DE102016105906A1 - Therapeutic walking coach - Google Patents

Abstract

The invention relates to a therapeutic walk trainer with a Fußaufnahmeteil (1) for receiving at least a portion of the foot (7) of a user, with a support bracket (2) rotatably or pivotally connected to the Fußaufnahmeteil (1), and with a with the Support beam (2) pivotally connected base support (3) which is adjustable or movable in and / or counter to a direction of travel (4).

Description

The invention relates to a therapeutic walk trainer. Such gaiters are designed to assist patients who have undergone hip surgery or who have had a stroke to relearn natural walking.

The natural gait cycle is composed of a stance phase and a swing leg phase. A gait cycle begins and ends when the heel is placed on the ground. The stance phase consists of three phases: a landing phase, a stance phase and a repulsion phase. The swinging leg phase divides into an early swing leg phase, in which the foot separates from the ground and the lower leg swings upwards to about 90 degrees flexion in the knee joint. In the subsequent middle swing leg phase, the leg is brought forward in flexed position with a knee flexion of 60 to 80 degrees. In the final swing leg phase, the foot is now lowered back towards the floor or in the direction of a walking area, with the heel resting again first.

Stroke patients are usually able to initiate the swinging leg phase. Frequently, however, one's own activity is not (yet) sufficient to perform all phases of the swinging leg phase.

It is thus the object of the present invention to provide the user with a therapeutic walking trainer to assist him in (re) learning a natural gait cycle.

This object is achieved with a therapeutic walk trainer with the feature inventory according to claim 1.

For this purpose, in particular a foot receiving part for receiving at least a portion of the foot of a user, preferably the forefoot of a user, as well as a rotatably or pivotally connected to the Fußaufnahmeteil support support is provided. The support trainer is in turn pivotally connected to a base support and the base support is adjustable or movable in and / or counter to a direction of travel.

This has the advantage of providing support to users who have difficulty moving the angled leg forward in the swing leg phase. In this phase, the therapeutic walking coach acts as a support by moving in and / or against the direction of travel. If the foot receiving part is non-rotatably connected to the support carrier, then the foot receiving part can receive the toe, so that an inclination of the foot by the elasticity of the toe is feasible. By means of this elastic toe, an inclination or a pivoting of the sole of the foot relative to the support carrier can be achieved. In a rotationally fixed coupling of the foot receiving part with the support bracket, these two components can also be integrally formed as a footrest support.

In order to enable the foot of the user during the stance phase natural unrolling, it has proven to be useful if a free space is formed in or on the base support, and if the free space is designed such that a base or a walking surface is accessible by at least a part of the user's foot. This footprint may be e.g. be the floor or the (endless) band of a treadmill. Thus, therefore, the therapeutic walk trainer is also stationary operated, the base support itself then does not need to move through the room, but a movement of the walking trainer takes place relative to the treadmill surface.

An alternative embodiment of the present invention is characterized in that the base carrier is assigned a drive device for motorized adjustment or movement of the basic carrier in and / or counter to the direction of travel. Thus, therefore, the forward movement of the user, in particular the flywheel is supported by a motor. This motor is preferably formed as an electric motor powered by an accumulator or other source of energy.

Alternatively or additionally, a tension element or a pressure element is provided. As a tension element is a rope, a cord, a chain or the like into consideration. As a pressure element is a, preferably rigid, push rod into consideration. The traction element or the pressure element can be operated by a therapist during training, wherein the swinging leg phase of the user or of the patient is supported by the traction element or by the pressure element. In order to swing through the foot positioned in the gait trainer in the swing leg phase, the therapist pulls or pushes the gait trainer forward with the traction element in the direction of travel until the heel of the patient restarts on the walking surface.

In a preferred embodiment, the tension element or the pressure element is coupled to the base carrier or coupled, whereby the base carrier in and / or counter to the direction of travel is pushed, pulled or pressed. This ensures that the tension member can engage at or below the center of gravity of the therapeutic walk trainer to prevent tilting.

In another advantageous embodiment of the therapeutic walking trainer, the tension element or the pressure element is coupled to the support bracket or can be coupled, such that the base support by actuation of the support bracket by means of the tension element or by means of the pressure element in and / or against the direction of travel pushed, pulled or is depressible.

In some stroke patients, they may not be able to move their anterior tibial muscle or the foot lifter, which may lead to the so-called stepper gait. In order to assist the patient when lifting the foot, it has therefore been found to be advantageous if the foot receiving part and / or the support support an actuator is assigned, through which the Fußaufnahmeteil and / or the support bracket relative to the base support between a raised position and a lowered position are adjustable. The adjustment can be done stepwise or continuously. For a fluid lifting and lowering of the forefoot, a continuous adjustment is preferred.

The actuator may additionally be provided with an actuator drive for the motorized adjustment of the foot receiving part and / or the support carrier. In this embodiment, an actuator drive formed by an electric motor is then preferably realized, which can adjust the support bracket and / or the foot receiving part between a raised position and a lowered position. In other words, the actor acts as a foot lifter. In a healthy person, this task is performed by the anterior tibial musculature (anterior tibial muscle).

It has proven in this context to be useful if the tension element or the pressure element is coupled to the actuator or coupled, that by actuation of the actuator by means of the tension element or by means of the pressure element, the Fußaufnahmeteil and / or the support beam between the raised and the lowered Position are adjustable, and that the base support by actuation of the actuator by means of the tension element or by means of the pressure element in and / or against the direction of travel is pushed, pulled or pressed. Thus, the actuator can perform two different tasks simultaneously, namely on the one hand that of a foot lifter, in particular a forefoot lift, and on the other hand, the movement of the entire therapeutic walk trainer during the swing leg phase.

A simple mechanical construction can be achieved in that the actuator is pivotally connected to the base support, and that the actuator is associated with a control member which interacts with a cam provided on the foot receiving part and / or the support beam. In this case, the foot receiving part and / or the support bracket are adjustable by adjusting the control member relative to the control cam between the raised and the lowered position.

In an advantageous embodiment, the actuator is formed as a pivotally mounted on the base support rocker arm, by the pivoting of the foot receiving part and / or the support bracket between the raised position and the lowered position are adjustable. This has the advantage that a tension element or a pressure element can engage the rocker arm with a force by which the natural lifting movement of the foot can be simulated.

It has proven to be advantageous if one or more measuring sensors are assigned to the support carrier and / or the foot receiving part. This measuring sensor is formed, for example, as a tilt sensor. If the inclination sensor is assigned to the support carrier, then the inclination of the support carrier with respect to the base carrier arranged on the walking surface can be detected and documented by a control computer. Additionally or alternatively, the inclination sensor may be attached to the foot receiving part, so that its inclination with respect to the support beam is measurable and documented by the control computer. In both cases, a display device can provide the user with feedback information about the values detected by the measuring sensor (biofeedback).

Furthermore, it has proven to be advantageous if the measuring sensor is formed as a torsion sensor, which detects the torsion of the support carrier and / or the foot receiving part. As a result, it is possible to detect whether the user is following the correct course; So, if he does a straight gait.

Furthermore, it makes sense if, alternatively or additionally, a strain sensor (DMS) is provided on the support carrier and / or the foot receiving part. As a result, the elongation of the individual components can be detected.

Another preferred embodiment provides that the base support is mounted in a rail, for example in a slide rail. The direction of travel of the therapeutic walking trainer can be determined by the track through a rail.

In the following the invention is explained in detail in exemplary embodiments illustrated in the drawing; show it:

1 the side view of a therapeutic walking coach,

2 a possible top view of the therapeutic gait trainer 1 .

3a the therapeutic gait trainer 1 in a landing / landing configuration (stance phase),

3b the therapeutic gait trainer 1 in a stand configuration (stance phase),

3c the therapeutic gait trainer 1 in a repulsion configuration (stance phase),

3d the therapeutic walk trainer 1 in a configuration of the early schwungbeinphase (Schwungbeinphase),

3e the therapeutic gait trainer 1 in a configuration of the middle swing phase (Schwungbeinphase),

3f the therapeutic gait trainer 1 in a configuration at the end of the final Schwungbeinphase (Schwungbeinphase),

4 another therapeutic walk trainer with an actuator, shown in side view,

5 a top view of the walk trainer after 4 , which is supplemented by sensors,

6 a side view of the gait trainer 4 , which is supplemented by a tension element,

7 another therapeutic walking coach, shown in a plan view,

8th another guided in a rail embodiment of a therapeutic walk trainer, and

9 an alternative guided in a rail embodiment of the therapeutic walk trainer after 8th ,

In the figures, a plurality of therapeutic walk trainers are shown, which a Fußaufnahmeteil 1 for receiving a portion of the forefoot of a user. The walkers continue to have a support 2 on, the swivel with the Fußaufnahmeteil 1 connected is. The support beam 2 in turn is pivotal with a base support 3 connected, the basic carrier 3 is adjustable or movable in and / or against a direction of travel 4 ,

The foot receiving part 1 is pivotable with respect to the support beam 2 arranged, being between the support beam 2 and the foot receiving part 1 a first pivot 12 (Support support foot receiving part-joint) is provided by the rotation of the foot receiving part 1 with respect to the support bracket 2 around a substantially perpendicular to the direction of travel 4 arranged axis 13a is possible. In a cost effective variant of the walk trainer is a pin bearing as a pivotal connection between the support beam 2 and the foot receiving part 1 intended.

Furthermore, a pivotal connection between the support bracket 2 and the basic carrier 3 present, leaving the support beam 2 swiveling relative to the basic carrier 3 is stored. Here is a second pivot 14 (Support beam basic carrier swivel joint) provided, which is also about a substantially perpendicular to the direction of travel 4 oriented axis 13b is rotatable. Here, a pin bearing is also provided in a low-cost embodiment.

As can be seen in particular from the top view in 2 results is at the basic carrier 3 a free space 5 formed, which is designed such that the walking surface 6 or the floor through at least part of the foot 7 a user is entered. The lower leg 15 and the foot 6 a user are shown in dashed lines in all figures. As it turned out 2 results, is the Fußaufnahmeteil 1 centrally arranged for receiving at least a portion of the forefoot of a user. This foot receiving part 1 is present between several support beams 2 pivotally mounted, namely a first support beam 16a (right side of the foot receiving part 1 ) and one on the first support beam 16a opposite side of the foot receiving part 1 arranged second support beams 16b (left side of the foot receiving part 1 ). The first support beam 16a , which in the direction of travel 4 is arranged on the right side of the user's foot, in turn, with a first side member 17a articulated. The second support beam 16b is on the in the direction of travel 4 left side of the foot 7 arranged and in turn with the second side member 17b articulated. Furthermore, the first side member 17a and the second side member 17b by a cross member, in particular a rear cross member 18 coupled, so that a total of a U-shaped base support 3 arises. In another embodiment, the cross member is on the foot receiving part 1 and the side members 17a . 17b facing side of the therapeutic walk trainer so that this then as a front cross member 19 the U-shaped base support 3 forms.

To the basic carrier 3 to advance, on the one hand a drive device can be provided, through which the basic carrier 3 and so that the entire therapeutic gait trainer can be adjusted or moved by motor. Alternatively, however, a pressure element, for example a push rod on the base frame, in particular on the rear cross member 18 , attacking the therapeutic walking coach in the direction of travel 4 to push, or contrary to the direction of travel 4 to draw.

As can be seen from the figures, here are roles 20 at the base carrier 3 attached by the therapeutic walk trainer in and / or against the direction of travel 4 is movable or adjustable. Here are the roles 20 made by on axles 21 arranged wheels 22 that with the basic carrier 3 are connected. An alternative embodiment provides that individual wheels 22 , preferably even all of the wheels 22 , are driven by the drive means. Here are exactly four of the roles 20 provided, although a different number is possible. Instead of wheels 22 It is also possible to provide other sliding elements, by means of which the therapeutic walking trainer in and / or counter to the direction of travel 4 is adjustable.

Based on 3a to 3f The operation of the present therapeutic walk trainer will be explained in more detail. To show that the therapeutic walking coach on the walking surface 6 is a marker 23 intended. The 3a to 3c show thereby configurations (or positions) of the walk trainer during the stance phase and the 3d to 3f show configurations (or postures) of the walk trainer during the swing leg phase.

First, the heel of the user - without weight load - reaches the floor or the walking area 6 ( 3a ). In the view from the left, the foot receiving part pivots 1 clockwise slightly opposite the support beam 2 , Subsequently, a load transfer takes place through the shown leg, wherein the sole of the foot of the user comes into contact with the ground ( 3b ). Here is the support beam 2 in the view from the left counterclockwise with respect to the basic carrier 3 pivoted so that it is oriented almost parallel to this. In the middle stance phase is the foot 7 the user is approximately below the body's center of gravity and the entire body weight acts on the leg. In a healthy user, the calf muscles propel the body, synchronizing with the forward displacement of the body, causing a rolling motion on the foot 7 takes place until the repulsion phase is reached ( 3c ). This forward movement can be achieved by the traversable or verfestellbaren base support 3 support.

The stance phase is followed by the swing leg phase, which begins with the leg raising after the stance phase. The thigh is lifted by the hip flexors of the user and the lower legs through the user's knee flexors, with the foot 7 initially passive ( 3d ). In this configuration is - in the view from the left - the Fußaufnahmeteil 1 counterclockwise with respect to the support bracket 2 pivoted. The support beam 1 is in turn clockwise with respect to the base 3 pivoted. Both Verschwenkungen can be supported in a driven variant and motor.

In the middle swing phase, the leg is moved forward by the increased hip flexion, while the knee is angled approximately 90 degrees ( 3e ). In 3e is the foot receiving part 1 again in a clockwise direction relative to the support beam 2 pivoted back. In addition, in the middle swing phase, the toes and the foot become 7 actively raised, which in this case by pivoting the support bracket 2 concerning the basic vehicle 3 is feasible. In this configuration, the foot can 7 at a distance from the walking area 6 forward, that is in the direction of the direction of travel 4 be guided. In other words, the therapeutic walk trainer supports the foot 7 the user at a suitable "trajectory". In addition, flexion in the hip joint is at its greatest in this phase.

In the final swing leg phase, the leg is back in the direction of the walking area 6 lowered, with the knee actively stretched and the foot 7 held in neutral position ( 3f ). The pivoting on the base support 3 arranged support beams 2 supports the foot 7 the user in the upcoming contact with the ground through the heel, so that they are not too strong on the walking surface 6 incident.

The therapeutic walk trainer supports the foot 7 the user in each phase, so that the walk trainer can achieve an almost natural gait cycle.

In 4 a further embodiment of a therapeutic walk trainer is shown, wherein in this embodiment, an actuator 9 is provided, through which the support beam 2 relative to the basic carrier 3 is pivotable. This actor 9 allows infinite adjustment of the support beam 2 and thus the foot receiving part 1 opposite the basic carrier 3 between a raised position (see. 3a ) and a lowered position (see. 3b ).

The present is the actor 9 swiveling on the base support 3 , in particular on the longitudinal members 17a . 17b stored. Furthermore, a control member 10 at the actuator 9 formed along a base or a control curve 11 on the support beam 2 is movable. Through the along the control curve 11 sliding control member 10 can be the support beam 2 and thus the foot receiving part 1 raise or lower.

For lifting or lowering the forefoot of the user, a pulling element 8th be provided, as for example in 6 is shown. This is where the tension element engages 8th at the actuator 9 in the area of the control element 10 at. By acting not parallel to the longitudinal direction tensile force can be as a rocker arm 24 educated actor 9 pivot. This pivoting provides not only a horizontal force component but also a vertical force component, through which the support beam 2 and thus the foot receiving part 1 let raise. The horizontal force component causes the process of the basic carrier 3 in and / or opposite to the direction of travel 4 , Alternatively or additionally, in addition to the tension element shown 8th be used another secondary tension element, through which then the base support 3 from the actor 9 engaging (vertical) pulling element separately along the walking surface 6 is adjustable. In other words, the tension element is used 9 then the actuation of the actuator 9 (Aktorzugelement) and the Zweitzugelement the adjustment or method of the basic carrier 3 ,

In 5 a further embodiment of a therapeutic walk trainer is shown, which basically has the same structure as that in 4 is shown. Here are also actors 9 for the adjustment of the support beams 2 and thus the foot receiving part 1 intended. In addition - is shown schematically - at least one, preferably a plurality of sensors 25 provided for position detection of the adjacent, preferably free foot. Here are the sensors 25 formed as optical camera systems by which the position of the adjacent leg or foot can be detected. The basic carrier 3 serves as a housing for the sensors 25 so the sensors 25 in other words, in the basic carrier 3 are included. Depending on the position of the adjacent leg can be moved by an intelligent logic and / or control of the therapeutic gait trainer according to the instantaneous gait phase. Furthermore, by a higher-level control computer, the (height) position of the Fußaufnahmeteils 1 depending on the position of the adjacent leg in the Schwungbeinphase be varied and adjusted.

In 7 A further embodiment of a therapeutic walking trainer is shown that substantially corresponds to that described in US 5,856,074 2 described. It is, however, supplemented by a front cross member 19 , so that a total of a frame-shaped base support 3 arises, the appropriate free space 5 for the passage of a foot 7 having. In this embodiment, the foot is 7 the user around by the frame-shaped base support 3 protected.

The 8th shows another therapeutic walk trainer that has a foot receiving part 1 has, pivotally or pivotally at a first end 26a a support carrier 2 is arranged. At the second end 26b of the support carrier 2 is hinged or pivotally a basic support 3 arranged, as was the case with the previous embodiments. Deviating is provided in this gait trainer, however, that the basic support 3 now sliding elements 27 in turn, in a guide rail 28 are guided.

Instead of sliding elements 27 can also use wheels 22 , in particular driven wheels 22 Be used to the therapeutic gait trainer in and / or against the direction of travel 4 in the guide rail 28 to be able to adjust or move. This is according to the walk trainer 9 to recognize.

LIST OF REFERENCE NUMBERS

1

 foot-receiving

2

 support beam

3

 base support

4

 direction of travel

5

 free space

6

 walking surface

7

 foot

8th

 tension element

9

 actuator

10

 control member

11

 cam

12

 first rotary joint

13a

 axis

13b

 axis

14

 second pivot

15

 lower leg

16a

 first support beam

16b

 second support beam

17a

 first side member

17b

 second side member

18

 rear cross member

19

 front cross member

20

 roll

21

 axis

22

 bikes

23

 mark

24

 rocker arm

25

 sensor

26a

 first end

26b

 second end

27

 Sliding elements

28

 guide rail

Claims (10)

Therapeutic walk trainer with a foot receiving part ( 1 ) for receiving at least a portion of the foot ( 7 ) of a user, with a support beam ( 2 ) rotatably or pivotally connected to the foot receiving part ( 1 ) and one with the support beam ( 2 ) pivotally connected base support ( 3 ), which is adjustable or movable in and / or against a direction of travel ( 4 ). Therapeutic walk trainer according to claim 1, characterized in that in or on the base support ( 3 ) a free space ( 5 ) and that the free space ( 5 ) is configured such that a base area or a walking area ( 6 ) is accessible through at least part of the foot ( 7 ) of the user. Therapeutic walk trainer according to claim 1 or 2, characterized in that the basic carrier ( 3 ) a drive device is assigned to the motorized adjustment or method of the basic carrier ( 3 ) in and / or opposite to the direction of travel ( 4 ). Therapeutic walk trainer according to one of claims 1 to 3, characterized in that a tension element ( 8th ) or a pressure element is provided. Therapeutic walk trainer according to claim 4, characterized in that the tension element ( 8th ) or the pressure element with the base support ( 3 ) is coupled or couplable, such that the basic carrier ( 3 ) in and / or opposite to the direction of travel ( 4 ) is pushed, pulled or pressed. Therapeutic walk trainer according to claim 4, characterized in that the tension element ( 8th ) or the pressure element with the support carrier ( 2 ) is coupled or couplable, such that the basic carrier ( 3 ) by an actuation of the support carrier ( 2 ) by means of the tension element ( 8th ) or by means of the pressure element in and / or counter to the direction of travel ( 4 ) is pushed, pulled or pressed. Therapeutic walk trainer according to one of claims 1 to 6, characterized in that the foot receiving part ( 1 ) and / or the support beam ( 2 ) an actor ( 9 ) is assigned, through which the foot receiving part ( 1 ) and / or the support beam ( 2 ) in relation to the basic carrier ( 3 ) are adjustable between a raised position and a lowered position. Therapeutic walk trainer according to claim 7, characterized in that the actuator ( 9 ) an actuator drive is assigned to the motorized adjustment of the foot receiving part ( 1 ) and / or the support carrier ( 2 ). Therapeutic walk trainer according to claim 7, characterized in that the tension element ( 8th ) or the pressure element with the actuator ( 9 ) or can be coupled, that by actuating the actuator ( 9 ) by means of the tension element ( 8th ) or by means of the pressure element the Fußaufnahmeteil ( 1 ) and / or the support beam ( 2 ) are adjustable, and that the basic carrier ( 3 ) by an actuation of the actuator ( 9 ) by means of the tension element ( 8th ) or by means of the pressure element in and / or counter to the direction of travel ( 4 ) is pushed, pulled or pressed. Therapeutic walk trainer according to one of claims 7 to 9, characterized in that the actuator ( 9 ) hinged to the base support ( 3 ) is connected to the actuator ( 9 ) a control element ( 10 ) associated with one on the foot receiving part ( 1 ) and / or on the support beam ( 2 ) provided control cam ( 11 ) interacts and that by an adjustment of the control member ( 10 ) relative to the control cam ( 11 ) the foot receiving part ( 1 ) and / or the support beam ( 2 ) are adjustable.

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