CH703610A2 - Modular training system for rehabilitation of physically challenged patient, has base unit that selectively or simultaneously communicates to receivers via and transmission links to communicate readings of sensors - Google Patents

Abstract

The system (1) has base unit (3) for mounting data processing unit (4) and storage unit (5). The receivers (6) for a to-be-trained body part have sensor (7) and/or actuator (8) connected to the base unit via defined interfaces (9) and transmission links (10) and communicate the readings of the sensors and receive control commands for the actuators from base unit. The base unit selectively or simultaneously communicates to receivers via and transmission links.

Description

The invention relates to a modular training system for rehabilitation of physiologically impaired patients, in particular of patients with movement impairments of the extremities.

Exercise or training devices for physiotherapy of patients with physiological impairments of the musculoskeletal system are known from the prior art, the principle of which is to fix a body part of the patient to be trained in a fastener and the patient in the implementation of training exercises to support. In a passive embodiment, the attachment means exclusively serves to stabilize the body part to be trained or its joints, since its mobility may have, for example, accidental or disease-related unnatural values. If the muscular or neurological abilities of the patient are also limited, forces are applied to the body part to be trained via actuators mounted on the fastening means, in order to achieve at least partial weight relief or a completely active movement execution. A control unit gives the corresponding commands to the actuators. In many cases, sensors are mounted on the fastening means or on the body of the patient in order to detect, for example, translatory and rotational movements, the forces that occur or various vital parameters of the patient. The control unit collects and analyzes the information from the sensors and regulates the actuators according to the specifications of the training exercise to be performed or monitors the physical condition of the patient.

In many cases, the known physiotherapeutic training or exercise equipment only for a type of body part to be trained, such as an arm or a leg suitable. And often such a training device is still limited even to a small group of impairments of a body part to be trained on. In order to perform the rehabilitation for other impairments or body parts to be trained, usually another, independent training device must be purchased. In addition to the high financial outlay, the operation of the training devices via the respective control unit in most cases works very differently, which is especially for the physiotherapist, but in part also for the patient of disadvantage.

From DE 69 201 654 T2, a multi-axis exercise device is known, with which the body part of the patient to be trained is actively moved, wherein the range of motion is limited to certain values. In this document, reference is exclusively made to a foot as a body part to be trained. Furthermore, a driven orthosis is disclosed in WO 2008/124 025 A1 which, by means of the actuators attached to the joints, applies a force to the body part of the patient to be trained in order to assist the latter in carrying out the movement. Also in this case, the body part to be trained is always referred to only one leg. In US 2006/0106 326, a wrist or upper limb movement system is shown that either supports or counteracts these movements depending on the chosen exercise program. In this case, the training system is restricted to a limb of the upper extremities.

The present invention is based on the object to provide a training system for the rehabilitation of physiologically impaired patients, on the one hand in a universal and cost-effective way exercise or therapy programs for all different body areas of a patient allows and on the other hand, the cost of production increased such universal training systems.

The object of the invention is achieved by a modular training system according to the features in claim 1.

According to the invention, a base unit of the modular training system is equipped with defined interfaces, so that selectively or simultaneously several receiving means for body parts to be trained with the base unit via defined transmission links are connected and the sensors and / or actuators of the recording means defined data protocols in a uniform manner can be queried or controlled. Such a configuration makes it possible to realize an advantageous universal training system which provides different receiving means for the same or different body parts to be trained. The different in their shape and / or function recording means are controlled or queried in a uniform manner of one and the same base unit on the defined interfaces, transmission lines and data protocols. This modular structure of a training system makes it possible to tailor the specific embodiment of the training system specifically to the body part to be trained and the needs of the patient without resorting in each case of treatment to their own, on the selected training program and the intended recording means for the training Body part matched base unit to use. The various sensors or actuators of the different recording means, which provide measured values for determining the condition of the patient or his body part to be trained or which support training movements of the patient by body stabilization, weight reduction and / or movement execution, can thus always be queried from the same base unit or be controlled.

Both physiotherapists and patients therefore need only familiarize themselves with the use of different recording means for body parts to be trained with a base unit and learn the necessary steps for them. This allows a very efficient way of determining and administering, improving and reusing the various training programs of his patients, in particular for the physiotherapist, whereby usually most diverse receiving means for body parts to be trained are used. Another advantage for a physiotherapist is that the modular training system can be extended relatively inexpensively with different receiving means for body parts to be trained, since only the special recording medium needs to be newly purchased and no longer needs to be newly purchased as a special base unit.

An advantage is an embodiment according to claim 2, as a universal, operable with a base unit modular training system is created, which can be used for the physiotherapeutic treatment of different parts of the body of patients. Such a versatile, modular training system, for example, is ideally suited for use in a physiotherapeutic rehabilitation center, as it allows patients with different physiological impairments of different body parts with only one base unit and different, each adapted to the patient receiving means for exercising body parts can be cared for.

Another advantage is an embodiment according to claim 3, since by the use of standard modules for the sensors and actuators of the recording means and the provision of corresponding, configurable software modules in conjunction with the clearly defined interfaces, transmission links and data protocols rapid and economical production of highly specific receptacles for different parts of the body to be trained or for different physiological impairments of patients. For example, specialists in the field of prosthesis construction can easily integrate the standard modules for the sensors and actuators into the prostheses or receiving means for body parts to be trained, which with the provided, configurable software modules in a simple and uniform manner from the physiotherapeutic Training programs are queried or controlled. Overall, this configuration provides a high degree of reusability both for the hardware components developed and for the software modules, and thus for improved cost-effectiveness. Furthermore, this makes possible the inexpensive and rapid construction of comparatively rarely required special characteristics of receiving means or training devices even with only small quantities.

Another advantage are the measures according to claim 4, since the configuration of the modular training system is reduced in particular for the physiotherapist, since when connecting another receiving means for a body part to be trained on the base unit at least one automatic partial configuration of the training system is performed or the configuration of the new base unit receiving means combination is facilitated by the automatic identification of the respective receiving means. Furthermore, an unambiguous identification of the receiving means used makes it possible to check or ensure that a patient uses the receiving means for which he is personally intended and possibly also individually adapted to him for the body part to be trained. This may be important, for example, in a rehabilitation center, where it can easily be confused by the large number of existing recording means.

Another advantage are the measures according to claim 5, as this relevant information on the use of the recording means can be deposited locally in this in a storage means and, for example, in the service, warranty or incident are available and can be evaluated. This can be about the reliability, the reliability, the life or hygiene of the recording means can be improved.

Another advantage is an extension of the measures according to claim 5, in which a storage means in the base unit of the modular training system is provided in which the information about the respective connected recording means are individually stored and / or automatically about the Internet or a Mobile network to the manufacturer or distributor of the modular training system can be transmitted.

Another advantage are the measures according to claim 6, since by the formation of at least one bus system, the recording means with their sensors and / or actuators and / or the other data input and data output means in a simple manner in the training system both mechanically and logically integrated or removable from it. Bus systems are basically designed to connect multiple communication subscribers via interfaces and a common transmission path, with defined data protocols defining how the multiple communication subscribers communicate over a common transmission path. The use of real-time-capable bus systems offers particular advantages, as it also makes time-critical control and regulation processes possible in the modular training system. Equally advantageous is the use of safety-related bus systems, which ensures secure data transmission with the bus system and, for example, transmission errors in the transmitted information are avoided. Furthermore, this ensures a defined and safe behavior of the bus system and the components connected to it, even in the event of a fault or defect, so that no danger to people or property occurs.

Another advantage are the measures according to claim 7, since a simple, cost-effective and interference-proof design of the recording means and / or the data input and data output means is achieved and a simple and inexpensive way of supplying energy to these means is ensured. In particular, these measures reduce the complexity of the wiring and increase the clarity of the training system, since the bus system combines both data and energy combined in a transmission line.

Also advantageous are the measures according to claim 8, since the cost of a connection via a wireless transmission link, in particular with respect to the cabling effort, is reduced to an absolute minimum. Likewise, such a wireless configuration of the transmission path avoids cabling that interferes with the operation of the modular training system, in particular the use by a patient, and that causes interference in the long term. In addition, it is easy to add or remove communication subscribers for wireless connections.

Also of advantage are the measures according to claim 9, since this safe operation of the modular training system is ensured. In particular, by using cryptographic methods, it can be achieved that third parties can neither access nor modify the data transmitted in the modular training system, nor can they inject self-generated data. These methods also prevent unauthorized third parties from integrating recording media in the training system, for example, which do not conform to the corresponding safety standards or are not manufactured, procured or operated in accordance with agreed license usage models.

Also advantageous are the measures according to claim 10, as a mobile detection means is available, with the simple way the position and / or orientation of the body part to be trained, in particular the patient's hand, or the receiving means can be determined for the body part to be trained. It has been shown that in some patients to be treated physiologically no actuator in the receiving means for the body part to be trained is necessary because the patient can perform the training movements to be carried out independently. In such a case, however, it is still desirable to determine the position and / or orientation of the body part to be trained in the simplest and most efficient way and at the same time to impair the patient as little as possible. This is made possible by a detection means according to claim 10, in particular when it is wirelessly connected to the base unit.

Another advantage is an embodiment according to claim 11, as an additional channel for information transmission between the modular training system and a patient is created. An information or statement output by haptic way represents a particularly intuitive form of information transmission, since, in particular, when using several such vibration or pressure means at different points of the receiving means, for example, a direct guidance of the patient in the correction of poorly executed movements is possible. The patient senses at which point and in which direction he should correct the exercise movement. Also, the direct haptic transmission of the information to the user of the detection means only slightly reduces its concentration on the correct performance of the training exercise.

Also advantageous are the measures according to claim 12, since a uniform, modular system for the different types of receiving means for body parts to be trained is created, with the orientation and / or movement of a body part to be trained on a survey of the passive marking means is determined by means of a video camera. A precise analysis of the orientation and / or movement of the body part to be trained is thus possible with the help of the passive marking means regardless of the specific embodiment of the receiving means for the body part to be trained and its sensors. Furthermore, with the aid of the passive marking means, it is possible in a simple manner to calibrate the sensors and actuators of a receiving means in the installed state by optically measuring the passive marking means attached to the receiving means and using these measured values to calibrate the sensors and actuators.

Another advantage is also an embodiment according to claim 13, as can be formed by the use of so-called air muscles as actuators in a receiving means for a body part to be trained particularly advantageous receiving means. Compared to the usual electromechanical or electromagnetic actuators, air muscles provide a much more elastic force transmission to the body part to be trained. On the one hand, this reduces the risk of injury to the patient and, on the other hand, it enables the patient to withstand the movement requirements of the receiving means, at least in part, by moderately applying his own force. For example, the patient can follow a path of movement that is more advantageous with regard to an occurring pain stimulus with the body part to be trained. Basically, the elasticity of the air muscle actuators allows the proportion of integrated safety technology to protect the patient from physical injuries, in particular from injuries to the body part to be trained.

Furthermore, the flexible deformability of the air muscles allows a completely new way of constructing receiving means for body parts to be trained, which can also be easier to create or remove from the body part to be trained due to the flexibility of the air muscles. Likewise, the gentle form of receiving means for body parts to be exercised, which can be achieved with flexible air muscles, promotes the acceptance of the patient to carry out the intended physiotherapeutic training programs correspondingly often with the receiving means. Another advantage of receiving means with air muscle actuators is the fast and flexible adaptability of the receiving means to the patient and his body parts to be trained.

Also of advantage are the measures according to claim 14, since with the articulated arm of a joint robot very versatile movements and thus very versatile training movements are feasible. Furthermore, articulated robots represent a very sophisticated technology, which modular based training systems based thereon can be produced very economically. Due to the frequent use of articulated robots in safety-critical environments, such as in the vicinity of persons, such robots have comprehensive safety devices that are used to protect patients from injuries. Furthermore, a quick coupling means between the freely movable end of the articulated arm of the articulated robot and the corresponding part of the receiving means for the body part to be trained allows a quick and easy preparation or solution of the connection between articulated robot and receiving means. A further advantage is the easier application of the receiving means to the respective parts of the body of the patient before it is connected to the articulated robot, as this better mobility and accessibility of the receiving means is achieved during docking. A very special benefit arises from the measures prescribed in the clinic operation, since in this case a corresponding receiving means can already be created or adapted for a further patient, while a first patient is still completing his training program. After the first patient has completed his training program, thanks to the quick coupling means, the additional patient can be connected to the articulated robot in a very short time and start his training program. This allows a continuously high utilization and cost-effectiveness of the modular training system.

Also advantageous are the measures according to claim 15, as can be realized by the use of multiple joint robots very complex stabilization, weight relief and movement processes with the receiving means for a body part to be trained.

Also of advantage are the measures according to claim 16, since by the use of cables very flexible and special receiving means for patients and their body parts to be trained can be realized. For example, actuators mounted above or next to the patient can be flexibly connected via cables to the receiving means for the body part to be trained in order to carry out a weight relief or movement support of the body part to be trained. Similarly, with actuators connected via cables can realize a controlled, resilient suspension for the patient, with which about the body weight of the patient is more or less elastically intercepted or a verticalization of the body of the patient is performed to perform, for example, a weight-relieved Gait therapy. Here, the weight relief of impaired joints such as the knee joint is of particular advantage. On the one hand, the color-coded quick-release couplings allow rapid connection and disconnection of the cables and the receiving means for the body part to be trained; on the other hand, the color coding of the quick-release couplings avoids confusion in connection production.

Also advantageous are the measures according to claim 17, since a comprehensive monitoring or analysis of the condition or behavior of a patient in the completion of the training program is made possible by the large number of possible sensors. The measured values recorded by the sensors include, in addition to position and movement information, in particular also various vital parameters of the patient, such as pulse rate, blood pressure or body temperature. Furthermore, detection devices or sensors for recording visual or audible information enable comprehensive analysis options with regard to the condition of the patient. Strain gauges can be used in a simple manner to measure forces applied by the patient on the receiving means for the body part to be trained.

Finally, the measures according to claim 18 are advantageous because it allows the recording and monitoring of movement activities of a patient away from the actual training sessions and largely independent of the base unit. Thus, an extended and comprehensive analysis of the effects of the training on the physiological condition of the patient can be performed to allow the most efficient adaptation of the training program or the training period to the training progress.

In each case, in a highly simplified, schematic representation: <Tb> FIG. 1 <sep> an embodiment of a modular training system consisting of a base unit and two receiving means for body parts to be trained upper or lower extremities; <Tb> FIG. 2 <sep> an exemplary receiving means with air muscle actuators for training a knee joint; <Tb> FIG. 3 <sep> an exemplary receiving means for training an arm, which is moved by means of a plurality of articulated robots; <Tb> FIG. 4 <sep> an exemplary receiving means for training the lower extremities, which is connected via cables with the actuators.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals and the same component names, wherein the disclosures contained in the entire description can be transferred analogously to the same parts with the same reference numerals and the same component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position should be transferred analogously to the new situation. Furthermore, individual features or combinations of features from the illustrated and described different embodiments may also represent separate, inventive or inventive solutions.

In Fig. 1, an embodiment of a modular training system 1 for the rehabilitation of physiologically impaired patients 2, in particular of patients 2 with movement impairments of the extremities, illustrated schematically.

According to the illustrated embodiment, the base unit 3 is a major element of the modular training system 1. The base unit 3 is equipped with a data processing means 4, with which the various modules of the modular training system 1 are controlled or coordinated. The necessary information is stored in a data storage means 5 or are retrieved from there. In order to display or display information, optionally a data output means, in particular a screen 33, can be integrated in the base unit 3, with which information can be output, for example for the patient 2. Furthermore, the base unit 3 shown by way of example is equipped with a stand 34, which has rolling bodies 35 on its underside, so that the base unit 3 can be moved in a simple manner.

Another main element of the modular training system 1 is a receiving means 6 for a body part of the patient 2 to be trained. The receiving means 6 shown in the embodiment supports a patient 2 in the implementation of physiotherapy training programs for rehabilitation of his left arm and his left shoulder , To monitor the training movement with the left arm and to determine the condition of the patient 2, at least one sensor 7 is mounted in or on the receiving means 6 for the body part to be trained. The mechanical structure of the receiving means 6 is formed according to the mobility of the body part to be trained and consists essentially of stable sub-elements, which are connected to joints or movable sub-elements. As such, the receiving means 6 serves to stabilize the body part to be trained during the completion of a training exercise. In many cases, the receiving means 6 is also equipped with at least one actuator 8, with which forces can be exerted on certain sub-elements of the receiving means 6. As a result, a weight relief or active movement of the body part to be trained is possible. In order to prevent injury to the patient 2 during the performance of training exercises with the receiving means 6, the at least one actuator 8 is equipped with corresponding safety devices or communicates with such safety devices. In order to avoid the patient 2 endangering motion processes, deflections or power transmissions of the receiving means 6, the measurement data of at least one sensor 7 are used.

In order to perform the control or regulation of the modular training system 1 and thus the necessary measurement data are available, at least the sensor 7 and the actuator 8 via an interface 9 and a wired in this case transmission path 10 with the base unit 3 so that measured values can be retrieved from the sensor 7 via defined data protocols and control commands can be transmitted to the actuator 8. The processing of the measured values and the generation of the control commands are carried out by the data processing means 4, which stores information in the data storage means 5 or retrieves from there.

Further, another, different in its shape and / or function to the first receiving means 6 receiving means 6 for a body part to be trained is a main element of the modular training system 1. The further receiving means 6, which in contrast to the first receiving means 6 the Carrying out a physiotherapeutic training of the lower extremities of a patient 2 is equipped in a manner similar to the first receiving means 6 with at least one sensor 7 and at least one actuator 8, on the one hand to determine measured values and on the other hand apply forces to the receiving means 6 to be able to. It is essential that the first receiving means 6 and the at least one further receiving means 6 via the same defined interface 9 and the same transmission path 10 is selectively or simultaneously connected to the base unit 3 and that the sensors 7, 7 and the actuators 8, the eighth the two recording means 6, 6 can be queried or controlled via the same data protocols. This provides a physiotherapist 13 with a universal modular training system 1 with which he can optimally adapt a training system 1 for different patients 2 with different body parts to be trained, consisting of a base unit 3 and at least one of the receiving means 6, 6 for the person to be trained Body part, flexible and can set the appropriate training program. In particular, the economic efficiency for the physiotherapist 13 is increased, since no separate or own base unit 3 must be purchased for each receiving means 6, 6. Furthermore, the use of a base unit 3 for a plurality of receiving means 6, 6 provides a uniform user interface for these receiving means for both the physiotherapist 13 and the patient 2.

It is useful if for the sensors 7, 7 and actuators 8, 8 of the receiving means 6, 6 standard modules from different categories and performance classes are used. Sensors of different categories take different measures of the receiving means 6, 6 or the patient 2 or his body part to be trained on, for example, the position, orientation or acceleration of the body part to be trained or the muscle tension, oxygen saturation in the blood or skin temperature of the patient, and guide these measured quantities to the base unit 3 via the defined transmission path 10 and the interface 9 with the help of the defined data protocols on. Sensors 7, 7 different performance classes differ in their accuracy or in their data acquisition speed. Actuators 8, 8 of different categories differ in their possible types of movement, such as the possibility of performing translational and / or rotational movements, in the number of possible degrees of freedom of movement and in the nature of the drive system, which electrical energy in kinetic energy implements. Actuators 8, 8! Different performance classes differ in the accuracy with which they respond to control commands and in the maximum possible force they can muster. For the manufacturer of a modular training system 1, the availability of such standard modules for sensors 7, 7 and actuators 8, 8 is of great advantage since it increases the economic efficiency of the production of different receiving means 6, 6 for different body parts to be trained.

Furthermore, it is expedient if for each standard module of a sensor 7, 7 and actuators 8, 8, a corresponding configurable software module is used, as a result, on the one hand in a simple manner, the standard modules from the manufacturer of the modular training system 1 programmatically in the system can be integrated and on the other hand, these standard modules in a simple and uniform manner by the physiotherapist 13 in the software-controlled training program can be used.

According to an advantageous embodiment, the receiving means 6, 6 for the body parts to be trained with electronically readable identifiers 14, 14 are equipped. These identifiers 14,14 are connected via a transmission path 10 and an interface 9 to the base unit 3, which reads out the information of these identifiers 14, 14 by electronic means and thus about the nature, structure and / or configuration of the respective receiving means 6, 6 automatically determined. With this information, for example, the base unit 3 can now be at least partially automatically configured and / or the basic structure of the physiotherapeutic training program according to the type of receiving means 6, 6 partially automatically determined, which training program then configured by a physiotherapist 13 only with respect to the last detail settings and / or this training program only needs to be checked as to its suitability for the patient 2.

It is also expedient if the receiving means 6, 6 are equipped for the body parts to be trained with electronically recordable storage means 15, 15. These storage means 15,15 are connected via the transmission path 10 and the interface 9 to the base unit 3 and in them information about the respective recording means 6, 6 are individually stored, for example, information at the time and duration of use and information on error conditions occurred the receiving means 6, 6, which information is of particular interest to a maintenance or disturbance technician. The information can be stored by the sensors 7, 7 or the actuators 8, 8 of the receiving means 6, 6 or by the base unit 3 by electronic means on the storage means 15, 15.

In one embodiment, not shown, the identifiers 14, 14 and / or the storage means 15, 15 in the sensors 7, 7 and / or the actuators 8, 8 are integrated and their part of the defined transmission path 10 and Readable or writable via the interface 9.

According to a particularly advantageous embodiment, the defined interface 9, the transmission path 10 and the data protocol used thereon form a bus system, in particular a real-time capable and / or safety-oriented bus system. This basically ensures that one or more sensors 7, 7, actuators 8, 8 and / or further data input and data output means can be integrated into the modular training system 1 mechanically and logically and / or removed from it in a simple manner. The advantage of a real-time capable bus system is that data can be transferred very quickly and without appreciable delay between the communicating elements while guaranteeing adherence to specified time limits. Furthermore, the use of a safety-related bus system has the advantage that the system reacts in the event of transmission errors or defects in a defined manner that is secure for the user and for any material assets.

It is particularly expedient, the trained by the defined interface 9, the transmission path 10 and the data protocol bus system as well with an electrical transmission means 12 for powering at least part of the sensors 7, 7, actuators 8, 8 and / or to provide the further data input and output means.

It is also expedient to provide a cryptographic data processing means 16 in the base unit 3, which secures the data transmitted via the defined interface 9, the transmission path 10 and the data protocol with symmetrical and / or asymmetrical cryptographic methods to ensure their confidentiality, their integrity and / or to ensure their authenticity.

According to a particularly advantageous embodiment, the modular training system 1 comprises a manual to be performed, independent detection means 18 and / or a by means of a plug or coupling means 17 on a receiving means 6 for a body part to be trained attachable detection means 18th The positions and / or orientations of the detection means 18, 18 determined by the respective sensors in the detection means 18, 18 are transmitted to the base unit 3 via the wireless transmission links 10, 10 "and the interface 9. It is particularly expedient furthermore to equip the detection means 18, 18 with a vibration or pressure means which transmit information to the patient 2 in a haptic way. As a result, it is possible, for example, to impart stimuli to the patient 2 at those body sites, in particular by attaching a plurality of vibration or pressure means at different locations of the receiving means 6, at which, for example, a therapist 13 would also support the correction of movement sequences.

According to an advantageous embodiment, at least one passive marking means 19 is attached to the body part of the patient 2 to be trained and, as further data input means, a video camera 11 powered by the electrical transmission means 12 is connected to the base unit 3 via the interface 9 and the transmission path 10. If now the patient 2 moves the body part to be trained, then the passive marking means 19 is moved and this movement can be detected by the data processing device 4 in the base unit 3 via the image of the video camera 11. Likewise, the position of the body part of the patient 2 to be trained can thus be determined.

According to an advantageous embodiment, a sensor 31 for movement monitoring on the body of the patient 2 by means of the receiving means 32 is attached. With this sensor 31, which is also equipped with a data recording device, the activity of the patient 2 can be monitored or recorded off the actual training units and independently of the receiving means 6 for the body part to be trained and the base unit 3. In the next regular training session in conjunction with the base unit 3, the data determined and recorded by the sensor 31 are transmitted to the base unit 3, analyzed and form the basis for a comprehensive determination of the physiological condition of the patient 2 or serve this data for situation-appropriate adaptation of the training program. Typical embodiments for the sensor 31 are a pedometer, which is mounted in the region of the lower extremities of the patient 2, or an acceleration sensor, which can also be attached to the receiving means 32 in the region of the upper extremities, for instance on the wrist.

Fig. 2 shows a particularly convenient receiving means 6 for a knee joint to be trained, which has two air muscles 20, 20, which are formed from tubular, flexible material and contract by introducing air. The two mutually movable parts of the receiving means 6 are connected via a hinge 21 and these parts are in each case with the ends 22, 22 and 23, 23 of the air muscles 20, 20 in connection. If the air muscle 20 is then contracted by supplying air, then the two ends 22, 23 of the air muscle 20 exert a force on the two mutually movable parts of the receiving means 6 and the joint 21 and thus the knee joint of the patient 2 is stretched. In contrast, when the air muscle 20 is contracted by supplying air, the ends 22, 23 exert a tensile force on the parts of the receiving means 6, so that the joint 21 and thus the knee joint of the patient 2 is bent. If both air muscles 20, 20 are contracted uniformly by supplying air, the joint 21 and thus the knee joint of the patient 2 is stabilized or fixed in its current position.

In Fig. 3, an embodiment of a receiving means 6 for training an upper extremity is shown. The receiving means 6 consists of the mutually movable components shoulder portion 36, upper arm portion 37 and lower arm portion 38. The upper arm portion 37 is connected via a quick coupling means 24 with the freely movable end 25 of the articulated arm 26 of a joint robot 27. Likewise, the lower arm part 38 of the receiving means 6 is connected via a quick coupling means 24 with the freely movable end 25 of the articulated arm 26 of an articulated robot 27. By appropriate control of the articulated arms 26, 26, the upper arm part 37 and the lower arm part 38 of the receiving means 6 are moved. In order to prevent injuries, the quick coupling means 24, 24 are optionally provided with predetermined breaking points and / or self-opening connection means which separate the connection between the upper arm 37 and articulated arm 26 on the one hand and between the lower arm 38 and the articulated arm 26 on the other hand at a certain force occurring. The quick coupling means 24, 24 are further structurally combined with joints with different degrees of freedom, so that via the quick coupling means 24, 24, for example, only forces, but no torques (ball joint) or only torques along certain axes (hinge joint, double hinge or universal joint) are transmitted , In addition to a mechanical coupling can be made at the same time by the quick coupling means 24, 24, an electrical coupling for easy access to a sensor integrated in the receiving means.

Depending on the type or structure of the receiving means 6, 6 for the body part to be trained and the type of training exercise and more or less articulated robot 27, 27 can be used.

Fig. 4 shows an exemplary embodiment of a receiving means 6 for training a lower limb receiving means 6, the color-coded quick couplings 30, 30, 30, 30 and cables 29, 29, 29th 29 is connected to the actuators 28, 28, 28, 28 mounted above the receiving means 6. The color coding of the quick couplings 30, 30, 30, 30 ensures that the cables 29, 29, 29, 29 are properly connected to the receiving means 6 for the body part to be trained , By using the cables 29, 29, 29, 29 very special support or movement tasks in connection with the receiving means 6 can be realized. For example, it is possible to raise a patient 2 by pulling in the cables 29, 29 by means of the actuators 28, 28 or assist in erecting and by alternately pulling in and out of the cables 29, 29 by means of Actuators 28, 28 to assist the patient 2 in a walking motion or perform this movement for the patient 2.

In an embodiment not shown, the patient 2 with the shown in Fig. 4 receiving means 6 perform a controlled up and down movement of his body by the cables 29, 29, 29, 29 in a synchronous manner and manner of the actuators 28, 28, 28, 28 fed or issued. The up and down movement is controlled by exerting a force on pressure plates or handles or detecting means 18, 18 - Fig. 1 - is moved up and down accordingly.

The embodiments show possible embodiments of the modular training system, which should be noted at this point that the invention is not limited to the specifically illustrated embodiments of the same, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching technical action by objective invention in the skill of working in this technical field expert. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.

For the sake of order, it should finally be pointed out that in order to better understand the structure of the modular training system, this or its components have been shown partially unmeshold and / or enlarged and / or reduced in size.

The task underlying the independent inventive solutions can be taken from the description.

Above all, the individual embodiments shown in FIGS. 1, 2, 3, 4 can form the subject of independent solutions according to the invention. The relevant tasks and solutions according to the invention can be found in the detailed descriptions of these figures.

REFERENCE NUMBERS

[0055] <Tb> 1 <sep> Training System <Tb> 2 <sep> Patient <Tb> 3 <sep> base unit <Tb> 4 <sep> data processing means <Tb> 5 <sep> data storage means <tb> 6, 6 <sep> Receptacle <tb> 7, 7 <sep> Sensor <tb> 8, 8 <sep> Actuator <tb> 9, 9 <sep> interface <tb> 10, 10, 10 <sep> transmission path <Tb> 11 <sep> Video Camera <Tb> 12 <sep> Power <Tb> <sep> transfer agent <Tb> 13 <sep> Physiotherapist <tb> 14, 14 <sep> Identifier <tb> 15, 15 <sep> storage means <tb> 16 <sep> Cryptographic data processing means <Tb> 17 <sep> coupling agent <tb> 18, 18 <sep> Detection means <Tb> 19 <sep> marker <tb> 20, 20 <sep> Air Muscle <Tb> 21 <sep> PTO <tb> 22, 22 <sep> End of Air Muscle <tb> 23, 23 <sep> End of the air muscle <tb> 24, 24 <sep> Quick coupling means <tb> 25, 25 <sep> Knickarmende <tb> 26, 26 <sep> articulated <tb> 27, 27 <sep> Articulated robots <tb> 28, 28, 28, 28 <sep> Actuator <tb> 29, 29, 29, 29 <sep> Cable <tb> 30, 30, 30, 30 <sep> Color coded quick coupling <Tb> 31 <sep> Sensor <Tb> 32 <sep> receiving means <Tb> 33 <sep> Screen <Tb> 34 <sep> Stand <Tb> 35 <sep> rollers <Tb> 36 <sep> shoulder part <Tb> 37 <sep> upper arm part <Tb> 38 <sep> forearm part

Claims (18)

1. Modular training system (1) for the rehabilitation of physiologically impaired patients (2), in particular of patients (2) with movement impairments of the extremities, comprising - A base unit (3) with means for data processing (4) and storage (5); - A first receiving means (6) for a body part to be trained with at least one sensor (7) and / or at least one actuator (8), which with the base unit (3) via defined interfaces (9, 9) and transmission links (10, 10) and communicates via defined data protocols with the base unit (3), so that, in particular, measured values from the sensors (7) and control commands to the actuators (8) can be transmitted; further data input and data output means connected to the base unit (3) via the defined interfaces (9, 9), transmission links (10, 10) and data protocols, so that the training system (1) is accessible to therapists (13) and patients (2) interactively operable, characterized in that - at least one further, in its shape and / or function to the first receiving means (6) different receiving means (6) for a body part to be trained with at least one sensor (7) and / or at least one actuator (8) is formed - Which with the base unit (3) optionally or simultaneously via the same defined interfaces (9, 9) and transmission paths (10, 10) is connectable as the first receiving means (6) - And the at least one sensor (7) and / or the at least one actuator (8) of the further receiving means (6) via the same data logs can be queried or controlled as the at least one sensor (7) and / or the at least one Actuator (8) of the first receiving means (6). 2. Modular training system according to claim 1, characterized in that the first receiving means (6) for a first body part to be trained, in particular an upper extremity, formed and the at least one further receiving means (6) for another, from the first to be trained Body part different body part, in particular a lower extremity, is formed. 3. Modular training system according to claim 1 or 2, characterized in that for the sensors (7, 7) and actuators (8, 8) of the receiving means (6, 6) standard modules from different categories and power classes are usable and to each Standard module, a corresponding, configurable software module can be used, so that the sensors (7, 7) and actuators (8, 8) in a simple manner both mechanically in the recording means (6, 6) and programmatically in a software-controlled physiotherapy training program can be integrated. 4. Modular training system according to one of the preceding claims, characterized in that the receiving means (6, 6) are equipped with electronically readable identifiers (14, 14), so that the type, structure and / or configuration of the respective receiving means ( 6, 6) can be determined automatically and an at least partially automatic configuration of the base unit (3) can be carried out. 5. Modular training system according to one of the preceding claims, characterized in that the receiving means (6, 6) are equipped with electronically recordable storage means (15, 15) in which information about the respective receiving means (6, 6), in particular Information about the time and duration of use, maintenance and error conditions that occur can be stored individually. 6. Modular training system according to one of the preceding claims, characterized in that at least part of the defined interfaces (9, 9), transmission links (10, 10) and data protocols at least one bus system, in particular a real-time bus system such as SERCOS III or EtherCAT or at least one safety-related bus system such as Ethernet POWERLINK Safety or AS-Interface Safety at Work, so that one or more sensors (7, T), actuators (8, 8) and / or other data input and output means to simple and safe manner in the modular training system (1) mechanically and logically integrated or removable from it. 7. Modular training system according to claim 6, characterized in that at least one of the interfaces (9, 9), transmission links (10, 10) and data protocols formed bus systems with an electrical transmission means (12) for supplying energy to at least a part of Sensors (7, 7), actuators (8, 8) and / or the further data input and data output means is equipped. 8. Modular training system according to one of the preceding claims, characterized in that at least one of the defined transmission links (10, 10, 10) is formed as a wireless connection, in particular as a wireless connection by means of WLAN technology according to the standard IEEE 802.11 or WPAN Technologies according to the standard IEEE 802.15, such as Bluetooth or ZigBee. 9. Modular training system according to one of the preceding claims, characterized in that cryptographic data processing means (16) are provided, so with symmetric and / or asymmetric cryptographic methods, in particular with encryptions, checksum calculations, hash functions or signatures, the confidentiality, integrity and / or the authenticity of the data transmitted via the defined interfaces (9, 9), transmission links (10, 10) and data protocols can be ensured. 10. Modular training system according to one of the preceding claims, characterized in that at least one manually leading, independent or by means of a plug or coupling means (17) on a receiving means (6) for a body part to be trained attachable detection means (18, 18 ), which is equipped with a sensor system for determining the position and / or the orientation of the detection means (18, 18), so that the position and / or the orientation of the sensor via a particular wireless transmission path (10, 10) Detection means (18, 18) to a base unit (3) can be transmitted. 11. Modular training system according to claim 10, characterized in that the at least one by hand or on a receiving means (6) attachable detection means (18, 18) is equipped with at least one vibration and / or pressure means, so that from the base unit ( 3) to the detection means (18, 18) via a particular wireless transmission path (10, 10) transmitted information by haptic way to a user of the detection means (18, 18), for example to a patient (2), can be output are. 12. Modular training system according to one of the preceding claims, characterized in that on the body part to be trained or on the receiving means (6) for the body part to be trained at least one passive marking means (19) is fixed and the base unit (3) with a video camera (11 ) and the data processing device (4) in the base unit (3) is designed such that movements and / or orientations of the body part to be trained can be detected on the basis of the analysis of the position of the at least one passive marking means (19). 13. Modular training system according to one of the preceding claims, characterized in that on or in at least one of the receiving means (6, 6) at least one muscle-like actuator (20, 20) of tubular, flexible material is formed, which by introducing air contracts, and that two mutually movable, in particular via a joint (21) connected parts of the receiving means (6) each with one end (22, 22, 23, 23) of the muscle-like actuator (20, 20) in combination stand, so that the receiving means (6) is movable by means of air supply. 14. Modular training system according to one of the preceding claims, characterized in that at least one movable part of a receiving means (6) or the entire receiving means (6) of a body part to be trained via a quick coupling means (24) with the freely movable end (25) of the articulated arm (26) of a joint robot (27) is connectable, so that by means of appropriate control of the articulated arm (26) the movements of the receiving means (6) located to be trained body part are partially supportable or active feasible. 15. Modular training system according to claim 14, characterized in that the articulated arms (26, 26) a plurality of joint robot (27, 27) at the free ends (25, 25) via quick couplings (24, 24) with mutually movable parts a receiving means (6) are connectable, so that by means of appropriate control of the articulated arms (26, 26), the movements of the receiving means (6) located to be trained body part are partially supportable or active feasible. 16. Modular training system according to one of the preceding claims, characterized in that the at least one actuator (28, 28, 28, 28) with a cable pull (29, 29, 29, 29 ) is connected and the cable (29, 29, 29, 29) by means of a mix-proof, color-coded quick coupling (30, 30, 30, 30) connected to the receiving means (6) is so that connections between actuators (28, 28, 28, 28) and receiving means (6) are flexible, safe and easy to manufacture and solvable. 17. Modular training system according to one of the preceding claims, characterized in that at least one sensor (7, 7) is formed on or in a receiving means (6, 6) and for training monitoring to a base unit (3) via defined interfaces ( 9, 9), transmission paths (10, 10) and data protocols provide measured values for one of the following measured quantities of the receiving means (6, 6) or the patient (2) or the body part to be trained thereon: position, position or orientation, Speed, acceleration, pressure, force or muscle tension, pulse rate, blood pressure, oxygen saturation in the blood, skin resistance, skin temperature, body temperature or respiratory rate or that at least one sensor (7, 7) formed on or in a receiving means (6, 6) which is equipped with a visual detection device, an acoustic detection device or a strain gauge. 18. Modular training system according to claim 17, characterized in that at least one sensor (31), in particular a sensor (31) for monitoring movement, with a receiving means (32) on the body or to be trained body part of the patient (2) off the actual training sessions is mounted and equipped with a data recording device, so that an activity monitoring and recording of the patient (2) independently of the base unit (3) is feasible, the recorded activity data are later transmitted to the base unit (3) and so the training effects on the physiological condition of the patient (2) can be detected comprehensively and the training program or training period can be adapted to the values thus determined.