PROBLEM TO BE SOLVED: To provide a balance training apparatus using an inverted two-wheel vehicle capable of limiting an operation of the inverted two-wheel vehicle in a care-givers working area around the inverted two-wheel vehicle.SOLUTION: A balance training apparatus 100 using an inverted two-wheel vehicle 10 that moves by inclining a vehicle body 1 includes: a drive part 90 for driving wheels 2R and 2L that the inverted two-wheel vehicle 10 possesses a position calculation part 92 for calculating the position of the inverted two-wheel vehicle 10 a care-givers working area calculation part 93 for calculating a care-givers working area S where a care-giver PT who gives care to an occupant H works: an intrusion estimation part 96 for estimating whether or not the inverted two-wheel vehicle has intruded in the care-givers working area based on an amount of change in the position of the inverted two-wheel vehicle and the care-givers working area in a predetermined period and a control part 91 for controlling the drive part 90 based on the estimation by the intrusion estimation part 96.SELECTED DRAWING: Figure 5COPYRIGHT: (C)2016,JPO&INPIT【課題】倒立二輪車の周囲の介助者作業エリア内で倒立二輪車の動作を制限することができる、倒立二輪車を用いたバランス訓練装置を提供すること。【解決手段】本発明は、車体1を傾けることにより移動する倒立二輪車10を用いたバランス訓練装置100であって、倒立二輪車10が有する車輪2R,2Lを駆動する駆動部90と、倒立二輪車10の位置を算出する位置算出部92と、搭乗者Hの介助を行う介助者PTが作業する介助者作業エリアSを算出する介助者作業エリア算出部93と、所定の期間における倒立二輪車の位置と介助者作業エリアとの変化量に基づいて、倒立二輪車が介助者作業エリアに侵入したか否かを推定する侵入推定部96と、侵入推定部96の推定に基づいて駆動部90を制御する制御部91とを備える。【選択図】図5
