Wearable training device, control method thereof, and program therefor

Abstract

To provide a mounting type training instrument in which it is possible to check if the mounting type training instrument is mounted at an appropriate position.SOLUTION: When walking or the like is executed with a waist-mounted part worn on the waist of a wearer and a leg-mounted part worn on the leg, the leg-mounted part moves in a direction away from the wearer or a cam with different distances from the cam rotation shaft to the peripheral surface rotates accompanying the rotation of an arm part accompanying the walking or the like so that a load in an outside direction is applied to the leg of the wearer. A mounting type training instrument is provided with a waist-mounted part angle measuring sensor for measuring a mounting angle of the waist-mounted part so that the mounting angle of the waist-mounted part can be measured by measuring the mounting angle of the waist-mounted part.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a wearable training device, a control method thereof, and a program therefor.

Background Art

[0002] In modern times, problems such as muscle weakness due to chronic lack of exercise and walking, and various associated problems have been raised. In order to appropriately maintain muscle strength, it is necessary to regularly apply an appropriate load to the muscles. However, in modern standard life, the muscles involved in walking are often not given sufficient load, and as a result, the lower limb muscle strength decreases with aging, leading to a decline in walking function and the cause of various diseases.

[0003] For example, in the lower limb muscle group, the iliopsoas muscle and the adductor muscle group are particularly problematic in terms of muscle strength decline. Both are major muscles involved in the movement of the hip joint. The iliopsoas muscle greatly contributes to hip joint flexion, and the adductor muscle group greatly contributes to hip joint adduction. They are muscles that antagonize the gluteal muscle group. However, compared to the gluteal muscle group, which is frequently used in daily life, they tend to have a greater tendency to decline in muscle strength. Among these, a decrease in the muscle strength of the iliopsoas muscle leads to a decrease in stride length, which is the main cause of the decline in walking function, and a decrease in the muscle strength of the adductor muscle group causes the external rotation of the hip joint during walking (so-called "duck gait").

[0004] Conventionally, there are known training devices that can effectively apply a load to the iliopsoas muscle and can effectively train the iliopsoas muscle from children to the elderly and even to athletes. For example, Patent Document 1 describes a training device including at least a first mounting portion mounted above the greater trochanter, a second mounting portion fixed to the thigh portion, and a load generating means disposed between the first mounting portion and the second mounting portion, wherein the load generating means applies a load when the leg extends forward.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the training device described in Patent Document 1, although the wearer can effectively train the iliopsoas muscle by wearing it in the correct position, there is a problem that when the wearer cannot wear it in the appropriate position or when the training device moves from the appropriate position during use, sufficient effects may not be obtained.

[0007] The present invention has been made in view of such problems, and a main object thereof is to provide a wearable training device capable of confirming that it is worn in an appropriate position. Another object is to provide a control method and a program for a wearable training device capable of confirming that it is worn in an appropriate position.

Means for Solving the Problems

[0008] The present invention has adopted the following means in order to achieve at least one of the above objects.

[0009] The wearable training device of the present invention is a wearable training device that the wearer wears and uses, a waist mounting portion that is mounted on the waist of the wearer, a leg mounting portion that is mounted on the leg of the wearer, an arm portion that rotatably connects the waist mounting portion and the leg mounting portion, a load generating portion that generates a load on the leg of the wearer when the arm portion rotates, a waist mounting portion angle measurement sensor that measures the mounting angle of the waist mounting portion and outputs waist mounting portion angle information including the mounting angle, and is characterized by including the above.

[0010] In this wearable training device, a waist mounting part to be mounted on the waist of the wearer and a leg mounting part to be mounted on the legs of the wearer are provided. Since the waist mounting part and the leg mounting part are rotatably connected by an arm part, the arm part rotates when the wearer walks or runs. At this time, since a load generating part for generating a load on the wearer's legs is provided as the arm part rotates, a load is generated on the wearer's legs as the arm part rotates. By doing so, the adductor muscle group can be selectively loaded and the adductor muscle group can be selectively trained.

[0011] In addition, since this wearable training device is provided with a waist mounting part angle measurement sensor that measures the mounting angle of the waist mounting part and outputs waist mounting part angle information including the mounting angle, the mounting angle of the waist mounting part can be measured by measuring the mounting angle of the waist mounting part. At this time, since it is known that the most efficient training is possible when the waist mounting part is mounted parallel to the sacrum, it is possible to confirm whether the wearable training device is properly mounted by measuring the mounting angle of the waist mounting part.

[0012] The control method of this wearable training device includes normal angle information storage means for storing information including normal angle information which is a normal mounting angle range when the waist mounting part is normally mounted, and mounting angle determination means for determining whether the mounting angle is within the normal mounting angle range. Therefore, it is possible to determine whether the waist mounting part is mounted at an appropriate position by comparing with the pre-stored normal mounting angle range.

[0013] In the wearable training device of the present invention adopting this aspect, the mounting angle determination means may be characterized in that when the wearer is in a stopped state, it determines whether the mounting angle measured by the mounting part measurement sensor is within the normal mounting angle range. By doing so, by determining whether the position of the waist mounting part can move from the initial position when not performing walking or the like, when the waist mounting part moves, the wearer can be prompted to move the waist mounting part to an appropriate position in a safe state when not performing walking or the like.

[0014] The wearable training device of the present invention includes an arm part angle measurement sensor that measures the rotation angle of the arm part and outputs arm part angle information including the rotation angle, and load amount maximum angle calculation means that calculates the rotation angle at which the load becomes maximum based on the arm part angle information. It may be characterized by this. To efficiently train muscles, it is known that applying a load when the leg is positioned at a predetermined hip joint angle is highly effective. Therefore, by calculating the rotation angle at which the load becomes maximum, the hip joint angle at which the load amount becomes maximum can be calculated. At this time, by maximizing the load at the hip joint angle corresponding to the state where the hip joint is most extended, the muscles can be efficiently trained. Here, the hip joint angle means the angle formed by the tip direction of the leg with respect to the vertical direction from the base of the leg.

[0015] The wearable training device of the present invention includes a load generating part angle measurement sensor that measures the angle of the load generating part and outputs load generating part angle information including the angle of the load generating part. The load amount maximum angle calculation means may be characterized by calculating the rotation angle at which the load amount becomes maximum based on the load generating part angle information and the arm part angle information. By doing so, even when the wearing position changes for some reason, by measuring the angle of the load generating part, the change in the wearing position can be measured. Therefore, even when the wearing position changes, by maximizing the load amount at the hip joint angle corresponding to the state where the hip joint is most extended, the muscles can be efficiently trained.

[0016] A control method for a wearable training device of the present invention A control method for a wearable training device including a waist wearing part worn on the waist of the wearer, a leg wearing part worn on the leg of the wearer, an arm part that rotatably connects the waist wearing part and the leg wearing part, a load generating part that generates a load on the leg of the wearer when the arm part rotates, and a waist wearing part angle measurement sensor that measures the wearing angle of the waist wearing part and outputs waist wearing part angle information including the wearing angle. A wearing angle determination step for determining whether the wearing angle is within the normal wearing angle range; characterized by including such.

[0017] The program of the present invention is a program for causing one or more computers to execute each step of the control method of the wearable training device. This program may be recorded on a computer-readable storage medium (for example, a hard disk, ROM, CD, DVD, flash memory, etc.), or may be transmitted from one computer to another computer via a transmission medium (a communication network such as the Internet or wired / wireless LAN), or may be transferred in any other form. Also, even if it is executed by a device that executes each step of the control method, the device on which the program is executed and the device on which the processing is performed may be different. In any case, if this program is executed by one computer or each step is executed by a plurality of computers in a shared manner, the same effect as the above-described control method can be obtained.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0019] Next, as an example of an embodiment of the present invention, the wearable training device 20 will be described in detail. The embodiments and drawings described below illustrate a part of the embodiments of the present invention, and are not used for the purpose of limiting to these configurations, and can be appropriately changed without departing from the gist of the present invention. In addition, the same or similar reference numerals are assigned to corresponding components in each figure.

[0020] An example of a wearable training device 20 according to an embodiment of the present invention, as shown in FIG. 1, includes a waist mounting portion 22 that is mounted on the waist of the wearer and has a waist mounting portion angle measurement sensor 23 (see FIG. 2) for measuring the mounting angle when mounted on the waist of the wearer; a right foot mounting portion 24a mounted on the right foot of the wearer and a left foot mounting portion 24b mounted on the left foot of the wearer (hereinafter also referred to as "leg mounting portion 24"); a right arm portion 26a that rotatably connects the waist mounting portion 22 and the right foot mounting portion 24a, and a left arm portion 26b that rotatably connects the waist mounting portion 22 and the left foot mounting portion 24b (hereinafter also referred to as "arm portion 26"); a right arm portion angle measurement sensor 27a for measuring the angle of the right arm portion 26a and a left arm portion angle measurement sensor 27b for measuring the angle of the left arm portion 26b (see FIG. 2, hereinafter also referred to as "arm portion angle measurement sensor 27"); a load generating portion 30 having a load generating portion angle measurement sensor 34 (see FIG. 2) for measuring the angle with respect to the vertical direction (load generating portion angle); a control unit 50 (see FIG. 2) that receives information from various sensors such as the waist mounting portion angle measurement sensor 23, the arm portion angle measurement sensor 27, and the load generating portion angle measurement sensor 34 and outputs various control signals; and a speaker 60 (see FIG. 2) that emits a predetermined sound based on the control signal output from the control unit 50. This wearable training device 20 is used by mounting the waist mounting portion 22 on the waist of the wearer and the leg mounting portion 24 on the legs of the wearer, respectively. At this time, since it is provided with the waist mounting portion angle measurement sensor 23 for measuring the mounting angle of the waist mounting portion 22, when the wearable training device 20 is mounted on the wearer, by measuring the mounting angle of the waist mounting portion 22, it is possible to measure whether the waist mounting portion 22 is mounted at an appropriate position.

[0021] The waist mounting part 22 is a member for attaching the wearable training device 20 to the waist of the wearer. When the waist mounting part 22 is attached to the waist of the wearer, it is positioned at a position parallel to the sacrum of the wearer, so that it is positioned at an appropriate position of the wearer and can efficiently apply a load to the iliopsoas muscle and the adductor muscle. Note that the waist mounting part 22 may have, for example, a belt-like shape, a clothing shape such as spats, or a fixture fixed to clothing or the like. Any shape is acceptable as long as it can be attached to the waist of the wearer, and the shape is not particularly limited.

[0022] Further, as shown in FIG. 2, a waist mounting part angle measurement sensor 23 for measuring the angle of the waist mounting part 22 is attached to the waist mounting part 22. This waist mounting part angle measurement sensor 23 is a known sensor including an acceleration sensor, and outputs waist mounting part angle information including an angle to the control unit 50. Since this waist mounting part angle measurement sensor 23 is attached at a position parallel to the waist mounting part 22, the angle of the waist mounting part 22 can be measured by calculating the angle of the waist mounting part angle measurement sensor 23 from the detected gravitational acceleration.

[0023] As shown in FIG. 1, the leg mounting part 24 is a member for attaching the wearable training device 20 to the leg of the wearer, and is rotatably connected to the waist mounting part 22 and the arm part 26. As this leg mounting part 24, for example, it is a belt-shaped member that can be wound around a leg fixed to one end side of the arm part 26. Note that the leg mounting part 24 is preferably attached to the leg of the wearer, at a position below the thigh and above the knee. By doing so, a load can be efficiently applied to the iliopsoas muscle and the adductor muscle group.

[0024] The arm portion 26 is a member that rotatably connects the waist mounting portion 22 and the leg mounting portion 24, and when worn by the wearer, it rotatably connects the waist mounting portion 22 and the leg mounting portion 24. Therefore, when the wearer's leg moves due to the wearer's walking or the like, the leg mounting portion 24 moves along with the movement of the wearer's leg, and the arm portion 26 rotates along with the movement of the leg mounting portion 24. Further, the arm portion 26 is a belt-like member made of an elastic material such as flat metal or resin. By doing so, when the wearable training device 20 is worn inside clothing such as trousers, the arm portion 26 is difficult to be visually recognized from the outside of the clothing or the like, and it is difficult for people around to visually recognize that the wearable training device 20 is being worn. Also, since the arm portion 26 is a belt-like member made of an elastic material, even when a strong force is applied to the arm portion 26 when the wearer loses balance or when the load of the load generating portion is too strong, a part is absorbed by the elasticity of the arm portion 26, so the possibility of damage to the wearable training device 20 can be reduced in advance. At this time, by making the flat plate shape such that the area of the surface parallel to the wearer is larger than the area of the surface substantially perpendicular to the wearer, the side surface direction of the wearer has stronger rigidity than the advancing direction side of the wearer, and an efficient addition can be made to the adductor muscle group.

[0025] Also, as shown in FIGS. 3 and 4, when the arm portion 26 is worn by the wearer, on the surface on the wearer side, at a position facing a protruding portion 40a (to be described later) provided in the guiding portion 40, a rotating body 28 that rotates along with the rotation of the arm portion 26 is provided in a state of being in contact with the surface of the guiding portion 40. Therefore, when the arm portion 26 rotates, the rotating body 28 smoothly guides along the surface of the guiding portion 40, and the arm portion 26 moves in the protruding direction (the direction away from the wearer when worn by the wearer) along with the protrusion of the protruding portion 40a. By doing so, a load can be applied in the direction away from the wearer, and the adductor muscle group can be selectively exercised.

[0026] Further, as shown in FIG. 2, a right arm portion angle measurement sensor 27a for measuring the angle of the right arm portion 26a is provided on the right arm portion 26a, and a left arm portion angle measurement sensor 27b for measuring the angle of the left arm portion 26b is provided on the left arm portion 26b. This arm portion angle measurement sensor 27 is a known sensor including an acceleration sensor, and outputs arm portion angle information including the angle of the arm portion 26 to the control unit 50. As the arm portion angle measurement sensor 27, various sensors capable of measuring the angle of the arm portion 26 can be used. For example, it may be an acceleration sensor attached to the arm portion 26, or a motion sensor attached to the waist mounting portion 22 and capable of sensing the movement of the arm portion 26.

[0027] As shown in FIG. 1, the load generating unit 30 is located on the side surface side of the waist mounting portion 22, and is a member that applies a load to the arm portion 26 as the leg mounting portion 24 mounted on the wearer's leg moves due to the wearer's walking or the like. At this time, the load generating unit 30 applies loads in the direction of the leg's traveling direction, the direction opposite to the traveling direction, and the side surface direction of the leg, respectively. By doing so, a load can be applied to the leg according to the state of the wearer's walking or the like, and the iliopsoas muscle and the adductor muscle group can be exercised.

[0028] As shown in FIGS. 3 and 4, this load generating unit 30 includes a cam 32 that rotates as the arm portion 26 rotates, a load generating unit angle measurement sensor 34 that measures the angle of the load generating unit 30 (see FIG. 2), and a guiding unit 40 having a protruding portion 40a that protrudes laterally when worn by the wearer. When the wearer walks or the like, as the hip joint angle changes with walking or the like, the arm portion 26 rotates as the leg mounting portion 24 moves, and the cam 32 rotates as the arm portion 26 rotates. The cam 32 is a plate cam having an outer peripheral surface formed of an arc with a circumferential surface whose distance from the cam rotation axis 32a varies depending on the position of the circumferential surface. Since it is pressed by the elastic body 34, it can apply a load corresponding to the wearer's hip joint angle to the forward direction side and the side opposite to the forward direction, and can efficiently exercise the iliopsoas muscle. Here, the "hip joint angle" means the angle of the leg portion B with respect to the vertical direction A (α in FIG. 5) as shown in FIG. 5, and is an angle calculated by adding the angle of the load generating unit 30 measured by the load generating unit angle measurement sensor 34 to the angle of the arm portion 26 measured by the arm portion angle measurement sensor 27. This hip joint angle is positive when the angle of the leg portion B is located in the forward direction (front side), and negative when it is located in the direction opposite to the forward direction (back side).

[0029] Here, the load generating unit angle measurement sensor 34 is a known sensor including an acceleration sensor, and outputs load generating unit angle information including the angle of the load generating unit 30 to the control unit 50. This load generating unit angle measurement sensor 34 is attached substantially perpendicular to the lower surface of the load generating unit 30, and can calculate the angle of the load generating unit 30 with respect to the vertical direction by calculating the angle of the load generating unit angle measurement sensor 34 (angle with respect to the vertical direction) based on the gravitational acceleration included in the load generating unit angle information. At this time, the load generating unit angle measurement sensor 34 can use various sensors that can measure the angle of the load generating unit 30 (load generating unit angle), and for example, an acceleration sensor or the like can be used.

[0030] Here, the shape of the cam 32 will be described in detail. As shown in FIG. 3, the cam 32 is a plate cam having an outer peripheral surface formed of an arc having a circumferential surface with a distance from the cam rotation axis 32a varying depending on the position of the circumferential surface. By doing so, when the cam 32 rotates, the load increases at a position where the rate of change (mm / °) of the distance from the center to the outer peripheral surface becomes large with respect to a certain angle, and the load decreases at a position where the rate of change (mm / °) of the distance from the center to the outer peripheral surface becomes small with respect to a certain angle change. Therefore, when the cam 32 rotates as the arm portion 26 rotates, the load on the leg (the load in the traveling direction and the direction opposite to the traveling direction when the wearer wears it) can be adjusted according to the hip joint angle depending on the rotation angle of the cam 32.

[0031] The load in the direction opposite to the traveling direction for the wearer is preferably applied, for example, as shown in FIG. 7, when the wearer's hip joint angle is between 0° and -30°, and more preferably between -10° and -20°. That is, when the leg is located on the dorsal side of the body, it is preferable to apply the load that causes the largest load in the traveling direction. By doing so, the iliopsoas muscle can be efficiently exercised. In addition, when the hip joint angle is positive, since a load is applied in the hip joint flexion direction, the wearer receives a negative load, that is, a force in the direction assisting walking, with respect to walking. Here, FIG. 7 is a graph showing the relationship between the load and the hip joint angle, where the vertical axis represents the load (N) in the anteroposterior direction with the hip joint flexion direction being positive, and the horizontal axis represents the hip joint angle (°).

[0032] Here, a method for measuring the load amount in the direction opposite to the traveling direction generated by the load generating unit 30 will be described. The load generated in the direction opposite to the traveling direction by the load generating unit 30 is caused by the cam 32 having an outer peripheral surface with a circumferential surface whose distance from the cam rotation shaft 32a varies depending on the position on the circumferential surface rotating as the arm portion 26 rotates. Therefore, the rotation angle of the arm portion 26 and the load amount in the direction opposite to the traveling direction generated by the load generating unit 30 are uniquely determined by the rotation angle of the arm portion 26. For this reason, by previously storing the relationship between the rotation angle of the arm portion 26 and the load amount in the ROM 52, and measuring the rotation angle of the arm portion 26 by the arm portion angle measurement sensor 27, the load amount in the direction opposite to the traveling direction generated by the load generating unit 30 can be calculated.

[0033] As shown in FIGS. 3 and 4, the guiding portion 40 is a plate-like member having a protruding portion 40a that curves and protrudes toward the arm portion 26 side at a position on the rear side of the wearer when worn by the wearer (a position on the rear side when worn by the wearer from the center of the guiding portion 40). At a position facing this protruding portion 40a, a rotating body 28 provided on the inner surface (the surface on the wearer side) of the arm portion 26 is located. By doing so, when the wearer's leg is located on the rear side, as the arm portion 26 rotates, it moves along the side surface of the guiding portion 40 and is guided in a direction away from the wearer along the curvature of the protruding portion 40a, so that a lateral load can be applied to the leg, and the adductor muscle group can be efficiently exercised.

[0034] For the load on the wearer in the lateral direction, for example, as shown in FIG. 8, when the hip joint angle of the wearer is between -10° and -20°, that is, when the leg is located dorsal to the body, it is preferable to apply a load that is the largest in the direction away from the wearer. By doing so, the adductor muscle group can be efficiently exercised. Here, FIG. 8 is a graph showing the relationship between the load and the hip joint angle, where the vertical axis represents the load (N) in the front-rear direction with the hip joint flexion direction being positive, and the horizontal axis represents the hip joint angle (°).

[0035] Here, a method for measuring the amount of load in the lateral direction generated by the load generating unit 30 will be described. The load generated in the lateral direction (the direction away from the wearer) by the load generating unit 30 is generated when the arm portion 26 moves in the lateral direction as the protruding portion 40a protrudes when the arm portion 26 rotates. Therefore, the rotation angle of the arm portion 26 and the amount of load in the lateral direction generated by the load generating unit 30 are uniquely determined by the rotation angle of the arm portion 26. For this reason, by previously storing the relationship between the rotation angle of the arm portion 26 and the load amount in the ROM 52, and measuring the rotation angle of the arm portion 26 by the arm portion angle measurement sensor 27, the amount of load in the lateral direction generated by the load generating unit 30 can be calculated.

[0036] The control unit 50 (corresponding to the wearing angle determination means and the maximum load angle calculation means of the present invention) is configured as a microprocessor centered on the CPU 51 as shown in FIG. 2. Based on the waist mounting portion angle information output from the waist mounting portion angle measurement sensor 23, the arm portion angle information output from the arm portion angle measurement sensor 27, the load generating portion angle information output from the load generating portion angle measurement sensor 34, etc., a wearing state determination program for determining the wearing state of the wearable training device 20, a ROM 52 (corresponding to the normal wearing angle information storage means of the present invention) in which various information etc. are stored, a RAM 53 for temporarily storing the waist mounting portion angle information, the arm portion angle information, the load generating portion angle information, etc., and an interface 54 (hereinafter referred to as "I / F 54") for transmitting and receiving various signals between the waist mounting portion angle measurement sensor 23, the arm portion angle measurement sensor 27, the load generating portion angle measurement sensor 34, the speaker 60, etc. are electrically connected via the bus 55 respectively. This control unit 50 determines the wearing state based on the waist mounting portion angle information, the arm portion angle information, etc., and notifies the wearer of information regarding the wearing state of the wearable training device 20. By doing so, the wearer can grasp the wearing state of the wearable training device 20, so that the training efficiency of the wearable training device 20 can be kept high.

[0037] Here, taking the wearing status determination process routine executed by the control unit 50 as an example, the operation for determining the wearing status of the wearable training device 20 will be described. As shown in FIG. 6, when the wearer starts walking in a state where a power button (not shown) is pressed and power is supplied to the wearable training device 20, the CPU 51 reads out the wearing status determination process routine stored in the ROM 52 and repeatedly executes it. Here, FIG. 6 is a flowchart showing an example of the wearing status determination process routine. When the power button (not shown) is pressed and power is supplied to the wearable training device 20, power is supplied to the waist mounting portion angle measurement sensor 23 and the arm portion angle measurement sensor 27, and the waist mounting portion angle information, the arm portion angle information, and the load generation portion angle information are sequentially output to the control unit 50, respectively.

[0038] When the wearing status determination process routine is executed, the CPU 51 calculates the wearing angle of the waist mounting portion 22 based on the waist mounting portion angle information (step S110). Since the waist mounting portion angle measurement sensor 23 that outputs the waist mounting portion angle information is attached to a position where the positional relationship is parallel to the mounting surface of the waist mounting portion 22, the wearing angle of the waist mounting portion 22 can be calculated by calculating the angle of the waist mounting portion angle measurement sensor 23 based on the gravitational acceleration included in the waist mounting portion angle information. At this time, since the mounting surface of the waist mounting portion is a surface substantially parallel to the pelvis (sacrum), the angle of the pelvis (sacrum) can be measured by the waist mounting portion angle measurement sensor 23.

[0039] Next, the CPU 51 reads out from the ROM 52 the normal wearing angle information including the wearing angle when the waist wearing part 22 is correctly worn, and compares the wearing angle when correctly worn included in the normal wearing angle information with the wearing angle of the waist wearing part 22 calculated in step S110 (step S120). If it is determined that they are not within the same angle range, an incompatible signal is output to the speaker 60 (step S130), notifying that the waist wearing part 22 is not correctly worn, and this routine ends. By doing so, the wearer can perceive that the waist wearing part 22 is not correctly worn, and can be prompted to wear the waist wearing part 22 at the correct wearing position. Here, "within the same angle range" means that the wearing angle of the waist wearing part 22 calculated in step S110 is the same as or within a predetermined range (for example, the difference from the wearing angle when correctly worn is within 5° etc.) of the wearing angle when correctly worn included in the initial posture information.

[0040] On the other hand, when the CPU 51 determines in step S120 that they are within the same angle range, the maximum torque angle is calculated (step S140). Specifically, for example, for each angle of the arm part 26 included in the arm part angle information output from the arm part angle measurement sensor 27, the load amounts in the side direction and the direction opposite to the traveling direction corresponding to the angle of the arm part 26 are read out from the load amount table stored in the ROM 52, and temporarily stored in the RAM 53 as the load amounts. Subsequently, the angle obtained by adding the angle of the load generation part 30 measured by the load generation part angle measurement sensor 34 to the angle of the arm part 26 at which the value of this load amount is the maximum is temporarily stored in the RAM 53 as the maximum torque angle, thereby calculating the maximum torque angle. By doing so, the angle of the arm part 26 when the load amount is the maximum can be calculated as the maximum torque angle.

[0041] Subsequently, the CPU 51 determines whether the maximum torque angle calculated in step S140 is the angle at the maximum hip extension (step S150). If it is determined that the angle is not the angle at the maximum hip extension, an inappropriate signal is output to the speaker 60 (step S130) to notify that the load state is not optimal, and this routine ends. By doing so, the wearer can perceive that the training efficiency is inappropriate for some reason and can obtain an opportunity to correct it. At this time, by using the angle obtained by adding the angle measured by the load generation part angle measurement sensor 34 to the angle of the arm part 26, for example, even if there is a positional deviation of the wearable training device 20 during use, the hip joint angle can always be measured. In other words, even if there is a positional deviation of the wearable training device 20, the angle at the maximum hip extension can be calculated.

[0042] On the other hand, in step S150, if the CPU 51 determines that the maximum torque angle is the angle at the maximum hip extension, the wearing angle of the waist wearing part 22 is calculated based on the waist wearing part angle information (step S160). The normal posture range information stored in advance is read from the ROM 52, and it is determined whether the wearing angle calculated in step S160 is included within the normal posture range (step S170). Specifically, it is determined whether the wearing angle calculated in step S160 is 9° or more and 15° or less. Since the waist wearing part 22 is worn at a position parallel to the sacrum, this wearing angle corresponds to the angle formed by the plane on the back side of the sacrum and the plane perpendicular to the sacrum. If this angle is less than 9°, it is an undesirable backward leaning posture, and if this angle is greater than 15°, it is an undesirable forward leaning posture.

[0043] Subsequently, if the CPU 51 determines in step S170 that the wearing angle is not included within the normal posture range, an incompatible signal is output to the speaker 60 (step S130) to notify that it is a forward leaning posture or a backward leaning posture, and this routine ends. By doing so, the wearer can perceive that the walking posture is not correct, and the improvement of the walking posture can be promoted.

[0044] On the other hand, in step S170, when the CPU 51 determines that the wearing angle is within the normal posture range, it determines whether the wearer has stopped (step S180). If it determines that the wearer has not stopped, it executes step S150 again. By doing so, steps S150 to S170 are repeatedly executed until the maximum torque cannot be obtained at the maximum hip extension.

[0045] Here, the determination step (step S180) for determining whether the wearer has stopped will be specifically described. As a method for determining whether the wearer has stopped, for example, it may be determined that the wearer has stopped when the angle of the arm part 26 included in the arm part angle information is 0° or within a predetermined range (for example, between -5° and 5°) from 0°. Alternatively, it may be determined that the wearer has stopped when the arm part angle included in the arm part angle information or the waist angle included in the waist wearing part angle information does not change for a predetermined time (for example, 1 second). In any method, it is possible to determine the state where the wearer has stopped.

[0046] On the other hand, when the CPU 51 determines in step S180 that the wearer has stopped, this routine ends. In such a case, since the waist wearing part 22 does not shift in position from the start of walking until stopping, and the optimal training effect is obtained because the listening torque is maximum at the maximum hip extension, it means that the wearer is using the wearable training device 20 appropriately, and there is no need to notify the wearer of information.

[0047] Next, another example of the wearing status determination processing routine executed by the control unit 50 will be described. As shown in FIG. 9, in the wearing status determination processing routine of this other embodiment, when a wearer starts walking in a state where a power button (not shown) is pressed and power is supplied to the wearable training device 20, the CPU 51 reads out the wearing status determination processing routine stored in the ROM 52 and repeatedly executes it. Here, FIG. 9 is a flowchart showing another example of the wearing status determination processing routine. When the power button (not shown) is pressed and power is supplied to the wearable training device 20, power is supplied to the waist mounting portion angle measurement sensor 23 and the arm portion angle measurement sensor 27, and the waist mounting portion angle information and the arm portion angle information are sequentially output to the control unit 50, respectively.

[0048] When the wearing status determination processing routine is executed, the CPU 51 calculates the wearing angle of the waist mounting portion 22 based on the waist mounting portion angle information (step S210). Since the waist mounting portion angle measurement sensor 23 that outputs the waist mounting portion angle information is attached to a position where the positional relationship is parallel to the mounting surface of the waist mounting portion 22, the wearing angle of the waist mounting portion 22 can be calculated by calculating the angle of the waist mounting portion angle measurement sensor 23 based on the gravitational acceleration included in the waist mounting portion angle information.

[0049] Next, the CPU 51 reads normal wearing angle information including the wearing angle when the waist mounting part 22 is correctly worn from the ROM 52, and compares the wearing angle when correctly worn included in the normal wearing angle information with the wearing angle of the waist mounting part 22 calculated in step S210 (step S220). If it is determined that they are not within the same angle range, an incompatible signal is output to the speaker 60 (step S230), notifying that the waist mounting part 22 is not correctly worn, and this routine ends. By doing so, the wearer can perceive that the waist mounting part 22 is not correctly worn, and can be prompted to wear the waist mounting part 22 at the correct wearing position. Here, "within the same angle range" means that the wearing angle of the waist mounting part 22 calculated in step S210 is the same as or within a predetermined range (for example, the difference from the wearing angle when correctly worn is within 5° etc.) of the wearing angle when correctly worn included in the initial posture information. Also, the waist mounting part 22 is preferably fixed at a position parallel to the sacrum, and a posture where the angle formed by the plane on the back side of the sacrum and the plane perpendicular to the sacrum is 9° or more and 15° or less is preferable. For this reason, the wearing angle when correctly worn is preferably 9° or more and 15° or less.

[0050] On the other hand, when the CPU 51 determines in step S220 that it is within the same angle range, the maximum torque angle is calculated (step S240). Specifically, for example, for each angle of the arm part 26 included in the arm part angle information output from the arm part angle measurement sensor 27, the load amounts in the side surface direction and the direction opposite to the traveling direction corresponding to the angle of the arm part 26 are read from the load amount table stored in the ROM 52 and temporarily stored in the RAM 53 as the load amount. Subsequently, the maximum torque angle is calculated by temporarily storing in the RAM 53 as the maximum torque angle the angle of the arm part 26 at which the value of this load amount is the largest. By doing so, the angle of the arm part when the load amount is the largest can be calculated as the maximum torque angle.

[0051] Subsequently, the CPU 51 determines whether the maximum torque angle calculated in step S240 is the angle at the maximum hip extension (step S250). If it is determined that the angle is not the angle at the maximum hip extension, an inappropriate signal is output to the speaker 60 (step S230) to notify that the load state is not optimal, and this routine ends. By doing so, the wearer can perceive that the training efficiency is inappropriate for some reason and can get an opportunity to correct it. Since the angle of the arm part corresponds to the hip joint angle, when the angle of the arm part is at the minimum value, the hip joint is in the most extended state. Therefore, the angle at the maximum hip extension can be derived from the angle of the arm part.

[0052] On the other hand, in step S240, if the CPU 51 determines that the maximum torque angle is the angle at the maximum hip extension, it determines whether the wearer is standing still (step S260). If it is determined that the wearer is not standing still, step S240 is executed again. By doing so, step S240 will be repeatedly executed until the maximum torque cannot be obtained at the maximum hip extension.

[0053] Here, the determination step (step S260) for determining whether the wearer is standing still will be specifically described. As a method for determining whether the wearer is standing still, for example, it may be determined that the wearer is standing still when the angle of the arm part 26 included in the arm part angle information is 0° or within a predetermined range (for example, between -5° and 5°) from 0°. Alternatively, it may be determined that the wearer is standing still when the angle of the arm part 26 included in the arm part angle information or the waist angle included in the waist mounting part angle information does not change for a predetermined time (for example, 1 second). In any method, the state where the wearer is standing still can be determined.

[0054] On the other hand, when the CPU 51 determines in step S260 that it has stopped, the CPU 51 calculates the wearing angle of the waist wearing part 22 based on the waist wearing part angle information (step S270), compares the wearing angle at the time of correct wearing included in the normal wearing angle information with the wearing angle of the waist wearing part 22 calculated in step S210 (step S280), and if it determines that they are not within the same angle range, outputs an incompatible signal to the speaker 60 (step S230) and ends this routine. By doing so, when the wearer has stopped, it is possible to notify the wearer of the positional deviation of the waist wearing part 22, and it is possible to notify the wearer of the positional deviation when the wearer has stopped and is in a safe state. In other words, by notifying the wearer of the positional deviation during walking, it is possible to reduce in advance the possibility of disturbing the walking rhythm of the wearer.

[0055] On the other hand, when the CPU 51 determines in step S280 that they are within the same angle range, this routine ends. In such cases, since the waist wearing part 22 does not shift in position from the start of walking to the stop of walking, and the optimal training effect is obtained because the torque is maximized when the hip joint is fully extended, it means that the wearer is using the wearable training device 20 appropriately, and there is no need to notify the wearer of information.

[0056] According to the wearable training device 20 of the embodiment described in detail above, when the waist wearing part 22 is worn on the waist of the wearer and the leg wearing part 24 is worn on the leg respectively, and the wearer walks or the like, as the arm part 26 rotates with walking or the like, the leg wearing part 24 moves in a direction away from the wearer or the cam 32 with different distances from the cam rotation axis 32a to the peripheral surface rotates, thereby applying an outward load to the leg of the wearer. At this time, since the waist wearing part angle measurement sensor 23 for measuring the wearing angle of the waist wearing part 22 is provided, it is possible to measure the wearing angle of the waist wearing part 22 by measuring the wearing angle of the waist wearing part 22. Since it is known that the most efficient training is possible when the waist wearing part 22 is worn parallel to the sacrum, it is possible to confirm whether the wearable training device is properly worn by measuring the wearing angle of the waist wearing part 22.

[0057] Also, in step S120 or step S220, by comparing the wearing angle when properly worn, which is included in the pre-stored normal wearing angle information, with the wearing angle of the waist wearing portion 22 calculated in step S110 or step S210, it is possible to determine whether the waist wearing portion 22 is worn at an appropriate position.

[0058] Furthermore, since step S280 is executed when it is determined in step S260 that the user has stopped walking, etc., by determining whether the position of the waist wearing portion can move from the initial position when not walking or the like, when the waist wearing portion has moved, the wearer can be prompted to move the waist wearing portion to an appropriate position in a safe state where no walking or the like is being performed.

[0059] Moreover, in step S240, a maximum torque angle is calculated based on the arm portion wearing angle information output from the arm portion angle measurement sensor 27, and by determining in step S250 whether the maximum torque angle is at the time of maximum hip joint extension, the maximum load can be applied at an optimal position for training, and the muscles can be efficiently exercised.

[0060] Then, in step S150, by calculating the maximum torque angle based on the angle obtained by adding the angle measured by the load generation portion angle measurement sensor 34 to the angle of the arm portion 26 at which the value of the load amount is maximum, since the change in the position of the device can be measured by measuring the angle of the load generation portion, the angle at which the load amount is maximum corresponding to the hip joint angle in the state where the hip joint is in the most extended state can be measured without being affected by the position change, and the muscles can be efficiently exercised.

[0061] Note that the present invention is not limited to the above-described embodiments at all, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

[0062] For example, in the above-described embodiment, the guiding portion 40 is a plate-shaped member having a protruding portion 40a that curves and protrudes toward the arm portion 26 at a position on the rear side of the wearer. As the rotating body 28 provided on the arm portion 26 rotates, the arm portion 26 moves along the curvature of the side surface of the guiding portion 40. However, the shape of the guiding portion 40 is not limited to this as long as it can guide the arm portion 26 in the outward direction. For example, it may have a guiding structure such as a groove or a rail on the side surface of the curved guiding portion 40, or the guiding portion 40 may be provided with a rotating body and the arm portion 26 may have a guiding structure, or the rotating body 28 may be a cam having an outer peripheral surface formed of an arc with a circumferential surface whose distance from the cam rotation axis varies depending on the position on the circumferential surface. In any case, the same effects as those of the above-described embodiment can be obtained.

[0063] In the above-described embodiment, in step S130, an inappropriate signal is output to the speaker 60. However, the output destination of the inappropriate signal is not limited to the speaker 60 as long as it is a notification means. For example, it may be output to a display or the like for notification, or an inappropriate signal may be output to a mobile communication terminal to perform notification on the mobile communication terminal. In any case, the same effects as those of the above-described embodiment can be obtained.

[0064] In the above-described embodiment, the waist mounting portion 22 is mounted at a position substantially parallel to the sacrum. However, a biasing member such as a spring may be provided to bias the waist mounting portion 22 toward the sacrum. By doing so, since the waist mounting portion 22 will be positioned at a position along the sacrum, it is easier to be positioned at a more appropriate position.

[0065] In the above-described embodiment, the load amount is calculated by reading out the load amounts in the side surface direction and the direction opposite to the traveling direction corresponding to the angle of the arm portion 26 from the load amount table stored in the ROM 52 for each angle of the arm portion 26 included in the arm portion angle information output from the arm portion angle measurement sensor 27. However, it may be configured to read out only the load amount in either the side surface direction or the direction opposite to the traveling direction. In this case as well, the same effects as those of the above-described embodiment can be obtained.

[0066] In the above-described embodiment, the load amount is calculated by reading out the load amounts in the side direction corresponding to the angle of the arm portion 26 and in the direction opposite to the traveling direction from the load amount table stored in the ROM 52 for each angle of the arm portion 26 included in the arm portion angle information output from the arm portion angle measurement sensor 27. However, a relational expression between the angle of the arm portion 26 and the load amount may be stored in the ROM 52 in advance, and the load amount may be calculated based on this relational expression and the angle of the arm portion 26. Alternatively, a load amount measurement sensor for measuring the load amount may be provided separately. In any case, the same effects as those of the above-described embodiment can be obtained.

Industrial Applicability

[0067] As shown in the above-described embodiment, it can be used as a training device in the training field, particularly for the iliopsoas muscle and the adductor muscle group.

Explanation of Signs

[0068] 20... Wearable training device, 22... Waist wearing portion, 23... Waist wearing portion angle measurement sensor, 24... Leg wearing portion, 24a... Right leg wearing portion, 24b... Left leg wearing portion, 26... Arm portion, 26a... Right arm portion, 26b... Left arm portion, 27... Arm portion angle measurement sensor, 27a... Right arm portion angle measurement sensor, 27b... Left arm portion angle measurement sensor, 28... Rotating body, 30... Load generating portion, 32... Cam, 32a... Cam rotation axis, 34... Load generating portion angle measurement sensor, 40... Inducing portion, 40a... Protruding portion, 50... Control unit, 51... CPU, 52... ROM, 53... RAM, 54... Interface, 55... Bus, 60... Speaker.

Claims

1. A wearable training device that the wearer wears and uses, a waist mounting portion that is mounted on the waist of the wearer, a leg mounting portion that is mounted on the legs of the wearer, an arm portion that rotatably connects the leg mounting portion and the waist mounting portion, a load generating portion that generates a load on the wearer's leg when the arm portion rotates, a waist mounting portion angle measurement sensor that measures the mounting angle of the waist mounting portion and outputs waist mounting portion angle information including the mounting angle, normal mounting angle information storage means for storing information including normal mounting angle information which is a normal mounting angle range when the waist mounting portion is normally mounted on the wearer, mounting angle determination means for determining whether or not the mounting angle measured by the waist mounting portion angle measurement sensor is within the normal mounting angle range, characterized by comprising a wearable training device.

2. The mounting angle determination means determines whether or not the mounting angle measured by the waist mounting portion angle measurement sensor is within the normal mounting angle range when the wearer is in a stopped state. The wearable training device according to Claim 1. The wearable training device according to claim 1.

3. In the wearable training device according to Claim 1 or 2, the load generating portion is characterized in that it applies a force to the leg when the wearer's leg is located on the back side of the body. A wearable training device.

4. In the wearable training device according to any one of Claims 1 to 3, the load generating portion includes a cam having an outer peripheral surface formed of an arc having a circumferential surface with a distance from the cam rotation axis varying depending on the position of the circumferential surface, and the cam rotates as the arm portion rotates. A wearable training device.

5. A control method for a wearable training device comprising a waist mounting portion mounted on the waist of a wearer, a leg mounting portion mounted on the legs of the wearer, an arm portion rotatably connecting the waist mounting portion and the leg mounting portion, a load generating portion that generates a load on the wearer's leg when the arm portion rotates, a waist mounting portion angle measurement sensor that measures the mounting angle of the waist mounting portion and outputs waist mounting portion angle information including the mounting angle, normal mounting angle information storage means for storing information including normal mounting angle information which is a normal mounting angle range when the waist mounting portion is normally mounted on the wearer, and mounting angle determination means for determining whether or not the mounting angle measured by the waist mounting portion angle measurement sensor is within the normal mounting angle range. An angle determination step of comparing the wearing angle measured by the waist wearing part angle measurement sensor with the normal wearing angle information and determining whether the wearing angle is within the normal wearing angle range characterized by including A control method for a wearable training device.

6. A program for executing the control method of the wearable training device according to claim 5 on one or more computers.

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