EP0591568A1 - Movement control system for furniture and therapeutic exercising apparatus - Google Patents

Abstract

The movement control system comprises computer-assisted movement control and technical processing thereof by adaptation to already existing or to be built pieces of furniture or apparatus with the object of exercising the whole body, or parts thereof, of a user lying, sitting or standing in the furniture or apparatus. The movements can take place via different drives. The movement is intended to be able to simulate anatomically very accurate movements with the use of "anatomical" joints on all points of movement, by optimal adaptation to the anatomical physiological conditions of the user and by the type of stimulation carried out by the device in the form of a neurophysiological initiation of movement, and to simulate stimulation of the body corresponding to the natural movements by initiation of movement on the device.

Description

The invention relates to a movement system for reclining, sitting, standing and walking furniture or devices, as well as training devices and body correction systems.

It is the computer-aided, program-controlled movement while lying, sitting and standing as well as activities which, as in the European patent application A.Z. 88116894.2, it requires constant changes in the body and thus its control organs in order to be able to make adjustments to the environment or internal changes at all.

For this it is necessary e.g. in the seating area back, seat, headrest, armrests and footrests can be computer and program controlled, individually or in combination. The adjustment should be adjustable in relation to the duration of the individual movement sections and the amplitude of the movement - degrees of angularity (speed of movement) or be controlled depending on the program.

The computer-controlled and program-controlled inclination adjustment according to the invention is subject to a similar reasoning for training and / or aids such as rotating systems, which for therapeutic or training reasons should also be adjustable in angle in their longitudinal plane, as well as ........
"Inclined abdominal boarders" standing stands, trainers, treadmills, trainers and exercise bikes, in which, for example, a training course is simulated in terms of its height profile - incline or slope - and can be combined with other external simulators (eg blowers). (The same applies to treadmills -trainers or rowing machines, dry ski trainers and the like.)

The system can also be used in the area of the bed, since the back, the pelvis and the leg adjustment in the movement amplitude, the movement rhythm and the resulting movement frequency can be changed by computer control.

For the disabled, a rotating system is presented in which stimulation pads or pressure pads cause neurophysiological movement stimulation, which can cause a movement similar to the normal turning process during therapy or at night. This rotary system can also be angle-adjustable in its longitudinal axis and can thus be used as a breathing or circulatory therapy device.

Also for the disabled or in the treatment of spinal disorders, especially in connection with pelvis and hip problems, a therapy seat can be used, which makes it possible to learn the transition between supported and free seating and each level up to the supported or free position through module inserts.

For standing, a standing trainer is presented, which enables computer-controlled movement of a central column or a pelvic leg unit to perform differentiated movements of the hip in the sense of abduction as well as flexion and extension without or in connection with foot and knee movements, the trunk also mechanically involved in the movement or can work freely.

For the differentiated cooperation of the foot and toe joints, a modular splint is presented, which can be used in the area of the standing trainer or as a positioning shell / splint, with or without a pelvic movement part.

For the treatment of hand and / or elbow injuries or restricted movement of these joints, it is necessary to include the rotational movement of the forearm in the overall movement.

For the treatment of the stiffening or injured shoulder joint, it is necessary to simulate the very complex movements of the shoulder joint in that the movements can be traced by several module rails according to movement groups or can be carried out by a complex device.

Explanation:

FIG. 1 shows a seating system with an adjustable seat and / or an adjustable back, representative of the application examples listed in the description, the seat (83) and back (82) being connected to a physiological pivot point (84) into which an angle sensor (85 ) is integrated.

This (Fig. 1d) consists of a base plate (85) on which a defined number of reflectors (97) are applied, which are counted by a reflex optocoupler (94) controlled by a chip (93), just like the two Hall sensors, consisting of Hallchip (95) and magnet (96), which mark the two movement end points. This sensor information is processed in a computer that moves the back from any manually or software-induced basic position by any set or selected distance - as far as the back is concerned from about 70 to 180 degrees to the seat -.

Fig. 1e shows an example of another sensor, the z. B. is used as a motion sensor for a spindle drive (seat, back, bed frame, etc.). This sensor consists of a reflector rod (85), into which the reflectors (97) are introduced in a channel, and the magnets (96), which switch the corresponding Hall chip (95) on the slide housing (92), are integrated at a corresponding point.

Fig. 1a shows the sole movement of the back.
Fig. 1c the sole movement of the seat with the special feature that in addition to the normal range of motion, for example passively via a locking adapter (88) or via integrated pneumatics (91 and 100) around the pivot point (90), a further tilting of the seat can be achieved , which allows the total movement of the seat to reach 140 degrees.
Fig. 1b shows the combination of both movements, from deep seat to standing.

The group of figures 2 shows standing trainers (Fig. 2a and b), consisting of a base plate (101), in the slide channels (102) are embedded such that the rollers of sledges (108) on which the foot stands passively in the Moving channels (102) or actively moving them via mechanical or electrical drives, regulated accordingly as the control of the center column (105), which shortens and compensates for any movement distance from any set position, with the legs over the slides (108) in the released slide channel (102) in step position, into the abduction or the diagonal. The standing stand allows the sole bending and stretching of the feet, knees and hips even with a fixed sled.

Integrated into the center column are brackets for a computer-controlled air pocket-integrated body correction system with pelvic supports (104) or, if necessary, trunk supports with knee supports (103), connected by a rail system - e.g. B. as shown in Fig. 3 -, and a bracket for an angle-adjustable, height-adjustable table (107), which also allows the sole operation of the pneumatic system.

2g shows a standing stand with a central column (105), which can be adjusted mechanically in height, on the pods (103, 109) on the pelvis or, if necessary, on the fuselage, which are computer-controlled by means of vertically and laterally adjustable adapters (110) as well as split knee pads, a lower leg system such as 3 and an angle-adjustable table system, which enables movements in the manner of short squats and walking on the spot on one or both sides.
FIG. 2f shows a linear slide (108) in contrast to the seesaw slide of FIG. 2c.

Fig. 3 shows a module system with lower leg, knee and hip or pelvic part.
The lower leg part is an air pocket-integrated (1) splint for moving the toes and the ankle in its two main joint functions. The rail consists of a frame, the guide part (43) with articulated surface (42) and the lower leg clamp (45). The rail also consists of the moving part, the articulated rail (41) which is integrated in the shell part (44) and the base plate (40) and the instep plate (39) with a closure.
A knee part can be integrated into this rail, which consists of the optionally lockable knee joint (46), the length-adjustable rail or skirt part (47), the air pocket integrated (1) pads, separated into the lower leg and upper leg pad (48) and / or a movement - Or locking mechanism (36), consisting of eyelets (36) on the lower and thigh part of the pads, rollers (36) and an adjustment bushing (36 A), through which a Bowden cable in length, also motor-driven, can be adjusted. A pelvic part can be attached to this knee brace with an abduction joint (49) and an optionally lockable hip joint (50), into which pelvic uprighting pads (53) and tilting pads (51), which are equipped with air pockets (1), via a laterally adjustable adapter (52) as well as further trunk pads are integrated.

Fig. 4 shows a rail system for finger, wrist, forearm and elbow movements, consisting of a rail part with a wrist (34), which can be fixed in any position. The airbag-equipped (1) forearm (31) and hand pads (32) are attached to this rail part. This part can be integrated into a U-shaped slide carriage bearing (35) for forearm rotation be. This mounting is fixed with the rail part (38) on the forearm with the clamp (37). The entire splint is fixed on the wrist via the air pocket-equipped pressure plate (33). If the air pockets are filled, the fingers and the wrist are moved either individually or in combination.

The rotation of the forearm can take place simultaneously via a Bowden cable which is fastened to the forearm pad (31) in the eyelet (36) and is guided to the rotary slide via eyelets on the forearm splint (39).
Module parts that are equipped with air pockets or have Bowden cable or other drives for moving the elbow and / or the shoulder can be attached to the forearm splint.

Fig. 5 shows e.g. B. an apparatus for moving the elbow and shoulder joint, consisting of the rail part (63), which is adjustable in length, with lockable elbow joint (64) and the shoulder-upper arm swivel joint (66), the deflection bracket (62) and the clamps or Airbag-equipped pads (60 and 61). The shoulder is fixed via the air pocket (1) shoulder blade pad (85) and the shoulder pressure pad (26). A headrest (67) can be integrated into this pad.
The Bowden cables (65) and their eyelets (65) can be operated by an external air pocket system to take advantage of the pneumatics.

Fig. 6 presents a rotating system consisting of a base plate (20) (in travel cot version of the suitcase) on the straps (21) for attaching the rotating system in a normal bed, a couch, a table or the like, which are also packaged Condition serve as luggage straps. On the base plate (20) there are mainly 2, but also as sandwich bags on each side 2 large air pockets (1, 2) overlapping in body width, of which the lower - in the overlap area - with the base plate (20) or the base frame connected lengthways to the overlapped fold.
The air pocket located at the top in the overlapped area is in turn connected to the underlying one at the corresponding fold. Smaller auxiliary boosters can be attached under the large air pockets at appropriately exposed points - regarding the turning process - shoulder - pelvis. The air hose guide must be arranged so that the small ones fill up first.

The arrangement of the air hoses is different for the pressure and the air discharge side. The pressure hose will tend to be located on the outer edge, the air discharge hose (14) within the overlap zone. A number of straps (9 - 13) are attached to the inner folded edges of the main pockets, which have different functions: The cross-fixed straps (9), which are attached in the width of the neck and can be provided with air pockets, are used in connection with the torso strap (10) to fix the shoulders. The belts (11-12) are generally pelvic fixation belts, in which the air pockets (6) are integrated as a stimulation pad in the region of the iliac spine. The air pocket (5) is fastened in the lid of the pelvis, leg stand (3), with the task of stretching the leg lying below in the event of rotation; the air pocket (4) fastened in the bottom of the same side of the pelvis, leg stand, bends the upper leg in the case of counter-rotation.
The straps (13) are usually fixation straps for the pelvis and leg stand, which can be adapted almost continuously to the respective size of the user in this way. The straps (11 - 12) can also be used for this fixation.

Due to its width flexibility, the pelvis and leg stand adapts exactly to the width of the user, which is significant for the pivot point.
The head of the user lies on a sandwich package of air pockets (7-8), some of which can be used statically and / or dynamically, so that a head position and movement which can be adapted to the respective requirements can be achieved. In the case of very strong spasms or other movement restrictions, it may be important to attach a head shell to the head air pockets for better movement control.
If there are severe restrictions on hip extension or to relieve the spine, it is essential to attach the pelvic leg stand (3) to a height-adjustable wedge or step block Fig. 6d (16), which must not be wider than the rotating surface and in turn with the straps ( 13) is attached to the rotating system. This wedge or step block has air pockets (1) integrated on its sides, which can support the turning process of the pelvis leg stand for very heavy users.
Under the base plate or the base frame of the rotating system, a further double frame (17) can be attached, one frame being articulated to the head part of the rotating system in such a way that the entire rotating system is tilted downwards (FIG. 6c), and the other frame is hinged to the first on the foot part, so that the entire rotating system can be erected. The tilt and erection can be different. Drives are carried out: pneumatically, hydraulically, by means of spindle drives, cable pulls or in another way.

7 shows a seating system with different correction modules for the respective application. The back (131) can be shortened to different heights using connectors to the height of the pelvis. Computer-controlled air pockets in the lateral sacrum area in conjunction with air pocket-equipped spina - Fig. 7e (127) and abduction pads (126) enable targeted pelvic and hip correction.

The seat Fig. 7a (111-112) is divided into a knee part (112) which is firmly connected to the base frame via the pivot point (133 Fig. 7c) and the seat part which via sliding adapter (117 Fig. 7b) in the case of growth is pulled at the back, whereby the physiological pivot point (115) keeps its pelvic position. An adapter system (117) is integrated in the base frame of the seat, which makes it possible to carry out different seat, back widths and lengths if necessary only by exchanging the seat and back, with the pelvis pivot point being selectively adjustable. A further adapter is installed in the knee part (112), which supports the footrest with a physiological knee pivot point (114), on which the laterally displaceable, height-adjustable footrest linkage (134) hangs by means of an adapter via a crossbar (113), which lies below the front edge of the seat , in which a footrest adjustable in several levels is integrated.
A support (122 - 123) is integrated in the physiological knee pivot point, to which two transverse slide bars (124) are attached, in which knee pads (121) can move freely to the side and can also be locked in any position. The knee pads are cut out in the area of the kneecap.

7f shows another development of the physiological pelvis pivot point with two curved rails which are attached to the seat (111), one of which (130) is a hollow rail in which a bearing runs, which is connected to the back.
The second is a toothed rail in which a gear wheel, which is connected to the back again - driven by a motor - moves the back.

Fig. 8 shows several types of "corsets", consisting of a basic corset (22), which can be equipped with a rotary slide rail, Fig. 8a. The basic corset is equipped with armpit supports (25), which are connected to one another via a central joint (27) which can be adjusted in height relative to the basic corset. The armpit pads can be pulled into a correction position by springs (24). An air pocket integrated shoulder pad (26) presses the raised shoulder of the convex side down. The entire concave side of the corset is open to give room to the torso when the torso is lifted up by the air pockets. It may be necessary to connect a thigh sleeve to the corset on one or both sides with a light hip joint in order to give the corset stability at high mobilization pressures.

8c is a segmented corset integrated in the air pocket, the segments (28) being held by hinges (82) which should also be lockable. The hinges should have pivot points slightly dorsally. In the area of the 7th cervical vertebrae, 1 or 2 cable pulls (29) are attached, which are pulled onto a roller (30), various drives for stretching the spine being possible.

9 is an abduction support system consisting of a basic module according to FIG. 3 or a conventional abduction support shell, which is equipped with computer-controlled air pockets in the area of the heels, below (80) and above (79) the knees, hips and, if necessary, on the trunk. which move the inset foot, leg and hip. Between the knees, two plates are placed opposite each other, between which there is an air pocket (81) that can abduct the legs, whereby both sides are released for spreading via the hip joint (76), or one of the two is locked in any position to the pelvis can. In the area of the pelvis (77), air pockets can be integrated in a folding frame the width of the pelvis, which lie between the leaves of the frame plates, one plate of which is articulated at any edge of the widest point of the pelvic apparatus. The other edge - parallel to the body - is articulated to the underlying plate, in the manner of a folder. According to the air-filled bag, the body is turned to the side by the rotation of the shell, the legs being fastened to the bed by crossing bands.

Fig. 10 is a splint, consisting of a lower leg quiver (67), which is connected via an ankle joint (68) to a foot part (70), in which a sole plate with a toe part, connected by a basic toe joint (69), can be integrated , at the front end of which a flat steel band (75) is fastened, which is taken up by a coil (74) in a groove around the heel, guided by a slot in the lower leg quiver. This is - adjustable from the outside - fastened in the quiver chamber (72) to a flat spring (73) which in turn is attached to the quiver. The functional space, especially the spring space, can be filled with a damping mass for vibration damping.

Claims (10)

Computer-controlled movements of reclining, sitting, standing and walking furniture as well as training devices and body correction systems, consisting of carrier systems that can be adapted for the various applications, sensors for measuring angular degrees, distances or engine revolutions, computers and associated software for influencing position and position in particular Posture sensors of the body and the muscles by the computer-aided, software-induced change in the inclination of the furniture to the room and / or to influence the position of parts of the furniture with each other, characterized in that the furniture or training devices, or parts thereof, mainly in the horizontal plane via the carrier systems , but also in other levels, e.g. As far as the backrest is concerned, it can be moved from any manually set or programmable position, depending on the application, by defined angular degrees, in several time cycles per direction of movement and in programmed sequences, whereby parts of the system or the entire system can be moved into new furniture or devices as well as via fixings or Adapters are to be installed in existing furniture or devices, but existing drive systems are to be made usable by sensors, and external sensors and simulators such as movement resistance, optical systems, acoustic or other feedback are to be installed and integrated into the overall system via the computer. System, characterized in that with a standing or walking furniture as well as - training device, a spindle-guided - pneumatic, - hydraulic or cable-pulled computer-controlled leg unit, e.g. is moved via a linear drive, performs a horizontal or diagonal movement, which can be varied in the movement amplitude, the movement cycle, the starting position, the movement frequency, the direction of movement of the legs on the base plate, or by decoupling the pneumatic, hydraulic, electrical or other drive the user's own muscular strength is to perform the vertical trunk and horizontal limb movement, the movement being guided by a standing apparatus or modular rail set, in which a computer-controlled, airbag-equipped movement system is integrated, or which can be operated by other drive sources, which may be simultaneous but independent of the standing column mechanism is regulated. System, characterized in that module rails for feet and / or legs and with or without a pelvic part - for different user sizes and. -needs - equipped with air, foot, knee and possibly hip joints, which can be adjusted and locked in as many basic positions as possible be provided, and / or operated with electrical, pneumatic or hydraulic pistons or mechanically via Bowden cables, which are computer-controlled, the foot in as many levels as possible, and / or the knee and the hip and / or the pelvis - operated in any way - variable in Regarding the starting position, the movement rhythm, the movement amplitude and the frequency, and / or by means of electrical currents, computer-induced depending on the position of the body or parts thereof, which stimulates the corresponding muscles to contract and strengthens them if possible, also as a basic module for standing trainers or Abduction or reclining splints can be used. System, characterized in that module rails with wrist and / or elbow joints, which should be adjustable and rectifiable in as many planes as possible and connectable to shoulder movement apparatus, are provided with air pockets or are driven in some other way, which not only the fingers, the wrist and the elbow joint in the flexion and extension, but also in the forearm rotation move computer-controlled, variable in relation to the starting position, the movement cycle, the movement amplitude and the movement frequency, and / or can be combined with electrical currents that stimulate the muscles depending on the position of the limbs and if necessary should strengthen. System, characterized in that several module rails, arranged according to movement groups, or an apparatus which is provided with joints and which permits movement in all planes of movement of the shoulder joint, nevertheless has fixing plates which hold the shoulder blade and the shoulder joint itself in its position relative to the body are to be provided with air pockets and / or on its movement arms by means of electrically operated motors, pneumatic or hydraulic pistons or mechanical Bowden cables, which control the arm from a variable basic position in relation to the body in the desired direction of movement, the direction of movement, the movement amplitude, the movement tract as well as the frequency of movement can be selected, can also be combined with electrical currents which are computer-controlled directed to train the muscles in the appropriate position of the body part. System, characterized in that on a base plate provided with fixing aids, which, like the overall system, can be of different sizes, in the longitudinal direction two large air pockets, also as sandwich bags with a base pocket and work pockets, overlapping in body width, are fastened, which can also be divided in the head, shoulder and pelvis, under which smaller air pockets can lie, or in their place a covered frame with the Base plate is connected by means of a link, under which air pockets are attached at the upper and lower ends, or other drives can be attached, which have a body lying on the system, the head of which lies on further, at least 3 to 6 air pockets and / or a head shell, which are partly static, partly dynamic with air, the shoulder and torso with four- or six-point belts or corresponding pads, which z. B. in the area of the shoulder of the sternum, the costal arch and the pelvis can also be optionally supplied with air pockets, the pelvis and legs are in a stand - which can be adjustable in height - in which the air pockets are attached so that the Legs can be alternately or simultaneously bent or stretched, without losing their position to the trunk, for example, in the lateral position, each - from the supine position - can rotate by at least 90 degrees to each side, whereby the angle of rotation, the initiation of movement - from the pelvis, from starting from the shoulder or from the head, - the movement pressure as well as the movement timing can be individually adjustable for each side and the tilt and erection of the entire system in its longitudinal axis in the room can be computer-controlled in the movement stroke as well as in the timing, whereby different drives can be used , as well as the outflow speed of the pressure medium of the rotating system s can be influenced, whereby the routing and dimensioning of the supplying and discharging hose system can be different in favor of a 3-4 times larger dimensioning of the discharging system, which can also lie in the area of the overlap folds for fluidic reasons and can be collapsible for transport. The cover is attached to the side or lower edge. System, characterized in that the seating surface of a seating system with a movement angle of -60 degrees to +90 degrees, which is adjustable in length and width over a divided seating surface with an adaptable seat base frame and in the area of the pivot point of the pelvis, which has recesses in the area of the ischial bumps as well as the back, which can be broken down to the level of the 5th lumbar vertebra and is provided with a physiological pelvis pivot point, which steers the back under the seat - whereby the flexion angle begins at approx. 70 Grand and the back can be adjusted by 110 degrees, - is equipped with air pocket-integrated spinapelottes and / or knee pelottes with a recess in the Pattelar region, which allow a sliding, but also lockable adjustment of the physiological spreading angle of the thighs, depending on the position of the seat or stand, which in turn are integrated in a footrest with a physiological knee pivot, individually or in combination with each other right Depending on the application, the machine can be controlled by a controlled number of sections, with the movement amplitude, timing and movement speed varying, and also with an air pocket system euop.Pat.Anmeldung Az. 88116894. 2 can be provided, both of which can be varied simultaneously, but not in dependence on one another, or individually in all the parameters mentioned, which moves a single body "complexly". System, characterized in that air pockets are integrated into body correction systems, such as in corsets, which can be adjusted in height with movable armpit supports with a pivot point close to the spine, and any shoulder pressure support and rotary glide, which are attached to the belt by means of a miniature compressor with integrated power supply and computer unit can be supplied with air, which move the body variably with regard to the direction of correction, the timing and the amplitude, and can also be divided into segments relating to the longitudinal axis of the body, which are able to raise the trunk vertically using various drives , may also consist of belts integrated in the air pocket, and may be connected to a thigh sleeve via a hip joint. Hip abduction apparatus: System consisting of a module set according to claim 3 or a conventional night support shell, which is provided with air pockets in the area of the foot, heel, below and above the knee and in the area of both hips, which initiate the necessary body corrections, connected to the air pocket supply two plates located in the longitudinal median plane of both legs for the abduction of one or both legs and the possible air pocket supply to the back of the pelvic part for rotating the entire system on one or both sides, the rotation of the overall system being regulated simultaneously but independently of the correction system. Thigh splint for muscle paralysis in the lower leg area, consisting of two shell modules that have an articulated connection in the area of both ankles, and in the area of the base of the toe can have an articulated connection of the sole plate, to the front lower end of which a flat steel band is attached, which is arranged in a flat groove the heel lays from where it passes through an entry channel into a functional area in the area of the calf, where it is pulled onto a roller that can be tensioned but also locked by means of an Allen key, which hangs on flat-core springs, which are in turn attached to the shaft housing, the rail also Sensors can be equipped which, due to the pressure of the tread and the step frequency, can also be adapted accordingly with regard to the pretension of the spring element or the active adjustment of the ankle angle by electrophysical muscle stimulation of the remaining muscles, the functional quiver with a Vibration damping compound can be foamed.

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