WO2004035147A1 - バランス訓練装置 - Google Patents
バランス訓練装置 Download PDFInfo
- Publication number
- WO2004035147A1 WO2004035147A1 PCT/JP2003/010857 JP0310857W WO2004035147A1 WO 2004035147 A1 WO2004035147 A1 WO 2004035147A1 JP 0310857 W JP0310857 W JP 0310857W WO 2004035147 A1 WO2004035147 A1 WO 2004035147A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- plate
- balance
- balance training
- torque
- sensor
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/16—Platforms for rocking motion about a horizontal axis, e.g. axis through the middle of the platform; Balancing drums; Balancing boards or the like
Definitions
- the present invention relates to a balance training apparatus for training a sense of balance by moving a board on which a person rides.
- the conventional active exercise balance training device can only perform training in a sitting position, and has a problem that it is difficult to perform leg training which is indispensable for adjustment of bodily sensation balance.
- the mechanism for controlling the swing was complicated, such as using multiple links, and there was a problem that the risk of equipment failure was large.
- Another problem was that the three organs that control the sense of balance, the semicircular canal, the sight, and the deep sense, could not be individually trained.
- the present invention presumes use in a standing position, realizes the movement of the board by rotating the body side direction with a person on top, and eliminates complicated link mechanisms It aims to make it possible. Furthermore, it aims at realizing the individual training of the three organs, the semicircular canal, the sight, and the deep sensation, which control the sense of equilibrium.
- the deep sensation is a sensation of knowing the position of one part of the body of the trainee with respect to another part, and belongs to the self-accepting sensation. It is performed by receptors such as tactile receptors in the skin, muscle spindles, Pacini bodies in the subcutaneous tissue, and free terminals of nerves (Source: The latest medical dictionary 2nd edition). Disclosure of the invention
- the present invention provides a plate 1 on which a person is placed, a motor 2 for driving the plate, a sensor 3 for measuring a rotation angle of the plate, and a torque measuring mechanism applied to the plate.
- a motion model analysis unit 5 for determining a target rotation angle of the plate from the torque, and a mode control unit 6 for controlling the mode by a predetermined motion model.
- the plate 1 is characterized in that it rotates around a rotation axis parallel to the plate upper surface.
- the upper surface of the plate 1 may be configured to coincide with the center of the rotation axis.
- the upper surface of the plate 1 may be arranged at a fixed distance from the center of the rotation axis.
- the torque measuring mechanism may have a force plate 41 in which a sensor for measuring the load applied to the plate 1 and a sensor for measuring the center position of the load are integrated.
- the torque measuring mechanism may be configured such that a sensor 42 for measuring the torque applied to the plate 1 is attached to a shaft of a motor 2 that drives the plate 1.
- the operation of the plate 1 may be virtually provided with a movement model analysis unit 5 in which a spring constant, a viscous damping coefficient, and a moment of inertia are given.
- the motor control unit 6 that controls the board 1 with a person placed thereon may be configured in accordance with the equilibrium angle calculated by the motion model analysis unit 5.
- the equilibrium angle is the angle at which the force applied by a person and the rotational force of the motor balance.
- the above balance device can individually train three semicircular canals, vision, and deep sensation, which are the three organs responsible for human balance function.
- FIG. 1 is a view for explaining an embodiment of a balance training apparatus according to the present invention.
- FIG. 2 is a view for explaining an embodiment of the balance training apparatus according to the present invention, and shows an example in which a rotating torque sensor is arranged.
- FIG. 3 is a block diagram for measurement and control of a motor in the embodiment of the balance training apparatus according to the present invention.
- FIG. 4 is a diagram for explaining the equations (1) and (2) for calculating the rotational torque and the motion analysis model of the embodiment of the balance training apparatus according to the present invention.
- FIG. 5 is a diagram showing a simulation result in which the viscous damping coefficient is changed in the embodiment of the balance training apparatus according to the present invention.
- FIG. 1 is a diagram illustrating Embodiment 1 of a balance training apparatus.
- This balance training device swings a person on a board and actively operates in a standing and sitting position, thereby enabling the three organs, the semicircular canal, the sight, and the deep sensation, which control a person's balance function. It allows for individual training.
- the balance training device consists of a person 4 placed on top (a board 1, a motor 2 for driving the board 1, a rotation angle sensor 3 for measuring the rotation angle of the board, and a torque for measuring the torque applied to the board. It comprises a measurement mechanism, a motion model analysis unit 5 for determining a target rotation angle of the plate from the torque, and a motor control unit 6 for controlling the motor based on a predetermined motion model.
- the force plate 41 may be used to calculate the force by measuring the left and right foot forces applied to the plate 1, or a commercially available rotational torque sensor 42 may be attached to the rotating shaft of the motor 2. You may use something.
- the rotation axis of the motor 2 is fixed to the rear surface of the clamp 7 by an appropriate fixing means so that the center of the rotation axis is at the center in the width direction of the plate 1 and is parallel to the upper surface of the plate 1.
- the rotating shaft may be fixed to the rear surface of the clamp 7 so that the center of the rotating shaft coincides with the upper surface of the plate 1, or the center of the rotating shaft may be located at a certain distance from the upper surface of the plate 1.
- it may be configured to be fixed to the rear surface of the clamp 7. With this configuration, the plate 1 can swing around the rotation axis when a person rides on the plate, and the plate can be actively tilted by the motor 2. .
- Module 2 is configured so that it can be operated and controlled from outside.
- the torque measuring mechanism has a configuration using a force plate 41 as shown in FIG. 1 and a configuration using a commercially available rotational torque sensor 42 as shown in FIG.
- a torque measuring mechanism using a force plate 41 includes a force plate 41 and an arithmetic processing unit (not shown). On the upper surface of the plate 1, a force plate 41 is provided at a fixed position symmetrical left and right with respect to the center of the rotation axis.
- the force plate 41 includes a sensor that measures a load applied to the plate 1 when a person moves on the plate 1 and a sensor that measures a center position of the load.
- the torque can be calculated by multiplying the measured value of the force plate 41 (the load applied to the center position of the load) by a certain distance from the center of the rotating shaft (force X distance).
- the configuration using a commercially available rotational torque sensor is based on the rotation force (torque) applied to the plate by human motion by attaching a commercially available rotational torque sensor 3 to the rotating shaft of motor 2.
- a commercially available rotational torque sensor 3 Is configured to be measurable.
- the rotation angle sensor 3 is attached to the front edge of the plate 1 by clamping the clamp 7, and is attached to the clamp 7. When the plate 1 is tilted, the rotation angle is measured. It is configured as follows.
- FIG. 3 shows a block diagram of an overall configuration for controlling the motor by a torque measuring mechanism, a rotation angle sensor, a motion model analysis unit, and a motor control unit.
- the output of each of the torque measurement mechanism and the rotation angle sensor 3 is input to the motion model analysis unit 5, and the motion model solution
- the analysis unit 5 is connected to the motor control unit 6 so that its output is input to the motor control unit 6, and the motor control unit 6 is connected to the motor control unit 2 so that its output is input to the motor control unit 2.
- the motion model analysis unit 5 determines the rotation angle of the plate 1 to be changed by the force applied to the plate 1 by the following calculation formula (1) with reference to FIG. Can be controlled.
- Disturbance torque N'm
- board 1 tilts and rotates due to instability of the human balance function.
- the rotation characteristics of plate 1 are given a virtual spring constant, viscous damping coefficient, and moment of inertia as shown in Fig. 4, so that the force applied by a person and the current rotation angle of plate 1
- the motor By controlling the motor with the fluctuation parameter as a parameter, training based on the level of ability in the balance function becomes possible.
- a rotation of a specific magnitude to the plate 1 as a disturbance that is, by giving a disturbance torque, training for responding to an external stimulus becomes possible.
- the person places both feet on the board 1 and balances so that the body does not lean as much as possible toward the body.
- the rotation angle of the plate 1 in the body direction is measured by the angle sensor 3, and the rotation torque of the plate 1 is measured by the rotation torque measurement mechanism, and is given to the motion model analysis unit in FIG.
- the rotation torque is
- step 42 the forces applied by the left and right feet to the board 1 are measured, and the arithmetic processing unit calculates the rotational torque by the following calculation formula (2) with reference to FIG. 4, and the motion model shown in FIG. Give to the analysis unit.
- the torque may be measured by the rotational torque sensor 42 and the measured value may be provided to the motion model analysis unit.
- the rotational torque 0 ⁇ is calculated by the following formula.
- the viscous damping coefficient and the spring constant are values virtually introduced by a computer (motion model analysis unit) when determining the equilibrium angle, and when controlling, It is a known value. Further, the disturbance torque is an amount given by the control unit when determining the equilibrium angle and has a known value. Therefore, as described above, the equilibrium angle can be calculated by measuring the rotation angle and the rotation torque.
- FIG. 5 is a diagram illustrating a simulation result of how the rotational torque and the rotational angle change with time due to the change in the viscous damping coefficient depending on the magnitude of the balance ability.
- D015E80 and D015E95 show the change when the viscous damping coefficient is small, and the change when the balance capacity is small and large.
- D10.0E80 and D100E95 show the change when the viscous damping coefficient is large. This is the change when the balance ability is small and large. Note that .DO 15 E 80, D 0 15 E 95, D 100 E 80 and D 100 E 95 are simply data drawing numbers.
- the blocking of visual information can be realized by covering the eye with a blindfold or the like.
- the head can be restrained by putting its side on a stick like a handrail and leaning on it.
- Fixing of the leg can be achieved by attaching an auxiliary device to the leg so that the ankle and knee joint cannot be bent, so that it does not move or rotate with respect to the board 1. It can also be achieved by taking a sitting position.
- the balance training device Since the balance training device according to the present invention has the above configuration, the operation of the board can be performed by placing a person on the top. It is realized by rotation in the body direction, and enables the elimination of complicated link mechanisms. Therefore, it is suitable as a training device that can individually train the three organs that control the sense of equilibrium, the semicircular canal, vision, and deep senses.
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003261762A AU2003261762A1 (en) | 2002-08-27 | 2003-08-27 | Balance training device |
US10/525,919 US20060229159A1 (en) | 2002-08-27 | 2003-08-27 | Balance training device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002246470A JP3899403B2 (ja) | 2002-08-27 | 2002-08-27 | バランス訓練装置 |
JP2002-246470 | 2002-08-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004035147A1 true WO2004035147A1 (ja) | 2004-04-29 |
Family
ID=32054360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/010857 WO2004035147A1 (ja) | 2002-08-27 | 2003-08-27 | バランス訓練装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20060229159A1 (ja) |
JP (1) | JP3899403B2 (ja) |
AU (1) | AU2003261762A1 (ja) |
WO (1) | WO2004035147A1 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT501768A1 (de) * | 2005-04-07 | 2006-11-15 | Mft Multifunktionale Trainings | Trainingsgerät |
KR100661112B1 (ko) * | 2005-01-22 | 2006-12-22 | (주)컨텍 | 재활치료가 필요한 대상의 평형기능 측정, 진단 및 훈련시스템 |
JP2006247035A (ja) * | 2005-03-09 | 2006-09-21 | Kazuyoshi Tsutsumi | 平衡感覚測定訓練機器 |
KR100901958B1 (ko) * | 2005-08-04 | 2009-06-10 | 고려대학교 산학협력단 | 평형감각을 테스트하는 장치 |
US7806479B2 (en) * | 2007-02-14 | 2010-10-05 | Wisys Technology Foundation | Seat with adjustable dynamic joint |
EP2160168B1 (de) | 2007-06-22 | 2011-12-07 | Hans Schiessl | Vorrichtung und verfahren für ein training und/oder eine analyse des bewegungsapparats eines benutzers |
KR101091725B1 (ko) | 2008-10-30 | 2011-12-08 | 한국기계연구원 | 인체 균형기능 진단 시스템 및 진단 방법 |
US8998784B1 (en) * | 2009-04-06 | 2015-04-07 | Paula E Sloan | Cheerleader training device |
KR200463120Y1 (ko) | 2011-05-09 | 2012-10-18 | 연세대학교 산학협력단 | 신체 평형감각 트레이닝용 운동기구 |
US9387363B1 (en) | 2012-07-29 | 2016-07-12 | Nautilus, Inc. | Ball and board balance training device |
DE102013007131B4 (de) | 2013-04-25 | 2018-08-16 | Hans Schiessl | Vorrichtung für ein Training und/oder eine Analyse des Bewegungsapparats eines Benutzers |
WO2014173545A1 (de) | 2013-04-25 | 2014-10-30 | Hans Schiessl | Vorrichtung für ein training und/oder eine analyse des bewegungsapparats eines benutzers |
DE202013003859U1 (de) | 2013-04-25 | 2014-07-28 | Hans Schiessl | Vorrichtung für ein Training und/oder eine Analyse des Bewegungsapparats eines Benutzers |
FI125796B (en) * | 2015-02-27 | 2016-02-15 | Dering Oy | Training device for detection of deviation from equilibrium |
KR20170135858A (ko) * | 2015-03-24 | 2017-12-08 | 폰다치오네 이스티튜토 이탈리아노 디 테크놀로지아 | 두 개의 직각인 회전축들에 대한 물체의 회전을 제어하기 위한 구동 시스템 및 이러한 구동 시스템을 통합한 하지와 체간의 재활을 위한 재활 기계 |
CN105413121B (zh) * | 2015-12-29 | 2018-06-29 | 江苏苏云医疗器材有限公司 | 坐位平衡功能评估与训练*** |
KR101790945B1 (ko) * | 2016-06-30 | 2017-10-27 | 재단법인대구경북과학기술원 | 밸런스 훈련시스템 |
US11311771B2 (en) * | 2019-04-09 | 2022-04-26 | Stephanie Marie Corrao | Training apparatus with swivel step plate |
Citations (7)
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JPS61122863A (ja) * | 1984-11-19 | 1986-06-10 | 株式会社佐藤鉄工所 | バランス訓練器 |
JPS6452441A (en) * | 1987-08-25 | 1989-02-28 | Makutaa Kk | Equilibrium function measuring and training apparatus |
JPH0225620B2 (ja) * | 1985-06-12 | 1990-06-05 | Sakai Iryo Kk | |
JPH09149956A (ja) * | 1995-11-30 | 1997-06-10 | Namco Ltd | シミュレータのロック装置 |
JP2849938B2 (ja) * | 1989-08-09 | 1999-01-27 | 株式会社スギノマシン | 床反力計及び脈拍検出方法 |
JP2000102523A (ja) * | 1998-07-28 | 2000-04-11 | Matsushita Electric Works Ltd | バランス能力判定方法およびその装置 |
JP6083706B2 (ja) * | 2013-07-01 | 2017-02-22 | 大日本印刷株式会社 | 容器及びシールバー |
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US5303715A (en) * | 1982-08-16 | 1994-04-19 | Neurocom International, Inc. | Apparatus and method for determining the presence of vestibular pathology |
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US5049079A (en) * | 1988-12-19 | 1991-09-17 | John H. Peterson | Closed loop ski simulation and instructional system |
FR2653004B3 (fr) * | 1989-10-13 | 1991-12-27 | Heurte Alain | Appareil d'etude et de reeducation de la cheville. |
US4986534A (en) * | 1990-01-02 | 1991-01-22 | Camp International, Inc. | Computerized biomechanical analysis system |
US5209240A (en) * | 1991-02-20 | 1993-05-11 | Baltimore Therapeutic Co. | Device for inducing and registering imbalance |
US6225977B1 (en) * | 1997-03-25 | 2001-05-01 | John Li | Human balance driven joystick |
US6063046A (en) * | 1997-04-11 | 2000-05-16 | Allum; John H. | Method and apparatus for the diagnosis and rehabilitation of balance disorders |
US5979067A (en) * | 1997-05-02 | 1999-11-09 | Waters; Greg | Device and related method for measuring foot posture |
US6162189A (en) * | 1999-05-26 | 2000-12-19 | Rutgers, The State University Of New Jersey | Ankle rehabilitation system |
FR2810556B1 (fr) * | 2000-06-23 | 2002-09-13 | Patrick Savet Sarl | Dispositif d'analyse des troubles de l'equilibre et de la posture d'un individu |
US6599255B2 (en) * | 2001-05-31 | 2003-07-29 | Rehabilitation Institute Of Chicago | Portable intelligent stretching device |
-
2002
- 2002-08-27 JP JP2002246470A patent/JP3899403B2/ja not_active Expired - Lifetime
-
2003
- 2003-08-27 AU AU2003261762A patent/AU2003261762A1/en not_active Abandoned
- 2003-08-27 US US10/525,919 patent/US20060229159A1/en not_active Abandoned
- 2003-08-27 WO PCT/JP2003/010857 patent/WO2004035147A1/ja active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61122863A (ja) * | 1984-11-19 | 1986-06-10 | 株式会社佐藤鉄工所 | バランス訓練器 |
JPH0225620B2 (ja) * | 1985-06-12 | 1990-06-05 | Sakai Iryo Kk | |
JPS6452441A (en) * | 1987-08-25 | 1989-02-28 | Makutaa Kk | Equilibrium function measuring and training apparatus |
JP2849938B2 (ja) * | 1989-08-09 | 1999-01-27 | 株式会社スギノマシン | 床反力計及び脈拍検出方法 |
JPH09149956A (ja) * | 1995-11-30 | 1997-06-10 | Namco Ltd | シミュレータのロック装置 |
JP2000102523A (ja) * | 1998-07-28 | 2000-04-11 | Matsushita Electric Works Ltd | バランス能力判定方法およびその装置 |
JP6083706B2 (ja) * | 2013-07-01 | 2017-02-22 | 大日本印刷株式会社 | 容器及びシールバー |
Also Published As
Publication number | Publication date |
---|---|
AU2003261762A1 (en) | 2004-05-04 |
JP3899403B2 (ja) | 2007-03-28 |
JP2004081501A (ja) | 2004-03-18 |
US20060229159A1 (en) | 2006-10-12 |
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