JP2018130383A - Balance training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a balance training device which keeps motivation of a trainee to a task and can expectantly exert a high training effect.SOLUTION: A balance training device interlocks with a mobile device of an inverted pendulum type which a trainee boards and operates for moving and includes a battery and a motor. The balance training device includes: a detection unit detecting a temperature and residual capacity of a battery; a storage unit including a battery map and a task map, the battery map prepared in advance for each temperature and residual capacity of the battery and representing a range of rotation numbers and torque of a motor to which power can be supplied, and the task map prepared in advance for each task causing a trainee to perform a reciprocative movement from an initial position to a target position within a predetermined time and representing a range of rotation numbers and torque of a motor required for execution of the task; and a control unit selecting from a plurality of task maps a task map representing a range of rotation numbers and torque of a motor falling in the range represented by the battery map corresponding to the temperature and residual capacity detected by the detection unit and executing the task corresponding to the selected task map.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a control method for a balance training apparatus.

  2. Description of the Related Art There is known a balance training device that allows an trainee, who is a trainer, to travel an inverted pendulum type travel device while maintaining a balance so that the trainer learns the movement of the center of gravity necessary for walking. The training may be performed by linking the movement of the moving device with the movement of the character displayed on the display device and achieving a game-type task given through the display device. The trainer obtains a certain training effect by continuously trying such a task.

Japanese Patent Laid-Open No. 2006-73386

  Since the inverted pendulum type moving device moves independently from the main body of the balance training apparatus including a display device or the like, a rechargeable battery is often adopted as a power supply source. On the other hand, the difficulty level of a game-type task is determined by the level selected by the trainee, etc., but a task with a high difficulty level requires the mobile device to move over a long distance in a short time. Therefore, depending on the remaining capacity and temperature of the battery, the mobile device may not be able to achieve the given problem in the first place. If the task given due to the performance of the mobile device cannot be achieved, the trainee's willingness will be reduced.

  The present invention has been made to solve such a problem, and provides a balance training apparatus that can maintain a motivation for a trainee's task and expect a high training effect.

  A balance training apparatus according to an aspect of the present invention is a balance training apparatus that is linked to an inverted pendulum type moving apparatus including a battery and a motor, on which a trainee gets on and performs a moving operation, and the temperature and remaining capacity of the battery A battery map indicating the range of motor rotation speed and torque that can be supplied with electric power, and a reciprocation from the initial position to the target position. Detected from a plurality of problem maps, a storage unit that stores a problem map that shows the number of rotations of the motor and the range of torque that are created in advance for each problem to be moved within a predetermined time and that indicates the range of torque Select a task map that shows the range of motor speed and torque that falls within the range indicated by the battery map corresponding to the temperature and remaining capacity detected by the unit, and the task that corresponds to the selected task map And a control unit for executing.

  Thus, if the achievable task is selected according to the state of the battery, the task cannot be achieved due to the performance of the mobile device, so that the trainee's motivation for the task can be maintained.

  According to the present invention, it is possible to provide a balance training apparatus capable of maintaining a motivation for a trainee's problem and expecting a high training effect.

It is a schematic perspective view of the balance training apparatus concerning this embodiment. It is a schematic perspective view of a moving apparatus. It is a figure which shows the system configuration | structure of a balance training apparatus. It is a figure which shows the example of the display image during a subject trial. It is a figure which shows transition of the display image | video during problem trial. It is a figure which shows a mode that a moving apparatus moves during a subject trial. It is a figure explaining a subject list. It is a figure explaining an assignment map. It is a figure explaining a battery map. It is a figure explaining judgment of subject selection availability. It is a flowchart which shows the process from the start to the end of a one-time task game.

  Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, all of the configurations described in the embodiments are not necessarily essential as means for solving the problem.

  FIG. 1 is a schematic perspective view of a training apparatus 100 as an example of a balance training apparatus according to the present embodiment. The training device 100 is a device for a disabled person having a disorder such as hemiplegia to learn the movement of the center of gravity necessary for walking, or for a patient with a disorder in the ankle joint to restore ankle joint function. The training device 100 includes a moving device 120 that operates in conjunction. For example, when the trainee 900 who wants to restore the ankle function tries to continue riding on the moving device 120 while maintaining a balance, the moving device 120 applies a load that can expect a rehabilitation effect to the ankle joint of the trainer 900. be able to.

  The training apparatus 100 mainly includes a control panel 133 attached to a frame 130 that forms the entire skeleton, a harness tensioning unit 112, and a moving device 120 on which a trainer 900 rides.

The trainer 900 and the operator perform the training after moving the moving device 120 to the running surface surrounded by the frame 130. A movement restriction range 190 is set as a normal movement range of the moving device 120 on the traveling surface. In addition, an initial position V _{s serving as} a reference position for the moving device 120 is set near the center. Initial position V _s, as can be recognized trainee 900 or the like, markings on the floor surface or the like is applied. In addition, the movement restriction range 190 is also preferably marked on the floor or the like so that the trainee 900 can visually recognize it.

  The frame 130 supports a control panel 133 that houses the overall control unit 210 that controls the motors and sensors, a display unit 138 that is a liquid crystal panel, for example, and displays the progress of training. Further, the frame 130 supports the harness pulling portion 112 in the vicinity of the top of the trainee 900.

  The training device 100 includes a harness device as a safety device, which mainly includes the brace 110, the harness wire 111, and the harness pulling portion 112. The harness device supports the upper body of the trainer 900 to make the trainer 900 safe when the trainer 900 is likely to lose balance. The brace 110 is a belt wound around the waist of the trainee 900, and is fixed to the waist by, for example, a hook-and-loop fastener. The harness wire 111 has one end connected to the appliance 110 and the other end connected to the winding mechanism of the harness pulling portion 112. The winding mechanism of the harness pulling portion 112 winds or unwinds the harness wire 111 by turning on / off a motor (not shown).

  The moving device 120 is a coaxial two-wheeled vehicle that moves while maintaining the posture based on the posture control model of the inverted pendulum, and is an inverted moving training device that operates in conjunction with the training device 100. The position of the moving device 120 is detected by a position sensor 113 installed on the frame 130. The position sensor 113 is, for example, a laser range finder or an ultrasonic sensor. In the present embodiment, the position sensor 113 detects the position of the one-dimensional moving device 120 in the arrow direction shown in the movement restriction range 190, but the position sensor 113 also detects the two-dimensional position and rotation amount. It may be possible.

  FIG. 2 is a schematic perspective view of the moving device 120. The moving device 120 is configured such that a base 126 that constitutes the entire skeleton is provided with a boarding platform 121, a left driving wheel 123, a right driving wheel 124, and a handle unit 125 that straddle the left and right.

  The handle unit 125 functions as a support for the trainee 900 to hold and maintain a balance, and also functions as an instruction receiving unit for instructing forward movement and turning. Specifically, the moving device 120 moves forward when the trainee 900 tilts the handle unit 125 forward, and moves backward when tilting backward. Similarly, when it is tilted to the left with respect to the traveling direction, it turns leftward, and when it is tilted to the right, it turns rightward. In the problem described later, since the trainee 900 moves the moving device 120 forward or backward but does not turn, the moving device 120 may omit the turning function.

  The left driving wheel 123 is attached to the left and right boarding platforms 121 so as to be deviated to the left with respect to the center, and is driven to rotate by a motor (not shown). The right drive wheel 124 is attached to the right of the left and right boarding bases 121 so as to be displaced to the right and is driven to rotate by a motor (not shown). The left driving wheel 123 and the right driving wheel 124 are arranged in parallel on the coaxial core wire. Therefore, if the left driving wheel 123 and the right driving wheel 124 rotate in the same direction at the same speed, they advance straight, and if they rotate at different speeds, they turn left and right. The moving body control unit described later detects the entire posture of the moving device 120 on which the trainer 900 has boarded, and the left driving wheel 123 and the right driving wheel 124 so that the state on which the trainer 900 has boarded can be stably maintained. Control the rotation of

  The load sensor 122 is a load sensor embedded in each of the left and right boarding platforms 121 and detects a load from each leg of the trainee 900. The battery 129 supplies power necessary for operating the mobile device 120. The battery 129 is a lithium ion battery, for example, and can be repeatedly used by charging. The battery will be described in detail later.

  Next, the system configuration of the training apparatus 100 will be described. FIG. 3 is a system configuration diagram of the training apparatus 100. The overall control unit 210 is, for example, a CPU, and executes control of the entire apparatus by executing a control program read from the memory 214. The operation reception unit 211 receives an input operation from the trainer 900 or an operator and transmits an operation signal to the overall control unit 210. A trainer 900 or an operator operates an operation button, a touch panel provided on the apparatus, an attached remote controller, or the like that constitutes the operation reception unit 211 to give an instruction to turn on / off the power, start training, or set Input numerical values and select menu items.

  The display control unit 212 generates a graphic image or the like of a task game, which will be described later, according to the display signal from the overall control unit 210 and displays it on the display unit 138. The harness driving unit 213 includes a motor for pulling the harness wire 111 that constitutes the harness pulling unit 112 and its driving circuit. The overall control unit 210 controls the winding of the harness wire 111 and the tensile force of the harness wire 111 by sending a drive signal to the harness drive unit 213.

  The position sensor 113 transmits the detected position of the moving device 120 to the overall control unit 210. The memory 214 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 240 stores a control program for controlling the training apparatus 100 and the like. In particular, the memory 240 stores a task game 215 that is a program that gives continuous tasks in a game format so that the trainer 900 can enjoy training. In addition, a database 216 for managing various parameter values, functions, lookup tables and the like used for control is stored.

  As described above, the moving device 120 travels on the traveling surface surrounded by the frame 130, but the training device 100 gives a command to the moving device 120 and receives sensor information to control the entire control unit. 210 includes a communication connection IF 219 connected to 210. The mobile device 120 also includes a communication connection IF 229 connected to the communication connection IF 219 by wire or wireless. The communication connection IF 229 is connected to the mobile body control unit 220 of the mobile device 120. The communication connection IFs 219 and 229 are communication interfaces such as a wireless LAN in accordance with a communication standard.

  The mobile control unit 220 is a CPU, for example, and executes control of the mobile device 120 by executing a control program given from the overall control unit 210. Further, the state of the mobile device 120 is notified to the overall control unit 210 via the communication connection IFs 219 and 229. In response to a command from the overall control unit 210, the mobile device 120 is started / stopped.

  The drive wheel unit 221 includes a drive circuit and a motor for driving the left drive wheel 123 and the right drive wheel 124, and the moving body control unit 220 sends a drive signal to the drive wheel unit 221, whereby the left drive wheel 123. The rotation of the right drive wheel 124 is controlled.

  The posture sensor 222 includes an acceleration sensor and a gyro sensor, and transmits a detection signal to the moving body control unit 220 in response to a request signal from the moving body control unit 220. The mobile body control unit 220 recognizes the inverted state of the mobile device 120 from these detection signals, generates a drive signal necessary to maintain the inverted state, and transmits the drive signal to the drive wheel unit 221.

  Battery sensor 223 includes a remaining capacity sensor that detects the remaining capacity of battery 129 and a temperature sensor that detects the temperature of battery 129. The battery sensor 223 transmits various detection results of the battery 129 including the remaining capacity and temperature to the moving body control unit 220.

  The load sensor 122 detects that the trainee 900 has boarded, and transmits a detection signal to the moving body control unit 220. When the mobile body control unit 220 receives the detection signal, the mobile body control unit 220 recognizes that the passenger has boarded and starts posture control of the inverted pendulum.

  The handle unit 125 includes an angle sensor provided at a shaft support portion that is supported by the base 126. The handle unit 125 transmits the tilt direction and angle detected by the angle sensor to the moving body control unit 220 as detection signals.

  In this embodiment, the trainee 900 is urged to perform training by executing the task game 215. The task game 215 processed by the overall control unit 210 generates a graphic image that changes every moment and displays it on the display unit 138, and the trainer 900 performs a moving operation of the moving device 120 as prompted by the image.

  FIG. 4 is a diagram illustrating an example of a display image during a task trial. The figure is an image displayed on the display unit 138, and shows a state in which a tennis motif is selected from a plurality of task games 215 and executed.

  On the right side of the tennis court displayed in the center, the character M throwing the tennis ball B is superimposed on the background image, and on the left side, the character P returning the thrown tennis ball B is superimposed on the background image. It is arranged. The character M expresses an action of moving up and down or throwing according to the task given by the task game 215. The character P is a character indicating the trainee 900 and expresses an action of moving up and down in accordance with the movement of the moving device 120 or swinging a racket in accordance with the arrival of the tennis ball B. The tennis ball B reciprocates left and right on the tennis court in accordance with the actions of the characters M and P.

  Information representing the game situation is also displayed. In the illustrated example, a “training game 01” indicating that the game “tennis” is selected from the task games 215, “level 03” indicating the difficulty level, and “score 01500” indicating the current score are shown. It is displayed. The score is a numerical value given to the achievement of the task. For example, 100 points are added every time the tennis ball B is hit, and if the score cannot be returned to the initial position, the score is reduced according to the distance to the initial position. The

  An icon I indicating the remaining capacity of the battery 129 is displayed on the upper right of the screen. The icon I changes according to the remaining capacity. Specifically, the overall control unit 210 receives the detection signal detected by the battery sensor 223 via the moving body control unit 220, and generates a display signal for displaying the icon I according to the result, thereby generating a display control unit. Send to. The trainer 900 can determine whether or not the task game can be continued by checking the icon I.

  The assignment game 215 continuously gives a plurality of assignments and makes the trainer 900 try. In the case of a “tennis” game, one challenge is to return the thrown tennis ball B once. The trial of one subject will be described more specifically. FIG. 5 is a diagram showing the transition of the display image during the trial of the task. Moreover, FIG. 6 is the figure which observed a mode that a moving apparatus moved during a subject trial from the upper direction. 5 (a) and FIG. 6 (a), FIG. 5 (b) and FIG. 6 (b), FIG. 5 (c) and FIG. 6 (c) correspond to each other.

5 (a) shows the state of problems immediately before the start character P is positioned at the initial position T _s is the middle of the vertical direction. Also the character M, is positioned on the opposite side of the coating with respect to the initial position T _s. 6 (a) shows the status of the trainee 900 at this time, the mobile device 120 remains on the central mobile limited range 190 initial position _{V s.} That is, the trainer 900 is waiting until the start of the task.

  Since the trainee 900 is gazing at the display unit 138 on which the screen of FIG. 5A is displayed, the case where the moving device 120 moves toward the display unit 138 is assumed to be forward. Also, when the mobile device 120 moves away from the display unit 138, the trainee 900 keeps gazing at the display unit 138, and therefore the case where the mobile device 120 moves away from the display unit 138 is assumed to be backward.

FIG. 5 (b) shows the state immediately after challenge initiated, the character M, in order to reach the tennis ball B to the target position set B _h this challenge, throwing a tennis ball B moves upward coat To do. Then, the tennis ball B moves along the locus shown in the drawing. The speed at which the tennis ball B moves is predetermined according to the level, and the higher the level, the faster.

Trainee 900, before tennis ball B reaches the B _h, until hitting position T _h which can be hit back in B _h moves the character P. That is, as shown in FIG. 6 (b), trainer 900 is advanced to the target position _{V h} corresponding to the hitting position _{T h} in the moving limit range 190 to mobile device 120.

If it is possible to move the character P before tennis ball B reaches the B _h until T _h, racquet is swung when the tennis ball B has reached, tennis ball B is hit back. 5 (c) shows how the return to the initial position T _s after the character P is Uchikaeshi tennis ball B. Reverse trainee 900, to the tennis ball B returns a character P to reach the right end of the coat to the initial position T _s, as shown in FIG. 6 (c), toward a mobile device 120 to the initial position V _s Let

5, the problem described with reference to FIG. 6, in conjunction with movement of the character P and the like displayed on the display unit 138, the mobile device 120 is advanced from the initial position V _s to a target position V _h to trainee 900, It was a challenge to reverse again to the initial position V _s. Each task is defined by the distance and direction to the target position V _h for moving the moving device 120, and the entire task is managed by a task list.

FIG. 7 is a diagram illustrating the task list. The assignment list is stored in advance in the database 216 of the memory 214. As shown, task numbers H ₁ , H ₂ ,... H _n are assigned to each task. Corresponding to each problem, distances D ₁ , D ₂ ,... D _n from the initial position V _s to the target position V _h are associated with the direction “+” or “−”. The direction “+” indicates that the target position V _h is positioned on the display unit 138 side with respect to the initial position V _s , and the direction “−” indicates that the target position V _h is on the display unit 138 with respect to the initial position V _s . It represents being located on the opposite side to the side. Thus, the trainee 900, if the task of the direction "+", to advance the mobile device 120 towards the target position V _h, direction "-" if the subject of the mobile device toward the target position V _h 120 will be reversed.

The overall control unit 210 that executes the task game 215 generates a graphic image of the character M or the tennis ball B in correspondence with the task to be executed and displays it on the display unit 138. For example, in the task number H ₃ , the hitting position _{Th 3} on the display screen corresponding to the target position V _s3 that is the distance D ₃ in the “+” direction from the initial position V _s is calculated, and the racket is placed at the position _{Th 3.} The target position _Bh3 of the tennis ball B that is hit when it is swung is determined. Then, a trajectory for the tennis ball B to reach the target position _Bh3 is calculated, and a graphic image for moving the tennis ball B along the trajectory is generated and displayed on the display unit 138.

  One task game includes k tasks randomly selected from the task list. The number k is changed according to the selected level. The higher the level, the more issues are selected. Further, depending on the selected level, a task associated with a large distance may not be selected. For example, a limitation may be set for task selection from the task list.

  Each assignment included in the assignment list has link information to the assignment map table. FIG. 8 is a diagram for explaining a problem map. The assignment map is a graph showing the rotational speeds and torque ranges of the respective motors that drive the right drive wheel 124 and the left drive wheel 123, which are necessary for performing the corresponding assignment. The assignment map is created in advance by experiments and simulations for each level that can be selected, and is stored in the database 216 as an assignment map table that pairs each level with the assignment map.

For example, in the case of problems H ₁ shown, for each of the five levels that may be selected, problems map is associated. The level selected when trying the task is appropriately selected according to the rehabilitation situation of the trainee 900 and the like. Challenge requires a return to the initial position V _s a short time the higher the selected level. That is, the task has a time limit T for each level, and the time limit T is set shorter as the level is higher. The speed of the tennis ball B is adjusted according to the set time limit T.

The task H ₁ determines the target position at a point of the distance D ₁ from the initial position V _s at any level, so that the higher the selected level, the larger the rotational speed N and the torque T are required. As shown in the drawing, when the rotational speed N is represented on the horizontal axis and the torque T is represented on the vertical axis, it can be understood that the maximum rotational speed N and torque T required at each level increase as the level increases.

The assignment map associated with each level is linked to each assignment H listed in the assignment list. Therefore, when the overall control unit 210 selects one task H _m , a task map corresponding to the level selected by the trainer 900 among the task maps linked to H _m is read from the database 216 and referred to. .

  Here, the range of the motor speed and torque is schematically shown using a graph, but the format stored in the database 216 is not limited to the graph, and is defined by a lookup table or function. Also good. Any form may be used as long as the use range of the rotational speed N and the torque T corresponding to the task and the level is defined.

  Next, the battery map will be described. FIG. 9 is a diagram for explaining a battery map. For example, in a secondary battery such as a lithium ion battery, power supply characteristics greatly vary depending on the remaining charge capacity and the battery temperature. When the motor is driven by power supply from the battery as in the present embodiment, the power supply characteristic of the battery appears as the characteristic of the motor output. In general, the larger the remaining capacity, the larger the number of rotations N and torque T of the motor. Also, the higher the battery temperature, the greater the output of both the motor speed N and torque T.

  The battery map is a graph showing the range of the rotational speed N and torque T of the motor that can supply power for each temperature and remaining capacity of the battery 129. In the present embodiment, each battery map is represented by the rotational speed N on the horizontal axis and the torque T on the vertical axis, similarly to the problem map described in FIG.

  The battery map is created in advance by experiments and simulations for each predetermined temperature and predetermined remaining capacity, and the entire created battery map is stored in the database 216 as a battery map table. For example, as shown, the battery map table is a matrix between 40% and 100% for the remaining capacity in 20% increments and between 5 ° C and 45 ° C for 10 ° C increments for the battery temperature. Each battery map is created. For a range that is not included in this range and whose remaining capacity is less than 40%, or that the battery temperature is less than 5 ° C or more than 45 ° C, the overall control is performed as an unpreferable range as a condition for normal motor operation. The unit 210 may prohibit the execution of the task. That is, when the preset remaining capacity and battery temperature conditions are not satisfied, the overall control unit 210 may prohibit the execution of the task.

  The overall control unit 210 acquires the temperature and remaining capacity of the battery 129 from the battery sensor 223 via the moving body control unit 220. Then, the battery map closest to the acquired temperature and remaining capacity is selected from the battery map table stored in the database 216, read out, and referenced.

  Note that the range and step size for preparing the battery map in advance can be changed as appropriate according to the required specifications. In addition, here, the rotational speed and torque range of the motor are schematically represented using a graph, but the format stored in the database 216 is not limited to the graph, and is defined by a lookup table or function. Also good. Any form may be used as long as the use range of the rotational speed N and the torque T corresponding to the task and the level is defined. However, the format of the battery map is preferably the same as the format of the assignment map from the viewpoint of improving the efficiency of determining whether or not to select an assignment, which will be described later.

  FIG. 10 is a diagram for explaining determination of whether or not an assignment can be selected. The overall control unit 210 selects so as to include more tasks H that require a long distance movement in a shorter time as the level selected by the trainee 900 or the like is higher. However, depending on the remaining capacity and temperature of the battery, the selected problem H may not be achieved in terms of the performance of the mobile device 120 in the first place. If the task given due to the performance of the mobile device 120 cannot be achieved, the trainee 900 will be less motivated.

  Therefore, the overall control unit 210 determines whether or not the assignment can be selected at the stage of setting the assignment H in order to ensure that the given assignment can be executed from the viewpoint of the performance of the mobile device 120. The determination as to whether the assignment can be selected is performed by multiplying the assignment map corresponding to the provisionally selected assignment H by the battery map corresponding to the current temperature and remaining capacity of the battery 129.

For example, as shown in FIG. 10A, the level selected by the trainer 900 is 4, the task temporarily selected by the overall control unit 210 is H ₁ , and the current temperature and remaining capacity of the battery 129 Is 15 ° C. and 60%. When the problem map and the battery map corresponding to each are extracted from the database 216 and multiplied, the area indicated by the mesh line out of the area of the problem map protrudes from the area of the battery map, as shown in the graph on the right. Thus, if the problem map region partially protrudes from the battery map region, it can be said that the rotation speed N and torque T in the protruding region cannot be output with the current capacity of the battery 129. That is, the overall control unit 210 can determine that the task cannot be executed.

On the other hand, as shown in FIG. 10B, even if the level selected by the trainer 900 is 4 and the task selected by the overall control unit 210 is H ₁ , If the temperature and the remaining capacity are 15 ° C. and 80%, the determination result is “executable”. That is, the region of the battery map in 15 ° C. 80% is greater than the area of the battery map in 15 ° C. 60%, the area of the object map, since it is included in the region of the battery map in 15 ° C. 80%, problems H ₁ Can be determined to be feasible.

  FIG. 11 is a flowchart showing processing from the start to the end of a single task game. The flow starts when the training apparatus 100 is activated by the trainer 900 or the operator. Here, it is assumed that the overall control unit 210 selects, reads, and executes the “tennis” game from the memory 214 simultaneously with the activation.

In step S101, the overall control unit 210 receives a selection of a level as a difficulty level from the trainer 900 or the like via the operation receiving unit 211. In step S102, the count variable m is set to 1. Furthermore, it progresses to step S103 and the output of the position sensor 113 is monitored, and it is judged whether the moving apparatus 120 reached _| attained the initial position Vs and stopped. If it is determined that it is not stationary, it waits until it stops. If it is determined that it is stationary, the process proceeds to step S104.

  In step S104, the overall control unit 210 acquires the detection result of the battery sensor 223 via the moving body control unit 220, and confirms the temperature and remaining capacity of the battery 129. In step S105, one task is randomly selected from the task list of the database 216 as the m-th temporary task to be executed. Issues that have already been determined to be unexecutable are excluded from selection targets.

  The overall control unit 210 proceeds to step S106, and extracts an assignment map of a corresponding level from the assignment map table linked to the selected assignment. Further, a battery map corresponding to the temperature and remaining capacity of the battery 129 detected in step S104 is extracted from the battery map table stored in the database 216. Then, these inclusion relationships are confirmed. As described with reference to FIG. 10, the overall control unit 210 determines that execution of the selected task is impossible if a part of the task map protrudes from the battery map region. The process returns to step S105 to reselect the assignment. If the entire area of the assignment map is included in the area of the battery map, it is determined that the selected assignment can be executed, and the assignment is determined to be an official assignment to be assigned to the mth, step S107. Proceed to

When proceeding to step S107, the overall control unit 210 executes the _mth task Hm determined in step S106. Specifically, as described with reference to FIGS. 5 and 6, the display unit 138 superimposes the character P indicating the trainer 900 corresponding to the position of the moving device 120 on the video indicating the progress of the task H _m. To display.

When the time limit T _{m for the} task H _m ends, the overall control unit 210 proceeds to step S108, calculates a score given for achievement of the task H _m , and updates the accumulated score displayed on the display unit 138. Score conferred against achieved challenge H _m, depending whether return to the initial position V _s within the time limit, or is deducted or is added point.

  The overall control unit 210 proceeds to step S109 and increments the count variable m. In step S111, the incremented count variable m is compared with the number k of tasks. k is the number of tasks imposed in the task game. When the high level is selected in step S101, the overall control unit 210 sets a larger number k than when the low level is selected. The overall control unit 210 returns to step S104 if it is determined that k is not exceeded, and proceeds to step S111 if it is determined that k is exceeded.

  When the process proceeds to step S111, the overall control unit 210 executes an end process and ends a series of flows. The termination process is a process of displaying the confirmed score on the display unit 138 and updating the history information of the training that has been performed so far.

  According to such a processing flow, it can be ensured that the task that the trainer 900 tries is feasible from the viewpoint of the performance of the mobile device 120, so that the trainer 900 maintains the willingness to tackle the task game. I can expect.

  In the present embodiment described above, the inclusion relationship between the task map and the battery map is determined to determine whether the task can be executed. However, when the relationship between the motor rotation speed N and the torque T is defined in another format. In, the judgment method suitable for each form is used. In any case, it is sufficient that the motor output limit defined by the battery temperature and the remaining capacity includes the motor output required for the task.

DESCRIPTION OF SYMBOLS 100 Training apparatus, 110 Orthosis, 111 Harness wire, 112 Harness tension | pulling part, 113 Position sensor, 120 Moving apparatus, 121 Boarding board, 122 Load sensor, 123 Left driving wheel, 124 Right driving wheel, 125 Handle unit, 126 Base, 129 Battery, 130 frames, 133 control panel, 138 display unit, 190 movement limit range, 210 overall control unit, 211 operation reception unit, 212 display control unit, 213 harness drive unit, 214 memory, 215 task game, 216 database, 219 Communication connection IF, 220 Mobile control unit, 221 Drive wheel unit, 222 Attitude sensor, 223 Battery sensor, 229 Communication connection IF, 900 Trainer

Claims (1)

A balance training device linked with an inverted pendulum type moving device equipped with a battery and a motor, on which a trainee gets on board and moves,
A detection unit for detecting the temperature and remaining capacity of the battery;
A battery map indicating the range of the number of rotations and torque of the motor capable of supplying power, which is created in advance for each of the temperature and the remaining capacity of the battery, and a reciprocating movement from the initial position to the target position for the trainee. A storage unit that stores a task map that is created in advance for each task to be performed within a predetermined time and that indicates a range of torque and the number of rotations of the motor necessary to perform the task;
From the plurality of task maps, a task map indicating a range of the rotation speed and torque of the motor that falls within a range indicated by the battery map corresponding to the temperature and the remaining capacity detected by the detection unit is selected and selected. A balance training device comprising a control unit that executes a task corresponding to the task map.

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