JP2007082915A - Balance training equipment - Google Patents

Abstract

[PROBLEMS] To reduce the size and stability of a balance training apparatus and to make a swing motion smooth.
A swing plate 40 on which a subject can board, a drive mechanism that supports and swings the swing plate 40, frames 10 and 20 that hold the drive mechanism, and a control means 80 are provided. A driving source 50, 60 that generates driving force in a plurality of different directions in a substantially horizontal plane, and a swing mechanism 70 that swings the swing plate in a plurality of different directions in conjunction with the drive source are employed. Thereby, the apparatus can be lowered in the center of gravity, can be prevented from falling, and can be installed in a stable state, and the boarding / exiting ability of the subject is improved. Furthermore, since the driving mechanism generates driving force in a plurality of different directions in a substantially horizontal plane, and the swinging mechanism generates swinging force in a plurality of different directions in conjunction with the driving force in these different directions, the swing plate 40 can be swung smoothly and continuously in the entire circumferential direction, and the balance sensation, muscle strength, and the like necessary for balance can be efficiently trained (development, development, strengthening, recovery).
[Selection] Figure 4

Description

  The present invention can perform the development, training, strengthening, recovery, etc. of muscular strength that can cope with a person's sense of equilibrium and rocking by swinging a rocking board on which a person is boarded, or as a game machine The present invention relates to a balance training apparatus that can compete for a sense of balance.

As a conventional balance training apparatus, a circular substrate, a first air cylinder provided upright in the center of the substrate, a vertically movable plate fixed between the rods of the first air cylinder, and a vertically movable plate are provided. Circular rocking plates connected to the tips of the respective rods of the second and third air cylinders, the first air cylinder, the second air cylinder and the third air cylinder via universal joints, and the respective air With control means to drive and control the cylinder, while the person is on the rocking plate, each air cylinder is driven up and down to tilt the rocking plate as appropriate, thereby strengthening and maintaining the human balance function, Moreover, what performs training of physical strength etc. is known (for example, refer patent document 1).
Since this device uses an air cylinder that expands and contracts in the vertical direction, the height from the floor where the device is installed to the swinging plate is increased, which is inconvenient for people to get on and off, especially for elderly people. It is not preferable for application as a care training device. In addition, since the swing plate is tilted by only three air cylinders extending and contracting in the vertical direction, it is difficult to swing the swing plate smoothly and continuously in the entire circumferential direction both mechanically and in terms of control software. is there. Furthermore, since the rocking plate is supported only by the actuator located at the center, there is a risk that the rocking plate may fall over when a person actually gets on the rocking plate, which is functionally safe and reliable. There is a problem.

As another balance training device, a swing board on which a person rides, a support that supports the center of the swing board via a universal joint, and two ball bearings connected by ball bearings. It has two connecting rods, two crank arms connected to the lower end of each connecting rod, two gear motors that rotate each crank arm, etc., and the two crank arms are rotated appropriately by the gear motor, and interlocked with the rotation In order to strengthen and maintain a person's balance function, train physical strength, and the like by moving each connecting rod up and down to swing the swinging plate (see, for example, Patent Document 2) .
Since this device employs a crank arm and a connecting rod, the height from the floor surface where the device is installed to the swinging plate is increased, which is inconvenient for people to get on and off, as in the previous device. In particular, it is not preferable for application as a care training device for elderly people. In addition, since the swinging plate is tilted by the rotation of the crank arm, there is a limit to the tilt angle and tilting direction, and the swinging plate can be swung smoothly and continuously in the entire circumferential direction as in the above-described device. Is difficult.

JP-A-6-254178 JP 2003-135622 A

  The present invention has been made in view of the circumstances of the above-described conventional device, and its purpose is to reduce the size of the device, to prevent and stabilize the device by lowering the center of gravity of the device, and to get on and off the person. Smooth and continuous rocking motion is possible in all directions while improving ease of getting on and off, etc., and it is possible to efficiently train the muscular strength and senses necessary for human balance. Another object of the present invention is to provide a balance training apparatus that can be evaluated as a game machine and that can also be used as a gaming machine that competes for a sense of balance between people.

The balance training apparatus of the present invention includes a swing plate on which a subject can board, a drive mechanism that supports and swings the swing plate, a frame that holds the drive mechanism, and a control unit that controls the drive mechanism. The driving mechanism includes a driving source that generates a driving force in a plurality of different directions in a substantially horizontal plane, and a rocking plate that is interlocked with the driving source in a plurality of different directions. And a swing mechanism to be moved.
According to this configuration, the drive mechanism that swings the swing plate is formed by the drive source that generates the drive force in the substantially horizontal direction instead of the vertical direction and the swing mechanism that converts the drive force into the swing force. Therefore, the height of the apparatus can be set low. Therefore, the apparatus can be lowered in the center of gravity, can be prevented from falling, and can be installed stably. Moreover, since the height of the rocking plate on which the subject is boarded can be set low, boarding / exiting characteristics are improved, and it is particularly easy for elderly people to get on and off.
The driving mechanism generates driving force in a plurality of different directions in a substantially horizontal plane, and the swinging mechanism generates swinging force in a plurality of different directions in conjunction with the driving force in these different directions. The moving plate can be swung smoothly and continuously in the entire circumferential direction, and the balance sensation, muscle strength, and the like necessary for balance can be efficiently trained (development, development, strengthening, recovery).

In the above configuration, the drive source includes a first actuator that reciprocates in one direction within a substantially horizontal plane, and a second actuator that reciprocates in another direction within a substantially horizontal plane that is substantially orthogonal to the reciprocation direction of the first actuator. The swing mechanism is connected to the first actuator and the second actuator, and is coupled to the swing plate by hanging down substantially at the center, and the shaft member is connected to the first actuator in the reciprocating direction and the second. A configuration including a universal joint that is swingably supported in the reciprocating direction of the actuator can be employed.
According to this configuration, the drive source is formed by two actuators, and the swing mechanism is formed by a universal joint that swingably supports the shaft member provided on the swing plate. By appropriately controlling the driving of the two actuators while achieving the same, the swing plate can be swung smoothly and continuously in the entire circumferential direction.

In the above configuration, the shaft member supports the swing plate at the upper end portion thereof, is connected to the first actuator and the second actuator at the lower end portion thereof, and is connected to the universal joint in a region between the upper end portion and the lower end portion. It is possible to adopt the configuration.
According to this configuration, when the shaft member coupled to the swing plate is swung, the fulcrum (universal joint) is located in the middle region, the power point (driving force of the two actuators) is located at the lower end, and the upper end is located at the upper end. Since the action point (swing plate) is arranged, the swing angle of the swing plate is widened to some extent (for example, −15 degrees to +15) while achieving downsizing, integration, and low center of gravity of the apparatus. Can be set).

In the above configuration, the first actuator is disposed on the opposite side of the first motor with the shaft member interposed between the first motor fixed to the frame, the first lead screw directly connected to the first motor, and the first actuator. A first mover that is screwed to the lead screw, a first link that connects the first mover and the shaft member, and the second actuator is directly connected to the second motor fixed to the frame and the second motor. The second lead screw, the second mover that is disposed on the opposite side of the second motor across the shaft member and is screwed to the second lead screw, and the second mover that connects the second mover and the shaft member. A configuration including two links can be employed.
According to this configuration, the first actuator and the second actuator are arranged in a substantially diametrical direction centered on the shaft member (swing plate) and are orthogonal to each other in a substantially horizontal plane. The parts can be gathered around the shaft member, and the apparatus can be further miniaturized.

In the above configuration, it is possible to employ a configuration having measuring means for measuring the center-of-gravity locus of the subject on the swing plate.
According to this configuration, when the subject rides on the swinging plate and performs balance training, the measurement means measures the center of gravity trajectory of the subject, thereby developing, strengthening, and recovering the sense of balance. Can be used as an index for evaluating the effectiveness of training.

In the above configuration, the swinging plate is formed in a disc shape, and the frame includes a holding frame that directly holds the drive mechanism, and a fixed frame that is formed separately from the holding frame and is fixed at a predetermined position. Can be configured to include three load cells that are interposed between the holding frame and the fixed frame and are provided corresponding to positions that divide the entire circumference of the swing plate into approximately three equal parts.
According to this configuration, the swing plate, the drive mechanism, and the like are held by the holding frame, and the holding frame is held by the fixed frame installed on the floor surface or the like via the three load cells.
Therefore, the center-of-gravity locus of the subject who is on the rocking plate is obtained by calculating the loads detected by these three load cells. Thus, by adopting the load cell as the measuring means, the structure can be simplified and the apparatus can be miniaturized. In particular, since the three load cells are arranged corresponding to the position where the entire circumference of the disk-shaped swing plate is divided into three equal parts, it is possible to measure with high accuracy while suppressing the number of components.

In the above configuration, the fixed frame includes a vertical frame formed to extend above the swinging plate so as to be able to hang a hanging strap that suspends the subject who is mounted on the swinging plate with a predetermined slack. A configuration can be employed.
According to this configuration, in particular, when applied to the training of elderly people or the like as the subject, the subject following the swinging is allowed by loosely suspending the subject with the hanging strap suspended on the vertical frame. However, it is possible to prevent the subject from falling or the like.

In the above configuration, the control unit can adopt a configuration in which a program for automatically driving and controlling the drive mechanism can be arbitrarily set.
According to this configuration, by setting a program for driving and controlling the rocking plate in accordance with the state of the physical ability of the subject (for example, the level of development or recovery level of balance sensation), Appropriate passive movement can be performed.

In the above configuration, a configuration in which an operation unit for directly controlling the drive of the drive mechanism in response to a command is connected to the control means can be adopted.
According to this configuration, the swing operation of the swing plate can be directly controlled by manipulating the operation unit (for example, a joystick). Therefore, a person other than the subject (for example, a training supervisor) can operate the operation unit while confirming the state of the subject on the rocking plate, so that training suitable for the subject can be performed. Can be performed.

The said structure WHEREIN: The structure which has a display means to display the information regarding the gravity center locus | trajectory of the subject measured by the measurement means is employable.
According to this configuration, it is possible to visually recognize or determine the level of balance feeling of the subject by confirming the information regarding the barycentric locus displayed on the display means.

In the above-described configuration, the display unit may employ a configuration that displays information related to deviation from the center of swing of the subject's center of gravity locus measured by the measuring unit.
According to this configuration, since the center of gravity locus of the subject is displayed as a deviation from the center position of the swing plate, the sense of balance is excellent as the distance from the center is closer, and the sense of balance is inferior as the distance from the center is reduced. The level of the examiner can be easily determined.

In the above configuration, storage means for storing information on the center of gravity locus of the subject measured by the measuring means, information on the center of gravity locus of the subject measured by the measurement means, and the same subject stored in the storage means It is possible to adopt a configuration that includes comparison means for comparing information related to a person's center of gravity locus, and the display means displays comparison information obtained by the comparison means.
According to this configuration, when the same subject repeatedly performs balance training using this apparatus, information on the previous center of gravity locus stored in the storage unit and a new center of gravity locus measured by the measuring unit Is compared by the comparison means, and the comparison information is displayed by the display means. Accordingly, it is possible to easily confirm or judge the degree of development, development, and recovery of the sense of balance of the subject.

In the above configuration, there is a storage unit that stores information on the center of gravity trajectories of a plurality of subjects measured by the measuring unit, and a comparison unit that compares information on the center of gravity trajectories of the plurality of subjects stored in the storage unit. In addition, the display means can employ a configuration in which the ranks of a plurality of subjects are displayed based on the comparison information obtained by the comparison means.
According to this configuration, when a plurality of subjects perform balance training using this apparatus, information on the centroid trajectories of the plurality of subjects stored in the storage unit is compared by the comparison unit, The order of a plurality of subjects based on the comparison information is displayed by the display means. Therefore, it is possible to easily confirm or compete with the level of balance feeling of a plurality of subjects, and it is useful as a game machine such as an amusement facility.

In the above configuration, a configuration in which a connection unit for transmitting / receiving information to / from the outside is provided in the control unit.
According to this configuration, by connecting to an external terminal (for example, a central computer such as a care facility) via a connection unit, for example, when a plurality of such devices are installed, information on the sense of balance of the subject Etc. can be compared or judged in one place.

  According to the balance training apparatus having the above configuration, the apparatus can be smoothly down in all directions while achieving downsizing of the apparatus, prevention and stabilization of falling by lowering the center of gravity of the apparatus, and improvement of boarding / exiting ability when people get on and off. In addition, continuous swinging motion is possible, the muscular strength and senses necessary for human balance can be efficiently trained, the sense of balance can be evaluated numerically, and the sense of balance between people A balance training device that can be used as a gaming machine for competing with each other is obtained.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, the best mode for carrying out the invention will be described with reference to the accompanying drawings.
1 to 9 show an embodiment of a balance training apparatus according to the present invention. FIG. 1 is a side view of the apparatus, FIG. 2 is a front view of the apparatus, and FIG. 3 is a partial sectional view of the apparatus. 4 is a partial plan view of the apparatus, FIGS. 5 and 6 are partial side views of the apparatus, FIGS. 7 and 8 are operation diagrams for explaining the operation of the apparatus, and FIG. 9 is a block diagram showing a control system of the apparatus.

  As shown in FIGS. 1 to 4, this apparatus includes a fixed frame 10 installed on a floor surface, a holding frame 20 formed separately from the fixed frame 10, and an intermediate between the holding frame 20 and the fixed frame 10. Three load cells 30 as measuring means, a swinging plate 40 on which a subject can board, and a driving mechanism that supports and swings the swinging plate 40 to generate driving force in a plurality of different directions in a substantially horizontal plane. A drive source (first actuator 50 and second actuator 60) to be operated, a swing mechanism 70 for swinging the swing plate 40 in a plurality of different directions in conjunction with the drive source, and a control unit as a control means for controlling the drive mechanism 80 etc.

As shown in FIGS. 1 to 3, the fixed frame 10 includes an upper plate 11 on which a subject makes a stepping platform and a swing plate 40 projecting so as to swing, an outer wall 12 covering the periphery, and an upper portion of the swing plate 40. A pair of pipe-shaped left and right vertical frames 13 that are integrally formed by extending upward and bending upward, a pipe-shaped connection frame 14 that connects the pair of vertical frames 13 in the lateral direction, and provided on the left and right in the up-and-down direction. A pipe-shaped handrail frame 15 and the like are provided.
As shown in FIG. 1, the vertical frame 13 is formed so as to be able to hang a sling hanging strap S that suspends a subject who has boarded the swinging plate 40 with a predetermined slack, if necessary. . Therefore, when the subject is an elderly person, the subject is loosely suspended by the hanging strap S suspended from the vertical frame 13 to allow the subject to follow the swinging while allowing the subject to fall. Can be prevented.

As shown in FIGS. 3 and 4, the holding frame 20 is formed by a lower holding frame 21 and an upper holding frame 22, and the upper holding frame 22 is connected to the lower holding frame 21 via four columns 23. Is bound to. The holding frame 20 (lower frame 21) is connected to the fixed frame 10 via three load cells 30.
As shown in FIGS. 3 and 4, the lower frame 21 holds the drive sources 50 and 60, and the upper frame 22 holds the swing mechanism 70.

As shown in FIGS. 3 and 4, the three load cells 30 are interposed between the holding frame 20 (lower holding frame 21) and the fixed frame 20 (upper plate 21), and the holding frames 20 at the respective positions. The variation of the load received from the whole is measured, and it is provided corresponding to the position where the entire circumference of the swing plate 40 is divided into approximately three equal parts.
That is, by performing a predetermined calculation process based on the measurement values of the three load cells 30, it is possible to measure the center-of-gravity locus of the subject who has boarded the swing plate 40.

In this way, by adopting a measuring means for measuring the locus of the center of gravity of the subject who has boarded the swing plate 40, when the subject gets on the swing plate 40 and performs balance training, the subject By measuring the trajectory of the examiner's center of gravity, the level of balance sense development, strengthening, recovery, etc. can be confirmed, which can be used as an index for evaluating the effect of training.
Further, by adopting the load cell 30 as a measuring means, the structure can be simplified and the apparatus can be miniaturized. In particular, since the three load cells 30 are arranged corresponding to positions where the entire circumference of the oscillating plate 40 having a disc shape is divided into three equal parts, it is possible to measure with high accuracy while suppressing the number of components. it can.

  As shown in FIGS. 1 to 4, the rocking plate 40 is formed in a disk shape and is disposed at a position protruding by a predetermined height from the upper plate 11 of the fixed frame 10. Is covered with a bellows-like elastic boot 41 and is supported by a swing mechanism 70 described later so as to be swingable.

  As shown in FIGS. 3 to 6, the swing mechanism 70 includes a shaft member 71 coupled so as to hang down in the center of the swing plate 40, and a link member that supports the shaft member 71 so as to swing around the X axis. 72, and a support member 73 that supports the link member 72 (and the shaft member 71) so as to be swingable about the Y axis. That is, the link member 72 and the support member 73 constitute a universal joint that supports the shaft member 71 (and the swing plate 40) so as to be swingable about the X axis and the Y axis.

As shown in FIGS. 3, 5, and 6, the shaft member 71 supports (fixes) the swing plate 40 at the upper end portion thereof, and is connected to a first actuator 50 and a second actuator 60 described later at the lower end portion thereof. And connected to a universal joint (link member 72, support member 73) in a region between the upper end portion and the lower end portion.
That is, when the shaft member 71 is swung, a fulcrum (universal joint) is provided in the intermediate region, a force point (driving force of the two actuators 50 and 60) is provided at the lower end portion, and an action point (the swing plate 40 is provided) at the upper end portion. ) Is arranged, the rocking angle of the rocking plate is set to be somewhat wide, for example, in the range of −15 degrees to +15 degrees, while achieving downsizing, integration, and low center of gravity of the apparatus. be able to.

  The first actuator 50 generates a driving force that reciprocates in one direction (X-axis direction) in a substantially horizontal plane, and the second actuator 60 moves in the reciprocating direction (X-axis direction) of the first actuator 50. On the other hand, a driving force that reciprocates in the other direction (Y direction) in a substantially horizontal plane that is substantially orthogonal to the surface is generated.

  As shown in FIGS. 3, 4, and 5, the first actuator 50 includes a first motor 51 fixed to the lower holding frame 21, a first lead screw 52 directly connected to the first motor 51, and a shaft member 71. The first mover 53 is disposed on the opposite side of the first motor 51 with the first lead screw 52 screwed in between, the first link 54 for connecting the first mover 53 and the shaft member 71, and the like. ing.

That is, as shown in FIG. 7A, when the first motor 51 rotates in one direction and the first lead screw 52 rotates from the state where the swing plate 40 is horizontal, the state shown in FIG. Thus, the first mover 53 moves outward in the X-axis direction, the first link 54 moves outward following the movement of the first mover 53, and the (Y-axis is As the center), the link member 72 and the shaft member 71 are rotated counterclockwise by a predetermined angle, and the swing plate 40 is inclined downwardly to the left.
On the other hand, when the first motor 51 rotates in the other direction and the first lead screw 52 rotates, the first movable element 53 moves inward in the X-axis direction as shown in FIG. Following the movement of the mover 53, the first link 54 moves inward, and the link member 72 and the shaft member 71 are rotated clockwise by a predetermined angle with respect to the support member 73 (centering on the Y axis). The moving plate 40 is inclined downward to the right. That is, by appropriately controlling the rotation direction of the first motor 51, the swing plate 40 can be swung around the Y axis.

  As shown in FIGS. 4 and 6, the second actuator 60 includes a second motor 61 fixed to the lower frame 21, a second lead screw 62 directly connected to the second motor 61, and a shaft member 71. The second mover 63 is disposed on the opposite side of the two motors 61 and screwed into the second lead screw 62, and the second link 64 for connecting the second mover 63 and the shaft member 71 is provided.

That is, as shown in FIG. 8A, when the second motor 61 rotates in one direction and the second lead screw 62 rotates from the state where the swing plate 40 is horizontal, the state shown in FIG. As described above, the second mover 63 moves outward in the Y-axis direction, and the second link 64 moves outward following the movement of the second mover 63 to move the X-axis relative to the link member 72. As a center), the shaft member 71 rotates counterclockwise by a predetermined angle, and the swinging plate 40 tilts downward to the left.
On the other hand, when the second motor 61 rotates in the other direction and the second lead screw 62 rotates, the second mover 63 moves inward in the Y-axis direction as shown in FIG. Following the movement of the mover 63, the second link 64 moves inward, the shaft member 71 rotates clockwise by a predetermined angle with respect to the link member 72 (about the X axis), and the swing plate 40 Inclined to the right. That is, by appropriately controlling the rotation direction of the second motor 61, the swing plate 40 can be swung around the X axis.

According to the above configuration, the structure is simplified by adopting the swing mechanism 70 including the two actuators 50 and 60, the shaft member 71 coupled to the swing plate 40, the universal joints 72 and 73, and the like as the drive mechanism. The swing plate 40 can be swung smoothly and continuously in the entire circumferential direction by appropriately controlling the driving of the two actuators 50 and 60 while achieving reduction in size and size of the apparatus.
Further, in the substantially horizontal plane, the first actuator 50 and the second actuator 60 are arranged in a substantially diametric direction centered on the shaft member 71 (the swing plate 40) and are arranged so as to be orthogonal to each other. Each part can be gathered centering on the shaft member 71, and the apparatus can be further miniaturized.

As shown in FIGS. 1 and 2, the control unit 80 is fixed to the connection frame 14 and is arranged so that a subject who has boarded the swinging plate 40 can easily operate and visually check the control unit 80.
As shown in FIGS. 1, 2, and 9, the control unit 80 includes a display panel 81 as a display unit that displays various information, an operation panel 82 that inputs various operations and programs, and the like. An external connection portion 83 and the like are provided.

  Further, as shown in FIG. 9, the control unit 80 as the control means includes a control circuit 84 that performs various controls, a load input circuit 85 that inputs a load signal of the load cell 30, and an output of the load input circuit 85. A data processing circuit 86 as arithmetic / comparison means for performing various calculations and comparisons based on the signal, a storage circuit 87 as storage means for storing various data such as information on the locus of gravity of the subject, A drive circuit 88 that emits a signal for driving the motor 51 and the second motor 61, a transmission / reception circuit 89 that performs transmission / reception when connected to an external terminal 100 or the like via a connection unit 83, and a joystick as an external operation unit A command signal processing circuit 90 for processing the command signal when 200 is connected is provided.

Here, the display panel 81 displays various kinds of information, for example, information on the gravity center locus of the subject obtained through the load cell 30, the load input circuit 85, and the data processing circuit 86, for example, Information on the deviation of the center of gravity locus from the swing center of the swing plate 40 is displayed.
Therefore, by confirming the information on the center of gravity locus displayed on the display panel 81, the level of the sense of balance of the subject can be visually recognized or determined.

The operation panel 82 is used for causing the subject to display various information or inputting a command signal, for example, for automatically driving and controlling the drive mechanism (the first actuator 50 and the second actuator 60). The program can be set (input) arbitrarily. Therefore, it is suitable for the subject by appropriately setting a program for driving and controlling the rocking plate 40 according to the state of the physical ability of the subject (for example, the development level or recovery level of balance sensation). Passive exercise can be performed.
Furthermore, if the buttons on the operation panel 82 are different in size, shape, color, etc., it is possible to prevent erroneous operations, input errors, etc. when setting (inputting) a program. (Setting, input) becomes possible.

  The command signal processing circuit 90 is for directly controlling the swing operation of the swing plate 40 via a joystick 200 as an operation unit. Therefore, a person other than the subject (for example, a training monitor or the like) is suitable for the subject by manipulating the joystick 200 while confirming the state of the subject who has boarded the rocking plate 40. Training can be performed.

  The data processing circuit 86 processes (calculates / compares) information on the subject's center of gravity locus measured through the load cell 30 and the load input circuit 85 as measuring means. The deviation of the center-of-gravity locus from the center of swing is calculated, and this deviation is stored in the other data information stored in the storage circuit 87 (the previous data information of the same subject or a plurality of different subjects). Data information) and the comparison information is output.

The storage circuit 87 is information on the subject's center of gravity locus measured by the measuring means 30, or information on the center of gravity locus of a plurality of subjects measured by the measuring means 30, and information on other subjects (age) , Sex, etc.), and program information for performing drive control can be stored.
The drive circuit 88 controls the first motor 51 and the second motor 61 by an output signal from the control circuit 84 based on an input program or a command signal issued via the joystick 200 and the command signal processing circuit 90. The rotation is appropriately controlled.

  The transmission / reception circuit 89 transmits / receives information to / from an external terminal 100 connected via the connection unit 83. Therefore, when the external terminal 100 is, for example, a central computer such as a nursing care facility, it is possible to collect or compare or determine information related to the sense of balance of the subject in one place.

  According to the above configuration, the information on the measured subject's center of gravity locus is compared with the information on the same subject's center of gravity locus stored in the storage circuit 87, and the comparison information is displayed on the display panel 81. It is like that. Therefore, when the same subject repeatedly performs balance training using this apparatus, the display panel displays comparison information between the previously stored information on the center of gravity locus and the information on the newly measured center of gravity locus. 81, and the degree of development, development, and recovery of the subject's sense of balance can be easily confirmed or judged.

  In addition, according to the above configuration, the information on the newly measured subject's center of gravity locus is compared with the information on the plurality of subjects' center of gravity locus stored in the storage circuit 87, and a plurality of information is obtained based on the comparison information. The order of the subject is displayed on the display panel 81. Therefore, when a plurality of subjects perform balance training using this device, they can easily confirm or compete with the level of balance feeling of the plurality of subjects, as an amusement machine such as an amusement facility. Can also be applied.

In the above embodiment, the two actuators 50 and 60 are shown as the drive source that forms part of the drive mechanism. However, the present invention is not limited to this, and three or more actuators may be employed. The actuator is not limited to the motor and the lead screw, and any other configuration can be adopted as long as it generates a driving force that reciprocates in a substantially horizontal plane.
In the above configuration, universal joints (shaft member 71, link member 72, support member 73) are employed as the swing mechanism that forms part of the drive mechanism, but the swing plate 40 is swung in different directions. Other configurations can be employed as long as they are obtained.

  As described above, the balance training device of the present invention is smooth in all directions while achieving downsizing, prevention and stabilization of falling by lowering the center of gravity, improvement of getting on and off when people get on and off, etc. Continuous swinging motion is possible, the muscular strength and sensation necessary for human balance can be efficiently trained, the sense of balance can be evaluated numerically, and the sense of balance between people can be further improved. Since it can also be used as a competing gaming machine, it is useful as a device that enhances the sense of balance, as a device that restores the sense of balance of the elderly or the like in a nursing facility, and as a game machine in an amusement facility or the like.

It is a side view which shows one Embodiment of the balance training apparatus which concerns on this invention. It is a front view showing one embodiment of the balance training device concerning the present invention. It is a fragmentary sectional view showing one embodiment of the balance training device concerning the present invention. It is a partial top view which shows one Embodiment of the balance training apparatus which concerns on this invention. It is a partial side view showing one embodiment of the balance training device concerning the present invention. It is a partial side view showing one embodiment of the balance training device concerning the present invention. (A), (b), (c) is an operation | movement diagram for demonstrating operation | movement of the balance training apparatus which concerns on this invention. (A), (b), (c) is an operation | movement diagram for demonstrating operation | movement of the balance training apparatus which concerns on this invention. It is a block diagram which shows the control system of the balance training apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Fixed frame 11 Upper board 12 Outer wall 13 Vertical frame 14 Connection frame 15 Handrail frame 20 Holding frame 21 Lower holding frame 22 Upper holding frame 23 Post 30 Load cell (measuring means)
40 Oscillating plate 41 Telescopic boot 50 First actuator (drive source)
51 1st motor 52 1st lead screw 53 1st needle | mover 54 1st link 60 2nd actuator (drive source)
61 Second motor 62 Second lead screw 63 Second mover 64 Second link 70 Swing mechanism 71 Shaft member 72 Link member (universal joint)
73 Support member (universal joint)
80 Control unit (control means)
81 Display panel (display means)
82 Operation panel 83 Connection 84 Control circuit 85 Load input circuit 86 Data processing circuit (comparison means)
87 Memory circuit (memory means)
88 Drive circuit 89 Transmission / reception circuit 90 Command signal processing circuit 200 Joystick (operation unit)

Claims (14)

A balance including a swing plate on which a subject can board, a drive mechanism that supports and swings the swing plate, a frame that holds the drive mechanism, and a control unit that controls the drive mechanism. A training device,
The drive mechanism includes a drive source that generates a drive force in a plurality of different directions in a substantially horizontal plane, and a swing mechanism that swings the swing plate in a plurality of different directions in conjunction with the drive source. ,
A balance training device characterized by that. The drive source includes a first actuator that reciprocates in one direction in a substantially horizontal plane, and a second actuator that reciprocates in another direction in a substantially horizontal plane that is substantially orthogonal to the reciprocating direction of the first actuator. Including
The swing mechanism is connected to the first actuator and the second actuator, and is coupled to the swing plate by hanging down substantially at the center, and the shaft member is moved in the reciprocating direction of the first actuator. A universal joint that swingably supports the reciprocating direction of the second actuator.
A balance training device characterized by that. The shaft member supports the swing plate at an upper end portion thereof, is connected to the first actuator and the second actuator at a lower end portion thereof, and is connected to the universal joint in a region between the upper end portion and the lower end portion. Being
The balance training apparatus according to claim 2. The first actuator is disposed on the opposite side of the first motor with the shaft member interposed between the first motor fixed to the frame, the first lead screw directly connected to the first motor, and the first motor. A first mover screwed into a first lead screw; and a first link connecting the first mover and the shaft member;
The second actuator is disposed on the opposite side of the second motor with the second motor fixed to the frame, the second lead screw directly connected to the second motor, and the shaft member interposed therebetween, and A second mover threadedly engaged with a second lead screw, and a second link connecting the second mover and the shaft member;
The balance training apparatus according to claim 2 or 3, wherein Having a measuring means for measuring the locus of gravity of the subject on the swing plate;
The balance training apparatus according to any one of claims 1 to 3, wherein The swing plate is formed in a disc shape,
The frame includes a holding frame that directly holds the drive mechanism, and a fixed frame that is formed separately from the holding frame and is fixed at a predetermined position,
The measuring means includes three load cells that are interposed between the holding frame and the fixed frame and are provided corresponding to positions that divide the entire circumference of the swing plate into approximately three equal parts,
The balance training apparatus according to claim 5. The fixed frame includes a vertical frame formed to extend above the swinging plate so as to be able to hook a hanging strap that suspends a subject who has boarded the swinging plate with a predetermined slack.
The balance training apparatus according to claim 1, wherein the balance training apparatus is a balance training apparatus. The control means can arbitrarily set a program for automatically controlling the drive mechanism.
The balance training apparatus according to claim 1, wherein the balance training apparatus is a balance training apparatus. The control means is connected to an operation unit for directly controlling the drive mechanism according to a command.
The balance training apparatus according to claim 1, wherein the balance training apparatus is a balance training apparatus. Display means for displaying information on the locus of gravity of the subject measured by the measuring means;
The balance training apparatus according to claim 5. The display means displays information on a deviation from the swing center of the subject's center of gravity trajectory measured by the measuring means;
The balance training apparatus according to claim 10. Storage means for storing information on the locus of gravity of the subject measured by the measurement means;
Comparing means for comparing information about the center of gravity locus of the subject measured by the measuring means and information about the center of gravity locus of the same subject stored in the storage means,
The display means displays comparison information obtained by the comparison means;
The balance training apparatus according to claim 10 or 11, characterized in that Storage means for storing information on the trajectories of the plurality of subjects measured by the measuring means;
Comparing means for comparing information on the center-of-gravity trajectories of a plurality of subjects stored in the storage means,
The display means displays a plurality of subjects based on the comparison information obtained by the comparison means;
The balance training apparatus according to claim 10 or 11, characterized in that The control means is provided with a connection part for transmitting and receiving information to and from the outside.
The balance training device according to claim 5, wherein the balance training device is a balance training device.

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