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WO2010150352A1 - Procédé de simulation de conditions opérationnelles pour un socle de support d'un appareil sportif - Google Patents

Procédé de simulation de conditions opérationnelles pour un socle de support d'un appareil sportif Download PDF

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Publication number
WO2010150352A1
WO2010150352A1 PCT/JP2009/061388 JP2009061388W WO2010150352A1 WO 2010150352 A1 WO2010150352 A1 WO 2010150352A1 JP 2009061388 W JP2009061388 W JP 2009061388W WO 2010150352 A1 WO2010150352 A1 WO 2010150352A1
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WIPO (PCT)
Prior art keywords
joint
link
model
support base
joint axis
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PCT/JP2009/061388
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English (en)
Japanese (ja)
Inventor
和弘 越智
葉一 四宮
孝夫 後藤
尚久 小澤
Original Assignee
パナソニック電工株式会社
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Priority to PCT/JP2009/061388 priority Critical patent/WO2010150352A1/fr
Publication of WO2010150352A1 publication Critical patent/WO2010150352A1/fr

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/003—Repetitive work cycles; Sequence of movements
    • G09B19/0038—Sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/04—Training appliances or apparatus for special sports simulating the movement of horses

Definitions

  • the present invention provides a simulation method capable of determining a plurality of operation conditions for applying a relatively heavy muscle load and a light joint load to a user through a support table, for example, a support table operation condition of a passive training apparatus. And the system.
  • Japanese Patent Application Publication No. 2004-344684 published on December 9, 2004 discloses a balance training apparatus.
  • This apparatus is configured to simulate a riding exercise by swinging a support base on which a user can sit in a straddling manner.
  • Japanese Patent Application Publication No. 2006-122595 discloses a rocking exercise device.
  • This device has a support base that can support a user's buttocks or lumbar region in a posture (sitting position) in which a part of its own weight is supported by a foot, and the user's legs by swinging the support base Configured to change the proportion of its own weight acting on the
  • it has a support base on which the user can place his / her feet in a standing posture, and by moving the support base so as to change the position and orientation of the user's feet, walking motion and leg joint movement are possible.
  • the magnitude of muscle load and joint load changes by changing the operating conditions of the support base. That is, by changing the operating conditions of the support base, the type of muscle on which the load mainly acts and the magnitude of the load change, and the magnitude of the load acting on each joint also changes. In general, it is desirable to determine the operating conditions of the support so as to enhance the effect of muscle contraction while reducing the load acting on the joint.
  • the passive training device is actually used by multiple subjects and the operating conditions of the support table are changed.
  • the method of measuring how the effect of muscle contraction and the load on the joint changes by adopting it is adopted.
  • muscle load and joint load cannot be measured directly, by measuring the force acting on the measurable part and performing computer simulation using a model that simulates the human body, the muscle load and joint load can be measured.
  • the estimation technique is employed (for example, see Japanese Patent Application Publication No. 2006-034640 published on Feb. 9, 2006).
  • the upper limit is about 20 conditions for the types of motion conditions that can be measured per day.
  • the selection range of the operating condition may be narrowed more than necessary, and in this case, a suboptimal operating condition may be selected.
  • the present invention includes a support base configured to support all or part of a user's weight, and is configured to contract the user's muscles by moving the support base according to operating conditions. It is the simulation method relevant to the operating condition for the support stand of a training apparatus. According to the present invention, (a) one operation condition is sequentially set from a plurality of operation conditions for the support base, and (b) at least one inverted pendulum serving as a human body model is forcedly vibrated according to the set operation condition.
  • muscle load and joint load can be estimated for various operating conditions without using the actual machine of the passive training apparatus. Therefore, muscle load and joint load can be evaluated for many operating conditions in a relatively short time. Further, since the subject is not allowed to use the actual machine, it can be safely used regardless of the operating conditions set, and the range of operating conditions to be set can be expanded. That is, in consideration of safety, it is possible to test even operating conditions that could not be applied to subjects in the past. In this way, the operating condition can be optimized easily by expanding the test range of the operating condition.
  • Muscle load and joint load can be estimated using a musculoskeletal model. That is, by using a mechanical vibration model with an inverted pendulum to connect the movement of the passive training device and the musculoskeletal model, the degree of load on the muscles and joints with respect to the operating conditions with a relatively small amount of calculation Can be estimated.
  • the human body model consists of one link.
  • the lower end of the link is coupled to the model of the support base via a joint shaft.
  • a restoring force according to an angle with respect to the upright position of the link acts around the joint axis.
  • an inverted pendulum having one link is used as a human body mechanical vibration model, the movement of the joint relative to the movement of the passive training apparatus can be obtained with a small amount of calculation.
  • the human body model includes: a first link having a first joint axis at a lower end; and a second link coupled to the first link via the first joint axis. Consists of.
  • the lower end of the second link is coupled to the support base via a second joint shaft.
  • a restoring force according to an angle formed by the first and second links acts around the first joint axis.
  • a restoring force corresponding to the angle of the second link with respect to the upright position acts around the second joint axis.
  • the support base includes first and second support bases for supporting both feet of the user, respectively.
  • the human body model includes a plurality of links and a plurality of joint axes that are equivalent to a plurality of body segments and a plurality of joints of the musculoskeletal model, respectively.
  • the human body model includes a first link having a first joint axis at the lower end, a second link having a second joint axis at the lower end, and a third link having a third joint axis at the lower end. And a fourth link having a fourth joint axis at the lower end.
  • the upper end of the second link is coupled to the lower end of the first link via the first joint axis, while the lower end of the second link is connected to the lower end of the second link via the second joint axis. Coupled to the first support platform model.
  • the upper end of the fourth link is coupled to the lower end of the third link via the third joint axis, while the lower end of the fourth link is connected to the lower end of the fourth link via the fourth joint axis. Coupled to the second support platform model.
  • a restoring force according to an angle formed by the first and second links acts around the first joint axis.
  • a restoring force corresponding to the angle formed by the third and fourth links acts around the third joint axis.
  • a restoring force corresponding to the angle of the second link with respect to the upright position acts around the second joint axis.
  • a restoring force according to an angle with respect to the upright position of the fourth link acts around the fourth joint axis.
  • an inverted pendulum having a link and a joint axis that are equivalent to the segment and joint of the musculoskeletal model is used as the mechanical vibration model of the human body. It can be applied directly to the model. In addition, muscle load and joint load can be estimated with high accuracy.
  • the present invention also includes a support base configured to support all or part of the weight of the user, and is configured to contract the user's muscles by moving the support base according to operating conditions.
  • It is a simulation system related to the operating conditions for the support base of the motion training apparatus.
  • This system includes an operation condition setting unit, a body information input unit, a vibration model generation unit, a device simulation unit, a dynamics calculation unit, a musculoskeletal model generation unit, an inverse dynamics calculation unit, and an output unit.
  • the operation condition setting unit is used to sequentially set operation conditions that define the position change of the support base.
  • the physical information input unit is used to input the physique information of the user.
  • the vibration model generation unit is configured to generate a human body model including at least one inverted pendulum based on the physique information from the body information input unit.
  • the apparatus simulation unit is configured to calculate a change in position of the support base with the passage of time based on the operation condition set by the operation condition setting unit.
  • the dynamics calculation unit applies the position change calculated by the device simulation unit to the inverted pendulum, so that the position change of the inverted pendulum over time when the inverted pendulum is forced to vibrate It is configured to estimate a change in position of the human body joint over time.
  • the musculoskeletal model generation unit is configured to generate a musculoskeletal model based on the physique information from the body information input unit.
  • the inverse dynamics calculation unit is configured to obtain a muscle load and a joint load by applying the position change estimated by the dynamics calculation unit to the musculoskeletal model generated by the musculoskeletal model generation unit.
  • the output unit determines and outputs at least one operation condition from the plurality of operation conditions based on the muscle load and joint load obtained for each of the plurality of operation conditions sequentially set through the operation condition setting unit. Configured to do.
  • muscle load and joint load can be evaluated for many operating conditions in a relatively short time.
  • FIG. 1 It is a block diagram which shows embodiment. It is a perspective view which shows the passive training apparatus which is the object of embodiment. It is a figure which shows the example of the model by an inverted pendulum same as the above. It is a figure explaining the restoring force of the inverted pendulum in the same as the above. It is a figure which shows the relationship between 1 link model and the position of a joint in the same as the above. It is a figure which shows the relationship between a 2 link model and the position of a joint in the same as the above. It is a figure which shows the dynamic model of the muscle used for the same as the above.
  • the present embodiment has a configuration in which three types of simulators 10, 20, and 30 that perform computer simulations are integrated.
  • the first simulator 10 includes a device simulation unit 11 that simulates the movement of the support base in the passive training device, and the operation condition of the support base provided in the passive training device is input from the operation condition setting unit 12. Simulate the movement of the support base according to the operating conditions.
  • Periodicity is not necessarily required for the movement of the support base, and the movement trajectory of the support base does not have to be a geometric shape, but considering the ease of setting the operating conditions, in this embodiment,
  • the movement has periodicity, and the movement trajectory adopts a shape represented by a combination of reciprocating movements in one or more directions.
  • the movement trajectory is based on a linear reciprocating movement selected from the front-rear direction, the left-right direction, and the up-down direction, roll (around the front-rear axis), pitch (around the left-right axis), and yaw (around the up-down axis). It is expressed by a combination of a reciprocating movement appropriately selected from the selected rotational reciprocating movement (of course, in the case of one degree of freedom, it is expressed by one type of reciprocating movement).
  • the operation condition setting unit 12 as the operation conditions, the reciprocation direction that determines the movement trajectory of the support base, the amplitude and period (frequency) for each reciprocation direction, and each of the cases where a plurality of reciprocation movements are combined.
  • the phase relationship of the reciprocating movement and the reference position (such as the center position of the reciprocating movement) of the reciprocating movement can be set.
  • the purpose is to evaluate the load acting on the user's muscles and joints with the movement of the support base of the passive training apparatus, so in the third simulator 30, the body segment (bone), A musculoskeletal model with joints and muscles (muscles) as elements is used.
  • the body segment bone
  • a musculoskeletal model with joints and muscles (muscles) as elements is used.
  • the second simulator 20 a model of a mechanical vibration system simplified to such an extent that the essence of the movement of the human body is not lost is described and used instead of the human body.
  • the relationship between the described model and the operation of the passive training apparatus simulated by the apparatus simulation unit 11 is represented by an equation of motion.
  • the description of the model of the mechanical vibration system as a substitute for the human body is performed by the vibration model generation unit 21.
  • the second simulator 20 is provided with a dynamic calculation unit 22 in order to perform dynamic calculation for obtaining a solution of the above equation of motion.
  • the dynamics calculation unit 22 obtains a change (position and speed) of the position of the joint of the human body when the passive training apparatus is operated.
  • the position change with the passage of time of the joint obtained by the second simulator 20 is applied to the musculoskeletal model used by the third simulator 30.
  • the load acting on the muscle related to the joint can be obtained.
  • the load acting on the joint is obtained by obtaining the load acting on the body segment.
  • the joint force means a force acting on the joint (joint axis) in the normal direction of the contact surface between the body segment (link) and the joint (joint axis).
  • the force exerted by the muscles related to bending and stretching of each joint (load acting on the muscles) and the load acting on each joint are obtained by inverse dynamics calculation from a change (trajectory) of the position of the joint.
  • the third simulator 30 obtains the muscular load and the joint load from the musculoskeletal model generation unit 31 describing the musculoskeletal model as a substitute for the human body and the change in the position of the joint obtained by the second simulator 20.
  • An inverse dynamics calculation unit 32 is provided.
  • the passive training apparatus 1 includes a pair of footrests (first and second supporters) 2 on which a user in a standing posture rests the left and right feet, respectively.
  • a drive source not shown.
  • Each footrest 2 is driven using a mechanism capable of displacement of at least one degree of freedom around the front-rear direction, left-right direction, up-down direction, front-rear direction axis, left-right direction axis, and up-down direction axis.
  • each footrest 2 has 6 degrees of freedom. Displacement is possible.
  • the footrest 2 can be moved with an appropriate degree of freedom by using a mechanism that performs conversion between linear movement and rotational movement by using a motor as a drive source and combining a crank and gears. In particular, when there is one drive source, it becomes easy to link the left and right footrests 2 in a specific relationship.
  • the apparatus simulation unit 11 pays attention only to the position of the support base that supports the weight of the user and the operating conditions of each support base, and does not particularly consider the mechanism. In other words, the apparatus simulation unit 11 simulates which part of the human body is supported by the support base and where and how the contact part is moved.
  • the part of the human body that is supported by the support base is a contact part that contacts the support base, and the contact part is a restraint condition that restrains the movement of the human body.
  • the degree of freedom regarding the movement of the support base is included in the direction of reciprocal movement under the operating conditions.
  • the device simulator 11 Since the passive training device 1 assumed in the present embodiment supports both feet of the user and moves each foot with six degrees of freedom (in six directions), the device simulator 11 is a footrest. Six sets of operating conditions that define movement for each table 2 are required. The position change with the passage of time for each direction can be arbitrarily set, and even if the position change is complicated, it can be described by expanding the waveform of the position change into a Fourier series or the like. However, since the number of parameters described as operating conditions is large and not practical, it is assumed below that the waveform of the position change for each direction is set to a sine wave.
  • each operating condition is composed of four parameters: amplitude, frequency for each moving direction, phase relationship for moving direction (represented by initial phase), and offset for each moving direction (represented by initial position).
  • Amplitude and offset use [mm] as a unit for linear movement and [°] as a unit for rotational movement.
  • the unit of frequency is [Hz]
  • the phase is [°] as the phase on the sine wave.
  • Moving directions having the same phase value mean moving in the same phase, and moving directions having different phase values mean that there is a phase difference.
  • the coordinate system representing the moving direction is a left-handed orthogonal coordinate system
  • the rotation around each coordinate axis is clockwise (clockwise) toward the positive direction of each coordinate axis.
  • an appropriate position is set as a reference position having a phase of 0 °
  • the direction of one coordinate axis included in a plane orthogonal to the coordinate axis is set.
  • the reference position is a phase of 0 °.
  • the reference position in the rotational movement around the x axis is the reference position where the phase is 0 ° in the y axis direction or the z axis direction included in the yz plane orthogonal to the x axis.
  • the coordinate system in the passive training apparatus 1 is set for each footrest 2, the size of the foot is ignored, the ankle joint is regarded as a joint axis around the y axis, and the upper surface of the footrest 2 is A horizontal position is set as a reference position around the x axis and the y axis.
  • the positive direction of the x axis is the direction from the heel to the toe.
  • the conditions for linear movement and rotational movement are individually set manually.
  • the upper limit value, lower limit value, and step size are set appropriately for each parameter, and multiple parameters are automatically generated by changing the value between the upper limit value and the lower limit value by the step size. Then, various operating conditions may be automatically generated by combining the generated parameters.
  • the upper limit value is 3 Hz
  • the lower limit value is 1 Hz
  • the number of divisions is 6 (the number of divisions includes the upper limit value and the lower limit value
  • step size (upper limit value ⁇ lower limit value) / (Assuming that there is a relationship of (number of divisions -1). Therefore, the step size is 0.4 Hz.) 6) 1 Hz, 1.4 Hz, 1.8 Hz, 2.2 Hz, 2.6 Hz, 3 Hz
  • Parameters can be automatically generated. The other parameters are generated in the same manner, and the operation conditions are automatically generated by combining the generated parameters.
  • the apparatus simulation unit 11 calculates the positional change of the footrest 2 with the passage of time when given the parameters in each direction described above. That is, the time series of the position of the footrest 2 for every fixed time is output.
  • the physique information input from the physical information input unit 13 is stored in the data collating unit 14 in the form of four sets of (height, weight, age, gender) and (body length, body mass, body mass inertia). And the human body data storage unit 15 registered in association with each other.
  • the various data in the human body data storage unit 15 is obtained from statistical values of the human body.
  • Table 2 shows an example of the contents of the human body data storage unit 15.
  • anatomically obtained statistical values can be used for the length and mass of the body segment with respect to (height, weight).
  • the length and mass of the body segment relative to the standard value of (height, weight) are defined, and when (height, body weight) is given from the physical information input unit 13, the length and mass of the body segment are determined.
  • a standard value may also be defined for the restoring force, and correction may be made using data relating to muscular strength for each age and gender.
  • a mechanical vibration system model is described as a substitute for the human body in the second simulator 20. That is, since the foot is placed on the footrest 2, the foot is a contact portion, and the restraint condition is that the foot position is restrained by the support base. When the footrest 2 is moved periodically in this state, the user tries to stand straight while maintaining balance.
  • an inverted pendulum composed of one link L having a mass M corresponding to the weight of the user can be used (hereinafter referred to as “1”).
  • Link model In order to analyze the behavior of this inverted pendulum, the inverted pendulum consists of an inertial element (an element that exerts a force proportional to acceleration: including gravity), a damping element (an element that exerts a force proportional to velocity), and a restoration element ( It is assumed that there are three elements including an element that exerts a force proportional to the displacement.
  • Periodically moving the footrest 2 of the passive training device 1 is represented by an operation of periodically displacing the lower end position of the link L.
  • the link L is a joint provided at the lower end position. Only rotation about axis J is allowed. That is, the inertial element, the damping element, and the restoring element of the link L act around the joint axis J. Therefore, the motion of the inverted pendulum can be described by a motion equation including an inertia element, a damping element, and a restoring element.
  • the force that the passive training device 1 acts on the inverted pendulum is vibration that changes sinusoidally for each direction as described above, and therefore, by solving the motion equation of forced vibration in the dynamics calculation unit 22, The time change of the position of the inverted pendulum can be calculated.
  • the angle ⁇ (t) is a joint angle, which corresponds to an inclination angle with respect to the upright position of the link L in one link model, and is an angle formed by the links around the joint axis J between the pair of links.
  • the joint angle ⁇ (t) an absolute value of the angle formed by the link may be used, or an angle measured using the joint angle at rest (at rest when standing) as a reference angle may be used.
  • Kp proportional gain
  • Kd differential gain
  • the proportional gain Kp and the differential gain Kd are obtained from the muscle strength of the human body as a model.
  • the torque T (t) may be only a value proportional to the joint angle ⁇ (t), an integrated value of the joint angle ⁇ (t), or a time delay considering the response time of the human body. Good.
  • the term of Formula 1 may be added. Ki in Equation 1 is an integral gain.
  • the position of each joint is unknown, so the position of the joint cannot be applied to the musculoskeletal model used in the third simulator 30. Therefore, as shown in FIG. 5, the positional relationship between the human body reference point (for example, the center of gravity) and each joint is actually measured at the initial position of the actual passive training apparatus 1, and the positional relationship is determined as the reference point of the link L ( For example, the positions of the joints j0 to j6 are estimated from the position of the reference point in the inverted pendulum by applying to the position of the center of gravity.
  • the human body reference point for example, the center of gravity
  • j0 represents a hip joint
  • j1 and j2 represent hip joints
  • j3 and j4 represent knee joints
  • j5 and j6 represent ankle joints.
  • a device such as motion capture is used.
  • two-link model Since the one-link model is simple, the amount of calculation is small. However, since the positions of the joints j0 to j6 are estimated from the position of one reference point, the obtained positions of the joints j0 to j6 are highly accurate. It can not be said. Therefore, as shown in FIG. 3B, a model composed of two links L1 and L2 having masses M1 and M2 divided into an upper body and a lower body and two joint axes J1 and J2 (hereinafter referred to as “two-link model”). ) May represent the human body.
  • one reference point (such as a hip joint) is related to one joint axis J1, and a reference point (for example, a center of gravity) is defined for each of the links L1 and L2.
  • the movement is mainly considered for the joints j0 to j6 of the lower body, so that the link L1 corresponding to the upper half of the links L1 and L2 affects the movement of the link L2 corresponding to the lower half. It is used only for giving, and the positional relationship between the joints j0 to j6 and the reference point of the link L1 is unnecessary.
  • multi-link model In order to detect each joint position accurately with a model using an inverted pendulum, as shown in FIG. 3C, a model having the same number of body segments and joint axes (joints j0 to j6) as the musculoskeletal model (hereinafter referred to as “multi-link model”). ")", the positions of the joints j0 to j6 can be obtained individually, so that the positions of the joints j0 to j6 obtained by the second simulator 20 can be applied to the third simulator 30 as they are. However, since the positions of the joints j0 to j6 are obtained individually by the second simulator 20, the amount of calculation is greatly increased.
  • M21 and M22 are models of the first and second support bases 2, respectively.
  • the multi-link model (human body model) includes first to sixth links L1 to L6.
  • the first link L1 has a first joint axis J1, which is equivalent to the joint j3 and is arranged at the lower end of the first link L1.
  • the second link L2 has a second joint axis J2, which is equivalent to the joint j5 and is arranged at the lower end of the second link L2.
  • the upper end of the second link L2 is coupled to the lower end of the first link L1 via the first joint axis J1, while the lower end of the second link L2 is connected to the second joint axis J2.
  • the third link L3 has a third joint axis J3, which is equivalent to the joint j4 and is arranged at the lower end of the third link L3.
  • the fourth link L4 has a fourth joint axis J4, which is equivalent to the joint j6 and is arranged at the lower end of the fourth link L4.
  • the upper end of the fourth link L4 is coupled to the lower end of the third link L3 via the third joint axis J3, while the lower end of the fourth link L4 is connected to the fourth joint axis J4.
  • the fifth link L5 has fifth and sixth joint axes J5 and J6, which are equivalent to the joints j1 and j2, respectively, and are arranged at both ends of the fifth link L5.
  • both ends of the fifth link L5 are coupled to the upper ends of the first and third links L1 and L3 via fifth and sixth joint axes J5 and J6, respectively.
  • the sixth link L6 has a seventh joint axis J7, which is equivalent to the joint j0 and is arranged at the lower end of the sixth link L6.
  • the lower end of the sixth link L6 is coupled to the center of the fifth link L5 via the seventh joint axis J7.
  • a restoring force corresponding to the angle formed by the first and second links L1 and L2 acts around the first joint axis J1.
  • a restoring force corresponding to the angle formed by the third and fourth links L3 and L4 acts around the third joint axis J3.
  • a restoring force corresponding to the angle of the second link L2 with respect to the upright position acts around the second joint axis J2.
  • a restoring force corresponding to an angle with respect to the upright position of the fourth link L4 acts around the fourth joint axis J4.
  • the calculation amount and accuracy are traded off, so it is desirable to select a model as necessary.
  • the range of operation conditions is narrowed down using the one-link model in FIG. 3A or the two-link model in FIG. 3B, and then the evaluation is performed using the multi-link model in FIG. 3C within the narrowed-down range. It is possible to use it.
  • the data extracted from the human body data storage unit 15 is the length and mass of each body segment, when using the 1 link model or the 2 link model, the data extracted from the human body data storage unit 15 should be used as it is. Cannot be corrected, and corrections to link length, link mass, and restoring force are required. Therefore, the link length, the link mass, and the restoring force are obtained by correcting the data extracted from the human body data storage unit 15 in the inverted pendulum model correcting unit 23 according to which model is used. In the example shown in FIGS. 5 and 6, a model with the head separated is shown, but in this embodiment, the calculation is performed without separating the head.
  • the positions of the joints j0 to j6 described above are obtained at predetermined time intervals. That is, the dynamics calculation unit 22 calculates the position change of each joint j0 to j6 as shown in Table 3 with the passage of time. In other words, the time series of each position of the joints j0 to j6 is output.
  • the third simulator 30 applies the time change of each position of the joints j0 to j6 obtained by the dynamics calculation unit 22 of the second simulator 20 to the musculoskeletal model, and each muscle load and each joint by inverse dynamics calculation. Calculate the load.
  • the musculoskeletal model is set by using (height, weight, age, sex) input from the physical information input unit 13 in the same manner as a human body model using an inverted pendulum. That is, the data collation unit 14 collates the data input from the physical information input unit 13 with the human body data storage unit 15 to obtain the length of the body segment, the mass of the body segment, the moment of inertia of the body segment, and the like. Use.
  • the data extracted from the human body data storage unit 15 is corrected by the musculoskeletal model correction unit 33 as necessary.
  • the musculoskeletal model generation unit 31 generates a musculoskeletal model using the data corrected as necessary.
  • the musculoskeletal model represents a line that does not stretch the muscle, the skeleton as a rigid link, and the joint as a joint axis.
  • each position change of the joints j0 to j6 obtained by using the inverted pendulum in the second simulator 20 is applied as a position change of the joint axis of the musculoskeletal model.
  • each link is provided with a muscle according to the muscle dynamic model, and the load acting on the muscle and the joint is obtained by inverse dynamics calculation.
  • the Hill model is used as the muscle dynamic model. That is, as shown in FIG. 7, a contraction element (a tension generator and a damping element coupled in parallel) 41 and an elastic element 42 are coupled in series, and an elastic element 43 is coupled in parallel to form a muscle. Simulates the function. In the illustrated example, the elastic element 44 is connected in series to the muscle to simulate the function of the tendon.
  • the muscle model to be applied to the musculoskeletal model is not limited to the configuration shown in FIG. 7, but a simple configuration that simulates only an elastic element to reduce the amount of calculation is used, or the muscle contraction speed is increased to increase accuracy. It is also possible to use a configuration in consideration.
  • the inverse kinematics calculation unit 32 calculates muscle load and joint load by performing reverse dynamics calculation based on the time change of the position of each part of the musculoskeletal model.
  • the position change of the footrest 2 generated by the apparatus simulation unit 11 and the position change of the joints j0 to j6 obtained by the dynamics calculation unit 22 are necessary.
  • the load acting on the muscles and joints can be calculated, and the results shown in Tables 4 and 5 can be obtained.
  • Table 4 represents a time series of loads acting on each muscle
  • Table 5 represents a time series of loads acting on each joint.
  • the unit of time is [s]
  • the unit of load is [N].
  • a plurality of solutions can be obtained by calculating the loads on the muscles and joints from the positional changes of the plurality of joints. Therefore, it is necessary to narrow down the solution according to some rule (rule).
  • the organism narrows down the solution according to the rule that selects the solution with lower energy consumption and better efficiency.
  • the solution having the smallest sum of the muscle usage (for example, a value representing the muscle strength actually exhibited with respect to the maximum muscle strength that can be exhibited) is selected from the plurality of solutions.
  • the muscle usage not only the muscle usage but also the value obtained by multiplying the muscle volume by the muscle usage or the ratio of the usage of the slow muscle and the fast muscle may be used as an index for selecting a solution.
  • the apparatus simulation unit 11 By changing the operating condition set by the operating condition setting unit 12 and the condition of the physique input by the physical information input unit 13, and repeating the processing by the second simulator 20 and the third simulator 30, the apparatus simulation unit 11 In the case of using the passive motion training apparatus 1 simulated in the above, it is possible to calculate each muscle load and each joint load according to various operation conditions and physiques.
  • the evaluation of the calculation result varies depending on the purpose of using the passive training device 1, in general, since it is often used for the purpose of strengthening a specific muscle group, the load acting on the target muscle group is large, Moreover, it is considered that the calculation result is often evaluated so as to satisfy the condition that the load acting on each joint is small.
  • the average value of the usage of the target muscle group (average value during one cycle of the footrest 2), the average of the usage of all muscles set in the musculoskeletal model Use values.
  • the muscle group of interest can be specified individually (for example, the inner vastus muscle and the outer vastus muscle), as a muscle group of a specific part of the body (thigh, lower leg, etc.) Or specified as a muscle group (knee extension muscle group, ankle plantar flexor muscle group, etc.).
  • the force acting on a specific joint is used for the evaluation of joint load.
  • a specific joint knee joint, ankle joint, hip joint, etc.
  • a specific joint angle is 100 degrees or less (the position where the knee joint is extended is 0 degree) or less.
  • constraint conditions may be given as limit values in advance, and it may be automatically determined whether or not they are outside the limit value range according to the operating conditions and the physique.
  • the average value of the usage and the joint load are obtained for the muscle group of interest for each operating condition, and about 1000 types of operating conditions with the muscle usage as the horizontal axis and the inter-joint force as the vertical axis.
  • the result is shown in FIG.
  • the output unit 34 in FIG. 1 is configured to determine and output an operation condition suitable for the exercise from a plurality of operation conditions set by the operation condition setting unit 12.
  • the output unit 34 is configured to determine and output at least one operating condition to apply a relatively heavy muscle load and a light joint load.
  • the joint load is within a joint force range that is a specified value or less.
  • the muscle load is preferably within the range of muscle activity.
  • the muscle activity range is a range from the first muscle activity to the second muscle activity.
  • the 1st muscular activity is the highest muscular activity among each muscular activity calculated
  • the second muscular activity is a muscular activity lower than the first muscular activity by a specified number among the muscular activities obtained according to a plurality of operation conditions within the joint force range.
  • muscle load and joint load differ depending not only on operating conditions but also on physique. Therefore, it is possible to obtain a range of a physique capable of performing an appropriate exercise for a specific operation condition, or to obtain an operation condition capable of performing an appropriate exercise for a specific physique.
  • These results are preferably stored in a storage device (not shown) so that they can be referred to at any time.
  • the operating condition and physique that allow proper exercise can be determined as described above, the operating condition can be reflected in the control of the footrest 2 of the actual passive training apparatus 1.
  • the mechanism of the passive training apparatus 1 is considered,
  • the drive source that drives the passive training measure 1 must be controlled so that the mechanism satisfies the operating conditions. Therefore, when the motion condition is specified with 6 degrees of freedom, the passive training apparatus 1 must also be able to control with 6 degrees of freedom.
  • the calculation for determining the control condition of the drive source according to the operation condition can be performed in the same manner as the calculation for determining the control condition of the drive source according to the operation condition of the effector in the robot.
  • the position change of the user's joint is performed for the passive training apparatus 1 used in a standing position where the user places his / her foot on the support base (footrest base 2).
  • the passive training apparatus 1 used in a standing position where the user places his / her foot on the support base (footrest base 2).
  • requires from the model using an inverted pendulum, it is necessary to use a different model in the passive training apparatus 1 of another structure.
  • a configuration is provided that includes a support base (seat part 3) that supports the buttocks of the user H, and the user H rides on the seat part 3. There are some that cause the user H to perform an exercise simulating a riding exercise by moving the seat 3.
  • a support base for supporting the buttocks or lumbar region of the user H and a support base (footrest base 5) for respectively mounting the left and right feet of the user H are provided.
  • a support base for supporting the buttocks or lumbar region of the user H
  • a support base for respectively mounting the left and right feet of the user H.
  • the footrest 5 is movable in the vertical direction in accordance with the load acting on the footrest 5, and the angle of the knee joint is kept substantially constant.
  • the inverted pendulum in addition to the multi-link model, a one-link model provided with a link L corresponding to the upper body as shown in FIG. 9B can be used.
  • the lower end is the joint axis J.
  • the position of the hip joint is constrained by the seat 4 and the position of the ankle joint is constrained by the footrest 5.
  • the position of the hip joint and the position of the ankle joint are determined by the operating conditions of the seat portion 4 (support base).
  • a one-link model having a link L corresponding to the upper body as shown in FIG. 10B may be used. it can.
  • the lower end is the joint axis J.
  • the target joint can be estimated from the positional relationship with respect to the reference point.
  • the passive training apparatus 1 shown in FIGS. 9 and 10 if it is necessary to divide the contact portion between the human body and the seats 3 and 4 into a plurality of points while sitting on the seats 3 and 4, the operating condition From the above, a change in position for each contact location may be obtained and reflected in the movement of the model.
  • the upper body is simulated by a one-link model
  • an inverted pendulum model having a plurality of links provided with appropriate joint axes at the positions of the spine and neck may be used.

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Abstract

La présente invention concerne une unité de simulation d'appareil qui calcule des changements de position du socle de support d'un appareil sportif au fil du temps selon des conditions opérationnelles. Une unité de génération de modèle de vibration génère un balancier inversé comme modèle de vibration mécanique du corps humain sur la base d'informations physiques. Une unité de calcul de dynamique soumet le balancier inversé à des changements de positions du socle de support et estime le changement de position correspondant du balancier inversé. La position du balancier inversé est mise en corrélation avec la position d'une articulation d'un corps humain. Une unité de génération de modèle muscle-squelette génère un modèle muscle-squelette selon les informations physiques. Une unité de calcul de dynamique inverse applique la position de l'articulation obtenue à partir du balancier inversé au modèle muscle-squelette, estimant de ce fait la charge de muscle et la charge de l'articulation.
PCT/JP2009/061388 2009-06-23 2009-06-23 Procédé de simulation de conditions opérationnelles pour un socle de support d'un appareil sportif WO2010150352A1 (fr)

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PCT/JP2009/061388 WO2010150352A1 (fr) 2009-06-23 2009-06-23 Procédé de simulation de conditions opérationnelles pour un socle de support d'un appareil sportif

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PCT/JP2009/061388 WO2010150352A1 (fr) 2009-06-23 2009-06-23 Procédé de simulation de conditions opérationnelles pour un socle de support d'un appareil sportif

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006034640A (ja) * 2004-07-27 2006-02-09 Matsushita Electric Works Ltd 運動補助装置
JP2007334446A (ja) * 2006-06-12 2007-12-27 Matsushita Electric Works Ltd 筋負荷評価システム、製品設計支援システム
JP2008532572A (ja) * 2005-01-19 2008-08-21 本田技研工業株式会社 直列連鎖システムにおける未知動作を予測するシステムおよびその方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006034640A (ja) * 2004-07-27 2006-02-09 Matsushita Electric Works Ltd 運動補助装置
JP2008532572A (ja) * 2005-01-19 2008-08-21 本田技研工業株式会社 直列連鎖システムにおける未知動作を予測するシステムおよびその方法
JP2007334446A (ja) * 2006-06-12 2007-12-27 Matsushita Electric Works Ltd 筋負荷評価システム、製品設計支援システム

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