PROBLEM TO BE SOLVED: To solve a problem that, when using an inverted pendulum-type moving device as a training device, it may be objectively observed how much an occupant receives a motion load, however, when observing a load of an ankle of the occupant, there arises trouble that it is necessary to attach a measurement device to the occupant.SOLUTION: An inverted pendulum-type moving body having a boarding part on which an occupant erectly boards, and drive wheels comprises: a detection part for detecting the drive torque of the drive wheels for maintaining an inverted state; and an output part for creating the torque information of foot ankle torque applied to the boarding part by the occupant from the drive torque which is detected by the detection part, and outputs the information.SELECTED DRAWING: Figure 4
【課題】倒立振子型の移動装置をトレーニング装置として利用する場合に、搭乗者がどれくらいの運動負荷を受けているかを客観的に観察できると良い。しかし、搭乗者の足首の負荷を観察する場合には、搭乗者に計測装置を装着する必要があるなどの煩わしさを伴っていた。【解決手段】搭乗者が立って搭乗する搭乗部と、駆動輪とを有する倒立振子型移動体であって、倒立状態を維持する駆動輪の駆動トルクを検出する検出部と、搭乗者が搭乗部に加えている足関節トルクのトルク情報を、検出部で検出された駆動トルクから生成して出力する出力部とを備える倒立振子型移動体を提供する。【選択図】図4
INVERTED PENDULUM-TYPE MOVING BODY AND FOOT JOINT TORQUE ESTIMATION METHOD
倒立振子型移動体、および足関節トルク推定方法
2018-03-01
Patent
Electronic Resource
Japanese
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