EP0942774B1 - Method for training and for measuring physical efforts of a person in a non-motorised wheel vehicle - Google Patents

Abstract

This device is characterised in that it comprises means for supplying to the assembly (R1) and (R2) a braking torque passing from a predetermined value to a null value in a cyclic way and, on the basis of parameters depending on the velocity of said vehicle (V) for enabling the person to drive the vehicle at a constant or substantially constant speed.

Description

The invention relates to the technical sector of devices of the hometrainer type for training physical persons on bicycles or wheelchairs.

It is known to use for training, rehabilitation and measurement of various physical parameters, devices of the home trainer type designed to receive different types of non-motorized rolling vehicles. For example, these home trainers or revolving assemblies can receive a bicycle or a wheelchair, see DE-A-2 950 505. Essentially, these devices comprise at least two motorized rollers cooperating either with the wheel of the driven bicycle. by the user under a pedaling action, either with the two wheels of the wheelchair driven directly by the user's arms.

However, it appeared that the torque supplied by the user subject which therefore drives a rotary system, namely the vehicle wheel or wheels, is not constant. In the case of a bicycle, the torque changes from a maximum value to an almost zero value when passing neutral. In the case of a wheelchair, the torque supplied is variable when the subject pulls and pushes with his arms. This torque is completely zero during the entire phase during which the user releases his hands from the driven wheels to put them back in order to exert a new effort.

In particular in the case of a wheelchair, if the mobile assembly exerts a constant braking torque, the use of such a wheelchair becomes very difficult, even almost impossible. Indeed, at each of the non-driving phases, that is to say when the user no longer exerts any torque, the speed of the vehicle decelerates and may even become zero. It follows that at each driving phase, the user must exert an acceleration force preventing him from reaching a comfortable operating speed.

The object of the invention is to remedy these drawbacks in a simple, safe, effective and rational manner.

The problem which the invention proposes to solve is to allow any user of a rolling vehicle of the bicycle or wheelchair type to work in the best conditions, that is to say to provide the desired effort to a comfortable operating speed.

To solve such a problem, a device has been designed and developed for training and measuring the physical forces of a person in a non-motorized rolling vehicle, arranged on a rotating assembly capable of exerting a resistant torque, characterized in that it comprises means capable of providing the assembly with a braking torque, passing from a preset value to a zero value in a cyclical manner, a function of parameters dependent on the speed of said vehicle to allow the person to drive the vehicle at constant or substantially constant speed.

In a first embodiment, the means capable of supplying the rotating assembly with a braking torque, passing from a preset value to a zero value in a cyclical manner, are subject to means for measuring and detecting the speed of said vehicle so as to provide said torque only when a predetermined set speed is exceeded.

Under these conditions, if the vehicle speed has not reached the set speed, no braking torque is exerted on the rolling assembly, so that the deceleration is zero when the user subject does not exert a driving torque. . In this case, the subject will therefore naturally work around the set speed previously determined and which corresponds to any value.

In another embodiment, to solve the problem posed, the means capable of supplying the rotating assembly with a non-constant braking torque are subject to members for measuring and detecting the acceleration of the vehicle so as not to provide said torque only when said assembly is motor, that is to say when it provides positive acceleration.

Under these conditions, as soon as the subject releases his effort, the acceleration is canceled while the braking torque becomes zero. As a result, the subject can choose to work at his comfort speed, the power supplied being very substantially equal to the braking power.

According to another characteristic, this device comprises means for measuring the power supplied by the person by integrating the parameters relating to the real speed, the braking torque and the accelerations of the inertias in motion.

• La figure 1 montre les courbes de vitesse et de couple en fonction du temps selon l'état de la technique :
  • · la courbe la correspond au couple de freinage exercé par l'ensemble tournant,
  • · la courbe 1b correspond à une succession de couples moteurs fournis par le sujet,
  • · la courbe 1c correspond aux variations de vitesses relevées notamment au niveau de la ou des roues du véhicule roulant.
• La figure 2 est une vue correspondant à la figure 1 dans le cas où le couple de freinage (courbe 2a) n'est exercé que lorsqu'une vitesse de consigne préétablie est dépassée (courbe 2c), la courbe 2b correspondant à la succession de couples moteurs fournis par le sujet.
• La figure 3 est une vue correspondant à la figure 1 dans le cas où, selon la deuxième solution technique de l'invention, le couple de freinage (courbe 3a) n'est exercée que lorsque le sujet accélère l'ensemble tournant (courbe 3c) ; la courbe 3b correspond comme précédemment à la succession de couples moteurs fournis par le sujet.
• La figure 4 est une vue à caractère schématique montrant un exemple d'application du dispositif selon l'invention dans le cas de l'utilisation d'un ensemble tournant adapté pour un fauteuil roulant.
• La figure 5 est un synoptique montrant le principe de fonctionnement du dispositif de mesure.

The invention is set out below in more detail with the aid of the appended drawings in which:

• Figure 1 shows the speed and torque curves as a function of time according to the state of the art:
  • · The curve corresponds to the braking torque exerted by the rotating assembly,
  • · The curve 1b corresponds to a succession of driving couples provided by the subject,
  • · The curve 1c corresponds to the variations in speeds noted in particular at the level of the wheel or wheels of the rolling vehicle.
• FIG. 2 is a view corresponding to FIG. 1 in the case where the braking torque (curve 2a) is only exerted when a preset preset speed is exceeded (curve 2c), curve 2b corresponding to the succession of driving couples provided by the subject.
• Figure 3 is a view corresponding to Figure 1 in the case where, according to the second technical solution of the invention, the braking torque (curve 3a) is only exerted when the subject accelerates the rotating assembly (curve 3c ); curve 3b corresponds as before to the succession of driving torques provided by the subject.
• Figure 4 is a schematic view showing an example of application of the device according to the invention in the case of the use of a rotating assembly adapted for a wheelchair.
• Figure 5 is a block diagram showing the operating principle of the measuring device.

Illustrated in FIG. 4, by way of an indicative but nonlimiting example, an assembly rotating in the form of an apparatus of the home-trainer type, having in particular two driving rollers (R1) and (R2) on which is supported, or support, the wheel or wheels, either of a bicycle or of a wheelchair. The wheel or wheels bearing on the two rollers (R1, R2) which are arranged in two parallel planes, are driven by the user according to arrow F, thereby exerting a driving torque. The rollers (R1, R2) are retained by a force in the opposite direction F1 to create a resisting braking torque of variable and adjustable value. These provisions are not described in detail, since they are perfectly known to a person skilled in the art.

According to the prior art and as illustrated in FIG. 1, when the rollers (R1, R2) are subjected to a constant braking torque (CF) (curve 1a), the speed of the vehicle (V), in particular of the wheel (Rm), tends to decelerate until it becomes zero or substantially zero (curve 1c) because the driving torque exerted by the user is discontinuous (curve 1b).

According to a characteristic underlying the invention, the rollers (R1, R2) are controlled by means capable of supplying the assembly with a braking torque (CF) which is no longer constant, but which is a function of parameters dependent on the speed of the vehicle to allow the user to drive it at constant or substantially constant speed. In this regard, the device according to the invention essentially implements two technical embodiments, each using the same physical principle consisting in controlling the braking torque as a function of parameters related to speed.

According to the technical solution illustrated in FIG. 2, the braking torque (CF) (curve 2a) is applied only when the speed ( $\overrightarrow{\text{ve}}$ ) of the vehicle (V), and therefore of the rotating assembly, exceeds a preset speed setpoint Vc (curve 2c).

Under these conditions, if the speed (Ve) has not reached the set speed (Vc), the braking torque (CF) (curve 2a) is zero, as long as the subject does not exert a motor torque. When the subject exceeds the set speed (Vc), the deceleration is equivalent to that illustrated in Figure 1. As a result, the subject will naturally work around this set speed (Vc) by exerting a motor torque (Cm) as the shows the curve (2d).

In the technical solution illustrated in Figure 3, the braking torque (CF) (curve 3a), is only applied when the subject accelerates the rotating assembly (E), that is to say when the subject exercises a motor torque, let (γ) these different accelerations (curve 3c). As soon as the subject releases his effort, that is to say when he no longer exerts engine torque, the acceleration (γ) is canceled and the braking torque (CF) is canceled. As before, the subject can choose work at comfort speeds, the power supplied by the latter being equal to the braking power at this speed.

According to the embodiment, the device comprises means for measuring the power supplied by the subject by integrating the parameters relating to the real speed, the braking torque and the accelerations of the inertias in motion.

As indicated, the device finds a particularly advantageous application for training and measuring the physical efforts of a person on a bicycle or in a wheelchair.

The various measurement and detection means, in particular the speed of the rollers (R1, R2) are subject to any electronic control system for subjecting said rollers to a braking torque under the conditions indicated, integrating the parameters depending on the speed of the rolling vehicle (bicycle, wheelchair).

• (FM) désigne un frein électromagnétique assujetti au système de rouleaux (R1) et (R2), tandis que (AL) désigne un système d'alimentation linéaire du frein,
• (MV) désigne un moyen de mesure de la vitesse,
• (MF) désigne un moyen de mesure de la force,
• (ST) désigne un système informatique de commande et de gestion dans lequel (L) correspond au logiciel et (EA) aux entrées analogiques de mesure de la vitesse et de la force, (SA) représentant une sortie analogique pour la commande du frein (FM).
• (MPV) et (MPA) représentent respectivement les modes de pilotage de la vitesse et de l'accélération.

Reference is made, for example, to the diagram in FIG. 5 which shows an exemplary embodiment of control of the rollers (R1) and (R2) for the measurement of the speed, of the force, and the analysis of these values. Synoptic area:

• (FM) designates an electromagnetic brake subject to the roller system (R1) and (R2), while (AL) designates a linear brake supply system,
• (MV) means a means of measuring speed,
• (MF) denotes a means of measuring force,
• (ST) designates a computer control and management system in which (L) corresponds to the software and (EA) to the analog inputs for measuring speed and force, (SA) representing an analog output for controlling the brake ( FM).
• (MPV) and (MPA) represent respectively the speed and acceleration control modes.

As indicated previously, in the case where the piloting mode depends on the speed, if the speed value is greater than the value of the set speed (Vc), the brake (FM) is applied. Conversely, if the speed value is lower than the set speed (Vc), the brake (FM) is not applied. In the case where the piloting mode depends on the acceleration, if the latter is greater than or equal to 0, the brake (FM) is applied, while if this acceleration is negative, the brake is no longer applied.

Without departing from the scope of the invention, the device applies to any type of rotating assembly comprising at least one roller. In other words, it is not excluded to use an assembly comprising a single roller subject to a braking system. The example illustrated in FIG. 4 is given for purely indicative purposes.

Claims (7)

1. Device for training and for measuring the physical exertion of a person in a non-motorized rolling vehicle placed on a rotary assembly (R1) and (R2) capable of exerting a resistive torque (F1), characterized in that it comprises means capable of supplying the assembly (R1) and (R2) with a braking torque that changes from a pre-established value to a zero value cyclically and as a function of parameters dependent on the speed of the said vehicle (V) so as to allow the person to drive the vehicle at a constant or approximately constant speed.
2. Device for training and measuring physical exertion of a person in a non-motorized rolling vehicle according to Claim 1, characterized in that the means capable of supplying the rotary assembly (R1) and (R2) with the braking torque are slaved to means for measuring and detecting the speed of the said vehicle so as to supply the said torque only when a predetermined set speed is exceeded.
3. Device for training and for measuring physical exertion of an individual in a non-motorized rolling vehicle according to Claim 1, characterized in that the means capable of supplying the rotary assembly (R1) and (R2) with the braking torque are slaved to members for measuring and detecting the acceleration of the vehicle so as to supply the said torque only when the said assembly is motoring.
4. Device for training and measuring physical exertion of an individual in a non-motorized rolling vehicle according to Claim 1, characterized in that it comprises means for measuring the power supplied by the individual by integrating the parameters relating to the actual speed, to the braking torque and to the accelerations of the moving inertial masses.
5. Device for training and for measuring physical exertion of an individual in a non-motorized rolling vehicle according to Claim 1, characterized in that the rotary assembly (R1) and (R2) comprises at least one roller slaved to breaking means (FM) collaborating with the wheel or wheels of the vehicle which is or are turned by the individual using it or them.
6. Device for training and measuring the physical exertion of an individual in a non-motorized rolling vehicle according to Claim 1, characterized in that the vehicle is a bicycle.
7. Device for training and measuring the physical exertion of an individual in a non-motorized rolling vehicle according to Claim 1, characterized in that the vehicle is a wheelchair.