Development of training machine with mechanical impedance display for strength training

力量训练机，特别是高速、大功率的训练机，都需要有安全机构。我们开发了带有电流变离合器的力量机。该机运动速度快、功率大、精度高、安全可靠。即使机器失控，通过使用电流变离合器的输入扭矩电机的速度控制，操纵杠杆臂的旋转速度也仅为0.52rad/S。并通过等动载荷实验(0.52、4.19、8.72[rad/S])验证了机器的性能。实验结果表明，该机能够显示出每一期望角速度±5%范围内的载荷。在0.52rad/S的运动中，该机器的最大运动速度为44.4Nm。我们提出了一种新的指标，可以用三维图形上的三种平面模式(角速度-扭矩平面、角-扭矩平面和角-角速度平面)来计算肌肉输出的横截面和体积。通常用峰值力矩来评价肌肉力量，通常用力-速度曲线、力-功率曲线等二维曲线来评价肌肉输出的特征。然而，尽管受试者之间的肌肉输出在力-速度曲线上表现出相似的实验结果，但在包括角度数据在内的三维表面上表现出不同的特征。为了评价肌肉特征，用角度、速度和扭矩值等三维指标来表示肌肉特征的细节属性。从获得的数据中，我们建立了具有角位置、角速度和扭矩数据的三维曲面，并按三种平面模式计算了体积。运用这些指标，对不同类型竞技项目的肌肉输出进行比较。结果表明，这些指标在不同竞技项目之间存在显著差异。

It is necessary for strength training machines, especially high speed and high power machines, to have safety mechanisms. We have developed the strength machine with ER clutch. This machine could move with high speed, high power, high accuracy and safety. Even if this machine is out of control, operated lever arm rotates only up to 0.52[rad/s] by using speed control of the input torque motor to ER clutch. And we verified the performance of our machine with the experiment of isokinetic load (0.52, 4.19, 8.72 [rad/s]). As the results of the experiment, this machine could display loads within every desired angular velocity ±5%. And this machine performed 44.4[Nm] at maximum during 0.52[rad/s] movement.And we have proposed a new index for the characteristics of muscular outputs with cross section and volumes calculated by the three plane patterns (angular velocity-torque plane, angle-torque plane, and angle-angular velocity plane) on the three-dimensional figures. A peak torque was generally used to evaluate muscular strength and the evaluation with two-dimensional curve, such as force-velocity curve and force-power curve were utilized to evaluate the characteristics of muscular outputs as usual. However, even though muscular outputs among the subjects show similar experimental results on force-velocity curve, there are some cases where they show different characteristics on three-dimensional surface including angular data. In order to evaluate muscular characteristics, three-dimensional index including angle, velocity and torque value shows the detail property of muscular characteristics. From obtained data we consisted of three-dimensional surface with angular position, angular velocity and torque data and calculated the volumes by three plane patterns. By using these indexes, we compared with the muscular outputs among different types of athletic events. As a result, these indexes showed significant differences among the athletic events.