DE102016223575A1 - Device for detecting and guiding a movement to be performed by a person - Google Patents

Abstract

The device (1) is intended for detecting and guiding a movement to be performed by a person (2). It has a frame (3) with a lower and an upper frame frame (4, 5), an adapter unit (9) to be attached to the person (2), a drive and monitoring unit (37), and nine cables (13-21). each of which extends at least between the adapter unit (9) on the one hand and the lower frame frame (4) or the upper frame frame (5) on the other hand, and each of which forms a cable connection with an adjustable connection length. The drive and monitoring unit (37) is designed to measure, as a measure of an actual movement performed by the person (2), the actual connection lengths of all cable connections and actual cable forces present in each of the cables, the actual movement thus detected with a desired movement and, depending on this comparison, adjust the connection lengths of the cable connections and the cable forces.

Description

The invention relates to a device for detecting and guiding a movement to be performed by a person.

The movement to be performed by the person may be e.g. to serve for athletic training or for the medical therapeutic treatment of this person. The person may therefore be in particular an athlete, a subject or a patient.

Devices for supporting, partly including the detection and monitoring, of movements are already known in many different configurations. Such devices are used not only but especially in gyms and in physiotherapy facilities.

In the DE 198 40 800 C1 For example, a device for detecting the power of individual muscle groups is disclosed. It has a plurality of height-adjustable pressing elements arranged on a frame, each of which is in operative connection with a force measuring unit. The respective force measuring unit measures the force exerted on the pressing elements. This device is a pure diagnostic system for determining isometric force.

Furthermore, in the US 5,474,086 a device for controlling the movement or the force application of the lumbar spine of a patient described. There are provided an upright frame and a bottom with a rotatable bottom plate. A patient is relatively fixed and with limited freedom of movement fixed in the device. The force measuring devices are connected to a computer control system whose program is designed to test the mobility of the patient, for example, under isokinetic and isometric conditions.

The DE 10 2004 054 051 A1 discloses a device for training movements and balance in cornering, such as occur when skiing. The exercise device comprises a bottom plate with main braces and holding elements. A standing on the bottom plate trainees wearing a body belt, which is braced in four directions, for example by means of rubber bands with the holding elements. A diagnosis or follow-up of the exerciser's movements does not allow this exerciser.

In the DE 10 2005 051 674 A1 a device for muscle training is described, in which a counterforce is not provided by weights, but by an electric motor, which applies a contrary to the applied by the exerciser on the extremities power directed consideration. The training device has a frame frame and a cable assembly connected to an output of an electric motor with two handles. With the training device largely free movements of the extremities are possible. On the other hand, there is no provision for this device to diagnose or monitor the movements of the exerciser.

The object of the invention is to provide a device of the type described above with improved over the prior art properties.

To solve this problem, a device according to the features of claim 1 is given. The device according to the invention has a frame with a lower and an upper frame frame, an adapter unit to be mounted on the person, a drive and monitoring unit and nine cables, each of which runs at least between the adapter unit on the one hand and the lower frame frame or the upper frame frame on the other hand, and each of which forms a cable connection with an adjustable connection length. The drive and monitoring unit is designed to measure the actual connection lengths of all cable connections as well as actual cable forces present in each of the cables as a measure of an actual movement performed by the person, to compare the thus detected actual movement with a desired movement, and in FIG Dependence on this comparison to adjust the connection lengths of the cable connections and the rope forces.

It has been recognized that cable connections between the frame frame or the particular controlled drive and monitoring unit on the one hand and the person or the adapter unit attached to the person on the other hand with respect to the realization of free movement significantly better suited than basically also conceivable mechanically rigid connections , Cable connections hinder free movement significantly less than rigid connections. On the other hand can be applied via cable connections only train (against) forces and transmitted, but not pressure (against) forces that can also occur when working or training with the device or are required. In order to be able to "imitate" pressure (counter) forces in any direction, the device has a comparatively high number of cable connections, namely nine. In particular, the number of existing cable connections is greater than the number of mechanical degrees of freedom, of which there are a total of six, namely three translational and three rotary. Each of these Cable connections are formed in particular between the adapter unit and a cable or individual drive of the drive and monitoring unit.

By means of the drive and monitoring unit are preferably both in particular each current, i. to the respective evaluation or calculation time, present actual connection lengths and the actual in each of the cable connections also in each case currently present actual cable forces detectable, as well as the desired movement corresponding connection lengths of each of the cable connections individually determinable and adjustable or adjustable and for each of the cable connections one the desired movement corresponding Antriebsseilkraft determined and switched on or adjustable. These detections, determinations and adjustments made by the drive and monitoring unit take place, in particular, continuously during the entire movement process. The associated evaluation and calculation steps are preferably repeated cyclically and, for example, at intervals of at most 1 ms. Preferably, the drive and monitoring unit comprises a control sub-unit, a control sub-unit and in particular nine individual drives connected to the control sub-unit, e.g. in the form of electric motors, on.

Advantageously, the device makes it possible to detect and also guide virtually any three-dimensional movement sequence of a person working or training with the device. The sequence of movements can be specified practically exclusively according to the training or therapy goals, without limitations to be considered by the device. Preferably, the device has an advantageous multi-dimensional (and in particular three-dimensional), dynamic (and in particular isokinetic) power-output diagnostics. The application takes place during the movement. In particular, the device is an isokinetic test and training device. It has with respect to the diagnosis (capture) and the management of movements an extraordinary flexibility, which is not given in previous devices. The device is particularly well suited for the diagnosis of the three-dimensional mobility of a person affected for example by illness or injury, but in addition also for the therapy of such a person, that is to carry out rehab training with preferably likewise three-dimensional movement sequences.

The desired movement is specifiable in particular. It can for example be entered directly into the device by means of an input unit and stored in a motion memory. Alternatively, however, it can also be read into the motion memory of the device by means of a data connection. Accordingly, the device may thus preferably be equipped with a motion memory in which desired movements or desired movement sequences are stored.

The nine cables are guided in particular via deflection points mounted on the lower or upper frame frame or on both frame frames. Each of the nine cables preferably connects the adapter unit with one of the drive components of the drive and monitoring unit, which are designed in particular as individual drives. In particular, the fact that the ropes are guided up or down to the frame frame in question, there is enough free space available, within which the person can perform the desired largely arbitrary three-dimensional movement, without being hindered by the cable courses. Preferably, the lower and upper frame frames are one above the other and more than a typical body size, in particular more than 2.00 m and in particular less than 3.00 m, preferably a value between 2.20 m and 2.50 m preferably about 2.40 m, spaced from each other. Hiss the lower and the upper frame frame is thus in particular a free movement space available within which the desired movement can take place.

In addition, the device is characterized by the fact that the cable connections used in case of failure associated with a lower risk of injury than rigid connections. In addition, a person working or exercising with the device feels less constrained or trapped by the cable connections than would be the case with the use of rigid connections. This increases the acceptance of the device with the user.

Overall, an arbitrary three-dimensional actual movement of the person is advantageously detectable by the device, and also any desired three-dimensional desired movement of the person can be guided.

Advantageous embodiments of the device according to the invention will become apparent from the features of the dependent claims of claim 1.

Conveniently, an embodiment in which the upper frame frame encloses a larger area, in particular a 10% to 30% larger area than the lower frame frame. This results in greater freedom of movement for a person using the device in the region of the upper body. Basically, the two frames can also be the same size. If necessary, the respectively existing on the lower and upper frame frame and in particular normally in Extension of a respective Antriebswirkungslängsachse be placed deflection points for the ropes are changed in their respective position in order to realize even with respect to the detection and / or leadership particularly demanding movements, such as a trunk rotation, the determined by the body anatomy maximum amount of movement. In particular, the deflecting points present on the lower frame frame can be offset relative to the deflection points provided on the upper frame frame.

According to a further advantageous embodiment, the adapter unit is configured as an adapter ring to be applied to a body region of the person or has such an adapter ring. In particular, the adapter unit is designed to rest on the trunk or on one of the extremities (arm or leg). Preferably, the adapter ring is multi-part and in particular has at least two releasably composable ring parts. This facilitates and speeds up the loading and unloading of the adapter unit. The adapter ring enables the definition of defined measuring points for recording and guiding the movement sequences. In particular, these measuring points coincide with the articulation points for attaching the cables to the adapter ring. The ropes can be easily attached to the adapter ring, for example by means of attached to the adapter ring attachment hooks, loops or loops. Furthermore, the adapter ring preferably has a high rigidity, so that it can transmit forces from the ropes to the body of the person and / or vice versa substantially lossless. The adapter ring is also particularly very compact and has only a small volume, so that it does not restrict the freedom of movement of the person or at least not significantly in the applied state. Furthermore, the weight of the adapter ring is advantageously low, whereby the inertia is kept low. The adapter ring is preferably equipped with system components intended for installation on the person. In particular, the abutment components can be flexible and / or padded and / or variable in their position and / or shape. There is a favorable separation of functions. While the adapter ring is intended for defined integration into the detection system of the device, in particular for fixed and defined connection with the cables, the abutment components serve for individual adaptation to the anatomy of the person. In particular, the system components can compensate for the different anatomical conditions of different persons using the device.

According to a further advantageous embodiment, there are at the adapter unit between three and six spaced attachment points for the nine cables, said attachment points are seen over a circumferential direction of the adapter unit preferably arranged substantially equally distributed. In particular, there are three such attachment points. According to the theory of the Stewart platform (Hexapod), a free movement in space can be realized particularly well and very efficiently by means of three articulation points (corresponding to the above-mentioned attachment points).

According to a further advantageous embodiment, the adapter unit is configured as an adapter harness to be applied to a body region of the person or has such an adapter harness. By means of such an adapter harness, defined measuring points for the detection and guidance of the movements can be defined. In addition, it has a relatively low weight and is comfortable to put on and take off and wear. The adapter harness further allows a largely unrestricted or undisturbed movement. A person wearing the adapter harness is disturbed by the adapter harness hardly or practically not at all in their movement to be performed.

According to a further advantageous embodiment, three of the cables are guided either to the upper frame frame or the lower frame frame and the other six cables to each other frame frame. The feeding of three ropes from above and from three ropes from below results from the specification of preferably three fastening points on the adapter unit. The remaining three ropes, which are only there to realize the ropes in general - and therefore also in the first six ropes - not given pressure force transmission or reproduce can be supplied either from above or from below. A division of these three additional ropes, with a supply of eg two ropes from above or below and the third rope from the other side is technically possible in principle, but not useful, since it would have a more complex implementation result. The supply of the three additional ropes from the top offers technical advantages, especially in the detection / management of a trunk movement of the person, since then in a strong torso bending advantageously a total of six supplied from above ropes are available that can hold and lead the angled body of the person. In contrast, the supply of the three additional ropes from the bottom is more comfortable for the person, since it is less affected in the freedom of movement of her upper body. The attachment of the ropes on the upper and lower frame frame also takes place in each case via three in the circumferential direction in particular approximately equally spaced spaced deflection, preferably three Doppelumlenkstellen for two cable connections with accordingly two closely together lying individual cable deflections are present. In particular, the deflecting points present on the lower frame frame can be placed offset in the circumferential direction relative to the deflection points present on the upper frame frame. Preferably, the offset is such that, seen in the circumferential direction, a deflection point on the lower frame frame follows a deflection point on the upper frame frame and vice versa, wherein a circumferential angular offset between two circumferentially adjacent but arranged on different frame frame deflection points is approximately the same size.

According to a further advantageous embodiment, the device has a person fixing unit, which is designed to fix the person so that the person is only partially, and in particular only to a desired extent or extent, free of movement. In particular, the person fixing unit may have foot straps or a chair or a chair-like element, the latter two are each equipped with fixing straps. Alternatively, the personal fixation unit may also have a more complex fixation device with multiple fixation points, e.g. allows a fixation of the lower body of the person. The personal fixation unit facilitates the more accurate execution of a desired movement. Due to the fact caused by them Teilfxierung the person using the device is particularly avoided that actually uninvolved parts of the body at the desired movement are erroneously moved. In particular, the person fixing unit can be mechanically fixedly connected to the frame. This achieves a very accurate and well-defined positioning of the person within the frame and also of the device as a whole. Optionally, the person fixing unit can be equipped with a sensor, in particular a force sensor, which is preferably designed to detect the force or the torque that the person exerts on the person fixing unit, and its sensor output preferably to the drive and Monitoring unit is connected.

According to a further advantageous embodiment, a separate second monitoring unit is provided, which is designed to monitor the movement of the person and on detection of an abnormality in the movement of the person or an overload of the person an emergency shutdown, in particular at least one cable drive performance, causes. The separate second monitoring unit may, for example, have a camera, light curtains and / or remote-sensing motion sensors mounted on the adapter unit. Preferably, the drive and monitoring unit is designed to make an emergency shutdown upon detection of an abnormality in the movement of the person or an overload of the person. Due to the separate monitoring unit, however, a security enhancing redundancy is given.

According to a further advantageous embodiment, the drive and monitoring unit is designed to also adjust changes in the connection lengths of all cable connections as a function of the comparison between the actual movement and the desired movement. The changes in the connection lengths of all cable connections are in particular (rope) speeds. These can in particular either be detected directly or determined or calculated indirectly, for example by the formation of the first time derivative of the respective connection lengths of the cable connections. Due to the additional consideration of the (rope) speeds, the movement of the person can be detected and / or guided even better.

According to a further advantageous embodiment, a force control is implemented in the drive and monitoring unit, so that the drive and monitoring unit supports or slows down the movement actually carried out by the person as a function of the comparison with the desired movement by correspondingly adjusted cable forces. Thus, a desired movement of the person can be performed very efficiently.

According to a further advantageous refinement, a calculation algorithm is implemented in the drive and monitoring unit, which preferably uses the cable forces and / or connection lengths and / or connection lengths and / or also connection speeds required to achieve the desired movement, in particular at each calculation time Setpoint values for a control algorithm also implemented in particular in the drive and monitoring unit are determined using a calculation criterion, according to which the cable forces assume the smallest possible value, ie in particular a minimum. The calculation criterion of the minimum rope forces can refer to the sum value of all rope forces and / or to each individual rope force. In the former case, the calculation criterion serves to determine the set of rope forces that has the minimum sum value of all rope forces. In the second mentioned case, the calculation criterion serves to determine all the cable forces so that they each have the minimum value. In particular, the solutions determined for both variants of the calculation criterion can also coincide, ie be identical. In particular, the implemented calculation algorithm is a simplex algorithm. With such a calculation criterion and in particular such an algorithm can be advantageously also the To solve the overdetermination problem that results from the presence of nine rope connections with nine rope forces (and thus nine equations) with only six unknowns to be determined according to the six mechanical degrees of freedom, namely the three translational and the three rotational motion components. Preferably, the calculation algorithm implemented in the drive and monitoring unit has a calculation interval of at most 1 ms. The rope forces and / or connection lengths and / or optionally also (rope) speeds which are to be adjusted or adjusted are in particular newly determined or updated in each calculation interval. As a result, the drive and monitoring unit is able to respond very quickly to changing conditions, such as movement changes. On the one hand, this promotes the training or therapeutic effect that can be achieved with the device and at the same time increases safety. Emerging for the person using the device critical stress situations can be detected and turned off very quickly.

According to a further advantageous embodiment, the drive and monitoring unit designed as electric motors individual drives for individually influencing each of the cable connections, and is preferably adapted to measure electric motor currents of the electric motors and by means of these measured motor currents currently in the respective cable connections given rope forces and thus, in particular, at least indirectly and approximately to detect the cable forces caused by the person in the respectively associated cable connections. In particular, each cable is connected to one of the individual drives, for example, wound on a driven by the single drive winding roller. Then the single drive can also be understood as a winding drive. Preferably, by means of the single drive, the connection length of the cable connection formed with this rope and in particular the cable force, which is applied to this cable connection, and in particular the (rope) speed, with which the connection length of this rope is changed, on or readjust. The individual drives act on the associated cable connections so in particular with the required traction. The individual drives can be designed, for example, as electric linear motors or as electric rotary motors. Based on the respective measured motor current of the electric motors, the cable force in the associated cable connection can be determined without further ado. In particular, this sought-after force is directly proportional to the motor current. The latter is preferably true for electric linear motors. But even with other types of electric motors there is a known and thus evaluable relationship between the motor current and the force produced by the electric motor. According to the physical principle "actio = reactio", the (drive) cable force produced by the individual drive in the associated cable connection is at least substantially equal to the force with which the person using the device pulls on this cable connection due to their actual movement. The (person-) rope forces caused by the person in the cable connections can thus be easily determined from the (drive) cable forces and thus from the measured motor currents.

According to a further advantageous embodiment, the drive and monitoring unit on nine force measuring units, each of which is associated with one of the cable connections and determines the given in the associated cable connection cable force. The rope forces actually determined in the cable connections or in their cables serve as a measure of the movement actually carried out by the person. In particular, the force measuring units are designed as cable force sensors, which perform a direct force measurement in the cable connections, which thus in particular detect directly the rope forces acting on the cable connections or prevailing therein. Alternatively or additionally, however, the force measuring units can also be designed to determine the respective cable force indirectly via an electric motor current of the associated electric motor, that is to say to determine the respective cable force indirectly by means of a motor current detection. The drive and monitoring unit is designed in particular for a cable force test. In this case, it is also preferably checked whether the cable forces acting on the cable connections or prevailing therein fall below a lower threshold force. When falling below the lower threshold force causes the drive and monitoring unit, the application of the respective cable connection with a minimum cable force. This ensures that all ropes are always at least slightly tense. Otherwise it could lead to loose running ropes that affect the movement of the person and in the worst case could even pose a risk of injury. In connection with the cable force check, it is also preferably possible to check whether the cable forces acting on the cable connections or prevailing therein exceed an upper threshold force. If this is the case, the cable force is reduced in the relevant cable connection by an appropriate adjustment, for example, by reducing the default for the cable force. This prevents that the rope of the cable connection in question is overloaded and in the worst case even ruptures. In addition, the upper limit for the rope forces in the form of the upper threshold force also serves the safety of the person using the device. The lower threshold force and the upper threshold force may also, in particular, further calculation criteria (or Boundary conditions) of the calculation algorithm which is preferably implemented in the drive and monitoring unit and which preferably determines the cable forces and / or connection lengths and / or optionally also (cable) speeds to be used to achieve the desired movement at each calculation time the drive and monitoring unit implemented control algorithm determined.

According to a further advantageous embodiment, the drive and monitoring unit on nine position measuring units, each of which is associated with one of the cable connections and / or in particular one of the individual drives or electric motors. The drive and monitoring unit is in particular designed to determine the respective connection length of the associated cable connection on the basis of the measurement results of the position measuring units. The actual connection lengths determined in this way serve as a measure of the movement actually carried out by the person.

According to a further advantageous embodiment, the drive and monitoring unit is designed to determine the motion components according to all six mechanical degrees of freedom from the actual movement of the person. In particular, this determination takes place within each calculation interval. As a result, a very good diagnosis and documentation of the mobility of the person using the device is possible. The knowledge of all motion components also improves the quality of the motion control provided by the device. Based on this data, the actual movement of the person can be compared very well with the actually desired movement.

• 1 ein Ausführungsbeispiel eines Geräts zur Erfassung und Führung einer beliebigen dreidimensionalen Bewegung in einer perspektivischen Ansicht,
• 2 das Gerät gemäß 1 in einer Seitenansicht,
• 3 das Gerät gemäß 1 in einer Draufsicht von oben,
• 4 ein erstes Ausführungsbeispiel einer Adaptereinheit des Geräts gemäß 1 in Form eines Adapterrings und in einem am Rumpf der die Bewegung ausführenden Person angelegten Zustand,
• 5 den Adapterring gemäß 4 im nicht angelegten geschlossenen Zustand,
• 6 den Adapterring gemäß 4 im nicht angelegten geöffneten Zustand,
• 7 ein zweites Ausführungsbeispiel einer Adaptereinheit des Geräts gemäß 1 in Form eines Adapterrings und in einem am Arm der die Bewegung ausführenden Person angelegten Zustand,
• 8 den angelegten Adapterring gemäß 7 in einer vergrößerten Darstellung
• 9 ein zweites Ausführungsbeispiel eines Geräts zur Erfassung und Führung einer beliebigen dreidimensionalen Bewegung mit einer Adaptereinheit in Form eines Adaptergurtgeschirrs, und
• 10 ein Blockschaltbild einer Antriebs- und Überwachungseinheit der Geräte gemäß 1 und 9.

Further features, advantages and details of the invention will become apparent from the following description of exemplary embodiments with reference to the drawing. It shows:

• 1 An embodiment of a device for detecting and guiding any three-dimensional movement in a perspective view,
• 2 the device according to 1 in a side view,
• 3 the device according to 1 in a top view from above,
• 4 a first embodiment of an adapter unit of the device according to 1 in the form of an adapter ring and in a state applied to the trunk of the person performing the movement,
• 5 according to the adapter ring 4 in the unused closed state,
• 6 according to the adapter ring 4 in an unopened open state,
• 7 a second embodiment of an adapter unit of the device according to 1 in the form of an adapter ring and in a state applied to the arm of the person performing the movement,
• 8th the applied adapter ring according to 7 in an enlarged view
• 9 a second embodiment of an apparatus for detecting and guiding any three-dimensional movement with an adapter unit in the form of an adapter belt harness, and
• 10 a block diagram of a drive and monitoring unit of the devices according to 1 and 9 ,

Corresponding parts are in the 1 to 10 provided with the same reference numerals. Also details of the embodiments explained in more detail below may constitute an invention in itself or be part of an inventive subject matter.

In 1 is an embodiment of a device 1 to capture and guide any three-dimensional movement of a person 2 shown in perspective. In 2 and 3 is the device 1 in other views, namely in a side view and in a plan view from above shown. With the device 1 can be a virtually arbitrary three-dimensional movement of the person 2 diagnose, so that the device 1 can also be understood as a diagnostic device. At the same time it is just as possible, the movement of the person 2 to lead according to a predetermined, also virtually any three-dimensional movement sequence. This movement guidance can be carried out for training or for therapy, for example as part of a rehabilitation measure. It is used in particular to build muscle or improve mobility. In this respect, the device can 1 also be understood as a training, rehabilitation or therapy device.

The device 1 has a frame 3 with a lower frame 4 and an upper rack frame 5 on. The frame in the embodiment shown substantially circular executed 4 and 5 are at least approximately arranged concentrically one above the other. They are by means of three frame supports 6 kept at a distance. The frame supports 6 have a column length that is larger than a typical body size. In the embodiment shown, the frame supports 6 a length of about 2.20 m. This is between the lower frame frame 4 and the upper one rack 5 a free space of movement 7 formed within which the person 2 make their move.

The frame 3 also includes three drive sockets 8th each of which is in the circumferential direction of the lower frame frame 4 seen approximately in the middle between two adjacent frame supports 6 on the lower frame 4 is placed.

In the illustrated embodiment, the two frame frames 4 . 5 in about the same size. They enclose an approximately equal area. In an alternative embodiment, not shown, the upper frame frame 5 enclose a larger area than the lower frame frame 4 ,

Except the frame 3 points the device 1 an adapter unit 9 to be attached to the person 2 is determined. In the embodiment according to 1 to 3 is this attachment of the adapter unit 9 shown only schematically. Details are the in 4 to 9 refer to specific embodiments shown. The adapter unit 9 is preferably annular and has circumferentially three evenly spaced and spaced mounting locations 10 . 11 . 12 in which a total of nine ropes 13 to 21 on the adapter unit 9 are fixed. At each of the attachment points 10 . 11 . 12 are three of the ropes 13 attached to 21, for example by means of appropriate eyelets. Per attachment point 10 . 11 . 12 are two of the ropes 13 to 21 on one top and another of the ropes 13 to 21 on an underside of the annular adapter unit 9 fixed.

The ropes 13 to 21 each form a cable connection between the adapter unit 9 and nine winding drives 22 to 30 , Each of the winding drives 22 to 30 has an electric motor 31 and an attached winding roll 32 , which via the associated electric motor 31 can be rotated in both directions, so that the associated of the ropes 13 to 21, that on this winding roll 32 is attached, depending on the direction of rotation of the winding roll 32 either wound up or unwound. The three winding drives 22, 23, 24 are each on one of the three on the lower frame frame 4 located drive socket 8th mounted, whereas the other six winding drives 25 to 30 each at the top of the frame supports 6 are mounted. On every frame support 6 are two of these winding drives 25 to 30 mounted, one at the movement room 7 facing the inside and the second at the of the movement space 7 facing away outside of the relevant frame support 6 ,

The through the ropes 13 to 21 formed cable connections each have a deflection by three on the lower frame frame 4 and six on the upper rack 5 arranged pulleys 33 are realized. The pulleys 33 are doing on inwardly projecting extensions 34 of the lower and upper frame 4 respectively. 5 mounted, taking on the extensions 34 of the upper frame 5 two guide rollers 33 and on the extensions 34 of the lower frame 4 only one pulley each 33 are placed or is. Each of the ropes 13 to 21 thus proceeds from the winding roll 32 the associated of the winding drives 22 to 30 over one of the pulleys 33 to one of the attachment points 10 . 11 . 12 on the adapter unit 9 , The three ropes 13 . 14 . 15 starting from the adapter unit 9 down towards the lower frame 4 , the remaining six ropes 16 to 21 on the other hand, starting from the adapter unit 9 upwards in the direction of the upper frame 5 ,

The pulleys 33 make up for that by the ropes 13 to 21 formed cable connections deflection points at the lower and upper frame frame 4 , 5. At the upper frame 5 are two of these deflection points due to their arrangement on the same extension 34 placed close to each other. They each form a double deflection point. The three Doppelumlenkstellen thus formed are in the circumferential direction of the annular upper frame frame 5 arranged substantially equally distributed. The same applies to the likewise annular lower frame frame 4 arranged Einzelumlenkstellen, wherein the Doppelumlenkstellen on the upper frame frame 5 circumferentially offset to the Einzelumlenkstellen on the lower frame frame 4 are arranged. How out 3 can be seen, the circumferential angular offset is selected so that the individual deflection of the lower frame frame 4 are placed approximately centrally in the circumferential direction between two double deflection of the upper frame frame. This results between a Einzelumlenkstelle the lower frame frame 4 and a Doppelumlenkstelle the upper frame frame 5 each a circumferential angle offset of about 60 °. When the cable guide is thus on the two frame frame 4 . 5 available space as evenly as possible.

To the person 2 within the movement space 7 To fix at a defined position are two foot straps 35 present, which over a Bodenstandplatte 36 fixed to the lower frame 4 and therefore with the frame 3 are connected in total. The bottom plate 36 and the attached foot straps 35 can be understood as a person fixing unit, by means of which the freedom of movement of the person 2 during one within the movement space 7 movement is restricted. Such Personenfixierungseinheit is not mandatory. This is optional and can in some cases help one by the person 2 easier to grasp and / or guide the movement to be performed. In principle, there are also other embodiments of personal fixing units. An alternative embodiment, for example, a chair on which the person 2 can be fixed with her lower body.

The winding drives 22 to 30 are components of a drive and monitoring unit 37 , which also has other components, in particular an input / output unit 38 in the form of an operator terminal and an evaluation / control unit 39 , The components of the drive and monitoring unit 37 are interconnected to realize a data exchange and / or at least partially the supply of electrical supply / drive energy. These connections may be wired or at least in data connections and wirelessly configured as radio links. For the sake of clearer presentation are in 1 to 3 these connections between the components of the drive and monitoring unit 37 not included, even if they should be wired.

The drive and monitoring unit 37 allows the capture of one from the person 2 carried out actual movement. Besides, it can control the movement of the person 2 after a corresponding comparison of the detected actual movement with a predeterminable desired movement so that lead by the person 2 performed movement of the desired movement comes as close as possible.

To the actual movement of the person 2 be determined by means of the drive and monitoring unit 37 the connection lengths of the through the ropes 13 to 21 formed rope connections as well as in each of the ropes 13 to 21 recorded ruling rope forces.

To guide the movement of the person 2 determines the drive and monitoring unit 37 for each time, ie for each temporal calculation interval, the connection lengths required by the ropes for the desired given movement 13 to 21 formed rope connections as well as in each of the ropes 13 to 21 For this purpose set rope forces. Furthermore, the drive and monitoring unit initiates 37 by a corresponding control of the winding drives 22 to 30 on the one hand the setting of the connection lengths determined in this way and, on the other hand, an action on the cables 13 to 21 with the determined rope forces. Optionally, in addition, the cable speeds with which the connection lengths change, by means of the drive and monitoring unit 37 be recorded and set.

The following is the operation of the drive and monitoring unit 37 of the device 1 based on the block diagram according to 10 described in more detail. In the presentation of 10 are for the sake of clarity of the total of nine ropes 13 to 21 and nine winding drives 22 to 30 only one or one shown schematically, namely the rope 13 and the winding drive 22 , The not shown with ropes 14 to 21 and winding drives 23 to 30 are analogous to complement, as well as other components and sizes in 10 each shown only in a simple design.

The evaluation / control unit 39 has a control subunit 39a and nine regulatory sub-units 39b in the form of drive controllers, each one of the winding drives 22 to 30 regulate.

The drive and monitoring unit 37 has as additional components nine cable force sensors 13a as well as nine rope position knives 13b , each one of the ropes 13 to 21 the nine rope connections to the person 2 are assigned and to capture the actual current in the particular rope 13 present cable force _F and the actual current connection length S _is defined by this rope 13 formed cable connection are determined. The so-detected actual rope forces _F, and actual connection lengths _s are input variables of the control subunit 39a and the regulatory sub-units 39b ,

In the control subunit 39a If necessary, these input variables are subjected to a coordinate transformation. In the control subunit 39a A calculation algorithm is implemented, which includes a comparison between an actual actual movement of the person determined on the basis of the (possibly transformed) input variables 2 and one in a store 39c the control unit deposited (desired) motion profile to the control subunits based on the comparison results 39b (if necessary, transformed back) setpoint specifications. The one in the control subunit 39a implemented calculation algorithm includes a sub-algorithm, in particular a simplex algorithm, _is the basis of which (transformed, if necessary) from the input parameters F, and s _is the actual current motion is determined, wherein a used calculation criterion is that the totality of all rope forces in all ropes 13 to 21 assumes a minimum value. Additional boundary conditions may be added, for example minimum and maximum values for the rope forces in all ropes 13 to 21 , Such a minimum cable force (lower threshold force) should not fall below the ropes 13 to 21 always curious. The maximum rope (upper swelling force) should not be exceeded, in order to tear the ropes 13 to 21 or overburden the person 2 to prevent. The calculation algorithm is in a central processing unit 39d the control subunit 39a carried out.

The central processing unit 39d also has access to the memory 39c in which the (desired) movement profile is stored. This (desired) movement profile can be achieved either via the input / output unit 38 entered or stored when performing a pattern movement.

At the to the control sub-units 39b delivered target values is at least around the connection lengths setpoints s _will and the cable force setpoints F _should. Optionally, additional cable speed setpoints v set can _be specified. Due to the optional character, these specifications are in the block diagram according to 10 entered only with dashed lines.

Accordingly, the regulatory sub-units are 39b cascade controllers known per se, each having up to three reference variables, namely the above-mentioned desired values s _soll , F _soll and possibly v _soll . The outputs of these nine cascade controllers are connected to the electric motors 31 the winding drives 22 to 30 connected. The cascade controllers cause ensprechend the respective control result, a current to the electric motors 31 , If the cable speed setpoint values v _{setpoint are also} taken into account, the actual actual rope speeds v _can easily be found in the control sub-units 39b based on a time derivative of the actual current connection length s _is to be determined.

According to an alternative embodiment, not shown, the actual cable forces F _is instead of directly by means of the cable force sensors 13a and indirectly by means of a measurement of the motor currents of the electric motors 31 the winding drives 22 to 30 be determined.

Furthermore, there are embodiments in which the control sub-units 39b in structural unity with the winding drives 22 to 30 or with the control subunit 39a are executed.

Those within the regulatory sub-units 39b Also, each implemented force control causes the movement of the person 2 when detected too slow and / or too powerless action by appropriately trailing rope forces is supported, and vice versa when detected too fast and / or vigorous action is slowed down by appropriately trailing rope forces.

Since the comprehensive motion control except tensile forces, which can be easily transmitted over the cable connections, sometimes pressure forces are required, a total of nine through the ropes 13 up to 21 formed cable connections available. Due to this high number of rope connections it is possible to have one over these rope connections to the person 2 To set acting force constellation so that it corresponds to a force caused by the application of compressive forces. The high number of cable connections thus allows the replication of such caused by pressure force application force. On the other hand, the use of nine cable joints results in only six mechanical degrees of freedom of movement in the evaluation / drive unit 39 implemented calculation algorithm for over-determination. However, this overdetermination problem can be solved, for example, by using the already mentioned simplex algorithm and the likewise mentioned calculation criterion of the minimum sum of all rope forces in all ropes 13 to 21 to solve.

The evaluation / control unit 39 In addition to the rope forces F _{soll to be set} and the connection lengths s _{set to be set, it is} also possible to determine the movement actually carried out by the person with their movement parts according to all six mechanical degrees of freedom.

The determination of the setpoint values s _set , F _setpoint and optionally v _setpoint as well as possibly also the motion components of the actual movement takes place cyclically during the entire duration of the movement process. In the evaluation / control unit 39 For this purpose, a calculation interval of, for example, one millisecond is provided.

Although already the drive and monitoring unit 37 designed to be one for the person 2 Detect and eliminate critical stress situation, the device 1 an additional monitoring unit with an in 1 only schematically with imaged camera 40 on. This camera 40 watch the person 2 performed movement as well. As soon as a critical situation is detected in the case of this additional optical monitoring, the drive and monitoring unit 37 is initiated, that via the winding drives 22 to 30 to reduce the application of force to an uncritical level, or to perform an emergency shutdown.

Overall, the device allows 1 due to the intended nine cable connections and their Adjustment by the drive and monitoring unit 37 the acquisition of largely arbitrary three-dimensional movements of the person 2 and in addition, the leadership of the movement of the person 2 , so that the movement at least largely corresponds to a predetermined movement. Like the movement detection, the movement guidance can advantageously be largely arbitrary in three-dimensional space. Limits for the movement to be performed are less due to the device 1 but rather by the anatomical conditions of the person 2 certainly.

As already mentioned, are in 4 to 6 and FIGS. 7 and 8 show two exemplary embodiments within the scope of the device 1 usable adapter units 9 shown.

The embodiment according to 4 to 6 is an adapter ring 41 that attach to the person's torso 2 and accordingly also primarily for detecting and guiding trunk movements of the person 2 is determined. The adapter ring 41 is in the embodiment shown a two-part aluminum ring, which despite its low weight has sufficient mechanical stability to defined attachment points 10 . 11 . 12 for the ropes 13 to 21 to build. In 4 to 6 are the for the formation of the attachment points 10 . 11 . 12 provided eyelets not shown. Shown are only holes 42 in which the eyelets can be mounted.

The division of the adapter ring 41 in the half rings 43 . 44 go from the pictures according to 5 and 6 out. In 6 is the open position for attaching or removing the adapter ring 41 shown.

The adapter ring 41 is with plant pads 45 equipped to attach to the person 2 are determined. The position of the plant pads 45 is changeable, allowing an adaptation to the thorax or trunk anatomy of the person 2 is possible. The translational and rotationally changeable positioning of the plant pads 45 is in 5 through the double arrows 46 and 47 indicated. The investment cushion 45 can be moved and / or tilted accordingly.

In 7 and 8th is another embodiment of an adapter unit 9 also in the form of an adapter ring 48 the latter, the latter for guiding and detecting an arm movement of the person 2 is determined. The adapter ring 48 is with an arm loop 49 and a wrist strap 50 as well as with a handle 51 fitted. The arm loop 49 is on the ring element of the adapter ring 48 attached, whereas for fixing the wrist strap 50 a crossbar 52 is present within the adapter ring 48. By means of the arm loop 49 , the wrist strap 50 and the grab handle 51 can the adapter ring 48 safe and, above all, in a defined and reproducible way on the person's arm 2 be fixed. Also the adapter ring 48 has holes 42 used for mounting eyelets and thus for the formation of attachment points 10 . 11 . 12 are determined.

Apart from the in 4 to 6 and 7 and 8th illustrated embodiments, there are other embodiments for the adapter unit 9 of the device 1 , In all variants it is guaranteed that the movement of the person 2 not or at least not significantly affected. In addition, each of the fixation of the ropes 13 to 21 required attachment points 10 . 11 . 12 present or at least easy to assemble. These attachment points 10 . 11 . 12 namely form at the same time the measuring points for the detection of the person 2 actually performed movement.

This in 9 shown another embodiment of a device 53 to capture and guide any three-dimensional movement is different from the device 1 according to 1 essentially only by the configuration of the adapter unit 9 , At the device 53 is that of the person 2 to be created adapter unit 9 as an adapter harness 54 executed in the form of a chest strap. Like the adapter ring 41 of the device 1 is the adapter harness 54 of the device 53 for attachment to the person's trunk 2 and accordingly also primarily for detecting and guiding trunk movements of the person 2 certainly. Also the adapter harness 54 has several attachment points, where the nine ropes 13 to 21 are fixed. The attachment points, of which in 9 For example, five pieces, namely the attachment points 55 to 59 , in turn, have eyelets for attaching the ropes 13 to 21 , The adapter harness 54 is easy. It wears very comfortably, but can still be fixed and thus defined on the person's torso 2 Attach. Another advantage is the fact that the adapter harness 54 the freedom of movement of the person 2 not significantly affected.

Overall, the devices provide 1 and 53 various possibilities for recording and guiding a largely arbitrary three-dimensional movement. Applications are both in the sporting as well as in the medical-therapeutic area.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19840800 C1 [0004]
• US 5474086 [0005]
• DE 102004054051 A1 [0006]
• DE 102005051674 A1 [0007]

Claims (14)

Apparatus for detecting and guiding a movement to be performed by a person (2) a) a frame (3) with a lower and an upper frame frame (4, 5), b) an adapter unit (9) to be attached to the person (2), c) a drive and monitoring unit (37), and d) nine cables (13-21), each extending at least between the adapter unit (9) on the one hand and the lower frame (4) or the upper frame (5) on the other, each forming a cable connection with an adjustable connection length , in which e) the drive and monitoring unit (37) is designed to e1) as a measure of an actual movement made by the person (2), to record the actual connection lengths of all the cable connections and the actual cable forces present in each of the cables, e2) comparing the thus detected actual movement with a desired movement, and e3) adjust the connection lengths of the cable connections and the rope forces as a function of this comparison. Device after Claim 1 , characterized in that the upper frame frame (5) encloses a larger area than the lower frame frame (4). Device after Claim 1 or 2 , characterized in that the adapter unit (9) is designed as an adapter ring (41; 48) to be applied to a body region of the person (2) or has such an adapter ring (41; 48). Device after Claim 3 , characterized in that the adapter ring (41) is provided with abutting to the person certain investment components (45). Device according to one of the preceding claims, characterized in that on the adapter unit (9) between three and six spaced mounting locations (10, 11, 12) are provided for the nine cable connections. Apparatus according to one of the preceding claims, characterized in that the adapter unit (9) is designed as an adapter belt harness (54) to be applied to a body region of the person (2) or has such an adapter harness (54). Device according to one of the preceding claims, characterized in that three of the cables (13, 14, 15) are guided either to the upper frame frame (5) or the lower frame frame (4) and the other six cables (16 - 21) to the other Frame frame (4, 5) are guided. Device according to one of the preceding claims, characterized by a person fixing unit (35, 36), which is designed to fix the person (2) so that the person (2) is only partially free of movement. Device according to one of the preceding claims, characterized in that a separate second monitoring unit (40) is provided, which is designed to monitor the movement of the person (2) and upon detection of an abnormality in the movement of the person (2) or an overload of the Person (2) causes an emergency shutdown. Device according to one of the preceding claims, characterized in that the drive and monitoring unit (37) is adapted to also adjust changes in the connection lengths of all cable connections in dependence on the comparison between actual movement and desired movement. Device according to one of the preceding claims, characterized in that in the drive and monitoring unit (37) a force control is implemented, so that the drive and monitoring unit (37) of the person (2) actually performed movement in dependence on comparison the desired movement supported or decelerated by appropriately nachgestellt rope forces. Apparatus according to one of the preceding claims, characterized in that the drive and monitoring unit (37) has individual drives (22-30) designed as electric motors (31) for the individual influencing of the cable connections. Apparatus according to one of the preceding claims, characterized in that the drive and monitoring unit (37) has nine force measuring units (13a), each of which is associated with one of the cable connections and determines the cable force given in the associated cable connection. Device according to one of the preceding claims, characterized in that the drive and monitoring unit (37) has nine position measuring units (13b), each of which is associated with one of the cable connections.

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