JP7081540B2 - バランス訓練装置、制御方法およびプログラム - Google Patents
バランス訓練装置、制御方法およびプログラム Download PDFInfo
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Description
図1は、本実施形態にかかるバランス訓練装置の一例としての訓練装置100の概略斜視図である。訓練装置100は、片麻痺などの障害を持つ障害者が歩行に必要な重心移動を習得するためや、足関節に障害を抱える患者が足関節機能を回復させるための装置である。例えば、足関節機能を回復させたい訓練者900がバランスを取りつつ訓練装置100に搭乗を続けようとすると、訓練装置100は、訓練者900の足関節にリハビリ効果を期待できる程度の負荷を与えることができる。
次に、実施の形態2について説明する。実施の形態2にかかる訓練装置は、演算処理部200が角度検出部205を有している点が実施の形態1にかかる訓練装置と異なる。
110 移動台車
121 駆動輪
122 キャスタ
130 搭乗プレート
131 載置面
140 荷重センサ
150 コントロールボックス
160 フレーム
161 開閉扉
162 手摺り
170 表示パネル
180 撮像部
200 演算処理部
201 第1重心算出部
202 第2重心推定部
203 判断部
204 移動制御部
205 角度検出部
210 駆動部
220 操作受付部
230 表示制御部
240 メモリ
241 課題ゲーム
242 記録領域
900 訓練者
Claims (8)
- 立位する訓練者の足裏を支持する載置面を有する搭乗プレートと、
前記搭乗プレートが前記訓練者から受ける荷重を検出する荷重センサと、
前記荷重センサが検出した前記荷重に基づいて前記荷重の重心位置である第1重心を算出する第1重心算出部と、
前記訓練者の姿勢を含む画像の画像データを取得する撮像部と、
前記画像データに基づいて前記訓練者の重心位置である第2重心を推定する第2重心推定部と、
前記第1重心と前記第2重心との差に基づいて、前記訓練者に対する注意喚起を出力することを判断する判断部と、
前記訓練者の姿勢から前記訓練者の足底と前記載置面とが成す角度を検出する角度検出部と、を備え、
前記判断部は、前記角度が予め設定された閾値より大きい場合には、前記第1重心と前記第2重心との差に関わらず、前記注意喚起を出力することを決定する、
バランス訓練装置。 - 前記訓練者が視認可能に設置された表示部をさらに備え、
制御部は、表示部にメッセージを表示させることにより前記訓練者に対して前記注意喚起を行う
請求項1に記載のバランス訓練装置。 - 前記第1重心の変化に応じて予め設定された速度または加速度または移動距離により前記搭乗プレートを駆動する駆動部と、
前記駆動部を制御する移動制御部とをさらに備え、
前記移動制御部は、前記第1重心と前記第2重心との差に基づいて、前記速度または前記加速度または前記移動距離を調整する
請求項1または2に記載のバランス訓練装置。 - 前記駆動部を駆動することにより移動面上を移動可能な移動台車をさらに備え、
前記搭乗プレートは前記移動台車の上に設置されている
請求項3に記載のバランス訓練装置。 - 前記訓練者が行った訓練の結果を記録する記録部をさらに備え、
前記記録部は、前記訓練の結果に前記注意喚起が出力されたか否かに関するデータを含む
請求項1~4のいずれか一項に記載のバランス訓練装置。 - 前記訓練者が行った訓練の結果を記録する記録部をさらに備え、
前記記録部は、訓練中に前記注意喚起が出力されなかった場合に、前記訓練の結果を記録する
請求項1~4のいずれか一項に記載のバランス訓練装置。 - 立位する訓練者の足裏を支持する載置面を有する搭乗プレートに訓練者が立ってバランス訓練を行うバランス訓練装置の制御方法であって、
前記搭乗プレートが前記訓練者から受ける荷重を検出する検出ステップと、
検出した前記荷重に基づいて前記荷重の重心である第1重心を算出する第1重心算出ステップと、
前記訓練者の姿勢を含む画像の画像データを取得する撮像ステップと、
前記画像データに基づいて前記訓練者の重心である第2重心を推定する第2重心推定ステップと、
前記第1重心と前記第2重心との差に基づいて、前記訓練者に対する注意喚起を出力することを判断する判断ステップと、
前記訓練者の姿勢から前記訓練者の足底と前記載置面とが成す角度を検出する角度検出ステップと、を備え、
前記判断ステップは、前記角度が予め設定された閾値より大きい場合には、前記第1重心と前記第2重心との差に関わらず、前記注意喚起を出力することを決定する、
制御方法。 - 立位する訓練者の足裏を支持する載置面を有する搭乗プレートに訓練者が立ってバランス訓練を行うバランス訓練装置の制御方法をコンピュータに実行させるためのプログラムであって、
前記制御方法は、
前記搭乗プレートが前記訓練者から受ける荷重を検出する検出ステップと、
検出した前記荷重に基づいて前記荷重の重心である第1重心を算出する第1重心算出ステップと、
前記訓練者の姿勢を含む画像の画像データを取得する撮像ステップと、
前記画像データに基づいて前記訓練者の重心である第2重心を推定する第2重心推定ステップと、
前記第1重心と前記第2重心との差に基づいて、前記訓練者に対する注意喚起を出力することを判断する判断ステップと、
前記訓練者の姿勢から前記訓練者の足底と前記載置面とが成す角度を検出する角度検出ステップと、を備え、
前記判断ステップは、前記角度が予め設定された閾値より大きい場合には、前記第1重心と前記第2重心との差に関わらず、前記注意喚起を出力することを決定する、
プログラム。
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