EP1183079A1

EP1183079A1 - Rotator cuff muscles trainings apparatus

Info

Publication number: EP1183079A1
Application number: EP01951126A
Authority: EP
Inventors: Nerio Alessandri; Leo Zaccherini
Original assignee: Technogym SpA
Current assignee: Technogym SpA
Priority date: 2000-02-14
Filing date: 2001-02-12
Publication date: 2002-03-06
Also published as: IT1321012B1; ITBO20000062A1; AU2875801A; WO2001058535A1

Abstract

An apparatus (1) for personal exercise comprises a kinematic chain (2) devised to transmit motion from a drive shaft (3) to a driven shaft (4); resistive means (99) to generate a resisting torque on the driven shaft (4), which are provided with a discoidal element (5) able to rotate simultaneously with the driven shaft (4), with a pendulum (6) able to oscillate transversely to the axis of rotation (4a) of the driven shaft (4) and connectable to the discoidal element (5) itself, as well as with elastic means (98). Effector means (97) are provided for applying to the drive shaft (3) a driving torque opposing the resisting torque. The pendulum (6) and the elastic means (98) can be associated to the discoidal element (5) directly, in parallel to each other, as well as removably, to generate a resultant resisting torque whose intensity can be varied according to the configuration of the pendulum (6); to the deformability of the elastic means (98); or to any combination of said parameters. A machine (30a) integrating the apparatus (1) is also part of the invention.

Description

ROTATOR CUFF MUSCLES TRAININGS APPARATUS

Technical Field

The present invention relates to an apparatus for physical exercise and in particular its subject is a machine validly usable for personal training, strengthening, or muscle rehabilitation. In particular, the machine is advantageously usable to exercise the rotator muscles of the shoulder.

Background Art

As is well known, numerous machines are currently available, devised for training the human body by means of overloads, constituted by plates made of iron or similar material, stacked on top of each other and selectable in a desired number by means of a selection pin, in order to define an overall load of desired intensity.

The plates are connected to a transmission chain or line which, connected to suitable effector means whereon the user can exert his/her muscle effort - such as a bar, a handle or other similar devices - allows to effect the raising and lowering of the aforesaid plates, according to a vertical direction.

The system for obtaining the overload described above is the most commonly used one and, alternatively, it can be constituted by elastic elements (elastic bands) of suitable resistance able to contrast the motion of a mechanical part of the exercise machine and hence to exert a corresponding overload on the user's muscles involved with the motion.

Both types of embodiment of the overloads described above present the drawback that the resistance provided by the load (plates or elastic bands) is exerted during the positive component of a given movement in which the user has to lift the load, by traction or extension, employing his/her muscle strength and hence stressing the muscles directly involved.

However, during the negative component of the movement, i.e. in the release phase of the muscle contraction, when the load returns by gravity to its initial position, the muscle work is reduced to accompanying the load and slowing its descent, with less intense muscle work, exerted in relaxation instead of contraction.

The functionality described above makes such machines not very useful if the users are patients to be rehabilitated, with reduced joint motion angles, to be brought back to physiological levels.

In these cases, the load should stress the muscle system, alternatively, subjecting it to identical efforts both in the contraction and in the relaxation phase and, possibly, within the same forward and/or backward stroke of the effector means whereon the user acts directly. Such a functionality, which is similar to the manual methods that can be implemented by an experienced physiotherapist, is obtained by an apparatus known from document EP 855198 in the name of the same Applicant, provided in particular to exercise the rotator muscles of the shoulder guaranteeing that the user will exert an effort alternatively variable in contraction and in relaxation, with an intensity graduated at will and according to the user's specific requirements.

This apparatus subjects the person's muscle system to a total resistive load resulting from the combination of a load generated by a pendulum oscillating in a vertical plane with a load generated by elastic means applied directly to an end of the rod of the pendulum. Such a characteristic, although fully satisfactory, still suffers from the limitation of presenting the load resistive component of the elastic means that is not rigorously symmetrical and equally intensive for the user's muscle contraction and relaxation phases. Moreover, when necessary, the load component generated by the pendulum cannot be reduced to zero in favour of the permanence of the sole load component generated by the elastic means, and vice versa.

Disclosure of Invention

The primary aim of the present invention therefore is further to improve known apparatuses, making their resistive load rigorously symmetrical in the muscle contraction and relaxation phase. Another aim of the invention is to make it possible to graduate the load more progressively in its application

A further aim of the invention is to render the pendular resistive component and the elastic resistive component totally independent from each other and selectable alternatively or m combination, at will and/or according to the user's needs In accordance with the invention such aims are achieved by a personal exercise apparatus comprising a kinematic chain designed to transmit motion from a dπ e shaft to a dπven shaft mounted able to rotate on related support structures, resistive means for generating a resisting torque and apply it to the dπven shaft, said resistive means being provided with a discoidal element able to rotated simultaneously with the dπven shaft, with a pendulum able to oscillate m a plane transverse to the axis of rotation of the dπven shaft and fastenable to the discoidal element, and provided with elastic means able to be associated to the dπven shaft, the apparatus further compπsing effector means designed for applying to the dπve shaft a driving torque, generated by the person's muscular force and opposite to said resisting torque, and being characteπsed m that the pendulum and the elastic means can be associated to the discoidal element directly, in parallel to each other, and removably, to generate a resulting resisting torque whose mtensity vanes according to the configuration of the pendulum, to the deformabihty of the elastic means, or to any combination of these parameters

The apparatus of the invention is further provided with means for offsetting the angular phase of the resisting torque and of the dπvmg torque which allow to create overloading characteπstics typical of the type of rehabilitation required by the user In other words, the apparatus is able to provide the user, in the vaπous moments of the exercise, not only the actual overload for muscle stressing, but, when necessary, also the motion aid useful to overcome the cπtical points of the trajectory of the motion in which the disabled user cannot totally exert the instantaneous dπving torque required to operate the apparatus

Means for measuπng the muscle torque developed by the user along the arc of the movement allow to measure the user's performance and thus to veπfy the improvement m the results attained and the degree of actual recovery of the motor function duπng the rehabilitation phase Such means, which are specifically embodied by a load cell conveniently located on the apparatus, allow to measure, with a single operating element (the load cell), both the user's static, or isometric, effort capacity and the dynamic effort capacity the user is able to attain during the exercise.

All of the above allows considerable and numerous advantages, such as that of allowing to test the muscle condition of the user to be rehabilitated at the start of his/her physiological recovery programme; that of measuring the current performance developed instantaneously during the exercise; and that of subjecting the user to periodic measurements of the static effort capacity in order to obtain useful indications about the validity and effectiveness of the rehabilitation program he/she is following.

The apparatus, meant for general employment, for stimulating the rotator muscles can advantageously be integrated also in a machine specifically conceived to train or rehabilitate specific parts of the user's body and particularly, but not limited to, the rotator muscles of the shoulder.

Description of the Drawings The technical features of the invention, according to the aforesaid aims, can be clearly noted from the content of the claims set out below and its advantages shall become more readily apparent in the detailed description that follows, made with reference to the accompanying drawings, which represent an embodiment provided purely by way of non limiting example, in which: - Figure 1 is a perspective overall view of the apparatus with some parts removed, the better to highlight others;

Figure 2 is a representation of the apparatus of Figure 1 viewed from "A"; Figure 3 is a section of the apparatus effected with a section plane whose trace is indicated in Figure 2 with the reference III-III; - Figure 4 is a section of the apparatus effected with a section plane whose trace is indicated in Figure 2 with the reference IN-IN;

Figure 5 is a view of the apparatus illustrated in exploded perspective; Figure 6 is a perspective overall view of an exercise machine integrating the apparatus of the invention, used in particular for the muscular stimulation of the shoulder rotator muscles; Figures 7, 8 and 9 are respectively a lateral view, a front view, a top plan view of the machine of Figure 6,

Figure 10 is an enlarged scale view of a first detail of the exercise machine of the previous Figures 6 through 9, - Figure 1 1 is an enlarged scale view of a second detail of the exercise machine of the previous Figures 6 through 10

Descπption of the Illustrative Embodiment

With reference to the figures of the accompanying drawings, the reference number 1 globally indicates an exercise apparatus integrated in a machine 30a provided in particular for exercising a person's shoulder rotator muscles, for purposes of sport training, rehabilitation and physiotherapy or more simply for its enjoyment

The apparatus 1 essentially compπses (see Figures 6, 7, 8 and 9) a kinematic chain 2 designed to transmit motion from a dπve shaft 3 to a dπven shaft 4 mounted able to rotate on related support structures of the machine 30a, resistive means 99 for generating a resisting torque and applied to the dπven shaft 4, and effector means 97 designed complementanly to an anatomical part of the human body to allow the application to the drive shaft 3 of a driving torque, generated by the person's muscle force and opposite to the resisting torque In the example of the machine 30a being descπbed herein, the effector means 97 are preferably designed to exercise the rotator muscles of the person's shoulder

For this purpose they specifically compπse a plate 29 associated to the dπve shaft 3 and able to rotate about the related axis of rotation 3 a The plate 29 rotates by muscle actuation imparted directly by the forearm, which is positioned beaπng down on a related base 39, bilaterally locked in position by lateral containment elements 40 and 41 , and operates with the aid of the hand which gπps a handle 42 projecting from the support base 39

More in particular, the kinematic chain 2 is constituted by a mechanical transmission compπsing, in cascade arrangement, a Cardan shaft 31 actuated m rotation by the dπve shaft 3, a bevel gear pair 32, 33 which receives the rotary motion from the Cardan shafts 31 and transmits it to an intermediate shaft 34, a transmission with belt 35 wound in a closed loop on a pair of pulleys 36, 37, which in turn transmits in output to the dπven shaft 4 the rotary motion received from the intermediate shaft 34.

The resistive means 99 comprise (see Figures 1 and 5) a discoidal element 5; a pendulum 6 and elastic reaction means 98.

The discoidal element 5, provided with a plurality of holes 10, is keyed onto the driven shaft 4 with which it is made integral in rotation by means of a related key 31.

The pendulum 6 comprises a weight 7 and an attachment rod 8 along which the position of the weight 7 can be adjustment by unlocking a dowel 38. The rod 8 has a ring shaped upper end 9 able to couple coaxially and pivotally with the driven shaft 4 in conditions of free relative rotation and it can be directly fastened to a face 5b of the discoidal element 5 with first coupling means 96 positioned between the rod 8 and the discoidal element 5 itself.

The first coupling means 96 operate between two extreme conditions in one of which the rod 8 for the attachment of the weight 7 and the discoidal element 5 are integral in rotation about the axis 4a, thereby applying the resisting torque of the pendulum 6 to the driven shaft 4, whereas in the other condition they free the rod 8 from the discoidal element

5, allowing its free relative rotation about the axis of rotation 4a of the driven shaft 4 which allows the pendulum 6 to oscillate in the vertical plane.

To perform such functions the first coupling means 96 comprise an engagement element 11 , which is integral with the end 9 of the rod 8 coupled with the driven shaft 4; it opposes the discoidal element 5; it is provided with at least a hole 12; and lastly, with a pin 13 able to translate in sliding fashion in the hole 12.

The pin 13, according to a first sliding direction, can be associated to an opposite hole

10 of the discoidal element 5 in such a way as to prevent the free rotation of the rod 8 relative to the discoidal element 5 itself. According to the opposite sliding direction, the pin 13 can be disengaged from the holes 13, 10 in such a way as to allow the free rotation of the rod 8 relative to the discoidal element 5.

The elastic reaction means 98, which can be associated to the driven shaft 4 and fastened to the discoidal element 5 in correspondence with the face 5a opposite the one interacting with the pendulum 6, comprise: one or more extensible rubber cables 14, which in the use of the apparatus 1 are conveniently offset relative to the axis of rotation 4a, which shall be better clarified in the remainder of the description, and which respectively have their own opposite ends 24, 25 fastened by means of sockets or similar devices to a fixed anchorage 22 of the apparatus 1 or of the machine 30a that incorporates it, and to a pulley 15 for winding the cable 14 (see Figure 10). In the embodiment of apparatus 1 described herein, the elastic means 98 comprise two parallel cables 14, respectively having their own ends 24, 25 fastened to their own winding pulley 15 and their own fixed anchorage 22.

Second coupling means 95, positioned between the winding pulley 15 and the discoidal element 5, are able to operate between two limit conditions in one of which the discoidal element 5 and the winding pulley 15 are fastened to be mutually integral in rotation, about the axis 4a of the driven shaft 4, in the other condition the winding pulley 15 being instead free to rotate about the discoidal element 5.

Said second coupling means 95 comprise an engagement element 16, integral with the winding pulley 15, opposite to the discoidal element 5; and provided with at least a hole 17 and with a pin 18 able to be translated in sliding fashion in the hole 17.

In this case as well, similarly with the description provided for the pendulum 6, the pin 18, according to a first sliding direction, can be associated to an opposite hole 10 of the discoidal element 5 in such a way as to prevent the free relative rotation of the winding pulley 15 with respect to the discoidal element 5. Conversely, according to the opposite sliding direction, the pin 18 can instead be disengaged from the aforesaid holes 10, 17 in such a way as to allow the free rotation of the winding pulley 15 relative to the discoidal element 5.

The elastic means 98 preferably include at least a transmission pulley 19 associated to each cable 14 in such a way as to divided its total length in two orthogonal segments 20, 21 respectively fastened at one side to the fixed anchorage 22 and at the other to the related winding pulley 15 of the extensible cable 14. The division in two angled segments allows to contain the overall size of the machine whilst having long cables which, all other characteristics being equal, allow to have a high deformability, showing, under stress, a progressive and slow stiffening which is particularly advantageous in some typical muscle rehabilitation situations. When, on the contrary, a greater and more sudden resistance to extension is to be imparted to the cable 14, the segment 20 of cable 14 fastened to the fixed anchorage 22 may be secured to a fixed anchorage 22 that is closer to the transmission pulley 19 (see Figure 8). In order to make the component of the resisting torque generated by the elastic means perfectly identical in one and in the other direction of rotation of the driven shaft 4, i.e. of the discoidal element 5 integral therewith, the apparatus 1 comprises guiding means 94, to guide the cable 14 during its winding on the related pulley 15, constituted by a pair of pulleys 23 that are free to rotate, associated bilaterally to the cable 14 and positioned symmetrically relative to an ideal vertical plane passing through the axis of rotation 4a of the driven shaft 4.

The apparatus 1 further comprises selector means to set the maximum angular excursion desired for the pendulum 6 and/or to set an angular offset 93 of the resisting torque applied to the discoidal element 5 relative to the driving torque applied to the drive shaft 3. This can be done by means of a handle bar 26 integral with the upper end 9 of the rod 8 of the pendulum 6, operation whereof allows to set a relative angular reference between the pendulum 6 and the discoidal element 5, and between the elastic reaction means and the discoidal element 5 and, consequently, between the pendulum 6 and the elastic reaction means. By means of a convenient actuation in rotation about the axis 4a of the driven shaft

4 and the subsequent locking of the first and second coupling means 96, 95, the handle bar 26 thus allows not only appropriately to offset the driving torque relative to the resisting torque, but also to proportion, in the resisting torque, the contributions individually due to the pendulum 6 and to the elastic cables 14. The pendulum 6 and the elastic means 98 can thus be associated to the discoidal element 5 directly, in parallel to the each other, as well as removably, to generate a resultant resisting torque, whose intensity can be varied according to the configuration of the pendulum 6 (position of the weight along the rod 8 and amplitude of angular oscillation set by means of the handle bar 26), according to the deformability of the elastic means 98 (physical nature of the material constituting them, transverse dimensions of the cable 14 and total length thereof); or also according to any combination of these parameters.

The apparatus 1 further comprises means 92 (see Figures 2, 3 and 4) for measuring the muscular torque exerted by the person, which means include two radial arms 27 borne in mutual abutment and integral respectively with the driven shaft 4 and with the discoidal element 5, between which is positioned a load cell 28. The load cell 28 thus allows to measure, instant by instant, the force dynamically applied by the user in order to allow to verify the progress actually achieved as a result of executing his/her exercise schedule, but this is not all.

The load cell 28 also allows to conduct static force tests which are particularly useful at the start of the rehabilitation program to verify the force the user is able to develop, for instance immediately after the removal of a plaster cast; or to verify, as the rehabilitation program proceeds, how great a portion of the physiological force capacity has been recovered.

To allow the execution of such static, i.e. isometric, tests, the machine 30a is provided with means 89 for locking the pendulum 6, visible in the lower part of Figure 6 and in

Figure 9, which means comprise a horizontal rod 40 having an end hinged to a fixed pivot 41 ; the other end provided with a handle 42; and centrally bearing an opening complementary to the contour of the lower end of the rod 8 of the pendulum 6. By the actuation of the handle 42, the horizontal rod 40 can rotate about the pivot 41 and, according to a direction of rotation can engage with its opening the pendulum 6 locking its oscillation integrally with the discoidal element 5 whereto it is fastened; whilst, in the opposite direction of rotation, the rod 40 disengages from the pendulum 6, restoring its ability to oscillated in the ways described above. When the pendulum 6 is locked, the user acting on the effector means 97 is placed in the condition of exerting a muscle force, against and immovable element (the pendulum 6); force, which is detected and measured by the load cell 28 and which allows to determine a reference value of isometric performance, specific for the user, which can then be used for subsequent comparisons and/or tests or also to determine the work loads that should and can be set at the start of the rehabilitation program. In order to render the exercise machine 30a integrating the apparatus 1 adaptable to the user's size and anatomical structure, the exercise machine 30a itself also comprises a structure 91 for supporting the effector means 97 which can be inclined by an angle Beta relative to the vertical according to the person's anthropometric characteristics, and according to the needs of the exercise program. Moreover, the support structure 91 is provided with recording means 90 to record the height position of the effector means 97, which are constituted in particular by a pair of telescopic guides 30 parallel to the axis of rotation 3a of the drive shaft 3.

In consideration also of the more strictly rehabilitative purposes, the machine 30a is also provided with further recording capabilities which can be correlated to the goal of giving the user, relative to the effector means 97, the most suitable and effective posture for the execution of the exercise.

By observing Figure 11 , one can observe that the machine 30a is provided with a seat 43 which, in addition to having its bottom support 44 and back support 45 able to be raised and tilted in various ways, inferiorly presents an upright 46 provided with a flange 47 able to be coupled in sliding fashion and selectively with a linear prismatic guide 48. The guide

48 has an end of its own which is articulated with an underlying circular plate 49 by means of a fixed pivot 50 and has the other end equipped with a roller 51. Selective engagement means 88, preferably comprising a pin 52 traversing the guide 48 and a crown of holes 53 obtained on the circular plate 49 and able selectively to be interfered with by the pin 52, are also provided for locking the guide 48 on the circular plate 49 when the most suitable angle of the guide 48 for the user has been determined and the guide 48 has been correspondingly positioned by an appropriate rotation about the pivot 50.

The invention thus conceived is suitable for evident industrial application; moreover, it can be subject to numerous modifications and variations without thereby departing from the scope of the inventive concept. Furthermore, all components can be replaced with technically equivalent elements.

Claims

1. An apparatus for personal physical exercise, comprising a kinematic chain (2) devised to transmit motion from a drive shaft (3) to a driven shaft (4) mounted able to rotate on relative support structures; resistive means (99) for generating a resistant torque on the driven shaft (4), said resistive means (99) being provided with a discoidal element (5) able to rotate simultaneously with the driven shaft (4), with a pendulum (6) able to oscillate in a plane transverse to the axis of rotation (4a) of the driven shaft (4) and able to be fastened to the discoidal element (5) itself, as well as with elastic means (98) able to be associated to the driven shaft (4); the exercise apparatus (1) further comprising effector means (97) devised for applying to the drive shaft (3) a driving torque, generated by the person's muscle force and opposite to said resisting torque, and being characterised in that the pendulum (6) and the elastic means (98) can be associated to the discoidal element (5) directly, in parallel to each other, and removably, to generate a resulting resisting torque whose intensity can vary according to the configuration of the pendulum (6); to the deformability of the elastic means (98); or also to any combination of said parameters.

2. An apparatus as claimed in claim 1, characterised in that the pendulum (6) and the elastic means (98) are associated to the discoidal element (5) respectively in correspondence with its two opposite faces (5a, 5b).

3. An apparatus as claimed in claim 1, characterised in that the pendulum (6) comprises a rod (8) shaped to be coupled with the driven shaft (4) under conditions of free relative rotation; a weight (7) borne by said rod (8) in such a way as to be free to slide and be fastened in a determined position and first coupling means (96) interacting with the rod (8) and with the discoidal element (5) to mutually connect them in removable fashion, said first coupling means (96) operating between two extreme conditions in one of which the rod (8) for the attachment of the weight (7) and the discoidal element (5) are integral in rotation about the axis (4a), thereby applying the resisting torque of the pendulum (6) to the driven shaft (4), whereas in the other condition they free the rod (8) from the discoidal element (5), allowing its free relative rotation about the axis of rotation (4a) of the driven shaft (4).

4. An apparatus as claimed in claim 3, in which the discoidal element (5) is provided with a plurality of holes (10), characterised in that said first coupling means (96) comprise an engagement element (11), which is integral with the end (9) of the rod (8) coupled with the driven shaft (4); it is opposite to the discoidal element (5); and it is provided with at least one hole (12) and with a pin (13) able to be translated in sliding fashion in the hole (12); the pin (13), according to a first sliding direction, being able to be associated to an opposite hole (10) of the discoidal element (5) in such a way as to prevent the free rotation of the rod (8) relative to the discoidal element (5) itself, and, according to the opposite sliding direction, the pin (13) being instead able to be disengaged from at least one of said hole (13; 10) in such a way as to allow the free rotation of the rod (8) relative to the discoidal element (5).

5. An apparatus as claimed in claim 1, characterised in that the elastic means (98) comprise at least an cable (14) able to be extended under stress, offset relative to the axis of rotation (4a) of the driven shaft (4), having their own opposite ends (24, 25) fastened by means of sockets or similar devices to a fixed anchorage (22) of the apparatus (1) and to a pulley (15) for winding the cable (14); and second coupling means (95) positioned between the winding pulley (15) and the discoidal element (5); said second coupling means (95) being able to operate between two limit conditions in one of which the discoidal element (5) and the winding pulley (15) are fastened to be mutually integral in rotation, about the axis (4a) of the driven shaft (4), in the second of which the winding pulley (15) being instead free to rotate relative to the discoidal element (5).

6. An apparatus as claimed in claim 5, in which the discoidal element (5) is provided with a plurality of holes (10), characterised in that said second coupling means (95) comprise an engagement element (16) integral to the winding pulley (15), opposite the discoidal element (5); provided with at least a hole (17) and with a pin (18) able to translate in sliding fashion in the hole (17), said pin (18), according to a first sliding direction, being able to be associated to an opposite hole (10) of the discoidal element (5) in such a way as to prevent the free rotation of the winding pulley (15) relative to the discoidal element (5), and, according to the opposite sliding direction, the pin (18) being instead able to be disengaged from at least one of said holes (10; 17) in such a way as to allow the free rotation of the winding pulley (15) relative to the discoidal element (5).

7. An apparatus as claimed in claim 5, characterised in that said elastic means (98) include a transmission pulley (19) associated to said at least one cable (14) in such a way as to divide its length into at least two segments (20, 21) respectively fastened at one side to the fixed anchorage (22) and at the other to the winding pulley (15).

8. An apparatus as claimed in claim 7, characterised in that the segment (20) of cable (14) fastened to the fixed anchorage (22) has lengths which may vary depending on the desired degree of longitudinal deformability of the cable (14).

9. An apparatus as claimed in one of the previous claims, characterised in that it comprises guiding means (94) for guiding the cable (14) during the winding on the related pulley (15).

10. An apparatus as claimed in claim 7, characterised in that the guiding means (94) comprise a pair of pulleys (23), able to rotate freely, bilaterally associated to the cable (14).

11. An apparatus as claimed in any of the previous claims from 5 to 10, characterised in that said elastic means (98) comprise two said parallel cables (14), respectively having their own ends (24, 25) fastened to their own winding pulley (15) and their own fixed anchorage

(22).

12. An apparatus as claimed in any of the previous claims from 5 to 11, characterised in that one or each cable (14) is fastenable at different differences from the related transmission pulley (19).

13. An apparatus as claimed in any of the previous claims, comprising means (93) for offsetting the angle of the resisting torque applied to the discoidal element (5) relative to the driving torque applied to the drive shaft (3), characterised in that said angular offsetting means (93) comprise a handle bar (26) associated to the resistive means (99), said handle bar (26) being able to be actuated in rotation about the axis (4a) of the driven shaft (4) in such a way as to be able to vary the relative angular position of the resistive means (99) with respect to the discoidal element (5).

14. An apparatus as claimed in claim 13, characterised in that the handle bar (26) is integral with the end (9) of the rod (8) of the pendulum (6) coupled with the driven shaft

(4).

15. An apparatus as claimed in any of the previous claims, characterised in that it comprises means (92) for measuring the muscle torque exerted by the person.

16. An apparatus as claimed in claim 15, characterised in that it comprises two radial arms (27) borne in mutual abutment and integral respectively with the driven shaft (4) and with the discoidal element (5), the measuring means (92) comprising a load cell (28) interposed between said arms (27).

17. An apparatus as claimed in claim 16, characterised in that said load cell (28) is one and is able to measure the muscle force exerted by the user, both under static conditions and under dynamic conditions.

18. An apparatus as claimed in claim 16 or 17, characterised in that it comprises means

(89) for locking the pendulum (6) whose operation allows the load cell (28) to measure the isometric force applied by the user on the effector means (97).

19. An apparatus as claimed in claim 18, characterised in that the locking means (28) comprise a rod (40) bearing an opening conforming to the rod (8) of the pendulum (6), said rod (40) being able to be associated to the pendulum (6) in such a way as to prevent its mobility as a result of the application, by the user, of a static muscle force on the effector means (97), and conversely being able to be disengaged from the pendulum (6) to allow the user to exert a corresponding dynamic force on the effector means (97).

20. An exercise machine, characterised in that it comprises an apparatus (1) obtained according to any of the previous claims.

21. An exercise machine as claimed in claim 20, characterised in that the effector means (97) are devices to exercise the rotator muscles of the person's shoulder.

22. An exercise machine as claimed in claim 21, characterised in that it comprises a structure (91) for supporting said effector means (97) which structure can be inclined by an angle (Beta) relative to the vertical, said angle (Beta) being chosen according to the person's anthropometric characteristics.

23. An exercise machine as claimed in one of the claims from 20 to 22, characterised in that said support structure (91) is provided with recording means (90) for recording, according the person's anthropometric characteristics, the position in height of the actuator means (97).

24. A machine as claimed in claim 23, in which the actuator means (97) comprise a plate (29) associated to the drive shaft (3), able to rotate about the related axis of rotation (3a) upon the person's muscular actuation, characterised in that the recording means (90) comprise a pair of guides (30) parallel to said axis of rotation (3a) and longitudinally adjustable.

25. A machine as claimed in claim 24, characterised in that said guides (30) are telescopic.

26. A machine, according to one of the previous claims, comprising a seat (43) for the user, characterised in that said seat (43) is inferiorly provided with an upright (46) able to be coupled in sliding fashion and selectively with a sliding guide (48) to approach and/or move away from the effector means (97).

27. A machine as claimed in claim 26, characterised in that said guide (48) is articulated with a plate (49) to be angularly adjustable relative to the plate (49), selective engagement means (88) being provided for locking the guide (48) on the circular plate (49) when the angle of the guide (48) best suited to the user has been determined.

28. A machine as claimed in claim 27, characterised in that the selective engagement means (88) comprise a pin (52) traversing the guide (48) and a crown of holes (53) obtained on the circular plate (49) able to be interfered with by the pin (52).