DE102008007580A1 - Multi-functional training device for human gait variations, is provided for training particularly sports persons and persons with weak ambulation or lower limb prosthesis in movement function of running in slanting level - Google Patents

Abstract

The multi-functional training device is provided for training particularly sports persons and persons with weak ambulation or lower limb prosthesis in the movement function of running in slanting level, which is raised and declined. A to and fro moving carriage segment (1.1,1.2) is provided for each foot to be guided on a carriage guide rail (11.1,11.2).

Description

The The invention relates to a multifunctional exerciser for human gait variations, which in particular athletes and people with walking difficulties or prosthetic legs in the Movement functions of walking in the plane, the ascending as well as the sloping slope, the uneven track and climbing stairs in upward and downward direction trained. As a form of treatment, the locomotion therapy aims neurophysiologically to activation of locomotion centers relevant to walking in the central nervous system with simultaneous promotion the postural control required for walking. (Lokomotionstherapie, S. Hesse ISBN 978-3-936817-27-0)

In rehabilitation help different electromechanical devices Patients with severe walking difficulties. After stroke, to learn to walk again. Walking exercises on the treadmill require up to three therapists, some of them in stressful postures work. By exceptionally high therapeutic Successes have been in recent years, especially stationary equipment enforced, who train walking on the plane and where the movements of the legs by actively moving foot plates be initiated, with the patients secured upright in straps are. Enduring training of both lower extremities and treatment by just one therapist make the most beneficial Base. For gurgling relearning of climbing stairs of handicapped patients are currently in the rehabilitation clinics no correspondingly successful device.

description

As state of the art, a variety of electromechanical devices are known in the field of gait rehabilitation for the severely handicapped, some of which are used in practice. A particularly successful segment are moving foot plates, such as the GT1 gait trainer (human gait training device) DE 198 05 164 ). Here, the walking is realized by the movements of two foot plates by an electric motor with a special cam gear, which realizes the therapeutically important function of 60% of the time as a supporting leg phase and 40% as a swing leg phase. Beyond the step frequency, the step size before the exercise could be set as further development.

For further movement functions, such as climbing stairs, further footplate movements are required. For freely programmable footplate movements, at least three degrees of freedom are required per foot. The robot gait trainer according to DE 100 28 511 has not come to use in rehabilitation. It is based on three fixed and three moving linear axes per foot.

With the Haptic Walker (robot-assisted running simulator DE 20 2006 011 767 ) this was realized by sliding two linear motors independently of each other on two mirror-symmetrically arranged linear axes. On the first linear motor is a pivotable robot arm rigidly connected to a downwardly projecting lever, which is struck by a push rod, the second linear motor. At the end of the robot arms, pivoting foot plates protrude inwards. The foot plates move with the help of a freely programmable control simultaneously in the angles of attack as well as in two parallel vertical planes.

The disadvantage of the GT1 according to DE 198 05 164 consists in the limitation of the therapy on the training of the movement of the gait and in that, despite the step size adjustment, the angles of attack of the sole of the foot are not displayed physiologically correctly.

In the realized six-axis robotic Haptic Walker according to DE 20 2006 011 767 is disadvantageous in that the moving masses add up in the forward direction to over 400 kg per side, resulting in the required accelerations of four times the gravitational acceleration over 16,000 N per side of driving forces. This requires appropriate drive power, the power electronics designed for this purpose and an electrical three-phase power supply of 400 V. The corresponding components and a complex welded construction with costly mechanical processing cause high production costs of the system. The Haptic Walker including the control cabinet has a considerable space requirement and must be firmly anchored to the ground due to the high accelerated masses. In addition, lateral access to the patient by therapists is not possible. These barriers make its dissemination almost impossible in practical use in rehabilitation clinics.

Already in the DE 20 2006 011 767 is used according to the unrealized robot gait trainer for use in rehabilitation " DE 100 28 511 criticized the difficult access of the therapist as a serious inhibitor, which the Haptic Walker but also does not solve satisfactorily.

For both the GT1 and the Haptic Walker, patients are secured by a height-adjustable central cable, which has a massive strap over the patient's head, its weight on both sides of the fasteners on the passenger safety belt screen belt) transmits. This suspension system requires large room heights in the therapy rooms, and the temple represents a head injury risk.

outgoing From this prior art, it is the object of the present Invention, a multifunctional training device for to create human gait variations involving the soles of the feet simulating a person in the plane or the slope goes or runs. As special gear variants are the Soles movements on a downhill Escalator up, on an upwards running Escalator downhill, on the railing, with walking aids (Cane, crutches) or with prostheses and climbing stairs simulated with stiffened joints of the lower extremities become. The person should not actually move, but the running movements should take place stationary. All functions specified according to the task should be both individually for a half of the body be executable, but also in opposite synchronous or independently for both halves of the body.

Solved This object is achieved by the invention "Multifunctional Training device for human gait variations ", which in particular athletes and people with walking difficulties or leg prostheses in the movement functions of walking in the Plane, ascending and descending slope, the uneven track and climbing the stairs in uphill and down direction trained.

The Device consists of two identical or symmetrical mechanical components for each foot, with one guided on a carriage guide rail back and forth movable carriage segment is provided which the Base segment of a kinematics that consists of at least five interconnected joints and at least four others Segments, namely at least the toe lifter segment, the heel lifter top segment, the heel lifter bottom segment and the footplate segment. The angle between the Carriage segment and the Fußspitzenhebersegment determines the Height position of the footplate segment at the toe, and the angle between the heel lifter top segment and the heel lifter bottom segment determines the height position of the footplate segment on the heel side. This clearly defines the height position and the angle of the Fußplattensegmentes determined. The footplate segment has a device for foot fixation. At low cost Manufacturing can be the segments and more mechanical Parts of aluminum sheets are lasered and bent. hereby can be high stabilities with low weight realize low costs. In addition, the inventive Kinematics with a low height in the order of magnitude a stair step of 180 to 200 mm can be realized. Thereby the lateral access to the patient by the therapist is best guaranteed.

The Foot plate has a usable length of about 400 mm, and the sum of the joint distances of the wagon segment and the heel lifter bottom segment corresponds approximately to the sum the joint distances of the toe lifter segment, of the footplate segment and the heel lifter upper segment segment.

In an expedient embodiment, the two carriage segments each provided with a horizontal drive be.

The Angle between the carriage segments and the toe lifter segments around the front carriage joints are by drives in one area adjustable between 0 ° and 90 ° or between 180 ° and 90 °. The angles between the heel lifter upper segments and the heel lifter base segments around the rear hub joints adjustable by drives in a range between 0 ° and 180 ° or between 360 ° and 180 °. Because the accelerations up to four times the gravitational acceleration amount, corresponding driving forces require, be minimizes the moving masses. This is due to the widespread use of stationary Drives achieved their power through traction elements be transferred to the moving car segments.

The two carriage segments are by linear motors or stationary or moving horizontal drives by means of toothed belts, threaded spindles or crank gears on a carriage guide rail adjustable. The height positions of the toe joints and the heel joints are independent of the carriage positions in each case by stationary linear motors or actuators by tensile forces transmitting components such as Straps, straps, chains or ropes and / or stationary Actuators by means of shafts which have positive locking Connections transmit rotation angle to the car segment and / or by moving linear motors or actuators, adjustable.

at the transmission of the lifting movements by belts etc. the acting in one direction are likely to be the safety-related Lower requirements, as well as in case of malfunction of the controller Ankles are not overloaded beyond their range of motion can be.

Of the Actuator can be electric, pneumatic or hydraulic.

In an expedient embodiment, the Angle adjustment between the carriage segments and the Fußspitzenhebersegmenten to the front carriage joints, between heel lifter upper segment and Heelheberuntereteilsegment to the rear Hubgelenke and the Wagenpositionen either with its own drives controlled by at least one control unit with freely programmable, web-controlled servo axes or by a central drive via mechanically coupled cam gear can be controlled.

In an expedient embodiment, the angle adjustment between the carriage segments and the toe riser segments around the front carriage joints and / or the angle adjustment between Heel top section and heel bottom section the rear Hubgelenke either by moving on the car segments Actuators or stationary drives via Mitfahrende transmission by means of a positive, in the longitudinally displaceable shaft are driven.

In an expedient embodiment, the Guide rails in the plane have a contour, which a fixed transverse movement of the feet to the direction of movement certainly. This can provide an improved natural gait movement be simulated, in which the parallel distance of the Fußachsen at the moment is greatest when the feet located next to each other.

In an expedient embodiment, the transverse movement the feet to the direction of the Fußplattensegmenten freely programmable or by two additional servo drives be executed a cam gear.

In an expedient embodiment, the rotation the Fußplattensegmente around the vertical to the foot plate and / or around the longitudinal axis of the sole of the foot Further servo drives freely programmable and / or by cam gear be executed.

at an appropriate addition may be the Buckling of the toes on the ball of the foot (metatarsal joint) by means of in each case one further tiltable plate by two further servo drives freely programmable or be executed by a cam gear.

at an appropriate supplement to the discharge The therapist can stretch the leg in the stance phase by pulling a knee bandage by means of ropes through two more Servo drives freely programmable or through a cam gear get supported.

In an expedient embodiment, the per foot two the lifting work for toe and heel-making drives through spring components of body weight the person regardless of the force distribution on the two Feet and the angular position of the feet be relieved. These are first each by a Compensating belt over a pulley the lifting positions averaged the toe and heel of one foot and beyond that, the two averaged positions among each other connected with a spring. Manually or by drives variable Preload this Vertikalhub spring is used to adjust this Forces on the body weight of the person.

the same Weight relief effect can be achieved by using these four linear actuators attached pneumatic cylinders / motors are achieved, all with each other are connected and their pressure to adapt to body weight the person is adjustable.

In an expedient embodiment, the car segments are about at least one spring each connected to the base plate to over the control path to store the braking energy and this for acceleration to provide the car.

The Combination of material selection with design and drive technology Measures gives the option, the gait trainer with single-phase 230 V and 16 A operate, resulting in significant market segments also internationally opens up, as the costly additional effort of installation a power connection is omitted.

at a useful addition is a screen arranged in the field of view of the person on the training device, or the person wearing a virtual reality glasses that represents a running environment synchronous to the motion function and / or feedback functions allows.

at a useful addition are in the pitch angle adjustable, circulating handrail bands (as of the escalator known), laterally at arm level on each carriage guide rail arranged, which are either driven and during the Gait trainings simulate a standing railing, or of the person be moved manually for the purpose of influencing the speed of the running movements.

In an appropriate supplement, up to two further driven carriages are arranged parallel to the two carriage guide rails, on each of which a height-adjustable walking aid with respect to the carriage is articulated with its bottom end, so that walking with walking aids (crutches, sticks) is trained who that can.

In an expedient embodiment, the invention include a suspension for weight relief, wherein the weight of the person during the training partially or for fall protection completely by a personal safety belt is received, which hangs on both sides of ropes, the over two pulleys on a mounting bracket and over a compensating roller are guided so that the height compensation can freely set between the attachment points, this Device with a height adjustment drive both for the purpose of initial Adaptation to the height of the person as also for dynamic waist height compensation during the gear movements is equipped.

In an expedient embodiment, the person be surrounded by a central mounting bracket on both sides the person is mounted near the ground pivotable on an axis and which can be fixed in different positions for the purpose of the Patients in front of the exercise machine from a wheelchair too lift or drop him off. The suspension height the person becomes during the swinging of the carrying handle held constant, which by moving the pulleys by means of a level balance cable, a level pulley and a Cam mechanism or by the control of the height adjustment drive is realized.

In A functional supplement may be a movable one stored weight arranged under the Fußplattensegment be and by a mechanical or electrical, pneumatic or hydraulic drive from below against the heel area of the Footplate segment are beaten to the person that Appearance tactile mediate.

embodiments are explained in the following drawings.

there show the:

1 : the multifunctional training device for human gait variants in the basic version with one movable five-joint kinematics per foot

2 : the multifunctional training device for human gait variations in supervision with guide rail contour for lateral foot movement

3 : The lifting mechanisms for the toe and heel are designed as a shear kinematics

4 : the foot carriage with moving toe and heel actuators

5 : a toe lifting mechanism of the five-joint kinematics with threaded spindle adjustment for stationary drive

6 : a heel lifting mechanism of the five-joint kinematics with a belt drive for stationary drive

7 : a relief of the output motors by springs in supervision and a walker wagon

8th : a patient admission with level compensation as well as handrail and screen

9 : a device for gait training with a walker

1 The multifunctional training device for human gait variants exemplifies the basic version with one movable five-joint kinematics per foot. On the base plate [ 13 ] are the right and left guide rails [ 11.1 ] [ 11.2 ] appropriate. These lead the right and left cars with the car segments [ 1.1 ] [ 1.2 ], which represent the basic segment of a five-joint kinematics and execute forward and backward movements in the direction of travel [X]. The second segments, the toe lifter segments [ 2.1 ] [ 2.2 ] connect the front carriage joints [ 6.1 ] [ 6.2 ] with the toe joints [ 7.1 ] [ 7.2 ] of the footplate segments [ 3.1 ] [ 3.2 ]. The third segments are the footplate segments [ 3.1 ] [ 3.2 ] with the two foot fixations [ 12.1 ] [ 12.2 ]. The fourth and fifth interconnected segments, as the heel lifter top segment [ 4.1 ] [ 4.2 ] and heel lifter base segment [ 5.1 ] [ 5.2 ] in the rear lifting joint [ 9.1 ] [ 9.2 ], connecting the heel joints [ 8.1 ] [ 8.2 ] of the footplate segments [ 3.1 ] [ 3.2 ] with the rear carriage joints [ 10.1 ] [ 10.2 ] of the wagon segments [ 1.1 ] [ 1.2 ]. So the angles between the first [ 1.1 ] [ 1.2 ] and the second [ 2.1 ] [ 2.2 ] Segments the height positions [Z] at the toe joints [ 7.1 ] [ 7.2 ] and the angles between the fourth [ 4.1 ] [ 4.2 ] and the fifth [ 5.1 ] [ 5.2 ] Segments the height positions [Z] at the heel joints [ 8.1 ] [ 8.2 ], with their corresponding movement components in the X direction through the X positions of the carriages [ 1.1 ] [ 1.2 ] be compensated. This inevitably determines the height positions [Z] and the angles of the foot plates. Next, the knee straps [ 32.1 ] [ 32.2 ], which support a stretching of the supporting leg.

2 illustrates the multifunctional training device for human gait variants with guide rails by way of example in a top view. In this case, carriage guide rails [ 11.1 ] [ 11.2 ] provided by guide elements [ 33 ] on the wagon segment [ 1.1 ] [ 1.2 ] cause a transverse movement [Y] of the foot plates to the direction [X]. This will be the Trajectories via the carriage control path [ 23 ] of the feet, viewed from above, approximates the natural course, in which the parallel distance of the foot axes is greatest when the feet are next to each other.

3 represents the lifting mechanisms for the toe and heel designed as a shear kinematics. 1 ] at the front carriage joint [ 6 ] a shear kinematics [ 63 ] which controls the toe-lift control path [ 42 ] on the toe joint [ 7 ] transmits and at the rear 10 ] a shear kinematics [ 63 ], the position of the heel joint [ 8th ] certainly. Hereby the position and the angle of the footplate segment [ 3 ] certainly.

4 exemplifies the foot carriage with moving Fußspitzenhub- and heel lift actuators 68 ] [ 69 ] Here is the toe-lift actuator [ 68 ] fixed to the wagon segment [ 1 ] and guides the angular position of the toe lifter segment [ 2 ] straight from. The heel stroke actuator [ 69 ] is also on the wagon segment [ 1 ] and guides the angular position via gears [ 66 ] between heel lifter base segment [ 5 ] and heel lifter upper segment [ 4 ] directly, the latter with a gear segment [ 67 ] connected is.

5 exemplifies the Fußwagenteil with a toe lifting mechanism of the five-joint kinematics by means of a threaded spindle adjustment for stationary actuator. Here is the base plate [ 13 ] with the carriage guide rail [ 11 ], on which the wagon segment [ 1 ] in the area of the carriage control path [ 23 ], with two stationary bearings [ 25 ], which has a shaft with a positive profile [ 26 ] to store. This while [ 26 ] has on the mobile wagon segment [ 1 ] a moving camp [ 27 ], that of a ball screw [ 29 ] serves as an abutment. Due to the rotation angle [ 24 ] the wave [ 26 ] provides the associated recirculating ball nut [ 28 ] via push rods [ 30 ] the position of the toe lifter segment [ 2 ] of the five-joint kinematics and determined by rotation about the front carriage joint [ 6 ] of the wagon segment [ 1 ] so that the Fußspitzenhub steering angle [ 31 ] relative to the wagon segment [ 1 ].

6 exemplifies the Fußwagenteil with a heel-lifting mechanism of the five-joint kinematics by means of a belt adjustment for stationary actuator. Here is a on the base plate 13 ] fixed heel stroke timing belt [ 18 ] above on the wagon segment [ 1 ] Fixed pulleys [ 14 ] and one on a linear guide [ 16 ] movable pulley [ 15 ] guided. A change in position of the controlled belt end [ 19 ] transmits in the range of the heel stroke control path [ 20 ] regardless of the position of the wagon segment [ 1 ] opposite the base plate [ 13 ] in the area of the carriage control path [ 23 ] on the movable roller [ 15 ], whereby a heel lift deflection belt [ 21 ] in the area of the linear stroke [ 17 moved by pulling on the half cylinder of the heel lifter top [ 4 ] whose rotation about the rear Hubgelenk [ 9 ] caused. This will cause the heel stroke control angle [ 22 ] and thus the distance from the rear carriage joint [ 10 ] to the heel joint [ 8th ] influenced.

7 represents the relief of the output motors by springs as well as a walking aid carriage in supervision. Here, the two wagon segments [ 1.1 ] [ 1.2 ] each by at least one horizontal stroke spring [ 41 ] with the base plate [ 13 ] to access via the carriage control path [ 23 ] kinetic braking energy to be stored and provided for acceleration with the purpose of the car segment actuators [ 57 ] to relieve. Parallel to the belt rewind of the toe lift [ 39 ] and the heel stroke actuator [ 40 ], one toe heel stroke equalizer belt [ 38 ] about toe-heel lift pulleys [ 43 ] only here for the purpose of graphical representation with a toe-heel lift deflection [ 37 ] guided. These toe-heel lift straps [ 38 ] again at the point of the toe-heel lift pulley [ 43 ] or here for graphical representation on the toe-heel lift deflector [ 37 ] with a right-left foot lift compensating belt [ 36 ] about right-left pulleys [ 35 ] with a common vertical stroke spring [ 34 ] connected. This vertical stroke spring [ 34 ] absorbs part of the weight of the patient when walking and climbing stairs, almost independently of the respective feet and foot angles. The weight of the person or the extent of the relief of the actuators [ 39 ] [ 40 ] can be changed by changing the position of the right-left pulleys [ 35 ] opposite the base plate [ 13 ], which causes a change in the spring tension, can be adjusted. Next, a device for gait training with walking aid is shown. Here is a walking aid cart [ 59 ] parallel to the two carriage guide rails [ 11.1 ] [ 11.2 ] is placed horizontally by a walking aid horizontal drive [ 58 ] powered.

8th provides the patient admission and assurance as well as the angle-adjustable handrail [ 48 ] and the screen [ 47 ] for the 3-D environment representation. The railing band [ 48 ] can be powered or moved by hand to control the speed of the exerciser. The figure includes a height adjustment drive [ 46 ] with weight relieving of the patient by means of a weight relief compensating cable [ 50 ] on both sides of the personal safety belt [ 51 ] is attached. This rope is attached to the mounting bracket via these attachment points [ 52 ] with two weight waste reversing pulleys [ 44 ] and a weight-relief balancing role [ 45 ], so that the height compensation between the attachment points can be adjusted freely. Next is a central mounting bracket [ 52 ], which on both sides of the person close to the ground on a mounting bracket pivot axis [ 49 ] and in different locking positions [ 55 ], wherein the person's suspension height during pivoting of the support bracket [ 52 ] by shifting the weight unloading pulley [ 44 ] or the weight-bearing balance [ 45 ] by means of a level compensating cable [ 53 ], a level pulley [ 56 ] and a cam gear [ 54 ] or by controlling the height adjustment drive [ 46 ] is kept constant.

9 represents a device for gait training with walker. Here is the according to 7 movable walking aid cart [ 59 ] about the walking aid joint [ 62 ] with the walker [ 60 ] is connected by a walking aid lifting drive [ 61 ] driven for height adjustment.

1

car segment

1.1

car segment right

1.2

car segment Left

2

Fußspitzenhebersegment

2.1

Fußspitzenhebersegment right

2.2

Fußspitzenhebersegment Left

3

Fußplattensegment

3.1

Fußplattensegment right

3.2

Fußplattensegment Left

4

Heel lift-shell segment

4.1

Heel lift-shell segment right

4.2

Heel lift-shell segment Left

5

Heel lift-base segment

5.1

Heel lift-base segment right

5.2

Heel lift-base segment Left

6

Front venture joint

6.1

Front Cart joint right

6.2

Front Cart joint left

7

Fußspitzengelenk

7.1

Fußspitzengelenk right

7.2

Fußspitzengelenk Left

8th

hock

8.1

hock right

8.2

hock Left

9

rear Hubgelenk

9.1

rear Lifting joint right

9.2

rear Lifting joint on the left

10

rear venture joint

10.1

rear Cart joint right

10.2

rear Cart joint left

11

Car guide rail

11.1

Car guide rail right

11.2

Car guide rail Left

12.1

Foot fixation right

12.2

Foot fixation Left

13

baseplate

14

fixed idler pulley

15

movable idler pulley

16

linear guide

17

Linearhubweg

18

Heel lift timing belt

19

controlled strap end

20

Heel lift control path

21

Heel lift-Umlenkriemen

22

Heel rise-control angle

23

Car control path

24

rotation angle

25

stationary camp

26

wave with positive profile

27

traveling camp

28

Ball nut

29

Ball screw

30

pushrod

31

Fußspitzenhub-control angle

32.1

knee belt right

32.2

knee belt Left

33

guide element

34

Vertical lift spring

35

Right-left deflection roller

36

Right-left balance Fußhub belt

37

Toe heel lift-deflection bow

38

Toe heel lift-compensating belt

39

Fußspitzenhub actuator

40

Heel lift actuator

41

Horizontal stroke Pen

42

Fußspitzenhub control path

43

Toe heel rise idler

44

Gewichtsentlastungsumlenkrolle

45

Unweighting compensating roller

46

Height adjustment drive

47

screen

48

railings band

49

Support bracket pivot axis

50

Weight Relief compensating rope

51

Personensicherungsgurt

52

support bracket

53

Level compensation rope

54

cam gear

55

Parking positions

56

Level guide roller

57

Car segment actuator

58

Walkers horizontal drive

59

Walking aids cars

60

walker

61

Walking aids stroke drive

62

Walking aids joint

63

shear kinematics

64

toothed belt

65

Fußspitzenhub timing belt

66

gear

67

gear segment

68

ride-on Fußspitzenhub actuator

69

ride-on Heel lift actuator

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 19805164 [0003, 0006]
• - DE 10028511 [0004, 0008]
• - DE 202006011767 [0005, 0007, 0008]

Claims (23)

A multifunctional human gait training device which particularly trains athletes and persons with walking weakness or prosthetic legs in the movement functions of in-plane, ascending and descending inclination, uneven path and climbing in both upward and downward directions and is characterized in that each foot on a carriage guide rail [ 11.1 ] [ 11.2 ] guided back and forth carriage segment [ 1.1 ] [ 1.2 ], which is the base segment of a kinematics consisting of at least five interconnected joints [ 6.1 . 7.1 . 8.1 . 9.1 . 10.1 ] [ 6.2 . 7.2 . 8.2 . 9.2 . 10.2 ] by at least four further movable segments, namely at least the toe lifter segment [ 2.1 ] [ 2.2 ], the heel lifter upper segment [ 4.1 ] [ 4.2 ], the heel lifter base segment [ 5.1 ] [ 5.2 ] and the footplate segment [ 3.1 ] [ 3.2 ], which form a closed chain, each footplate segment [ 3.1 ] [ 3.2 ] has at least three degrees of freedom of movement and one by the position of the other segments [ 1.1 ] [ 1.2 ], [ 2.1 ] [ 2.2 ], [ 4.1 ] [ 4.2 ], [ 5.1 ] [ 5.2 ] clearly assumes a specific position and a foot fixation [ 12.1 ] [ 12.2 ] having. Multi-functional human gait training device according to claim 1, characterized in that the foot plate has a usable length of about 400 mm and the sum of the joint distances of the carriage segment [ 1 ] and the heel lifter base segment [ 5 ] about the sum of the joint distances of the foot tip lifter segment [ 2 ], the footplate segment [ 3 ] and the heel lifter upper segment [ 4 ] corresponds. Multi-functional human gait training device according to claim 1, characterized in that the two wagon segments [ 1.1 ] [ 1.2 ] each with a carriage segment actuator [ 57 ] are provided. Multi-functional human gait training device according to claim 1, characterized in that the lifting mechanisms for the toes and / or the heels are designed as scissor kinematics, wherein on the wagon segment [ 1 ] at the front carriage joint [ 6 ] a scissors kinematics is stored, the position within the Fussspitzenhub control path via an actuator 42 ] on the toe joint [ 7 ] transmits and / or at the rear Wagengelenk [ 10 ] a shear kinematics [ 63 ], which uses an actuator to adjust the angle within the shear kinematics [ 63 ] adjusts the position of the heel joint [ 8th ], so that the position and the angle of the Fußplattensegmentes [ 3 ] is determined. Multi-functional human gait training device according to claim 1, characterized in that the angles between the segments of the wagon [ 1.1 ] [ 1.2 ] and the foot lifter segments [ 2.1 ] [ 2.2 ] around the front articulated joints [ 6.1 ] [ 6.2 ] are adjustable by drives in a range between 0 ° and 90 ° or between 180 ° and 90 °, and in that the angles between the heel lifter shell segments [ 4.1 ] [ 4.2 ] and the heel lifter base segments [ 5.1 ] [5.2] around the rear lifting joints [ 9.1 ] [ 9.2 ] are adjustable by drives in a range that is between 0 ° and 180 ° or between 360 ° and 180 °. Multi-functional human gait training device according to claim 1, characterized in that the two wagon segments [ 1.1 ] [ 1.2 ] by linear motors or stationary or moving carriage segment actuators [ 57 ] by means of toothed belt [ 64 ], Threaded spindles or crank drives on a carriage guide rail [ 11.1 ] [ 11.2 ] and that the height positions [Z] of the toe joints [ 7.1 ] [ 7.2 ] and the heel joints [ 8.1 ] [ 8.2 ] regardless of the position of the wagon segment [ 1.1 ] [ 1.2 ] by stationary linear motors or actuators [ 39 ] [ 40 ] tensile force-bearing components such as belts [ 18 ], Straps, chains or ropes and / or stationary actuators by means of shafts [ 26 ], which have form-locking connections 24 ] to the wagon segment [ 1.1 ] [ 1.2 ] and / or by moving linear motors or actuators are adjustable. Multifunctional training device for human gear variants according to claims 1, 3 or 5 characterized in that the actuator electrically, pneumatically or hydraulically. Multifunctional training device for human gait variants according to claims 1, 3 or 5, characterized in that the angular adjustment between the carriage segments [ 1.1 ] [ 1.2 ] and the foot lifter segments [ 2.1 ] [ 2.2 ] around the front articulated joints [ 6.1 ] [ 6.2 ], between heel lifter upper segment [ 4.1 ] [ 4.2 ] and heel lifter base segment [ 5.1 ] [ 5.2 ] around the rear lifting joints [ 9.1 ] [ 9.2 ] as well as the position of the wagon segment [ 1.1 ] [ 1.2 ] are either equipped with their own drives, which are controlled by at least one control unit with freely programmable, rail-controlled servo axes or are controlled by a central drive via mechanically coupled cam gears. Multifunctional training device for human gait variants according to claims 1 or 5, characterized in that the angular displacement between the carriage segments [ 1.1 ] [ 1.2 ] and the foot lifter segments [ 2.1 ] [ 2.2 ] around the front car joints [ 6.1 ] [ 6.2 ] and / or the angle adjustment between heel lifter top segment [ 4.1 ] [ 4.2 ] and heel lifter base segment [ 5.1 ] [ 5.2 ] around the rear lifting joints [ 9.1 ] [ 9.2 ] either by the wagon segments [ 1.1 ] [ 1.2 ] moving footstep lift [ 68 ] and / or heel stroke actuators [ 69 ] or by stationary toe-lift [ 39 ] and / or heel stroke actuators [ 40 ] via moving gears by means of a positive, longitudinally displaceable shaft [ 26 ] are driven. Multifunctional training device for human gait variants according to claim 1, characterized in that the guide rails [ 11.1 ] [ 11.2 ] in the plane have a contour which determines the transverse movement [Y] of the feet to the direction of movement. Multifunctional human gait training device according to claim 1, characterized in that the transverse movement [Y] of the feet to the direction of the footplate segments [ 3.1 ] [ 3.2 ] is freely programmable by two additional servo drives or by a cam gear. Multi-functional human gait training device according to claim 1, characterized in that the rotation of the footplate segments [ 3.1 ] [ 3.2 ] around the vertical to the foot plate and / or around the longitudinal axis of the sole of the foot by further servo drives freely programmable and / or executed by cam gear. Multifunctional training device for Human gear variants according to claim 1, characterized in that that the buckling of the toes on the ball of the foot (metatarsal joint) by means of a further tiltable plate by two more Servo drives freely programmable or through a cam gear is executed. Multifunctional training device for human gait variants according to claim 1, characterized in that a knee bandage with straps or ropes [ 32.1 ] [ 32.2 ], which is freely programmable by two other servo drives or by a cam mechanism is movable. A multi-functional human gait training device according to claim 1, characterized in that a toe-heel lift compensating belt [ 38 ] on the one hand on a heel stroke timing belt [ 18 ] and on the other hand to a corresponding Fußspitzenhub timing belt 65 ] and over toe-heel lift pulleys [ 43 ], which are equipped with two right-left foot-lift straps [ 36 ] via the right-left pulley [ 35 ] with a manually or by means of drives variable preloaded vertical stroke spring 34 ] are connected. Multifunctional training device for human gear variants according to claim 1, characterized in that pneumatic cylinders / motors as gas springs in each case parallel to the Fußspitzenhub actuators [ 39 ] and the heel stroke actuators [ 40 ] are arranged, which are all interconnected and whose pressure is adjustable. Multi-functional human gait training device according to claim 1, characterized in that each wagon segment [ 1.1 ] [ 1.2 ] via at least one horizontal stroke spring [ 41 ] each with the base plate [ 13 ] connected is. Multi-functional human gait training device according to claim 1, characterized in that a screen [ 47 ] in the field of view of the person on the training device or in that the person is wearing a virtual reality billie. Multifunctional training device for human gait variants according to claim 1, characterized in that the drivable and adjustable in incline circumferential balustrade bands [ 48 ] laterally at arm level on each carriage guide rail [ 11.1 ] [ 11.2 ] are arranged. Multifunctional training device for human gait variants according to claim 1, characterized in that up to two further mobility aids [ 59 ] with walking aid horizontal drive [ 58 ] parallel to the two carriage guide rails [ 11.1 ] [ 11.2 ] are arranged on each of which one opposite the car by a walking aid lifting drive [ 61 ] height-adjustable walker [ 60 ] with its bottom end at the walking aid joint [ 62 ] is attached. Multi-functional human gait training device according to claim 1, characterized in that a weight-relief compensating cable [ 50 ] on both sides of a personal safety belt [ 51 ], from where it has two weight unloading rollers [ 44 ] on the mounting bracket [ 52 ] and the weight-bearing compensation role [ 45 ] and with a height adjustment drive [ 46 ] Is provided. Multifunctional training device for human gait variants according to claim 1, characterized in that a central mounting bracket [ 52 ] which is located on both sides of the person close to the ground on a mounting bracket pivot axis [ 49 ] and in different locking positions [ 55 ], wherein the person's suspension height during pivoting of the support bracket [ 52 ] by shifting the weight relief deflection role [ 44 ] or the weight-bearing balance [ 45 ] by means of a level compensating cable [ 53 ], a level pulley [ 56 ] and a cam gear [ 54 ] or by controlling the height adjustment drive [ 46 ] is kept constant. Multi-functional human gait training device according to claim 1, characterized in that a movably mounted weight under the footplate segment [ 3 ] is arranged and by a mechanical or electrical, pneumatic or hydraulic drive from below against the heel area of Fußplattensegmentes 3 ] is beaten.