JPS62224378A - Apparatus for storing and regenerating muscle force characteristic curve - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] A. Industrial applications The present invention relates to an apparatus for storing and reproducing muscle strength characteristic curves.

B. Summary of the Invention The present invention uses a muscle strength characteristic curve memory reproducing device (-) in which a lever rotationally driven by a servo motor is used as a training means, and a load and displacement of the lever by the muscle force of the trainee applied in the rotational direction of the lever or in the opposite direction. The angle and characteristic curve unique to the individual are stored in a memory device using a processing unit, and during training, the above lever (2) is applied as a load,
The load data retrieved from the storage device is adjusted to a constant range (Pfr) by the arithmetic processing device according to the setting value I2 of the load weight setting device, and the load rate during the reciprocating movement of the lever is changed, and each
Muscle strength characteristics of M person C: This is to realize highly effective training that suits the person.

C0 Prior Art Conventionally, weights have been mainly used as muscle training equipment. In addition, to create a muscle strength curve that shows the relationship between muscle strength and the lever angle that changes, a C cam is installed between the weight and the lever, and the shape of this cam is specified to create the desired muscle strength curve. At the same time, the amount of mono-M in the weight was changed.

D0 Problems to be Solved by the Invention However, in the conventional method, it was not possible to provide a muscle strength curve suitable for each individual practitioner, and there was no way to provide representative muscle strength characteristics.

Means for Solving Problem E1 The present invention includes a servo motor 4 connected to the training mechanism via a load detector, and a torque detection means for moving the training mechanism to obtain a torque versus angle load curve. 6, 8, and by means of this means, an arithmetic processing device 9 capable of storing the calculated curve and performing arithmetic processing, and when training is started with the training mechanism ≦2, the rotation angle C of the servo motor Output detection means 4b, 10, or potentiometers and angle converters 4t/10', and the outputs obtained by these detection means are sent to the arithmetic processing unit C-4 to perform calculations according to the detected angles. The load curve stored in the processing device is read out and the motor follows the load surface #.
This includes a feedback control section that sends out an output that causes ##.

10 Effects Among the many exercise methods, for example, if a servo motor rotates at a constant speed, the training mechanism also moves at a constant speed. At this time, the trainer rotates the mechanism in direction C; by applying force with maximum effort, maximum muscle strength exercise can be obtained. The trainee's torque during this constant speed exercise
An angular load curve is obtained and this curve is processed by an arithmetic processing unit.
, make me happy. After that, in order for the trainee to perform training, C: When the trainee begins to operate the mechanism, the rotation angle of the servo motor is detected and the detected output (the calculated load curve is read out from the arithmetic processing unit and feedback 1 is given according to the curve in step 7). A servo motor (-) provides an output during the training process.This allows training to be tailored to the muscle strength characteristics of the individual trainer.

G. Example Hereinafter, an example of the present invention will be described with reference to the drawings. 21 is a block diagram showing the configuration of an embodiment of the present invention, that is, a muscle strength curve storage circuit, a muscle strength curve reproduction circuit, and a muscle strength curve increase/decrease rate setting circuit. In the figure, a lever 7 is connected to a lever 7 via a servo motor as a driving source, a four-stage reducer 5, and a torque sensor 6 using a sensor such as a strain gauge.
≦Connected. A lever 7Cij and a pad 7a are attached to which the muscle strength of the trainee who uses the device is applied.

Therefore, the reduction ratio of the reduction gear 5 is determined by the trainee using the lever 7.
It is determined by the speed of movement and the reduction ratio based on torque. The load cell amplifier 8 amplifies the detection signal of the torque sensor 6, and its output terminal is turned off when recording the muscle curve, and turned on when reproducing the muscle strength curve (second is turned on) to the amplifier 1 through a series circuit of a switch SW+ and a resistor R1. The output terminal of the tachometer generator 4a attached to the rotation of the servo motor 4 is connected to a series circuit of switch SW2 and resistor R2, which is turned on when the muscle force curve is memorized and turned off when the muscle force curve is reproduced. input terminal C″- of amplifier 1 via
-Connect. The analog-digital converter 13 has three channels CH1-CH3 as analog inputs, the first channel CHI is connected to the output end of the tab generator 4a, and the second channel CH2 is connected to the output end (second and third
Channel CH3 is the variable terminal lea of the negative pulse rate setting device 1B.
The output terminal of the converter 13 is connected to the input of the arithmetic processing unit d9. The output terminal of a rotary encoder 4a, which is attached to the rotation shaft l2 of the servo motor 4 and sends out pulses proportional to the rotation speed (2) of the motor 4, is connected to the input terminal of a position counter 10 consisting of an up-town counter, A signal value corresponding to the displacement angle of the lever is added to the input terminal of the arithmetic processing unit CPU 9 to the above 6. The arithmetic processing unit 9 makes the digital signal value input from the position counter 10 correspond to the address of the RAM 11, and converts it into an analog The load value of the digital signal value input from the second channel CH2 of the digital converter 13 is stored as storage data in the RAM 11. Alternatively, the angle (with a corresponding resistance change) of the potentiometer 4t/ attached to the lever 7 is stored. The angle converter 10' changes the voltage (Y), which is then converted to CH4+ of the analog-digital converter 13 to convert the angle into a digital signal, which has the same form as the signal input from the position counter 10. The digital-to-analog converter 14 is connected to the output iC of the arithmetic processing unit 9;
When the switch SW1 is off and the switch SW2 is on, a command voltage that becomes a constant voltage is input through the arithmetic processing of the arithmetic processing unit 9, and an analog voltage is output to the amplifier 1 during constant speed control, for example. .

Next, when the switch SWT is on and the switch SW2 is off, a digital signal corresponding to the load of the muscle strength curve stored in RAMII is transferred to the analog-digital converter 13.
output;; input and output analog voltage to amplifier 1. From this f2, torque control is performed to reproduce the torque versus angle load curve.

In addition, amplifier 1 → start/stop circuit 2 (when in constant speed motion, control circuit at constant speed (not negative) start and stop) → power amplifier 3 screaming tachogenerator 4
a forms a feedback circuit for speed control, and
Amplifier 1 → Start/stop circuit 2 → Power amplifier 3
→Servo motor 4 →Load cell 8 forms a feedback circuit for torque control. Note that 15 is a display of muscle strength curves, and ROM 12 is a readout storage device in which a control program for the arithmetic processing unit is stored.

Next, the operation of this embodiment will be explained separately for storing the muscle force curve, reproducing the muscle force curve, and setting the increase/decrease rate of the muscle force curve.

When storing the muscle strength curve in RAMII, first turn off the switch SW+ and turn on SW2.

When the servo motor 4 is rotated at the same time, the lever 7 is also rotated at a constant speed. In this state, when the W11 person applies muscle force to the lever, the tacho generator 4a
The speed changes, and the command voltage is taken in by the arithmetic processing unit 8 (2) through the first channel CH1 of the analog-to-digital converter 13. vessel 14
This voltage is sent to the input terminal of the amplifier 1 via the resistor Ra, and is connected to the speed signal voltage via the tachogenerator 4a of the servo motor 4, which has been reduced due to the muscular strength of the trainee applied to the lever 7. The deviation signal is sent to the feedback circuits of the amplifier 1 and the power amplifier 3 to control the lever 7 to maintain a constant speed.

In addition, the displacement angle signal of the lever 7 by the W11 expert is added to the position counter 10+2 along with the pulse signal from the rotary encoder 4b, and is read as the angle signal A1, A2... It is used as an address.On the other hand, the load corresponding to the muscle strength of the young athlete applied to the lever 7 is transferred to the load cell 8.
through the first channel CH2 of the analog-to-digital converter 13,
+ It is read as @Tt..., and the load T1, T2,
... corresponds to addresses A1, A2, etc. in Fig. 3 (:
0 stored in the RAM 11 as a torque vs. angle curve shown in FIG. When the trainee starts operating the lever 7, the displacement angle of the lever 7 is sequentially sent to the processing unit 9 via the position counter, and the displacement angle≦2 corresponding addresses A1, A2, etc. shown in FIG.・
Torque T in RAM 11 corresponding to Ant2,・T2・
...Send Tn to the digital-to-analog converter 14. At the input terminal of the amplifier 1, the above torque, T, T2...Tn is compared with the torque value output from the load cell 8,
A torque control circuit is formed by a feedback circuit including the servo motor 4, and a torque curve corresponding to the angle shown in FIG.

Next, when increasing or decreasing the muscle force curve to be reproduced (-, leave the switch SWt on and SW2 off, adjust the variable terminal tea of the load base setting device IB, and adjust the RA
Determine a reference voltage such that the muscle strength curve corresponding to M11 (-) corresponds to C250 to 150% (2), for example, as shown in FIG. The data is input to the arithmetic processing unit 9 via CH3, and this arithmetic processing unit stores the values stored in the RAM 11+2 (for example, 5
Move the muscle strength curve in the range of 0 to 150% to change the rate of increase/decrease.

Therefore, V11 practitioners can perform muscle training that matches their muscle strength characteristics and is highly effective by increasing or decreasing the muscle force curve that is reproduced. In other words, when a trainee actively applies muscle force to Lever C, for example, he or she can train with a muscle force curve of 70C, and conversely, when applying muscle force to Lever C against the torque of the return movement, the trainee can train. , 120% load (;, Since the load rate can be changed for each round trip of the exercise, highly efficient muscular exercise can be achieved.

Effect of H1 invention From the above explanation, the present invention produces the following effects.

(1) By the muscle curve recording means, the muscle strength curve of the 11th exerciser is stored in the memory means g, stored in the muscle strength curve reproduction means, and the displacement angle of the stored own muscle strength curve is determined by the muscle strength curve reproduction means. The corresponding torque is t+1+
It can be taken out to a lever that the person applies muscle force to. Therefore, the trainee can perform muscle strength training that is suitable for the individual trainee, rather than using the average muscle strength curve of a typical large number of people as in the conventional method.

(2) The muscle strength curve increase/decrease rate means can change the assisting curve stored in the storage means to a desired increase/decrease rate, so muscle strength training that matches the strength characteristics of the trainee and has a high training effect can be performed. Furthermore, since the load rate can be changed in each reciprocating movement of one muscle, highly efficient muscular coordination can be achieved.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of the present invention, and FIG. 2 is an IQ of a muscle strength characteristic curve memory reproduction device as an embodiment of the present invention.
An internal electrical circuit diagram, FIG. 3, is a torque vs. angle curve, and FIG. 4 is a torque vs. angle curve, showing an increase/decrease rate setting curve. 1...Amplifier, 2...Start/stop circuit, 3
...Power amplifier, 4...Motor, 4a...
・Tachogenerator, 4b...Rotary, encoder, 4 pin...Potentiometer, 5...Decelerator, 6
...Torque sensor, I...Lever, Ta...Pad, 8...Load cell, 9...Arithmetic processing unit, 10
...Position counter, 11...RAM, 12...R
OM, 13...Analog-digital converter, 14.
...Digital-analog converter, 15...Display, 1B...Load weight setting device. Figure 2

Claims (1)

[Claims] (1) A servo motor connected to a training mechanism via a load detector, means for moving the training mechanism to obtain a torque versus angle load curve, and storing and arithmetic processing of the curve obtained by this means. an arithmetic processing device that is capable of
Alternatively, a means for expressing the output of a potentiometer attached to a lever to be trained as an angle using an angle converter, and a load curve stored in the arithmetic processing unit are read out from the output obtained by these detection means, and the servo motor is applied to the load curve. A muscle strength characteristic curve memory reproducing device comprising: a feedback control unit that sends out an output that causes control to follow the curve.