WO2020129162A1 - Method for controlling training machine - Google Patents

Method for controlling training machine Download PDF

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Publication number
WO2020129162A1
WO2020129162A1 PCT/JP2018/046618 JP2018046618W WO2020129162A1 WO 2020129162 A1 WO2020129162 A1 WO 2020129162A1 JP 2018046618 W JP2018046618 W JP 2018046618W WO 2020129162 A1 WO2020129162 A1 WO 2020129162A1
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WIPO (PCT)
Prior art keywords
load
reciprocating
reciprocating means
movement
backward
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PCT/JP2018/046618
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French (fr)
Japanese (ja)
Inventor
一雄 比嘉
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Calada Lab
Calada Lab Co Ltd
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Calada Lab
Calada Lab Co Ltd
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Priority to US17/414,430 priority Critical patent/US20220088441A1/en
Priority to JP2020560685A priority patent/JP7022412B2/en
Priority to CN201880100331.9A priority patent/CN113242753B/en
Priority to PCT/JP2018/046618 priority patent/WO2020129162A1/en
Priority to EP18943731.2A priority patent/EP3885008A4/en
Publication of WO2020129162A1 publication Critical patent/WO2020129162A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A63B21/0059—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors using a frequency controlled AC motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
    • A63B21/0083—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters of the piston-cylinder type
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/801—Contact switches
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • 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

Definitions

  • the present invention relates to a method for controlling a load applied to a handle or the like of a training machine used for strength training.
  • Patent Document 1 discloses a handle movable by an exerciser, a motion conversion mechanism for mutually converting movement and rotation of the handle, and a motor having a rotation shaft that rotates in association with movement of the handle by the motion conversion mechanism.
  • a training machine including a control unit for controlling a torque of a motor, wherein a training machine control method for changing a load of a steering wheel by setting a target value that changes depending on acceleration, position, or time of the steering wheel is disclosed. ..
  • the user uses the exercise equipment based on the force (exercise characteristic) that the user gives to the exercise equipment in a series of exercises and the information (attribute information) such as age and sex of the user.
  • the information such as age and sex of the user.
  • a method for controlling a training machine which can determine a load when exercising.
  • the training machine of Patent Document 1 since the load can be applied by the motor, no weight is required and the training machine can be made compact. Further, by controlling the motor, it is possible to give the user a load similar to that of a device using a weight, and it is possible to change the load given to the user depending on the position of the handle to which the load is applied and the training time. It is said that. However, it has not been clarified yet what kind of load can be applied to effectively improve the muscular strength of the user.
  • Patent Document 2 discloses a control method for determining the load based on the user's exercise characteristics and attribute information, but there is a problem that it takes time to input attribute information.
  • the present invention relates to a reciprocating means capable of reciprocating linear movement or pivotal movement, a load acquiring means for acquiring a value of a load applied to the reciprocating means, and a load applying means for applying a load to the reciprocating means.
  • a method of controlling a training machine comprising: The load acquisition means acquires a load applied to the fixed reciprocating means as a reference load in the forward direction, The load applying unit reciprocates a load equal to or less than the reference load as a forward load that opposes the reciprocating unit in the forward direction when a load in the forward direction is applied to the reciprocating unit. And then or before the reciprocating means is moved back while applying a load larger than the reference load to the reciprocating means as a returning load in the returning direction of the reciprocating means.
  • the above problem has been solved by a characteristic method of controlling a training machine.
  • the load applied to the fixed reciprocating means is acquired as the reference load in the forward direction, and the reciprocating means and the reciprocating means return to oppose each other in the forward direction. Since the return load for the direction is determined, the load for training can be easily determined. Further, the load applying means causes the reciprocating means to reciprocate while applying a load larger than the reference load in the reciprocating direction of the reciprocating means, so that when the user contracts the muscle of the target site, or Since a relatively large load can be applied when stretching, the muscle strength of the user can be effectively improved.
  • a configuration is further provided with a position sensor that detects the base end and the end of the range in which the reciprocating means is moved, and the load applying means is configured to control so as not to move the reciprocating means out of the range from the base end and the end. , It is possible to ensure the safety of the user.
  • the forward load and the backward load corresponding to the position of the reciprocating means are made lower than the forward load and the backward load at the time of the previous reciprocating movement.
  • the muscle strength of the user can be improved more effectively.
  • the forward load is gradually increased and then lowered as the reciprocating means moves in the forward direction
  • the backward load is gradually increased and then lowered as the reciprocating means moves in the backward direction.
  • the flowchart which shows the process in the control method of the training machine of one Embodiment of this invention.
  • the control method of the training machine of the present invention is an existing training machine provided with a reciprocating means capable of reciprocating linear movement or pivotal movement, for example, chest press, leg press, shoulder press, tricepth press, hip adduction. , Hip abduction, peck fly, rear deltoid, lateral raise, lat pulldown, seated row, arm curl, assist chin up, leg extension, leg curl, lie in leg curl, glute, back extension, abdominal, toso rotation, It can be applied to calf rice, etc.
  • a reciprocating means capable of reciprocating linear movement or pivotal movement, for example, chest press, leg press, shoulder press, tricepth press, hip adduction.
  • Hip abduction, peck fly, rear deltoid lateral raise, lat pulldown, seated row, arm curl, assist chin up, leg extension, leg curl, lie in leg curl, glute, back extension, abdominal, toso rotation, It can be applied to calf rice, etc.
  • the reciprocating means is a handle or handle that can be grasped by hand, a bar-shaped one that can be hung on a shoulder, an arm, or a leg, or a plate-shaped one that can be pushed by a foot or the like. ..
  • a load acquisition unit that acquires a load value
  • a load application unit that applies a load to the reciprocating unit.
  • a motor or cylinder including air pressure and hydraulic pressure
  • a brake mechanism applies a load to the reciprocating means through a wire or a belt
  • a sensor applies the load to the motor or cylinder through the reciprocating means. It is necessary to have a structure for acquiring the load.
  • the training machine further includes position sensors that detect the base end and the end of the range in which the reciprocating means is moved.
  • the position sensor may be a known one such as a mechanical switch or an optical sensor.
  • a training machine having the above-described configuration is already known, and therefore detailed description thereof will be omitted.
  • FIG. 1 is a flowchart showing a process in a training machine control method according to an embodiment of the present invention.
  • a reciprocating range determination process S10 is executed.
  • the position sensor detects the base end and the end of the range in which the reciprocating means is moved by the user. At this time, it is preferable that no load is applied to the reciprocating means.
  • the proximal end and the distal end where the reciprocating means is moved can be detected when the reciprocating means is moved once, but the maximum value of the proximal end or the distal end when the reciprocating means is reciprocated a plurality of times. , The minimum value, or the average value. If the reciprocating means is controlled so as not to move out of the range from the base end or the end of the reciprocating means thus obtained, the user of the training does not need an assistant and It is possible to ensure safety. In the case of a training machine that does not include a position sensor, the reciprocating range determination process S10 is omitted.
  • the reference load determination process S12 is executed.
  • the load applied to the fixed reciprocating means is acquired as the reference load in the forward movement direction.
  • the acquired reference load value may be stored in a primary storage unit such as a flash memory or a storage unit such as a hard disk.
  • the load applied to the reciprocating means may be a linear movement or pivoting of the reciprocating means in one direction or the other direction.
  • the load in one direction or the other direction, this load is acquired as the reference load in the forward direction. It is desirable that the reference load be the maximum voluntary contraction of the user. In this case, the training machine to which the control method of the present invention is applied can most effectively train the muscle strength of the user.
  • the forward load applying process S14 is preferably started from a state in which the reciprocating means is at the base end or the end.
  • the load applying unit sets a load equal to or less than the reference load as a forward load that opposes the reciprocating unit in the forward direction when a load in the forward direction is applied to the reciprocating unit. Add to reciprocating means.
  • the reciprocating load applying process S16 is executed from the predetermined position, the end position, or the base position of the reciprocating means.
  • the reciprocating means is moved backward while applying a load larger than the reference load to the reciprocating means as a returning load in the backward direction of the reciprocating means.
  • the reciprocating means moves back while being applied with a load larger than the reference load. Therefore, the user applies force so as to oppose it, so that the eccentric contraction of the muscle to be trained is efficiently performed. It can be realized well.
  • the load is applied to both the forward and backward directions of the reciprocating means, it is possible to perform strength training even in a weightless space.
  • the speed at which the reciprocating means moves back may be adjusted in consideration of the safety of the user.
  • the backward load applying process S16 is usually executed after the outward load applying process S14, but the backward load applying process S16 may be executed first. Good.
  • the load applied to the fixed reciprocating means is acquired as the reference load in the forward moving direction, and the load is opposed to the reciprocating means in the forward moving direction. Since it is possible to determine the forward load and the backward load in the backward direction of the reciprocating means, the operation for determining the load for training is simple.
  • the value of the load applied to the reciprocating means may be constant, but the value of the load may be changed according to the position of the reciprocating means. Good. Therefore, an example of the load applied to the reciprocating means by the forward load applying process S14 and the backward load applying process S16 will be specifically described below with reference to FIG.
  • the forward load and the backward load according to the position of the reciprocating means are made lower than the forward load and the backward load at the time of the previous reciprocating movement. Is good. According to this configuration, the user can easily reciprocate the plurality of sets of the reciprocating means, so that the muscular strength of the user can be more effectively improved.
  • the horizontal axis p is the position of the reciprocating means, and for convenience, the base end of the reciprocating means is represented as 0 and the end is represented as 1.
  • the vertical axis KL is the value of the load, the unit is kilogram (kgf), and the reference load acquired by the reference load determination process S12 is represented as Fmax.
  • the reference load is the maximum voluntary contraction of the user, but it may be adjusted depending on the physical condition of the user.
  • the load applied to the reciprocating means in the forward load applying process S14 and the backward load applying process S16 may be changed such that the load is gradually increased and then decreased as the reciprocating device moves. With this configuration, the muscle strength of the user can be more effectively improved.
  • the forward load applying process S14 and the backward load applying process S16 may have different curves of the load from the base end to the end of the reciprocating means, and the curves are different from those of the training machine control method of the present invention. It can be modified by the built-in training machine, that is, the muscles to be trained are effectively trained.

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  • Physical Education & Sports Medicine (AREA)
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Abstract

The purpose of the present invention is to provide a method for controlling a training machine which enables an easy operation and effective improvement in muscle strength of a user.　According to the present invention, a load applied to a fixed reciprocation means is acquired as a reference load in the forward direction, and a forward movement load opposite to the forward direction of the reciprocation means and a backward movement load against the backward direction of the reciprocation means are determined. Accordingly, a load for training can be easily determined. A load imparting means imparts the backward movement load, which is larger than the reference load, against the backward direction of the reciprocation means while the reciprocation means is moved backward. This makes it possible to apply a relatively large load when the user contracts or stretches muscles at a target site. Thus, the muscle strength of the user can be effectively improved.

Description

トレーニングマシンの制御方法Training machine control method

　本発明は、筋力トレーニングに用いられるトレーニングマシンのハンドル等に加える負荷を制御する方法に関する。 The present invention relates to a method for controlling a load applied to a handle or the like of a training machine used for strength training.

　筋力トレーニングに用いられる装置としては、重りを利用するものやモータによる負荷を利用するものが開発されてきており、使用者に対して効果的な負荷を与えるためにこれらの装置を制御する方法も開発されてきている。この例として、以下に挙げるものがある。 As a device used for strength training, a device using a weight or a device using a load by a motor has been developed, and a method for controlling these devices in order to give an effective load to a user is also available. Has been developed. Examples of this are listed below.

特開２０１５－１６３１０８号公報JP, 2015-163108, A 特開２０１８－１７５６７０号公報Japanese Patent Laid-Open No. 2018-175670

　特許文献１には、運動者の操作により移動可能なハンドルと、ハンドルの移動と回転運動を相互変換する運動変換機構と、運動変換機構によりハンドルの移動と連動して回転軸が回転するモータと、モータのトルクを制御する制御部を具えたトレーニング装置であって、ハンドルの加速度、位置、或いは時間によって変化する目標値を設定し、ハンドルの負荷を変化させるトレーニングマシン制御方法が開示されている。 Patent Document 1 discloses a handle movable by an exerciser, a motion conversion mechanism for mutually converting movement and rotation of the handle, and a motor having a rotation shaft that rotates in association with movement of the handle by the motion conversion mechanism. , A training machine including a control unit for controlling a torque of a motor, wherein a training machine control method for changing a load of a steering wheel by setting a target value that changes depending on acceleration, position, or time of the steering wheel is disclosed. ..

　特許文献２には、使用者が運動器具に対して一連の運動で与える力（運動特性）と、使用者の年齢・性別等の情報（属性情報）に基づいて、使用者が運動器具を用いて運動する際の負荷を決定することができるトレーニングマシンの制御方法が開示されている。 In Patent Document 2, the user uses the exercise equipment based on the force (exercise characteristic) that the user gives to the exercise equipment in a series of exercises and the information (attribute information) such as age and sex of the user. Disclosed is a method for controlling a training machine, which can determine a load when exercising.

　特許文献１のトレーニングマシンによれば、モータによって負荷を与えることができるため、ウェイトが不要で、トレーニングマシンのコンパクト化を図ることができるとされている。また、モータを制御することによって、ウェイトを用いた機器と同様の負荷を使用者に与えることができ、荷重が掛かるハンドルの位置や、トレーニングの時間によって使用者に与える負荷を変化させることもできるとされている。しかし、具体的にどのような負荷を与えれば使用者の筋力を効果的に向上させることができるのか、その制御方法までは明らかにされていない。 According to the training machine of Patent Document 1, since the load can be applied by the motor, no weight is required and the training machine can be made compact. Further, by controlling the motor, it is possible to give the user a load similar to that of a device using a weight, and it is possible to change the load given to the user depending on the position of the handle to which the load is applied and the training time. It is said that. However, it has not been clarified yet what kind of load can be applied to effectively improve the muscular strength of the user.

　特許文献２には、使用者の運動特性と属性情報に基づいて負荷を決定する制御方法が開示されているが、属性情報の入力作業などに手間がかかるという問題がある。 Patent Document 2 discloses a control method for determining the load based on the user's exercise characteristics and attribute information, but there is a problem that it takes time to input attribute information.

　そこで、本発明は、前述した問題点に鑑み、操作が簡便で、且つ、使用者の筋力を効果的に向上させることができるトレーニングマシンの制御方法を提供することをその目的とする。 Therefore, in view of the above-mentioned problems, it is an object of the present invention to provide a training machine control method that is easy to operate and that can effectively improve the muscle strength of the user.

　本発明は、直線動又は枢動の往復動が可能な往復動手段と、前記往復動手段に与えられた負荷の値を取得する負荷取得手段と、該往復動手段に負荷を与える負荷付与手段を具えたトレーニングマシンの制御方法であって、
　前記負荷取得手段は、固定された前記往復動手段に対して与えられた負荷を往動方向の基準負荷として取得し、
　前記負荷付与手段は、前記基準負荷以下の負荷を、前記往復動手段に対して往動方向の負荷が与えられたときに該往復動手段の往動方向に対向する往動負荷として前記往復動手段に付与し、その後又はその前に、前記基準負荷よりも大きい負荷を、前記往復動手段の復動方向に対する復動負荷として前記往復動手段に与えながら該往復動手段を復動させることを特徴とするトレーニングマシンの制御方法によって前記課題を解決した。 The present invention relates to a reciprocating means capable of reciprocating linear movement or pivotal movement, a load acquiring means for acquiring a value of a load applied to the reciprocating means, and a load applying means for applying a load to the reciprocating means. A method of controlling a training machine comprising:
The load acquisition means acquires a load applied to the fixed reciprocating means as a reference load in the forward direction,
The load applying unit reciprocates a load equal to or less than the reference load as a forward load that opposes the reciprocating unit in the forward direction when a load in the forward direction is applied to the reciprocating unit. And then or before the reciprocating means is moved back while applying a load larger than the reference load to the reciprocating means as a returning load in the returning direction of the reciprocating means. The above problem has been solved by a characteristic method of controlling a training machine.

　本発明によれば、固定された往復動手段に対して与えられた負荷を往動方向の基準負荷として取得し、往復動手段の往動方向に対向する往動負荷と往復動手段の復動方向に対する復動負荷を決定するから、トレーニングのための負荷の決定が簡便に出来る。また、負荷付与手段が、基準負荷よりも大きい負荷を、往復動手段の復動方向に対する復動負荷を与えながら往復動手段を復動させるので、使用者が対象の部位の筋肉を縮めるとき又は伸ばすときに比較的大きな負荷を与えることができるから、使用者の筋力を効果的に向上させることができる。 According to the present invention, the load applied to the fixed reciprocating means is acquired as the reference load in the forward direction, and the reciprocating means and the reciprocating means return to oppose each other in the forward direction. Since the return load for the direction is determined, the load for training can be easily determined. Further, the load applying means causes the reciprocating means to reciprocate while applying a load larger than the reference load in the reciprocating direction of the reciprocating means, so that when the user contracts the muscle of the target site, or Since a relatively large load can be applied when stretching, the muscle strength of the user can be effectively improved.

　また、往復動手段が動かされる範囲の基端及び末端を検知する位置センサをさらに具え、負荷付与手段が、基端及び末端より範囲外に往復動手段を移動させないように制御する構成とすれば、使用者の安全を確保することができる。 Further, if a configuration is further provided with a position sensor that detects the base end and the end of the range in which the reciprocating means is moved, and the load applying means is configured to control so as not to move the reciprocating means out of the range from the base end and the end. , It is possible to ensure the safety of the user.

　また、往復動手段が一往復するごとに、往復動手段の位置に応じた往動負荷及び復動負荷を、前回の往復動時の往動負荷及び復動負荷よりも低くする構成とすれば、使用者の筋力をさらに効果的に向上させることができる。 In addition, each time the reciprocating means makes one reciprocating movement, the forward load and the backward load corresponding to the position of the reciprocating means are made lower than the forward load and the backward load at the time of the previous reciprocating movement. The muscle strength of the user can be improved more effectively.

　また、往動負荷を往復動手段の往動方向への移動に伴い、徐々に高くした後に低くし、復動負荷を往復動手段の復動方向への移動に伴い、徐々に高くした後に低くする構成とすれば、使用者の筋力をより一層効果的に向上させることができる。 Further, the forward load is gradually increased and then lowered as the reciprocating means moves in the forward direction, and the backward load is gradually increased and then lowered as the reciprocating means moves in the backward direction. With such a configuration, the muscle strength of the user can be more effectively improved.

本発明の一実施形態のトレーニングマシンの制御方法における処理を示すフローチャート。The flowchart which shows the process in the control method of the training machine of one Embodiment of this invention. 図１の制御方法における基準負荷、往動負荷、復動負荷の関係の一例を示した図。The figure which showed an example of the reference load in the control method of FIG. 1, a forward load, and a return load.

　以下、本発明の実施形態を図１，２を参照して説明する。但し、本発明はこの実施形態に限定されるものではない。 Hereinafter, an embodiment of the present invention will be described with reference to FIGS. However, the present invention is not limited to this embodiment.

　本発明のトレーニングマシンの制御方法は、直線動又は枢動の往復動が可能な往復動手段を具える既存のトレーニングマシン、例えば、チェストプレス、レッグプレス、ショルダープレス、トライセプス・プレス、ヒップアダクション、ヒップアブダクション、ペックフライ、リア・デルトイド、ラテラルレイズ、ラットプルダウン、シーテッドロー、アーム・カール、アシストチンアップ、レッグエクステンション、レッグカール、ライイングレッグカール、グルート、バックエクステンション、アブドミナル、トーソ・ローテーション、カーフレイスなどに適用することができる。これらのトレーニングマシンにおいて、往復動手段は、手で握ることができるハンドルや持ち手、肩や腕、脚を掛けることができるバー状のもの、足等で押すことができるプレート状のものである。 The control method of the training machine of the present invention is an existing training machine provided with a reciprocating means capable of reciprocating linear movement or pivotal movement, for example, chest press, leg press, shoulder press, tricepth press, hip adduction. , Hip abduction, peck fly, rear deltoid, lateral raise, lat pulldown, seated row, arm curl, assist chin up, leg extension, leg curl, lie in leg curl, glute, back extension, abdominal, toso rotation, It can be applied to calf rice, etc. In these training machines, the reciprocating means is a handle or handle that can be grasped by hand, a bar-shaped one that can be hung on a shoulder, an arm, or a leg, or a plate-shaped one that can be pushed by a foot or the like. ..

　なお、本発明を適用するためには、使用者から与えられた負荷の値を取得し、且つ、使用者に与える負荷を調整する必要があるので、トレーニングマシンにおいては、往復動手段に与えられた負荷の値を取得する負荷取得手段と、往復動手段に負荷を与える負荷付与手段を具えている必要がある。具体的には、モータやシリンダ（空気圧、油圧を含む。）、或いはこれらとブレーキ機構の組合せによって、ワイヤやベルトを通じて往復動手段に負荷を与え、センサによって、往復動手段を通じてモータやシリンダに与えられた負荷を取得する構成を具えていることを要する。 In order to apply the present invention, it is necessary to obtain the value of the load given by the user and adjust the load given to the user. It is necessary to include a load acquisition unit that acquires a load value and a load application unit that applies a load to the reciprocating unit. Specifically, a motor or cylinder (including air pressure and hydraulic pressure) or a combination of these and a brake mechanism applies a load to the reciprocating means through a wire or a belt, and a sensor applies the load to the motor or cylinder through the reciprocating means. It is necessary to have a structure for acquiring the load.

　また、トレーニングマシンは、往復動手段が動かされる範囲の基端及び末端を検知する位置センサをさらに具えていることが好ましい。位置センサは、機械式スイッチや光学的センサなど、公知のものでよい。以上の構成を具えたトレーニングマシンは、既に公知であるため、詳細な説明は省略する。 Also, it is preferable that the training machine further includes position sensors that detect the base end and the end of the range in which the reciprocating means is moved. The position sensor may be a known one such as a mechanical switch or an optical sensor. A training machine having the above-described configuration is already known, and therefore detailed description thereof will be omitted.

　図１は、本発明の一つの実施形態のトレーニングマシンの制御方法における処理を示すフローチャートである。使用者がトレーニングマシンの使用を開始すると、往復動範囲決定処理Ｓ１０が実行される。往復動範囲決定処理Ｓ１０では、使用者によって往復動手段が動かされた範囲の基端及び末端を位置センサによって検知する。このとき、往復動手段には負荷が与えられていない状態であることが好ましい。 FIG. 1 is a flowchart showing a process in a training machine control method according to an embodiment of the present invention. When the user starts using the training machine, a reciprocating range determination process S10 is executed. In the reciprocating range determination process S10, the position sensor detects the base end and the end of the range in which the reciprocating means is moved by the user. At this time, it is preferable that no load is applied to the reciprocating means.

　往復動手段が動かされた基端及び末端は、往復動手段が１度動かされたときに検出することもできるが、往復動手段が複数回往復動されたときの基端又は末端の最大値、最小値、又は平均値とすることもできる。このようにして取得された往復動手段の基端又は末端より範囲外に往復動手段を移動させないように制御する構成とすれば、トレーニングを行う使用者の補助者を要することなく、使用者の安全を確保することができる。なお、位置センサを具えていないトレーニングマシンの場合、往復動範囲決定処理Ｓ１０は省略される。 The proximal end and the distal end where the reciprocating means is moved can be detected when the reciprocating means is moved once, but the maximum value of the proximal end or the distal end when the reciprocating means is reciprocated a plurality of times. , The minimum value, or the average value. If the reciprocating means is controlled so as not to move out of the range from the base end or the end of the reciprocating means thus obtained, the user of the training does not need an assistant and It is possible to ensure safety. In the case of a training machine that does not include a position sensor, the reciprocating range determination process S10 is omitted.

　往復動範囲決定処理Ｓ１０が完了すると、基準負荷決定処理Ｓ１２が実行される。基準負荷決定処理Ｓ１２では、固定された往復動手段に対して与えられた負荷を往動方向の基準負荷として取得する。取得した基準負荷の値は、フラッシュメモリ等の一次記憶手段又はハードディスク等の記憶手段に記憶されてもよい。 When the reciprocating range determination process S10 is completed, the reference load determination process S12 is executed. In the reference load determination processing S12, the load applied to the fixed reciprocating means is acquired as the reference load in the forward movement direction. The acquired reference load value may be stored in a primary storage unit such as a flash memory or a storage unit such as a hard disk.

　基準負荷決定処理Ｓ１２で、往復動手段に対して与えられる負荷は、往復動手段の直線動又は枢動する一方向又は他方向のいずれの方向の負荷であってもよい。例えば、チェストプレスの場合、使用者が往復動手段を押す方向（自身の胸部から離れる方向）であっても、往復動手段を引く方向（自身の胸部に近付ける方向）であってもよい。一方向又は他方向のいずれの方向の負荷であっても、この負荷を往動方向の基準負荷として取得するのである。基準負荷は、使用者の随意最大筋力（maximal voluntary contraction）であることが望ましい。この場合、本発明の制御方法を適用したトレーニングマシンにおいて、最も効果的に使用者の筋力を鍛えることができる。 In the reference load determination process S12, the load applied to the reciprocating means may be a linear movement or pivoting of the reciprocating means in one direction or the other direction. For example, in the case of a chest press, it may be in a direction in which the user pushes the reciprocating means (a direction away from his/her chest) or in a direction in which the reciprocating means is pulled (a direction in which he/she approaches his/her chest). Whether the load is in one direction or the other direction, this load is acquired as the reference load in the forward direction. It is desirable that the reference load be the maximum voluntary contraction of the user. In this case, the training machine to which the control method of the present invention is applied can most effectively train the muscle strength of the user.

　基準負荷決定処理Ｓ１２によって、基準負荷が取得された後、往動負荷付与処理Ｓ１４が実行される。往動負荷付与処理Ｓ１４は、往復動手段が基端又は末端にある状態から開始されることが好ましい。往動負荷付与処理Ｓ１４では、負荷付与手段が基準負荷以下の負荷を、往復動手段に対して往動方向の負荷が与えられたときに往復動手段の往動方向に対向する往動負荷として往復動手段に付与する。 After the reference load is acquired by the reference load determination processing S12, the forward load application processing S14 is executed. The forward load applying process S14 is preferably started from a state in which the reciprocating means is at the base end or the end. In the forward load applying process S14, the load applying unit sets a load equal to or less than the reference load as a forward load that opposes the reciprocating unit in the forward direction when a load in the forward direction is applied to the reciprocating unit. Add to reciprocating means.

　往復動手段が所定の位置、末端の位置、又は基端の位置から復動負荷付与処理Ｓ１６が実行される。復動負荷付与処理Ｓ１６では、基準負荷よりも大きい負荷を、往復動手段の復動方向に対する復動負荷として往復動手段に与えながら往復動手段を復動させる。このように、基準負荷よりも大きな負荷が与えられながら往復動手段が復動するので、使用者はこれに対向するように力を入れることにより、トレーニング対象となっている筋肉のエキセントリック収縮を効率よく実現させることができる。本発明によれば、往復動手段の往動方向及び復動方向のいずれに対しても負荷が与えられるので、無重力空間であっても筋力トレーニングを行うことができる。 The reciprocating load applying process S16 is executed from the predetermined position, the end position, or the base position of the reciprocating means. In the backward load applying process S16, the reciprocating means is moved backward while applying a load larger than the reference load to the reciprocating means as a returning load in the backward direction of the reciprocating means. In this way, the reciprocating means moves back while being applied with a load larger than the reference load. Therefore, the user applies force so as to oppose it, so that the eccentric contraction of the muscle to be trained is efficiently performed. It can be realized well. According to the present invention, since the load is applied to both the forward and backward directions of the reciprocating means, it is possible to perform strength training even in a weightless space.

　ここで、使用者の安全を考慮して、往復動手段が復動する速度を調整してもよい。なお、往復動手段の１往復目は、往動負荷付与処理Ｓ１４の後に復動負荷付与処理Ｓ１６が実行されるのが通常であるが、復動負荷付与処理Ｓ１６を先に実行する構成としてもよい。 -Here, the speed at which the reciprocating means moves back may be adjusted in consideration of the safety of the user. In the first reciprocation of the reciprocating means, the backward load applying process S16 is usually executed after the outward load applying process S14, but the backward load applying process S16 may be executed first. Good.

　上述したように、本発明のトレーニングマシンの制御方法によれば、固定された往復動手段に対して与えられた負荷を往動方向の基準負荷として取得し、往復動手段の往動方向に対向する往動負荷と往復動手段の復動方向に対する復動負荷を決定することができるので、トレーニングのための負荷の決定の操作が簡便である。 As described above, according to the training machine control method of the present invention, the load applied to the fixed reciprocating means is acquired as the reference load in the forward moving direction, and the load is opposed to the reciprocating means in the forward moving direction. Since it is possible to determine the forward load and the backward load in the backward direction of the reciprocating means, the operation for determining the load for training is simple.

　往動負荷付与処理Ｓ１４及び復動負荷付与処理Ｓ１６において、往復動手段に付与される負荷の値は、一定のものでもよいが、往復動手段の位置に応じて、負荷の値を変化させてもよい。そこで、以下に、図２を用いて、往動負荷付与処理Ｓ１４及び復動負荷付与処理Ｓ１６によって往復動手段に与えられる負荷の一例について、具体的に説明する。 In the forward load applying process S14 and the backward load applying process S16, the value of the load applied to the reciprocating means may be constant, but the value of the load may be changed according to the position of the reciprocating means. Good. Therefore, an example of the load applied to the reciprocating means by the forward load applying process S14 and the backward load applying process S16 will be specifically described below with reference to FIG.

　また、往復動手段が一往復するごとに、往復動手段の位置に応じた往動負荷及び復動負荷を、前回の往復動時の往動負荷及び復動負荷よりも低くする構成とするのがよい。本構成によれば、使用者は、複数セット、往復動手段を往復動させやすくなるので、使用者の筋力をさらに効果的に向上させることができるからである。 Further, each time the reciprocating means makes one reciprocating movement, the forward load and the backward load according to the position of the reciprocating means are made lower than the forward load and the backward load at the time of the previous reciprocating movement. Is good. According to this configuration, the user can easily reciprocate the plurality of sets of the reciprocating means, so that the muscular strength of the user can be more effectively improved.

　図２において、横軸ｐは、往復動手段の位置であり、便宜上、往復動手段の基端が０、末端が１として表されている。縦軸ＫＬは、負荷の値であり、単位は重量キログラム（ｋｇｆ）であり、基準負荷決定処理Ｓ１２によって取得された基準負荷がＦｍａｘとして表されている。Ｆｍａｘ＊２は、Ｆｍａｘの２倍の値を示した線である。なお、下記説明においては、Ｆｍａｘの値は実際の負荷の値ではなく、便宜上、Ｆｍａｘ＝１としている。前述したように、基準負荷は、使用者の随意最大筋力（maximal voluntary contraction）であることが望ましいが、使用者の体調等によっては、これを調整してもよい。 In FIG. 2, the horizontal axis p is the position of the reciprocating means, and for convenience, the base end of the reciprocating means is represented as 0 and the end is represented as 1. The vertical axis KL is the value of the load, the unit is kilogram (kgf), and the reference load acquired by the reference load determination process S12 is represented as Fmax. Fmax*2 is a line showing a value twice Fmax. In the following description, the value of Fmax is not the actual load value, but Fmax=1 for convenience. As described above, it is desirable that the reference load is the maximum voluntary contraction of the user, but it may be adjusted depending on the physical condition of the user.

　図２に示されている制御方法においては、往動負荷付与処理Ｓ１４で、往復動手段の往動方向への移動に伴い、往動負荷ＦＳが徐々に高くされ、その後、低くされる。具体的には、往復動手段の位置が０≦ｐ＜０．２６であるとき、ＫＬ＝１．８９ｐ＋０．２７の関数に従い往動負荷ＦＳは増加していく。次いで、往復動手段の位置が０．２６≦ｐ＜０．７１にあるとき、ＫＬ＝０．５３ｐ＋０．６２の関数に従い往動負荷ＦＳは増加していき、往復動手段の位置が０．７１≦ｐ＜１．０のとき、ＫＬ＝－１．０４ｐ＋１．７４の関数に従って往動負荷ＦＳは減少していく。なお、往復動手段の位置ｐの値が０．７１のとき、往動負荷ＦＳの値はＫｍａｘと等しくなる。 In the control method shown in FIG. 2, in the forward load applying process S14, the forward load FS is gradually increased along with the movement of the reciprocating means in the forward direction, and then decreased. Specifically, when the position of the reciprocating means is 0≦p<0.26, the forward load FS increases according to the function of KL=1.89p+0.27. Next, when the position of the reciprocating means is 0.26≦p<0.71, the forward load FS increases according to the function of KL=0.53p+0.62, and the position of the reciprocating means is 0.71. When ≦p<1.0, the forward load FS decreases according to the function of KL=−1.04p+1.74. When the value of the position p of the reciprocating means is 0.71, the value of the forward load FS becomes equal to Kmax.

　また、復動負荷付与処理Ｓ１６では、往復動手段の復動方向への移動に伴い、復動負荷ＳＳが徐々に高くされ、その後、低くされる。具体的には、往復動手段が０≦ｐ＜０．７１のとき、ＫＬ＝０．０５ｐ＋１．４９の関数に従い、復動負荷ＳＳが増加する。そして、往復動手段が０．７１≦ｐ≦１．０のとき、ＫＬ＝－１．０６ｐ＋２．２８の関数に従い、復動負荷ＳＳが減少する。 Further, in the backward load application process S16, the backward load SS is gradually increased as the reciprocating means moves in the backward direction, and then is lowered. Specifically, when the reciprocating means is 0≦p<0.71, the return load SS increases according to the function of KL=0.05p+1.49. Then, when the reciprocating means is 0.71≦p≦1.0, the return load SS decreases in accordance with the function of KL=−1.06p+2.28.

　上述したように、往動負荷付与処理Ｓ１４及び復動負荷付与処理Ｓ１６において往復動手段に与える負荷は、往復動手段の移動に伴い、徐々に高くした後、低くするなど、変化させてよい。本構成により、使用者の筋力をより一層効果的に向上させることができる。なお、往動負荷付与処理Ｓ１４と復動負荷付与処理Ｓ１６では、往復動手段の基端から末端までの負荷の曲線が異なっていてもよく、当該曲線は、本発明のトレーニングマシンの制御方法が組込まれるトレーニングマシンによって、すなわち、トレーニング対象の筋肉が効果的に鍛えられるように変更することができる。 As described above, the load applied to the reciprocating means in the forward load applying process S14 and the backward load applying process S16 may be changed such that the load is gradually increased and then decreased as the reciprocating device moves. With this configuration, the muscle strength of the user can be more effectively improved. The forward load applying process S14 and the backward load applying process S16 may have different curves of the load from the base end to the end of the reciprocating means, and the curves are different from those of the training machine control method of the present invention. It can be modified by the built-in training machine, that is, the muscles to be trained are effectively trained.

　以上に説明した本発明によれば、操作が簡便で、且つ、使用者の筋力を効果的に向上させることができるトレーニングマシンの制御方法を提供することができる。 According to the present invention described above, it is possible to provide a control method for a training machine that is easy to operate and that can effectively improve the muscle strength of the user.

　　Ｆｍａｘ　基準負荷
　　ＦＳ　　往動負荷
　　ＳＳ　　復動負荷 Fmax Standard load FS Forward load SS SS Backward load

Claims (4)

　直線動又は枢動の往復動が可能な往復動手段と、前記往復動手段に与えられた負荷の値を取得する負荷取得手段と、該往復動手段に負荷を与える負荷付与手段を具えたトレーニングマシンの制御方法であって、
　前記負荷取得手段は、固定された前記往復動手段に対して与えられた負荷を往動方向の基準負荷として取得し、
　前記負荷付与手段は、前記基準負荷以下の負荷を、前記往復動手段に対して往動方向の負荷が与えられたときに該往復動手段の往動方向に対向する往動負荷として前記往復動手段に付与し、その後又はその前に、前記基準負荷よりも大きい負荷を、前記往復動手段の復動方向に対する復動負荷として前記往復動手段に与えながら該往復動手段を復動させることを特徴とする、
　トレーニングマシンの制御方法。 Training comprising reciprocating means capable of reciprocating linear movement or pivotal movement, load acquiring means for acquiring the value of the load applied to the reciprocating means, and load applying means for applying a load to the reciprocating means. A method of controlling the machine,
The load acquisition unit acquires a load applied to the fixed reciprocating unit as a reference load in the forward direction,
The load applying unit reciprocates a load equal to or less than the reference load as a forward load that opposes the reciprocating unit in the forward direction when a load in the forward direction is applied to the reciprocating unit. And then or before that, the reciprocating means is returned while a load larger than the reference load is applied to the reciprocating means as a return load in the returning direction of the reciprocating means. Characteristic,
Training machine control method. 　前記往復動手段が動かされる範囲の基端及び末端を検知する位置センサをさらに具え、
　前記負荷付与手段が、前記基端及び末端より前記範囲外に前記往復動手段を移動させないように制御する、請求項１のトレーニングマシンの制御方法。 Further comprising a position sensor for detecting a proximal end and a distal end of a range in which the reciprocating means is moved,
The training machine control method according to claim 1, wherein the load applying means controls the reciprocating means so as not to move out of the range from the proximal end and the distal end. 　前記往復動手段が一往復するごとに、前記往復動手段の位置に応じた前記往動負荷及び復動負荷を、前回の往復動時の前記往動負荷及び復動負荷よりも低くする、請求項１又は２のトレーニングマシンの制御方法。 Each time the reciprocating means makes one reciprocating movement, the forward movement load and the backward movement load according to the position of the reciprocating movement means are made lower than the forward movement load and the backward movement load at the time of the previous reciprocating movement. A method for controlling the training machine according to item 1 or 2. 　前記往動負荷を前記往復動手段の往動方向への移動に伴い、徐々に高くした後に低くし、
　前記復動負荷を前記往復動手段の復動方向への移動に伴い、徐々に高くした後に低くする、請求項１から３のいずれかのトレーニングマシンの制御方法。 With the movement of the reciprocating means in the forward direction, the forward load is gradually increased and then decreased.
4. The training machine control method according to claim 1, wherein the backward movement load is gradually increased and then lowered as the reciprocating means moves in the backward movement direction.
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