CH700783B1 - Adaptive robotic training device. - Google Patents
Adaptive robotic training device. Download PDFInfo
- Publication number
- CH700783B1 CH700783B1 CH00534/09A CH5342009A CH700783B1 CH 700783 B1 CH700783 B1 CH 700783B1 CH 00534/09 A CH00534/09 A CH 00534/09A CH 5342009 A CH5342009 A CH 5342009A CH 700783 B1 CH700783 B1 CH 700783B1
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- training device
- adaptive
- software
- based training
- adaptive robot
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
- A63B21/0085—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters using pneumatic force-resisters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
- A63B21/4015—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs to the foot
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03516—For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user
- A63B23/03533—With separate means driven by each limb, i.e. performing different movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0417—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously with guided foot supports moving parallel to the body-symmetrical-plane by translation
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
- G09B19/0038—Sports
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B2022/0092—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for training agility or co-ordination of movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0625—Emitting sound, noise or music
- A63B2071/063—Spoken or verbal instructions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
- A63B2208/0228—Sitting on the buttocks
- A63B2208/0238—Sitting on the buttocks with stretched legs, like on a bed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
Abstract
Eine adaptive robotergestützte Trainingsvorrichtung umfasst eine Anzeige (1), die über einen Bügel (2) mit dem Grundrahmen (9) verbunden ist, verschiedene Sensoren, voneinander unabhängig wirkende Pedale (4) und Fussplatten (3), die über Wellen (7, 8) und Hebel (5) mit kontraktilen Elementen (13) verbunden sind, welche am Grundrahmen (9) befestigt sind, sowie einen entsprechend positionierbaren Sitz (12) und eine Regelungshardware (10), die mit einem Computer (11) verbunden ist, auf welchem eine Software installiert ist, vorzugsweise verbunden mit einem Computernetzwerk, wobei die Software mit der Regelungshardware verknüpft ist.An adaptive robotic training device comprises a display (1) connected to the base frame (9) via a bracket (2), various sensors, independent pedals (4) and foot plates (3) which are connected by shafts (7, 8 ) and levers (5) are connected to contractile elements (13) fixed to the base frame (9) and a correspondingly positionable seat (12) and control hardware (10) connected to a computer (11) which software is installed, preferably connected to a computer network, wherein the software is linked to the control hardware.
Description
Technisches GebietTechnical area
[0001] Die vorliegende Erfindung bezieht sich auf eine adaptive robotergestützte Trainingsvorrichtung, die ein ganzheitliches, realitätsnahes sowie motivationsförderndes Trainieren des Menschen unter Einbezug seiner kognitiven Fähigkeiten erlaubt. Die adaptive robotergestützte Trainingsvorrichtung dient der Verbesserung des Bewegungsapparates in den Bereichen Maximalkraft, Schnellkraft und Kraftausdauer sowie der Förderung und Verbesserung der Koordination und Reaktionszeit. Einsatzgebiete der vorliegenden Erfindung sind Prävention, Rehabilitation, Fitness und Spitzensport. The present invention relates to an adaptive robot-based training device, which allows a holistic, realistic and motivating-promoting training of humans, including his cognitive abilities. The adaptive robot-based training device is designed to improve the musculoskeletal system in the areas of maximum strength, speed and strength endurance, and to promote and improve coordination and response time. Applications of the present invention are prevention, rehabilitation, fitness and elite sports.
Stand der TechnikState of the art
[0002] Bei der Stärkung der Muskulatur mit den gängigen Trainingsvorrichtungen ohne Computerunterstützung wird besonderes Augenmerk auf isolierte, gleichförmige Bewegungsmuster gesetzt. Dieser Ansatz gewährt zwar in gewissem Umfang den Erhalt oder Erhöhung der Muskelmasse und eine Leistungssteigerung spezifischer Muskelgruppen, vernachlässigt hingegen das Zusammenspiel zwischen dem menschlichen Bewegungsapparat, der intrinsischen körpereigenen Information über Kraft, Haltung und Bewegung und der extrinsischen multisensorischen Information über die Trainingsumgebung. Mit diesem klassischen Ansatz kann man sich eher schlechter als besser bewegen. When strengthening the muscles with the usual training devices without computer support special attention is paid to isolated, uniform movement pattern. While this approach does provide some maintenance or increase in muscle mass and enhances performance of specific muscle groups, it neglects interaction between the human musculoskeletal system, intrinsic body information on strength, posture and movement, and extrinsic multisensory information about the training environment. With this classic approach you can move rather worse than better.
[0003] Aus dem Stand der Technik sind Computersimulationen bekannt, die mittels einer Mensch-Maschinen-Schnittstelle eine gewisse physische Interaktion und somit einen Trainingseffekt auslösen. Hierbei wird jedoch auf Kraft-Feedback seitens der Maschine verzichtet. Der Bewegungsapparat und die dazugehörigen Bewegungsmuster werden somit nicht gezielt oder nur sehr beschränkt trainiert. Darüber hinaus besitzen viele dieser Computersimulationen keine Diagnostiksoftware. Somit ist keine Information über Trainingsqualität, Leistung und Fortschritt des Trainierenden vorhanden. Computer simulations are known from the prior art, which trigger a certain physical interaction and thus a training effect by means of a human-machine interface. However, this does not require force feedback from the machine. The musculoskeletal system and the associated movement patterns are thus not targeted or trained only very limited. In addition, many of these computer simulations do not have diagnostic software. Thus, there is no information about training quality, performance and progress of the exerciser.
[0004] Die heute auf dem Markt erhältlichen Trainingsvorrichtungen werden den Anforderungen des Leistungssports, der Rehabilitation und eines ganzheitlichen Fitnesstrainings nicht gerecht, weil sie das Zusammenspiel des Bewegungsapparates mit der Wahrnehmung, der muskulösen Spannung und der sensorischen Information aus der Umwelt und ihre kognitive Verarbeitung nicht auszunützen und umzusetzen vermögen. Dieses Zusammenspiel ist jedoch unabdingbar notwendig, um sich sinnvoll, effizient und sicher in einer beliebigen Umgebung zu bewegen. The currently available on the market training devices are the requirements of competitive sports, rehabilitation and a holistic fitness training do not do justice, because they do not the interaction of the musculoskeletal system with the perception, the muscular tension and the sensory information from the environment and their cognitive processing exploit and implement. However, this interaction is absolutely necessary in order to move sensibly, efficiently and safely in any environment.
Aufgabe der ErfindungObject of the invention
[0005] Aufgabe der Erfindung ist es daher, eine adaptive robotergestützte Trainingsvorrichtung zu schaffen, welche dieses Zusammenspiel erhält, fördert und nachhaltig verbessert. The object of the invention is therefore to provide an adaptive robot-based training device which receives, promotes and sustainably improves this interaction.
[0006] Die Aufgabe wird durch die Merkmale der aufgeführten Patentansprüche gelöst. The object is solved by the features of the claims listed.
Lösung/Darstellung der ErfindungSolution / Presentation of the invention
[0007] Die Erfindung wird im Folgenden anhand eines Ausführungsbeispiels im Einzelnen erläutert. Diese Darstellung soll die Erfindung jedoch nicht auf die konkret beschriebene Merkmalskombination beschränken, so wie auch die Erfindung nicht auf die in den abhängigen Ansprüchen angegebenen Merkmalskombinationen beschränkt sein soll. In dieser Ausführung ist die adaptive robotergestützte Trainingsvorrichtung für den unteren Rumpf und die Beine ausgelegt. The invention will be explained below with reference to an embodiment in detail. However, this description is not intended to limit the invention to the combination of concretely described, as well as the invention should not be limited to the feature combinations specified in the dependent claims. In this embodiment, the adaptive robotic training device is designed for the lower torso and the legs.
[0008] Die adaptive robotergestützte Trainingsvorrichtung gemäss den aufgeführten Patentansprüchen ist fähig, auf die Körperhaltung des Benutzer und die von ihm erzeugten Kräfte zu reagieren, indem es die Kräfte, die durch die kontraktilen Elemente am Bewegungsapparat des Benutzers erzeugt werden, über eine Regelungshardware fliessend variiert. The adaptive robotic training device according to the listed claims is capable of responding to the posture of the user and the forces generated by him by the forces that are generated by the contractile elements on the musculoskeletal system of the user, via a control hardware varies smoothly ,
[0009] Somit entsteht ein Feedback-Feedforward-System zwischen Mensch und adaptiver robotergestützter Trainingsvorrichtung, das es erstmals erlaubt, höhere kognitive Prozesse in das Training einzubinden und Trainingsfortschritte über der Software quantitativ zu erfassen. Thus, a feedback feedforward system between humans and adaptive robot-based training device is created, which for the first time allows to integrate higher cognitive processes into the training and to quantitatively record training progress over the software.
[0010] Über der Software kann auch die adaptive robotergestützte Trainingsvorrichtung an die muskulösen und koordinativen Fähigkeiten eines jeden Benutzer angepasst werden, um diese nachhaltig zu fördern und zu verbessern und um Schwachstellen zu identifizieren, vorzubeugen und aufzuheben. About the software, the adaptive robot-based training device can be adapted to the muscular and coordinative skills of each user in order to sustainably promote and improve them and to identify vulnerabilities, prevent and lift.
[0011] Darüber hinaus erlaubt es die Software, Trainingsroutinen zu erstellen, die unter Einbezug der notwendigen kognitiven Fähigkeiten, die Kräfte und Dynamik wiederspiegeln, denen unser Bewegungsapparat in Interaktion mit der von uns gewählten Umgebung ausgesetzt sind. In addition, the software allows you to create training routines that reflect the necessary cognitive abilities, the forces and dynamics that our musculoskeletal system is exposed to in interaction with our chosen environment.
[0012] Die Trainingsroutinen zeichnen sich dadurch aus, dass sie dem Benutzer der adaptiven robotergestützten Trainingsvorrichtung ermöglichen, visuelle, auditorische und haptische Stimuli mit den auf den Bewegungsapparat wirkenden Kräften so zu verknüpfen, dass ein Lernen oder ein Wiedererlernen von Bewegungsmustern in der Wechselwirkung zwischen Bewegungsapparat und Wahrnehmung ausgelöst wird. Auf dieser Weise kann auch Koordination geschult werden. The training routines are characterized in that they allow the user of the adaptive robotic training device to link visual, auditory and haptic stimuli with the forces acting on the musculoskeletal system such that learning or relearning motion patterns in the interaction between the musculoskeletal system and perception is triggered. Coordination can be trained in this way.
[0013] Die Beine und Rumpfpartien werden über Fussplatten, die mit Pedalen verbunden sind, separat und voneinander unabhängig belastet. Dabei werden herkömmliche Gewichte, die an den Pedalen ziehen, durch kontraktile Elemente ersetzt. The legs and body parts are loaded separately via foot plates, which are connected to pedals and each other independently. Traditional weights that pull on the pedals are replaced by contractile elements.
[0014] Die Fussplatten sind quer zum Fuss frei gelagert. So vermag diese Erfindung auch die gesamte untere Muskulatur der Beine zu stärken und diese mit den oberen Beinpartien in koordinativen Einklang zu bringen. The foot plates are stored freely across the foot. Thus, this invention is able to strengthen the entire lower muscles of the legs and bring them into coordination with the upper leg parts.
[0015] Eine bevorzugte Ausführungsform der Erfindung beinhaltet zusätzlich eine freie Lagerung der Fussplatten in Längsrichtung des Fusses. So kann auch die Muskulatur am Fersenansatz und im Fuss gekräftigt werden. A preferred embodiment of the invention additionally includes a free storage of the foot plates in the longitudinal direction of the foot. This also strengthens the muscles on the heel and foot.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
[0016] Es zeigen: <tb>Fig. 1<sep>eine perspektivische Ansicht auf ein erstes Ausführungsbeispiel einer unverschalten adaptiven, robotergestützten Trainingsvorrichtung gemäss der Erfindung. <tb>Fig. 2<sep>eine Detailzeichnung auf ein erstes Ausführungsbeispiel des Pedalhubbegrenzers gemäss Erfindung. <tb>Fig. 3<sep>eine Detailzeichnung auf ein erstes Ausführungsbeispiel der Verbindung zwischen Pedal und Fussplatte gemäss der Erfindung.[0016] FIG. <Tb> FIG. 1 <sep> is a perspective view of a first embodiment of a non-adaptive, robot-based training device according to the invention. <Tb> FIG. 2 <sep> a detail drawing on a first embodiment of the Pedalhubbegrenzers according to the invention. <Tb> FIG. 3 <sep> a detail drawing on a first embodiment of the connection between pedal and foot plate according to the invention.
Beschreibung der AusführungsbeispieleDescription of the embodiments
[0017] Fig. 1 zeigt eine perspektivische Ansicht auf ein erstes Ausführungsbeispiel der erfindungsgemässen adaptiven robotergestützten Trainingsvorrichtung ohne Abdeckung. Die adaptive robotergestützte Trainingsvorrichtung umfasst einen Grundrahmen 9, auf der die Pedale 4 über Wellen 7, 8 und Hebel 5 miteinander verbunden sind. An den Pedalen 4 sind frei gelagerte Fussplatten 3 befestigt. Die Hebel 5 sind mit den kontraktilen Elementen 13 verbunden, die ihrerseits am Grundrahmen 9 befestigt sind. Die adaptive robotergestützte Trainingsvorrichtung weist einen positionierbaren Sitz 12 auf, der mit einem Pedalhubbegrenzer 6 verbunden ist. In der adaptiven robotergestützten Trainingsvorrichtung befindet sich eine Regelungshardware 10, die mit einem PC 11 verbunden ist. Fig. 1 shows a perspective view of a first embodiment of the inventive adaptive robot-based training device without cover. The adaptive robot-based training device comprises a base frame 9, on which the pedals 4 are connected to each other via shafts 7, 8 and lever 5. On the pedals 4 freely mounted foot plates 3 are attached. The levers 5 are connected to the contractile elements 13, which in turn are fastened to the base frame 9. The adaptive robotic training apparatus has a positionable seat 12 connected to a pedal stroke limiter 6. In the adaptive robotic training device is a control hardware 10 which is connected to a PC 11.
[0018] Fig. 2 zeigt eine Detailansicht des Pedalhubbegrenzers 6, an dem ein Stopper 6a angebracht ist, um den Hub der Hebel 5 zu beschränken. Der Pedalhubbegrenzer 6 ist über ein Gestänge 6b mit einem Mitnehmer 6c verbunden, der seinerseits mit dem positionierbaren Sitz 12 verbunden ist. Fig. 2 shows a detailed view of the Pedalhubbegrenzers 6, to which a stopper 6 a is mounted to limit the stroke of the lever 5. The Pedalhubbegrenzer 6 is connected via a linkage 6b with a driver 6c, which in turn is connected to the positionable seat 12.
[0019] Fig. 3 zeigt eine Detailansicht der Pedale 4, die über einer Achse 3 ́ und Schrauben 3 ́ ́ mit den Fussplatten verbunden sind. Fig. 3 shows a detailed view of the pedals 4, which are connected via an axis 3 and screws 3 with the foot plates.
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CH00534/09A CH700783B1 (en) | 2009-04-01 | 2009-04-01 | Adaptive robotic training device. |
Applications Claiming Priority (1)
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CH00534/09A CH700783B1 (en) | 2009-04-01 | 2009-04-01 | Adaptive robotic training device. |
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Publication Number | Publication Date |
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CH700783A2 CH700783A2 (en) | 2010-10-15 |
CH700783B1 true CH700783B1 (en) | 2011-03-31 |
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CH00534/09A CH700783B1 (en) | 2009-04-01 | 2009-04-01 | Adaptive robotic training device. |
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DE102015000919A1 (en) * | 2015-01-26 | 2016-07-28 | Kuka Roboter Gmbh | Robot-based training system |
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2009
- 2009-04-01 CH CH00534/09A patent/CH700783B1/en not_active IP Right Cessation
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