PROBLEM TO BE SOLVED: To provide an inverted pendulum type movable body capable of increasing the intensity of balance training.SOLUTION: The inverted pendulum type movable body includes: a seating part for an occupant to be seated; a sphere; a drive mechanism with wheels for driving the sphere and a wheel drive unit for driving the wheels; and a control unit for controlling driving of the wheel drive unit. The wheels are at least two omni wheels. The control unit includes an ordinary mode for controlling driving of the wheel drive unit to stabilize an inverted state in a center-of-gravity movement direction of an occupant and a training mode for controlling driving of the wheel drive unit to degrade the stability of the inverted state. The training mode includes different-direction training for changing a training driving force Qb of the wheel drive unit to degrade the stability of the inverted state in a different direction from the center-of-gravity movement direction.SELECTED DRAWING: Figure 5
【課題】バランス訓練の強度を高くできる倒立振子型移動体を提供する。【解決手段】倒立振子型移動体は、搭乗者が搭乗する搭乗部と、球体と、球体を駆動させるホイール及びホイールを駆動させるホイール駆動部を有する駆動機構と、ホイール駆動部の駆動を制御する制御部とを備える。ホイールは、少なくとも2つのオムニホイールである。制御部は、搭乗者の重心移動方向において倒立状態を安定させるようにホイール駆動部の駆動を制御する通常モードと、倒立状態の安定性を低下させるようにホイール駆動部の駆動を制御する訓練モードとを備える。訓練モードは、重心移動方向と異なる方向において倒立状態の安定性を低下させるようにホイール駆動部の訓練駆動力Qbを変化させる異方向訓練を含む。【選択図】図5
INVERTED PENDULUM TYPE MOVABLE BODY
倒立振子型移動体
2018-08-16
Patent
Electronic Resource
Japanese