| 摘要 |
PROBLEM TO BE SOLVED: To provide a balance training machine which gives a training subject to an occupant based on capabilities and having/not-having disabilities of the occupant and uses an inverted two-wheel mobile body.SOLUTION: A balance training machine 80 using an inverted two-wheel mobile body 10 includes: a drive part 90 driving wheels 2R, 2L included in the inverted two wheel mobile body 10; a control part 91 controlling the drive part 90; occupant state estimate means 92 monitoring a drive state of the drive part 90 and estimating a boarding state and an improvement degree of training of an occupant based on a monitoring result; allowable movement range determination means 93 determining an allowable movement range of the inverted two wheel mobile body 10 based on the boarding state and improvement degree estimated by the occupant state estimate means 92; and obstacle detection means 94 detecting an obstacle around the inverted two wheel mobile body 10. The control part 91 changed a training subject given to the occupant based on presence/absence of the obstacle within the allowable movement range determined by the allowable movement range determination means 93.SELECTED DRAWING: Figure 2 |
