Training device and a control method of the same
A training machine for enabling the exerciser to exercise under a load appropriate for the individual exercise capability and physical function of the exerciser. The exerciser (E) enters a desired velocity-load characteristic into a load characteristic input device ( 7 ), and the velocity-load characteristic is stored in the load characteristic memory device ( 8 ). A load instruction value is determined according to the velocity-load characteristic and to the velocity inputted from a velocity calculation means ( 6 ) into the load characteristic memory device ( 8 ) and transmitted to a control means ( 1 ). The control means ( 1 ) rotates a servomotor ( 2 ) with a torque instruction value corresponding to the load instruction value. A movement mechanism ( 3 ) converts the rotation into linear movement to move a movable unit ( 4 ). With this, the exerciser can carry out training of reciprocal movement.
1. A training device doing muscular workout to apply load caused by a rotary torque of an electric motor to an exerciser
comprising:
a detection means seeking for a velocity or acceleration of an exercise in the muscular workout;
a load characteristic input device for inputting a velocity-load characteristic being a load characteristic to the velocity or an acceleration-load characteristic being a load characteristic to the acceleration;
a load characteristic memory device memorizing the velocity-load characteristic or the acceleration-load characteristic; and
a control means calculating a torque instruction value as a driving current in accordance with the velocity-load characteristic or the acceleration-load characteristic memorized in the load characteristic memory device and controlling a rotary torque of the electric motor in accordance with the torque instruction value,
wherein
the velocity-load characteristic is a load characteristic passing through a zero point and facing a reverse direction between a positive value and a negative value in velocity in case where the load characteristics are shown as a characteristic line on a coordinate with a velocity and a load designated as each axis, respectively,
wherein
the velocity-load characteristic changes a slope of the load at forth and return routes to obtain a suitable velocity-load characteristic for each exerciser, and
at first the velocity-load characteristic is given such that the velocity-load characteristic passes through a point that denotes an ideal load at a standard velocity, which is ideal moving velocity for the exerciser, and
wherein
when an exercise velocity, at which the exerciser used to exercise, less than the standard velocity,
the control means changes the velocity-load characteristic so that the velocity-load characteristic passes through a point that denotes an exercise load, which is equal to a load at the exercise velocity on the velocity-load characteristic before changing, at the standard velocity, or
passes through a point that denotes a predetermined load at the standard velocity wherein the product of the standard velocity and the predetermined load is equal to the product of the exercise velocity and the exercise load.
2. The training device according to claim 1
wherein
the device comprises an energy recovery means for preventing overvoltage generating at the time of reverse rotation of the electric motor.
3. The training device according to claim 2
wherein
the energy recovery means is a generator obtained by the electric motor.
4. The training device according to claim 3
wherein
the device comprises an electric charger accumulating electric energy generated by the generator.
5. The training device according to claim 4
wherein
the device comprises a display operated by electric energy accumulated in the electric charger.
6. The training device according to claim 1
wherein
the velocity-load characteristic is a load characteristic in which load is proportional to a n-th power of a magnitude of velocity in case where n is positive number, and
the control means controls the rotary torque of the electric motor in accordance with the load characteristic.
7. The training device according to claim 1
wherein
the velocity-load characteristic is a load characteristic in which load is proportional to a velocity within a prescribed area of a magnitude of velocity locating around a zero point of the coordinate axis and the load is constant notwithstanding a change of velocity beyond the prescribed range of a magnitude of velocity, and
the control means controls the rotary torque of the electric motor in accordance with the load characteristic.
8. The training device according to claim 6
wherein
the velocity-load characteristic is constituted to change such that either a power represented by a product of load and velocity or the rotary torque of the electric motor is constant when the velocity changes, and
the control means is constituted to control the rotary torque of the electric motor in accordance with the load characteristic.
9. The training device according to claim 1
wherein
the velocity-load characteristic is a load characteristic in which a line passing through points corresponding to standard velocity designated as a target of ideal moving velocity and ideal load is shown, and
the control means controls the rotary torque of the electric motor in accordance with the load characteristic.
10. The training device according to claim 1
wherein
the device comprises
a chair of exercisers doing the muscular workout,
a press board for fixing tips of legs of the exerciser and pushing by tips of legs when the exerciser does the muscular workout, and
a movement mechanism converting the rotary movement of the electric motor into a linear movement in order to bend and stretch the legs of the exercisers sitting down on the chair.
11. The training device according to claim 1
wherein
the device comprises
a chair of exercisers doing the muscular workout,
a bar gripped by a hand when the exercisers do the muscular workout, and
a movement mechanism converting the rotary movement to the linear movement in order to bend and stretch the legs of the exercisers sitting down on the chair.
12. The training device according to claim 1
wherein
the device comprises
a chair of exercisers doing the muscular workout,
a press board for fixing the tips of legs of exercisers and pushing with the tips of legs when the exercisers do the muscular workout,
a bar gripped by a hand when the exercisers do the muscular workout, and
a movement mechanism converting the rotary movement of the electric motor to the linear movement in order to bend and stretch the legs and arms of the exercisers sitting down on the chair.
13. The training device according to claim 1
wherein
the movement mechanism is a mechanism reversing directions of bending and stretching exercise of legs and arms each other when the exerciser do the muscular workout.
14. A control method of a training device doing muscular workout to apply load caused by a rotary torque of an electric motor to an exerciser in accordance with a velocity-load characteristic being a load characteristic to a velocity or an acceleration-load characteristic being a load characteristic to an acceleration,
wherein
at first the velocity-load characteristic is given such that the velocity-load characteristic passes through a point that denotes an ideal load at a standard velocity, which is ideal moving velocity for the exerciser,
the control method comprising:
a first step seeking for a velocity or an acceleration of exercise in the muscular workout,
a second step calculating a torque instruction value as a driving current by a control means in accordance with the velocity-load characteristic or the acceleration-load characteristic with the velocity or the acceleration of exercise sought for by the first step and controlling the rotary torque of the electric motor in accordance with the torque instruction value, and
if an exercise velocity, at which the exerciser used to exercise, less than the standard velocity,
then a third step changes the velocity-load characteristic so that the velocity-load characteristic
passes through a point that denotes an exercise load, which is equal to a load at the exercise velocity on the velocity-load characteristic before changing, at the standard velocity, or
passes through a point that denotes a predetermined load at the standard velocity wherein the product of the standard velocity and the predetermined load is equal to the product of the exercise velocity and the exercise load.