EP0758554B1 - Exercising apparatus with a crank - Google Patents

Description

The invention relates to a movement training device according to the Generic term of patent claim 1.

Known exercise equipment available on the market These types are for both healthy people, in particular Competitive athletes, as well as for sick people, whose limbs are paralyzed or partially paralyzed. The used electric motor can both brake and drive. During active training, the braking effect is in the Foreground, in the case of passive training rather the driving effect. However, in therapeutic treatment Mixed training forms have a very special meaning when it is is about remaining weak muscle strength mobilize and support.

In the known movement training devices, one can Preselected speed or programmed in time and it can an upper limit of the torque can also be set, that the electric motor exerts or through the active Experienced driving forces of the exercising person. But there is in the passive and mixed gymnastics constellations, in those at certain angular positions of the crank by a Change in the behavior of the electric motor in the Sequence of movements would have to be intervened to make one more Achieve better training success and harm prevent.

In European patent application EP 0 276 125 A2 discloses a computer controlled exercise machine in which the user selects an exercise program. Accordingly signals from the program to a controller for transmit the resistance to an actuator. Sensors generate data signals that match the force on the Actuator as well as the speed and the Correspond to the angular position of the actuating element. This Signals are sampled to generate digital data. The digital data are used to display for update the exercise results and calculate values, to control the resistance on the actuator are necessary. Basically, this exercise machine can be used for active gymnastics and passive gymnastics are used become. Within a "fashion" for active training and within a "fashion" for passive training are one A variety of training options can be implemented.

Based on the prior art mentioned, the Invention based on the object, the scope of a Movement device that is for both active and passive Training is designed to expand and become more flexible Opportunities for designing a training process create.

This object is achieved based on the preamble of claim 1 solved in that a training program a mixed form of passive and active gymnastics within a circular movement allowed, with the device for Torque limitation Drive torque limits on the one hand and the braking torque on the other are adjustable from each other, for the drive and Apply braking accordingly. This procedure will possible because a computer does not know the speed and torque simply recorded analog, but as digital quantities in one immediately available form. The Control and regulation function is also implemented in the computer and can build on the parameters mentioned. So it is possible, freely programmable within a circular movement perform any movement pattern, especially one Mix between active and passive gymnastics, in which can be switched between drive and braking torque. The switchover can take place immediately. It is crucial that the limit values for the drive torque and the braking torque can be set separately.

Due to the separate adjustability of the upper torque limits in drive and braking mode e.g. the following Training situation to be solved: A patient with a lot low muscle strength, as far as possible, the crank actively kick against a noticeable resistance. To the He needs the support of the crank's dead points Electric motor. This constellation requires a small one Braking torque is set to a sense of achievement to come up. On the other hand, a big one is needed Driving torque so that the engine at the crank's dead center gives strong support.

This movement training device can be very special therapeutic needs and the Training success can be further improved.

It is to avoid injuries during passive training important that when a spasm occurs, i.e. one Muscle spasm, the maximum drive torque is not is exceeded. With known movement training devices leads to reaching a fixed torque limit to switch off the device, d. H. to the complete Freewheel of the crank, or a counter movement to loosen of spasm. In contrast, in a further development of the invention proposed that the limit value of the drive torque to the Average drive torque required by the patient is automatically updated so that it is always one certain percentage is greater than this. Under that of Average drive torque required for the patient practically the upper envelope of the torque curve Roger that. This leaves the sensitivity for recognition a spasm always the same, even if e.g. with improved Movement ability of the patient in the course of the training required average drive torque drops.

Instead of the height of the drive torque, Spasm also at its rate of increase detect. It rises unusually steeply. Accordingly alternatively, a limit of the first is proposed Deriving the torque for spasm detection.

The average drive torque required is a important technically comprehensible measure for the ability to move the limbs of a paralyzed patient. Usually the ability to move improves in the course of a Workouts so that it may be desirable to speed to adapt to better mobility. Therefore it will suggested that the calculator set the target speed in one Depends on the drive torque automatically determined.

To record the angular position of the crank, an on suitable location on the crank or its drive coupled incremental encoder can be provided. On associated circuit adds the individual pulses and sets after completion of a round by a reference signal the position counter back. In the opposite The impulses are subtracted from the direction of rotation. Furthermore calculated the circuit from the time sequence of the impulses current speed. That becomes the motor current proportional torque calculated. Both parameters can be included as directed sizes so that from the sign of the speed the direction of rotation and from the Sign of the torque indicates whether it is in relation to the direction of rotation, by a drive or by is a braking torque. Aside from their use for Regulation and control of the crank movement can do this available actual parameters of the crank movement are displayed or saved or to control external devices to get redirected. When saving on an easy Transportable medium (memory card, floppy disk) can stored movement sequences external to the therapeutic Assessment or as a basis for creating more Training programs serve.

The computer is preferably implemented as a microcontroller. The control can be a fixed time or a predetermined from the actual parameters of the crank movement or externally determined parameters run dependent movement program to let.

It has already been mentioned that it is different The parameters of the Save crank movements. Another related Variant advantageously consists in that a Learning memory for these parameters is provided by an input mode can be activated and then an am The device executes the movement sequence executed by the device can repeat on command. For example, can a therapist store a certain model movement sequence in that he performs this sequence of movements on the crank by even moved the pedals or by hand operated remote control from the engine.

Finally, it is suggested that on the Movement training device a connection option for a Muscle stimulation device is provided, the individual Stimulation channels on the muscle groups concerned connected by electrodes, depending on controlled one or more parameters of the crank movement become. This allows those assisted by stimulation Drive movements of the patient through automatic Braking and / or driving the crank of a uniform one Rotational movement can be approximated.

Spasms can also occur during muscle stimulation. It is therefore suggested that precautions be taken in the computer are taken to in this case the stimulation pulses interrupt immediately and prevent further.

In functional electrical stimulation of the muscles with the Intent to make the crank rotation as uniform as possible different parameters must be optimally selected become. It is about the correct angular position of the Crank, with which the stimulation pulse is triggered to the temporal length of the stimulation or the one to be run through Angle to the shape of the stimulation current, which is usually is a modulated signal and around the intensity, i.e. the Current. It is suggested a special one To provide a test arrangement with which the stimulation results, that come in the form of crank angular rotations, in Dependence on changes in the individual Stimulation parameters are measured and compared exactly to optimize them automatically. Angular rotation means the whole phenomenon, including that occurred and registered torque.

An embodiment of the invention is described below the only drawing that explains a block diagram represents a movement training device.

The electromechanical equipment 1 of this device comprises first a crank that is permanently magnetic excited DC machine, short Motor 2, is driven. In addition, an incremental encoder 3 is fixed to the motor coupled, the 2,000 positions on the full angle differs. With a drive ratio of 20: 1 results that 40,000 detectable angular positions at one Crank rotation. On the pedals 4 of the crank or others Connection organs can be the extremities of a exercising Attack person.

The motor 2 is powered by four-quadrant power electronics 5 fed. It receives its signals from one Regulation 6 and a controller 7, which are in a computer 8 are integrated. The initial values of those in box 1 summarized electromechanical equipment and Sensors, i.e. the motor current and the signals of the Incremental encoder 3 reach the via a line 9 Regulation 6 and control 7 of the computer. From this become the so-called actual parameters of the crank movement, namely Angular position as well as speed and torque, as directed Sizes won. On the other hand, Regulation 6 and Control 7 supplied with further characteristic values via lines 10, obtained from external sensors. An example for this are the angular values of one on a patient's knee attached angular position transmitter. This will be discussed below received. Via an input 11 the control signals to be input manually, e.g. a Speed setting, switch-on and switch-off pulses etc. An information output 12 allows any parameters to indicate, in particular to the person exercising, or save externally. Finally there is an exit 13 provided to connect peripheral devices, e.g. on Control muscle stimulation device.

Below are some selected features exemplified that with the described Movement training device can be performed. Out of it there are further advantages and surprising effects of Invention.

Entry / exit assistance:

To paraplegics inserting and fastening the Legs in the pedals of the movement trainer and on the other hand To make getting out easier, the pedals become less Speed in the positions favorable for the patient (e.g. left foot in lower position, then right foot in Low position) and there with maximum torque positioned.

Special orthopedic rehabilitation:

After orthopedic surgery, it is usually necessary to do that relevant joint, e.g. the knee joint, specifically passive and move actively. To do this, the foot of the concerned Leg connected to the pedal of the movement training device.

It depends on a certain angular range of the To keep knee movement, e.g. the crank in one certain angular range are moved back and forth, which the desired angular range corresponds to the knee movement. In order to the performed movement of the knee to the given one The amount of movement can correspond to the patient's knee joint an angle sensor attached and with this information source the movement of the knee joint can be carried out in a controlled manner. The movement comes with a certain upper limit for that Drive or braking torque applied. Should the patient be too sit close to the device, the device prompts him via a Output unit to move away from the device a little.

If it comes - possibly additionally - to one even movement in the knee or hip joint, so this can be done by appropriate control of the Crank speed can be reached. As is well known, one uniform. Crank speed a non-uniform This results in speed at the joints mentioned. By a variation of the crank speed depending on the position within the angular range it can however, achieve the angular velocity of either Over the knee or hip joints during pedaling remains approximately constant over a large angular range.

Resolving a spasm:

Is a spasm e.g. by reaching the upper limit of Drive torque detected, it can with a rocking motion be solved. The rocking movement begins with a small angular deflection that is magnified so long until the rocking movement changes back into a rotating movement. For example, the therapist can do this or another Movement pattern the movement training device through unique Exercise "teach" so that if necessary, it then by itself expires.

Separate setting of the upper torque limits in the drive and braking:

A patient only does passive training. His skeleton is only weakly resilient. For security reasons, he may only be driven with a very small drive torque. Around however, the motor must achieve a round pedaling motion brake heavily at certain angular positions of the crank. Provided that no gearbox and therefore only a low flywheel mass is present, rather a Belt drive would connect the motor and the crank directly the legs from their highest position down "fall through". To avoid that, a must be proportionate large braking torque can be specified.

Warm-up exercise, training suggestion:

Before each training session on the exercise machine, one should small warm-up phase. The physical condition of the patient ("ease of movement") over the Parameters of the crank movement recorded and automatically be taken into account. Then the computer can Make a training suggestion (speed, duration, etc.) after the results of the warm-up training based on experience is calculated.

Automatically adjusted limitation of the drive torque:

The maximum drive torque required to detect a spasm serves, is automatically changed in such a way that it is a certain percentage above that for the movement of the Extremities required for the patient's drive torque. This automatically adjusted drive torque limit can just rise and fall in a ramp and that has it Advantage that the drive torque even when braking hard, for example, by a spasm, never increase suddenly can. So a "soft start" is always guaranteed. Due to the tight connection of the maximum drive torque to the current drive torque remains the responsiveness the anti-spastic control during the whole training constant.

Automatic adjustment of the speed:

In most patients, the physical changes Condition during training. Because the speed is an important one The criterion for the extent and effort of an exercise is the setpoint of the speed depending on the "Smooth movement" of the patient automatically tracked become. This tracking depends on the applied drive torque.

Interactive training programs:

The patient can exercise through his behavior influence. This has the advantage that the intellectual and physical passivity of the patient during training is reduced. It can be provided that the Speed increases within certain limits, the "smoother" the Becomes a patient. As the active share decreases, the speed can are automatically reduced. Also one can Direction of rotation can be provided in the event that the Active gymnastics continues to decrease.

Activation of an external measuring device:

With a certain constellation of the parameters of the Cranking motion based on a specific physical situation an external measuring device is activated in order to to take a measurement.

Functional electrical stimulation depending on the Characteristics of the crank movement:

A practical case is electrostimulation of the flexion and the extensor muscles on both legs (four stimulation channels), taking the parameters of the different Stimulation channels depending on the actual parameters of the Crank movement can be selected. By a little differentiated control of the muscles usually arise irregular, stagnant movements during a concentric run the crank is desired and pleasant by the patient is felt. The freely programmable control arrangement allows a continuous pedaling movement to be brought about by alternating acceleration and deceleration of the movement at the corresponding angular sections. This will advantageously no flywheel needed at spasms could result in injury.

Automatic optimization of stimulation parameters:

The stimulation therapy is based on experience middle preset started. In the subsequent The stimulation parameters (e.g. Switch-on time and angle, shape of the current curve, intensity) automatically with the help of the feedback of the parameters set. This can be done one at a time for each one Muscle group happen.

"Teach in" process:

The therapist can use an exercise machine teach any movement pattern by telling a particular one Input mode selects, and the desired movement pattern to the Pedals or via the remote control. The device records the executed movement pattern and saves it this off. After that, it can use the learned movement pattern play.

Claims (13)

1. Movement training apparatus with a crank, crank arms which can be connected to the feet or arms of a training person, and also comprising an electric motor which is connected by gearing to the crank, power electronics for powering the motor, enabling this to be used to drive and brake the crank, a apparatus for speed adjustment, a apparatus for torque limitation, a programme control apparatus which allows a training programme to be input and run, a computer which detects the speed and torque as actual instantaneous parameters of the crank movement in a digital and thus freely usable form, so these actual parameters are available for digital adjustment and control of the crank movement, characterised in that a training programme allows a mixed form of passive and active physical exercise within a circular movement, limits to the drive moment, on the one hand, and to the braking moment, on the other hand, which act appropriately for the event of driving and braking, being adjustable separately from one another by means of the apparatus for torque limitation.
2. Movement training apparatus according to claim 1, characterised in that, during passive training, the computer automatically tracks the upper limit of the drive torque in the scope of a maximum limit established according to safety considerations of the upper envelope of the drive torque for the purpose of recognition of a spasm, in such a way that the upper limit is always greater than the envelope by a specific percentage.
3. Movement training apparatus according to claim 1 or 2, characterised in that, during passive training, the computer calculates and evaluates the rate of increase in the drive torque for the purpose of recognising a spasm.
4. Movement training apparatus according to any one of the preceding claims, characterised in that the computer (8) automatically determines the desired speed as a function of the drive torque.
5. Movement training apparatus according to one any of the preceding claims, characterised in that an incremental encoder (3) coupled to the crank drive is provided to detect the angular position, the direction of rotation and the speed of rotation of the crank.
6. Movement training apparatus according to any one of the preceding claims, characterised in that the computer (8) can allow a movement programme to run as a function of the time or the available parameters.
7. Movement training apparatus according to claim 6, characterised in that it can carry out any desired movement pattern as a function of the angular position of the crank.
8. Movement training apparatus according to claim 6, characterised in that, on recognition of a spasm and starting with a counter movement, the crank is set into a gentle to and fro pivoting movement with increasing angular deflection which finally again passes into a rotating movement in one direction.
9. Movement training apparatus according to any one of the preceding claims, characterised in that the computer (8) evaluates the available actual digital parameters of the crank movement to draw conclusions on the state of the patient, to display this state by significant parameters or to act accordingly on the training run.
10. Movement training apparatus according to any one of the preceding claims, characterised in that a learning memory for the parameters of the crank movement is provided which can be activated by an input mode and which then stores a movement run which has been carried out on the apparatus which the apparatus can repeat.
11. Movement training apparatus according to any one of the preceding claims, characterised in that a connection option is provided for a muscle stimulation apparatus, the parameters of the stimulation ducts being determined as a function of the actual parameters of the crank movement and the movements of the patient supported by stimulation being approximated to a similar rotational movement by automatic braking and/or driving of the crank.
12. Movement training apparatus according to claim 11, characterised in that these precautions are taken to prevent further stimulation impulses in the event of a spasm.
13. Movement training apparatus according to claim 11, characterised in that an arrangement for automatic optimisation of the stimulation parameters is provided.

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