DE10312042B4 - Training device with continuously rotatably movable, interconnected actuators - Google Patents

Abstract

Training device with continuously rotatably movable, interconnected actuating elements (3, 4, 5) for a pair of extremities of a person, means for driving and / or braking (31) of the actuating elements (3, 4, 5) and an electronic unit for control and / or control the movement of the actuating elements (3, 4, 5), characterized in that the electronic unit is adapted, in each case one revolution of the actuating elements with respect to at least four sections (11, 12, 13, 14) of the revolution, a pressure phase, a traction phase and a lifting phase of the rotational movement of at least one of the actuating elements are assigned to report and / or visualize for several, in particular all of the sections (11, 12, 13, 14) at least one size that provides information about which Load on the actuators (3, 4, 5) in the respective section (11, 12, 13, 14) acts momentarily or as an average value, wherein the di e shear phase, the pressure phase, the traction phase and the lifting phase successively replace in a pedaling motion for a round movement and a rotation is completed by the transition from the lifting phase in a next push phase.

Description

The invention relates to a training device with continuously rotatably movable, interconnected actuators according to the preamble of claim 1.

State of the art

From the German patent application DE 102 21 775 A1 is a training device with continuously rotatably movable, interconnected actuators known, the means for optical, audible, haptic or smelling message or display a training parameter target and a comparable actual size or a training parameter target deviation with respect to the actual Size includes. As a training parameter target, the speed, the torque or the actuator position or a derived quantity can be used. As a result, the coordination, ie the connection of brain functions with targeted muscle activity can be improved.

The restoration of coordinative abilities, for example, is one of the main tasks of stroke rehabilitation. Most of the stroke patients have severe motor disabilities on one side of the body (hemiparesis), with particularly limited mobility of the legs, hands and arms. After a stroke, not the muscles and tendons are damaged, but the control and sensation center in the brain. If necessary, after the onset of the injury, spasms can also be observed, which result from the muscles being abnormally tensed because inhibitory and regulating nerve fibers have precipitated in the central nervous system. It is known that functions of the coordinative system can be partially or wholly taken over by selective damage to individual brain areas of intact structures. It has been shown that in order to restore or improve the coordinative skills, training with a direct, in particular visual, feedback is advantageous in terms of effectiveness.

In this case, in the training device, which is known from the above-mentioned German published patent application, only a partial aspect of the possibilities, in particular a visual feedback, taken into account.

Purpose and advantages of the invention

The invention is based on the object of providing a training person with a training device with which the training can be made even more effective.

This object is solved by the features of claims 1, 4, 8, 9 and 11. In the dependent claims advantageous and expedient developments of the invention are given.

First, the invention is based on a training device comprising continuously rotatable, interconnected actuators for a pair of extremities of a person, means for driving and / or braking the actuators and an electronic unit for controlling and / or controlling the movement of the actuators. The essence of the invention is that the electronics unit is designed, in each case one revolution of the rotational movement of the actuating elements with respect to at least three sections of rotation, which together preferably result in a complete rotation, for several sections, preferably all sections, at least one size to report and visualize, which provides information about which load on the actuators in each section currently, d. H. z. B. as a function of the angular position, or as an average value, for. B. averaged over a period or several revolutions acts. The size of the sections can be displayed in parallel or sequentially. In a visual playback, a parallel representation is available, for example. B. an acoustic playback a sequential form of representation. A parallel representation allows easy comparison of section data. Through the presentation of performance data for the individual sections, it is possible to draw conclusions about the activity of individual muscle groups with appropriate division of the sections. This makes it possible to recognize and assess deficits in the coordination and force generation of individual muscle groups. On the one hand, this can be used by the therapist to perform a detailed analysis followed by a specified guide from the exerciser, but on the other hand provides immediate, highly efficient feedback to the exerciser, greatly promoting targeted sensing and, at best, muscle response. Report size is also understood according to the invention as a stimulating muscle activation (muscle stimulation).

The electronics unit is designed to report and / or visualize at least one size parallel or sequentially for each revolution of the actuators with respect to four angle sections, in particular four equal 90 degree angle sections for all four sections at least one size that provides information about which load the actuators in each section currently or as an average value. By dividing the rotational movement into four sections, in particular identical sections, an assignment of the rotational movement to a push phase, a pressure phase, a pulling phase and a lifting phase can be made and reported back to the exercising person. Such a training style favors the "learning" in particular a "round" movement. The exercising person first has the possibility to perceive their movement with regard to the individual phases without a specific influencing of the movement and thus to develop a sense of movement. In a further step, the exercising person can then try to influence the individual phase by targeted manipulation of muscle groups, in order to optimize a coordination during the movement or to improve or even to relearn from a low level.

In a preferred embodiment of the invention, at least one size is reported by the electronics unit for each extremity pair in each case one revolution in the rotation of the actuators with respect to at least three sections of rotation, which preferably together result in a complete rotation visualized, which provides information on which load on each actuator currently or acting as an average value in each section. The detection of a load can for both actuators together or page-related, d. H. separated for each page. Assuming that the load on the actuators is integral, i. H. for both actuators together, z. B. is determined via the engine torque from the motor current for the sections, a statement on a page-related training on the type of training depends. A differentiation of the limb sides can z. B. then take place when the trainee moves an actuator with only one extremity side. In addition, a page-related analysis can also be carried out when training with both extremities. For this purpose, however, it is necessary that the patient actuates the respective actuating element in only one section, even with only one extremity. In the case of a division into four equal sections, the exerciser may, for. B. by definition only in two phases, thrust and compression phase or pulling and lifting phase with the left or right limb are active. The assignment z. As an average load, in particular average power per phase, can then be assigned depending on the crank position of the left or right side. If the exerciser does not adhere to this restriction, contributions from the respective other extremity are always assigned to the extremity, which by definition should be active in the respective section.

In order to be able to report and / or visualize a size for each limb in relation to the respective actuation element for a plurality of sections, which in each situation provides information about the load on the respective actuation element, a section-related detection of the size is for a left and right extremity side separately necessary. This can be done by determining forces and / or moments on one extremity side and then closing the load on the other extremity side via the total torque or by attaching sensors to the left and right actuation elements in order to be able to make statements about the load on the respective actuation element ,

The terms "load on the actuators" or "load on the respective actuator" are intended to include various cases according to the invention. Initially, this means any type of load on the actuators or on the respective actuator, no matter whether the load results from active intervention or merely from a passive movement of the extremities. Equally, however, the case should be included in which a fundamental tone is not taken into account in the message or visualization. This basic tone can be considerable in those with "stiff" joints and muscles compared to "healthy" users, but even in healthy users, a fundamental tone is already due to the influence of gravitational forces on the extremities.

In a preferred embodiment of the invention, the angle sections are adjustable in relation to the position of the actuating elements. Ie. Start and end point of a section should be freely definable by the user. Thus, different seating positions, in particular seat heights or a different anatomy of a user can be taken into account in order to be able to assign a section to the respective active movement phase of a limb with correspondingly active muscle groups. For example, depending on the seating position of the user, the transition from one section to the other is defined for a point at which a pedaling movement transitions from a pushing phase to a pressure phase. The starting point of the next section can then be placed at a point at which the printing phase passes into a pulling phase. This section can then be retained until the pulling phase passes into the lifting phase. When the lifting phase is again replaced by a push phase, the Hubphasenabschnitt is completed, whereby the rotational movement closes. In the present case, the movement is then divided into four sections by way of example. The sections can be different sizes.

Moreover, it is advantageous if both actuating element sides comprise sensors for detecting the load and the electronic unit is designed to bring and / or represent motor current data with sensor data relating to the respective side.

In a further embodiment of the invention, two side-by-side displays for each page are provided for a page-related message and / or visualization of at least one size in the respective sections. For example, for each of the right and left extremity there is a graphical representation in which z. B. a rotational movement is divided into four sections, in which then a current size or average size is shown in terms of the load. In this case, the sections preferably follow one another, as in the case of the rotational movement, taking into account the rotational movement, so that a user can assign the phases of the rotational movement to the respective sections of the illustrated size.

In a preferred embodiment of the invention, the sections are visualized in such a way that each section in a display is assigned a corresponding angle section in a 360-degree representation. In this way, a user can easily understand the assignment.

For example, the sections on the display are abstracted in a rectangle with rounded corners, with each side of the rectangle forming a section. Such a division is preferably made when the rotational movement is also divided into four sections. In the rectangles can then as a relevant size z. As the average power (for example, averaged over several revolutions) per section z. B. be displayed as a bar on the corresponding side of the rectangle. The size of the bar in the horizontal or vertical direction then corresponds to the average power that is applied by a trainee in each section. In a page-related representation, preferably two such graphical representations are arranged side by side.

However, the graphical representation on the display can also be made by a circular ring, which is divided according to the sections. The representation of the size that reflects the load can be realized by more or less filled circular ring sections. The degree of filling of the circular ring sections is proportional to the value of the size shown.

It is also conceivable on the display to realize the graphic representation by a circle which is divided into segments corresponding to the sections, wherein the reproduction of the quantity which reflects the load can be effected by segments which are stronger or less heavily filled in the direction of rotation.

The graphical representation can be realized in each case two- or three-dimensional.

Furthermore, it is particularly preferred if the electronic unit is designed to automatically make a suitable scale graduation for the respective sections depending on the load applied by the user. As the unit of the scale, the power, the moment, a percentage display or the like can be selected.

In the visualization, in particular page-related visualization, a section-related basic tone can be displayed in parallel. This is particularly useful when training is performed at different speeds, since the fundamental depends on the speed. In particular, weight and inertial forces are less noticeable at lower speeds than at high speeds. Preferably, in the calculation of performance data, the weight and inertia forces are eliminated during active training at different angular velocities, in particular at high angular velocities with the aid of determined values from homing at different speeds.

An essential point of the invention resides in the fact that the actuating elements comprise foot shells with a side wall extending perpendicularly at least approximately to the axis of rotation on a crank of the actuating elements, on which sensors are provided for determining the deformation of a side wall. In this case, the sensors can be arranged with respect to the bearing surface of the foot shells below and / or above a bearing of a foot shell on a crank.

In order to further improve the absorption of forces on the foot shells, it is proposed that the foot shells comprise recesses and the webs between the recesses serve as bending elements, on which sensors, for. B. strain gauges are mounted for the force detection.

Moreover, an important aspect of the invention is that the pedals, z. B. Fußschalen and / or handles are connected in a manner with a crank of the actuators via intermediate members that by a predetermined angle, preferably 90 degrees offset forces on the Pontics, are separately measurable. By this measure, the detection of forces can be performed more accurately and in particular directional. In this context, it is also advantageous if the position of the pedals or handles can be detected. In this way it is possible, for. B. forces perpendicular and parallel to a support plane of the pedals or a given handle alignment clearly detect. A rotation of the pedals or handles to the respective orientation of the crank arm for the detection of z. B. 90 degrees offset forces can be considered by the angle detection.

The data of the force detection sensors and the means for determining the angular position of the pedals and / or handles is transmitted to the electronic unit, preferably via wireless transmission methods, eg. B. via an optical transmission method. However, it is also a transmission via appropriately guided cable possible.

In a further preferred embodiment of the invention, a pedal or handle is arranged on a first intermediate member via a first axis of rotation on a first lever arm and first stop means, and the first intermediate member attached to a second intermediate member via a second axis of rotation to a second lever arm and second stop means, wherein the abutment means block the movement of the lever arms, which at an angle, for. B. 90 degrees are offset from each other and lie in a plane which is at least approximately perpendicular to the respective handle or pedal axle, and being provided on the stop means sensors, in particular pressure sensors on both sides of a lever arm. By doing so, a decoupled measurement of z. B. mutually offset by 90 degrees forces can be realized in a relatively simple mechanical manner. The arrangement of the stops, it is possible to detect train and pressure or a lifting or pushing movement on a pedal or handle.

A separate force detection can also take place as an important point of the invention in that at least one pedal and / or handle is connected via connecting means with a crank arm, wherein sensors for measuring force, in particular strain gauges are arranged on the connecting means.

In a further preferred embodiment of the invention, a speech module is provided. This allows the patient on the size in each section z. B. be informed sequentially. In addition, the user can get more helpful information as a guide to training.

In order to make the visualization more memorable and clearer it is also proposed that for visualization of the sections associated with at least one size a graphical representation, for. B. is provided on a liquid crystal screen, in which the color and / or gray level of a symbol whose geometric dimensions, in particular length symbolizes the amount of the size reflects the sign of the size. z. B. are differentiated by color three states. The exerciser exerts power, no power development in a normal muscle tone or the occurrence of increased muscle tone or spasticity.

In addition, it is preferable if the electronic unit is designed to average at least one value for the size in a section of a plurality of individual values for this section. This gives you a calmer, yet meaningful ad for the size. Alternatively or additionally, predefined performance data can also be averaged over several revolutions to determine the size. This results in an additionally smoothed message or visualization, which is particularly advantageous for users with cognitive disorders.

In a further preferred embodiment of the invention, the electronic unit is designed to report or visualize, in particular graphically, values of values for a sequence of movements as reference values parallel to current values. By means of this measure, a user can specifically train with regard to the reference values. For example, measured values of a weaker side are related to the previously determined reference values of the healthy side of a limb pair, preferably by parallel graphical representation, in which the reference values are shown "frozen".

The electronics unit can also be designed to form reference values from mean values for the left and / or right-hand side-specific performance data of a limb pair over a freely definable time window and to set them as "frozen" comparison values in relation to current performance data. This can be done graphically or numerically.

In order to protect an exercising person from overexertion, it is also suggested that means are provided for detecting the state of fatigue of the muscles of a person exercising and, in the event of fatigue, the load for the exerciser can be changed, in particular minimized.

Moreover, it is preferred if the electronic unit is designed to visualize values of at least one size for the sections of a motion sequence in the time-lapse on the training device. Advantageously, the electronic unit can also be designed so that an output of training-specific process variables on a PC and / or printer is possible.

In a further advantageous embodiment of the invention, means are provided to use the determined for the sections at least one size for muscle stimulation. In this case, at least one size for a section can be assigned directly to a stimulus current channel of a muscle stimulation device.

Moreover, it is advantageous if the electronics unit is designed for a movement of the actuating elements in both directions of rotation. In this way, the learning speed for coordinative disturbances z. B. the healthy brain can be additionally increased.

In a further preferred embodiment of the invention, the pedals and / or handles are arranged adjustable in height. z. For example, the foot rest of a pedal on a crank can be adjusted in height. In this way, an adaptation to the respective sole of the foot, which may be different for different shoes, take place.

Moreover, it is advantageous if an ankle lock is provided on the pedal. This measure can be compared with defined legs and feet training trips with homing with high accuracy.

In addition, it is preferred if handles and / or pedals are removable with a quick release. As a result, injuries can be avoided if a trainee with only one extremity of a pair of extremities trained, z. B. performs a reference training.

drawings

Several embodiments of the invention are explained in more detail in the following drawings, indicating further advantages and details. Show it

1 a training device for the physically handicapped in a perspektifischen representation,

2 a schematic representation to illustrate the assignment of movement phases in a crank cycle,

3a to 8b Display examples for the graphic representation of motion phases divided crank cycles,

9 in a perspektifischen exploded view attaching a right pedal to a drive unit,

10 in a partially sectioned schematic rear view the attachment of a left pedal,

11 in a schematic exploded view, the attachment of a right-hand grip to a drive unit,

12 the attachment of a left handle on a drive unit, shown schematically, partially cut in a rear view,

13 to 16c various possibilities to attach a pedal with a foot shell to a drive unit,

17 to 17c a foot cup with ankle lock,

18 and 18b 2 variants of attaching a pedal via an articulated lever to a crank with schematically illustrated force sensors.

19a and 19b 2 variants of a foot shell with strain gauges in side view and

20 and 21 2 variants of a foot shell with quick release in side view.

Description of the embodiments

In 1 is a training device 1 shown that a frame 2 includes, on which a pedal crank 3 with pedals 4 . 5 are arranged for the legs of a person exercising. In addition, is a prop 6 provided on which handles 7 and a control unit 8th are attached. A surface 9 the control unit 8th includes a liquid crystal display 10 ,

On the liquid crystal display 10 Graphically sequences of movements for here by way of example a left and a right leg are each depicted in a separate form.

If the training device also has grip pairs for exercising with the arms, the respective graphical representation that is used for a pair of legs can be used for a pair of arms when training with them. However, it is also conceivable that separate graphic representations are provided both for an arm pair and for a leg pair, especially when exercising simultaneously with legs and arms.

It is advantageous, as already stated, both a graphical representation of a left and right limb. In a simple form, however, only one graphical representation can be provided for a pair of extremities, in particular when no side-separated load measurement on the actuators is possible.

In 2 is the procedure for the classification of a crank cycle in 4 equal 90 degree segments 11 to 14 illustrated. In the respective segment 11 . 12 . 13 . 14 is each an arrow 11a . 12a . 13a . 14a represented, which is to symbolize the main force direction.

In this illustration, it is assumed that a trainee actuates a crank in a clockwise direction and a z. B. horizontal pushing movement as in segment 11 is executed accordingly. The segments may also be rotated by a certain angle when the exerciser has a lying training position.

In 2 stands the segment 11 for a boost phase, the segment 12 for a printing phase, the segment 13 for a pulling phase and the segment 14 for a lifting phase.

In an embodiment in which no lateral force or torque measurement is made, the average power at the crank 3 be determined via the drive or braking torque of a drive motor. For example, an average power per segment z. B. be determined from the following relationship: P _segment = M _{motor, segment} · ω _segment

Here, ω _{segment is} the average angular velocity per segment and M _{motor, segment} the engine torque, which is determined by the average motor current per segment. For this purpose, the motor current can be determined with a defined sampling rate per segment in order then to carry out an averaging. This mean value multiplied by a motor constant then gives the average drive or braking torque M _{motor, segment} In order to make a page-related statement for this case the load measurement on pedals or handles, accurate training must be followed, otherwise by the integral measurement of a force z. For example, the left side is incorrectly attributed to the right side or vice versa.

• a) Wenn der Trainierende nur mit einem Arm oder einem Bein trainiert.
• b) Wenn der Trainierende per Definition nur in 2 Phasen z. B. Schub- oder Druckphase bzw. Zug- oder Hubphase mit der linken oder rechten Extremität aktiv wird. Die Zuordnung z. B. einer Durchschnittsleistung pro Segment wird dann abhängig von der Kurbelposition der linken oder rechten Seite zugeordnet und jeweils für die linke und rechte Seite separat graphisch dargestellt.

For the following training types, however, a page-related statement is possible:

• a) If the exerciser is training with only one arm or one leg.
• b) If the trainee by definition only in 2 phases z. B. thrust or compression phase or pulling or lifting phase with the left or right limb is active. The assignment z. B. an average power per segment is then assigned depending on the crank position of the left or right side and displayed separately graphically for each of the left and right sides.

Only when lateral segregated load sensing on the actuators is possible can segment-related power sensing occur without restrictions simultaneously for left and right extremity sides.

In the following 3a to 8b For example, display examples illustrate how to divide a crank cycle into 4 segments visualization can be made for right and left sides, respectively for forward movement and for backward movement.

In a first exemplary embodiment of a graphical display 15 the circular motion of a crank cycle for the left and right side is separated, ie with a display 15a for the left and one ad 15b realized for the right side. For this purpose, a crank cycle in each case as a rectangle 16 approximated by round corners, with the 4 sides of the rectangle each one of the segments 11 . 12 . 13 . 14 in 2 equivalent. For example, the average benefit per segment is shown as a bar 17 displayed on the corresponding side of the rectangle. The extension of the beam in the horizontal or vertical direction corresponds to z. B. the average power that the patient has in each segment 11 . 12 . 13 . 14 that in the 3a and 3b characterized by the words "push", "lower", "pull" and "lift", to the actuators, e.g. B. pedals 4 . 5 applies. The graduation of the graphic displays preferably changes depending on the set power level on the exercise machine 1 and / or the set direction of movement. The sign of the determined performance value per segment can be displayed on the display z. B. are distinguished by color. Thus, it is possible to draw conclusions about the stiffness of the joints and muscle groups from the display. By being able to train in both directions, the training can be made more interesting and demanding for a user. B. an increase in the learning rate for a "healthy brain" of a stroke patient is conceivable.

In 3a are the ads 15a and 15b for a left and right extremity in the case illustrated when the exerciser z. B. forward trained. In 3b are the ads 15a and 15b presented for the backward training. These differ by the direction of the arrow in the center of the respective display as well as by an exchange of the respective inscription "pull / push" and "raise / lower".

The graphical representation of a crank cycle for the respective sections can take many forms. Some examples are in the 4 to 8th shown.

In the embodiment of the 4a and 4b is an integral part of the respective graphic displays 17a and 17b a circular ring. The annulus is again divided into 4 angle sections, the z. B. performed average power per angular section by filling the annulus occurs. The degree of filling of the annular surface is proportional to the average power delivered. A scale graduation 18 the respective graphic display 17a and 17b preferably changes depending on the set power on the exercise machine and the training direction in accordance with as in the embodiment according to the 3a and 3b , Also in the present embodiment, the sign of the power value per segment on the display can be distinguished by a different color.

In 6 and 6b are closed 4a and 4b correspondingly illustrates three-dimensional graphic displays.

The 5 and 5b differ from the 4a and 4b in that a second circular ring is introduced, wherein, for example, the up and down movement is shown on an outer and the reciprocating motion on an inner circular ring.

In a further embodiment according to 7a and 7b the representation of also 4 phases by a correspondingly broken circle, where z. For example, the average power delivered per segment is proportional to the arc length of a highlighted section of the circle 19 within the corresponding circle segment 20 is. For the graduation and the reproduction of positive and negative values, what has been said about the previous examples applies accordingly. Also, this representation can also be made three-dimensional, as in the 8a and 8b illustrated. To a section-related z. For example, to be able to perform performance recording without restrictions simultaneously for a left and right limb side, a page-related load detection must be realized. Various ways in which this can be done, in the 9 to 16b presented for both pedals and handles.

9 shows a pedal assembly 30 on a drive unit 31 , The pedal arrangement 30 includes a foot shell 32 for receiving the foot of a trainer, which has a lever system 33 on a pivot bearing 34 , z. B. ball bearings, on a crank arm 35 attached to a shaft 36 the drive unit 31 sitting. Correspondingly constructed is the left side of the pedal assembly (in 10 shown), in which a crank arm 55 on the same wave 36 is attached.

The foot shell 32 the right side is about a pivot bearing 37 with a rotation axis 37a at a first lever 38 attached. The first lever 38 has two 90 degrees aligned lever sections 38a and 38b on that over an intermediate piece 38c connected to each other. So that the foot shell 32 around the axis of rotation 37a can not move freely, are on the foot well two opposite stops 39 . 40 provided, between which the lever portion 38a is positioned. In 9 is the upper stop 39 at the top of the lever section 38a and the lower stop 40 at the opposite edge of the lever section 38b with appropriate load on the pivot bearing 37 at. Between the respective stop 39 . 40 and the lever section 38a is each a sensor, z. B. pressure sensor (see 13 ) to determine the forces that must be taken by the opposite stops. The position of the sensors is indicated by arrows 39a such as 40a in 9 symbolizes.

The first lever 38 is also about a pivot bearing 41 with rotary axis 41a with a second lever 42 connected, the stops 43 and 44 owns, which prevent the first lever 38 free around the pivot bearing 41 can turn. For this purpose, the attacks act 43 and 44 with opposite edges of the lever section 38b together. Between the respective edge of the lever section 38b and the stop 43 or 44 is also a sensor, z. B. Pressure sensor (see 13 ) to provide a means of determining the forces at each stop 39 . 40 Act. The position of sensors is again indicated by arrows 3a . 44a indicated. The lever 42 is at the pivot bearing 34 assembled.

The forces that a user puts on the foot shell 32 exercises, are by this mechanical arrangement in a contact surface 32a the respective foot shell 32 . 52 disassembled parallel component F _h and a vertical component F _v . Corresponding electrical signals are from those in the area of the stops 39 . 40 such as 43 . 44 seated sensors.

Since the respective left and right foot shell 32 . 52 freely rotatable on the respective crank arm 35 . 55 is stored and due to the sitting position of the patient, the respective support surface moves 32a . 52a the foot shell 32 . 52 not tangential on a circle. Accordingly, in the force measurement, an angle α of the bearing surface 32a . 52a to the circle tangent. The determination of the "rocking angle" α between bearing surface 32a . 52a the foot shell 32 . 52 and the circle tangent can z. B. on the detection of the angle between the support surface 32a . 52a and the crank arm 35 . 55 z. B. via a potentiometer, which with the axis of rotation of the foot shell 32 . 52 is coupled done.

The calculation of the power can then z. B. be made as follows: P = M · ω = F _tangential · r · ω, where P is the power, M is the moment, ω is the angular velocity, F _{tangential is} the tangential force on the crank arm, and r is the distance of the tangential force to the crank axis of rotation.

F _tangential results furthermore from the following equation, where α is the "rocking angle" described above: F _tangential = F _h · cos α + F _v · sin α.

F may, for _{tangentially.} B. in a microcomputer system, which is integrated in each Betätigungselemtseite, calculated at constant intervals and z. B. an optical process to the main computer, located in the training device 1 is located for the page-separate calculation z. B. the average power per section to be transmitted.

If the training device for training with pairs of arms appropriate handles 60 . 70 on a crank 61 has (see 11 and 12 ), the z. B. with a drive unit 62 mechanically connected, the handles can 0, 70 via a lever system 33 as for the foot shells 32 . 52 in the 9 and 10 on a pivot bearing 34 respectively. 54 be attached. With regard to the power split, this applies to the lever system 33 Said accordingly (same parts are provided with the same reference numerals). This also applies with regard to a tilting of the handle with respect to a predetermined basic position corresponding to as for the tilt of the support surface 32a . 52a the respective foot shell 32 . 52 ,

The pivot bearings 34 and 54 are each on a crank arm 63 . 73 the crank 61 assembled.

Preferably, the handles 60 . 70 designed so that they are encompassed by the user in only one ergonomic orientation. This always gives you a defined grip position.

13 shows you one 10 corresponding structure in an exploded view with the difference that the respective foot shell (in 13 only one side is shown) height adjustable with the lever system 33 is coupled. There is an additional lever for this 81 provided, which at one end a pin 82 for a pivot bearing 83 on the lever system 33 and two stops at the opposite end 84 and 85 having. Otherwise, the lever system agrees with the in 9 Represented match, which is why it also with the reference number 33 is provided. In the in 13 slightly enlarged view are now the sensors 86 . 87 . 88 . 89 at the attacks 84 . 85 such as 43 . 44 symbolized by circles symbolizes. The sensors can be assigned to a pedaling movement and the resulting forces as follows:
sensor 86 recorded tensile forces, sensor 87 Thrusts. The sensors 88 and 89 capture forces when pushing down or pulling up the foot shell.

To the respective foot shell or its support surface with respect to a rotation axis 90 around a pivot bearing 34 to be able to adjust, the respective Fußschale can be 80 on the lever 81 over a sleeve 91 in which one on the foot shell 80 arranged rod 92 is displaceable, adjust. The rod 92 can be z. B. via an adjusting screw (not shown) in the sleeve 91 adjust.

A height adjustment is advantageous when the user wear shoes with different sole heights, around the sole of the user always with respect to the axis of rotation 90 to adjust in a desired manner.

A page-related load detection can also be directly via sensors, eg. B. strain gauges, done in the side region of a pedal. In a first such embodiment according to 19a Be the patient on a pedal 100 exerted forces by means of strain gauges 101 . 102 . 103 captured on a sidewall 104 the pedal are arranged. In order to be able to detect corresponding deformations on the strain gauges, the side wall has 104 recesses 105 and 106 on, leaving a tongue 104a arises at the strain gauges 101 . 102 and 103 and a mounting hole 107 are arranged for the pedal and those of the remaining sidewall 104 over the recess 105 and 106 is disconnected.

Deformability due to forces on the pedal 100 that leads to a deformation of the tongue 104a lead, can be over the strain gauges 101 . 103 thus detect. In this case, a lifting and pressure movement through the strain gauge 103 detected while the strain gauges 101 and 102 Forces parallel to a support surface 100a can capture.

A slightly modified form of strain gauge attachment 101 to 103 on a pedal 108 is in 19b shown. Here are the strain gauges 101 to 103 in contrast to the embodiment according to 19a above a depository 109 in a sidewall 110 of the pedestal shaped pedal 108 , To a corresponding deformation in the range of strain gauges 101 to 103 to receive, indicates the side wall 110 in contrast to 19a no recesses that divide from above the side wall, but there are recesses 111 respectively. 112 so provided that a tongue down 110a arises. In both embodiments, although the different arrangement of the tongue in common that at the free end of the tongue, the bearing point 107 respectively. 109 sits and at the opposite end of the strain gauges 101 to 103 ,

Further examples of the attachment of the strain gauges for force measurement are in the 14a to 16c shown. In 14a to 14c an embodiment is shown in which a foot shell 113 over a sleeve 114 height adjustable on a rod element 115 is arranged, which has a pivot bearing 116 with a crank arm 117 a crank is connected. The height of the foot shell 113 on the rod element 115 can via an adjusting element 118 on the rod element 115 be arrested.

To measure the force is the sleeve element 114 not directly on the foot shell 113 attached, but indirectly via a lever piece 119 , The lever piece 119 is formed as a flat material, wherein on to a side wall 113a parallel flat sides of the lever piece 119 one strain gauge each 120a respectively. 120b and at opposite perpendicular thereto extending edge surfaces of the lever piece 119 in each case a further strain gauge 121 respectively. 122 is provided. The strain gauges take over 120a and 120b the function, forces perpendicular to a support surface 113b the foot shell 113 to detect. The strain gauges 121 and 122 are for measuring forces parallel to the support surface 113b the foot shell 113 intended.

The embodiment according to the 15a to 15c differs from the embodiment according to the 14a to 14c in that the strain gauges are not on the lever piece 119 are arranged, but in a corresponding position on the rod element 115 , That is, the strain gauges 123a and 123b for forces perpendicular to the support surface 113b are each on a flat side of the rod element 115 arranged at least approximately parallel to the side wall 113a the foot shell 113 runs. At opposite perpendicular to extending edge surfaces of the rod element 115 are further strain gauges 124 and 125 positioned for force detection parallel to the support surface 113b aligned forces are provided.

In a further embodiment according to the 16a to 16c is the force detection with strain gauges 123a . 123b such as 124 and 125 as in the embodiment of 15a to 15c performed. However, it is a rod element 115 not over another connector 126 , on which an adjusting element 118 the height of the foot shell 113 can be adjusted with a side wall 113a connected to the foot shell, but with the underside of the support surface 113b , The connector 126 is this as an angle piece with support flange 126a trained, this example of key openings 113c and 113d in contact surface 113b with the foot shell 113 connected is. This embodiment has the advantage that the foot shell in the side area does not have to be designed so that an attachment takes place here.

In the 17a to 17c is an embodiment of a foot shell 127 represented, on which a lower leg holder 128 is arranged. An Fußschale with lower leg holder is known per se. The lower leg holder moves 128 in a pedaling movement with her lever 129 usually around a rotation axis 130 in order to enable the different ankle positions during a pedaling movement. In the embodiment according to the 17a to 17c However, this should be avoided especially for certain applications. Therefore, the lower leg guide locking means 131 , here by way of example in the form of a locking screw, in order to make an "ankle lock" can.

Such a lock has z. B. then benefits when homing be performed and different ankle positions would lead to different measurement results.

In the 18a and 18b two further embodiments are shown, the connection of a pedal or handle, here by way of example a Fußschale 135 to the point of articulation 132 to illustrate a pedal (not shown). The respective connector 133 For this purpose, each designed as a folding lever, wherein at the opposite end of Kurbelarmanlenkpunkt the respective Fußschale 135 is articulated. The two embodiments differ by different positions of the articulation points 134a . 134b at the respective foot shell 135 , The respective articulated lever 133 each has two lever sections 133a . 133b on. At the respective lever section 133a are in a similar manner as in the embodiment of the rod element 115 , four strain gauges 123a . 124 and 125 attached (the fourth strain gauge is not shown). In addition, many other embodiments are possible in which on a connecting piece between the crank arm and the handle or pedal strain gauges for detecting the forces on the pedal or handle are arranged, for example, articulated levers with different angles.

In the 20 and 21 options are presented, handles or pedals, here an example foot shell 200 , via a quick release 201 . 202 to attach to a crank. A quick release can be advantageous if you do not always train with a pair of extremities. In this case, the respective pedal or the respective handle by means of the quick release 201 be removed, whereby a risk of injury to the user is excluded by an empty mitrotierendes pedal or an empty co-rotating handle.

20 shows a bearing bush 213 , at which one around a bolt 203 rotatable safety latch 214 is appropriate. To lock the securing bracket 214 is a z. B. resilient pressure piece 215 intended. During assembly, the foot shell 200 placed on a corresponding pin (not shown) mounted on a crank arm bearing and the safety bar 214 moved down to the resilient pressure piece 215 the safety bar 214 arrested and z. B. engages in a corresponding groove of a journal to the Fußschale 200 to be determined.

21 shows a foot shell 200 the one storage with a partially slotted collar 217 which is used for a clamping mechanism. The clamping mechanism 220 is on the slotted collar 217 z. B. welded. It consists here by way of example of a longitudinally adjustable drawbar 218 pivotally mounted on one side of the slotted adjusting ring 217 is attached and a locking lever 219 located on the other side of the slotted adjusting ring and the drawbar 218 is articulated. During assembly, the foot shell 200 attached to a bolt mounted on the crank arm bearing and the locking lever 219 until it engages a lever lock 216 pressed down.

LIST OF REFERENCE NUMBERS

1

exerciser

2

frame

3

crank

4

pedal

5

pedal

6

support

7

handle

8th

operating unit

9

surface

10

liquid-crystal display

11

segment 11a arrow

12

segment 12a arrow

13

segment 13a arrow

14

segment 14a arrow

15

graphic display

15a

graphic display

15b

graphic display

16

rectangle

17a

graphic display

17b

graphic display

18

graduations

19

circular cutout

20

segment

30

pedal arrangement

31

drive unit

32

Fußschale

32a

bearing surface

33

lever system

34

pivot bearing

34a

pedal axle

35

crank

36

wave

37

pivot bearing

37a

axis

38

first lever

38a

connecting piece

38b

lever section

38c

connecting piece

39

attack

39a

arrow

40

attack

40a

arrow

41

pivot bearing

41a

axis of rotation

42

second lever

43

attack

43a

arrow

44

attack

44a

arrow

50

pedal arrangement

52

Fußschale

52a

bearing surface

53

lever system

54

pivot bearing

55

crank

60

Handle

61

crank

62

engine

63

crank

70

Handle

73

crank

80

Fußschale

81

additional lever

82

spigot

83

pivot bearing

84

attack

85

attack

86

sensor

87

sensor

88

sensor

89

sensor

90

axis of rotation

91

shell

92

Rod

100

pedal

100a

bearing surface

101

Strain

102

Strain

103

Strain

104

Side wall

104a

tongue

105

recess

106

recess

107

fastening opening

108

pedal

109

depository

110

Side wall

110a

tongue

111

recess

112

recess

113

Fußschale

113a

Side wall

113b

bearing surface

113c

key opening

113d

key opening

114

sleeve member

115

rod element

116

pivot bearing

117

crank

118

adjusting

119

lever piece

120a

Strain

120b

Strain

121

Strain

122

Strain

123a

Strain

123b

Strain

124

Strain

125

Strain

126

elbow

127

Fußschale

128

Lower leg support

129

lever

130

axis of rotation

131

locking

132

articulation

133

joint

133a

lever section

133b

lever section

134

joint

134a

articulation

134b

articulation

135

Fußschale

200

Fußschale

201

quick release

202

quick release

203

bolt

213

bearing bush

214

safety catch

215

Pressure piece

216

Safeguard lever

217

collar

218

pull bar

219

locking lever

220

clamping mechanism

Claims (23)

Training device with continuously rotatably movable, interconnected actuators ( 3 . 4 . 5 ) for a pair of extremities of a person, means for driving and / or braking ( 31 ) of the actuating elements ( 3 . 4 . 5 ) and an electronic unit for controlling and / or controlling the movement of the actuating elements ( 3 . 4 . 5 ), characterized in that the electronics unit is adapted, in each case one revolution of the actuating elements with respect to at least four sections ( 11 . 12 . 13 . 14 ) of the rotation, which are associated with a pushing phase, a pressure phase, a pulling phase and a lifting phase of the rotational movement of at least one of the actuating elements, for several, in particular all, of the sections ( 11 . 12 . 13 . 14 ) at least one size to report and / or visualize, which provides information about which load on the actuators ( 3 . 4 . 5 ) in the respective section ( 11 . 12 . 13 . 14 ) momentarily or as an average value, wherein the shear phase, the pressure phase, the traction phase and the lifting phase successively detach in a pedaling movement for a round movement and a rotation is completed by the transition from the lifting phase to a next thrust phase. Training device according to claim 1, characterized in that the angle sections ( 11 . 12 . 13 . 14 ) in relation to the position of the actuators ( 3 . 4 . 5 ) are adjustable. Training device according to one of the preceding claims, characterized in that the electronic unit is designed for the left and right actuating element ( 4 . 5 ) at least one size in relation to the respective section ( 11 . 12 . 13 . 14 ) or to visualize. Training device according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that both actuation elements comprise sensors for load detection and that the electronics unit is adapted to bring motor current data with sensor data of the respective actuator side in relation to each other and / or represent. Training device according to one of the preceding claims, characterized in that for comparing the sections ( 11 . 12 . 13 ) is shown for the left and right actuator each have a graphical display on a display. Training device according to one of the preceding claims, characterized in that the sections ( 11 . 12 . 13 . 14 ) are visualized in a manner in which each section in a display is assigned a corresponding angle section in a 360 degree representation. Training device according to one of the preceding claims, characterized in that the at least one size for the respective sections ( 11 . 12 . 13 . 14 ) can be determined per page and for each page the size in relation to the sections ( 11 . 12 . 13 . 14 ) is displayed separately. Device according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that the actuating elements ( 3 . 4 . 5 ) with at least approximately to a rotation axis ( 34a ) on a crank of the actuating elements vertically extending side wall ( 110 . 113a ) and that on the side wall ( 110 . 113a ) Sensors ( 101 . 102 . 103 ) are provided for determining a deformation of the side wall. Training device according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that at least one pedal ( 32 . 52 ) and / or handle ( 60 . 70 ) in a manner with a crank of the actuating elements via intermediate links ( 33 ), that by an angle, in particular by 90 degrees offset forces on the pontics ( 33 ) are measurable separately. Training apparatus according to one of the preceding claims, characterized in that the pedal and / or the handle (at a first intermediate member 38 ) via a first axis of rotation ( 37a ) on a first lever arm ( 38a ) and first stop means ( 39 . 40 ) is arranged, and that the first intermediate member ( 38 ) on a second intermediate member ( 42 ) via a second axis of rotation ( 41a ) on a second lever arm ( 38b ) and second stop means ( 43 . 44 ), the stop means ( 39 . 40 . 43 . 44 ) the movement of the lever arms ( 38a . 38b ), which are offset by an angle, in particular by 90 degrees to each other and lie in a plane which is at least approximately perpendicular to the respective handle and / or pedal axis ( 34a ) and where at the stop means ( 39 . 40 . 43 . 44 ) Sensors on both sides of a lever arm ( 38a . 38b ) are provided. Training device according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that at least one pedal ( 32 . 52 ) and / or handle ( 60 . 70 ) via connecting means ( 114 . 115 . 119 ) with a crank arm ( 117 ) are connected to which sensors for force measurement, in particular strain gauges are arranged. Training device according to one of the preceding claims, characterized in that the position of the pedals and / or handles can be detected. Training device according to one of the preceding claims, characterized in that a voice module is provided. Training device according to one of the preceding claims, characterized in that for the visualization of the sections ( 11 . 12 . 13 . 14 ) at least one size is provided a graphical representation in which the color and / or gray level of a symbol whose geometric dimension, in particular length, the amount of the size symbolizes reflects the sign of the size. Training device according to one of the preceding claims, characterized in that the electronic unit is adapted to at least one value for the size in a section ( 11 . 12 . 13 . 14 ) of several individual values for this section ( 11 . 12 . 13 . 14 ) to average. Training device according to one of the preceding claims, characterized in that the electronic unit is designed to read values of sections ( 11 . 12 . 13 . 14 ), possibly page-related, for a sequence of movements as reference values parallel to current values. Training device according to one of the preceding claims, characterized in that means are provided for detecting the state of fatigue of the muscles of a person exercising and automatically changed the load on the exerciser when fatigue, is reduced. Training device according to one of the preceding claims, characterized in that the electronic unit for visualizing values of the at least one size of a movement sequence for the sections ( 11 . 12 . 13 . 14 ) in time-lapse on the training device ( 1 ) is designed. Training device according to one of the preceding claims, characterized in that means are provided for carrying out the measurements for the sections ( 11 . 12 . 13 . 14 ) determined to be able to use at least one size for a scheme for muscle stimulation. Training device according to one of the preceding claims, characterized in that the electronic unit for a movement of the actuating elements ( 3 . 4 . 5 ) is designed in both directions of rotation. Training device according to one of the preceding claims, characterized in that handles ( 60 . 70 ) and / or pedals ( 32 . 52 ) are arranged adjustable in height. Training device according to one of the preceding claims, characterized in that a pedal ( 32 . 52 ) a lower leg guide ( 128 ) with lower leg support and ankle lock ( 131 ). Training device according to one of the preceding claims, characterized in that a handle ( 60 . 70 ) and / or a pedal ( 32 . 52 ) a quick release ( 201 . 202 ).

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