DE102014212472B4 - Training device for training a person and method for operating such a device - Google Patents

Abstract

The invention relates to a training device (1) for training a person (P), which has at least one substructure (2), at least one holding element (4) for receiving and / or fixing the person (P) and one with the substructure (2) and the holding element (4) coupled movement unit (5) for moving the holding element (4). The movement unit (5) is designed as a parallel kinematic movement unit. The invention also relates to alternative methods for operating such a training device (1).

Description

The invention relates to training devices for training a person.

Various training devices for training a person are known from the prior art, by means of which the person can perform a certain movement sequence or by means of which a certain movement sequence can be imposed on the person.

For example, passive training devices such as rubber balls or so-called rocking chairs are known. Furthermore, active training devices are known, by means of which joints of a person can be trained in only one axis of movement in one direction. Furthermore, training devices with massage functions are known, by means of which a defined pressure can be exerted on certain body regions of the person, but which do not allow any multiaxial movements of a joint of the person or groups of joints of the person.

In addition, various methods for operating an aforementioned device are known from the prior art, by means of which the person can perform a specific movement sequence or by means of which a specific movement sequence can be imposed on the person.

In the prior art, hexapods with parallel kinematics are also known, which are used for various robots. Hexapods with parallel kinematics are characterized by an arrangement of six legs or axes that are attached to a platform that can move freely in space. These legs allow the platform to be positioned in space. For this purpose, the length of the legs is variable, or positions of the end points of the legs facing away from the platform can be changed.

Out US 7,604,215 B1 a simulation device with a platform panel with three cylinders is known.

Out U.S. 5,853,330 A a simulator with seats and pneumatic cylinders is known.

Out US 2011/0256983 A1 a trainer system with a footplate is known.

Out DE 203 13 772 U1 a device for the dynamic mobilization of a disabled person is known.

An operating environment for a vehicle simulator is known from US 2007/0 218 427 A1.

The invention is based on the object of specifying a training device for training a person which is improved over the prior art.
The object is achieved according to the invention with the features specified in claim 1.
Advantageous embodiments of the invention are the subject of the subclaims.

The training device according to the invention for training a person comprises a substructure, a holding element for receiving and / or fixing the person or at least a part of the person's body and a movement unit coupled to the substructure and the holding element for moving the holding element. The movement unit is designed as a parallel kinematic movement unit.

The terms substructure and ceiling construction used are not to be interpreted restrictively in the sense that the substructure must always be arranged below the ceiling construction in the direction of gravity. In particular, it is also possible that the substructure is arranged in the direction of gravity above or next to the ceiling structure.

The design of the movement unit as a parallel kinematic movement unit makes it possible in a particularly advantageous manner that the holding element and thus the person fixed therein or a body part of this person can perform a spatially and temporally predetermined movement sequence. According to the invention, all natural movement sequences are thus de facto possible, at least in sections, with more degrees of freedom than in the prior art.

The inventions enable a person to be trained in which joints and joint groups can be moved multiaxially. In this way, mobility of the person is maintained or promoted, body awareness is improved, and a person's muscles can be built up or strengthened. The inventions can particularly preferably be used to support therapies or rehabilitation. This can counteract the negative side effects of civilized life, which is often characterized by office and sedentary work. Such negative side effects are in particular various back ailments.

The inventions enable free movements in or around all spatial axes, i.e. shifts in the x, y and z directions as well as rotations around the x, y and z directions and thus form a 6DOF movement unit.

A particular advantage of the device according to the invention lies in the particularly small masses to be moved due to the use of the parallel kinematic movement unit, which results in the possibility of high movement speeds and thus the ability to detect and / or simulate and / or impose very complex movement sequences for training the person.

Actuators and / or sensors are preferably provided which enable forces and their effective directions to be detected. This makes it possible to carry out interactive training.

The device according to the invention provides that the parallel kinematic movement unit is a tripod, four-legged, five-legged, six-legged or seven-legged with a first number of legs of variable length.

In the following, legs are to be understood in particular as rigid or variable-length connecting elements between two related points, in particular articulation points.

According to a device not according to the invention, it is provided that the first number of legs are ropes, that is to say that the first number of legs is designed to be flexible. These legs, designed as ropes, are each attached to the substructure and to the holding element. A second number of the legs are ropes which are each fastened to the holding element and to a ceiling structure which is fixedly arranged with respect to the substructure. The length of the legs, which are designed as ropes, can be changed in such a way that the position of the holding element with respect to the substructure can be adjusted in terms of space and time. As a result, very complex sequences of movements for training the person can be recorded and / or simulated and / or imposed on the person in a particularly simple manner. Such a rope kinematic device enables very large free movements.

Particularly preferably six ropes are connected to the substructure and three ropes serving as upper bracing are connected to the ceiling structure. The six ropes connected to the substructure are movably connected there and define the position of the holding element, the upper six ropes are used to brace the holding element.

For this purpose, the upper, in particular three, ropes are either pre-tensioned, for example by means of pulleys and weights or by means of a spring mechanism. It is also possible to design the upper ropes so that they can be rolled up in a controlled motorized manner.

A first alternative development of the aforementioned device provides that the legs designed as ropes can be rolled up in a controlled manner. As a result, the length of each leg and thus the position of the holding element are particularly easy to adjust. In addition, this further development has few visible moving parts, as a result of which this further development has a particularly high level of security against injuries and also has a particularly aesthetic appearance.

A second alternative development of the aforementioned device provides that fastening points of the first number of legs designed as ropes can be displaced in a controlled manner relative to the substructure, in particular all fastening points of the first number of legs designed as ropes can be shifted either upwards and downwards or outwards and inwards . As a result, the effective length of each leg and thus the position of the holding element are also particularly easy to adjust. In addition, this development has a simple and therefore inexpensive structure. It is possible that the fastening points of the second number of legs designed as ropes can be displaced in a controlled manner relative to the ceiling structure, in particular either up and down or out and in. It is also possible for the fastening points of the second number of legs designed as ropes to be able to be rolled up in a controlled manner with respect to the ceiling structure.

In this case, the holding element is particularly preferably a fixing element for temporarily fixing a human body part, in particular a torso, a wrist or a fetter. This makes it possible to fix a certain human body part in a particularly simple manner, so that various complex movement sequences of different body parts can be carried out.

The first number of legs preferably comprises six and the second number of legs three ropes.

The device according to the invention provides that the legs are rods, that is to say rigid elements, which are each fastened to the substructure by means of joints and to the holding element by means of joints. The bars are either directly or indirectly attached to the substructure. The length of the legs can be changed in such a way that the position of the holding element with respect to the substructure can be adjusted. The legs designed as rods are preferably fastened directly to the holding element by means of joints. This configuration is particularly simple and has a small number of moving elements.

A first alternative development of the device according to the invention provides that the legs, which are designed as rods, can be controlled and telescopically variable in length. The telescopic length variability is preferably effected hydraulically, pneumatically or by means of a spindle drive. This is advantageous because few moving parts allow a low risk of accident for the person; In addition, this development is also particularly aesthetic.

A second alternative development of the device according to the invention provides that the fastening points of the legs, which are designed as rods, can be displaced in a controlled manner with respect to the substructure, in particular either upwards and downwards or outwards and inwards. This is advantageous because it enables a device that is particularly simple and inexpensive to manufacture and that can perform particularly rapid movements.

In the device according to the invention, the holding element is a seat surface for receiving the person, in particular a seat surface of a chair. This also makes it possible to fix a specific human body part in a particularly simple manner, so that various complex movement sequences of different body parts can be carried out. In contrast to the known devices such as seat balls or so-called wobbly rubber seat pads, the person does not need to concentrate on movements to be performed when using the device, since the sequence of movements of the seat pad is predetermined. In addition, unlike previously known devices, the seat support enables free movement with six degrees of freedom, that is, not just pure tilting about different axes.

One embodiment of the invention provides that the movement unit can be automatically controlled by means of at least one control unit. As a result, various motion sequences are made possible in an automated manner in a particularly simple manner.

A further development of this embodiment of the invention provides that the at least one control unit is coupled to at least one input unit for specifying a respective movement sequence of the movement unit. This allows the person to easily initiate a particular exercise program.

In a first alternative of a method for operating a device according to the invention, the length of at least a first number of legs is changed in a controlled manner in such a way that the position of the holding element with respect to the substructure is adjusted so that a movement sequence is imposed on the person or a part of the person's body. This setting, i.e. the control, is preferably time-dependent or based on other parameters such as force, speed or uniformity. As a result, a predeterminable training program is carried out in a simple manner in such a way that a predefined movement sequence is reliably observed. This method is preferably used to operate the chair described above, the person attempting to compensate for a predetermined sequence of movements of a seat surface, as a result of which, consciously or unconsciously, muscles, in particular back muscles, are strengthened, especially when performed regularly.

This makes it possible to move a passively acting person using a predefined movement profile. This is particularly advantageous if the movement profile is designed in such a way that it is not necessary for the person to concentrate on the movement. The method is particularly preferably carried out cyclically, in particular for a seat support for a seat for a computer workstation.

In a second alternative of the method for operating a device according to the invention, a movement of the person or a part of the person's body is imposed on the holding element, as a result of which the length of at least a first number of legs is changed as a function of time, the position of the holding element with respect to the Substructure is recorded as a function of time, so that a completed movement sequence is reproducibly stored. In this way, a device can be taught-in in a simple manner. It is also possible to use the device for a movement analysis, in particular in order to determine which force the person applies for which movement or for which speed of a specific movement. The method also enables a completed movement sequence to be stored not only in a reproducible manner, but also to analyze predefinable parameters.

A certain movement pattern is preferably displayed to the person, that is, given; then the person carries out this movement while they are in the active unit by means of the holding device with a device according to the invention. Sensors record the movement of the person, actuators control the movement unit.

A force required for a movement of a seat platform and its course can be defined in accordance with configured force parameters.

In a third alternative of the method for operating a device according to the invention A movement sequence is imposed on the holding element by a movement of the person or a body part of the person, as a result of which the length of at least a first number of legs is changed as a function of time, the position of the holding element with respect to the substructure being recorded as a function of time and the movement of the person or a part of the person's body is opposed to an adjustable resistance. As a result, effective training can be carried out in a simple manner, which allows the person to perform a self-selected and non-predetermined sequence of movements.

It is possible to combine the procedures.

Actuators and / or sensors are preferably provided which enable forces and their effective directions to be detected. This makes it possible to carry out interactive training.

Embodiments of the invention are explained in more detail below with reference to drawings.

• 1 schematisch eine erste perspektivische Ansicht einer ersten Ausführungsform einer nicht erfindungsgemäßen Vorrichtung,
• 2 schematisch eine zugehörige zweite perspektivische Ansicht,
• 3 schematisch eine zugehörige dritte perspektivische Ansicht,
• 4 schematisch eine erste perspektivische Ansicht einer ersten Ausführungsform der erfindungsgemäßen Vorrichtung,
• 5 schematisch eine zugehörige zweite perspektivische Ansicht,
• 6 schematisch eine zugehörige dritte perspektivische Ansicht,
• 7 schematisch eine zugehörige vierte perspektivische Ansicht,
• 8 schematisch eine perspektivische Ansicht einer zweiten Ausführungsform der erfindungsgemäßen Vorrichtung und
• 9 schematisch eine perspektivische Ansicht einer dritten Ausführungsform der erfindungsgemäßen Vorrichtung.

Show in it:

• 1 schematically a first perspective view of a first embodiment of a device not according to the invention,
• 2 schematically an associated second perspective view,
• 3 schematically an associated third perspective view,
• 4th schematically a first perspective view of a first embodiment of the device according to the invention,
• 5 schematically an associated second perspective view,
• 6th schematically an associated third perspective view,
• 7th schematically an associated fourth perspective view,
• 8th schematically a perspective view of a second embodiment of the device according to the invention and
• 9 schematically a perspective view of a third embodiment of the device according to the invention.

1 to 3 show schematic perspective views of a first embodiment of the training device according to the invention 1 training a person P serves. The training device 1 includes a substructure 2 , one opposite this substructure 2 Fixed ceiling construction 3 and a holding member provided therebetween 4th . The ceiling construction 3 is with three column-shaped spacer elements 5 , 5.2 , 5.3 with the substructure 2 connected. The holding element 4th is used as a torso strap for the person P formed and has a collar-shaped outer disc 4.1 whose largest outside diameter is smaller than the diameter of the substructure 2 and as the diameter of the ceiling structure 3 .

By means of a first number of legs 5 designed as ropes, 5.5 , 5.6 , 5.7 , 5.8 , 5.9 , which each on the substructure 2 and on the holding element 4th are attached, is a spatial position of the holding element 4th analogous to a hexapod, which can be controlled by means of a control unit (not shown). A second set of legs designed as ropes 5.10 , 5.11 , 5.12 serves as bracing; to this is the second number of legs 5.10 , 5.11 , 5.12 acted upon with a tensile force by means of a prestressing device, not shown. For setting the spatial position of the holding element 4th and consequently, in order to carry out a defined sequence of movements, the first number of legs designed as ropes 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 controlled so that the length of each of the legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 is set individually by means of a roll-up unit, not shown.

The lower ends of the legs designed as ropes 5 , 5.5 and 5.6 , 5.7 and 5.8 , 5.9 are alternately equally spaced on the substructure 2 each near the base of the spacer elements 5 and 5.2 and 5.3 arranged rollable. Alternatively, it is possible to attach the legs to the substructure at irregular intervals 2 to arrange. The upper ends of the legs designed as ropes 5.10 and 5.11 and 5.12 are equally spaced on the outer edge of the disc 4.1 attached. Alternatively it is possible to place the legs at irregular intervals on the disc 4.1 to arrange

4th to 6th show schematic perspective views of an embodiment of the training device according to the invention 1 that as a seat for one person P serves. The holding element 4th is a seat cover whose position in the room can be freely adjusted. To do this is the first number of legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 designed as telescopically adjustable pressure rods, which are each attached to the substructure 2 and on the holding element 4th are attached.

7th shows schematically another perspective view of the embodiment of the training device according to the invention described above 1 where the first number of legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 are designed as telescopic adjustable length pressure rods. In this representation is the person P shown. Every leg 5 , 5.5 , 5.6 , 5.7, 5.8 , 5.9 is attached at each of its ends by means of a joint; at the bottom of the frame 2 , which is designed as a roller frame of a chair, and at the top of the underside of the holding element 4th .

8th shows schematically a perspective view of a second embodiment of the training device according to the invention 1 that is also used as a seat for a person shown here P serves. Where is the first number of legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 designed as length-invariable compression bars. In this representation is the person P shown. Every leg 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 is attached at each of its ends by means of a joint; namely at the bottom of each one on the base 2 horizontally arranged guide F. and at the top of the underside of the holding element 4th . Alternatively, it is possible to take the guided tours F. to be arranged with a particularly low inclination to the horizontal. The six with the six legs 5 , 5.5, 5.6, 5.7 , 5.8 , 5.9 Corresponding horizontal guides enable a controlled movement of the lower joints of the legs 5 , 5.5, 5.6 , 5.7 , 5.8 , 5.9 inside out and vice versa. This is the spatial position of the holding element 4th analogous to a hexapod, which can be controlled by means of a control unit (not shown).

9 shows schematically a perspective view of a third embodiment of the training device according to the invention 1 that is also used as a seat for a person shown here P serves. Where is the first number of legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 also designed as length-invariable compression bars. Every leg 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 is also attached at each of its ends by means of a joint; namely at the bottom of each one on the base 2 vertically arranged guide F. and at the top of the underside of the holding element 4th . Alternatively, it is possible to take the guided tours F. to be arranged with a particularly low inclination to the horizontal The six with the six legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 Corresponding vertical guides enable a controlled vertical displacement of the lower joints of the legs 5 , 5.5 , 5.6 , 5.7 , 5.8 , 5.9 from bottom to top and vice versa. This is the spatial position of the holding element 4th analogous to a hexapod, which can be controlled by means of a control unit (not shown).

By means of the training devices 1 according to the 4th to 9 it is possible to be a passively acting person P to move in a predefined motion profile. The movement profile is preferably designed so that the person can concentrate P on the movement is not required. The movement of the holding element 4th takes place preferably at intervals that are interrupted in particular by breaks of different lengths, whereby the training device 1 is particularly suitable as a seat for a computer workstation. It is also possible to control the movement of the holding element 4th to be carried out continuously or cyclically.

List of reference symbols

1

Exercise device

2

Substructure

3

Ceiling construction

4th

Retaining element

4.1

disc

5

Movement unit

5.1 to 5.3

Spacer elements

5.4 to 5.9

legs

5.10 to 5.12

legs

P

person

F.

guide

Claims (5)

Training device (1) for training a person (P), designed as a 6DOF movement unit, which allows free movements in or around all spatial axes, i.e. displacements in the x, y and z directions, as well as rotations around x, y and z-direction enables comprehensive - at least one substructure (2) - At least one holding element (4) for receiving and / or fixing the person (p) and - A movement unit (5) coupled to the substructure (2) and the holding element (4) for moving the holding element (4), the movement unit (5) being designed as a parallel kinematic movement unit, wherein the parallel kinematic movement unit is a tripod, four-legged, five-legged, six-legged or seven-legged with a first number of legs (5.4, 5.5, 5.6, 5.7, 5.8, 5.9) of variable length wherein the legs (5.4, 5.5, 5.6, 5.7, 5.8, 5.9) are rods which are each attached to the substructure (2) by means of joints and to the holding element (4) by means of joints, the length of the legs (5.4, 5.5 , 5.6, 5.7, 5.8, 5.9) can be changed in such a way that the position of the holding element (4) with respect to the substructure (2) is adjustable, wherein the holding element (4) is a seat for receiving the person (P), wherein a seat back is attached to the substructure (2) and wherein the parallel kinematic movement unit is designed such that the holding element (4) and thus the person (P) fixed therein or a body part of this person (P) can perform a spatially and temporally predetermined movement sequence. Device (1) according to Claim 1 , characterized in that the legs (5.4, 5.5, 5.6, 5.7, 5.8, 5.9) designed as rods are controlled telescopically variable in length. Device (1) according to Claim 1 or 2 , characterized in that the fastening points of the legs (5.4, 5.5, 5.6, 5.7, 5.8, 5.9), which are designed as rods, can be displaced in a controlled manner with respect to the substructure (2). Device (1) according to one of the preceding claims, characterized in that the movement unit (5) can or is automatically controllable by means of at least one control unit. Device (1) according to Claim 4 , characterized in that the at least one control unit is coupled to at least one input unit for specifying a respective movement sequence of the movement unit (5) (respective training program).

Images