JP6384436B2 - バランス訓練装置及びその制御方法 - Google Patents
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Description
図1を参照して、本発明の実施の形態に係るバランス訓練装置1の構成について説明する。図1に示すように、バランス訓練装置1は、倒立二輪車2と、訓練課題付与装置3と、固定部材4と、吊り具5と、ベルト6と、フレーム7とを有する。
ここで、上述の実施の形態では、閾値Nが予め定められた固定値である例について説明したが、これに限られない。閾値Nは、可変としてもよい。例えば、マイコン23は、基準位置Aから倒立二輪車2の位置Xまでの距離が、所定の距離となった時点から、倒立二輪車2の位置Xが基準位置Aに戻るまでの時間を計測する。そして、マイコン23は、その計測した時間に応じて、閾値Nを変更してもよい。例えば、マイコン23は、計測した時間が大きいほど、閾値Nがより小さくなるように変更する。
2 倒立二輪車
3 訓練課題付与装置
4 固定部材
5 吊り具
6 ベルト
7 フレーム
10 ハンドル
11 ステップカバー
12 車輪
20 無線通信回路
21 姿勢角センサ
22 リーン角センサ
23 マイコン
24、25 駆動回路
26、27 モータ
28、29 回転角センサ
30 制御装置
31 表示装置
Claims (5)
- 倒立二輪車と、
前記倒立二輪車に搭乗する搭乗者の姿勢に応じて変化する前記倒立二輪車の姿勢を検出する姿勢検出部と、
前記姿勢検出部が検出した前記倒立二輪車の姿勢に応じて、前記倒立二輪車が移動するように前記倒立二輪車を制御することと、前記倒立二輪車の姿勢に沿わずに任意の方向へ強制的に移動させるように前記倒立二輪車を制御することと、の両方を可能とする制御部と、を備え、
前記搭乗者が前記倒立二輪車に搭乗して所定の基準位置により近づくように操作することでバランス感覚を訓練するバランス訓練のためのバランス訓練装置であって、
前記倒立二輪車の位置を取得する位置取得部と、を更に備え、
前記制御部は、前記位置取得部が取得した前記倒立二輪車の位置と前記基準位置との間の距離が閾値以上である場合、前記倒立二輪車の姿勢に沿わずに任意の方向へ強制的に移動させるように前記倒立二輪車を制御する際に、前記基準位置から当該倒立二輪車が位置する方向へ強制的に移動させる制御のみを抑制する、
バランス訓練装置。 - 前記制御部は、前記姿勢検出部が検出した前記倒立二輪車の姿勢に応じて、前記倒立二輪車が移動するように前記倒立二輪車を制御する通常モードと、前記倒立二輪車の姿勢に沿わずに任意の方向へ強制的に移動させるように前記倒立二輪車を制御する課題モードとを交互に切り替えて実行する、
請求項1に記載のバランス訓練装置。 - 前記制御部は、前記基準位置から所定距離離れた位置から、前記基準位置まで、前記搭乗者が前記倒立二輪車を戻す時間を算出し、算出した時間が長くなるに従って、前記閾値をより小さくする、
請求項2に記載のバランス訓練装置。 - 前記制御部は、複数のレベルのいずれかで動作し、前記レベルが高くなるに従って、単位時間当たりに前記通常モードから前記課題モードに切り替える回数をより多くする制御、及び、前記レベルが高くなるに従って、前記任意の方向への移動量をより大きくする制御の少なくとも1つを行い、
前記制御部は、前記レベルが高くなるに従って、前記閾値をより大きくする、
請求項2又は3に記載のバランス訓練装置。 - 制御部が倒立二輪車に搭乗する搭乗者の姿勢に応じて変化する前記倒立二輪車の姿勢に応じて、前記倒立二輪車が移動するように前記倒立二輪車を制御することと、前記倒立二輪車の姿勢に沿わず任意の方向へ強制的に移動させるように前記倒立二輪車を制御することと、の両方を実行する制御ステップを備え、
前記搭乗者が倒立二輪車に搭乗して所定の基準位置により近づくように操作することでバランス感覚を訓練するバランス訓練のためのバランス訓練装置の制御方法であって、
前記制御ステップは、
前記制御部が前記倒立二輪車の位置と前記基準位置との間の距離が閾値以上である場合、前記倒立二輪車の姿勢に沿わずに任意の方向へ強制的に移動させるように前記倒立二輪車を制御する際に、前記倒立二輪車を、前記基準位置から当該倒立二輪車が位置する方向へ強制的に移動させる制御のみを抑制する、
バランス訓練装置の制御方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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JP2015180202A JP6384436B2 (ja) | 2015-09-11 | 2015-09-11 | バランス訓練装置及びその制御方法 |
CN201610628649.7A CN106530879B (zh) | 2015-09-11 | 2016-08-03 | 平衡训练装置及平衡训练方法 |
EP16184666.2A EP3141468B1 (en) | 2015-09-11 | 2016-08-18 | Balance training device and balance training method |
KR1020160114908A KR102099818B1 (ko) | 2015-09-11 | 2016-09-07 | 밸런스 훈련 장치 및 밸런스 훈련 방법 |
US15/263,085 US10159872B2 (en) | 2015-09-11 | 2016-09-12 | Balance training device and balance training method |
KR1020180072964A KR20180079254A (ko) | 2015-09-11 | 2018-06-25 | 밸런스 훈련 장치 및 밸런스 훈련 방법 |
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JP2015180202A JP6384436B2 (ja) | 2015-09-11 | 2015-09-11 | バランス訓練装置及びその制御方法 |
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JP6384436B2 true JP6384436B2 (ja) | 2018-09-05 |
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EP3141468A1 (en) | 2017-03-15 |
KR20170031628A (ko) | 2017-03-21 |
JP2017051564A (ja) | 2017-03-16 |
CN106530879B (zh) | 2019-08-20 |
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US20170072266A1 (en) | 2017-03-16 |
US10159872B2 (en) | 2018-12-25 |
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