Title:
運動訓練装置
Document Type and Number:
Japanese Patent JP7157980
Kind Code:
B2
Abstract:
To provide a motion exercise device capable of supporting a plane motion of a user comfortably and appropriately securing a motion exercise area for the user.SOLUTION: A motion exercise device includes: an operation unit that can be moved on an XY plane; an actuator mechanism having X-axis and Y-axis direction drive motors for driving the operation unit on the XY plane; a force sensor for detecting X-axis and Y-axis direction force that act on the operation unit; an encoder for detecting the position of the operation unit; and a control unit for controlling the X-axis and Y-axis direction drive motors based on the X-axis and Y-axis direction force detected by the force sensor. The control unit drives at least one of the X-axis and Y-axis direction drive motors by PD control or P control when the operation unit is located in a force sense presentation area Af, and drives the X-axis and Y-axis direction drive motors by PID control or PI control when the operation unit is located in a safety measure area As.SELECTED DRAWING: Figure 10
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Inventors:
Yoshiyuki Noda
Makoto Ozawa
Tatsuya Omori
Makoto Ozawa
Tatsuya Omori
Application Number:
JP2018229725A
Publication Date:
October 21, 2022
Filing Date:
December 07, 2018
Export Citation:
Assignee:
Canon Finetech Nisca Inc.
Yamanashi University
Yamanashi University
International Classes:
A61H1/02; A63B21/005; A63B23/12; A63B24/00
Domestic Patent References:
| JP2016083313A |
Foreign References:
| WO2009119810A1 |
Attorney, Agent or Firm:
Yoshiaki Nishiyama