DE102018102210B4 - Device for walking training of an individual - Google Patents

Abstract

Device (1) for walking training of an individual comprising, - a linear guide system which can be connected to a supporting structure and has at least one first linear guide (40) running in a longitudinal direction (L), - a holding system (10) which can be connected to the individual and which during walking training exerts a stabilizing force on the individual which at least partially counteracts a movement exercised by the individual during walking training within a three-dimensional movement space, the holding system (10) is connected to the linear guide system, the suspension (20) having a transverse linear guide (200) which runs in a transverse direction (Q) deviating from the longitudinal direction (L) and on which the holding system (10) in the transverse direction (Q ) can be moved linearly through the movement of the individual within the range of motion, with sideways movements of the individual, the holding system (10) on the transverse linear guide (200) can be moved linearly in the transverse direction (Q), thereby creating a transverse resistance force (QF) between the transverse linear guide (200) and the holding system (10) opposing the lateral movements of the individual, which reduces the speed at which the holding system (10) can be moved on the transverse linear guide (200), and the device (1) has a sensor and an adjustable activator connected to the holding system (10) which, depending on its setting, has a vertical Vertical force component of the stabilizing force acting in the upward direction is generated, the holding system (10) being at least partially rotatable about a vertical axis of rotation by up to 360 ° and the device (1) having a control unit (51), the control unit (51) for this purpose is set up to carry out the following steps: a) Determining an actual value for the vertical force component the stabilizing force by means of the sensor, b) comparing the determined actual value with a predetermined target value, c) controlling the activator for setting the vertical force component as a function of the comparison carried out in the last step, where- if the difference between the actual value and the target value is positive and lies outside a specified tolerance range, the vertical force component is reduced by means of the activator, - if the difference between the actual value and the target value is negative and outside the specified tolerance range, the vertical force component is increased by means of the activator and, if the actual value corresponds to the target value within the specified tolerance range, the vertical force component is kept constant, d) repeating steps a) to d).

Description

Field of invention

• - ein mit einer tragenden Struktur verbindbares Linearführungssystem mit wenigstens einer in einer Längsrichtung verlaufenden ersten Linearführung,
• - ein mit dem Individuum verbindbares Haltesystem, das während des Gehtrainings auf das Individuum eine Stabilisierungskraft ausübt, die einer von dem Individuum während des Gehtrainings innerhalb eines dreidimensionalen Bewegungsraums ausgeübten Bewegung zumindest teilweise entgegenwirkt,
• - eine an der ersten Linearführung in der Längsrichtung linear verfahrbar angeordnete Aufhängung, über die das Haltesystem mit dem Linearführungssystem verbunden ist.

The invention relates to a device for walking training of an individual comprising

• - a linear guide system which can be connected to a supporting structure and has at least one first linear guide running in a longitudinal direction,
• - a holding system that can be connected to the individual and that exerts a stabilizing force on the individual during gait training which at least partially counteracts a movement exercised by the individual during gait training within a three-dimensional range of motion,
• - A suspension arranged on the first linear guide so as to be linearly displaceable in the longitudinal direction, via which the holding system is connected to the linear guide system.

State of the art

A device for walking training of persons in need of rehabilitation is from the DE 197 17 046 A1 known. In this device, the person doing the gait training sits on a seat, whereby the device stabilizes the person during the gait training by counteracting the downward movement caused by the weight of the person. In the case of the DE 197 17 046 A1 known device, gait training can only take place along the two parallel linear guides. In general, however, it is desirable to be able to train sideways movements to the left and right in addition to the forward and backward movements during a walking exercise.

From the two subsequently published pamphlets EP 3 299 002 A1 and EP 3 299 001 A1 devices are also known for training a person to walk.

Further devices for walking training a person are from the U.S. 5,562,572 A , the U.S. 4,445,502 A , the US 2014/0 058 299 A1 , the CN 106 511 036 A , the WO 2015/164 421 A1 , the WO 2010/105 773 A1 , the WO 01/14 018 A1 , the WO 00/28 927 A1 , US 2007/0 004 567 A1 , the US 2014/0 223 661 A1 , the WO 01/24 884 A1 and the WO 95/04 515 A1 known.

From the EP 2 626 051 A1 a device for walking training of a person is known, which stabilizes their forward, backward and sideways movements during walking training. In addition, the person is relieved during the gait training.

The ones from the EP 2 626 051 A1 known device has a holding system in which a harness is connected to several ropes via a bracket. The ropes are each guided to an electric motor via a suspension in the form of a pulley. The deflection rollers are each arranged on a guide rail so that they can be moved linearly. The electric motors can exert a force component on the harness via each of the ropes, which components add up to a total force acting on the person. Sensors record both the force component acting on each rope at a certain point in time, as well as the position and orientation of the bracket in three-dimensional space. A control unit uses these measured values to calculate the next force components required for stabilization on each rope and controls the electric motors accordingly.

Disadvantageous from the EP 2 626 051 A1 known generic device is the high control effort associated with the provision of the stabilization and the resulting high costs.

Another device for walking a person is from the WO 2014/161726 A1 known. This device also requires a complex control of motors in order to stabilize the person during the gait training.

Task

It is therefore an object of the present invention to provide a cost-effective device for walking training of an individual, which stabilizes the individual during walking training even with sideways movements and enables effective walking training within the range of motion without great control effort.

Statement of the invention

1. a) Ermitteln eines Ist-Werts für die Vertikalkraftkomponente der Stabilisierungskraft mittels des Sensors,
2. b) Vergleichen des ermittelten Ist-Werts mit einem vorgegebenen Soll-Wert,
3. c) Ansteuern des Aktivators zum Einstellen der Vertikalkraftkomponente in Abhängigkeit des im letzten Schritts durchgeführten Vergleichs, wobei
   • - sofern die Differenz zwischen dem Ist-Wert und dem Soll-Wert positiv ist und außerhalb eines vorgegebenen Toleranzbereichs liegt, mittels des Aktivators die Vertikalkraftkomponente verringert wird,
   • - sofern die Differenz zwischen dem Ist-Wert und dem Soll-Wert negativ ist und außerhalb des vorgegebenen Toleranzbereichs liegt, mittels des Aktivators die Vertikalkraftkomponente erhöht wird, und
   • - sofern der Ist-Wert innerhalb des vorgegebenen Toleranzbereichs dem Soll-Wert entspricht, die Vertikalkraftkomponente konstant gehalten wird,
4. d) Wiederholen der Schritte a) bis d).

This object is achieved in that the suspension has a transverse linear guide running in a transverse direction deviating from the longitudinal direction, on which the holding system can be moved linearly in the transverse direction through the movement of the individual within the movement space,
With sideways movements of the individual, the holding system on the transverse linear guide can be moved linearly in the transverse direction, whereby a transverse resistance force, which is directed against the lateral movements of the individual between the transverse linear guide and the holding system, reduces a speed at which the holding system on the transverse linear guide can be moved, arises and the device has a sensor and an adjustable activator connected to the holding system, which depending on its setting generates a vertical force component of the stabilizing force that acts upward in the vertical direction,
wherein the holding system is at least partially rotatable about a vertical axis of rotation by up to 360 ° and the device has a control unit,
wherein the control unit is set up to carry out the following steps:

1. a) Determining an actual value for the vertical force component of the stabilizing force by means of the sensor,
2. b) comparing the determined actual value with a specified target value,
3. c) controlling the activator for setting the vertical force component as a function of the comparison carried out in the last step, wherein
   • - if the difference between the actual value and the target value is positive and lies outside a specified tolerance range, the vertical force component is reduced by means of the activator,
   • - if the difference between the actual value and the target value is negative and lies outside the specified tolerance range, the vertical force component is increased by means of the activator, and
   • - if the actual value corresponds to the target value within the specified tolerance range, the vertical force component is kept constant,
4. d) repeating steps a) to d).

Preferred embodiments are the subject of the dependent claims.

Due to the transverse linear guide according to the invention, in contrast to many of the devices known from the prior art, complex control of the force components required to stabilize the lateral movements of the individual can be completely dispensed with. The use of the transverse linear guide according to the invention means that the invention can be manufactured inexpensively and only requires less maintenance. In addition, in contrast to the known devices, it is easier to assemble and set up. In addition, it enables effective walking training within the range of motion.

When the individual moves sideways, the holding system on the transverse linear guide is moved linearly in the transverse direction. This creates a transverse resistance force directed against the sideways movements of the individual between the transverse linear guide and the holding system. This resistance force reduces the speed with which the holding system on the transverse linear guide can be moved, whereby the individual is stabilized even with uncontrolled sideways movements.

The transverse resistance force, which can be a rolling or sliding resistance, for example, can be adapted by the person skilled in the art by choosing suitable components and / or materials to the particular purpose of the invention. For example, the transverse resistance force can be adapted to the requirements of the respective gait training to be completed with the invention and / or the type of individual. Of course, the adjustment of the transverse resistance force can also be made dependent on other factors, such as the weight and / or the degree of walking impairment of the individual.

A further stabilization of the individual during sideways movements can be achieved by using the transverse linear guide to limit the individual's mobility in the lateral direction during the walking exercise. This can be achieved, for example, by the length of the transverse linear guide and / or its orientation in space, which are matched to the holding system used. This limitation of mobility in the lateral direction can, for example, prevent the individual from hitting and injuring himself against a side wall of an exercise room in which the walking training takes place. In this case, the three-dimensional movement space - i.e. H. the three-dimensional space that an individual directly connected to the restraint system can maximally reach during walking training - determined by the orientation and / or length of the transverse linear guide so that the side walls of the exercise room are outside this movement space.

For walking training, the individual, who may be a person, i.e. a human, for example, is connected to the holding system of the device according to the invention. Of course, the invention can also be used for gait training of other individuals, such as mammals, in particular dogs, cats or horses.

The invention can be used for walking training on land and / or in water. When walking in water, the range of motion is at least partially or completely filled with water. For example, only the legs of the individual can be in the water for walking training in the water, or the individual can be completely under water during walking training. In this way, more effective walking training can be achieved than on land due to the additional water resistance that is active during walking training. In addition the buoyancy in the water can be used to advantage, which is particularly advantageous for individuals with severe walking difficulties. For walking training in water, the invention can be used, for example, in a swimming pool and / or be permanently mounted in it.

The invention can be used in a method for the therapeutic treatment of the human or animal body. Rehabilitation measures performed in the context of physiotherapy and / or occupational therapy are such a method.

The linear guide system of the device according to the invention can be connected to a supporting structure. In addition to the ceilings and walls of building rooms, a load-bearing structure in the sense of the present application can of course also be realized by a scaffolding structure that can be set up in such a room. It is irrelevant here whether this is permanently installed in the room. The only decisive factor is that the load-bearing structure is suitable to adequately absorb the forces acting on it during walking training without endangering the individual who is doing the walking training. In addition to the forces caused by the sideways movements of the individual, e.g. the weight of the individual is also an example of such a force transmitted to the supporting structure via the other components of the device according to the invention.

In a preferred embodiment of the invention it is provided that the linear guide system has a second linear guide running parallel to and spaced from the first linear guide, on which the suspension is arranged to be linearly movable in the longitudinal direction. In this embodiment, the first and second linear guides are connected to one another via the suspension and are preferably at a distance of at least 1 meter, at least 2 meters or at least 3 meters from one another. In this embodiment it is advantageous that the forces generated during the walking training by the movements of the individual, such as the weight of the individual, not only act on the first linear guide, but rather are divided between the first and second linear guides. As a result, the first linear guide can be made less stable and therefore more cost-effective.

The first and / or second linear guide of the present invention can be, for example, a profile rail, a round rail or a rail having a groove. Correspondingly, in these cases, the linear movability of the suspension on the first and / or second linear guide, for example by means of rollers located on the suspension, engaging in the linear guide designed as a profile rail, ball bushings located on the suspension and / or sliding bushings in which the round rails Linear guides are mounted, or a spring located on the suspension, which engages in the groove of the respective linear guide, can be realized. The first and / or second linear guide can also be, for example, a rope on which the suspension can be moved linearly by means of rollers. In general, the first and / or the second linear guide can thus each form, for example, a rail guide or a wave guide with the suspension. A number of other suitable constructive measures are also known to the person skilled in the art in this context.

Of course, these structural configurations are not only applicable to the linear guides and the suspension. The transverse linear guide can also be, for example, a profile rail, a round rail or a rail with a groove. Accordingly, the linear movability of the holding system on the transverse linear guide can, for example, by means of rollers located on the holding system, engaging in the transverse linear guide designed as a profile rail, ball bushings located on the holding system and / or sliding bushings in which the transverse linear guide designed as a round rail is mounted, or an on the Holding system located spring, which engages in the groove of the transverse linear guide, be realized. The transverse linear guide can also be, for example, a rope on which the holding system can be moved linearly by means of rollers. In general, the transverse linear guide with the holding system can also form a rail guide or a wave guide, for example. A number of other suitable constructive measures are also known to the person skilled in the art in this context.

In the present invention, it is advantageous if the first linear guide and / or the second linear guide and / or the suspension and / or the transverse linear guide are located outside, preferably above, the three-dimensional movement space. This prevents the individual from being injured during walking training when moving the suspension on one of the linear guides or when moving the holding system on the transverse linear guide.

In a further preferred embodiment of the invention it is provided that the transverse linear guide runs perpendicular to the first and / or the second linear guide. This vertical orientation of the transverse linear guide is particularly advantageous when only a limited space is available for walking training in the longitudinal direction. For example, the vertical orientation of the transverse linear guide in a linear guide that extends over the entire length of one of the side walls of a rectangular room of a building, to the fact that the transverse linear guide can be moved over the entire length of this room side wall on the linear guide. In the case of a non-perpendicular orientation, on the other hand, the transverse linear guide in this example would hit one of the walls of the room adjoining the side wall before it reaches an end of the linear guide.

In a further advantageous embodiment of the device according to the invention, it is provided that the transverse linear guide and the two linear guides each run perpendicular to a vertical axis. This ensures that when moving the suspension on the first or second linear guide in the longitudinal direction and when moving the holding system on the transverse linear guide in the transverse direction, no different heights occur. In this way, a constant resistance when moving in the longitudinal or transverse direction can be guaranteed over the entire duration of a training session.

It has already been explained that the speed at which the holding system can be moved linearly on the transverse linear guide can be adapted with the aid of suitable constructive measures. Of course, the speed at which the suspension on the first and / or second linear guide can be moved linearly can also be determined by selecting suitable components - which, for example, have a certain rolling or sliding resistance to one another due to the construction and / or material.

In advantageous embodiments of the present invention, it is also provided that the device has an adjustable transverse resistance control which, depending on its setting, generates a transverse resistance force which varies in amount and which brakes the linear movability of the holding system on the transverse linear guide. Alternatively or additionally, a longitudinal resistance regulation, which, depending on its setting, generates a longitudinal resistance force which varies in amount and which brakes the linear movability of the suspension on the first and / or the second linear guide, can also be used. In these embodiments, the above-mentioned speed for moving the restraint system or the suspension can thus be set, e.g. by an operator depending on the respective requirements of the walking training, through the transverse resistance regulation or the longitudinal resistance regulation without complex conversion measures.

In a further preferred embodiment of the device according to the invention it is provided that the transverse linear guide and the linear guides run in a common plane. This embodiment is particularly space-saving and is particularly suitable for use in rooms with low ceiling heights, provided the transverse linear guide and the two linear guides each run perpendicular to a vertical axis.

In a further space-saving variant of the device according to the invention, the suspension and / or the transverse linear guide is arranged completely between the first and the second linear guide.

A further advantageous embodiment of the device according to the invention provides that the device has an adjustable limiting means that, depending on its setting, limits a distance within which the holding system on the transverse linear guide can be moved linearly. As already explained, among other things, the choice of the length of the transverse linear guide can limit the mobility of the individual during the walking exercise in the lateral direction. Due to the adjustable limiting means provided according to the invention, the entire length of the transverse linear guide is no longer available for moving the holding system in the transverse direction. The limiting means thus makes it possible to vary the mobility granted to the individual in the lateral direction during the walking training and thus to adapt it to the requirements of the walking training to be carried out in each case or the respective structural conditions.

In the simplest case, the limiting means is designed as a screw introduced into the transverse linear guide, which acts as a stop for the holding system that can be moved linearly on the transverse linear guide. By introducing the screw at a different position of the transverse linear guide, it can be used to set a different path length within which the holding system on the transverse linear guide can be moved linearly. Of course, a number of further suitable measures are also known to the person skilled in the art in this context.

To set a different position on the transverse linear guide, for example, the limiting means itself can also be displaceable linearly in the transverse direction on the transverse linear guide. Additionally or alternatively, the setting can be carried out manually by an operator or by an activator controllable by an operator. For example, the limiting means can be moved linearly on the transverse linear guide in the transverse direction into different positions on the transverse linear guide by means of an activator designed as a linear motor, which the operator can control by radio via a remote control. The operator can adjust the setting by using a controllable activator the limiting means thus change in a particularly advantageous manner even while the gait training is being carried out.

In a further preferred embodiment of the device according to the invention it is provided that the linear guide system has a distance regulation with which at least one of the linear guides can be adjusted from a first position to a second position running parallel to the other linear guide and having a different distance from the first position is. As a result, the device according to the invention can be adapted variably to the size of the respective room in which the device is used.

Quite generally, of course, the first and / or the second linear guide can be a limiting means of the device according to the invention within the meaning of the present application. In other words, as already explained in connection with the explanation of the adjustable limiting means according to the invention, the first and / or second linear guide can function as a stop for the holding system that can be moved linearly on the transverse linear guide.

In connection with the distance regulation according to the invention, the first and / or the second linear guide can even function as an adjustable limiting means according to the invention. In this case, the adjustment of one of the linear guides by means of the distance regulation from the first to the second position leads to a change in the length of the path within which the holding system on the transverse linear guide can be moved linearly.

In the device according to the invention it is provided that the holding system can be rotated at least in sections about a vertical axis of rotation by up to 360 °. The fact that the holding system can be rotated at least in sections about a vertical axis of rotation is advantageous, since this allows the individual to still rotate about this axis of rotation during the walking exercise. The individual's freedom of movement is not restricted any more than is absolutely necessary, which enables effective walking training that corresponds as closely as possible to natural walking - in which spatial orientation and balance can also be effectively trained. For this purpose, the holding system is preferably rotatable, at least in sections, about the vertical axis of rotation by up to 360 °, by up to 180 ° or by up to 90 °.

In a further preferred embodiment of the present invention it is provided that the holding system consists at least in sections of an elastic material with a modulus of elasticity that is less than 5 GPa, or an elastic material mixture with a modulus of elasticity that is less than 5 GPa. In this embodiment it is advantageous that the consequences of uncontrolled movements of the individual, such as stumbling, buckling or tilting, are cushioned by the elasticity of the holding system provided according to the invention. The risk of injury for the individual is thus significantly reduced. In addition, the elasticity promotes the natural sequence of movements, which has a positive effect on walking training. The holding system preferably consists at least in sections of an elastic material with a modulus of elasticity that is less than 1, 0.1, 0.001, 0.0001 or 0.00001 GPa. Alternatively, the holding system consists at least in sections of an elastic material mixture with a modulus of elasticity that is less than 1, 0.1, 0.001, 0.0001 or 0.00001 GPa. The section of the holding system made of the elastic material or the elastic material mixture can be, for example, a section of a rope that connects the individual to the suspension.

The device according to the invention can also have a blocking system with which the negative consequences of the above-mentioned uncontrolled movements of the individual can be avoided. For this purpose, the blocking system connected to the holding system generates, in the event of a triggering event, a blocking force that counteracts the weight of the individual upwards in the vertical direction. The blocking system can, for example, be a winding mechanism for a rope of the holding system that connects the individual to the suspension. The winding mechanism blocks further unrolling of the rope from a certain unrolling acceleration. In this case, exceeding a certain unrolling acceleration is the triggering event in which the blocking system generates the blocking force. The blocking force can completely or partially counteract the weight of the individual, with which an impending fall of the individual is intercepted or slowed down.

In a further preferred embodiment of the present invention it is provided that the holding system has a first connection component of a connection system, which can be detachably connected to a second connection component of the connection system, so that in the connected state an additional force component of the stabilizing force generated by an assistant and introduced into the second connection component can be transferred to the holding system via the first connection component. In this embodiment it is advantageous that additional stabilization is provided by the assistant, in particular before the start of the actual gait training can be. As soon as the individual who is completing the gait training no longer needs this additional stabilization in the view of the assistant, the second connection component can be detached from the first connection component - for example also while the walking training is being carried out.

The first connection component is preferably an eyelet into which a hook of the second connection component, which is preferably a rod with a hook attached to one of its ends, can engage. Of course, the two components of the connection system can also be detachably connected to one another in other ways, for example by means of a Velcro fastener. A number of suitable measures are known to the person skilled in the art in this context.

In the connected state, the connection system preferably has a length of at least 30, 50, 75, 100, 150, 200 or 250 cm. This is advantageous because in this way the assistant does not have to stand directly next to the individual doing the walking training, which avoids the assistant standing close, which is often perceived as uncomfortable. In addition, during the gait training, the individual subjectively has the feeling that he is walking alone, which creates a beneficial psychological effect during the gait training. The assistant can of course also act as an operator of the device according to the invention at the same time.

In a further preferred embodiment of the device according to the invention it is provided that it has a tension spring connected to the holding system, which generates a vertical force component of the stabilizing force that acts upward in the vertical direction. In this embodiment it is advantageous that during the walking training, for example, climbing stairs can also be trained with the maximum possible weight relief. Normally, with these types of walking training there is the problem that the vertical force component of the stabilizing force, which acts upwards in the vertical direction, becomes smaller or even completely sinks to zero when it leaves the ground level during walking training. As a result, there is only little or no weight relief for the individual while he is training to climb stairs. This disadvantage is eliminated by the use of the tension spring according to the invention, with which an upward-acting vertical force component of the stabilizing force can be maintained even when leaving the ground level during walking training. The tension spring is preferably a spiral spring. A number of other types of tension springs are of course known to the person skilled in the art.

Of course, instead of a tension spring, a suitable other activator, such as an electric motor, can also be used in the device according to the invention. It is advantageous here if the activator can be controlled by the operator. In this way, the vertical force component acting upward in the vertical direction can be flexibly adapted to the respective type of walking training and / or the weight of the individual who is doing the walking training.

• - einen Sensor,
• - einen mit dem Haltesystem verbundenen einstellbaren Aktivator, der in Abhängigkeit seiner Einstellung eine in vertikaler Richtung nach oben wirkende Vertikalkraftkomponente der Stabilisierungskraft erzeugt, und
• - eine Steuereinheit,

aufweist,
wobei die Steuereinheit dazu eingerichtet ist, die folgenden Schritte durchzuführen:

1. a) Ermitteln eines Ist-Werts für die Vertikalkraftkomponente der Stabilisierungskraft mittels des Sensors,
2. b) Vergleichen des ermittelten Ist-Werts mit einem vorgegebenen Soll-Wert,
3. c) Ansteuern des Aktivators zum Einstellen der Vertikalkraftkomponente in Abhängigkeit des im letzten Schritts durchgeführten Vergleichs, wobei
   • - sofern die Differenz zwischen dem Ist-Wert und dem Soll-Wert positiv ist und außerhalb eines vorgegebenen Toleranzbereichs liegt, mittels des Aktivators die Vertikalkraftkomponente verringert wird,
   • - sofern die Differenz zwischen dem Ist-Wert und dem Soll-Wert negativ ist und außerhalb des vorgegebenen Toleranzbereichs liegt, mittels des Aktivators die Vertikalkraftkomponente erhöht wird, und
   • - sofern der Ist-Wert innerhalb des vorgegebenen Toleranzbereichs dem Soll-Wert entspricht, die Vertikalkraftkomponente konstant gehalten wird,
4. d) Wiederholen der Schritte a) bis d).

In the device according to the invention, the vertical force component is set automatically by means of a control unit connected to a sensor and an activator. For this purpose it is provided that the device

• - a sensor,
• - An adjustable activator connected to the holding system, which, depending on its setting, generates a vertical force component of the stabilizing force that acts upwards in the vertical direction, and
• - a control unit,

having,
wherein the control unit is set up to carry out the following steps:

1. a) Determining an actual value for the vertical force component of the stabilizing force by means of the sensor,
2. b) comparing the determined actual value with a specified target value,
3. c) controlling the activator for setting the vertical force component as a function of the comparison carried out in the last step, wherein
   • - if the difference between the actual value and the target value is positive and lies outside a specified tolerance range, the vertical force component is reduced by means of the activator,
   • - if the difference between the actual value and the target value is negative and lies outside the specified tolerance range, the vertical force component is increased by means of the activator, and
   • - if the actual value corresponds to the target value within the specified tolerance range, the vertical force component is kept constant,
4. d) repeating steps a) to d).

The target value and / or the tolerance range can be stored in the control unit, for example by an operator. The input can be, for example, directly on the control unit or by cable. In addition, the target value and / or the tolerance range can also be transmitted to the control unit by radio. One or more target values and / or tolerance ranges can of course also be stored in the control unit when the device according to the invention is manufactured. If several target values and / or tolerance ranges are stored, the selection of a suitable target value or tolerance range can be made dependent, for example, on the input of a parameter by the operator. One parameter can be, for example, the weight of the individual. Additionally or alternatively, the selection of a suitable target value and / or tolerance range can also be made automatically by the control unit. For example, the selection can be made dependent on a weight value of the individual that the control unit detects by means of the sensor.

Further features and advantages of the invention emerge from the following specific description and the drawings.

Figure list

• 1: eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Vorrichtung
• 2: eine schematische Darstellung der Vorrichtung aus 1 mit Blickrichtung entlang des Pfeils A
• 3: eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Vorrichtung
• 4: eine schematische Darstellung der Vorrichtung aus 3 mit Blickrichtung entlang des Pfeils B
• 5: eine schematische Darstellung einer weiteren Ausführungsform der erfindungsgemäßen Vorrichtung
• 6: eine schematische Darstellung der Vorrichtung aus 5 nach Einsatz der erfindungsgemäßen Abstandsregulierung
• 7: eine schematische Darstellung einer weiteren Ausführungsform der erfindungsgemäßen Vorrichtung
• 8: eine schematische Darstellung einer weiteren Ausführungsform der erfindungsgemäßen Vorrichtung.

Show it:

• 1 : a schematic representation of an embodiment of the device according to the invention
• 2 : a schematic representation of the device from 1 looking in the direction of arrow A
• 3 : a schematic representation of an embodiment of the device according to the invention
• 4th : a schematic representation of the device from 3 looking in the direction of arrow B
• 5 : a schematic representation of a further embodiment of the device according to the invention
• 6th : a schematic representation of the device from 5 after using the distance regulation according to the invention
• 7th : a schematic representation of a further embodiment of the device according to the invention
• 8th : a schematic representation of a further embodiment of the device according to the invention.

Description of preferred embodiments

Identical reference symbols in the figures indicate identical or analogous elements.

1 shows a device according to the invention 1 with one with the holding system 10 the device 1 connected person 2 . At the in 1 device shown 1 is the holding system 10 from a harness 100 , two shoulder straps 102 , a bracket 104 , a metal rope 106 , a swivel joint 108 and a metal sleeve 110 . The swivel joint 108 enables, as in 1 indicated that the metal cable running in the vertical direction 106 can rotate 360 ° during gait training. The holding system 10 is thus at least partially rotatable about a vertical axis of rotation. The risers 102 consist of tear-resistant, elastic rubber. The metal sleeve 110 and with it the entire holding system 10 is like in 1 seen in the transverse direction Q by lateral movements of the person 2 on the transverse linear guide 200 linearly movable. This process creates between the metal sleeve 110 and the transverse linear guide, which is slidably mounted in this 200 a transverse resistance force QF showing the movements of the person in the lateral direction S. counteracts. At the same time the person becomes 2 relieved because the holding system 10 is under tension and thus a relief force EF generated. Through the transverse resistance QF becomes the speed at which the person 2 in the sideways direction S. can move, degraded.

On the transverse linear guide 200 limit two by means of screws 300 connected metal plates 30th , the route length STR inside which the metal sleeve 110 on the transverse linear guide 200 in the transverse direction Q can be moved linearly. In 1 is also indicated that the connected metal plates 30th after loosening the screws 300 on the transverse linear guide 200 in the transverse direction Q can be moved and at the new position with the screws 300 again firmly with the transverse linear guide 200 can be connected. This can reduce the length of the route STR to find the route length STR1 be extended. Depending on the respective setting of the screws 300 connected metal plates 30th so can the route length STR , within which the holding system on the transverse linear guide 200 can be moved linearly.

In 1 shows the suspension 20th next to the transverse linear guide 200 two more end pieces 210 , 211 on. The final piece 210 is a sleeve in which the first linear guide designed as a metal rod 40 is slidingly mounted. As a result, as in 2 to see the suspension 20th on the linear guide 40 longitudinal L. through movements of the person 2 be proceeded. This arises, for example, when moving forward V and backward movements R. the person 2 , one of those movements of the person 2 counteracting longitudinal drag force LF . For reasons of better display, the 2 on the representation of the other components of the holding system 10 and the person 2 waived. In 2 can also be seen that the first linear guide 40 each with two opposite walls 3a , 3b a room of a building, not shown further for the sake of clarity, is connected. In the 1 and 2 can also be seen that the transverse linear guide 200 perpendicular to the first linear guide 40 and with this in a common plane E. runs.

3 shows a schematic representation of a further embodiment of the device according to the invention. In this embodiment there are a first linear guide 40 and a second, parallel to this, second linear guide 41 provided, which are each designed as a double-T-shaped plastic rails. By between the linear guides 40 , 41 and the suspension 20th the existing plain bearing is the suspension 20th also through movements of the person 2 in the longitudinal direction L. linearly movable. Via two support rails 4a , 4b are the two linear guides 40 , 41 with the ceiling 4th connected to a room not shown further for the sake of clarity. 4th FIG. 11 shows a schematic representation of the embodiment from FIG 3 looking along the arrow B, whereby for better representation on the representation of the ceiling 4th , the person 2 and with the exception of the metal sleeve 110 on the representation of the holding system 10 was waived.

5 shows an embodiment of the device according to the invention with a distance regulation according to the invention. The distance regulation is about one in the transverse direction Q on the ceiling 4th running linear rail system 5 realized with which the retaining rail 4b in the transverse direction Q can be moved linearly. As especially in connection with 6th to see limits the second linear guide 41 a distance depending on your setting STR inside which the metal sleeve 110 and with it the holding system 10 on the transverse linear guide 200 can be moved linearly. In the in 6th set position of the second linear guide 41 is in contrast to the in 5 the set position the length of the route STR the length of the route STR1 shortened. The second linear guide 41 therefore represents an adjustable limiting means according to the invention in this exemplary embodiment.

7th shows a schematic representation of a further embodiment of the device according to the invention. In this embodiment, the holding system 10 instead of a metal sleeve 110 , one across Q on the transverse linear guide 200 linearly movable roller 109 on. In 7th can also be seen that on the suspension 20th a first braking system that acts as a longitudinal resistance regulator 205 is appropriate. The first braking system 205 consists of a brake disc 2050 and one on the hanger 20th attached perforated metal washer 2051 . There is an adjusting screw through the hole 2052 guided, with the brake disc depending on the setting 2050 different degrees on the first linear guide 40 is pressed. This creates a longitudinal drag force LF generated that the linear movability of the suspension 20th on the first linear guide 40 brakes. In 7th can also be seen that the role 109 via a second braking system that acts as a cross-resistance regulator 1092 disposes. With this braking system 1092 becomes a brake disc between the transverse linear guide 200 and the roller fork 1090 of the roller 109 is arranged, depending on the setting of an adjusting screw on the transverse linear guide 200 pressed. This creates a transverse resistance force QF generated that the linear movability of the role 109 on the transverse linear guide 200 brakes. In 7th is only the adjustment screw of the second brake system 1092 to see. In 7th an embodiment is shown in which the holding system 10 only from the bracket 104 , the metal rope 106 and the role 109 consists.

8th shows a schematic representation of a further embodiment of the device according to the invention. In this embodiment, the first and second linear guides 40 , 41 designed as U-profile rails in which the suspension 20th by means of roles 220 , 221 longitudinal L. can be moved linearly. In 8th it can also be seen that the device also has one behind the person viewed in the longitudinal direction 2 arranged electric motor 50 , the one with a broadened base 108a of a sled 110a is connected, has. That via a pulley 103 deflected metal rope 106 is with the electric motor 50 connected so that this over the other components of the holding system 10 a relief force acting vertically upwards EF that generates the person 2 relieved during gait training. The relief force EF is a vertical force component of the stabilizing force that acts upwards in the vertical direction. In 8th can also be seen that a force sensor 107 the current on the person 2 acting relief force EF measures and wirelessly to one in the electric motor 50 located control unit 51 transmitted. The control unit 51 controls the electric motor based on the sensor values received 50 so at that the relief force EF is kept constant during gait training. The desired value was previously also sent by the helper via radio 80 to the control unit 51 transmitted. In 8th is also shown that the harness 100 an eyelet 100a in which the auxiliary person 80 a pole 100b has hooked. The helper 80 practices over the bar 100b one in the transverse direction Q acting additional force ZF from who the person 2 additionally stabilized. The additional power ZF is therefore an additional force component of the stabilizing force in this case.

Of course, the embodiments discussed in the specific description and shown in the figures represent only illustrative embodiments of the present invention. In the light of the disclosure here, a person skilled in the art is provided with a broad spectrum of possible variations.

List of reference symbols

1

contraption

2

person

3a, 3b

walls

4th

ceiling

4a, 4b

Support rails

5

Linear rail system

10

Holding system

20th

suspension

30th

Metal plate

40

first linear guide

41

second linear guide

50

Electric motor

51

Control unit

80

Auxiliary person

100

Carrying harness

100a

eyelet

100b

pole

102

Shoulder strap

103

Pulley

104

hanger

106

Metal rope

107

Force sensor

108

Swivel joint

108a

Base

109

role

110

Metal sleeve

110a

sleds

200

Transverse linear guide

205

first braking system

210, 211

End pieces

220, 221

roll

300

screw

1092

second braking system

2050

Brake disc

2051

pierced metal disc

2052

Adjusting screw

L.

Longitudinal direction

Q

Transverse direction

S.

lateral direction

V

Forward movement

R.

Backward movement

E.

level

QF

Transverse resistance

LF

Longitudinal resistance

ZF

Additional force

EF

Relief force

STR, STR1

Route lengths

Claims (12)

Device (1) for walking training of an individual comprising, - a linear guide system which can be connected to a supporting structure and has at least one first linear guide (40) extending in a longitudinal direction (L), - a holding system (10) which can be connected to the individual and which is used during walking training exerts a stabilizing force on the individual which at least partially counteracts a movement exercised by the individual during walking training within a three-dimensional movement space, the holding system (10) is connected to the linear guide system, the suspension (20) having a transverse linear guide (200) which runs in a transverse direction (Q) deviating from the longitudinal direction (L) and on which the holding system (10) in the transverse direction (Q ) can be moved linearly through the movement of the individual within the range of motion, with Sidew local movements of the individual, the holding system (10) on the transverse linear guide (200) can be moved linearly in the transverse direction (Q), thereby creating a transverse resistance force (QF) between the transverse linear guide (200) and the holding system (10) opposing the lateral movements of the individual, which reduces the speed at which the holding system (10) can be moved on the transverse linear guide (200), and the device (1) has a sensor and an adjustable activator connected to the holding system (10) which, depending on its setting, has an in vertical force component of the stabilizing force that acts upwards in the vertical direction, has, the holding system (10) being at least partially rotatable about a vertical axis of rotation by up to 360 ° and the device (1) having a control unit (51), the control unit (51) being set up to carry out the following steps: a) Determination an actual value for the vertical force component of the stabilizing force by means of the sensor, b) comparing the determined actual value with a predetermined target value, c) controlling the activator for setting the vertical force component as a function of the comparison carried out in the last step, where - if the Difference between the actual value and the target value is positive and lies outside a specified tolerance range, the vertical force component is reduced by means of the activator, provided that the difference between the actual value and the setpoint value is negative and lies outside the specified tolerance range , the vertical force component is increased by means of the activator, and - if the Is t-value corresponds to the target value within the specified tolerance range, the vertical force component is kept constant, d) repeating steps a) to d). Device (1) according to Claim 1 , wherein the linear guide system has a second linear guide (41) which runs parallel to the first linear guide (40) and is spaced apart therefrom, on which the suspension (20) is arranged such that it can be moved linearly in the longitudinal direction (L). Device (1) according to one of the preceding claims, wherein the transverse linear guide (200) runs perpendicular to the first and / or the second linear guide (40, 41). Device (1) according to one of the Claims 2 until 3 , wherein the transverse linear guide (200) and the two linear guides (40, 41) each run perpendicular to a vertical axis. Device (1) according to one of the Claims 2 until 4th , wherein the transverse linear guide (200) and the linear guides (40, 41) run in a common plane (E). Device (1) according to one of the preceding claims, wherein the device (1) has an adjustable limiting means which, depending on its setting, limits a distance (STR) within which the holding system (10) can be moved linearly on the transverse linear guide (200) . Device (1) according to one of the Claims 2 until 6th , wherein the linear guide system has a distance regulation with which at least one of the linear guides (40, 41) can be adjusted from a first position to a second position that runs parallel to the other linear guide (40, 41) and is at a different distance from the first position is. Device (1) according to one of the preceding claims, wherein the device (1) has an adjustable transverse resistance control which, depending on its setting, generates a transverse resistance force (QF) which varies in amount and which increases the linear movability of the holding system (10) on the transverse linear guide (200) brakes. Device (1) according to one of the preceding claims, wherein the device (1) has an adjustable longitudinal resistance control which, depending on its setting, generates a longitudinal resistance force (LF) which varies in amount and which the linear movability of the suspension (20) on the first and / or the second linear guide (40, 41) brakes. Device (1) according to one of the preceding claims, wherein the holding system (10) consists at least in sections of an elastic material with a modulus of elasticity that is less than 5 GPa, or an elastic material mixture with a modulus of elasticity that is less than 5 GPa. Device (1) according to one of the preceding claims, wherein the holding system (10) has a first connection component of a connection system, which is releasably connectable to a second connection component of the connection system, so that in the connected state one generated by an assistant (80) and into the second Connection component introduced additional force component of the stabilizing force can be transmitted to the holding system (10) via the first connection component. Device (1) according to one of the preceding claims, wherein the device (1) has a tension spring connected to the holding system (10) which generates a vertical force component of the stabilizing force that acts upward in the vertical direction.

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