detecting the presence or absence of foot-pedaling using the pedal unit, and a controller, wherein the controller controls the rotation actuator so as to yaw or roll the seat when it is determined based on the detection result of the motion monitoring sensor that the foot-pedaling is not being performed. According to the above configuration, if the user does not perform foot-pedaling, the seat automatically starts to yaw or roll, so that the downward kinetic chain between the pelvis and the lower legs can encourage the user to start foot-pedaling. When the controller determines based on the detection result of the motion monitoring sensor that the state in which the leg pedaling motion is not being performed has continued for a third time period or more, the controller may control the rotation actuator so that the rotation actuator rotates the seat in a yaw or roll motion. With the above configuration, it is possible to ensure that the user has time to rest without forcing the user to perform the leg pedaling motion all the time. The controller may stop the control of the rotation actuator to yaw or roll the seat when a predetermined condition is satisfied after the rotation actuator starts to control the seat to yaw or roll. With the above configuration, the user can be encouraged to start pedaling until the predetermined condition is satisfied. The predetermined condition may be that a fourth time has elapsed since the rotation actuator starts control to rotate the seat in a yaw or roll motion. With the above configuration, the user can be encouraged to start pedaling until the fourth time has elapsed. The movement monitoring sensor may be a movement detection sensor that detects the movement of the user's lower limbs. The motion monitoring sensor may be a rotation detection sensor that detects the rotation of the pedal unit. According to a fourth aspect of the present disclosure, there is provided a control method for a pedaling exercise system including a pedal unit including a pair of pedals, a device body rotatably supporting the pedal unit, a seat configured to be capable of yaw rotation or roll rotation, a rotation actuator for yaw rotation or roll rotation of the seat, and a motion monitoring sensor for detecting the presence or absence of a pedaling exercise using the pedal unit, the control method determining whether the pedaling exercise is being performed based on a detection result of the motion monitoring sensor, and controlling the rotation actuator to rotate the seat in a yaw rotation or roll rotation when it is determined that the pedaling exercise is not being performed. According to the above method, if the user does not perform a pedaling exercise, the seat automatically starts to yaw rotation or roll rotation, so that the downward kinetic chain between the pelvis and the lower legs can encourage the user to start the pedaling exercise. A program is provided that causes a computer to execute the above control method. Effect of the Invention

[0009] According to the present disclosure, when performing a pedaling exercise, the user can be encouraged to start the pedaling exercise. [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 front view of a pedaling exercise system (first embodiment). [Diagram 3] FIG. 1 is a front view of a swivel device (first embodiment). [Figure 4] FIG. 1 is a functional block diagram of a foot-pedaling exercise system (first embodiment). [Diagram 5] 1 is a control flow of a pedaling exercise system (first embodiment). [Figure 6] FIG. 11 is a front view of a swivel device (second embodiment). [Figure 7] FIG. 11 is a functional block diagram of a leg-pedaling exercise system (second embodiment). [Figure 8] 13 is a control flow of the pedaling exercise system (second embodiment). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (First embodiment) A first embodiment of the present disclosure will be described below with reference to Figures 1 to 5. Figure 1 shows a foot-pedaling exercise system 100.

[0012] 1 shows a user U seated in a chair 1 doing desk work using a laptop computer (not shown) placed on a desk 2. A foot-pedaling exercise machine 3 is placed under the desk 2, so that the user U can do foot-pedaling exercise using the foot-pedaling exercise machine 3 while doing desk work.

[0013] The chair 1 includes a swivel device 4 and a support part 5 that supports the swivel device 4. An infrared sensor 6 (motion monitoring sensor) is disposed on the side of the lower leg of the user U to detect whether or not the user U is pedaling.

[0014] 2 shows a state in which a user U is performing a pedaling exercise using the pedaling exercise device 3. As shown in FIG.

[0015] The pedal unit 7 includes a shaft 10 rotatably supported on the device body 8, a pair of cranks 11 connected to the shaft 10, and a pair of pedals 12 rotatably attached to the pair of cranks 11. The user U performs a pedaling exercise by stepping forward alternately with both feet while placing both feet on the pair of pedals 12, respectively.

[0016] Fig. 3 shows a front view of the swivel device 4. That is, Fig. 3 is a view of the swivel device 4 observed in a direction perpendicular to the coronal plane. As shown in Fig. 3, the swivel device 4 includes a seat portion 15 and a device body 16.

[0017] The seating section 15 is configured so that the user U can sit on it. The seating section 15 is a portion that comes into surface contact with the user U in the vertical direction.

[0018] The device body 16 supports the seating section 15 so that it can rotate in yaw, roll, and pitch. That is, the device body 16 supports the seating section 15 so that it has three degrees of freedom. The device body 16 supports the seating section 15 so that it can swing around three axes. The device body 16 may support the seating section 15 so that it can rotate only one of yaw and roll rotation, and pitch rotation. The device body 16 may support the seating section 15 so that it can rotate only two of yaw and roll rotation, and pitch rotation. The device body 16 may support the seating section 15 so that it can rotate in yaw and roll rotation. The device body 16 may support the seating section 15 so that it can rotate in yaw, roll, and pitch rotation. Any configuration is possible for the device body 16 to support the seating section 15 so that it can rotate in yaw, roll, and pitch. Specific examples of the device body 16 will be described below, but are not limited to the following examples.

[0019] As one specific example, the device body 16 includes a connecting base 50 , a coil spring 51 , a lower base 20 , an upper base 21 , an arched rail 22 , and a thrust bearing 23 . The connecting base 50 is fixed to the support part 5 of the chair 1 shown in FIG. 1. The lower base 20 is mounted on the lower base 20 via a coil spring 51. The coil spring 51 is a compression coil spring. The pitch direction of the coil spring 51 coincides with the vertical direction. As a result, the lower base 20 is configured to be able to pitch and roll with respect to the connecting base 50. The upper base 21 is mounted on the lower base 20 via a thrust bearing 23. As a result, the upper base 21 is configured to be able to yaw with respect to the lower base 20. The arch-shaped rail 22 is curved in an arch shape that is convex upward, and is mounted on the upper base 21. The seating part 15 is provided with two wheels 24. The two wheels 24 roll along the arch-shaped rail 22. As a result, the seating part 15 is able to move along the arch-shaped rail 22. In other words, the seating part 15 is configured to be able to roll. The seat 15 descends as it moves from the center 22c of the arched rail 22 in the longitudinal direction toward the end 22a of the arched rail 22 in the longitudinal direction. Therefore, the roll axis 15c in the roll rotation of the seat 15 using the arched rail 22 is set below the seat 15. As a result, the seat 15 has an unstable nature, being unlikely to stay at the center 22c of the arched rail 22. The turning device 4 may be provided with a coil spring along the arched rail 22 that pushes the seat 15 back toward the center 22c of the arched rail 22. This can alleviate the unstable nature of the seat 15.

[0020] Returning to Fig. 1, the infrared sensor 6 is a specific example of an exercise monitoring sensor, and is placed on the side of the lower legs of the user U to detect whether or not the user U is performing a pedaling exercise. In other words, the infrared sensor 6 detects whether or not the lower legs of the user U are moving. The infrared sensor 6 is configured to output a detection signal to the pedaling exercise equipment 3.

[0021] Fig. 4 shows a functional block diagram of the leg-pedaling exercise system 100. As shown in Fig. 4, the leg-pedaling exercise device 3 includes a servo motor 30 and a controller 31. The servo motor 30 is a specific example of a rotation actuator and a load actuator.

[0022] In this embodiment, the servo motor 30 is a servo motor with an electromagnetic brake. The output shaft of the servo motor 30 is connected to the shaft 10 of the pedaling exercise device 3 shown in FIG. 2 via a reduction mechanism (not shown). This allows the servo motor 30 to function as a rotation actuator that rotates the pedal unit 7. Similarly, this allows the servo motor 30 to function as a load actuator that applies a load to the rotation of the pedal unit 7.

[0023] The controller 31 controls the servo motor 30. The controller 31 includes a CPU 31a (Central Processing Unit) as a central processing unit, a readable and writable RAM 31b (Random Access Memory), and a read-only ROM 31c (Read Only Memory). The CPU 31a reads and executes a control program stored in the ROM 31c, so that the control program causes hardware such as the CPU 31a to function as the controller 31.

[0024] The controller 31 includes a first counter 32 and a second counter 33. The first counter 32 and the second counter 33 are both counters for measuring time.

[0025] In this embodiment, the leg-pedaling exercise system 100 includes at least a pedal unit 7, a device body 8, a servo motor 30 as a rotation actuator, an infrared sensor 6 as an exercise monitoring sensor, and a controller 31. The leg-pedaling exercise system 100 may further include a chair 1, a leg-pedaling exercise device 3, and the infrared sensor 6.

[0026] Next, the operation of the pedaling exercise system 100 will be described with reference to FIG.

[0027] S100: First, the controller 31 resets the first counter 32 .

[0028] S110: Next, the controller 31 detects whether or not the user U is pedaling based on the detection signal received from the infrared sensor 6. If YES in S110, the controller 31 returns the process to S100. On the other hand, if NO in S110, the controller 31 advances the process to S120.

[0029] S120: Next, the controller 31 determines whether the first counter 32 has timed five minutes. If NO in S120, the controller 31 returns the process to S110. On the other hand, if YES in S120, the controller 31 advances the process to S130.

[0030] S130: Next, the controller 31 resets the second counter 33 .

[0031] S140: Next, the controller 31 releases the load applied to the rotation of the pedal unit 7 by the servo motor 30 .

[0032] S150: Next, the controller 31 controls the servo motor 30 so that the servo motor 30 rotates the pedal unit 7 at a predetermined speed. This causes the user U to start pedaling, regardless of whether the user U intends to start pedaling.

[0033] S160: Next, the controller 31 waits until the second counter 33 counts 10 seconds.

[0034] S170: Next, the controller 31 stops the control of the servo motor 30 that rotates the pedal unit 7 at a predetermined speed. Whether the pedal unit 7 rotates thereafter depends on the will of the user U. It can be said that once the user U starts a leg-pedaling motion, even if the user U is passive, he or she is likely to perform the leg-pedaling motion voluntarily even after the control of the servo motor 30 has stopped.

[0035] S180: Next, the controller 31 controls the servo motor 30 so that the servo motor 30 applies a load to the rotation of the pedal unit 7. Then, the controller 31 returns the process to S100.

[0036] The first embodiment has been described above, and the above embodiment has the following features.

[0037] The foot-pedaling exercise system 100 includes a pedal unit 7 including a pair of pedals 12, a device body 8 that rotatably supports the pedal unit 7, a servo motor 30 as a rotary actuator that rotates the pedal unit 7, an infrared sensor 6 as an exercise monitoring sensor that detects whether or not a foot-pedaling exercise is being performed using the pedal unit 7, and a controller 31. When the controller 31 determines that a foot-pedaling exercise is not being performed based on the detection result of the infrared sensor 6, it controls the servo motor 30 so that the servo motor 30 rotates the pedal unit 7. With the above configuration, if the user U does not perform a foot-pedaling exercise, the pedal unit 7 automatically starts to rotate, so that the user U can be encouraged to start a foot-pedaling exercise.

[0038] When the controller 31 determines based on the detection result of the infrared sensor 6 that a state in which the leg-pedaling exercise has not been performed has continued for 5 minutes (first time period) or more (S120: YES), the controller 31 controls the servo motor 30 so that the servo motor 30 rotates the pedal unit 7. With the above configuration, it is possible to ensure that the user U has time to rest without constantly urging the user U to start the leg-pedaling exercise.

[0039] When a predetermined condition is satisfied after the servo motor 30 starts controlling the rotation of the pedal unit 7, the controller 31 stops the control of the servo motor 30 to rotate the pedal unit 7. With the above configuration, it is possible to encourage the user U to start a pedaling motion until the predetermined condition is satisfied.

[0040] Also, the predetermined condition is that 10 seconds (second time) have elapsed since the servo motor 30 started to control the rotation of the pedal unit 7. With the above configuration, the user U can be encouraged to start the pedaling motion until 10 seconds have elapsed. Note that the second time is typically set to be shorter than the first time.

[0041] The leg-pedaling exercise system 100 further includes a seat 15 on which a user U performing leg-pedaling can sit. The seat 15 is configured to be swingable with three degrees of freedom. With the above configuration, when the pedal unit 7 starts to rotate automatically by the servo motor 30, the trunk muscles of the user U can be trained by an ascending kinetic chain.

[0042] Furthermore, the control of the foot-pedaling exercise system 100 is performed by determining whether foot-pedaling is being performed based on the detection result of the infrared sensor 6 (S110), and if it is determined that foot-pedaling is not being performed (S110: NO), the servo motor 30 is controlled so as to rotate the pedal unit 7. According to the above method, if the user U does not perform a foot-pedaling exercise, the pedal unit 7 automatically starts to rotate, so that the user U can be encouraged to start a foot-pedaling exercise.

[0043] In the above embodiment, the seat 15 is configured to be capable of yaw and roll rotation. By using this seat 15, a kinetic chain between the lower limbs and the trunk occurs during pedaling, and when pedaling is performed while sitting, the trunk muscles, represented by the rectus abdominis, transverse abdominis, and erector spinae, can be exercised at the same time. In addition, as described above, by deliberately making the seat 15 unstable, the kinetic chain between the lower limbs and the trunk is more effectively exerted. 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 hunchback and straight neck. In addition, 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, and it is expected that chronic lower back pain will also be improved.

[0044] In the above embodiment, the rotation of the pedal unit 7 by the servo motor 30 stops after a predetermined time (S170), and thereafter, a load is applied to the rotation of the pedal unit 7 by the servo motor 30 (S180). Therefore, when the user U starts to voluntarily and actively perform the pedaling exercise based on his / her own will, the exercise effects represented by calorie consumption through aerobic exercise and muscle strengthening of the lower limbs and trunk will be exerted. However, step S140 may be omitted, and the servo motor 30 may be configured to constantly apply a load to the rotation of the pedal unit 7.

[0045] Second embodiment Next, a second embodiment will be described with reference to Figures 6 to 8. Below, differences from the first embodiment will be mainly described, and overlapping descriptions will be omitted.

[0046] Fig. 6 shows a front view of the swivel device 4. That is, Fig. 6 shows the swivel device 4 viewed in a direction perpendicular to the coronal plane.

[0047] In this embodiment, the rotation device 4 further includes a yaw rotation servo motor 40 and a roll rotation servo motor 41 .

[0048] The yaw rotation servo motor 40 is a servo motor that yaw-rotates the seating portion 15. Typically, the yaw rotation servo motor 40 can be a drive source that yaw-rotates the upper base 21 relative to the lower base 20. In this case, the stator 40a of the yaw rotation servo motor 40 is fixed to the lower base 20, and the rotor 40b of the yaw rotation servo motor 40 is fixed to the upper base 21. When the rotor 40b of the yaw rotation servo motor 40 rotates, the upper base 21 yaw-rotates relative to the lower base 20. However, instead of this, a pinion may be provided on the rotor 40b of the yaw rotation servo motor 40 and an annular rack may be provided on the upper base 21, so that when the rotor 40b of the yaw rotation servo motor 40 rotates, the upper base 21 yaw-rotates relative to the lower base 20.

[0049] The roll turning servo motor 41 is provided on the seating portion 15 and rotates one of the two wheels 24. This allows the roll turning servo motor 41 to move the seating portion 15 along the arched rail 22. That is, the roll turning servo motor 41 allows the seating portion 15 to perform roll turning.

[0050] Fig. 7 shows a functional block diagram of the leg-rowing exercise device 3. As shown in Fig. 7, a yaw rotation servo motor 40 and a roll rotation servo motor 41 are electrically connected to the leg-rowing exercise device 3.

[0051] In this embodiment, the foot-pedaling exercise system 100 includes at least a pedal unit 7, a device body 8, a seat 15, a yaw rotation servo motor 40, a roll rotation servo motor 41, an infrared sensor 6, and a controller 31. The foot-pedaling exercise system 100 may further include a chair 1, a foot-pedaling exercise device 3, and an infrared sensor 6.

[0052] Next, the operation of the pedaling exercise system 100 will be described with reference to FIG.

[0053] This embodiment is different from the first embodiment in steps 150 and 170. Therefore, steps 150 and 170 will be described below.

[0054] S150: The controller 31 controls the yaw rotation servo motor 40 so that the yaw rotation servo motor 40 rotates the seating portion 15 in a yaw direction, and also controls the roll rotation servo motor 41 so that the roll rotation servo motor 41 rotates the seating portion 15 in a roll direction.

[0055] Specifically, the controller 31 controls the yaw rotation servo motor 40 so that the right hip joint moves forward relative to the left hip joint, i.e., so that the pelvis rotates counterclockwise in a plan view, and controls the roll rotation servo motor 41 so that the right hip joint becomes lower relative to the left hip joint. The movement of the pelvis at this time is similar to the movement of the pelvis when swinging the right leg forward during walking. Therefore, according to the above control, the right leg is pushed forward relative to the left leg due to the downward kinetic chain between the pelvis and the lower leg.

[0056] Next, the controller 31 controls the yaw rotation servo motor 40 so that the left hip joint moves forward relative to the right hip joint, i.e., so that the pelvis rotates clockwise in a plan view, and also controls the roll rotation servo motor 41 so that the left hip joint becomes lower relative to the right hip joint. The movement of the pelvis at this time is similar to the movement of the pelvis when swinging the left leg forward during walking. Therefore, according to the above control, the left leg is pushed forward relative to the right leg due to the downward kinetic chain between the pelvis and the lower leg.

[0057] By alternately repeating the above two controls, that is, the control for pushing the right leg forward relative to the left leg and the control for pushing the left leg forward relative to the right leg, the user U passively starts a leg-pedaling motion. In other words, the user U can be encouraged to start a leg-pedaling motion.

[0058] S170: When a predetermined time has elapsed (S160: YES), the controller 31 stops the control of the yaw rotation servo motor 40 and the roll rotation servo motor 41, which cause the yaw rotation servo motor 40 and the roll rotation servo motor 41 to yaw and roll the seating section 15. Whether the pedal unit 7 rotates thereafter depends on the will of the user U. Even if it is passive, once a pedaling motion is started, it can be said that it is easy to perform the pedaling motion voluntarily, even after the control of the yaw rotation servo motor 40 and the roll rotation servo motor 41 has been stopped.

[0059] The second embodiment has been described above, and the above embodiment has the following features.

[0060] The foot-pedaling exercise system 100 includes a pedal unit 7 including a pair of pedals 12, a device body 8 rotatably supporting the pedal unit 7, a seating section 15 configured to be capable of yaw rotation and roll rotation, a yaw rotation servo motor 40 and a roll rotation servo motor 41 as rotation actuators for yaw rotation and roll rotation of the seating section 15, an infrared sensor 6 as a motion monitoring sensor for detecting the presence or absence of foot-pedaling using the pedal unit 7, and a controller 31. When the controller 31 determines that foot-pedaling is not being performed based on the detection result of the infrared sensor 6, it controls the yaw rotation servo motor 40 and the roll rotation servo motor 41 so that the yaw rotation servo motor 40 and the roll rotation servo motor 41 rotate the seating section 15 in a yaw rotation and roll rotation. With the above configuration, if the user U does not perform foot-pedaling, the seating section 15 automatically starts to yaw and roll, so that the downward kinetic chain between the pelvis and the lower legs can encourage the user U to start foot-pedaling.

[0061] When the controller 31 determines based on the detection result of the infrared sensor 6 that a state in which no pedaling motion has been performed has continued for 5 minutes (third time period) or more (S120: YES), it controls the yaw rotation servo motor 40 and the roll rotation servo motor 41 so that the yaw rotation servo motor 40 and the roll rotation servo motor 41 yaw and roll rotate the seating section 15. With the above configuration, it is possible to ensure that the user U has time to rest without forcing the user U to perform pedaling motion all the time.

[0062] The controller 31 starts controlling the yaw rotation servo motor 40 and the roll rotation servo motor 41 to yaw and roll rotate the seating section 15, and then when a predetermined condition is met, stops controlling the yaw rotation servo motor 40 and the roll rotation servo motor 41 to yaw and roll rotate the seating section 15. With the above configuration, it is possible to encourage the user U to start pedaling until the predetermined condition is met.

[0063] The predetermined condition is that 10 seconds (fourth time) have elapsed since the yaw rotation servo motor 40 and the roll rotation servo motor 41 started to control the yaw rotation servo motor 40 and the roll rotation servo motor 41 to yaw and roll the seating section 15. With the above configuration, the user U can be encouraged to start the leg pedaling motion until 10 seconds have elapsed. The fourth time is typically set to be shorter than the third time.

[0064] The control of the foot-pedaling exercise system 100 determines whether foot-pedaling is being performed based on the detection result of the infrared sensor 6 (S110), and if it is determined that foot-pedaling is not being performed (S110: NO), the yaw rotation servo motor 40 and the roll rotation servo motor 41 are controlled so that the yaw rotation servo motor 40 and the roll rotation servo motor 41 perform yaw and roll rotation of the seating unit 15. According to the above method, if the user U does not perform foot-pedaling, the seating unit 15 automatically begins to yaw and roll, so that the downward kinetic chain between the pelvis and the lower legs can encourage the user U to start foot-pedaling.

[0065] In this embodiment, the seat 15 is configured to be able to yaw and roll, as in the first embodiment. By using this seat 15, a kinetic chain between the lower limbs and the trunk occurs during pedaling, and when pedaling is performed while sitting, the trunk muscles, such as the rectus abdominis, transverse abdominis, and erector spinae, can be exercised. In addition, as described above, the seat 15 is made unstable, so that the kinetic chain between the lower limbs and the trunk is more effectively exerted. If the trunk muscles can be exercised as described above, first, a reduction in waist size can be expected. Secondly, the rectus abdominis, transverse abdominis, and erector spinae can be trained, making it easier to maintain a posture with the pelvis tilted forward, which will also contribute to the elimination of hunchback and straight neck. In addition, 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, and can be expected to improve chronic lower back pain.

[0066] Also in this embodiment, the yaw rotation and roll rotation of the seating unit 15 by the yaw rotation servo motor 40 and the roll rotation servo motor 41 are stopped at a predetermined time (S170), and thereafter, a load is applied to the rotation of the pedal unit 7 by the servo motor 30 (S180). Therefore, when the user U starts to perform the foot pedaling exercise spontaneously and actively based on his / her own will, the exercise effect represented by calorie consumption through aerobic exercise and muscle strengthening of the lower limbs and trunk will be exerted. However, step S140 may be omitted, and the servo motor 30 may be configured to constantly apply a load to the rotation of the pedal unit 7.

[0067] The above second embodiment can be modified as follows.

[0068] That is, either one of the yaw rotation servo motor 40 or the roll rotation servo motor 41 can be omitted. This is because the downward movement chain between the pelvis and the lower limbs described above can be established with only one of the yaw rotation and roll rotation of the pelvis. However, of the yaw rotation and roll rotation of the pelvis, the yaw rotation is more likely to cause the downward movement chain described above. Therefore, if either one of the yaw rotation servo motor 40 or the roll rotation servo motor 41 is omitted, it would be better to omit the roll rotation servo motor 41.

[0069] In addition, in the first and second embodiments described above, the infrared sensor 6 is used as the motion monitoring sensor, but instead of this, a rotation detection sensor that detects the rotation of the pedal unit 7 may be used. In this case, the rotation detection sensor is typically a rotary encoder that detects the rotation of the shaft 10. In other words, the rotation detection sensor can be configured to indirectly detect the rotation of the pedal unit 7 by detecting the rotation of the shaft 10.

[0070] The first and second embodiments can also be combined. In this case, the pivoting motion of the seat 15 and the rotational motion of the pedal unit 7 need to be controlled to be synchronized with each other, but the user can be further encouraged to start pedaling.

[0071] In the above example, the program can be stored and provided to the computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives) and magneto-optical recording media (e.g., magneto-optical disks). Examples of the non-transitory computer readable media further include CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM. Examples of the non-transitory computer readable media further include PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory). The program may also be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path. [Explanation of symbols]

[0072] 1 Chair 2 desks 3. Pedal exercise equipment 4 Swivel 5 Support part 6 Infrared Sensor 7 Pedal unit 8. Device body 10 Shaft 11. Crank 12 Pedals 15 Seating area 15c roll axis 16 Device body 20 Lower Base 21 Upper Base 22 Arched Rail 22a end 22c center 23 Thrust bearing 24 wheels 30 Servo motor 31 Controller 32 First Counter 33 Second Counter 40 Yaw rotation servo motor 40a Stator 40b rotor 41 Roll rotation servo motor 50 Consolidated basis 51 Coil spring 100 Pedal exercise system U User

Claims

1. a pedal unit including a pair of pedals; a device main body that rotatably supports the pedal unit; a rotation actuator that rotates the pedal unit; an exercise monitoring sensor that detects whether or not a pedaling exercise is performed using the pedal unit; A controller; Equipped with when it is determined that the pedaling motion is not being performed based on a detection result of the motion monitoring sensor, the controller controls the rotation actuator so that the rotation actuator rotates the pedal unit; the controller stops the control of the rotation actuator to rotate the pedal unit when a predetermined condition is satisfied after the control of the rotation actuator to rotate the pedal unit is started; the predetermined condition being that a second time period has elapsed since the controller started control of the rotation actuator to rotate the pedal unit; Foot-pedaling exercise system.

2. 2. The pedaling exercise system according to claim 1, When the controller determines that a state in which the pedaling motion is not being performed has continued for a first time period or more based on a detection result of the motion monitoring sensor, the controller controls the rotation actuator so that the rotation actuator rotates the pedal unit. Foot-pedaling exercise system.

3. 2. The pedaling exercise system according to claim 1, The motion monitoring sensor is a motion detection sensor that detects the movement of the user's lower limbs. Foot-pedaling exercise system.

4. 2. The pedaling exercise system according to claim 1, The motion monitoring sensor is a rotation detection sensor that detects the rotation of the pedal unit. Foot-pedaling exercise system.

5. A pedaling exercise system according to any one of claims 1 to 4, The apparatus further includes a seat on which a user performing the pedaling exercise can sit, The seating portion is configured to be swingable with three-axis degrees of freedom. Foot-pedaling exercise system.

6. a pedal unit including a pair of pedals; a device main body that rotatably supports the pedal unit; a rotation actuator that rotates the pedal unit; an exercise monitoring sensor that detects whether or not a pedaling exercise is performed using the pedal unit; A method for controlling a pedaling exercise system comprising: determining whether the pedaling exercise is being performed based on the detection result of the exercise monitoring sensor; When it is determined that the pedaling motion is not being performed, the rotation actuator is controlled so that the rotation actuator rotates the pedal unit; after starting control of the rotation actuator to rotate the pedal unit, when a predetermined condition is satisfied, stopping control of the rotation actuator to rotate the pedal unit; the predetermined condition being that a second time period has elapsed since the rotation actuator starts to control the rotation of the pedal unit; Control methods.

7. A program for causing a computer to execute the control method according to claim 6.

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