JP7209282B2 - exercise training device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an exercise training apparatus, and more particularly, to an exercise training apparatus capable of supporting a user's planar exercise.

BACKGROUND ART Conventionally, various exercise trainings have been performed in order to improve motor function. For example, wiping training in which the shoulders and elbows are bent and stretched like wiping a desk, and sanding training in which hands are slid up and down on an inclined board are widely performed. Various exercise training devices have been proposed to support these exercise trainings.

For example, in Patent Document 1, an operating (handle) portion is provided at the intersection of a two-axis translation mechanism composed of two cross-shaped guide members, and a forward and reverse drive motor provided in the guide member Disclosed is a limb function recovery training support device configured to be movable in the front, rear, left, right, and up and down directions by a linear drive device having a. In this device, a force sensor detects the motion force of the upper limb of the user who operates the operation section, a computer calculates a motor command value for generating a virtual force, and the force is applied to the operation section by the driving force of the motor. generate. For this reason, the user can obtain a haptic sensation of moving the operation unit on ice or sand, for example.

As a technology related to the present invention, Non-Patent Document 1 discloses that in a linear motion mechanism capable of reciprocating motion, a force sensor detects a force in a direction parallel to the axis, and provides reference data to motor control to operate the actuator. Techniques have been disclosed for interlocking with the movement of the user manipulating the unit (and it is generally known to feed back force information detected by a sensor to motor control). Since the detection direction of the force sensor and the moving direction of the operating portion driven by the motor are parallel, the input information and the output information can be processed as the same vector.

JP-A-2000-271180

D. Suzuki, Y. Noda, "Operational Assistance System while Considering Operators Ability on Manual Guided Transfer System with Vibrational Elements", Proceedings of 2015 IEEE Multi-Conference on Systems and Control, pp.495-500, 2015

By the way, in the apparatus disclosed in Patent Document 1, the movement of the operating portion by the motor is controlled only by detection from the force sensor parallel to the axis. Since the drive force of the motor applies force to the operation part and the force can be set freely, the smaller the set force is, the more the operation part slips when the force is applied in the pushing direction. This phenomenon is similar to, for example, when standing on ice, you can stay still as long as your weight is pushing straight against the ice, but your feet slide vigorously in that direction the moment you lean even slightly. ing. If such a phenomenon occurs, there is a risk that an unexpected load will be applied to the user during exercise training.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an exercise training apparatus that can safely support a user's planar exercise.

In order to solve the above problems, an exercise training apparatus according to the present invention has an operating section movable in the XY plane, an X-axis direction driving motor and a Y-axis direction driving motor, and drives the operating section in the XY plane. a drive unit ; force sensors for detecting X-axis direction force , Y-axis direction force , and Z-axis direction force (Fx, Fy, Fz) acting on the operation unit; a control unit that controls the X-axis direction driving motor and the Y-axis direction driving motor based on the axial force , the Y-axis direction force, and the Z -axis direction force, wherein the control unit controls the It is determined whether or not the magnitude of the force Fz in the Z-axis direction detected by the force sensor in the direction in which the user pushes the operation unit exceeds a preset first threshold. is determined to limit the drive amount of the X-axis direction driving motor and the Y-axis direction driving motor.

In this case, when the control unit determines that the speed exceeds the first threshold, the drive amount becomes smaller than the drive amount corresponding to the speed to be generated in the operating unit calculated when determining that the speed is equal to or less than the first threshold. The X-axis and Y-axis drive motors may be controlled as follows. Further, when determining that the first threshold is exceeded, the control unit maintains the driving amount corresponding to the speed to be generated in the operation unit, which was calculated when determining whether the first threshold was exceeded last time. The X-axis and Y-axis drive motors may be controlled as follows.

Further, the control unit calculates the speed to be generated by the operation unit using a relational expression that defines the relationship between the force in the X-axis, Y-axis, and Z-axis directions detected by the force sensor and the speed to be generated by the operation unit. Then, the X-axis and Y-axis direction drive motors may be controlled so as to achieve the speeds calculated by the operation unit. At this time, the control unit may calculate the velocities in the X-axis and Y-axis directions to be generated by the operation unit by decomposing the velocities calculated by the relational expressions into the velocities in the X-axis and Y-axis directions.

Further, m is the virtual mass of the operation part, c is the viscosity coefficient, v _v is the velocity to be generated in the operation part, v _vst is the velocity of the operation part, and how much the force Fz in the Z-axis direction detected by the force sensor is reflected. When _kF is the weighting factor that determines whether the control unit determines whether the speed exceeds the first threshold value, the control unit calculates the speed v _v to be generated by the operation unit using the upper part of the following equation (1). However, when it is determined that the velocity is equal to or less than the first threshold, the lower part of the following equation (1) may be used to calculate the _velocity vv to be generated by the operation unit.

In addition, m is the virtual mass of the operation part, c is the viscosity coefficient, v _v is the velocity to be generated in the operation part, v _vst is the velocity of the operation part, and how much the force Fz in the Z-axis direction detected by the force sensor is reflected. The control unit determines that the first threshold is exceeded when k _F is the weighting coefficient that determines whether the acceleration of the operation unit is to be reflected, α is the acceleration of the operation unit, and k _α is the weighting coefficient that determines how much the acceleration α is reflected. is determined whether the acceleration α is positive or not, and when it is determined to be positive, the velocity v _v to be generated in the operation unit is calculated using the upper part of the following equation (2), and when it is determined to be negative or 0 Assuming that the product of the acceleration α and the weighting factor k _α is 1, the upper part of the following formula (2) is used to calculate the velocity v _v to be generated in the operation unit. ) may be used to calculate the _velocity vv to be generated by the operation unit.

According to the present invention, the control unit limits the driving amount of the X-axis and Y-axis direction driving motors according to the magnitude of the Z-axis direction force Fz detected by the force sensor, and predicts the user during exercise training. Since the application of an external load is prevented, it is possible to obtain the effect of being able to safely support the planar movement of the user.

1 is an external perspective view of an exercise training device of an embodiment to which the present invention is applicable; FIG. It is a perspective view of the device main body of the exercise training device of the embodiment. FIG. 3 is a cross-sectional view of the device main body taken along line III-III in FIG. 2; FIG. 3 is a cross-sectional view of the device main body taken along line IV-IV of FIG. 2; Fig. 2 is an exploded perspective view of an actuator mechanism of the exercise training device; FIG. 4 is a partially enlarged view of the Y-axis direction actuator in FIG. 3; FIG. 5 is a partially enlarged view of the X-axis direction actuator in FIG. 4; FIG. 4 is a plan view of the actuator mechanism showing the movable range of the operation section; FIG. 4 is a plan view of the actuator mechanism when the operating section is positioned at the home position; FIG. 10 is an explanatory diagram showing the relationship between the force sense presentation area, the safety countermeasure area, and the control mode of the drive motor of the actuator mechanism; It is a block diagram of the control part of an exercise training apparatus. FIG. 4 is an explanatory diagram of admittance control executed by a control unit; FIG. 4 is an explanatory diagram of drive motor control performed by a control unit; 4 is a flow chart of a trajectory setting routine executed by a CPU of an MCU of a control unit; 4 is a flow chart of a load detection routine executed by a CPU of an MCU of a control unit; 4 is a flowchart of an exercise training routine executed by a CPU of an MCU of a control unit; It is a flow chart of the drive command processing subroutine showing the details of step 322 of the exercise training routine. FIG. 11 is a flow chart of a drive command processing subroutine showing details of step 336 of the exercise training routine; FIG. FIG. 4 is a schematic diagram of trajectory-load information displayed on a display device in a load detection routine; FIG. 4 is a schematic diagram of exercise training trajectory-load information displayed on a display device in an exercise training routine. FIG. 10 is a schematic diagram of a load fluctuation radar chart displayed at the bottom of the screen of the display device in the exercise training routine of the exercise training device of another embodiment to which the present invention is applicable.

An exercise training apparatus according to an embodiment to which the present invention can be applied will be described below with reference to the drawings. The exercise training apparatus of the present embodiment is placed on a substantially horizontal mounting surface, and is used, for example, in exercise training for the purpose of improving the motor function of the upper limbs of a user (exercise trainee) (see FIG. 1). reference).

1. Configuration 1.1. Mechanism 1.1.1. Outline of Mechanism The exercise training device 1 has an operation unit 3 (see FIG. 1) movable on the XY plane, an X-axis direction drive motor 38 and a Y-axis direction drive motor 30, and drives the operation unit 3 on the XY plane. and a force sensor 51 (see FIG. 5) for detecting forces acting on the operating portion 3 in the X-axis and Y-axis directions. The X-axis and Y-axis drive motors 38, 30 are integrated with encoders 38a, 30a (see FIG. 5) for detecting the position of the operation unit 3 on the XY plane. These members except for the operation part 3 are housed in the housing 5, and the operation part 3 (handle member 49, see FIG. 5) protrudes upward from the housing 5 (see FIG. 1).

1.1.2. Details of mechanism (1) Housing 5
As shown in FIGS. 1 and 2, the housing 5 is composed of a generally box-shaped casing 6 with an open top and an outer frame 11 shaped like a rectangular frame. In FIG. 1, a user (exercise trainee) U is positioned in front of the exercise training device 1, and for example, in order to perform wiping training, the right arm AR is extended forward and the operation unit 3 is operated with the right hand HR. It shows a state where 2 shows the device main body 2 with the cover 4 removed from the exercise training device 1 shown in FIG. ) side.

A) Casing 6
The casing 6 includes a front frame 6a, a rear frame 6b (see FIG. 1), a right frame 6c (see FIG. 2), and a left frame 6d (see FIG. 1), each of which has its upper and lower ends bent into a substantially U-shape. A bottom frame 6e (see FIG. 2) arranged on the bottom side of the frames 6a to 6d.

The casing 6 is reinforced with a plurality of reinforcing members. That is, as shown in FIGS. 2 to 4, in the casing 6, three front and rear reinforcing members 13a to 13c extending in the front and rear direction are arranged in parallel and spaced apart in the left and right direction. are fixed to the lower ends of the inner walls of the casing 6 (the front frame 6a and the rear frame 6b). Two left and right reinforcement members 14a and 14b extending in the left and right direction in the casing 6 perpendicular to the front and rear reinforcement members 13a to 13c are arranged in parallel with each other in the front and rear direction. They are fixed to the inner walls (right frame 6c, left frame 6d) of the casing 6, respectively.

The left and right reinforcing members 14a and 14b are arranged on the front and rear reinforcing members 13a to 13c and are integrated by screw fastening. A plurality of legs 15 for mounting the exercise training device 1 on the mounting surface are projected from the bottom surface of the casing 6 and the center portion of the bottom surface of the outer frame 11 corresponding to the positions of the front and rear reinforcing members 13a to 13c. It is

B) outer frame 11
As shown in FIG. 2, the outer frame 11 is reinforced with reinforcing plates arranged diagonally. The upper surface of the outer frame 11 is provided with three status display lamps for displaying the status of the exercise training device 1 and three manual operation buttons. The three status display lamps are a green LED 9a that lights up when the exercise training device 1 is in operation, a white LED 9b that lights up when the operation unit 3 is moving to the home position, and a white LED 9b that lights up when the exercise training device 1 is stopped after power is turned on. It is composed of a red LED 9c that lights up. On the other hand, the three manual operation buttons are an emergency stop button 10a for urgently stopping the operation of the operation unit 3, a temporary stop button 10b for temporarily stopping the operation of the operation unit 3, and the operation unit 3. It is composed of an initial button 10c for positioning at the home position.

The outer frame 11 is fixed to the right frame 6c of the casing 6 by screw fastening at a plurality of locations, and the outer frame 11 and the casing 6 are formed with communication windows for wiring. Further, as shown in FIGS. 1 and 2, substantially horizontal bar-shaped handles 12 for carrying the exercise training device 1 are attached to the outer surfaces of the left frame 6d and the outer frame 11 that constitute the casing 6. .

(2) Cover 4
As shown in FIG. 1 , the upper opening of the casing 6 is substantially entirely covered with the cover 4 , and the operation section 3 is arranged so as to protrude from the upper surface of the cover 4 . The cover 4 is composed of a left cover 4a, a right cover 4b, a front cover 4c and a rear cover 4d. The covers 4a to 4d are arranged in front, back, left and right directions of the operation unit 3, respectively, and are made of a sheet-like member with a bellows structure that can expand and contract according to the movement of the operation unit 3. As shown in FIG.

As shown in Figs. 2 and 4, the front and rear inner walls (front frame 6a, rear frame 6b) of the casing 6 are provided with a fixed thickness over substantially the entire length in the left-right direction at a height slightly lower than the upper end thereof. Width step surfaces 16a and 16b are formed facing inward. In addition, the front and back inner walls of the casing 6 are formed with bent plate portions 17a and 17b having a constant width over substantially the entire length in the left-right direction by bending the upper end portions inward at right angles, respectively. A gap is defined between the surfaces 16a and 16b. The left and right side portions of the left cover 4a and the right cover 4b are inserted into these gaps over substantially the entire length in the front-rear direction, and when the operation unit 3 moves in the left-right direction (X-axis direction), the movement It serves as a guide for expanding and contracting the left cover 4a and the right cover 4b having a bellows structure. A similar structure is adopted for the front cover 4c and the rear cover 4d, but this point will be described later.

(3) Actuator mechanism 20
As shown in FIG. 5, the actuator mechanism 20 includes a Y-axis direction actuator 21 that drives the operating portion 3 in the Y-axis direction (front-back direction) and an X-axis direction actuator 22 that drives the X-axis direction (left-right direction). It is configured. That is, the actuator mechanism 20 is a two-axis linear actuator. As shown in FIG. 2, the actuator mechanism 20 is provided with an X-axis direction actuator 22 and a Y-axis direction actuator 21 in this order on the front and rear reinforcing members 13a to 13c and the left and right reinforcing members 14a and 14b.

A) Y-axis direction actuator 21
As shown in FIGS. 2 and 5 , the Y-axis direction actuator 21 includes a guide portion 23 for linearly guiding the operation portion 3 in the Y-axis direction, and a Y-direction actuator for driving the operation portion 3 along the guide portion 23 . and an axial drive 24 . The Y-axis direction drive portion 24 is provided integrally with the guide portion 23 at one end portion (the end portion on the rear side as shown in FIGS. 2 and 4) of the guide portion 23 .

As shown in FIG. 5, the guide portion 23 is composed of a rectangular channel-shaped guide frame 25 open upward, a rod-shaped feed screw 26 extending longitudinally inside the guide frame 25, and a slider block 27. ing. The upper surfaces of both longitudinal sides of the guide frame 25 function as slider rails for guiding the slider blocks 27 in the longitudinal direction. The slider block 27 has a nut portion that engages with the thread groove of the feed screw 26 via balls made up of a plurality of steel balls, and is combined with the feed screw to form a ball screw structure.

As shown in FIGS. 4 and 5, the Y-axis direction driving section 24 is interposed between a Y-axis direction driving motor 30 that can rotate forward and backward, the motor shaft of the Y-axis direction driving motor 30, and the feed screw 26. and a reduction gear unit 31. A rotary encoder 30a is attached to the motor shaft of the Y-axis direction drive motor 30 to detect the direction and amount of rotation. In this embodiment, a DC servomotor is used for the Y-axis direction drive motor 30 .

The reduction gear unit 31 is composed of a gear train that reduces the rotation speed of the Y-axis drive motor 30 and transmits it to the feed screw 26 . The reduction gear ratio of the reduction gear unit 31 is set so as to generate torque sufficient to transmit the driving force of the Y-axis direction drive motor 30 to the upper limbs of the user U via the operation unit 3 . The reduction gear ratio of the reduction gear unit 31 is preferably set relatively high so that it will not easily rotate due to a reverse input from the feed screw 26 when the driving of the Y-axis direction drive motor 30 is stopped. This also applies to the reduction gear ratio of a reduction gear unit 39 (constituting the X-axis actuator 22), which will be described later.

As shown in FIG. 5 , the Y-axis direction actuator 21 is mounted on the X-axis direction actuator 22 via a connecting member 53 . The connecting member 53 is a rectangular plate-like member, is coupled to the lower surface of the guide frame 25 , and integrally fixes the guide portion 23 onto the slider block 37 of the X-axis direction actuator 22 . The Y-axis direction actuator 21 travels along the longitudinal direction right above the guide frame 35 that constitutes the X-axis direction actuator 22 when the operating portion 3 is moved in the X-axis direction.

B) X-axis actuator 22
As shown in FIGS. 2 and 5, the X-axis actuator 22 is constructed in principle in the same manner as the Y-axis actuator 21 described above. That is, the X-axis direction actuator 22 includes a guide portion 33 for linearly guiding the Y-axis direction actuator 21 in the X-axis direction, and an X-axis direction driving portion for driving the Y-axis direction actuator 21 along the guide portion 33. 34. The X-axis direction driving portion 34 is provided integrally with the guide portion 33 at one end portion (the right end portion in FIGS. 2 and 3) of the guide portion 33 .

As shown in FIG. 5, the guide portion 33 is composed of a rectangular channel-shaped guide frame 35 open upward, a rod-shaped feed screw 36 extending longitudinally inside the guide frame 35, and a slider block 37. ing. The upper surfaces of both sides of the guide frame 35 along the longitudinal direction function as slider rails for guiding the slider block 37 in the longitudinal direction. The slider block 37 has a nut portion that engages with the thread groove of the feed screw 36 via balls made up of a plurality of steel balls, and is combined with the feed screw 36 to form a ball screw structure.

As shown in FIGS. 3 and 5, the X-axis direction driving section 34 is interposed between an X-axis direction driving motor 38 that can rotate forward and backward, the motor shaft of the X-axis direction driving motor 38 , and the feed screw 36 . and a reduction gear unit 39. A rotary encoder 38a is attached to the motor shaft of the X-axis direction drive motor 38 to detect the direction and amount of rotation. In this embodiment, a DC servomotor is used for the X-axis direction drive motor 38 .

The reduction gear unit 39 is composed of a gear train that reduces the speed of the rotation of the X-axis direction drive motor 38 and transmits it to the feed screw 36 . The reduction gear ratio of the reduction gear unit 39 is set so as to generate torque sufficient to transmit the driving force of the X-axis direction drive motor 38 to the upper limbs of the user U via the Y-axis direction actuator 21 and the operation unit 3. is set to

(4) Movable frame 41
As shown in FIGS. 2 to 4, the Y-axis direction actuator 21 is integrated with a movable frame 41 that extends over substantially the entire length inside the casing 6 in the Y-axis direction. As shown in FIG. 6, the movable frame 41 is composed of a pair of movable frame members 41a and 41b extending along the longitudinal direction of the guide portion 23 and having a substantially L-shaped cross section. The movable frame members 41 a and 41 b are screwed to both sides along the longitudinal direction of the guide frame 25 with the L-shaped inner sides facing the guide portion 23 . As a result, between the guide portion 23 and the movable frame members 41a and 41b, a horizontal plane with a constant width extending laterally from the side surface of the guide frame 25 and groove-shaped spaces Sa and Sb having rectangular cross sections are defined. be.

The upper ends of the movable frame members 41a and 41b fixed to the guide frame 25 are bent at right angles to the inside, that is, toward the guide frame 25 over the entire length in the longitudinal direction to form bent plate portions 43a and 43b having a constant narrow width. are doing. On the L-shaped vertical inner surfaces of the movable frame members 41a and 41b, projecting plate portions 44a and 44b having a constant narrow width extend perpendicularly from the inner surfaces toward the guide frame 25 at positions slightly lower than the upper ends thereof. is formed integrally over substantially the entire length except for both ends in the longitudinal direction. As a result, a gap is defined between the bent plate portions 43a and 43b and the protruding plate portions 44a and 44b over the entire length of the inside of the upper ends of the movable frame members 41a and 41b, excluding both ends in the longitudinal direction. be. The front and rear sides of the front cover 4c and the rear cover 4d are inserted into these gaps over substantially the entire length in the left-right direction, and when the operation unit 3 moves in the front-rear direction (rear direction of the Y axis), the movement It serves as a guide for expanding and contracting the front cover 4c and the rear cover 4d having a bellows structure.

As shown in FIGS. 2 and 4, both ends of the movable frame members 41a and 41b in the longitudinal direction are cut out below the projecting plate portions 44a and 44b, and the remainder of the cut is formed into a longitudinal projecting portion 45a. , 45b. When the actuator mechanism 20 is accommodated in the casing 6, the projecting portions 45a and 45b are formed by the bent plate portions 17a and 17b and the step surface 16a of the front and rear inner walls (the front frame 6a and the rear frame 6b) of the casing 6, respectively. , 16b with a margin.

(5) Operation unit 3
As shown in FIG. 5, the operating section 3 is attached above the actuator mechanism 20 . The operating portion 3 is composed of a relatively short vertical operating rod 48 and a handle member 49 provided at the upper end thereof. The handle member 49 is formed in a relatively thick disk shape so that the user U can hold it with one hand. In this embodiment, the handle member 49 is attached so as to be rotatable about the operation rod 48 so that it can be rotated by the hand held by the user U, but it may be fixed. . The operating rod 48 is integrated with a force sensor 51 that detects the force acting on the operating rod 48 (the force acting on the handle member 49) on the lower end side thereof.

As shown in FIGS. 5 and 6, the operating portion 3 is attached to a mounting plate 52. As shown in FIG. The mounting plate 52 is made of a rectangular plate member and has a dimension slightly smaller than the inner width of the movable frame 41 in the width direction perpendicular to the longitudinal direction of the movable frame 41 . Both side portions of the mounting plate 52 along the longitudinal direction of the movable frame 41 are cut off at right angles on the lower surface side, and the remaining portion of the cut is the height of the gap defined by the bent plate portions 43a, 43b and the projecting plate portions 44a, 44b. Side portions 54a and 54b having dimensions smaller than the width dimension are formed.

The side portions 54a and 54b of the mounting plate 52 are inserted into the gaps defined by the bent plate portions 43a and 43b and the protruded plate portions 44a and 44b with a margin, so that the guide portion 23 and the movable frame members 41a and 41b are separated. It is attached to the slider block 27 so as to traverse the groove-shaped spaces Sa and Sb defined therebetween.

(6) Force sensor 51
Various types of the force sensor 51 with different detection principles are known. In this embodiment, a commercially available 6-axis force sensor using a strain gauge is employed as the force sensor 51 . The strain gauge is attached to a strain body (not shown). A strain-generating body is a member that deforms upon receiving force and torque, and is an important member that affects the performance of the 6-axis force sensor.

In general, a 6-axis force sensor is a sensor that indicates the magnitude and direction of force and _torque (moment) by a three-dimensional space vector. and the torque T (Tx, Ty, Tz) acting around these three axes. Moreover, it is a useful sensor that can obtain contact information by calculation. A commercially available 6-axis force sensor usually has a fixed-side base and a detection part for receiving an external force to be detected.

In this embodiment, the X-axis and Y-axis of the 6-axis force sensor are arranged to match the X-axis direction and Y-axis direction of the actuator mechanism 20, respectively. Further, as shown in FIG. 5, the force sensor 51 has a substantially short cylindrical base and a detection part provided on the upper surface thereof. An operation rod 48 is vertically fixed to the center of the upper surface of the detection portion of the force sensor 51 . The base of the force sensor 51 is integrated with the slider block 27 of the Y-axis direction actuator 21 via the mounting plate 52 .

The force sensor 51 detects a force F0 that the operation rod 48 receives directly from the upper limb of the user U when the upper limb of the user U moves or is moved by the operation unit 3, and a torque T _acting around each axis. can be detected as (Fx, Fy, Fz, Tx, Ty, Tz). In the present embodiment, as will be described later, the force sensor 51 detects an X-axis direction force Fx, a Y-axis direction force Fy, and a Z-axis direction force Fz (strictly speaking, the force acting on the operation portion 3). It is used only for detection of (Fx, Fy, Fz), the vector component Fx in the X-axis direction, the vector component Fy in the Y-axis direction, and the vector component _Fz in the Z-axis direction of the force F0 acting on 3).

(7) Limit sensors 55a, 55b, 61a, 61b
As shown in FIG. 2, the exercise training device 1 has a pair of limit sensors 55a and 55b to limit the movable range of the operating section 3 in the Y-axis direction by the Y-axis direction actuator 21. As shown in FIG. The limit sensors 55a and 55b are arranged on the horizontal plane between the guide portion 23 and one (the right side in FIG. 2) movable frame member 41b inside the front and rear inner walls of the casing 6, respectively.

The limit sensors 55a and 55b employ a known structure in which arm levers are horizontally rotatably spring-biased. As shown in FIG. 6, the lower surface of the mounting plate 52 is provided with an operating block 56 for rotating the arm levers of the limit sensors 55a and 55b. When the operation unit 3 moves in the Y-axis direction and the operation block 56 rotates the arm lever, the limit sensors 55a and 55b are turned on.

In addition, as shown in FIG. 2, the exercise training apparatus 1 has a pair of limit sensors 61a and 61b for limiting the movable range of the Y-axis direction actuator 21 in the X-axis direction by the X-axis direction actuator 22. there is The limit sensors 61a and 61b are arranged inside the left and right inner walls of the casing 6 on the left and right reinforcing members 14a on the rear side, respectively.

The limit sensors 61a and 61b also have a known structure in which arm levers are spring-biased so as to be rotatable in the horizontal direction. As shown in FIG. 7, an operation block 62 for rotating the arm levers of the limit sensors 61a and 61b protrudes through a mounting plate 63 from the lower surface of one movable frame member 41a (the left side in FIG. 2). It is When the operation unit 3 moves in the X-axis direction together with the Y-axis direction actuator 21 and the operation block 62 rotates the arm lever, the limit sensors 61a and 61b are turned on.

FIG. 8 shows the movable range of the operating portion 3 in the actuator mechanism 20 in the X-axis and Y-axis directions. Also, FIG. 10 shows the relationship between the movable range of the operation unit 3 and the limit sensors 55a, 55b, 61a, 61b on the XY plane.

As shown in FIG. 10, the positions at which the operating block 56 contacts the arm levers of the limit sensors 55a and 55b and the positions at which the operating block 62 contacts the limit sensors 61a and 61b are hatched on the XY plane. It becomes the boundary line of the area where the The shaded area including the central portion on the XY plane where the operation unit 3 can move is an area in which the user U can perform exercise training. Since it is also an area in which the trajectory and load fluctuation of the operation unit 3 during or after exercise training of the person U can be displayed (presented), this area is hereinafter referred to as a haptic presentation area Af.

The arm levers of the limit sensors 55a, 55b, 61a, 61b are configured to be rotatable even after the operation blocks 56, 62 come into contact and the limit sensors 55a, 55b, 61a, 61b are turned on. , the rotation limit of the arm lever becomes the mechanical operation limit of the actuators 22 and 21 in the X-axis and Y-axis directions. The outer frame of FIG. 10 represents the position of this mechanical motion limit on the XY plane. Hereinafter, the area outside the haptic presentation area Af and within the outer frame in FIG. 10 will be referred to as a safety measure area As. In FIG. 10, broken lines indicate the positions where the limit sensors 55a, 55b, 61a, 61b are turned on in the safety measure area As.

Note that, in the present embodiment, the dimensions of the haptic presentation area Af are set to 500 [mm]×500 [mm]. Further, the distance D1 from the boundary line of the force sense presentation area Af to the position where the limit sensors 55a, 55b, 61a, and 61b shift to the ON state is 60 [mm] in both the X-axis and Y-axis directions. A distance D2 from the boundary line to the mechanical motion limits of the X-axis and Y-axis actuators 22 and 21 is set to 100 [mm] in both the X-axis and Y-axis directions.

(8) Home position sensors 57, 64
As shown in FIG. 2, the exercise training device 1 has a home position sensor 64 for setting the initial position of the operation section 3 in the X-axis direction. The home position sensor 64 is arranged on the left and right reinforcing members 14a on the back side of the casing 6, closer to the center than the limit sensor 61b. As shown in FIG. 7, on the lower surface of the movable frame member 41a, a plate-shaped sensor flag member 65 protruding vertically downward is provided so that the home position sensor 64 is thrown when the operation unit 3 is moved in the X-axis direction. It is attached to the mounting plate 63 so that it can pass through the gap between the light section and the light receiving section.

The exercise training device 1 also has a home position sensor 57 for setting the initial position of the operation unit 3 in the Y-axis direction, as shown in FIG. The home position sensor 57 is arranged on the horizontal plane between the movable frame member 41b and closer to the rear side than the limit sensor 55a. Similar to the sensor flag member 65 in the X-axis direction, the mounting plate 52 has a plate-shaped sensor flag member (not shown) projecting vertically downward. It is attached so that it can pass through the gap between the light projecting portion and the light receiving portion of the position sensor 57 .

The home position sensors 64 and 57 are transmissive integrated sensors having a light projecting part and a light receiving part that are opposed to each other with a small gap. and the ON state are used.

FIG. 9 shows a state in which the operating section 3 is positioned at the home position. As shown in FIG. 9, the home position of the operation unit 3 is set to the front side in the Y-axis direction and to the right side in the X-axis direction when the intersection center position of the X-axis and Y-axis direction actuators 22 and 21 is used as a reference. It is Therefore, when the user U is positioned in front of the exercise training device 1 as shown in FIG. 1, the user U can immediately touch the handle member 49 of the operation section 3 by extending the right hand HR forward.

(9) Electrical system Further, the exercise training apparatus 1 has a control unit 70 (see FIG. 11) for controlling the exercise training apparatus 1 in the casing 6, and the above-described mechanism unit and the control unit 70 are driven/driven by commercial AC power. and a power supply (not shown) that converts to DC power for operation.

1.2. Control unit 1.2.1. Outline of Control Unit As shown in FIG. 11, the control unit 70 includes a CPU that performs high-speed calculation, a ROM that stores a basic control program and program data, a RAM that serves as a work area for the CPU and temporarily stores various data, and a RAM that temporarily stores various data. It has an MCU 71 composed of an internal bus connecting them.

An internal bus of MCU 71 is connected to an external bus. The external bus includes a drive control unit 72 for controlling the driving of the X-axis and Y-axis direction drive motors 38 and 30, a signal processing unit 73 for processing signals from the sensors described above, and a non-volatile memory such as a large-capacity flash memory or hard disk. an input control unit 75 for controlling information input from an input device 79 such as a mouse or a keyboard; a display control unit 76 for controlling display (drawing) on a display device 80 such as a display; A lamp lighting circuit 77 for lighting 9c and a communication control unit 78 for controlling communication with an external device such as a notebook computer are connected via an interface (I/F) 81 .

1.2.2. Details of control section (1) Drive control section 72
The drive control unit 72 includes an X-axis direction motor driver that controls driving of the X-axis direction driving motor 38 and a Y-axis direction motor driver that controls driving of the Y-axis direction driving motor 30 . The X-axis and Y-axis motor drivers each have a control IC (not shown). Each control IC controls power supply to the X-axis or Y-axis direction drive motors 38 and 30 according to the current value (output current Ii, duty) commanded by the MCU 71 (see also FIG. 13(B)).

(2) Signal processing section 73
The signal processing unit 73 processes the signal output from the force sensor 51 with a signal processing IC (not shown) and outputs the processed signal to the MCU 71 . That is, the signal of the strain gauge provided in the 6-axis force sensor is converted into a voltage (change) signal by a bridge circuit, and after high-frequency noise is removed by a low-pass filter (LPF), a weak signal is amplified by an amplifier circuit such as an operational amplifier. amplifies the Next, the amplified signal is converted to a digital value by an A/D converter, and a signal processing IC performs distortion-load conversion matrix calculation to calculate the component forces of force and torque (Fx, Fy, Fz, Tx, Ty, Tz ) is calculated.

However, in this embodiment, since the MCU 71 uses only the X-axis direction force Fx, the Y-axis direction force Fy, and the Z-axis direction force Fz acting on the operation unit 3, the signal processing unit 73 calculates (Fx , Fy, Fz) to the MCU 71 . In this embodiment, since the sampling rate of the A/D converter described above is set to 10 [ms], the signal processing unit 73 outputs the values of (Fx, Fy, Fz) to the MCU 71 every 10 [ms]. output to

Further, the signal processing unit 73 outputs a count value obtained by counting the number of pulses output from the encoders 30a and 38a and a default value of the rotation direction (for example, 0 when the X-axis or Y-axis direction drive motors 38 and 30 rotate forward, 1) is output to the MCU 71 when .

The signal processing unit 73 also indicates whether the home position sensors 57 and 64 have turned on (whether the home position has been detected) and whether the limit sensors 55a, 55b, 61a and 61b have turned on. A default value (for example, a default value of 0 in the off state and a default value of 1 in the on state) is output to the MCU 71 .

Further, the signal processing unit 73 monitors whether or not the manual operation buttons 10a to 10c have been pressed (checks whether or not the output of each switching element that detects the pressing of the manual operation buttons 10a to 10c has become high level). reference), and a default value (for example, the default value is 0 in the OFF state and the default value is 1 in the ON state) to the MCU 71 . A protection resistor is inserted between the output side of each switching element and the input side of the signal processing IC to prevent damage to the signal processing IC.

In this embodiment, the values of (Fx, Fy, Fz) of the force sensor 51 are output to the MCU 71 every 10 [ms], so the above signal information is output to the MCU 71 in accordance with this cycle. In other words, the signal processing unit 73 can, for example: Direction default value, Home position sensor 57 state default value, Home position sensor 64 state default value, Limit sensor 55a state default value, Limit sensor 55b state default value, Limit sensor 61a state default value value, the default value of the state of the limit sensor 61b, the default value of the state of the emergency stop button 10a, the default value of the state of the pause button 10b, the default value of the state of the initial button 10c) in 10 [ms ] to the MCU 71 .

When the default values of the states of the emergency stop button 10a and the temporary stop button 10b indicate that the emergency stop button 10a and the temporary stop button 10b have been pressed, the MCU 71 controls the X axis and the Y axis through the drive control unit 72. Control is performed to stop the driving of the directional drive motors 38 and 30 . Also, when the emergency stop button 10a is pressed, the MCU 71 immediately terminates a trajectory setting routine, a load detection routine, and an exercise training routine, which will be described later.

Further, when the default value representing the state of the initial button 10c indicates that the initial button 10c has been pressed, the MCU 71 moves the operation unit 3 at a preset speed via the drive control unit 72 in order to position the operation unit 3 at the home position. The default value of the home position sensor 57 and the default value of the home position sensor 64, which are output from the signal processing unit 73 by driving the X-axis and Y-axis direction drive motors 38 and 30, are the default values indicating that they are located at the home position. , the driving of the X-axis and Y-axis direction drive motors 38 and 30 is individually stopped.

(3) Lamp lighting circuit 77
The lamp lighting circuit 77 is composed of three lighting circuits for lighting the green LED 9a, the white LED 9b, and the red LED 9c. Each lighting circuit has a switching element such as a MOSFET, and when the MCU 71 outputs a digital signal (high level signal) to the gate of the switching element according to the state of the exercise training device 1, the green LED 9a, The white LED 9b and the red LED 9c are individually lit. A protective resistor is inserted between the gate of each switching element and the MCU 71 to prevent the MCU 71 from being damaged.

(4) Others Known components can be used for the nonvolatile memory 74, the input control unit 75, the display control unit 76, and the communication control unit 78. FIG. In addition, the non-volatile memory 74 stores personal data of the user U and data related to exercise training such as exercise training history. In addition, since the processing cycle (10 [ms]) of the MCU 71 is different from the vertical blanking cycle of the display device 80, the display control unit 76 sets the processing cycle of 1/60 [s] (16.6 [s]) that matches the vertical blanking cycle. [ms]), it is determined whether or not a vertical blanking interrupt (Vsync) has occurred once in a cycle. is output to the display device 80.

2. Operation Next, the operation of the exercise training device 1 of this embodiment will be described.

2.1. Outline of Operation Control As shown in FIG. 12, in the active training mode described later, the MCU 71 controls the force Fx in the X-axis direction, the force Fy in the Y-axis direction, and the force Fy in the Y-axis direction and the Z-axis From the force Fz (Fx, Fy, Fz) in the direction, the velocity v _vx in the X-axis direction and the velocity v _vy in the Y-axis direction to be generated in the operation unit 3 via the virtual model IM are calculated. Output.

The virtual model IM is represented by the following formula (1).

Formula (1) The upper part shows the calculation formula of the _velocity vv to be generated in the operation part 3 when the viscous resistance is taken into account, and the lower part shows the calculation of the _velocity vv to be generated in the operation part 3 when the viscous resistance is not taken into account. Show the formula. m is the virtual mass [kg] of the operation unit 3, c is the viscosity coefficient [kg/s], and _vv is the speed [m /s], v _vst is the speed [m/s] of the operation unit 3 detected via the encoders 38a and 30a, and kF is how much the force Fz in the _Z -axis direction detected by the force sensor 51 is reflected. is a weighting factor that determines

The above formula (1) is obtained as follows. A force to be generated in the operation unit 3 is represented by an equation of motion as shown in the following equation (2). The upper part of Equation (2) represents an equation of motion on the XY plane with viscous resistance, and the lower part represents an equation of motion on the XY plane without viscous resistance. From the equation of motion shown in Equation (2), the _velocity vv to be generated by the operation unit 3 can be calculated by the following Equation (3). In equation (3), v _vst is the current speed of the operation unit 3 (the speed of the operation unit 3 ascertained via the encoders 38a and 30a), and the upper row is the speed when the XY plane having viscous resistance is simulated. Velocity v v to be generated by the operation unit 3 , and velocity _{v v} to be generated by the operation unit 3 on the XY plane having no viscous resistance.

In the upper part of the equation (3), by multiplying the virtual mass m by the force Fz in the Z-axis direction detected by the force sensor 51, the velocity to be generated in the operation unit 3 according to the magnitude of the force Fz in the Z-axis direction is calculated as follows: Variable. In other words, the greater the force Fz in the Z-axis direction, the slower the speed _vv to be generated in the operation unit 3, and the user U feels that the operation unit 3 has become heavy. Furthermore, a weighting factor kF is provided to determine how much the force Fz in the _Z -axis direction is reflected. The weighting factor _kF can be any value according to the degree of reflection. Thereby, the above-mentioned formula (1) can be obtained. The forces (Fx, Fy) in the X-axis and Y-axis directions detected by the force sensor 51 are components of the force to be generated in the operation unit 3 by the drive forces of the X-axis and Y-axis drive motors 38 and 30. detected.

As shown in FIG. 13, the speed (v _vx , v _vy ) to be generated in the operation unit 3 calculated using the virtual model IM is set as the command speed, and the actual speed (v _x , v _y ) follow the commanded velocity to realize a virtual motion environment.

Here, since DC servomotors are used for the X-axis and Y-axis direction drive motors 38 and 30, the control mode of the drive control unit 72 (motor driver) is set to PID control, so that the command speed is followed with high accuracy. be able to. However, it has been confirmed that when the training load is set small by reducing the virtual mass m, the operation unit 3 vibrates during operation due to the response delay due to the integral action of the PID control. Therefore, in the force sense presentation area Af, the control mode is PD control excluding the integral term for calculating the output (current value) proportional to the integral value of the deviation from PID control (or further proportional to the differential value of the deviation). By setting the proportional gain (Kp) high as P control excluding the differential term for calculating the output, although a steady-state error occurs, the responsiveness is improved and the vibration of the operation unit 3 that occurs during operation is suppressed. .

On the other hand, if the steady-state deviation with respect to the command speed (v _vx , v _vy ) is large, the positional accuracy of the operation unit 3 with respect to the mechanical operation limit (see FIG. 10) decreases. There is a possibility that the user U or the exercise training device 1 may be impacted by colliding with the physical operation limit. In this case, it is conceivable to provide a filter or the like in order to suppress the vibration of the operation unit 3, but the response delay similarly affects the positioning accuracy. In order to prevent such a shock, it is necessary to set a boundary line of the haptic presentation area Af of the operation unit 3 with a large margin with respect to the mechanical operation limit. Af becomes extremely narrow. Therefore, PID (or PI) control is performed in the area where the positional accuracy should be emphasized (safety measure area As described above).

2.2. Details of Operation Next, the operation of the exercise training apparatus 1 of the present embodiment will be described mainly by the CPU of the MCU 71 (hereinafter referred to as CPU).

When the user U performs exercise training with the exercise training device 1, (1) the user U grasps the operation unit 3, and the training instructor takes the hand of the user U from above, and A trajectory setting mode for setting the trajectory that the operation unit 3 traces by moving the operation unit 3 within an operation range corresponding to (2) only the user U grasps the operation unit 3 and is set in a trajectory setting mode. By following the trajectory, the position (trajectory) of the operation unit 3 by the user U and the load applied to the operation unit 3 at that time are detected in a load detection mode, and (3) an exercise training mode. . In the following description, it is assumed that the initial button 10c is pressed and the operation unit 3 is positioned at the home position before the CPU performs control in each mode.

(1) Trajectory Setting Mode The CPU executes a trajectory setting routine shown in FIG. 14 in the trajectory setting mode. In the trajectory setting routine, first, in step (hereinafter abbreviated as S) 102 , the X-axis and Y-axis drive motors 38 and 30 are excited via the drive control section 72 . Since the operation unit 3 is connected to the X-axis and Y-axis drive motors 38, 30 via the reduction gear units 39, 31, when the user U moves the operation unit 3 under the leadership of the training instructor, the user can A predetermined load is applied to U. It should be noted that the overall trajectory (reference trajectory) that the user U plans to follow under the leadership of the training instructor may be displayed in advance on the display device 80 prior to S102 or S104 described below.

Next, in S104, the signal information described above is taken in, and in S106, the position (Px, Py) of the operation unit 3 is calculated. That is, the CPU calculates the position Px of the operation unit 3 in the X-axis direction by adding the count value of the encoder 38a included in the signal information to the count integrated value one cycle (10 [ms]) before. , the position Py of the operation unit 3 in the Y-axis direction is calculated by adding the count value of the encoder 30a included in the signal information to the integrated count value of one cycle before. At that time, the default values of the rotation directions of the X-axis and Y-axis drive motors 38 and 30 included in the signal information are referred to determine whether to add or subtract the count value.

Next, in S108, it is determined whether or not the movement of the operation unit 3 has been completed. That is, it is determined whether or not the position (Px, Py) of the operation unit 3 is approximately the same value for a preset set time (for example, 1.5 [s]). After 10 [ms], the process returns to S104 to detect the position of the operation unit 3, and when the determination is affirmative, the process proceeds to S110. Therefore, the CPU calculates the position (Px, Py) of the operation unit 3 every 10 [ms].

In S110, data of the position (Px, Py) of the operation unit 3 calculated every 10 [ms] are stored in the nonvolatile memory ₇₄ as trajectory information I1 arranged in chronological order, and the trajectory setting routine ends. At this time, the CPU deletes the data of the position (Px, Py) of the operation unit 3 for the set time explained in S108 and saves it in the nonvolatile memory 74 .

(2) Load Detection Mode The CPU executes the load detection routine shown in FIG. 15 in the load detection mode. In the load setting routine, the trajectory information I1 stored in the non-volatile memory ₇₄ is read out in S202, and the operation unit 3 is set in the movement trajectory setting mode so that the operation unit ₃ is at the position of the trajectory information I1 in the next S204. The X-axis and Y-axis direction drive motors 38 and 30 are driven via the drive control unit 72 so as to reproduce the trajectory obtained. That is, a command obtained by dividing the distances in the X-axis direction and the Y-axis direction between the current position of the object to be processed in the trajectory information I1 and the _next position in the trajectory information I1 by the moving time ₁₀ [ms] between them. The speed is output to the drive control section 72 .

Next, in S206, the signal information is fetched, and in S208, the count values of the encoders 38a and 30a included in the signal information are integrated to calculate the position (Px, Py) of the operation unit 3. FIG. Next, in S210, a combined force _F0 is calculated by synthesizing the X-axis and Y-axis forces (Fx, Fy) acting on the operation unit 3, which are included in the signal information. In the next S212, the position (Px, Py) of the operation unit 3 calculated in S208 and the resultant force F ₀ (load) calculated in S210 are output to the display control unit 76, and the position and the position of the operation unit 3 are displayed on the display device 80. Display the load. At this time, the display control unit 76 generates image information by adding the current (most recent) drawing information to the image information of one cycle before, and performs parallel movement processing based on a predetermined origin position on the image display. .

Next, in S214, it is determined whether or not the operation unit 3 has been moved to the _last position of the locus information I1 read out in S202. When the determination is negative, the process returns to S204 to continue load detection, and when the determination is positive, the process proceeds to S216. In S216, the data of the position (Px, Py) of the operation unit 3 calculated every 10 [ms] and the data of the force (Fx, Fy, F ₀ ) acting on the operation unit 3 are arranged in chronological order-load The information I ₂ (Px, Py, Fx, Fy, F ₀ ) is stored in the non-volatile memory 74, and the load setting routine ends.

FIG. 19 schematically shows a screen drawn on the display device 80 at the time of the affirmative determination in S214 (indicating the resultant force F ₀ (load) as an absolute value |F ₀ |). The trajectory traced by the user U by moving the operation unit 3 is displayed at the bottom, and the load fluctuation at each position of the trajectory is displayed when the horizontal axis is the time axis. The example of FIG. 19 shows that the user U applied a large force to the operation unit 3 in the range from time T1 to time T2. The display control unit 76 may control the display device 80 so as to change the display color of this range, for example, after the affirmative determination is made in S214, according to the instruction of the CPU (threshold information output from the CPU). Alternatively, as shown in FIG. 19, it may be emphasized by surrounding it with a dashed line. By referring to the trajectory in the range from time T1 to time T2, it can be inferred that the user U cannot operate the operation unit 3 well. can be done.

(3) Exercise training mode The CPU executes an exercise training routine shown in FIG. 16 in the exercise training mode. The exercise training mode includes an active training mode in which the user U moves the operation unit 3 so as to trace the trajectory of the trajectory-load information _I2 , and an operation in which the user U automatically follows the trajectory of the trajectory-load information _I2 . There is also a passive training mode in which the body is pulled by the part 3 and exercised. The passive training mode is assumed to be an exercise training mode mainly for people in rehabilitation, and the active training mode is assumed to be an exercise training mode for people in the final stages of rehabilitation and healthy people. In addition, the exercise training apparatus 1 has a maximum value of Fx and Fy: 90 [N], a maximum acceleration: 8 [m/s ² ], a maximum velocity: 1.24 [ m/s].

In the exercise training routine, first, in S302, the trajectory-load information _I2 stored in the nonvolatile memory 74 is read. Next, in S304, the display device 80 displays a screen asking which of the active training mode and the passive training mode should be selected, and waits until either selection (input) is made in S306 (negative determination in S306). If there is a selection (affirmative determination in S306), it is determined in the next S308 whether or not the active training mode has been selected.

In S310, a screen requesting adjustment value information is displayed on the display device 80. FIG. This adjustment value is the parameters (virtual mass m, viscosity coefficient c, weighting coefficient _kF ) of equation (1) representing the virtual model IM described above. It is possible to display a screen with several preset selectors according to the magnitude of resistance with explanations (for example, momentum: large, viscous resistance: medium), and adjust the magnitude of momentum and viscous resistance. The input of parameters is facilitated by displaying the level meter shown in .

Next, in S312, it waits until adjustment value information is input (negative determination in S312), and if there is input (positive determination in S312), the adjustment value information is taken in in the next S314, and the values of the parameters described above are determined. Let At this time, in order to suppress the vibration of the operation unit 3, the CPU controls the virtual mass m of the operation unit 3 when the virtual mass m of the operation unit 3 is less than a preset value (for example, 4 [kg]). Let m be this set value.

Next, in S316, by monitoring the signal information described above, it is determined whether or not the force Fz in the Z-axis direction has acted on the operation unit 3, and whether or not the position of the operation unit 3 has moved from the home position. , to determine whether active training has started. Note that before the start of active training (when one of the determinations in S316 is negative), the X-axis and Y-axis direction drive motors 38 and 30 are in an excited state, and the operation unit 3 is at the home position (0, 0). positioned.

When active training is started (both sides are affirmative at S316), the signal information is captured at S318, and the count values of the encoders 38a and 30a included in the signal information are integrated at S320 to determine the position (Px) of the operation unit 3. , Py). In S320, the count values of the encoders 38a and 30a included in the signal information, that is, the rotational speeds of the X-axis and Y-axis direction drive motors 38 and 30 (and the reduction gear ratios of the reduction gear units 39 and 31) are used to Calculate the actual velocities of 3 (v _x , v _y ).

In the next step S322, drive command processing for giving a command to the drive control unit 72 is executed. FIG. 17 shows a flowchart of a drive command processing subroutine showing details of the drive command processing of S322. In the drive command processing subroutine, in S402, it is determined whether or not the position difference (distance difference) between the locus position of the locus-load information _I2 and the position (Px, Py) calculated in S320 is within a predetermined allowable range. When the determination is negative, it is assumed that the range of motion of the upper limbs of the user U is too wide, and the drive command processing subroutine is terminated to proceed to S342 in FIG. 16. When the determination is positive, the procedure proceeds to S404.

In S404, the resultant force _F0 is calculated by synthesizing the forces ( _Fx , _Fy ) acting on the operation unit 3 included in the signal information. and the magnitude |F ₀ | of the resultant force F ₀ at the position of the operation unit 3 in the trajectory-load information I ₂ closest to the position (Px, Py) of the operation unit 3 calculated in S320 (load difference ) is within a predetermined allowable range, and if the determination is negative, it is assumed that the user U is overburdened more than expected, and the drive command processing subroutine is terminated, and the process proceeds to S342 in FIG. , when the determination is affirmative, the process proceeds to S408.

In S408, it is determined whether or not the force Fz in the Z-axis direction exceeds a preset first threshold (for example, 5 [N]). The speed (v _vx , v _vy ) is calculated and the process proceeds to S414. If the determination is negative, the command speed (v _vx , v _vy ) is calculated according to the lower part of the equation (1) in S412 and the process proceeds to S414. When calculating the command velocity (v _vx , v _vy ), the velocity v _v corresponding to the resultant force F ₀ was obtained, and the velocity v _v was decomposed into the velocities v _vx and v _vy in the X-axis and Y-axis directions. A command velocity (v _vx , v _vy ) is calculated. For example, the first threshold value may be 0 [N]. , that is, the command velocity (v _vx , v _vy ) changes.

In S414, it is determined whether or not the position (Px, Py) of the operation unit 3 calculated in S320 is within the force sense presentation area Af (see FIG. 10). If the control mode of (the motor driver of) the drive control unit 72 for the drive motors 38, 30 is determined to be PD control or P control, and if the determination is negative (when the area is within the safety measure area As), then in S418 the X-axis and Y-axis The control mode of the drive control unit 72 for the directional drive motors 38, 30 is determined as PID control or PI control.

Next, in S420, the CPU determines the actual speed ( _{vx, vy) of the operation unit 3 calculated in S320, the command speed (vvx , vvy ) calculated} in S410 or S412, and The output current Ii, that is, the drive amount is calculated in accordance with the determined control mode, and the calculated output current Ii (duty) is commanded to the drive control unit 72 to terminate the drive command processing subroutine and proceed to S324 in FIG.

Here, the calculation processing of the output current Ii in S420 will be briefly supplemented with reference to FIG. FIG. 13(A) shows the concept of drive motor control, and FIG. 13(B) shows the drive motor control in this embodiment by the CPU. As shown in FIG. 13A, the CPU controls a) PD control (Proportional-Differential Control) or P control (Proportional Control), or b ) Controls the driving of the X-axis and Y-axis direction drive motors 38 and 30 in either PID control (Proportional-Integral-Differential Control) or PI control (Proportional-Integral Control) control mode.

Therefore, the CPU calculates the output current Ii according to the determined control mode, as shown in FIG. 13(B). That is, when the control mode is determined to be PD (P) control, the current proportional to the integral value of the deviation is not added, and when the control mode is determined to be PID (PI) control, the current proportional to the integral value of the deviation is added. In addition, the output current Ii is calculated. At that time, the CPU controls the relationship between the command speed, the reduction gear ratio of the reduction gear unit 31 or the reduction gear unit 39, the rotation speed of the motor, and the output current (duty) to the motor, which are stored in the ROM of the MCU 71 and developed in the RAM. Refer to the relational expression that expresses In this embodiment, the CPU calculates the deviation from the motor rotation speed calculated one cycle before and the actual motor rotation speed detected this time (most recently).

In S324 of FIG. 16, the position (Px, Py) of the operation unit 3 calculated in S320, the resultant force F ₀ (load) calculated in S404 of _FIG . 17, and the position (Px, Py ) and the resultant force F ₀ at the position in the trajectory-load information I ₂ is output to the display control unit 76 to display the trajectory and load fluctuation of the operation unit 3 on the display device 80 . The data of the position and the resultant force F ₀ of the trajectory-load information I ₂ are selected from the trajectory-load information I ₂ (Px, Py, Fx, Fy, F ₀ ) organized in chronological order for 10 [ms]. selected sequentially. As a result, the difference between the speed when the operator U operates the operation unit 3 in the load detection mode and the speed when the operator U operates the operation unit 3 in the active training mode is displayed in the upper part of the screen of the display device 80 in real time. be done.

Next, in S326, similarly to S108 in FIG. 14, it is determined whether or not the position (Px, Py) of the operation unit 3 has substantially the same value for a preset set time, thereby completing the movement of the operation unit 3. determine whether it did. When the determination is negative, the process returns to S318 to continue active training for the user U, and when the determination is positive, the process proceeds to S342.

FIG. 20 schematically shows the screen drawn on the display device 80 at the time of the affirmative determination in S326 (indicating the resultant force F ₀ by the absolute value |F ₀ |). The trajectory (solid line) displayed according to the information _I2 and the trajectory (dashed line) when the user U traced the trajectory of the load information _I2 . The load fluctuation (solid line) displayed according to the load information _I2 and the load fluctuation (broken line) when the user U traces the locus of the load information _I2 are displayed. The display control unit 76 may cause the display device 80 to change the color of the display between the solid line and the broken line after the affirmative determination is made in S326, for example, according to the instruction of the CPU.

On the other hand, when the determination in S308 of FIG. 16 is negative, the processing in S328-S340 (passive training mode) is executed. The processing in S328-S340 is basically the same as the processing in S310-S326 (active training mode). The different points will be described below. In the passive training mode, the forces (Fx, Fy) in the X- and Y-axis directions detected by the force sensor 51 are the driving forces of the X- and Y-axis direction drive motors 38 and 30 and the user U is detected as a component force of the difference in the force exerted on the

First, in the active training mode, the adjustment value information is taken in in S310 to S314 to calculate a predetermined value (value of the radius of the static friction area 90). Since the purpose is to follow the movement of the body, the adjustment value is determined in advance, and the predetermined value described above is not calculated. Therefore, the passive training mode lacks steps corresponding to S310 to S314.

In addition, in S328 corresponding to S316, it is determined whether or not the passive training has started by monitoring the signal information and determining whether or not the force Fz in the Z-axis direction has acted on the operation unit 3 . If the determination is affirmative, the X-axis and Y-axis direction drive motors 38 and 30 are started to be driven via the drive control unit 72 in the next step S330, and the first position (Px, Py) constituting the trajectory-load information _I2 is ) is positioned on the operation unit 3 . That is, divide the distances in the X-axis direction and the Y-axis direction between the first position (Px, Py) and the home position (0, 0) constituting the trajectory-position information _I2 by the movement time 10 [ms] between them. The command speed thus obtained is output to the drive control unit 72 .

Furthermore, in the drive command process of S336 corresponding to S322, as shown in FIG. 18, steps corresponding to S402 and S414 to S418 of FIG. 17 are omitted. The reason for this is that in the passive training mode, the purpose is for the user U to exercise following the movement of the operation unit 3 that automatically moves, so that the movement range of the operation unit 3 is the force sense presentation area Af shown in FIG. This is because it is limited to within. Therefore, the control mode of the X-axis and Y-axis drive motors 38, 30 is set to PD(P) control.

In the drive command processing subroutine of FIG. 18, the command speed is calculated in S456 instead of S408 to S412 in FIG. This command speed is calculated every 10 [ms] so that the position of the trajectory-position information _I2 read in S302 of FIG. 16 is obtained. That is, the distances in the X-axis direction and the Y-axis direction between the current position to be processed in the trajectory-position information _I2 and the next position in the trajectory-position information _I2 are divided by the moving time 10 [ms] between them. , is output to the drive control unit 72 . Therefore, equation (1) is not used.

Furthermore, in S340, similarly to S214 in FIG. 15, it is determined whether or not the operation unit 3 has been moved to the last position of the trajectory-load information _I2 by determining whether or not the operation unit 3 has finished moving. determine whether or not When the determination is negative, the process returns to S332 to continue the passive training, and when the determination is positive, the process proceeds to S342.

At S342, the driving of the X-axis and Y-axis direction drive motors 38 and 30 is stopped, and at the next S342, the exercise training data is stored in the non-volatile memory 74, and the exercise training routine ends. It should be noted that the exercise training data is stored for reference of the upper limb condition of the user U even when negative determinations are made in S402 and S406 of FIG. 17 and S454 of FIG.

The exercise training data includes data of the position (Px, Py) of the operation unit 3 calculated every 10 [ms] and data of the force (Fx, Fy, F ₀ ) acting on the operation unit 3. The trajectory-load information _I3 , and in the case of active training mode, further includes the adjustment value data determined in S314. The exercise training trajectory-load information _I3 is, for example, data obtained by arranging data every 10 [ms] represented by (Px, Py, Fx, Fy, F ₀ ) in chronological order from the start to the end of exercise training. becomes.

Note that in S208 of FIG. 15 (and _S334 of FIG. 16), as in _S320 of FIG. 17, the actual speed ( _vx , _vy ) and the command speed ( _vvx , _vvy ) of the operation unit 3, and the control mode (PI control or P control) instruction is output to the drive control unit 72, but the description is omitted because it is not directly related to the present invention.

3. Effect etc. Next, the effect etc. of the exercise training apparatus 1 of this embodiment will be described.

3.1. Effect In the exercise training device 1 of the present embodiment, it is determined whether or not the force Fz in the Z-axis direction acting on the operation unit 3 exceeds the first threshold in S408 of FIG. , in step S410, the command velocity (v _vx , v _vy ) is calculated from the upper part of the equation (1). That is, equation (1) functions as an equation for limiting the drive amounts of the X-axis and Y-axis direction drive motors 38 and 30 according to the magnitude of the Z-axis direction force Fz. In other words, when the first threshold is exceeded, the command velocity (v _vx , v _vy ) calculated in the upper part of the equation (1) simulating the XY plane having viscous resistance is an equation representing the XY plane having no viscosity. (1) Limit the drive amounts of the X-axis and Y-axis direction drive motors 38 and 30 so as to be smaller than the command speed (v _vx , v _vy ) calculated in the lower part. Therefore, even if the operation unit 3 is abruptly operated, an unexpected load is prevented from being applied to the user U who is undergoing active training, so that the user U can safely assist in planar motion.

In addition, in the exercise training apparatus ₁ of the present embodiment, the _{velocity vv} corresponding to the resultant force F0 is obtained from the equation (1) in S410 and S412 of FIG. A command speed ( _vvx , _vvy ) is calculated by decomposing into _vvx and _vvy . For this reason, the command speed _vvx in the X-axis direction from the force Fx in the X-axis direction acting on the operation unit 3 and the command speed in the Y-axis direction from the force Fx in the Y-axis direction acting on the operation unit 3 are obtained from the equation (1). Compared to the case where _vvy is calculated independently for the X axis and the Y axis, the operability when moving the operation unit 3 in the oblique direction can be improved.

Furthermore, the exercise training apparatus 1 of the present embodiment is configured so that the parameters of the virtual model IM can be adjusted (S310 to S314), so exercise training can be appropriately supported according to the condition of the user's U upper limbs. Further, when inputting the parameters, the CPU determines the parameters based on the input (adjustment value) information corresponding to the momentum and the magnitude of the viscous resistance, so the input work can be facilitated.

Further, in the exercise training apparatus 1 of the present embodiment, when the operation unit 3 is within the force sense presentation area Af, the X-axis and Y-axis direction drive motors 38 and 30 are controlled by PD (P) control (see FIG. 17). S414, S416, S420). Since the PID (PI) control increases the positional accuracy, even when the virtual mass m of the operation unit 3 is reduced and the training load is set to be small, the vibration of the operation unit 3 is suppressed (vibration damping) within the force sense presentation area Af. ), the operability of the operation unit 3 of the exercise training apparatus 1 can be improved.

Furthermore, in the exercise training apparatus 1 of the present embodiment, when the operation unit 3 is within the safety measure area As, the X-axis and Y-axis direction drive motors 38 and 30 are controlled by PID (PI) control (S414 in FIG. 17). , S418, S420). For this reason, it is possible to prevent the operation unit 3 from colliding with the mechanical operation limit, to eliminate the burden on the user U and the exercise training apparatus 1, and to prevent the operation unit 3 from colliding with the exercise training area of the user U. It is possible to properly secure the size of the

3.2. Modification In this embodiment, when the force Fz in the Z-axis direction exceeds the first threshold value in _S408 and _S410 of FIG. Although an example is shown, the present invention is not limited to this. For example, the command speed (driving amount) of the X-axis and Y-axis direction drive motors 38 and 30 calculated one cycle before may be maintained, or the first term of the upper right side of equation (1) may be set to a predetermined value. You may make it Even in such a mode, the user U can feel the viscous resistance when operating the operation unit 3 .

Further, the acceleration α of the operation unit 3 may be added to the formula (1) used in the above embodiment. Such an acceleration α can be obtained, for example, by referring to the above-described signal information, the actual speed (v _x , v _y ) of the operation unit 3 and the actual speed of the operation unit 3 grasped one cycle (10 [ms]) before. is obtained by dividing the difference between the velocity (v _x , v _y ) and the time between them (10 [ms]).

As one mode in which the acceleration α is taken into consideration, when the CPU determines in S408 to S412 of FIG. 17 that the force Fz in the Z-axis direction exceeds the first threshold value (Yes in S408), is positive, and if it is positive, the velocity vv to be generated in the operation unit 3 is calculated using the upper part of the following equation (2), and if it is negative or 0, the acceleration α and the acceleration α The product of the weighting factor kα that determines how much to reflect is set to 1, and the upper part of the following equation (2) is used to calculate the velocity vv to be generated in the operation unit 3 (S410), and it is determined that it is equal to or less than the first threshold. Sometimes (negative determination in S408), the velocity vv to be generated in the operation unit 3 may be calculated using the lower part of the following equation (2) (S418). Note that the weighting factor kα can be an arbitrary value according to the degree of reflection.

In addition, as another aspect considering the acceleration α, when the CPU determines that the force Fz in the Z-axis direction exceeds the first threshold in S408 to S412, the acceleration α is positive and set in advance. It is determined whether or not it is greater than a second threshold (for example, 0.1 [m/s ² ]), and when it is determined that it is greater, the command speed (v _vx , v _vy ) are calculated, and when it is determined that they are smaller or the same, or when it is determined that the force Fz in the Z-axis direction is equal to or less than the first threshold value, the command velocity (v _vx , v _vy ) may be calculated.

Furthermore, in this embodiment, in order to suppress vibration of the operation unit 3 in the force sense presentation area Af, (the motor driver of) the drive control unit 72 controls both the X-axis and Y-axis direction drive motors 38 and 30 to PD ( P) Although an example of control has been shown, the present invention is not limited to this, and only one of the X-axis and Y-axis direction drive motors 38 and 30 (for example, the Y-axis direction drive motor 38) is PD (P) One of them may be controlled by PID (PI). Similarly, in the safety measure area As, only one of the X-axis and Y-axis direction drive motors 38 and 30 (for example, the Y-axis direction drive motor 38) is PID (PI) controlled, and the other is PD (P ) may be controlled.

Further, in this embodiment, an example of using a 6-axis force sensor using a commercially available strain gauge as the force sensor 51 is shown, but the present invention is not limited to this, and a 3-axis force sensor or a strain gauge can be used instead. For example, a capacitive type or an optical type may be used. Furthermore, since only Fx, Fy, and Fz are used in this embodiment, the strain-load transformation matrix may be simplified accordingly.

Furthermore, in this embodiment, as shown in FIGS. 19 and 20, an example of displaying load fluctuations with respect to the time axis on the display device 80 has been shown. may be displayed with . FIG. 21 shows an example of such a radar chart. In the example of FIG. 21, the direction and magnitude of the load (resultant force F ₀ ) are shown with reference to the origin where the X-axis and the Y-axis intersect. Also, points p and q indicate the load when it deviates from the load of the trajectory-load information _I2 . Using such a radar chart eliminates the need to scroll the time axis even if the training time is long. In addition, since the direction and magnitude of the force acting on the operation unit 3 can be displayed at the same time, it is possible to confirm in which direction and how much load is applied along a predetermined trajectory. Note that in the examples shown in FIGS. 19 and 20 as well, the resultant force F ₀ including positive/negative information may be displayed instead of the absolute value |F ₀ | of the resultant force F ₀ .

14, S216 in FIG. 15, and S344 in FIG. Information/data may be transmitted to _an external device, and, for example, when continuing the load detection routine following the trajectory setting routine, the trajectory information I1 acquired in the trajectory setting routine is sent to the MCU 71. Since the trajectory information I1 may be temporarily stored in the work area of , and may be used in the load detection routine, it is stored in the non _- volatile memory 74 after inquiring whether or not to store it. good too.

Further, in the present embodiment, the position shown in FIG. 9 is used as the home position, but the present invention is not limited to this. For example, the CPU may change the position of the home position according to whether the dominant hand of the operator U is inputted.

Furthermore, the exercise training device 1 may have a reproduction mode for reproducing the contents of the exercise training mode. In reproduction mode, for example _, in S302 of FIG. The process up to S314 should be skipped.

Also, in the reproduction mode, part of the content of the exercise training may be reproduced. For example, the trajectory and load fluctuations shown in FIG. 20 may be displayed on the display device 80, a portion thereof may be selected, and the contents of the exercise training of only the selected portion may be reproduced. The training instructor can confirm in which movement range the user U finds it difficult to move the upper limbs or exert force, and can create an exercise training program suitable for the user U.

Furthermore, in the present embodiment, an example in which all data is processed using the RAM of the MCU 71 as a work area has been described, but a buffer memory for temporarily storing processing data may be connected to the external bus of the MCU 71 as necessary. may Also, in this embodiment, an example in which the input device 79 and the display device 80 are separately provided has been shown, but these may be integrated by using a touch panel or the like. In this case, the input control section 75 and the display control section 76 are also integrated.

13, the control IC of the drive control unit 72 controls the command speed (v _vx , v _vy ) output from the CPU and the actual speed (v _x , v _y ), the output current Ii of the X-axis and Y-axis direction drive motors 38, 30 is calculated according to the command speed ( _vvx , _vvy ). The drive controller 72 calculates the rotation speeds of the X-axis and Y-axis direction drive motors 38 and 30 corresponding to the rotation speeds of the axial direction drive motors 38 and 30 and the actual speed (v _x , v _y ) of the operation unit 3 . , and the drive control unit 72 (the control IC thereof) may control the X-axis and Y-axis direction drive motors 38 and 30 according to these rotational speeds.

Furthermore, in the present embodiment, the signal processing IC of the signal processing unit 73 performs strain-load conversion matrix calculation to calculate (Fx, Fy, Fz, Tx, Ty, Tz). You may do so. In such a mode, the signal processing section 73 is connected to the external bus mentioned above via an A/D converter.

Furthermore, in this embodiment, an example of tracing a circular trajectory has been shown, but the present invention is not limited to this, and for example, a polygonal trajectory such as a triangle, or a trajectory such as Roman letters may be traced. Furthermore, in the present embodiment, the operation unit 3 is actually moved in the trajectory setting routine, and the value of _each position is used as the trajectory information I1. , the reference trajectory may be displayed on the display device 80 when the user U selects the trajectory setting mode. This point is the same for the load detection routine and exercise training routine. Alternatively, a plurality of basic patterns may be stored in the non-volatile memory 74 in advance, and the user U may select one basic pattern. Furthermore, in the present embodiment, an example in which the exercise training mode is performed after the trajectory setting mode and the load detection mode is shown assuming a person undergoing rehabilitation, but in the case of a healthy person, the exercise training mode is immediately performed. You may make it At that time, it is desirable to display the reference trajectory on the display device 80 .

Furthermore, in this embodiment, the X-axis and Y-axis direction drive motors 38 and 30 are stopped when the emergency stop button 10a is pressed. and the drive control unit 72, and the CPU turns off the switching element when the default value of the state of the emergency stop button 10a indicates that the emergency stop button 10a has been pressed. may

In this embodiment, the cover 4 is bellows-shaped sheet, but instead of this, for example, a relatively flexible sheet made of resin or cloth may be used. It may be accommodated in the arranged roll mechanism so as to be freely wound up and pulled out by a spring structure that biases it in the winding direction. This type of roll mechanism has conventionally been widely used in screens and the like that cover windows of vehicles and buildings. Further, the structure of the cover 4 is not limited to a bellows structure or a roll mechanism, and various conventionally known structures can be used.

Furthermore, in this embodiment, an example in which the Y-axis direction actuator 21 is arranged above the X-axis direction actuator 22 is shown, but the present invention is not limited to this, and the positional relationship between the two may be reversed, or the structure may be changed. may be different and arranged on the same plane. Furthermore, in the present embodiment, an example in which the left and right reinforcing members 14a and 14b and the front and rear reinforcing members 13a to 13c are integrated as the reinforcing structure of the casing 6 is shown. 13c may not be integrated, or may be vertically separated.

Further, in the present embodiment, a structure is shown in which rotation of the motor shaft is prevented by the gear ratio of the reduction gear units 39 and 31 when the X-axis and Y-axis direction drive motors 38 and 30 are stopped, and movement of the operating portion 3 is prevented. However, for example, an electromagnetic brake or the like may be provided to stop and hold the rotation of the X-axis and Y-axis direction drive motors 38 and 30 when the power supply is stopped.

Furthermore, in this embodiment, an example in which the handle member 49 is attached to the operating rod 48 is shown, but the present invention is not limited to this, and the handle member 49 may be detachably attached to the operating rod 48. can be In such a mode, the handle member 49 can be replaced with various members suitable for engagement with the upper or lower limbs of the user U, depending on the purpose of use of the exercise training device 1, the condition of the user U, and the like. be able to. For example, if the user's hand cannot grasp the handle member 49 well, a member with a belt may be used to secure the hand (or upper limb). As a result, force is transmitted from the hand (or upper limb) of the user U to the operation rod 48 to move the operation portion 3, or force is received from the moving operation portion 3 via the operation rod 48 to move the hand (or upper limb). ) can be moved. Also, when training the lower limbs of the user U, similarly, instead of the handle member 49, a base on which the user's feet are placed or a member with a belt for fixing the feet may be used.

Furthermore, in the present embodiment, an example in which the exercise training device 1 is placed substantially horizontally for use has been described. may be used in At that time, the exercise training device 1 may have a tilt sensor 87 (see FIG. 2) for detecting its tilting state, that is, the tilting direction and tilting angle. A gyro sensor, for example, can be used as the tilt sensor 87, but it is not limited to this. In such a mode, the exercise training device 1 is installed, for example, on a separate support structure capable of adjusting the tilt angle, and the output signal of the tilt sensor 77 is input to the control unit 70 to determine the tilt direction of the exercise training device 1. and to control the output of at least one of the X-axis and Y-axis drive motors 38, 30 corresponding to the magnitude of the tilt angle.

In this embodiment, the dimensions of the haptic presentation area Af and the safety measure area As, the processing period, the maximum values of Fx and Fy, the maximum acceleration, the maximum velocity, the threshold value, etc. are indicated by specific numerical values. is not limited to these, and it goes without saying that any numerical value can be used.

INDUSTRIAL APPLICABILITY As described above, the present invention provides an exercise training device that can safely support a user's planar exercise, and thus contributes to the manufacture and sale of exercise training devices, thereby increasing industrial applicability. have.

1 exercise training device 3 operation unit 20 actuator mechanism (driving unit)
30 Y-axis direction drive motor 38 X-axis direction drive motor 51 Force sensor 70 Control unit

Claims (8)

an operation unit movable on the XY plane;
a drive unit having an X-axis direction drive motor and a Y-axis direction drive motor and driving the operation unit in the XY plane;
a force sensor that detects an X-axis direction force, a Y-axis direction force, and a Z-axis direction force (Fx, Fy, Fz) acting on the operating portion;
a control unit that controls the X-axis direction driving motor and the Y-axis direction driving motor based on the X-axis direction force, the Y-axis direction force, and the Z-axis direction force detected by the force sensor;
with
The control unit determines whether or not the magnitude of the force Fz detected by the force sensor in the direction in which the user presses the operation unit exceeds a preset first threshold. and, when it is determined that the first threshold value is exceeded, the exercise training apparatus limits the driving amounts of the X-axis direction driving motor and the Y-axis direction driving motor. When determining that the speed exceeds the first threshold, the control unit determines a driving amount smaller than a driving amount corresponding to the speed to be generated in the operation unit calculated when determining that the speed is equal to or less than the first threshold. 2. The exercise training device according to claim 1, wherein the X-axis direction driving motor and the Y-axis direction driving motor are controlled such that When determining that the first threshold value is exceeded, the control unit determines a drive amount corresponding to the speed to be generated in the operation unit calculated when determining whether the first threshold value was exceeded last time. 2. The exercise training device of claim 1, wherein the X-axis direction driving motor and the Y-axis direction driving motor are controlled to maintain. The control section defines a relational expression in which a relationship between the force in the X-axis direction, the force in the Y-axis direction, and the force in the Z-axis direction detected by the force sensor and the speed to be generated in the operation section is determined in advance. and calculating the speed to be generated in the operation unit by and controlling the X-axis direction driving motor and the Y-axis direction driving motor so that the operation unit achieves the calculated speed. 4. An exercise training device according to any one of claims 3. The control unit calculates the speed in the X-axis direction and the speed in the Y-axis direction to be generated in the operation unit by decomposing the speed calculated by the relational expression into the speed in the X-axis direction and the speed in the Y-axis direction. The exercise training device according to claim 4, characterized in that: The virtual mass of the operation part is m, the viscosity coefficient is c, the velocity to be generated in the operation part is vv, the _velocity of the operation part is _vvst , and the force Fz in the Z-axis direction detected by the force sensor is When the weighting factor for determining whether to reflect the degree is _kF , if the control unit determines that the first threshold is exceeded, the operation unit should generate 4. The speed _vv to be generated in the operation unit is calculated using the lower part of the following equation (1) when the speed _vv is calculated and determined to be equal to or less than the first threshold value. An exercise training device according to claim 5.

The virtual mass of the operation part is m, the viscosity coefficient is c, the velocity to be generated in the operation part is vv, the _velocity of the operation part is _vvst , and the force Fz in the Z-axis direction detected by the force sensor is When k _F is a _weighting factor that determines whether the degree of reflection of the If it is determined that the acceleration _α exceeds the threshold value, it is determined whether or not the acceleration α is positive. If it is determined to be _negative or 0, the product of the acceleration _.alpha . 6. The exercise training device according to claim 4 or 5, wherein the _velocity vv to be generated in the operation unit is calculated using the lower part of the following equation (2) when it is determined that the velocity is equal to or less than the threshold.

an operation unit capable of reciprocating linearly in a predetermined direction;
a guide portion that supports the operating portion so as to be reciprocally movable in the predetermined direction;
a drive unit having a drive motor and driving the operation unit in the predetermined direction;
a force sensor for detecting a force acting on the operating portion in the predetermined direction and a force in a direction orthogonal to the predetermined direction in which the operating portion is pushed into the guide portion;
a control unit that controls the drive motor based on the force in the predetermined direction detected by the force sensor and the force in the direction in which the operation unit is pushed into the guide unit;
The control unit determines whether or not a magnitude of a force in a direction in which the operation unit is pushed into the guide unit, detected by the force sensor, exceeds a preset first threshold. An exercise training device characterized by limiting the drive amount of the drive motor when it is determined that the threshold value of is exceeded.

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