EP0329748A1 - Appareil d'exercices physiques a modes multiples et procede de commande d'un tel appareil - Google Patents
Appareil d'exercices physiques a modes multiples et procede de commande d'un tel appareilInfo
- Publication number
- EP0329748A1 EP0329748A1 EP88907341A EP88907341A EP0329748A1 EP 0329748 A1 EP0329748 A1 EP 0329748A1 EP 88907341 A EP88907341 A EP 88907341A EP 88907341 A EP88907341 A EP 88907341A EP 0329748 A1 EP0329748 A1 EP 0329748A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- force
- user
- movement
- exercise
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
- A63B21/0083—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters of the piston-cylinder type
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00058—Mechanical means for varying the resistance
- A63B21/00069—Setting or adjusting the resistance level; Compensating for a preload prior to use, e.g. changing length of resistance or adjusting a valve
Definitions
- the present invention relates to a physical exercise device offering the user a feedback against a given movement, and more particularly to a physical exercise device with multiple modes: isometric, led, assisted, with constant load or isotonic, with or without excitation of the ⁇ innervation loop.
- the present invention also relates to the method for controlling such devices.
- This device can advantageously be used either in hospitals or in physiotherapy centers to rehabilitate muscles following an illness or accident, or in sports clubs, fitness clubs or by private individuals to develop and maintain bodybuilding.
- the rehabilitation essentially includes the following stages: joint rest with immobilization often plastered, a first joint mobilization during which the limb is moved without involving the patient's muscle, then an active mobilization during which the effort of the patient's muscle is assisted and finally the actual muscle strengthening during which the patient moves a limb against a resistant force.
- an analytical bodybuilding phase is distinguished, that is to say involving only one or more specific muscles, followed by an overall bodybuilding phase.
- Bodybuilding practiced in fitness centers essentially includes movements that people rarely do in their daily life such as working the abdominal muscles.
- the bodybuilding of athletes in addition to maintaining their general condition, tends to develop the particular muscles necessary for their respective sport such as those of the legs for a tennis player.
- each member has two muscles, one agonist and the other antagonist, such as the biceps and the triceps for the arm, we can thus define four distinct muscular efforts of a member compared to a lever, either for the forearm for example: contraction of the biceps to pull in a concentric movement of the lever, effort of the biceps to retain the lever moving in an eccentric movement, pushed by the triceps of the lever in an eccentric movement and retained by the triceps of the lever moving concentrically.
- WO 8605404 is presented an apparatus comprising a lever on which the user exerts a muscular force and whose rotational movement is controlled by an electric motor with electronic control so that the speed is constant has a value initially chosen, as long as the force exerted on the lever is greater than a predetermined value measured by a force sensor mounted at the end of the lever.
- this device is only isokinetic and allows the recording of the power developed by the user during the exercise only by additional means.
- the apparatus presented in the presentation US 3 848 467 comprises a bar held by two cables to drums themselves connected by an axis to an electric servo motor with permanent magnet.
- This servo motor acting alternately as a braking element then as a motor element allows concentric then eccentric movements at constant speed with, at each limit switch, a deceleration followed by an inversion of the direction of automatic movement. Range of motion, speed and acceleration at the end of the run are established before exercise according to the user's ability. Electronic means allow the amount of work developed to be presented on a digital table, so the user can adjust the rest of his exercise according to his objectives. However, this device is limited to isokinetic strength training exercises only.
- the drum around which the cable is wound is connected to the motor by a hydraulic transmission applying to the drum a torque according to the speed of rotation of the motor.
- a microprocessor controls the speed of the electric motor according to the instantaneous movement of the cable as seen by a motion or speed sensor and according to a program loaded from a microcomputer so that the muscular effort developed by the user pulling or holding the cable either isometric, isokinetic or isotonic, and this at values varying according to repetitions and sessions.
- FR 2 494 008 includes a lever controlled by a hydraulic cylinder itself piloted by a valve.
- the movement of the valve is controlled by a stepping motor according to the instructions of a microcomputer which compares the angular position of the lever measured by a decoder placed at its end as well as the force exerted on the bar thanks to a sensor.
- pressure placed on the cylinder to pre-recorded values defining a type of exercise.
- this device does not appear dynamic and precise enough to perform movements other than those with high counter-resistance forces.
- a medical theory introduces the notion of innations ⁇ complementary to innervations a and ⁇ already known. While the innervation has intervened to contract the agonist muscle, the innervation ⁇ to relax the antagonist muscle, the innervation ⁇ intervenes essentially to adjust the speed and precision of the movement during its realization. No device known at present offers the possibility to excite this ⁇ innervation in particular, during a given exercise.
- the object of the present invention is, in a physical exercise device operating according to a predetermined sequence associating with each position successively reached by an exercise element a value of movement speed and / or a value of feedback force, a method control allowing excitation of this ⁇ innervation loop which remarkably improves the performance of patient or sports users.
- the control process must also allow the realization of delicate movements such as ducts, seated or stretched.
- the device for implementing the above process must more particularly be able to respond with fine, dynamic and precise movements to the demands of users.
- This device must also be versatile to be used both in medical circles for the rehabilitation of muscles and in sports training centers for bodybuilding.
- the method of controlling, according to the invention, an apparatus comprising an exercise element moved by a user, a motor device controlling the movement of the exercise element, means of commands controlling the motor device according to a predetermined sequence, is characterized in that it comprises a cycle which consists in causing during the movement of the exercise element according to the initial predetermined sequence an abrupt return of between 0.1 and 5 degrees of the exercise element in the opposite direction to the force exerted by the user causing an increase in force, then to continue the movement of the element according to the predetermined sequence.
- the control method comprises a cycle which consists in causing during the movement of the exercise element according to the initial predetermined sequence a sudden advance comprised between 0.1 and 5 degrees of the element in front of the force exerted by the user causing a weakening of the force, to then provoke an abrupt return comprised between '0.1 and 5 degree of the element in the opposite direction to the force exerted by the user causing an increase force, then continue moving the element according to the initial movement sequence.
- this cycle is repeated several times throughout or in separate parts only of the initial movement sequence.
- this cycle is repeated at a frequency between 1 and 100 hertz.
- the physical exercise apparatus comprises an exercise bar, one of the ends of which is rotatably mounted on a frame and the other end of which is moved by the user, a hydraulic cylinder controlling the movement of the bar by applying a force in feedback to that applied by the user, and which is controlled by a hydraulic valve regulating the circulation of hydraulic fluid, and electronic and computer means for controlling the pilot valve of the jack according to a sequence determined from the result of the comparison at each instant or for each position of the bar d exercise as read by a decoder between on the one hand the instantaneous speed of this bar and / oti the force which is actually exerted on it as read by a force sensor and, on the other hand, optimal values of these quantities previously stored in IT resources.
- valve controlling the jack is a servo-valve essentially consisting of three sections: - a control device comprising an inductor acting on an armature secured to the casing of the servo-valve by a flexible tube and from which extends down a pilot lever coaxial with the tube,
- a hydraulic amplifier comprising the two sides of the piston, two conduits traversed by a stream of hydraulic fluid under pressure and connecting these sides to a chamber in which the conduits open by two opposite orifices and the end of the pilot lever arriving in the chamber between the two holes.
- the force sensor is located on the exercise bar at the end moved by the user and it makes it possible to measure the force exerted concentrically and eccentrically.
- the servo valve control signal is in the form of a square alternating signal of constant frequency whose width of the positive half-wave is modulated as a function of the command to be transmitted.
- control method for the device described above means that, for each successive position of the bar, the latter continues its movement if and only if the force exerted on the bar is less than a value between 0.1 and 50 daN previously stored for the position.
- control method for the device described above causes the bar to continue its movement if and only if the force exerted on said bar by the user is less than a value between zero and the resulting on a force sensor of the weight of the limb used to move the bar, value previously memorized.
- control method for the control device described above does, that the exercise bar continues its movement if and only if the force exerted on the bar by the user is lower than a previously stored value corresponding to the pain threshold.
- FIG. 1 is a perspective view of an embodiment for working the leg muscles
- FIG. 2 is a block diagram of the kinematics of the device
- FIG. 3 is a block diagram of the electronic control
- FIG. 4 is a diagram of the hydraulic group controlled by electronic means and driving the hydraulic cylinder of FIG. 1, and
- FIG. 5 shows the flowchart of the control logic of the device.
- the chassis of the exercise apparatus includes a seat 50 adjustable in the horizontal plane, a backrest 55 adjustable in inclination, two side handles 56 that the user grips to maintain himself and a metal leg project forward.
- the metal leg consists of a fixed bar 70 slightly oblique upwards and at the end of which is mounted in rotation by an axis 140 a lever 100.
- This lever 100 is animated by a jack 120 underlying and parallel to the bar 70. The user wedges his feet in two pads 160 mounted at the end of the lever 100.
- the adjustable seat 50 allows the user to make its articular axis coincide with the mechanical axis 140.
- a keyboard 320 and a display screen 310 are mounted on a vertical lateral arm and offers the user the possibility of constantly reacting with the device, that is to say of viewing the efforts made and. answer device questions.
- the cylinder 120 includes an inner piston 130 connected to an axis 110 integral in rotation with the lever 100.
- the piston prints on the lever 100 a concentric or eccentric movement respectively.
- lines A and B are connected through a servo-valve to a hydraulic group shown in FIG. 4.
- the angle of movement of the lever 100 is read by an encoder 150 which can be either a simple endless potentiometer or a more complex but more precise system comprising a photoelectric cell arranged in front of a graduated disc.
- the signal representing the angle of movement of the lever is applied to the line ⁇ .
- the maximum travel of this lever is 135 degrees, and it is generally reduced during the programming of electronic means to an amplitude of movement of the order of 100 degrees.
- Force sensors preferably strain gauges
- the signal representative of this force is applied to line F.
- Lines ⁇ and F are connected to the electronic control means shown in FIG. 3.
- These electronic and computer control means include a microprocessor 200, an optional amplification stage 400 and a microcomputer
- the microprocessor comprises, attached to an omnibus line 230, a processor 240 including a logic unit connected to registers and to a memory unit 260 through a memory controller 250, a watchdog 285, an analog / digital converter 220 receiving the force F and displacement ⁇ values in series after the multiplexer 210, an output interface 290 modulated by the width of the pulse and, finally, a serial interface 280 in relation to the pulse generator 270 and allowing communication through a RS-232-C line with the microcomputer 300 itself provided with a corresponding serial interface card 340.
- the user can communicate with the microcomputer 300 using the display screen 310 and the keyboard 320 mentioned above.
- the logic of the exercise machine described later with reference to FIG. 5 is first written using the microcomputer 300, then it is transferred through the RS-232-C link, from the line omnibus 230, logic unit 240 and memory controller 250 inside memory 260.
- This logic is characteristic of a given kinematics: either a device for exercising the legs or for exercising the arms or adapted for exercising another part of the body.
- the first phase of using the apparatus corresponding to the establishment of the various exercise parameters essentially involves the microcomputer 300 where the parameters corresponding to standard exercises are previously stored.
- the microcomputer is called upon to request the microprocessor 200, during a pre-recording of the physical possibilities of this user for example.
- the microcomputer proceeds, as the options taken by the user, establish various parameters such as the table indicating the values of the feedback forces to be exerted by the device in function of the angular position of the lever and / or the duration of a movement and / or the repetition of a movement.
- the microcomputer also proceeds to the development of complex exercises linking, for example, an isometric then isotonic portion ended by a driven movement.
- these various parameters are transferred to a section of the memory 260 and the command for the rest of the operations relating to the exercise is transferred to the microprocessor 200.
- the microprocessor can compare almost instantaneously the information in force and in displacement received on lines F and ⁇ with the parameters stored in memory to produce a control signal for the hydraulic cylinder.
- a watchdog 285 constantly checks that the central computer 240 is still in operation in which case it resets the microprocessor program at the start. This security is necessary to prevent the device from making disordered movements following damage to the electronic part.
- the control signal s is in the form of a square alternating signal of constant frequency whose width of the positive half-wave is modulated by function of the command to be transmitted.
- an impedance matching card 400 which includes an operational amplifier 410 connected to two complementary transistors 420 and 430 symmetrically mounted in a common collector, and which amplifies in intensity s into a signal S.
- FIG. 4 shows the hydraulic group supplying the jack 120 of FIG. 2. It comprises a reservoir 600 of hydraulic fluid 601, normally oil, a pump 602 supplying by a line E a servo-valve 605 which delivers according to the position from the distribution piston 650 the high pressure hydraulic fluid either on line A or on line B. The fluid coming back on the other line is directed by the same piston 650 on the return line R. On the line S is applied the control signal established by the means electronics and computers described with reference to Figure 3.
- This line S is connected to an inductor 610.
- an armature 620 is maintained in the middle of the inductor 610 by a flexible tube 615 and it is provided in its lower part with a pilot lever 630 coaxial to the flexible tube 615.
- This control lever continues up to the interior of the piston 650, where it is movable inside a chamber cut out of this piston.
- This chamber is connected to each of the sides of the piston by two reversing channels 653 and 655 which open into this chamber through the orifices 652 and 654 respectively.
- On the periphery of the piston 650 are cut two deep grooves 658 and 659 for communication.
- the piston 650 as shown in Figure 4 is in a middle position so that no lines A, B or E, R are connected to each other.
- the servo valve operates as follows: the position of the armature 620 is adjusted by the screw 640 and the spring 642 so that, held by the tube 615, this armature is located exactly in the middle of the inductor, so that the end of the pilot lever 630 is in a middle position between the orifices 652 and 654.
- the pressurized fluid arrives on the line E and, passing through the filter 656 is directed through conduits cut in the valve casing towards the two respective sides of the piston 650.
- the fluid continues its progression inside the conduits 653 and 655 emerging through the orifices 652 and 654 in the chamber inside from where it leaves the servo-valve on line R.
- the left reversing channel 653 Due to the recess inside the piston 650, the left reversing channel 653 has a length identical to the right channel 655. As long as the control lever 630 is at a central position between the orifices 652 and 654, the pressure exerted by the fluid on each side of the piston is identical, the piston remains stationary, the lines A and B remain closed and the piston 130 of the jack does not move.
- the inductor 620 moves to the right when the signal S is positive, in the other direction when the signal S is negative. Initially, the two positive and negative half-waves constituting the square alternating signal S are of equal width. The armature 620 therefore vibrates around its central position.
- the vibration of the armature 620 also causes an equivalent vibration of the piston 650 which permanently cancels the static component, always disadvantageous, frictional forces acting between the piston and the cylinder.
- the armature always oscillates, but around a position shifted to the right.
- the piston then oscillates around a position offset to the left and the communication groove 659 connects line E to line B, groove 658 connects line A to line R and the piston 130 of the actuator advances.
- the armature 620 oscillates around a position shifted to the left, the piston oscillates around a position shifted to the right, which puts in communication line E with line A as well as line B with return line R.
- axis 110 of the hydraulic cylinder retracts.
- the servo valve 605 is essentially made up of three sections: a control device, a hydraulic amplifier and a distribution piston 650.
- the control device comprises an inductor 610 acting on an armature 620 secured to the casing of the servo-valve 605 by a flexible tube 615 and from which extends down a pilot lever 630 coaxial with the tube 615.
- This control device converts a continuous electrical signal into a pivoting of the pilot lever.
- the hydraulic amplifier comprises the two sides of the piston 650, the conduits 653 and 655 connecting these sides to an internal chamber of the piston into which these conduits open by two opposite orifices 652 and 654, and the end of the pilot lever 630 arriving in the internal chamber between the two orifices 652 and 654.
- the distribution piston 650 is moved by the hydraulic pressures appearing on its sides as a function of the position of the end of the pilot lever 630 relative to the orifices 652 and 654 and puts in communication the hydraulic lines E, R and A, B by its grooves 658 and 659.
- this servo-valve converts an electrical signal of low power (about 1.5 W) into a hydraulic output signal of high power. Thanks to very favorable dynamic characteristics (response time less than 6 ms), this valve makes it possible to effectively control very fast cycles. In addition, there is proportionality between the variation of the width of the positive alternation of the inductive input signal and the opening of the valve, i.e. the flow rate of hydraulic fluid delivered to the jack which allows to control the speed of movement. of the axis
- an exercise comprises a first phase of choice from the various options offered by the logic residing in the microcomputer of the apparatus and a second phase of work proper under the main control of the microprocessor.
- the device Once installed in the fault, the user activates an on / off button, if this has not already been done, which initializes the hydraulic unit and also the electronic and computer means by the execution of sub-programs characteristics of the microprocessor used.
- the device Under the control of the program residing in the microcomputer, the device offers a first choice corresponding to box 10 between concentric and / or eccentric movements. Then the device asks to define the amplitude of the movement by specifying a starting angle X between 0 and 135 degrees and a final angle Y between X and 135 degrees. Confirmation of the responses is required by the device. This corresponds to box 20 of the organization chart.
- the user is then offered the option of excitation of the innervation ⁇ (box 25).
- he must also define the type of excitation and the zones when the lever moves during which he wishes this excitation to be carried out (box 26).
- This option consists of superimposing on the curve defining the force to be applied as a function of the movement of the lever a series of short-duration pulses of adjustable amplitude.
- a first type of pulse consists of a movement of restricted amplitude, of the order of 0.3 degrees, of the lever in the opposite direction to the initial movement.
- a second type of impulse causes the arm to move abruptly forward the arm in front of the exerted force of about 1 degree which relaxes the muscle, immediately followed by an abrupt backward movement of the arm of about 0.5 degree against the force, which creates a brief contraction of the muscle and finally a return to the normal curve.
- These pulses can be individual or, preferably, repeated at a frequency between 10 and 100 hertz.
- the device offers a menu of different exercises corresponding to the flowchart in boxes 31 to 38.
- the user responds with the corresponding number in the menu to the exercise to choose between: isometric 31, movement led 32, movement assisted 33, stretching 34, warming up 35 corresponding to constant load exercises, dynamic exercises 36 and combinations of movements predefined in boxes 37 and beyond.
- the device asks him to define one or the different positions where he wants the machine to stop to perform an isometric contraction
- the device When the user has opted for a driven movement (box 32), the device asks him for the maximum force Fo with which he is authorized to move the limb (box 42). Command then passes to the microprocessor and the apparatus begins the movement of this member from the initial position X (box 52). For each unit of movement traveled, the device determines whether it has not reached the end of its travel (question 62) in which case it stops (option 1), otherwise it measures the force F exerted by the member on the force sensor (box 72). If this force F comes to exceed the predetermined force Fo, therefore that the member has a stiffness (option b) it immediately stops this movement; otherwise it continues this movement (option a). It is therefore understood that, by following this command sequence, the device will drive the member on the move as long as a stiffness on the part of the user does not appear.
- the device begins by measuring the weight of the user's limb as seen by the force sensor (box 43), then asks the user or the rehabilitator to enter a force of Fo reference between zero and the weight previously measured (box 53).
- the device can also be programmed so that it moves the lever at slow speed while making a measurement at each of the angles of movement of the lever of the resultant of the weight of this member as read by the force sensor (box 43).
- a second reference force value curve Fo as a function of the angular displacement is then introduced (box 53).
- Command of the device then passes to the microprocessor and the user is then invited to move his member by himself.
- a measurement of the instantaneous force F is carried out (box 63). If the force F is less than the reference force Fo, let option e correspond to the fact that the user manages to lighten the weight of his member on the lever or even completely cancel the support he exerts on this lever in moving its member by itself, then the lever moves to follow the member (box 83). If the movement attempt results in insufficient lightening, that is to say that the force F read by the sensor is greater than Fo, then the lever remains stationary in standby (option c). Finally, if following a discouragement the user lets his member rest completely on the lever, which results in the reading of a force F equal to or possibly greater than the value of the result of the weight measured previously, then the exercise is automatically transformed into a driven movement (option d).
- a stretching exercise consists in bringing the limb to a limit position of the articular amplitude, and to force the movement of the limb beyond this point of stiffness without however exceeding a preset pain threshold.
- a reference force Fo which the machine must not exceed during stretching is chosen by the user or the re-educator.
- a duration D of the stretch is also indicated on the apparatus (box 44).
- the command of the device passes to the microprocessor and the lever 110 begins to move towards the extreme position Y while measuring progressively the force F applied to the sensor (box 54). If this force F remains lower than the force Fo indicated previously (option f), the lever continues its movement towards the extreme position. This cycle is repeated as long as the lever has not reached, or even exceeded, the stiffness position, therefore that the force F remains lower than the reference force Fo.
- Option 35 corresponds to constant load exercises commonly used to warm up the muscles before more sophisticated exercises.
- control of the device is transferred to the microprocessor which slowly moves the lever to the starting X position.
- the user is then invited to move the lever with a force equal to Fo (box 65, 75 and 85, option i, j).
- the lever goes back at slow constant speed (box 105)
- the repetition counter p is increased by one unit (box 115)
- the new p-value is compared to I (box 125).
- the device When the user has opted for dynamic exercises (option 36), the device first asks him if he wishes to perform these exercises in direct mode or in opposition, that is to say to print a movement by applying a displacement force to the lever or to oppose a movement of the lever (box 46).
- the device still under the control of the microcomputer, goes into acquisition and recording mode: the arm leaves its neutral position to stop at the starting position X. A message then appears inviting the user to produce its maximum effort.
- the arm After a short immobilization time, the arm starts to move at a constant speed, for example 75 degrees / second, and the device memorizes the values given by the force sensor throughout the stroke of the lever. A curve of the force developed as a function of the angular displacement of the lever appears on the display screen 310 (box 66). Because this curve was recorded at constant speed, it also represents the power developed by the user at each point.
- box 67 the user is asked whether he wants to make corrections to this curve or not. If so (option 1), the stored curve is compared to a standard curve, the choice of which is offered. Recent medical research in this area tends to prove that these standard curves are different depending on whether the user practices a sport intensively.
- the purpose of comparing these curves is to generate a new curve representing the variations in the setpoint value Fo as a function of the movement of the arm.
- the logic residing in the microcomputer automatically determines the minimum force Fmin exerted between the angular position equal to 50 and 90 degrees.
- the selected standard curve either standard or corresponding to a specific sportsman, is adjusted according to this minimum value Fmin increased or decreased by a selected percentage.
- final corrections can be applied to all or to selected portions of the curve (box 86).
- the exercise command is then transferred to the microprocessor, and the user is asked to move the arm.
- a comparison is made between the measurement of the force F as read by the sensor and the reference value corresponding to this point (box 116). If the instantaneous force F is less than Fo, the lever remains stationary (option 0 at the exit of box 116). In the other case, the cylinder moves so that the developed power remains identical to the recorded power (box 136). In other words, if the user develops in each angular position of the lever a force identical to that developed during recording, the lever moves at constant speed, otherwise this speed increases or decreases so that the value of the applied force returns to that of the predetermined curve.
- option 37 corresponds to exercises combining the elementary exercises described above.
- option 37 can correspond to a technique called "contracted-relaxed" in which the muscle is stretched to a pain threshold similar to option 34, then a static contraction is required for a period of approximately 6 seconds with display of results analogous to option 31, then the user performs a muscle relaxation and the apparatus continues an additional stretching.
- the principles according to the invention can be applied with little modification to an apparatus exercising the two legs separately, or even, to apparatus for exercising the legs. arms or for exercise equipment involving other muscle groups.
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Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT88907341T ATE68691T1 (de) | 1987-08-31 | 1988-08-23 | Geraet fuer verschiedene arten von koerperuebungen und verfahren zum steuern eines solchen geraetes. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8712224A FR2619723B1 (fr) | 1987-08-31 | 1987-08-31 | Appareil d'exercices physiques a modes multiples et procede de commande d'un tel appareil |
FR8712224 | 1987-08-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0329748A1 true EP0329748A1 (fr) | 1989-08-30 |
EP0329748B1 EP0329748B1 (fr) | 1991-10-23 |
Family
ID=9354589
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP88907341A Expired - Lifetime EP0329748B1 (fr) | 1987-08-31 | 1988-08-23 | Appareil d'exercices physiques a modes multiples et procede de commande d'un tel appareil |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP0329748B1 (fr) |
JP (1) | JPH02500885A (fr) |
AT (1) | ATE68691T1 (fr) |
AU (1) | AU2324588A (fr) |
DE (1) | DE3865834D1 (fr) |
FR (1) | FR2619723B1 (fr) |
WO (1) | WO1989001769A1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003526469A (ja) * | 2000-03-14 | 2003-09-09 | オーサーハブ インコーポレーテッド | 治療用関節授動術のための制御装置 |
JP4508365B2 (ja) * | 2000-06-06 | 2010-07-21 | オージー技研株式会社 | 運動訓練器 |
FR2834220B1 (fr) | 2001-12-31 | 2004-09-03 | Sarl Myosoft | Appareil d'education et de reeducation medico-sportive |
FR2939687B1 (fr) | 2008-12-11 | 2016-04-15 | Marc Champsaur | Procede de commande d'un appareil d'exercice musculaire et/ou articulaire et appareil d'exercice associe |
CN102895088B (zh) * | 2012-09-26 | 2014-09-10 | 燕山大学 | 下肢康复机器人的宽度可调底座 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4235437A (en) * | 1978-07-03 | 1980-11-25 | Book Wayne J | Robotic exercise machine and method |
CA1222782A (fr) * | 1982-06-01 | 1987-06-09 | Jim Mcarthur | Appareil d'exercise multifonction |
AT397033B (de) * | 1985-05-24 | 1994-01-25 | Wintersteiger Gmbh & Co | Einrichtung zur erfassung der muskelkraft |
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1987
- 1987-08-31 FR FR8712224A patent/FR2619723B1/fr not_active Expired - Lifetime
-
1988
- 1988-08-23 JP JP63505376A patent/JPH02500885A/ja active Pending
- 1988-08-23 WO PCT/FR1988/000422 patent/WO1989001769A1/fr active IP Right Grant
- 1988-08-23 EP EP88907341A patent/EP0329748B1/fr not_active Expired - Lifetime
- 1988-08-23 AT AT88907341T patent/ATE68691T1/de active
- 1988-08-23 AU AU23245/88A patent/AU2324588A/en not_active Abandoned
- 1988-08-23 DE DE8888907341T patent/DE3865834D1/de not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO8901769A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP0329748B1 (fr) | 1991-10-23 |
FR2619723A1 (fr) | 1989-03-03 |
JPH02500885A (ja) | 1990-03-29 |
DE3865834D1 (de) | 1991-11-28 |
WO1989001769A1 (fr) | 1989-03-09 |
AU2324588A (en) | 1989-03-31 |
FR2619723B1 (fr) | 1990-01-19 |
ATE68691T1 (de) | 1991-11-15 |
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