BE1017398A3 - Body movement measuring device for muscle exercise and rehabilitation apparatus, includes servo motor for applying controlled load to rotation axes for moving part - Google Patents

Abstract

A mechanism (3a-3c) is provided for applying a controlled load with respect to each of the rotation axes (R-T) for the moving part (1) which is either moved by the person or animal, or can move the person or animal. This load is applied during movement of this moving part. This mechanism comprises a servo motor. The moving part can rotate about at least two axes. Measuring devices (2a-2c) simultaneously record values associated with movement about these axes.

Description

DEVICE FOR MEASURING MOTION SIZES AT

PERSONS OR ANIMALS

The invention relates to a device for measuring movement variables in persons or animals comprising a movement element rotatable relative to at least two axes that can be set in motion by a person or animal or that can set in motion a person or animal and means for simultaneously measuring a number of quantities of the movement relative to a first axis and a number of quantities of the movement relative to a second axis.

Movement quantities are for example the force exerted by a muscle or muscle group, the amplitude of the movement, the speed of the movement, the acceleration of the movement, ...

It is known to measure movement variables in persons for medical purposes, for example in the context of a medical examination in order to be able to make a diagnosis with regard to a medical problem, or in the context of a rehabilitation program to monitor the effects of the program. to follow. On the other hand, such measurements are also useful for evaluating the effects of training, such as fitness training or muscle training for sportsmen. Such training often has the purpose of strengthening the muscles or improving the flexibility of the muscles, but avoiding injuries can also be one of the objectives.

Physiotherapists or trainers often need to be able to accurately and reproducibly measure movement variables for many months to estimate the physical capabilities of a person during a training program or during a rehabilitation period and to be able to handle a training schedule or therapy based on these movement variables. to fit. The progress of muscle recovery can best be monitored by measuring the forces exerted by the muscles at any point in a movement. When muscles are damaged, for example after an accident or after an operation or due to lack of use, training of specific muscle groups in specific directions is desirable.

In addition, it is often advisable to impose a controlled load that blocks movement, to ensure a controlled rehabilitation or training of the muscles.

With pinched nerves or joint pain, a person or animal will try to avoid this pain during a movement by performing compensatory movements. Such a compensatory movement can be, for example, a small lateral movement during the bending of a joint.

Various protocols have already been drawn up to determine movement parameters. Some authors favor isometric muscle load testing, while others prefer dynamic testing and still recommend testing isokinetic muscle load.

We hereby provide a definition of different types of muscle loads under which testing can be done, in order to avoid confusion with further explanations in this patent application.

Dynamic muscle load: a collective name for muscle loads in which the body part to be trained makes a movement.

Isotonic muscle load: a dynamic muscle load in which the muscle is under a constant muscle tone during the movement, while the speed of movement varies to keep the muscle tone constant.

Isometric muscle load: a static muscle load where the muscle is under a constant load. The joint elements do not move. This muscle load allows the maximum contraction of the muscles used.

Isokinetic muscle load: dynamic muscle load whereby the muscle can contract under a constant or virtually constant speed of movement of the body part to be tested or trained, which is independent of the muscle force exerted by the muscles.

Isoinertile muscle load: dynamic muscle load in which a constant force or constant torque is imposed during the movement, thereby allowing changes in speed and acceleration of the movement in proportion to the efforts of the person or animal.

Passive muscle load: muscle load where no muscle contraction occurs. The body is being moved.

Concentric muscle load: dynamic muscle load during the shortening phase of a dynamic muscle contraction. This means that the muscle contracts and thereby exerts a force in the direction of movement.

Eccentric muscle load: dynamic muscle load during the extending phase of a dynamic muscle contraction. This means that the muscle stretches and thereby exerts a force against the direction of movement.

Patent documents US 4,691,694 and US 5,324,247 showed that in the devices developed for measuring movement variables in persons or animals, different devices were first of all developed in which the person or the animal had to perform a movement relative to one axis. feed. The existing devices such as 'Universal' or 'Nautilus' worked with stress on the muscles of the body part to be tested or trained, but there was no control over the speed of movement or the torque applied by the user to overcome the imposed load .

Various devices were also developed with the characteristic that a load was imposed on one axis without checking the speed of movement. The device "Cybex" was one of the first devices in which it was ensured via a motor control that the speed of movement could be kept constant, thus making an isokinetic muscle load possible. Other known devices where a load was imposed on the muscles of the body part to be tested or trained against one axis include "Liftask" from Lumex Industries or "Biodex" from Biodex Corp. It is possible to measure movement quantities under different types of loads, including isokinetic loads.

Such devices are also described in various patent documents. For example, in US 4,907,797 a training and rehabilitation device is described in which the load imposed on the muscles of the body part to be tested or trained is controlled with the aid of a Servomotor on the basis of measurements of the force and speed of the movement of the test or train body part. Analogously, in US 4,691,694 a measured signal of movement is used as a parameter in a closed loop servo control system. Furthermore, US 5,722,937, US 6,368,251, WO 91/11221, US 5,054,774 and DE10233405 also describe devices for measuring motion quantities, whereby a number of the controlled loads listed above can be imposed on the movement of muscles of a test or test device. train body part relative to one axis.

The disadvantage of all these devices is that the movement variables are measured when simple movements are performed, and that these measurements often provide insufficient information to be able to thoroughly assess a medical problem or the effect of a training or rehabilitation.

Devices that attempt to solve the above-mentioned problem make it possible to measure motion quantities in three perpendicular axes. For example, in US 4,727,860 a device is described with which it is possible to measure knee movements relative to three axes simultaneously or selectively on the basis of measurements of couples and angular displacements. In this patent, however, there is no question of varying the load imposed on the muscles.

Finally, the "Isostation" device, of which an extension element was described in US 4,768,779, allows three-dimensional movement parameters to be measured dynamically and statically. A fixed load can in this case only be imposed with respect to one axle. Further directions are offered without resistance. The dynamic way of measuring is done by having the movement executed relative to a fixed protocol of x% of the maximum force. This device cannot, for example, impose isokinetic loads.

However, with none of these devices that measure motion parameters in three perpendicular axes, it is possible to impose a controlled load in directions that deviate from a motion axis of the device. The body part to be tested or trained must therefore always be directed towards the movement axes of the device.

Moreover, a controlled load can in each case be imposed on each axis, but no controlled loads can be imposed on, for example, compensatory movements, or no controlled loads can be imposed on a complex two-dimensional or three-dimensional muscle movement. Furthermore, simultaneous motion variables are measured against three axes, but nowhere is there any use of further analysis of these movement parameters in controlling future loads.

It is an object of this invention to provide such a device for measuring movement variables in persons or animals, with which tests and training can be performed in which a controlled load can be imposed in a direction that deviates from the movement axes of the device.

This object is achieved by providing a device for measuring movement variables in persons or animals comprising a movement element rotatable relative to at least two axes that can be set in motion by a person or animal or that can be set in motion by a person or animal. and means for simultaneously measuring a number of variables of the movement relative to a first axis and a number of variables of the movement relative to a second axis, the device also comprising means for controlling a controlled load during the movement of said movement element relative to each of the said axes.

By quantities of motion we mean here the muscle strength as well as the motion amplitude, as the motion speed and all further derivatives of the motion speed.

In this way, for example, where it is difficult to precisely position the body part to be tested or trained relative to a movement axis of the device to perform the desired measurements using a desired controlled load, the direction of the load can be adjusted to the direction of movement of the body part to be tested or trained. Furthermore, it is also possible, for example, to map compensatory movements of a person or animal, and on the basis of movement variables of a compensatory movement a load adapted to these compensatory movements can be imposed on the body part to be tested or trained. In addition, for training of complex sports movements that run two-dimensional or three-dimensional, it is possible to impose a load on this movement that follows the two-dimensional or three-dimensional career of this complex sports movement.

In a further embodiment of a device for measuring motion quantities according to the present invention, it comprises means for imposing a controlled load relative to at least one of the axes such that the movement is isokinetic.

Most other forms of muscle strain are easy to generate, without the intervention of measured movement parameters. However, an isokinetic motion can only be generated based on measured motion parameters. Compared to measurements under other forms of muscle loading, measuring under an isokinetic muscle load offers the advantage that during this measurement a force analysis can be obtained in which the muscles are always optimally loaded. By imposing a controlled load with respect to more than one axis, so that the movement is isokinetic, an optimum load can moreover be imposed on movements that do not run along the axis of movement of the device, unlike the prior art.

A special embodiment of a device for measuring motion quantities according to the present invention comprises means for imposing, with respect to each of the aforementioned axes, a controlled load such that the movement is isokinetic.

However, embodiments of this device are not limited to the imposition of controlled loads such that the movement is isokinetic. However, they can also impose dynamic, isotonic, isometric, isoinertile, etc. muscle loads.

A preferred embodiment of a device for measuring motion variables according to the present invention comprises a Servomotor for realizing each controlled load.

Preferably, a device for measuring motion variables according to the present invention further comprises immobilizing means for immobilizing one or more body parts of the person or animal relative to the device, said means being provided positionably on the device.

Until now, people or animals are fixed relative to the device with the help of straps and cushions, etc., or the person or animal must immobilize itself with respect to the device in order to obtain reliable measured values. However, this often causes problems with the reproducibility of the measurements. Immobilizing means for immobilizing the person or animal relative to the device and which are provided for positioning on the device increase the reliability of the measurements.

Preferably, such a device for measuring movement quantities further comprises - drive means for positioning said immobilisation means, - input means for entering a number of anthropometric parameters of a person or an animal, and - control means provided for controlling said drive means as a function of the entered anthropometric parameters, the immobilizing means being automatically brought into a position corresponding to the position of the body parts of the person or animal to be immobilized.

It is recommended to be able to keep track of how a person or animal was fixed relative to the device. By fixing the person or animal according to his own anthropometry with electronically controlled fixation means with respect to the device, the reproducibility of the measurements is greatly increased and measurements of different measurements can be compared with the same person or animal with respect to each other.

Even more preferably, such a device for measuring motion quantities comprises a memory unit which can contain a number of anthropometric parameters of a number of different persons or animals.

A specific embodiment of a device for measuring motion variables according to the present invention comprises means for imposing an eccentrically controlled load with respect to at least one of the axes.

The imposition of such an eccentric controlled load is risky, since a load is hereby applied which the person or animal can no longer handle. If the person or animal then ceases to work against this load, the device must be able to stop the movement immediately to prevent injury. For this purpose additional safety measures must be built into the device.

A preferred embodiment of a device for measuring movement quantities according to the present invention comprises an extension module which is attached to said movement element and which comprises an element rotatable relative to at least one additional axis that can be set in motion by the person or animal. or that can move a person or animal.

In this way it becomes possible to use the same device, with the same software, for testing or training multiple body parts.

Preferably said movement element is provided with a device for measuring movement quantities according to the present invention to be moved by moving the upper body.

It is recommended to provide such a device for analyzing the movements of the upper body. Muscle-tendon-bone injuries are the main cause of chronic disability of people in industrialized countries. Of these muscle-tendon-bone injuries, low back pain accounts for half of these injuries, so low back pain can be seen as a major problem for society. Spinal injuries are the most common cause of reduced activity in people under 45 years of age. Several studies indicate that at least 80% of the total population in Western society will suffer from low back pain once in their lifetime and that many of them will suffer from lower back pain more than once during their adult life. The pain can subside and disappear temporarily and then return a few months or years later. Low back pain can therefore be characterized as a disease that occurs in phases. As a result, low back pain is often regarded as a major medical problem with serious medical consequences.

A further preferred device for measuring motion variables according to the present invention is provided to adjust said controlled load (s) to substantially compensate for the influence of gravity on the components of the device.

In this way the net weight of the machine is almost compensated, so that a lighter device is obtained for the user.

It is also appropriate that a movement quantity measurement device according to the present invention comprises means for measuring one or more physiological parameters during the movement, and that this device comprises a control device which is provided for adjusting said controlled load (s). based on the measured physiological parameters.

Here physiological parameters refer to electromyographic (EMG) measurement values and / or heart frequencies.

In this way, for example, if the movement of the movement element would require too much effort on the part of the person or animal under the applied controlled load (s), and if a predetermined limit value is exceeded when measuring this person's heartbeat , the controlled load (s) imposed are reduced or completely eliminated.

Furthermore, it is preferable that the movement element of such a device for measuring movement quantities according to the present invention: - comprises a contact surface for the back of a person, - is rotatable relative to a first horizontal axis which is substantially parallel to the contact surface, - is rotatable relative to a second horizontal axis that is substantially perpendicular to said contact surface, and is rotatable relative to a substantially vertical axis.

Accordingly, such a device preferably comprises a solid body provided for immobilizing the lower limbs of a person, and a movable body rotatable about the solid body with respect to a vertical axis, said moving element being rotatably mounted on a substantially horizontally extending shaft which is connected to the movable body and which is substantially perpendicular to said contact surface.

Said movement element of a device for measuring movement quantities according to the present invention preferably has a freedom of movement of -50 ° to 50 ° with respect to the first horizontal axis. With respect to the second horizontal axis, this said movement element further preferably has a freedom of movement of -45 ° to 80 °. Finally, said movement element preferably has a freedom of movement of -50 ° to 50 ° with respect to the vertical axis.

In a further embodiment of a device for measuring movement variables according to the present invention, this device comprises an extension module with an element rotatable relative to at least one additional axis that can be displaced by moving the neck joints or the hip joints or the shoulder joints of a person .

A device for measuring movement variables in persons and animals is preferably provided according to this invention for medical testing and / or rehabilitation and / or training of muscles.

In order to further clarify the features of this invention and to indicate additional advantages and details thereof, a more detailed description of a specific embodiment of a device for measuring movement variables in persons and animals according to the present invention now follows. This description cannot be interpreted as a limitation of the scope of protection defined in the claims for this invention.

In this detailed description reference is made to the accompanying drawings by reference numerals, in which: figure 1 shows a front view of a specific device according to the invention for measuring movement variables in a person; figure 2 shows a right-hand side view of the specific device for the measuring motion quantities from figure 1 figure 3 depicts a left side view of the specific device for measuring motion quantities from figure 1 figure 4 shows a top view of the specific device for measuring motion quantities from figure 1

In these figures, the following parts of the specific device for measuring movement quantities were indicated: 1 movement element 2 means for measuring quantities of movement: a. Torque measurement flexion extension b. torque measurement lateral flexion c. torque measurement flexion extension 3 means to impose a controlled load: a. Servo motor flexion extension b. Servo motor lateral flexion c. Servo motor rotation 4 immobilisers: a. Shoulder braces b. braces under arms c. braces around hip d. braces around knees e. flexion extension bracket f. lateral flexion bracket 5 drive means for positioning said immobilizing means: a. motor gripping chest b. adjustment motor height back c. grasp motor hip d. setting motor height hip e. motor grip knee f. adjustment motor height knee g. setting motor position knee h. setting motor position feet 6 comfort means: a. shoulder cushion b. cushion hip c. cushions around hip d. support pad knee 7 column hip 8 column back 9 column knee 10 foot plate 11 rotation plate

The device as shown in Figs. 1 to 4, comprises a moving element (1) rotatable relative to three axes (R, S, T) that can be set in motion by a person or that can set a person or animal in motion, wherein relative to each of these three axes (R, S, T) a controlled load, such as, for example, an isometric, an isokinetic, ... load, can be imposed.

To be able to measure movement variables, a person is first immobilized in this device. For this purpose the person takes place on the foot plate (10), with his back to the movement element (1). The foot plate (10) and thus the person on the foot plate (10) are positioned with respect to the fixed column hip (7) of the device with the aid of the setting motor feet (5h) position. With the help of the hip height adjustment motor (5d), the hip (7) telescopic column is adjusted in height so that the brackets around the hip (4c) reach the height of the person's hip. With the help of the adjusters height of the knee (5f) and position of the knee (5g), the column of knee (9) is positioned relative to the column of hip (7) such that the brackets around the knees (4d) at the level of the knees of the person to be immobilized. Furthermore, with the aid of the backrest height adjustment motor (5b), the telescopic backrest column (8) is adjusted in height such that the brackets under arms (4b) under the person's arms and the shoulder brackets (4a) at the shoulders of the person come. With the Servomotor rotation (3c) the column of spine (8) can be rotated relative to the axis R in such a way that the movement element is positioned centrally with respect to the person's shoulders. Finally, with the Servomotor, lateral flexion (3b) on the one hand, the lateral flexion bracket (4f) can be rotated relative to the axis T, and with the Servomotor, flexion extension (3a) can, on the other hand, the flexion extension bracket (4e) by rotation relative to the axis S can be positioned relative to the person.

In this way all immobilizing means (4) are brought into a position that corresponds to the anthropometry of the person in which movement quantities are to be measured. When all immobilizing means (4) are arranged in a correct position, the motor (6a), which in this embodiment corresponds to the motor height of the back (5b), the motor (hip) (5c) and the motor, will grasp respectively grasping the knee (5th), the shoulder braces and the braces under the arm are closed around the person's shoulder and arms, the braces are closed around the person's hip and the braces are closed around the person's knees.

In order to ensure the comfort of the person for whom the movement variables are to be measured, on the one hand at all contact points between the person and the device cushions (6 ad) are provided as comfort means (6) and on the other hand a button is provided within the reach of the person with which the person can automatically reopen all brackets (4 ad) of the device.

The settings of all immobilizing means (4) are stored automatically and analogously in the software of the device. This is to achieve the same immobilisation with the same person for any subsequent measurements or any subsequent exercises. This is very important to guarantee the reproducibility of the results from the measurements or exercises.

As soon as the person is immobilized, the movement element (1) can follow the movement of the upper body of the person by rotating relative to the axes R, S and T. To this end, the movement element (1) has relative to the first horizontal axis. (S) a freedom of movement from -50 ° to 50 °, with respect to the second horizontal axis (T) a freedom of movement from -45 ° to 80 ° and with respect to the vertical axis (R) a freedom of movement from -50 ° to 50 ° °.

Before actual measurements or actual exercises are carried out with the device, calibration values for the loads to be imposed can be determined. However, this is not an obligation. In order to obtain such calibration values, a predetermined isometric load is imposed consecutively per movement axis and this determines the maximum force that the person can handle.

The loads that are then imposed during the actual measurements or actual exercises are then preferably smaller than the maximum load that the person can handle. For example, with measurements, a load can be imposed that is 25% or 50% or 75% of the maximum load that the person can handle. With such taxes it is certain that the person can overcome the tax. However, it is also possible to apply a load that is greater than the load that the person can handle, so that the person cannot, in principle, overcome the load. It goes without saying that in such a mode a safety must also be built in to prevent that if the person can effectively no longer overcome the load, the device would cause injury to the person if the person's work was abruptly stopped. . For this purpose, the device must stop automatically in a gentle manner upon detection of a sudden stop of the person's effort.

For the actual measurements or actual exercises, there are endless possibilities for combining loads that can be imposed during these measurements or exercises and directions in which these loads are applied.

For example, an isokinetic load can be imposed with respect to one axis and movement parameters relative to the three axes can be measured, with which the compensatory movements of a person can be mapped when moving with respect to the one axis in which the isokinetic load is imposed .

However, for an athlete who always has to perform an analogous complex movement during his sport, a load can be imposed, whereby this load follows the complex movement of the athlete.

It goes without saying that all known test processes can also be carried out with this device. Known research results can therefore always be used as a reference for such measurements.

The application of a load to the movement of a person is done with a servo system (3) on the basis of a torque built up via a gearbox by Servo motors (3 a-c). Each Servo motor (3 a-c) is controlled with a servo controller. This servo system (3) uses a system bus and is controlled from the software program. The servo system (3) is self-calibrating and offers high accuracy. The communication used for this is done via a CANopen Safety Protocol.

In order to compensate for part of the own weight of the device, the influence of gravity on parts of the device is virtually compensated with the help of counterweights and of the servo system (3).

As has already been indicated in the above explanation, this device is a basic apparatus for testing and exercising movements of the upper body of a person. However, this basic device could also be extended to other joints such as the neck, shoulders or hip, by adding respective associated extension modules. Extra memory modules then ensure that the measurements are processed.

Claims (19)

Device for measuring movement variables in persons or animals comprising a movement element (1) rotatable relative to at least two axes (R), (S) that can be set in motion by a person or an animal or that a person or animal can move and means (2) for simultaneously a number of quantities (F, x, v, a) of the movement with respect to a first axis (R) and a number of quantities (F, x, v, a) of the measuring movement relative to a second axis (S), characterized in that the device also comprises means (3) for imposing a controlled load with respect to each of said axes during the movement of said movement element (1) R). (S). Device for measuring motion quantities according to claim 1, characterized in that the device comprises means (3) for imposing a controlled load such that at least one of the axes (R), (S) movement is isokinetic. Device for measuring motion quantities according to claim 1 or 2, characterized in that the device comprises means (3) for imposing, in relation to each of said shafts (R), (S), a controlled load such that the movement is isokinetic. Device for measuring movement quantities according to one of the preceding claims, characterized in that the device comprises a servomotor (3) for realizing each controlled load. Device for measuring movement quantities according to one of the preceding claims, characterized in that the device comprises immobilizing means (4) for immobilizing one or more body parts of the person or animal relative to the device, and that these means (4 ) are provided positionably on the device. Device for measuring motion quantities according to claim 5, characterized in that the device comprises drive means (5) for positioning said immobilisation means, input means for entering a number of anthropometric parameters of a person or an animal, and control means provided to control said drive means (5) as a function of the entered anthropometric parameters, the immobilizing means (4) being automatically brought into a position corresponding to the position of the body parts of the person or animal to be immobilized. Device for measuring motion quantities according to claim 6, characterized in that the device comprises a memory unit which can contain a number of anthropometric parameters of a number of different persons or animals. Device for measuring motion quantities according to one of the preceding claims, characterized in that the device comprises means (3) for imposing an eccentrically controlled load relative to at least one of the shafts (R), (S). Device for measuring motion quantities according to one of the preceding claims, characterized in that the device comprises an extension module which is attached to said movement element (1) and which comprises an element rotatable relative to at least one additional axis which the person or animal can be set in motion or that a person or animal can set it in motion. Device for measuring movement quantities according to one of the preceding claims, characterized in that said movement element (1) is provided for being moved by moving the upper body. Device for measuring motion quantities according to one of the preceding claims, characterized in that the device comprises a control device which is provided for adjusting said controlled load (s) in order to influence the influence of gravity on the components of the device almost to compensate. Device for measuring movement quantities according to one of the preceding claims, characterized in that the device comprises provisions for measuring one or more physiological parameters during the movement, and a control device which is provided for said controlled load (s) adjust based on the measured physiological parameters. Device for measuring movement quantities according to one of the preceding claims, characterized in that the movement element (1) comprises a contact surface for the back of a person, is rotatable with respect to a first horizontal axis (T) which is substantially parallel with the contact surface, is rotatable with respect to a second horizontal axis (S) that is substantially perpendicular to said contact surface, and is rotatable with respect to a substantially vertical axis (R). A device for measuring movement quantities according to claim 13, characterized in that the device comprises a solid body (7) provided for immobilizing the lower limbs of a person, a movable body (8) surrounding the solid body is rotatable with respect to a vertical axis (R), said movement element (1) being rotatably mounted on a substantially horizontally extending axis connected to the movable body and substantially perpendicular to said contact surface. Device for measuring motion quantities according to claim 13, characterized in that said movement element (1) has a freedom of movement from -50 ° to 50 ° with respect to the first horizontal axis (S). Device for measuring movement quantities according to one of the preceding claims, characterized in that said movement element (1) has a freedom of movement from -45 ° to 80 ° with respect to the second horizontal axis (T). Device for measuring motion quantities according to one of the preceding claims, characterized in that the said movement element (1) has a freedom of movement from -50 ° to 50 ° with respect to the vertical axis (R). 18. A device for measuring movement variables as claimed in any of the foregoing claims, characterized in that the device comprises an extension module with an element rotatable relative to at least one additional axis which by moving the neck joints or the hip joints or the shoulder joints of a person can be moved. Device for measuring movement quantities according to one of the preceding claims, characterized in that the device is provided for medical testing and / or rehabilitation and / or training of muscles.