EP0929378B1 - Vorrichtung zum räumlichen bewegen von körpern - Google Patents

Vorrichtung zum räumlichen bewegen von körpern Download PDF

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Publication number
EP0929378B1
EP0929378B1 EP97912113A EP97912113A EP0929378B1 EP 0929378 B1 EP0929378 B1 EP 0929378B1 EP 97912113 A EP97912113 A EP 97912113A EP 97912113 A EP97912113 A EP 97912113A EP 0929378 B1 EP0929378 B1 EP 0929378B1
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EP
European Patent Office
Prior art keywords
movement
person
contraption
input
enabling
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.)
Revoked
Application number
EP97912113A
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German (de)
English (en)
French (fr)
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EP0929378A1 (de
Inventor
Axel Holle
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Individual
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Individual
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Publication date
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Application filed by Individual filed Critical Individual
Publication of EP0929378A1 publication Critical patent/EP0929378A1/de
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C3/00—Chairs characterised by structural features; Chairs or stools with rotatable or vertically-adjustable seats
    • A47C3/02—Rocking chairs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B19/00—Hoop exercising apparatus
    • A63B19/02—Freely-movable rolling hoops, e.g. gyrowheels or spheres or cylinders, carrying the user inside
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force

Definitions

  • the present invention relates to a device for spatial movement of bodies, especially of people.
  • Such devices are both from the sports and leisure sector also from the medical field, for example for the treatment of Back ailments, known, for example, so-called Rhön wheels or Human gyroscopes.
  • the person's arms are free in principle, but only a movement of the device due to corresponding changes in the center of gravity of the body as with rocking, the person is at and during the Movement forced, with hands on appropriate handles, be it on the circular element or on the bracket.
  • the freedom of movement the body or the person is in accordance with the movement Swing where, for example, by pulling and stretching the legs Shift of focus is made possible, greatly restricted or limited.
  • the dimensions of such devices are relatively large due to the movement which can only be caused or triggered by shifting the center of gravity and the associated symmetrical structure and the corresponding stability requirements.
  • the individual circular elements must have a diameter of approximately two meters, which corresponds to a footprint of approximately 4 m 2 and a volume of space of approximately 8 m 3 for these devices.
  • the space required for the installation and storage of such a device is thus enormous.
  • the manufacturing outlay and the associated costs, particularly due to the use of full circular elements, but also when using rectangular or square frames, are relatively high.
  • the previously known devices are not or only limited controllability, especially not by the user, that is the Person in the device.
  • the present invention is based on the object of providing a device for the spatial movement of bodies, in particular people, with which the body, in particular the person, is retained in the device as much freedom of movement as possible, with which additionally movement both from outside and can also be specified or controlled from within, with which there is an active influence on the movement by the body, in particular the person, which has small dimensions and, moreover, can be produced inexpensively and with simple means.
  • the device for generating a spherical movement and the holding device according to the invention is a with the present invention Device created, in particular those using the device People in the device gives an extremely large freedom of movement.
  • the Movement of the device no longer has to go through here alone Center of gravity of the body can be specified in the device, but can by the inventive device for generating a spherical movement are generated by the device itself.
  • the device for generating a spherical movement generated by a movement Center of gravity generated by a person using the device Motion can be overlaid.
  • Holding device can the person using the device in the device Move arms, legs and head freely.
  • control device By using a control device and a Input device allows the body's movements both from specify, control and influence outside and inside,
  • the device according to the invention advantageously has extremely little Dimensions so that the device is easily stored and transported a small installation volume is required and more is inexpensive to manufacture with commercially available means and individual parts.
  • the device furthermore at least one device for generating a translation.
  • the device a system of essentially to produce a spherical motion orthogonal segments.
  • Segments in the sense of the present Invention are axes, shafts, cranks and the like, which in particular in In the form of an angle, in the form of an arc or in the form of a circle or Circular segment are formed.
  • elliptical or hyperbolic Segments can be used.
  • quarter circle segments or angle segments are used.
  • the device can also be installed in living rooms, that is, it fits easily through apartment doors. Furthermore, the invention Device also in private areas, for example in apartments, be set up and used. In addition, the cost of materials for the individual segments compared to complete circular elements or rectangular or square frame significantly reduced, approximately to one Quarter.
  • the Means for generating a spherical movement and the Means for generating a translation on at least one drive each have at least one drive.
  • the drive is advantageously an electric or a hydropneumatic Drive, that is a hydraulic and / or pneumatic drive and the like. This allows the various movements required to generate a rotation, the means to create displacements or rotations.
  • Drives in the sense of the present invention are thus also drive and Gear combinations.
  • the device for Generating a spherical movement on the device for generating a Translation arranged.
  • the device can thus be more compact and stable train and has a simpler construction.
  • Holding device on the device for generating a spherical Movement can be arranged, advantageously on a segment.
  • the holding device comprises a Sitting and / or lying device. This will add a large Freedom of movement in which all movements on the one hand the device and on the other hand the body of the person are easily possible, the Person through an advantageous design and arrangement of the Holding device, especially arms, legs and head, can move freely as also a comfortable, advantageously adjustable and to the person adjustable posture for the person using the device provided.
  • the holding device at least one bracket or a belt and / or the like on the for example in the area of the body trunk, that is to say for example in the Area of the pelvis of a person holding or locking can be arranged.
  • the person with padded temples in the area shoulders are held.
  • the bracket or the like form one Type halter for the shoulders and put the person's body securely and comfortably tight.
  • the Holding device a casing at least partially enclosing the body, preferably a padded shell cover.
  • the damping layer arranged in the casing is designed such that adapts them individually to the body.
  • This is used as a damping material preferably an elastic material, for example an increased material Pressure independently, that means automatically compressing and thus one higher protection foam material or airbags and the like, used.
  • the Holding device on sensor and / or actuator elements You can do this
  • sensors and the like can be used Deformation of the body, changes in temperature and / or moisture, Record pulse, blood pressure, changes in center of gravity and the like. These can, for example, be upholstered in the shell, the seat and / or lying device and the like integrated or in one piece with this be trained.
  • Actuator elements can, for example, apply light pressure be exerted on the body, for example by means of fillable and emptied ones Air cushion. This allows additional information to be supplied to the body become.
  • the input device outside of the device according to the invention for spatial movement of people.
  • the Input device for example a keyboard or the like Computer to control the device, for example different operating options and conditions of the invention Device can be entered and specified from the outside.
  • the Input device can be arranged separately from the device, for example with a corresponding distance from the device in another room or room.
  • modem or radio connections to act outside with a corresponding input device.
  • Input device within the movement device according to the invention arranged.
  • Various input devices are suitable for this Input elements, which are advantageously an optical, acoustic or enable mechanical input, for example sensor elements, so-called data gloves, data helmets, voice input and the like. So can be controlled via the input device device according to the invention by means of speech or touch sensor Inputs, for example using a data glove, body control corresponding suits equipped with sensors, tongue control and realize the like.
  • one can Input device also controls the device by means of Realize eye movements, for example those integrated in the data helmet Cameras is monitored and evaluated. This allows the Device according to the invention also for seriously ill and use physically disabled people for their therapy, for example The user is thus given the possibility of moving the device to actively influence in the simplest way.
  • the movement device according to the invention furthermore at least an information output device.
  • the information output facility can advantageously optical, acoustic, as well as sensory via the Tactile sensible information that directly on the sensory organs act on the person, for example by applying pressure to the body fillable air cushion.
  • Can as an information output device for example data helmets but also conventional displays or Projection device, speakers, headphones, fans for Draft simulation, water spraying, aroma generator for different smells and the like can be used.
  • a Information output device in particular a data helmet, which the Separates the person using the device optically and acoustically from reality that the person only has the information output by the data helmet optically and acoustically recorded, also permitted, in particular by Importing video sequences, a feedback between the movement and control of movement by the user or his Response to the movement and that through the information output device recorded information, such as video sequences, sounds and the like.
  • a Information output device in particular a data helmet, which the Separates the person using the device optically and acoustically from reality that the person only has the information output by the data helmet optically and acoustically recorded, also permitted, in particular by Importing video sequences, a feedback between the movement and control of movement by the user or his Response to the movement and that through the information output device recorded information, such as video sequences, sounds and the like.
  • the device can be used for rehabilitation become. Further areas of application are in the entertainment area, in particular for video games or for training motion sequences for various
  • a monitor can also advantageously be used as the information output device, a display or projector / screen combination can be used especially in combination with a sitting and / or lying device alternatively or additionally, another possibility of an active Provides motion control or as a workstation can be used.
  • a curved canvas is advantageous or projection screen is used to optimize the person Field of view.
  • the Control device with the device for generating a spherical Movement and the input device can be connected.
  • the Control device further with the device for generating a Translation and the information output device connectable. So are advantageously the drives and gears of the Motion generation devices and all inputs and Output elements controllable by means of the control device.
  • the control device has the Invention at least one computer, for example a personal computer with control software or microcontrollers, automats for control and the like. Computers in the sense of the present invention are also Switchgear, automatons and others, for the realization of control tasks suitable facilities.
  • the control device according to the invention can be different operating modes of the invention Control and check device. With provided in the device The person can use input devices, for example data gloves influence the control device as from the outside.
  • Movement device according to the invention for robot control, robot device or programming used. For example, Operate, control or also operate robots for various production processes set up or program.
  • the movement device advantageously during product creation or construction use. For example, new ones can be developed on the computer and Represent constructed products in virtual space, which are then used by the user the movement device according to the invention without physical predetermined boundaries from different perspectives and views simply without extensive programming knowledge according to his natural movement can be viewed, in particular by all sides, for example flight over the product, that means bird's eye view. It can also take advantage of the virtual representation of Production items and the like can be used, for example Cuts through different product parts.
  • the movement device for example in the medical field Training operations on virtual human or animal bodies carry out.
  • Another particularly advantageous area of application is in the area the entertainment industry for example for video games and the like given.
  • the movement device according to the invention in use economic area, for example for virtual Document management or as a workplace.
  • a extremely relaxing screen workstation created that the usual Fixed chair-table-screen combination. So the worker can take place in a kind of sitting and / or lying device, for example the screen through a projection sphere, that is, an arched one Projection screen and a projector is replaced.
  • the previous Desk workers can do this according to their individual Needs to change his posture and location, which in particular benefits from more relaxed and less stressful work.
  • Another advantageous area of application is in the area of military use given the movement device according to the invention. So this can for example to control combat robots, mine clearance and Defusing robots, or deep-sea diving and research robots as also for the education and training of pilots for helicopters and Airplanes, as well as used for skydiving.
  • the Movement device 1 is in one by the coordinates X, Y and Z spanned space, with the coordinate axes X, Y and Z so are placed so that they run parallel to the axes of movement of the body 2.
  • the device 3 of the movement device 1 is used to generate a spherical movement and is through in their freedom of movement orthogonal segments 4, 5 and 6 are formed, the corresponding rotational movements 7, 8 and 9 around the X, Y and Z axes enable.
  • the fastening device 1 is in each case with a holder 34 attached to the floor. Of course, other fastenings are also possible.
  • the segment is 5 for the rotation 8 about the Y axis as an essentially straight axis or shaft educated.
  • the movement device 1 can be particularly suitable for transport and storage Fold up to save space by simply segments 4, 5 and 6 of the Device 3 for generating a spherical movement are rotated so that they come to lie in one another. Because only quarter elements are used, the space and space requirements are extreme in this state small and essentially compared to solid elements in diameter halved. The movement device 1 can be transported very easily are and do not even have to be disassembled or dismantled and also fits easily through apartment doors.
  • the device 3 of the movement device 1 for generating a spherical Movement is on a device 10 for generating a translatory Movement, in the present case a translation 11 arranged in the Z direction.
  • a device 10 for generating a translatory Movement in the present case a translation 11 arranged in the Z direction.
  • This feeling of acceleration because the Body 2 of the person through the device 3 for generating a spherical Movement to any position is generated in any direction become. It is also the case when using several devices for generating one translation possible to overlay several translation movements.
  • the segments 4, 5 and 6 and the device 10 for generating a Translation 11 each have at or in their ends 12 or 13, 14 or 15, 16 or 17, and 18 or 19 a drive and / or not explicitly shown here Gear combination on. These are of the in connection with the Fig. 3a and 3b controlled control device and input device, influenced and controlled and can also be switched on or off be so that a spin movement, for example, by "unlocking" individual drives or gears are possible.
  • the body 2 in the present case the person, in the area of the pelvis, at least on the back of a holding device 20 held.
  • the holding device 20 on the device 3 is the Movement device 1 for generating a spherical movement, here on End 15 of segment 5 for generating a rotation 8 about the Y axis, attached.
  • the body 2 of the person is held securely and firmly on the one hand on the other hand there is maximum freedom of movement for the person, especially since the hands, arms, legs and head can move freely.
  • the head or switch area is also held or supported with shoulder brackets be, then a control, for example by means of eye control is possible.
  • the sitting and / or lying device 21 and the holding device 20 are padded and with sensors and / or not also shown here explicitly Provide actuator elements.
  • the person is held securely and firmly and on the other hand there is maximum freedom of movement for the person, especially since the hands, arms, legs and head are largely freely movable are.
  • Information output device 22 here a display for example of information arranged.
  • a holder for the display is here Clarification not shown.
  • the display can be on the seat and / or Lying device 21 or suitably attached to the movement device 1 his.
  • an information input device for example one Keyboard
  • can be a very ergonomically designed workplace provide, for example for typing and office work, telephone ordering services and the same.
  • FIG. 3a shows a block diagram of a first operating mode of the Movement device 1, hereinafter also called "skidding".
  • a die Control device forming computer 23 for example a PC or a Automatic machines, each with an input device, for example a keyboard or Mouse, different from the drive and gear combinations 12 to 19 or 25 to be approached in the block diagram Target angle to be taken or corresponding signals specified by an amplifier 24 or filter circuits and the like.
  • the drives have suitable measuring devices 26 or are with them connected.
  • the measuring devices 26 record the actual angles and give them or appropriate signals, which can be processed if necessary, back on the control device, that is to say the computer 23 the measuring device 26 the exact angular positions for calculating new or Target angle currently to be approached to the computer 23.
  • the so-called “skidding” the movement of the Device 1 and thus that of the body 2 only specified from the outside.
  • 3b also shows a second operating mode in a block diagram Movement device 1.
  • signals are fed into the computer 23, via the amplifier 24 can also act on the drive and transmission combinations 25.
  • the drive and transmission combinations 25 are in the present case with a connected to another measuring device 28 which is used to detect or determine Energy values of the drive and transmission combinations 25 is used.
  • This Measured values are - like the angles detected by the measuring device 26 - also given back to the control device 23. So that's two Feedback of the drive and transmission combinations 25 on the Control device 23 given by the measuring devices 26, 28 and simultaneously is an input device, here comprising sensor elements Unity provided.
  • the Sensor elements of the inner input device 27 result in two basic operating options of the second operating mode.
  • a reference run is first carried out with the body 2, during which the measuring devices 26, 28 for the body 2 characteristic parameters be recorded.
  • the movement device 1 also determine moments of inertia of different bodies.
  • the Reference travel is, for example, the energy consumption of the drive and Gearbox combinations 25 determined with the measuring device 28, each of which moving mass of the body 2 and its moment of inertia and the like Sizes corresponds.
  • simulation parameters determine or generate different bodies.
  • the computer Control device 23 calculates new setpoint angles, the sensor data being calculated by the sensor elements of the unit 27, the angular data of the Measuring device 26 detects angles of the drive and transmission combinations 25 and the energy data of the energy quantities detected by the measuring device 28 the drive and transmission combinations 25 are taken into account.
  • Movement sequences can then drive corresponding movements become.
  • the computer 23, which is part of a suitable control device can be, when using Information output devices, for example using a data helmet, additionally import video sequences and the like, so that one in the Movement device 1 held at least one other person Can experience sensory interference.
  • the data helmet separates the optical and acoustic perception of the person from reality, so that the person only nor the virtual one provided by the information output device Can perceive reality.
  • this enables by combining motion sequences with optical or acoustic Perceptions and the like targeted therapy and healing procedures create, for example, for the treatment of fear of heights, claustrophobia, but also Back problems and movement disorders.
  • FIGS. 4a to 4d show the use of the movement device 1 for Production processes, here for vehicle manufacture or assembly.
  • FIG. 4a shows a section of the real production process.
  • a vehicle 29 is assembled, which is not shown here Holding devices such as those in the area of automatic production, for example, assembly line work and the like are common, various Manufacturing facilities led.
  • the individual manufacturing plants have different Robot 30, one of which is shown in Fig. 4a.
  • the Robots 30 are provided with robot arms 31 that can be pivoted several times the ends of which have different tools 32 attached, for example for screwing, welding, pressing and the like.
  • Fig. 4b is a transformed image that results for an outsider the real production site 4a.
  • Fig. 4b shows the a virtual worker monitoring the production flow View of the production facility according to FIG. 4a.
  • Fig. 4b shows that in the virtual space transformed vehicle 29 'and for one Production workers or outsiders in virtual space Operator 33 '.
  • the virtual production facility shown in FIG. 4b for an outside viewer as if the operator 33 directly on Vehicle 29 would work.
  • FIG. 4b Not shown in FIG. 4b are those currently used for the respective work Tools that are also in a view according to FIG. 4b virtual tools would be displayed. Using a representation accordingly Fig. 4b, the production process and Check the condition from the outside, especially how far it can be seen the respective work has progressed.
  • FIG. 4c shows the one presented to the operator 33 via the data helmet virtual view of his current work or workplace. 4c shows which are appropriate for the operator 33 in accordance with the manufacturing step according to FIG. 4b resulting view of the vehicle 29 or 29 ', ie exactly the view that the operator 33 would perceive if he was actually under the vehicle 29 would work.
  • FIG. 4d shows the real movement device 1 with the operator 33
  • the view according to FIG. 4d results for an outside viewer detached from the production site shown in Fig. 4a and 4b and 4c different virtual views of the Production site or individual production views the workplace of the Operator 33 considered.
  • the operator 33 controls the natural movements in a simple way Robots 30 or more robots. Which is for the operator from one Understanding assembly or manufacturing posture that is customary for him he as shown in FIGS. 4b to 4d, while the Robot 30 for the manufacture and production of the production items, here the vehicle 29 is set up or used individually and in a manner optimized for production can be.
  • the vehicle may be advantageous 29 upside down, here on the roof through a production facility to guide and the various robots 30 required for production let attack above what operator 33 under real production conditions would be extremely difficult and exhausting.
  • Operator 33 it is in the simplest way in virtual space possible to include tools necessary for production or manufacturing or to put them away without actually having to put them away and get them.
  • the virtual tools are weightless and for the assembly of Individual vehicle parts or for applying screwing forces or -moments and the like are no forces of the virtual space Operator 33 apply.
  • the movement device 1 supports Operator 33 predetermined movements using the drive and / or gear combinations automatically.
  • the operator 33 can go further its processing position and its position at the Change the object of production, here the vehicle 29. So he can Operator, for example, by voice input of the next production item or have another tool given or taken or his position or his view according to Fig. 4c from Change production item.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Vehicle Body Suspensions (AREA)
  • Prostheses (AREA)
  • Toys (AREA)
  • Massaging Devices (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Position Input By Displaying (AREA)
  • Passenger Equipment (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Traffic Control Systems (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
EP97912113A 1996-10-05 1997-10-04 Vorrichtung zum räumlichen bewegen von körpern Revoked EP0929378B1 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE29617332U DE29617332U1 (de) 1996-10-05 1996-10-05 Vorrichtung zum Bewegen von Körpern
DE29617332U 1996-10-05
DE29700617U 1997-01-15
DE29700617U DE29700617U1 (de) 1996-10-05 1997-01-15 Vorrichtung zum räumlichen Bewegen von Personen
PCT/EP1997/005460 WO1998015382A1 (de) 1996-10-05 1997-10-04 Vorrichtung zum räumlichen bewegen von körpern

Publications (2)

Publication Number Publication Date
EP0929378A1 EP0929378A1 (de) 1999-07-21
EP0929378B1 true EP0929378B1 (de) 2001-05-16

Family

ID=26059498

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97912113A Revoked EP0929378B1 (de) 1996-10-05 1997-10-04 Vorrichtung zum räumlichen bewegen von körpern

Country Status (9)

Country Link
US (1) US6331152B1 (es)
EP (1) EP0929378B1 (es)
JP (1) JP2001508882A (es)
AT (1) ATE201160T1 (es)
AU (1) AU4943397A (es)
CA (1) CA2267698A1 (es)
DE (3) DE29617332U1 (es)
ES (1) ES2160331T3 (es)
WO (1) WO1998015382A1 (es)

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DE29700617U1 (de) 1997-05-15
WO1998015382A1 (de) 1998-04-16
JP2001508882A (ja) 2001-07-03
DE59703565D1 (de) 2001-06-21
ATE201160T1 (de) 2001-06-15
EP0929378A1 (de) 1999-07-21
CA2267698A1 (en) 1998-04-16
ES2160331T3 (es) 2001-11-01
DE29617332U1 (de) 1997-01-23
AU4943397A (en) 1998-05-05
US6331152B1 (en) 2001-12-18

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