Exercise load control device and exercise load control method

Abstract

The present invention is provided with: an exercise physiological response acquisition unit (105) that acquires data indicating an exercise physiological response of an exerciser; a control parameter calculation unit (106) that calculates a control parameter for controlling an exercise load on the basis of the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit (105); and an exercise load control unit (107) that, on the basis of the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit (105) and the control parameter calculated by the control parameter calculation unit (106), uses the control parameter to control the exercise load such that the exercise physiological response reaches a target value.

Description

Exercise load control device and exercise load control method

[0001] The present disclosure relates to an exercise load control device and an exercise load control method for controlling the exercise load on an exerciser.

[0002] Conventional therapeutic exercise machines, such as cycle ergometers, use an on-board encoder to measure the pedal rotation speed and the load torque applied to the pedals from the current flowing through the load motor. The therapeutic exercise machine then controls the load motor so that the measured pedal rotation speed or load torque approaches a target value for the pedal rotation speed or load torque.

[0003] In addition to the above, some therapeutic exercise machines control the exercise load according to the exerciser's physiological response, such as heart rate or pulse rate. These machines adjust the exercise load on the exerciser by controlling the pedal rotation speed and load torque so that the measured values ​​of the exerciser's physiological response reach target values ​​preset in the machine.

[0004] In addition, in exercise therapy devices, the response delay time until an exerciser's heart rate follows a change in exercise load and transitions to a new state varies depending on the state of the exerciser's sympathetic and parasympathetic nerves, as well as the response time constant, which is composed of dead time and a first-order delay as an exercise physiological response. It is known that the response time constant of the exercise physiological response of patients with heart disease is greater than that of healthy individuals as the severity of their heart disease increases. Taking into account the response time constant of an exerciser's heart rate, some devices control the exercise load to prevent the exerciser from becoming overloaded, even when the response time constants of exercise physiological responses such as heart rate or pulse rate vary from exerciser to exerciser (see, for example, Patent Document 1).

[0005] As an exercise therapy device that controls the exercise load on an exerciser in accordance with the exerciser's physiological response, there is a configuration that uses a treadmill, for example, in addition to a configuration that uses a cycle ergometer.

[0006] JP 2015-177873 A JP 63-035254 A

[0007] Conventional techniques employ a model-based approach to represent the dynamic characteristics of exercise load and heart rate. However, dynamic characteristics vary depending on age, physique, and gender. Age-related changes vary widely among individuals of the same age, and even within the same individual, dynamic characteristics can change depending on factors such as physical condition. Furthermore, when using exercise data to perform identification, conventional techniques require exercise experiments in which various loads are imposed on the exerciser. Accurate identification may require multiple exercise experiments. However, for safety reasons, it is best to minimize the exercise required for identification, especially when rehabilitation is required. For these reasons, it is generally difficult to grasp the dynamic characteristics of each exerciser and optimize control parameters, making it impossible to provide an appropriate exercise load for each exerciser.

[0008] Also, a method for determining parameters during initial warm-up is known, for example, as disclosed in Patent Document 2. However, the parameters determined by the method disclosed in Patent Document 2 only control the rate at which the load increases, and do not guarantee improved response when the target value is changed during exercise.

[0009] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an exercise load control device that can apply an exercise load appropriate for each exerciser without using fixed control parameters.

[0010] The exercise load control device according to the present disclosure is characterized by comprising an exercise physiological response acquisition unit that acquires data indicating the exercise physiological response of an exerciser, a control parameter calculation unit that calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit, and an exercise load control unit that controls the exercise load using the control parameters based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit and the control parameters calculated by the control parameter calculation unit so that the exercise physiological response reaches a target value.

[0011] According to the present disclosure, with the above-described configuration, it is possible to apply an exercise load appropriate for each exerciser without using fixed control parameters.

[0012] 8A and 8B are diagrams showing an example of data indicating an exercise physiological response used in the exercise load control device according to embodiment 1, where FIG. 8A is a diagram showing an example of data indicating an exercise physiological response acquired during a warm-up period, and FIG. 8B is a diagram showing an example of data indicating an ideal exercise physiological response. FIG. 9 is a diagram showing an example of data indicating an exercise physiological response used in the exercise load control device according to embodiment 1, where FIG. 9 is a diagram showing an example of data indicating an exercise physiological response acquired after setting control parameters. FIG. 9 is a diagram showing an example of data indicating an exercise physiological response used in the exercise load control device according to embodiment 2, where FIG. 9B is a diagram showing an example of data indicating an exercise physiological response acquired after setting control parameters. FIG. 9C is a diagram showing an example of data indicating an exercise physiological response used in the exercise load control device according to embodiment 2, where FIG. 9C is a diagram showing an example of data indicating an exercise physiological response acquired after setting control parameters. 12A and 12B are diagrams illustrating an example of the hardware configuration of the exercise load control device according to the first and second embodiments.

[0013] Hereinafter, embodiments will be described in detail with reference to the drawings. Embodiment 1. Fig. 1 is a diagram showing an example of the configuration of an exercise therapy system equipped with an exercise load control device according to embodiment 1. The exercise therapy system is a system for providing exercise therapy to an exerciser by applying an exercise load to the exerciser. As shown in Fig. 1, for example, this exercise therapy system includes a display input device 1, an exercise physiological response detection sensor 2, and a load device 3. Note that Fig. 1 shows a case where the load device 3 is a cycle-type ergometer.

[0014] Here, in the exercise therapy system, as shown in FIG. 2 , for example, four periods are set: a rest period (step ST101), a warm-up period (step ST102), a main exercise period (step ST103), and a cool-down period (step ST104). The rest period is set first and is a period of rest. The warm-up period is set before the start of the main exercise and is a preparation period for light exercise in which a lighter exercise load is applied by the load device 3 than in the main exercise. The main exercise period is a period of time in which an exercise load is applied by the load device 3 and the main exercise (rehabilitation exercise) is performed. The cool-down period is set after the main exercise is completed and is a period in which the exercise load is gradually reduced by the load device 3.

[0015] The display input device 1 accepts various operations by the exerciser. Examples of operations by the exerciser include operations to request the display of various display screens. The display input device 1 also displays various display screens. The various display screens are display screens related to exercise therapy. Examples of these display screens include a display screen for checking a target exercise physiological response set by a medical professional, a display screen for instructing the exerciser to rest during rest periods, a display screen for instructing the exerciser to warm up during warm-up periods, a display screen for instructing the exerciser to perform a main exercise during main exercise periods, and a display screen for instructing the exerciser to cool down during cool-down periods.

[0016] It is also assumed here that the display input device 1 is provided with an exercise load control device according to the first embodiment. This exercise load control device controls the exercise load applied to the exerciser by the load device 3 based on data indicating the exerciser's exercise physiological response detected by the exercise physiological response detection sensor 2. In this case, the exercise load control device controls the exercise load applied to the exerciser so that the exerciser's exercise physiological response becomes a target exercise physiological response. An example of the configuration of the display input device 1 provided with this exercise load control device will be described later.

[0017] The display input device 1 is, for example, a touch panel monitor.

[0018] The exercise physiological response detection sensor 2 is attached to the exerciser and detects the exercise physiological response of the exerciser. In this case, the exercise physiological response detection sensor 2 detects at least the exercise physiological response of the exerciser during the warm-up period and the exercise physiological response of the exerciser during the main exercise period. Data indicating the exercise physiological response of the exerciser detected by this exercise physiological response detection sensor 2 is output to the exercise load control device.

[0019] As the exercise physiological response detection sensor 2, for example, a heart rate detection sensor that detects the heart rate of the exerciser is used.

[0020] The load device 3 applies an exercise load to the exerciser under the control of the exercise load control device. The load device 3 shown in Fig. 1 includes pedals 301 that are pedaled by the exerciser, a load control unit 302 that controls a load motor 303 under the control of the exercise load control device, the load motor 303 that is driven under the control of the load control unit 302, a reducer 304 that reduces the rotational speed of the power generated by the load motor 303, and a transmission mechanism 305 that transmits the power, the rotational speed of which has been reduced by the reducer 304, to the pedals 301.

[0021] Next, an example configuration of a display input device 1 provided with an exercise load control device according to embodiment 1 will be described with reference to Fig. 3. As shown in Fig. 3, the display input device 1 includes a storage unit 101, an operation content analysis unit 102, a main control unit 103, a display control unit 104, an exercise physiological response acquisition unit 105, a control parameter calculation unit 106, and an exercise load control unit 107. Of the components of the display input device 1, the exercise physiological response acquisition unit 105, the control parameter calculation unit 106, and the exercise load control unit 107 mainly correspond to the components of an exercise load control device.

[0022] The storage unit 101 stores various data handled by the display input device 1. For example, the storage unit 101 stores data indicating various display screens to be displayed on the display input device 1. Furthermore, for example, the storage unit 101 stores data indicating initial values ​​of control parameters and data indicating control parameters calculated by the control parameter calculation unit 106. The initial values ​​of the control parameters are set to values ​​that do not cause overload, i.e., values ​​that result in a low response. Furthermore, for example, the storage unit 101 stores data indicating exercise physiological responses acquired by the exercise physiological response acquisition unit 105.

[0023] This storage unit 101 may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc), and storage unit 101 may also be configured by combining two or more of these.

[0024] 3 illustrates a case where the storage unit 101 is provided inside the display input device 1 (exercise therapy system). However, the present invention is not limited to this, and the storage unit 101 may be provided outside the display input device 1 (exercise therapy system).

[0025] The operation content analysis unit 102 receives an operation by the exerciser and analyzes the content of the operation.

[0026] The main control unit 103 controls each unit in the display input device 1. For example, the main control unit 103 causes the display control unit 104 to display a display screen based on the analysis result by the operation content analysis unit 102. At this time, the main control unit 103 extracts data indicating a display screen corresponding to the analysis result by the operation content analysis unit 102 from the storage unit 101, and causes the display control unit 104 to display the display screen. Also, for example, the main control unit 103 causes the storage unit 101 to store data indicating the control parameters calculated by the control parameter calculation unit 106.

[0027] The display control unit 104 displays the display screen.

[0028] The exercise physiological response acquisition unit 105 acquires data indicating the exercise physiological response detected by the exercise physiological response detection sensor 2 .

[0029] At this time, the exercise physiological response acquisition unit 105 acquires, as data indicating the exercise physiological response, at least data indicating the exerciser's exercise physiological response during the warm-up time and data indicating the exerciser's exercise physiological response during the actual exercise time.

[0030] The control parameter calculation unit 106 calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit 105. Examples of the control parameters include gains such as proportional gain and integral gain.

[0031] In this case, the control parameter calculation unit 106 may calculate control parameters for controlling the exercise load based on data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit 105. Alternatively, when data indicating the exercise physiological response of the exerciser during the warm-up time is acquired by the exercise physiological response acquisition unit 105, the control parameter calculation unit 106 may calculate control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the warm-up time acquired by the exercise physiological response acquisition unit 105.

[0032] In the first embodiment, the control parameter calculation unit 106 calculates the control parameters by VRFT (Virtual Reference Feedback Tuning).

[0033] The exercise load control unit 107 controls the exercise load so that the exercise physiological response reaches a target value, using the control parameters based on the data indicating the exercise physiological response during the exercise time acquired by the exercise physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106. Data indicating the control content by this exercise load control unit 107 is output to the load device 3 (load control unit 302).

[0034] In the above description, the exercise load control device according to the first embodiment is provided in the display input device 1. However, this is not limiting, and the exercise load control device according to the first embodiment may be provided in the load device 3 or externally. Alternatively, the exercise load control device according to the first embodiment may be provided in more than one of the display input device 1, the load device 3, and externally. For example, in the exercise load control device, the exercise physiological response acquisition unit 105 may be provided in the display input device 1, and the control parameter calculation unit 106 and the exercise load control unit 107 may be provided in the load device 3.

[0035] Next, an example of the calculation operation of the control parameters by the exercise load control device according to embodiment 1 shown in Fig. 3 will be described with reference to Fig. 4. Note that while the case where the exercise load control device controls the exercise load using data indicating the exercise physiological response during the warm-up period is shown here, the same applies to the case where the control parameters are calculated using data indicating the exercise physiological response during the actual exercise period. Note that the exercise physiological response detection sensor 2 detects the exercise physiological response of the exerciser during the warm-up period and outputs data indicating the exercise physiological response to the exercise load control device.

[0036] In the example of the calculation operation of the control parameters by the exercise load control device according to the first embodiment shown in Fig. 3, the exercise load control device first sets the control parameters to initial values ​​(step ST201), as shown in Fig. 4. At this time, the exercise load control device sets the control parameters to values ​​that do not cause an overload, i.e., values ​​that result in a low response. The exerciser then begins warming up.

[0037] Next, the exercise physiological response acquisition unit 105 acquires data indicating the exercise physiological response during the warm-up period detected by the exercise physiological response detection sensor 2 (step ST202).

[0038] Next, the control parameter calculation unit 106 calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the warm-up time acquired by the exercise physiological response acquisition unit 105 (step ST203). The control parameter calculation unit 106 in the first embodiment calculates the control parameters using VRFT.

[0039] Next, the exercise load control device updates the control parameters based on the control parameters calculated by the control parameter calculation unit 106 (step ST204). Thereafter, during the actual exercise, the exercise load control unit 107 controls the exercise load using the control parameters based on the data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit 105 and the updated control parameters so that the exercise physiological response reaches a target value.

[0040] Next, the calculation of the control parameters by the control parameter calculation unit 106 in embodiment 1 will be described in detail. In the following, we will consider optimizing the control parameters used by the exercise load control unit 107 in the case where the exercise physiological response is heart rate and the exerciser exercises using the load device 3 so that their heart rate reaches a target heart rate. Note that mechanical loads such as friction of the load device 3 will be ignored.

[0041] When exercising using the load device 3, it is desirable to reach the target heart rate as quickly as possible to increase the effectiveness of the exercise. However, the transfer function from exercise load to heart rate varies depending on the exerciser's athletic ability (cardiopulmonary ability), and large differences are expected between able-bodied individuals and those with low physical fitness. Therefore, if the control parameters used by the exercise load control unit 107 are set high, there is a possibility that the target heart rate will be greatly exceeded. For this reason, in the past, adjustments were started from sufficiently safe low control parameters, and it took time to obtain optimal control parameters.

[0042] In contrast, in the exercise load control device according to embodiment 1, the control parameter calculation unit 106 performs data-driven control (VRFT in embodiment 1) to optimize the control parameters. Specifically, the control parameter calculation unit 106 acquires data indicating the exercise physiological response at relatively safe, low control parameters, and processes that data to derive optimal control parameters. This makes it possible for the exercise load control device according to embodiment 1 to obtain optimal control parameters in a shorter time than conventional methods.

[0043] Fig. 5 shows an example of a feedback control circuit used in the exercise load control unit 107. The feedback control circuit shown in Fig. 5 is a PI control model that feeds back the heart rate of the exerciser.

[0044] In the lower part of Fig. 5, r(t) [bpm] indicates the target heart rate, and for example, the heart rate at which exercise at the anaerobic threshold (AT) level is performed is determined in advance. The anaerobic threshold is the exercise threshold immediately before lactic acid is produced, determined using an exhaled gas analyzer. It is said that exercise at an intensity slightly below the AT level is safe and highly effective, and allows rehabilitation to be performed according to the physical strength and condition of the patient. Also, in the lower part of Fig. 5, M ｍ (z) indicates the response of an ideal model (ideal response characteristics), for example, a first-order delay system (low-pass filter). ｍ(t) [bpm] indicates the ideal heart rate. For example, if the exerciser is a healthy person, the target heart rate is reached in 100 [sec] and the low-pass filter time constant is set to 20 [sec], and if the exerciser is a person with low physical strength, the target heart rate is reached in 300 [sec] and the low-pass filter time constant is set to 60 [sec]. In the lower part of this Figure 5, r(t) is expressed as M ｍ (z) as an input to ｍ (t) can be obtained.

[0045] In the upper part of FIG. 5, C(z) represents the transfer function of the feedback control circuit, which has PI control. ｉ indicates the coefficient of the integral term (integral gain), and K ｐ indicates the coefficient of the proportional term (proportional gain), and K ｃ１ denotes a conversion constant. ｃ１ is set to, for example, 10 [W / bpm] (a 10 [W] command is output with a deviation of 1 [bpm]). In the upper part of FIG. 5, P(z) represents the transfer function of the exerciser, u(t) [W] represents the input load (exercise load), y(t) [bpm] represents the heart rate, and T ｓ indicates the control period, and here, as an example, T ｓ = 1 [sec]. In the upper part of Fig. 5, y(t) can be obtained by providing u(t) as an input to P(z). In other words, in the feedback control circuit shown in the upper part of Fig. 5, the error between r(t) and y(t) is provided as an input to C(z), and the output u(t) is provided as an input to P(z), thereby controlling y(t).

[0046] Here, the following equations (1) to (3) are obtained for C(z).

[0047] Also, M ｍ By converting (z) into a circuit equation and performing an inverse z transformation, the following equations (4) to (7) are obtained.

[0048] Also, M ｍ M, which is the inverse transfer function of (z) ｍ (z) －１When these are converted into circuit equations, the following equations (8) and (9) are obtained.

[0049] As shown in FIG. 6A, ｍ (z) －１ A virtual reference signal r(t) is created by the above equation, and r(t)≈r(t) is connected to the feedback control circuit shown in the upper part of Figure 5. Furthermore, as shown in Figure 6B, u(t) is separated and y ｍ (t) is the heart rate when the control parameters are at their initial values. ０ (t) is input, and a feedback control circuit as shown in FIG.

[0050] FIG. 7 shows an example of a feedback control circuit used in the control parameter calculation unit 106. In FIG. ｍ (z) －１ denotes the inverse model of the response of the ideal model, and ρ ０ indicates the initial value of the control parameter. ０ (t) [bpm] is ρ ０ indicates the heart rate in the case of u ０ (t) [W] is ρ ０ , r(t) [bpm] indicates the target heart rate, and u(t) [W] indicates the input load. That is, for example, when the control parameter calculation unit 106 calculates the control parameters using data during the warm-up period, y ０ (t) is the heart rate during the warm-up period, and u ０ (t) [W] is the exercise load during the warm-up time. ０ (t) to M ｍ －１ By providing it as an input to (z), we can obtain r(tilde)(t). Then, r(tilde)(t) and y ０ (t) is expressed as C(z;ρ ０ ) as input to obtain u(tilde)(t). ０The control parameter (K ｉ , K ｐ ) is obtained by the least squares method. This allows the control parameter calculation unit 106 to obtain control parameters suitable for each exerciser.

[0051] More specifically, u ０ The control parameter (ρ) is optimized using the following equation (10) so that u(t) and u(t) coincide with each other. In equation (10), J(ρ) is an evaluation function.

[0052] This allows u ０ (t), y ０ (t), M ｍ －１ From (z), the minimum value is found by varying the control parameters in C(z).

[0053] In consideration of noise removal, u ０ (t), y ０ It is desirable to use a pre-filter (L(z)) for (t). Generally, the pre-filter is L(z)=M ｍ It is preferred to use (z).

[0054] Here, equation (11) can be converted to equation (14) below by using equations (12) and (13) below.

[0055] Furthermore, the following equation (15) can be obtained from equation (14), and by using the following equations (16) to (19) from equation (15), the following equation (20) can be obtained at time (n=2, 3, ..., N).

[0056] Then, by multiplying the left side of both sides of this equation (20) by a pseudo-inverse matrix, the optimal control parameter (K ｉ , K ｐ ) can be calculated. Specifically, if the first term on the right side of equation (20) is A as in equation (21) below, equation (20) becomes equation (22) below. Note that A is a matrix of (N-1) (rows) x 3 (columns).

[0057] Then, the pseudo-inverse matrix (A －１ = ((A Ｔ A) －１ ) A Ｔ ), equation (22) can be transformed into the following equations (23) to (25). As a result, the optimal control parameters (K ｉ , K ｐ ) can be calculated.

[0058] In this way, in the exercise load control device according to the first embodiment, in a system having C(z) and P(z) when an exerciser exercises using the load device 3 so that the heart rate of the exerciser becomes the target heart rate, M ｍ (z) ｉ , K ｐ can be calculated by data-driven control (VRFT).

[0059] Fig. 8A shows an example of data indicating an exercise physiological response acquired by an exercise load control device during a warm-up period, and Fig. 8B shows an example of data indicating an ideal exercise physiological response. It can be seen that the data indicating the exercise physiological response shown in Fig. 8A shows a delayed response compared to the data indicating the ideal exercise physiological response shown in Fig. 8B.

[0060] In contrast, Fig. 9 shows an example of data showing an exercise physiological response obtained after the exercise load control device set control parameters such that the response time constant is 60 [s] using the data in Fig. 8. The data showing the exercise physiological response shown in Fig. 9 approaches the data showing the ideal exercise physiological response shown in Fig. 8B compared to the data showing the exercise physiological response shown in Fig. 8A, and it can be seen that responsiveness has been improved.

[0061] In this way, the exercise load control device according to embodiment 1 calculates control parameters for controlling the exercise load based on the exerciser's physiological response. This makes it possible for the exercise load control device according to embodiment 1 to calculate control parameters appropriate for each exerciser, without using fixed control parameters as in conventional devices, and to provide an exercise load appropriate for each exerciser.

[0062] That is, the exercise physiological response of each exerciser varies from exerciser to exerciser. Therefore, if the optimal control parameters are not obtained in load control to track the target value set by a medical professional, there is a risk of overload. Therefore, the exercise load control device of embodiment 1 utilizes the exercise physiological response of the exerciser to automatically calculate the optimal control parameters for the exerciser, thereby automatically setting the optimal control parameters for the exerciser. In this way, the exercise load control device of embodiment 1 can apply an exercise load based on the optimal control parameters, making it possible to perform the optimal exercise therapy for each exerciser.

[0063] Furthermore, in the exercise load control device according to embodiment 1, by using data indicating the exercise physiological response of the exerciser during the warm-up period or the actual exercise period as data indicating the exercise physiological response used to calculate the control parameters, it is possible to automatically set optimal control parameters without increasing the burden on the exerciser.

[0064] In the above description, a heart rate detection sensor that detects a heart rate is used as the exercise physiological response detection sensor 2. However, the exercise physiological response detection sensor 2 is not limited to this, and may be, for example, a pulse detection sensor that detects a pulse, an exhaled gas detection sensor that detects exhaled gas, or an electroencephalogram detection sensor that detects electroencephalograms.

[0065] 1 shows a case where the load device 3 is a cycle-type ergometer. However, the load device 3 is not limited to this, and may be any device that can impart an exercise load to an exerciser, such as a treadmill.

[0066] As described above, according to this embodiment 1, the exercise load control device includes an exercise-physiological response acquisition unit 105 that acquires data indicating the exercise physiological response of an exerciser, a control parameter calculation unit 106 that calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise-physiological response acquisition unit 105, and an exercise load control unit 107 that controls the exercise load using the control parameters based on the data indicating the exercise physiological response acquired by the exercise-physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106 so that the exercise physiological response reaches a target value. Also, according to this embodiment 1, the control parameter calculation unit 106 calculates the control parameters using VRFT. As a result, the exercise load control device according to embodiment 1 can provide an exercise load appropriate for each exerciser without using fixed control parameters. As a result, the exercise load control device according to embodiment 1 can implement an exercise therapy appropriate for each exerciser.

[0067] Furthermore, according to this embodiment 1, the exercise physiological response acquisition unit 105 acquires data indicating the exercise physiological response of the exerciser during the actual exercise time as data indicating the exercise physiological response of the exerciser, the control parameter calculation unit 106 calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit 105, and the exercise load control unit 107 controls the exercise load using the control parameters based on the data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106 so that the exercise physiological response becomes a target value. Furthermore, according to this embodiment 1, the exercise physiological response acquisition unit 105 acquires data indicating the exercise physiological response of the exerciser during the warm-up period and data indicating the exercise physiological response of the exerciser during the actual exercise period as data indicating the exercise physiological response of the exerciser, the control parameter calculation unit 106 calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the warm-up period acquired by the exercise physiological response acquisition unit 105, and the exercise load control unit 107 controls the exercise load so that the exercise physiological response reaches a target value using the control parameters based on the data indicating the exercise physiological response during the actual exercise period acquired by the exercise physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106. As a result, the exercise load control device according to embodiment 1 can automatically set optimal control parameters without increasing the exerciser's burden.

[0068] Furthermore, according to this embodiment 1, the exercise load control method includes the steps of: an exercise physiological response acquisition unit 105 acquiring data indicating the exercise physiological response of the exerciser; a control parameter calculation unit 106 calculating control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit 105; and an exercise load control unit 107 controlling the exercise load using the control parameters based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106 so that the exercise physiological response reaches a target value. As a result, the exercise load control method according to embodiment 1 makes it possible to provide an exercise load appropriate for each exerciser without using fixed control parameters. As a result, the exercise load control method according to embodiment 1 makes it possible to implement an exercise therapy appropriate for each exerciser.

[0069] Embodiment 2. The exercise load control device according to embodiment 1 shows a case where control parameters are calculated using VRFT as data-driven control. In contrast, the exercise load control device according to embodiment 2 shows a case where control parameters are calculated using FRIT (Fictitious Reference Iterative Tuning) as data-driven control.

[0070] Fig. 10 is a diagram showing an example of the configuration of an exercise load control device (display input device 1) according to embodiment 2. In the exercise load control device according to embodiment 2 shown in Fig. 10, the control parameter calculation unit 106 is changed to a control parameter calculation unit 106b in comparison with the exercise load control device according to embodiment 1 shown in Fig. 3. The other example of the configuration of the exercise load control device according to embodiment 2 shown in Fig. 10 is the same as the example of the configuration of the exercise load control device according to embodiment 1, and the same reference numerals are used and only the different parts will be described.

[0071] The control parameter calculation unit 106b calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit 105. Examples of the control parameters include gains such as proportional gain and integral gain.

[0072] In this case, the control parameter calculation unit 106b may calculate control parameters for controlling the exercise load based on data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit 105. Alternatively, when data indicating the exercise physiological response of the exerciser during the warm-up time is acquired by the exercise physiological response acquisition unit 105, the control parameter calculation unit 106b may calculate control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the warm-up time acquired by the exercise physiological response acquisition unit 105.

[0073] In the second embodiment, the control parameter calculation unit 106b calculates the control parameters using FRIT.

[0074] In addition, the exercise load control unit 107 in embodiment 2 controls the exercise load based on the data indicating the exercise physiological response during the exercise time acquired by the exercise physiological response acquisition unit 105 and the control parameters calculated by the control parameter calculation unit 106b, using the control parameters so that the exercise physiological response becomes a target value.

[0075] FIG. 11 shows an example of a feedback control circuit used in the control parameter calculation unit 106b. In FIG. －１ (z) shows the inverse model of C(z). －１ (z;ρ ０ ), y ０ (t), u ０ By (t), we can create r(tilde)(t). Then, we can create r(tilde)(t) by M ｍ (z) as an input to ０ (tilde)(t) can be obtained. And y ０ (t) and y ０(tilde) (t) and the control parameter (K ｉ , K ｐ ) is obtained. In this way, the control parameter calculation unit 106b can obtain control parameters suitable for each exerciser.

[0076] It should be noted that FRIT requires an inverse model of C(z), whereas VRFT does not, and therefore it is believed that VRFT can be used for simpler configuration.

[0077] As described above, according to the second embodiment, the control parameter calculation unit 106b calculates the control parameters using FRIT. This allows the exercise load control device according to the second embodiment to provide an exercise load appropriate for each exerciser without using fixed control parameters. As a result, the exercise load control device according to the second embodiment allows each exerciser to receive an exercise therapy appropriate for that exerciser.

[0078] Finally, with reference to FIG. 12 , an example of the hardware configuration of the exercise load control device according to the first and second embodiments will be described. Below, an example of the hardware configuration of the exercise load control device according to the first embodiment will be described, but the same applies to the example of the hardware configuration of the exercise load control device according to the second embodiment. The functions of the operation content analysis unit 102, main control unit 103, display control unit 104, exercise physiological response acquisition unit 105, control parameter calculation unit 106, and exercise load control unit 107 in the exercise load control device are realized by a processing circuit 501. The processing circuit 501 may be dedicated hardware as shown in FIG. 12A , or may be a CPU (also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)) 502 that executes a program stored in a memory 503 as shown in FIG. 12B .

[0079] When the processing circuit 501 is dedicated hardware, the processing circuit 501 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The functions of each of the operation content analysis unit 102, the main control unit 103, the display control unit 104, the exercise physiological response acquisition unit 105, the control parameter calculation unit 106, and the exercise load control unit 107 may be realized individually by the processing circuit 501, or the functions of each unit may be realized collectively by the processing circuit 501.

[0080] When the processing circuit 501 is a CPU 502, the functions of the operation content analysis unit 102, main control unit 103, display control unit 104, exercise physiological response acquisition unit 105, control parameter calculation unit 106, and exercise load control unit 107 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written as programs and stored in memory 503. The processing circuit 501 realizes the functions of each unit by reading and executing the programs stored in memory 503. In other words, the exercise load control device includes memory 503 for storing programs that, when executed by the processing circuit 501, result in the execution of, for example, each step shown in FIG. 4 . Furthermore, these programs can also be said to cause a computer to execute the procedures and methods of the operation content analysis unit 102, main control unit 103, display control unit 104, exercise physiological response acquisition unit 105, control parameter calculation unit 106, and exercise load control unit 107. Here, the memory 503 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.

[0081] Note that the functions of the operation content analysis unit 102, the main control unit 103, the display control unit 104, the exercise physiological response acquisition unit 105, the control parameter calculation unit 106, and the exercise load control unit 107 may be partially implemented by dedicated hardware and partially implemented by software or firmware. For example, the function of the operation content analysis unit 102 may be implemented by a processing circuit 501 as dedicated hardware, and the functions of the main control unit 103, the display control unit 104, the exercise physiological response acquisition unit 105, the control parameter calculation unit 106, and the exercise load control unit 107 may be implemented by the processing circuit 501 reading and executing programs stored in the memory 503.

[0082] In this way, the processing circuitry 501 can realize each of the above-described functions by hardware, software, firmware, or a combination thereof.

[0083] Any of the components of the embodiments may be modified or omitted.

[0084] The exercise load control device of the present disclosure is capable of providing an exercise load appropriate for each exerciser without using fixed control parameters, and is suitable for use as an exercise load control device that controls the exercise load on an exerciser.

[0085] 1 Display input device, 2 Exercise physiological response detection sensor, 3 Load device, 101 Memory unit, 102 Operation content analysis unit, 103 Main control unit, 104 Display control unit, 105 Exercise physiological response acquisition unit, 106, 106b Control parameter calculation unit, 107 Exercise load control unit, 301 Pedal, 302 Load control unit, 303 Load motor, 304 Reducer, 305 Transmission mechanism, 501 Processing circuit, 502 CPU, 503 Memory.

Claims

1. An exercise load control device comprising: an exercise physiological response acquisition unit that acquires data indicating the exercise physiological response of an exerciser; a control parameter calculation unit that calculates control parameters for controlling exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit; and an exercise load control unit that controls the exercise load using the control parameters based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit and the control parameters calculated by the control parameter calculation unit so that the exercise physiological response reaches a target value.

2. The exercise load control device according to claim 1, characterized in that the exercise physiological response acquisition unit acquires data indicating the exercise physiological response of the exerciser during the actual exercise time as data indicating the exercise physiological response of the exerciser, the control parameter calculation unit calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit, and the exercise load control unit controls the exercise load using the control parameters based on the data indicating the exercise physiological response during the actual exercise time acquired by the exercise physiological response acquisition unit and the control parameters calculated by the control parameter calculation unit so that the exercise physiological response becomes a target value.

3. The exercise load control device according to claim 1, characterized in that the exercise physiological response acquisition unit acquires data indicating the exercise physiological response of the exerciser during a warm-up period and data indicating the exercise physiological response of the exerciser during an actual exercise period as data indicating the exercise physiological response of the exerciser; the control parameter calculation unit calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response during the warm-up period acquired by the exercise physiological response acquisition unit; and the exercise load control unit controls the exercise load so that the exercise physiological response reaches a target value using the control parameters based on the data indicating the exercise physiological response during the actual exercise period acquired by the exercise physiological response acquisition unit and the control parameters calculated by the control parameter calculation unit.

4. An exercise load control device according to any one of claims 1 to 3, characterized in that the control parameter calculation unit calculates the control parameters using VRFT.

5. An exercise load control device according to any one of claims 1 to 3, characterized in that the control parameter calculation unit calculates the control parameters using FRIT.

6. An exercise load control method comprising: a step in which an exercise physiological response acquisition unit acquires data indicating the exercise physiological response of an exerciser; a step in which a control parameter calculation unit calculates control parameters for controlling the exercise load based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit; and a step in which an exercise load control unit controls the exercise load using the control parameters based on the data indicating the exercise physiological response acquired by the exercise physiological response acquisition unit and the control parameters calculated by the control parameter calculation unit so that the exercise physiological response reaches a target value.

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