DE202016105512U1 - Treadmill with force sensors integrated into the railing - Google Patents

Abstract

Treadmill assembly, with a treadmill frame and an over-running in the treadmill frame rollers and driven by a drive endless belt whose surface serves as walking or running surface, the treadmill frame on both sides each having at least one side railing part, which has at least one encompassable railing section and / or a holding element for gripping by hand carries, wherein in each railing part a force sensor component for registering the by a user when using the treadmill arrangement in the encompassable railing section or the holding element initiated support and / or holding force, in particular for obtaining a control signal for the drive or a display signal or for the evaluation or monitoring of the use of the treadmill assembly is integrated.

Description

The invention relates to a treadmill assembly, with a treadmill frame and an over-held in the treadmill frame rollers and driven by a drive endless belt, one surface of which serves as walking or running surface.

Treadmill arrangements for athletic training purposes have long been known in a large variety of products. Their racks are usually equipped with a display and control panel in the front (i.e., in the direction of use in front of the user) for displaying and setting parameters and functions of the arrangement and in many cases also for displaying body function parameters of the user.

Also devices and methods for gait analysis, which allow a recording and analysis of the gait and use a treadmill, are known. For example, it should be noted on the DE 40 27 317 C1 or the US 6,010,465 A , In R. Kram and AJ Powell: "A treadmill-mounted force platform" Appl. Physiol. 67 (4): 1692-1698 (1989) a measuring device is described as known, in which a treadmill is pulled over a measuring platform or measuring surface and thus a continuous detection of forces exerted by the feet of a subject on the ground forces is possible.

The DE 10 2010 004 504.7 describes a treadmill assembly that is controlled according to the actual gait behavior of a user, especially a rehabilitation patient, and in which, among other things, a shutdown process can be triggered. The WO 2014/009046 A2 , which is attributable to the applicant, describes a treadmill arrangement and a method for operating such, wherein on both sides of the treadmill handles are mounted and a force sensor is provided for registration and evaluation of introduced by the user in the handles holding forces. By evaluating those holding forces can be controlled about a safety shutdown of the treadmill; but it is also a more complex evaluation and the operation of certain functions of the treadmill arrangement hereby possible.

Treadmill arrangements that are particularly suitable for use in rehabilitation and elderly users with motor impairments, are also the subject of DE 20 2015 101 590 U1 , and DE 20 2015 102 320 U1 the applicant.

The invention is based on the object of providing a further improved arrangement of the type mentioned, which is particularly suitable for rehabilitation purposes and for independent use by older users who have, if necessary. Certain motor limitations. One goal is to further develop the system into an even more widely usable therapy and exercise device while further increasing safety and user acceptance.

This object is achieved by an arrangement having the features of claim 1. Advantageous developments of the inventive concept are the subject of the dependent claims.

The invention includes the idea to provide the treadmill with a basically very simple and clear layout for the user for lateral support, which is also equipped with a sensor that detects their use sufficiently differentiated by the user and suitable control signals for the drive can provide. It further includes the idea that the treadmill frame has on both sides at least one lateral railing part, which has at least one encompassable railing section and / or carries a holding element for gripping by hand. Finally, the invention encompasses the idea that a force sensor component for registering the supporting and / or holding force introduced by a user when using the treadmill arrangement into the encompassable railing section or the holding element is integrated in each railing part.

• a. zur Gewinnung eines Steuersignals für den Antrieb;
• b. zur Gewinnung eines optischen, akustischen oder haptischen Feedbacksignals um die Überlastung (Vertikalkraft) einer Körperseite zu verhindern;
• c. zur Gewinnung eines Signals als Eingabemedium um die ggf. an einem Bildschirm vor dem Laufband dargestellten Aufgaben lösen zu können.

The sensors allow both the determination of the loading or unloading of the extremities and also the extraction of information about the movements and in particular any movement disorders of the user / patient to ultimately improve the safety features of the device further and / or to implement an adapted user interface. The detected holding force is used here in particular:

• a. for obtaining a control signal for the drive;
• b. for obtaining an optical, acoustic or haptic feedback signal to prevent the overload (vertical force) of a body side;
• c. for obtaining a signal as an input medium to be able to solve the tasks possibly displayed on a screen in front of the treadmill.

As an example for option b. Attention is drawn to the following: After the very frequent endoprosthetic operations, it is often important not to burden the affected body side during gait training too much. For example, less than 30% of body weight may be required. After previous numerical input of the body weight, the system can now by a Specify feedback signal if this discharge is undershot or document how often, how long and how intense the body relief was undercut.

In embodiments of the invention, at least one component of the force sensor is arranged directly in the corresponding railing section. In particular, the arranged in the railing portion component of the force sensor is designed as a load cell or two pipe sections of the railing connecting metal carrier with at least two applied to opposite surfaces of the metal support strain gauges.

Depending on the field of use and the user group of the treadmill arrangement, the force sensor system can be designed in different ways from low-cost versions to high-end versions. In many expedient embodiments, the force sensor system will be assigned an output-side force evaluation device for numerical evaluation processing of the introduced support and / or holding force. In further embodiments, the force sensor system may have a switching element with a threshold characteristic for outputting a switching signal when a preset force threshold value is exceeded. This represents a particularly simple and cost-effective implementation of the force sensor, which in particular manages without a separate force evaluation device and in which the occurrence of an impermissibly high force component in a predetermined direction immediately triggers a switching operation.

In a further embodiment of the invention, the force sensor is designed as a multi-axis sensor for the spatial direction-dependent detection of supporting or holding forces of a user. This can be on the one hand reactions of the user in relation to the treadmill, such as a detention reflex or supporting reflex in speed change or sudden malaise, or reflect reflexes to compensate for uncertainties of the aisle and perform a diagnostic evaluation. It should be noted that the multi-axis sensor system can be realized on the one hand by force sensors which can be detected in several axes, but on the other hand also by suitable spatial arrangement of "uniaxial" force sensors within the treadmill frame or, more specifically, of the railing sections or holding elements. It is further noted that the term is used herein in a sense that includes, for example, the simultaneous detection of horizontal forces in one axis and vertical forces.

More specifically, the multi-axis sensor is at least designed to distinguish from in or against the treadmill direction of movement or from downward or upward holding forces, preferably for distinguishing the direction of action of both support or holding force components. This allows an evaluation of both the aforementioned knee-jerk reactions to treadmill speed changes or a self-explanatory speed control, as well as the detection of approaches to falls or of posterior / anterior body variations. For example, the speed of the treadmill can be increased by pushing a handle forward and reduced by pulling it backwards. Furthermore, the multi-axis sensor system is also preferably designed to distinguish holding or actuating forces acting to the left or to the right, as a result of which lateral body fluctuations can also be registered and evaluated.

In further expedient embodiments, the treadmill arrangement is provided with a user guidance unit for optically and / or acoustically outputting instruction-accompanying instructions, in particular via earphones or loudspeakers, and / or as text overlays by an image display device. In the context of the abovementioned second aspect of the invention, it is expediently provided that the user guidance unit has an input connection connected to the force evaluation device for receiving output signals of the force evaluation device and is designed to generate and output action instructions which are dependent on the output signals of the force evaluation device. Evaluation device are dependent.

The invention further includes, in useful embodiments, the idea of improving the usability of a treadmill assembly for rehabilitation patients and elderly users by means of a suitably shaped arrangement which allows for lateral support with hands even when entering and leaving the treadmill without that the user must reach certain individual handles. It further includes the idea of providing lateral railing parts that can be gripped or grasped by the user in several different sections.

In this case, the arrangement is in particular such that the treadmill frame has on both sides at least one lateral railing part, which comprises a gripping first horizontal railing section with a first height and a second horizontal railing section with a second height, smaller than the first height, on the one Post element is attached, which carries a holding element for gripping by hand. In this case, each component of the force sensor system is integrated in each first horizontal railing section near its two ends.

Here, the Geländertile not necessarily integrally connected to the main body of the treadmill frame, but can also be placed by this solvable or even relatively independently next to this. Furthermore, in this case only the position of the corresponding railing section is described in principle with the formulations "horizontal" and "vertical"; the corresponding sections may well be significantly inclined or curved with respect to the vertical or the horizontal.

Preferably, the holding element in the post element is height-adjustable and / or exchangeable held. The height adjustment can in this case be carried out in particular with known per se telescopic constructions in latching steps in order to preclude an unintentional and for the user if necessary. Dangerous vertical slippage of the holding elements. Preferably, a set of different replaceable retaining elements is provided as an accessory to the arrangement, a first holding element in the manner of a rollator handle, a substantially L-shaped holding element, which in a position of use substantially horizontally extending forearm support and one of this substantially vertically upstanding Has handle, which can be preferably brought into a horizontal position by turning or plugging, and as the third holding element comprises a handle in the use position substantially horizontally extending handle bar and / or a ring-shaped closed handle. As a result, the treadmill arrangement can be flexibly adapted to different user groups and application situations.

In a preferred embodiment of the invention, the treadmill frame has a front edge part placed near the front end of the treadmill and bridging the treadmill, which comprises a further horizontal handrail section, which can be grasped at least in sections. This front railing provides additional safety for the user, especially against falling forward or even in case of physical disturbances that make it difficult to keep up with the treadmill speed setting. An added benefit is achievable in that the front frame part is designed for attaching a display and / or operating component of a user guidance unit, in particular has a holder for removable attachment of that component.

The above-outlined essential function of the railing parts can be realized in a simple and cost-effective manner, that at least a part of the encompassable railing sections as pipe sections with a diameter adapted to the human hand, in particular in the range between 2 cm and 4 cm are formed. In a further simplified embodiment, each lateral railing part has a multi-bent or bent single metal pipe, and it is optionally also the front railing part formed by a multi-bent or beveled single metal pipe.

To further improve the safety equipment of the treadmill assembly according to a relatively independent aspect of the invention at least the first and optionally also the third vertical railing section or, if provided, the front railing part associated with a light barrier arrangement for detecting the passage of a body part of the user, wherein the or each light barrier arrangement is connected in terms of control with the drive of the endless belt and / or the user guidance unit. Specifically, in this case, the or each light barrier arrangement is arranged on the corresponding railing section near the plane of the endless belt such that it detects the passage of the lower leg of a user.

Advantages and expediencies of the invention will become apparent from the following description of preferred embodiments with reference to FIGS. From these show:

1A to 1C three views of a treadmill arrangement according to a first embodiment of the invention,

2A to 2C three views of the railing part of a treadmill arrangement according to another embodiment of the invention,

3A to 3C three views of the railing part of a treadmill arrangement according to another embodiment of the invention,

4 a sketch-like representation of an embodiment of a component of the force sensor,

5 1 is a block diagram of an exemplary embodiment of the evaluation of force sensor signals in a treadmill arrangement according to the invention,

6A to 6C three views of a treadmill assembly according to yet another embodiment of the invention, and

7 a schematic diagram of a variant of the force sensor.

1A to 1C show in a side view, top view and front view of a treadmill assembly 10 with a plate-shaped Treadmill rack or a base plate 11 , in the interior (not shown) rollers and a drive of an endless belt 12 are housed, whose upper surface 12a serves as walking or walking area for a user. From the base plate 11 the treadmill assembly or the base frame 10 protrudes left and right side each side railing part 13 respectively. 14 on, and near the position in use front end of the top of the endless belt 12 This is from a front railing part 15 transversely bridged. In front of this railing part 15 has the base plate 11 a top cover 11a which additionally serve as a plane projection surface or can carry an electro-optical image display screen.

The side rail parts 13 . 14 are similarly shaped and each include one near the end of the endless belt 12 from its plane (or the top of the base plate 11 ) upstanding first vertical railing section 13a . 14a , followed by a first horizontal railing section 13b . 14b , followed by a downwardly extending second vertical railing section 13c . 14c , followed by a second horizontal railing section 13d . 14d and finally one the railing part to the plane of the endless belt 12 or the platform 11 down leading third vertical railing section 13e respectively. 14e , As can be seen in the figure, the second horizontal railing section runs 13d . 14d at a much lower level than the first horizontal railing section 13b . 14b , and protrudes from an integrally mounted (for example, welded) post element 13f . 14f vertically on, in the upper end removable and height adjustable an armrest 16 respectively. 17 is fixed. The front railing part 15 is formed approximately U-shaped and has another horizontal, from the upstanding railing sections 15a . 15b from slightly pulled forward horizontal railing section 15c , which is also referred to here as the third horizontal railing section.

The side rail parts 13 . 14 , as well as the front railing part 15 are consistently formed here from a steel or aluminum tube whose diameter is such that the respective railing part are easily gripped by a user and he can cling there well, and they are in the practice normally a protective and the grip improving paint or powder coating.

At the side railing parts 13 . 14 is on both sides of the post elements 13f . 14f in the second horizontal railing section 13d . 14d one force sensor each 18A intended. With these force sensors 18A holding or supporting forces of a user (vertical and optionally also horizontal forces) can be detected when using the treadmill; the evaluation of these signals will be described below. The arrangement of force sensors mentioned here is merely exemplary; the sensors may also be provided at other points of the lateral railing parts, or additional sensors may be provided at other locations - possibly also the front railing part 15 - to be appropriate.

Furthermore, in the lower region of the first vertical railing section 13a . 14a and in the transition region between the second horizontal and the third vertical railing section 13d / 13e respectively. 14d / 14e light barriers 18B arranged. The photocells 18b are intended to detect the entry and possibly also leaving the treadmill by the user on the rear access and accidental leaving the treadmill forward (such as a trip) Preferably when triggering the light barrier in the rear region of the treadmill tape running automatically stopped and can be restarted by triggering the light barrier in the front area. With the corresponding signals of the light barriers can thus, as will be described below, by way of example sketch-like, a security of use increasing engagement in the drive of the treadmill arrangement done.

The armrests 16 . 17 on the side railing parts 13 . 14 have at the front end upstanding (not separately designated) handles and a forearm rest and provide extra comfortable support options for the user. On the front part of the terrain 15 is a display and control unit 19 the arrangement removably mounted and tilt adjustable. The user can therefore support or hold on the one hand there and on the other hand control the operation of the arrangement according to their own needs. Not shown are the mounted on the forearm support in a horizontal position handles. This allows the user to hold on without using the armrests. By this advantageous adjustment can possibly on the front railing part 15 completely dispensed with.

2A to 2C show in a side view, top view and rear view of a modification of the in 1A to 1C shown and described above railing configuration, wherein the basic structure is the same as in the first embodiment and will not be described again here. The railing part 23 is different from the railing part 13 in that in the upright post part 23f a simple handle 26 mounted in the manner of a rollator handle.

3A to 3C again show in a side view, top view and rear view, as a further modification of in 1A to 1C shown and described above, a balustrade part 33 in which in the upstanding post section 33f an approximately T-shaped handle 36 is fixed, which offers the user other gripping possibilities than the armrests of the first embodiment. The embodiment of the force sensor is the same as in the first and second embodiments.

3D and 3E show the in 3A - 3C illustrated embodiment, namely the post parts 33f each with an approximately annularly closed handle 36 ' ( 3D ) respectively. 36 '' ( 3E ), instead of the T-shaped support bar. The handles 36 ' respectively. 36 '' have a distance between the lower and upper handle portion which is at least so large that there is enough space for grasping the upper handle portion. The "cranked" version as a holding element 36 '' in 3E has an advantageously large connection semicircle between the lower and upper handle portion, which allows the user on the one hand a comfortable gripping from the front or rear and at the same time the height adjustment in the post section 33f not overly restrictive.

4 shows in sketch form a adapted to the railing constructions of the proposed treadmill assembly force sensor 48 between the pipe ends of two adjacent tubular railing sections 43.1 . 43.2 can be inserted. This force sensor has a massive cuboidal metal carrier 48.1 fixed to the opposite ends of the railing sections 43.1 . 43.2 is connected, for example by welding. On both surfaces of the metal carrier 48.1 in each case a strain gauge 48.2 . 48.3 applied conventional design, and with these strain gauges 48.2 . 48.3 bends of the metal carrier are detected as a result of a force in one of the railing sections by a user, and via corresponding (not separately designated) terminals of the strain gauges, the force signals are tapped by an evaluation electronics.

5 shows in a schematic cutout view in the manner of a functional block diagram essential components or aspects of the evaluation and control component 50 an embodiment of the treadmill assembly.

As force sensor 51 For example, it is possible to use a commercially available multi-axis force sensor, which is connected with its force-receiving surface to railing sections in such a way that the support or holding force introduced by the user is introduced into the sensor in the direction and amount. In the evaluation and control component 50 In particular, output signals of the in 1A - 4 shown force sensors are processed. On the output side is the force sensor 51 with a holding power preprocessing stage 52 connected, at the output of fault-free holding force components Fx, Fy and Fz are issued. Subsequently, this preprocessed signal passes through a synchronization stage 53 to a gear characteristic evaluation stage 54 , This represents one due to the measurement signals of the force sensor 51 determined gear characteristic of the user or essential parameters of such on an evaluation computer 55 the doctor or physiotherapist available.

On the other hand, the pre-processing stage 52 with a holding force comparison unit 56 connected, in which the spatially and temporally resolved detected supporting or holding force is continuously compared with comparative data or comparative patterns, in a comparison value memory 56a are stored. The comparative data / patterns represent supporting forces which, in typical situations of use, introduce users to the armrest or the associated grab handle, in particular in the case of a risk of a fall. The comparison process may in particular have a threshold characteristic, and as a result, at the output of the comparator unit 56 a first input signal of a processing and control unit 57 the treadmill arrangement provided, the output signal here to the drive 58 arrives.

Depending on the direction in which the user initiates a force in the armrest or the handle, as well as depending on their amount can thus speed changes of the treadmill, if necessary, to shutdown (standstill) are controlled. It can also be prevented that the tape starts, as long as it is not ensured that the user is supported or secured over the retaining elements. This control sequence is largely independent of the will of the user and takes into account mainly its movement using the railing sections, armrests or handles.

In the embodiment shown, one also passes from a light barrier 18B (see also 1A - 1C ) outgoing signal in the processing and control unit and is processed there in addition to the force signal to obtain a control signal for the treadmill operation. The light barrier and the signal emitted by it are only optional. The light barriers acting transversely to the running direction can be formed as reflection light barriers or each with a separate transmitting and receiving element.

6A to 6C show as a further embodiment of the invention a comparison with those described above and in 1A to 3E embodiments shown in principle similar, in the design of the side railing parts 63 . 64 but greatly simplified treadmill arrangement 60 , As far as their components and sections with those of the previously described embodiments coincide or are functionally identical, they were with to the 1A to 3E reference numbers, and the description will not be repeated here.

The side rail parts 63 . 64 Here are simply designed U-shaped, so have a single continuous horizontal railing section 63b . 64b between a rear and front upstanding railing section 63a . 64a respectively. 63c . 64c , There are no separate handles or armrests here. Depending on whether only the vertical force or the horizontal forces to be measured, the force sensors can 68A here in each case in the front and rear end region of the horizontal railing sections 63b . 64b and below the transition between the horizontal and upstanding railing sections.

Photocells or similar sensors for monitoring the entry or exit of the treadmill by a user are in 6A to 6C not shown, but may be provided there in a similar manner as in the arrangements described above. The control and user guidance is basically comparable to the above arrangements; however, because of its simpler structure, the treadmill assembly last described is more suitable for users with little or no disability, and their more advanced skills will usually be tailored to user guidance.

7 shows an example of a measuring circuit for detecting the measurement signals of force sensors of in 4 shown type. The figure shows that strain gauges 48.2 . 48.3 respectively. 78.2 . 78.3 , which according to the in 4 shown manner between the pipe ends of adjacent railing sections 43.1 . 43.2 respectively. 73.1 . 73.2 a railing section 73 are introduced, with measuring amplifiers 72a respectively. 72b are connected. The measuring amplifier 72a . 72b are coupled together in the manner of a bridge circuit and allow the determination of both horizontal components F _h and vertical components F _v of holding forces applied by a user of the treadmill arrangement. The concrete design and dimensioning of the components of such an evaluation circuit is within the scope of professional action and we therefore not further explained here.

Incidentally, the embodiment of the invention is also possible in a variety of modifications of the examples shown here and aspects of the invention highlighted above.

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 4027317 C1 [0003]
• US 6010465 A [0003]
• DE 102010004504 [0004]
• WO 2014/009046 A2 [0004]
• DE 202015101590 U1 [0005]
• DE 202015102320 U1 [0005]

Cited non-patent literature

• R. Kram and AJ Powell: "A treadmill-mounted force platform" Appl. Physiol. 67 (4): 1692-1698 (1989) [0003]

Claims (17)

Treadmill arrangement, with a treadmill frame and an over-running in the treadmill frame rollers and driven by a drive endless belt whose one surface serves as walking or running surface, wherein the treadmill frame has on both sides at least one lateral railing part, which has at least one encompassable railing section and / or carries a holding element for gripping by hand, wherein in each railing part, a force sensor component for registering the by a user when using the treadmill assembly in the encompassable railing section or the holding element initiated supporting and / or holding force, in particular for obtaining a control signal for the drive or a display signal or for evaluation or Monitoring the use of the treadmill assembly is integrated. Treadmill arrangement according to claim 1, wherein arranged in the railing portion of the component of the force sensor as two pipe sections of the railing connecting load cell or metal carrier is formed with at least two applied to opposite surfaces of the metal support strain gauges. Treadmill arrangement according to claim 1 or 2, wherein the force sensor is associated with an output-side force evaluation device for numerical evaluation processing of the introduced supporting and / or holding force. Treadmill assembly according to one of the preceding claims, wherein the force sensor has a switching element with threshold characteristic for outputting a switching signal when exceeding a preset force threshold. Treadmill arrangement according to one of the preceding claims, wherein the force sensor is designed as a multi-axis sensor for the spatial direction-dependent detection of supporting and / or holding forces of the user. Treadmill assembly according to claim 5, wherein the multi-axis force sensor is formed at least to distinguish in or against the treadmill direction of movement or from downward or upward supporting and / or holding forces, preferably for distinguishing the direction of action of both supporting or holding force components. Treadmill assembly according to claim 6, wherein the multi-axis force sensor is also designed to distinguish from left or right acting support and / or holding forces. Treadmill arrangement according to one of the preceding claims, comprising a user guidance unit for optically and / or acoustically outputting instruction-accompanying instructions, in particular via earphones or loudspeakers and / or as text overlays by an image display device, wherein the user guidance unit has an input port connected to the force evaluation device for receiving output signals having the force evaluation device and is designed to generate and output of instructions that are dependent on the output signals of the force evaluation device. A treadmill assembly according to any one of the preceding claims, wherein each lateral railing member has a first horizontal railing portion having a first height and a second horizontal railing portion having a second height, less than the first height, on which a post member is mounted, which is a hand gripping member carries, comprises, and at least in the second horizontal Geänderabschnitt is integrated on both sides of the post element per a component of the force sensor. Treadmill assembly according to claim 9, wherein the holding element is height-adjustable and / or exchangeable held in the post member. Treadmill assembly according to claim 9 or 10, wherein in each first horizontal railing section near its two ends each a component of the force sensor is integrated. Treadmill arrangement according to one of the preceding claims, wherein the treadmill frame has a front edge part placed near the front end of the treadmill and bridging the treadmill, which comprises a third horizontal handrail section which can be grasped at least in sections. Treadmill assembly according to claim 12, wherein in the third horizontal railing section near its two ends each a component of the force sensor is integrated. Treadmill assembly according to one of the preceding claims, wherein each lateral railing part has a multi-bent or bent single metal pipe and in particular also the front railing part is formed by a multi-bent or bent single metal pipe. Treadmill assembly according to claim 12 or 13, wherein the front railing part for mounting a display and / or operating component of User guide unit is formed, in particular a holder for detachable attachment of the display and / or operating component has. A treadmill assembly according to any one of the preceding claims, wherein at least the first vertical railing section and optionally also the third vertical railing section or, if provided, the front frame member is associated with a light barrier arrangement for detecting the passage of a body part of the user, the or each light barrier arrangement being in control of the drive the endless belt and / or the user guidance unit is connected. The treadmill assembly of claim 16, wherein the or each light barrier assembly is disposed on the respective railing portion near the plane of the endless belt so as to detect the passage of a user's lower leg.

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