CN113613735B - 带肢体支架的训练设备及确定该支架上的作用力的方法 - Google Patents

带肢体支架的训练设备及确定该支架上的作用力的方法 Download PDF

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CN113613735B
CN113613735B CN202080008400.0A CN202080008400A CN113613735B CN 113613735 B CN113613735 B CN 113613735B CN 202080008400 A CN202080008400 A CN 202080008400A CN 113613735 B CN113613735 B CN 113613735B
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O·霍贝尔
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Medica Medizintechnik GmbH
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Abstract

本发明涉及一种用于训练至少一个肢体的训练设备，所述训练设备具有承载框架(2)和至少一个曲柄(4)以及至少一个肢体支架(7)，所述曲柄布置在被指配给所述承载框架(2)的转轴(5)处，所述肢体支架能够以距所述转轴(5)的不同径向距离(9)紧固在所述至少一个曲柄(4)处。设置有用于检测所述至少一个肢体支架(7)与所述转轴的径向距离(9)的装置。本发明还涉及一种肢体支架(7)以及一种用于确定作用于训练设备(1)的肢体支架(7)上的力的方法。

Description

带肢体支架的训练设备及确定该支架上的作用力的方法
技术领域
本发明涉及一种用于训练至少一个肢体的训练设备，所述训练设备具有承载框架和至少一个曲柄以及至少一个肢体支架，所述曲柄布置在被指配给所述承载框架的转轴处，所述肢体支架能够以距所述转轴的不同径向距离紧固在所述至少一个曲柄处。本发明还涉及一种肢体支架以及一种用于确定作用于训练设备的肢体支架上的力的方法。
背景技术
例如由DE 10 2011 055 200 B3已知开篇所述类型的训练设备，所述训练设备尤其适合用于针对性地训练肢体的单独的肌肉群，如在患者复健时所需的。但是此类训练设备还在休闲领域中用作体育设备，例如用作测力计或者用于顶级运动员的针对性训练。在此要注意的是，尤其在患者复健时需要精确控制负荷，尤其是作用于肢体支架上的力。作为例子，在此可以提及以治疗医师的规定来使用人工髋部的情况，在康复过程中对具有人工髋部的肢体的负荷不应超过预定值，例如20 kg以及与之相关的力。由于当前的训练设备可以通过改变肢体支架与转轴的径向距离而个别地适配于康复领域中的不同使用者，由于简单的关系“转矩等于力乘以杠杆臂”，这导致无法从所作用的转矩明确地得出负荷。替代地还存在以下可能性：训练设备设置有在转轴处为被动训练提供一定转矩的马达，但是其中由于上述依赖性仍然无法在不知道径向距离的情况下从转矩明确地得出作用于患者身上的力，从而有影响康复成功率的风险或者甚至可能产生对患者健康的损害。为了避免这些缺点，已知的是将肢体支架、例如为腿的脚托（Fußschale）指配用于检测作用力的传感器（即应变测量片传感器）。然而其缺点在于，这导致训练设备大幅度涨价并且由此导致康复所需预算的负担。
发明内容
因此本发明的基本目的在于形成一种开篇所述类型的训练设备，所述训练设备可以以简单廉价方式，控制作用于所述训练设备的使用者身上的力。
本发明的目的还有展示一种改进的肢体支架，以及一种改进的用于确定作用于训练设备的肢体支架上的力的方法。与训练设备相关的部分的目的，通过开篇所述类型的训练设备以如下方式实现：设置有用于检测所述至少一个肢体支架与所述转轴的径向距离的装置。
本发明以如下认识作为出发点：不仅存在直接在肢体支架处测量力的可能性，当除了所作用的转矩之外，还已知肢体支架与转轴的径向距离时还可以作为推导出的参量来确定力。因此，根据本发明提出了一种用于检测肢体支架与转轴的径向距离的装置，然后利用这种认识可以与由患者产生的转矩或者施加于患者的转矩相结合地确定作用力。在此，在健康的运动员的情况下可以假定，在右肢和左肢处存在对称的力变化，其中这种假定在康复领域并非总是正确的，从而有利地给每一个肢体支架指配对应的装置。
另外优选的是，所述装置被设计为用于自动检测所述肢体支架与所述转轴的径向距离，并且由所述装置检测的径向距离能够作为测量值被供应给分析单元以便计算施加于所述肢体支架上的力。利用由分析单元提供的分析产生了如下可能性：对针对性训练进行控制，并且尤其在某些情况下对马达进行作用以减少所产生的驱动矩，或者在生物反馈的意义上对患者发出信号提示已经超过所产生的力。在此还可以用显示单元对分析单元进行补充，利用显示单元将所计算的力作为数值显示，使得患者的信息或主管此患者的理疗师的信息不仅限于达到或低于阈值。
非常特别优选的是，所述装置通过至少一个传感器形成，所述传感器选自下组：霍尔传感器、超声波传感器、激光传感器和作为光栅的一部分的光电单元。
具有由霍尔传感器构成的传感器的训练设备的特征在于，所述霍尔传感器定位在相对于转轴固定不动地布置的板体上，并且在穿过所述板体的曲柄中形成有接纳部和/或长孔，所述肢体支架能够通过具有磁体的销插入所述接纳部中。由此产生了如下优点：在穿过的曲柄中可以识别所选的曲柄半径，即肢体支架与转轴的距离。在此还可以通过霍尔传感器检测穿过的是北磁极还是南磁极，使得所述销便利地具有棒状磁体，所述棒状磁体具有与销轴共轴的南北极定向。由此，能够插入到接纳部或长孔中的肢体支架可以分成两个明显不同的组，例如用于腿部训练和手臂训练，即例如对于腿部训练而言将北磁极布置在朝向曲柄一侧而对于手臂训练而言将南磁极朝向曲柄，即将棒状磁体旋转180°。
进一步优选的是，在板体上布置多个霍尔传感器，当不存在分立地彼此间隔开的接纳部而是使用长孔或对应的滑槽时，这尤其提供了优点，因为通过使用多个传感器通过信号的偏移（Verrechnen）可以连续地计算肢体支架在长孔中的位置。
当布置在所述板体上的霍尔传感器布置在不穿过所述转轴的直线上（即由霍尔传感器限定的直线不是以严格径向定向存在，而是相对于径向定向存在倾斜）时获得了另一个优点，因为这样当磁体穿过时曲柄相对于板体的位置总是相同的并且由此板体还可以用作分度指示器。
与肢体支架相关的部分的目的通过一种肢体支架实现，在所述肢体支架中存在销，所述销具有棒状磁体，所述棒状磁体具有与销接纳部共轴的南北极定向。由于在这种肢体支架中在将其用于训练时不仅可以检测磁体的穿过而且还可以检测其定向，产生了另外的可能性：所述极定向的取向能够用于识别与附件组的从属关系。
与方法相关的部分的目的通过一种用于确定作用于训练设备的肢体支架上的力的方法来实现，所述方法包括以下步骤：将所述肢体支架以距曲柄的转轴的径向距离定位在所述曲柄处，以及借助于至少一个传感器来检测所述径向距离，以及在分析单元中与作用在所述转轴处的转矩相结合地分析由所述传感器检测的测量值。
附图说明
以下借助于在附图中示出的实施例更详细地阐释本发明；在附图中：
图1以侧视图示出训练设备的示意图，
图2以透视图示出训练设备的为了阐释本发明所需的部分的放大图，
图3示出从与图2不同视角的透视图，并且
图4示出来自图2的物体的侧视图，但没有示出肢体支架。
具体实施方式
在图1中展示了训练设备1，所述训练设备适合于对肢体对（即两条腿）进行训练，其中这个实施例仅用于阐释本发明，本发明还可以用于训练其他的肢体对（即手臂）。训练设备1具有承载框架2，所述承载框架在所示的实施例中布置在优选的可制动的滚轮3上。此实施例具有两个曲柄4，所述曲柄布置在被指配给承载框架2的转轴5处。此外，训练设备1具有用于驱动转轴5的马达6以及两个肢体支架7，即两个脚托8，所述脚托能距分别指配的曲柄4的转轴5以不同径向距离9固定，即通过以下方式：在所示实施例中在每个曲柄4中形成两个接纳部10，被指配给脚托8之一的销11可以插入接纳部中。
设置有用于检测肢体支架与转轴的径向距离9的装置，所述装置被设计为用于进行自动检测，其中由所述装置检测的径向距离9可以作为测量值被供应给分析单元12，以便借助于公式“力等于转矩除以杠杆臂”来计算施加于肢体支架7上的力，其中杠杆臂由肢体支架7与转轴5的径向距离9给出。在此转矩由马达6产生并且是已知的，或者是由患者施加的，使得借助于所检测的转矩和已知径向距离9可以控制由此推导出的力、患者的训练是否有效并且同时避免负荷过重。
超声波传感器、激光传感器和作为光栅一部分的光电单元适合用于检测径向距离。在所示的实施例中展示了使用霍尔传感器13，即定位在相对于转轴5固定不动地布置的板体14上的两个霍尔传感器，其中在穿过板体14的曲柄4中形成有接纳部10，肢体支架7能够通过具有磁体15的销11插入所述接纳部中。接纳部10还可以组合成长孔；在曲柄4中还可以存在多于两个接纳部10。销11具有棒状磁体，所述棒状磁体具有与销轴共轴的南北极定向，从而可以区分由棒状磁体的定向表征的两组附件，例如用于腿部训练和用于手臂训练的两组附件。
尤其从图2和图4可以看出，在板体14上布置有多个霍尔传感器13，通过所述霍尔传感器限定了一条不穿过转轴5的直线，即所述直线与径向取向围成角度，由此当磁体15穿过时曲柄相对于可用传感器的位置总是相同的。
下文将阐释训练设备1的使用以及为此所需的用于确定作用于肢体支架7上的力的方法。为此，通过将带有磁体15的销11插入这两个所示的接纳部10之一中，首先将肢体支架7（即在图2中所示的脚托8）以距转轴5的径向距离9定位。通过将棒状磁体定向，例如北磁极指向曲柄的接纳部10，肢体支架7可以被标识为脚托8，以便例如与用于手臂训练的支架（其中南磁极指向接纳部10）相区分。
利用这两个布置在板体14上的霍尔传感器13，可以确定脚托8与转轴5的径向间距9，以便在分析单元12中与作用在转轴5处的转矩相结合地确定力，所述力在某些情况下在显示单元16中作为数值输出。
附图标记列表
1 训练设备
2 承载框架
3 滚轮
4 曲柄
5 转轴
6 马达
7 肢体支架
8 脚托
9 径向距离
10 接纳部
11 销
12 分析单元
13 霍尔传感器
14 板体
15 磁体
16 显示单元

Claims (9)

1.一种用于训练至少一个肢体的训练设备，所述训练设备具有承载框架（2）和至少一个曲柄（4）以及至少一个肢体支架（7），所述曲柄布置在被指配给所述承载框架（2）的转轴（5）处，所述肢体支架能够以距所述转轴（5）的不同径向距离（9）紧固在所述至少一个曲柄（4）处；其特征在于，设置有用于检测所述至少一个肢体支架（7）与所述转轴（5）的径向距离（9）的装置，并且，所述装置被设计为用于自动检测所述肢体支架（7）与所述转轴（5）的径向距离（9），并且由所述装置检测的径向距离（9）能够作为测量值被馈送至分析单元（12），以计算施加于所述肢体支架（7）上的力。
2.根据权利要求1所述的训练设备，其特征在于，所述装置通过至少一个传感器形成，所述传感器选自下包括以下项目的组：霍尔传感器（13）、超声波传感器、激光传感器和作为光栅的一部分的光电单元。
3.根据权利要求2所述的训练设备，具有由所述霍尔传感器（13）形成的传感器，其特征在于，所述霍尔传感器（13）定位在相对于所述转轴（5）固定不动地布置的板体（14）上，并且在穿过所述板体（14）的曲柄（4）中形成有接纳部（10）和/或长孔，所述肢体支架（7）能够通过具有磁体（15）的销（11）插入所述接纳部中。
4.根据权利要求3所述的训练设备，其特征在于，所述销（11）具有棒状磁体，所述棒状磁体具有与销轴共轴的南北极定向。
5.根据权利要求3或4所述的训练设备，其特征在于，在所述板体（14）上布置有多个霍尔传感器（13）。
6.根据权利要求5所述的训练设备，其特征在于，布置在所述板体（14）上的霍尔传感器（13）布置在不穿过所述转轴（5）的直线上。
7.一种用于根据权利要求1至6之一所述的训练设备（1）的肢体支架，其特征在于，存在销（11），所述销具有棒状磁体，所述棒状磁体具有与销轴共轴的南北极定向。
8.根据权利要求7所述的肢体支架，其特征在于，所述极定向的取向能够用于识别与附件组的从属关系。
9.一种用于确定作用于训练设备（1）的肢体支架（7）上的力的方法，所述方法包括以下步骤：将所述肢体支架（7）以距曲柄（4）的转轴（5）的径向距离（9）定位在所述曲柄处，借助于至少一个传感器来检测所述径向距离（9），以及在分析单元（12）中与作用在所述转轴（5）处的转矩相结合地分析由所述传感器检测的测量值。
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