EP1683550A1 - Simulateur à l'adaptation variable aux conditions réelles - Google Patents

Simulateur à l'adaptation variable aux conditions réelles Download PDF

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Publication number
EP1683550A1
EP1683550A1 EP06100775A EP06100775A EP1683550A1 EP 1683550 A1 EP1683550 A1 EP 1683550A1 EP 06100775 A EP06100775 A EP 06100775A EP 06100775 A EP06100775 A EP 06100775A EP 1683550 A1 EP1683550 A1 EP 1683550A1
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EP
European Patent Office
Prior art keywords
real
simulator
parameters
data
actuating device
Prior art date
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Withdrawn
Application number
EP06100775A
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German (de)
English (en)
Inventor
Bernhard Lang
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Individual
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Individual
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Publication date
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0051—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using eddy currents induced in moved elements, e.g. by permanent magnets
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0084—Exercising apparatus with means for competitions, e.g. virtual races
    • A—HUMAN NECESSITIES
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    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
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    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/009—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled in synchronism with visualising systems, e.g. hill slope
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
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    • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
    • A63B2069/166—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles supports for the central frame of the bicycle, e.g. for the crank axle housing, seat tube or horizontal tube
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    • A—HUMAN NECESSITIES
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    • A—HUMAN NECESSITIES
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    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
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    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
    • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
    • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
    • A63B2230/062—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
    • A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
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    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
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    • A—HUMAN NECESSITIES
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    • A63B69/00—Training appliances or apparatus for special sports
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    • A—HUMAN NECESSITIES
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    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/18—Training appliances or apparatus for special sports for skiing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/60—Methods for processing data by generating or executing the game program
    • A63F2300/69—Involving elements of the real world in the game world, e.g. measurement in live races, real video
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
    • A63F2300/8017—Driving on land or water; Flying

Definitions

  • the present invention relates to a simulator according to the preamble of claim 1 and a method for operating a simulator according to the preamble of claim 17 and a system for performing virtual / real races.
  • Simulators are known from the sports and training field, for example in the form of exercise bikes, rowing machines, vehicle simulators, etc.
  • these known simulators such as bicycle exercise bikes
  • a fictitious route profile is often stored or stored in the simulators in the simulators according to the prior art.
  • user parameters can be additionally entered in known simulators, such as the body weight, so that this information in addition to influencing or controlling the actuator, such as a Bicycle exercise bike, can be used.
  • the actuator such as the bicycle exercise bike
  • the actuator is influenced so that the user to be overcome resistance to actuation of the actuator or the energy to be used according to the ambient and user parameters is set. This means that, for example, for a given route profile for a bicycle simulator with a simulated slope and corresponding weight of the user, a calculated resistance force for actuating the bicycle has to be overcome.
  • the invention is based on the recognition that the simulation results can be improved and made more interesting if temporally invariable environmental parameters, such as route profiles of bicycle stages, or at least for the duration of use of the simulator also time-invariant user parameters, such as body weight and the like are caused by time-varying user and / or environmental parameters, which thus allow a constant variation of the requirement profile for the user.
  • temporally invariable environmental parameters such as route profiles of bicycle stages, or at least for the duration of use of the simulator also time-invariant user parameters, such as body weight and the like are caused by time-varying user and / or environmental parameters, which thus allow a constant variation of the requirement profile for the user.
  • time-variable user parameters a wide variety of parameters can be detected here that change during use of the simulator, such as, for example, the heartbeat rate or pulse, blood pressure, the user's posture on the simulator, and the like.
  • time-varying user parameters detected by a detection device can then be made available directly, in particular in real time, to the means for influencing the actuating device, such as eddy current brakes in bicycle simulators, in order in this way to force the user's energy or energy expenditure to operate of the simulator to vary accordingly.
  • the means for influencing the actuating device can in this case be influenced directly by the detection device, for example by mechanical or electromechanical devices, or the means for influencing the actuating device can comprise a processing unit, such as a processor or a computer, which stores the variable, real user parameters of the Detection device receives, processes and transmits corresponding control signals to the actuating device or components thereof for influencing them.
  • a processing unit such as a processor or a computer
  • real, temporal variable environmental parameters such as information about the nature of the ground, the weather, in particular wind force and the like are actually recorded on site and are used to control the simulator.
  • the detection can take place synchronously in time, ie at the same time as the use of the simulator on a real route, for example a bicycle race, or correspondingly real data can be accessed which has been recorded at a later time and stored in suitable memory means.
  • the real temporally variable environmental parameters may include real action data of athletes or their vehicles in a real racing situation and be used to control the simulator.
  • This real action data of one or more persons, for example in a real racing event or their corresponding vehicles, may for example be the detected position of the real race participant at a certain time.
  • the real action data can also be linked to the time-varying environmental parameters so that, for example, for the user of the simulator, a slipstream of a preceding vehicle can be simulated.
  • the route of the real race can be passed real by the user on the simulator, wherein the real environmental conditions, such as wind or track conditions (wet, dry) are used to influence the actuating device.
  • the user of the simulator will travel the route either faster or slower than the one or the participants of the real race, according to his capacity.
  • the simulator comprises a detection device for detecting the time-variable user parameters, real environmental parameters and / or real action data
  • the detection device preferably sensors for detecting pulse, heart rate, attitude and the like of the user and weather sensors, such as rain sensors, wind sensors, temperature sensors or sensors for other Environmental conditions such as subsurface nature includes.
  • the real action data means are preferably provided for determining the position, speed or other, in particular time-variable, action data of one or more persons or devices in the real action sequence, such as vehicles, such as GPS receivers / transmitters and the like.
  • the detection of the real environmental conditions or real action data is preferably to take place in a location remote from the simulator or the simulators, it is preferable to provide corresponding means for remote connections or computer networks which allow the data to be exchanged.
  • the detection device preferably has memory means for storing detected parameters and / or reading means for reading in stored real environmental parameters and / or real action data.
  • a processing unit which processes the parameters ascertained or made available by the detection device for influencing the actuating device, wherein this processing unit preferably comprises a microprocessor or a computer system set up in the program.
  • Suitable controls include a variety of sports or trim equipment, such as treadmills, trim wheels, bicycle wheels, vehicle simulators with pedals and steering wheel, rudder units and the like into consideration, with appropriate means for influencing the actuator corresponding braking devices, such as eddy current brakes and / or drive devices may be.
  • the simulator also comprises at least one display unit or a monitor or screen and an image generator, by means of which video data from the real route as well as data of the user and users of other simulators and / or the participants of the real race can be displayed.
  • video data this can be both real image data from the track and virtual images.
  • other information means such as headphones, speakers and the like can be provided, even in the real race participants, for example, to inform the participants of the real race on the data of the virtual participants and vice versa.
  • Corresponding transmitting and receiving units should then be provided.
  • the figure shows a simulator 1 with a jacked up on wheels 2 wheels 6 and a bicycle 16, which actually participates, for example, in an actual race taking place.
  • the simulator 1 comprises in addition to the wheel roller assembly 2 with the wheels 3 and 4, a housing 8 in which a detection device 9 and a processing unit 11, for example in the form of a computer or a processor unit is provided. Furthermore, 8 storage media 10 are provided in the housing, to which both the detection device 9 can store data and the processor unit 11 can store data and read from this.
  • the processor or processing unit 11 is connected via corresponding connecting elements 4, 7, 12 and 15 with other units of the simulator, wherein the connecting elements 4, 7, 12 and 15 may be configured differently and may comprise a variety of components.
  • the connecting elements 4, 7, 12, 15 may be formed by simple cable connections, but also by radio links or additional units for the preparation and processing of data.
  • the roller assembly 2 is connected to the processor unit 11, wherein the rollers 3 and 4, on which the bicycle 6 is rotatably mounted with the rear wheel, eddy current brakes and / or drives, which are controlled by the processor unit 11.
  • the traveling resistance for the bicycle 6 can thus be varied on the basis of the rollers 3 and 4 of the roller assembly 2, whereby the simulation of a downhill run by the drive of the rollers 3 and 4 is given.
  • the bicycle 6 or the sensor or detection means arranged thereon is connected to the processor unit 11 or to the storage means 10 so that data about the use of the bicycle 6 can be recorded, such as the service life, the speed achieved , the path traveled, etc.
  • data about the use of the bicycle 6 can be recorded, such as the service life, the speed achieved , the path traveled, etc.
  • data Of course, also be determined on the roller assembly 2, so that such sensor or detection means can also be integrated in the roller assembly 2.
  • a further detection device may be provided in the form of a camera 14, which is connected via the connecting element 15 to the evaluation or processor unit 11 and the storage means 10. In this way, additional data about the user of the bicycle, such as the driving position and the like can be determined. Accordingly, alternatively or additionally, further sensors and detection devices can also be arranged directly directly at the user and connected to the evaluation or processor unit 11 or the corresponding memory means 10 via corresponding connection means. As an example, for example, pulse monitor and the like may be mentioned.
  • the data of the detection device 9 can not only be processed directly, but also intermediately or end-stored.
  • the simulator 1 comprises a screen or a display unit 13, which is also connected via a corresponding connecting element 12 with the evaluation or processing unit 11 and the memory means 10 and the detection device 9.
  • On the screen 13 information for the user of the simulator or the driver of the bicycle 6 can be displayed, for example, his user data.
  • the video data for the screen 13 can be made available via the processor unit 11 from the storage means 10 or via an additional image generator (not shown), which for example can also rely on external storage means.
  • the detection device 9 has a remote connection device in the form of an antenna 5, which communicates with the antenna 21 of a relay station 20. Via the detection device 9, real environmental data of a bicycle path and / or real action data can be detected and transferred to the processor unit 11 for further processing or stored in the memory means 10.
  • the real environmental or action data are delivered in the embodiment shown by the bicycle 16, which participates in a real bicycle race.
  • a sensor unit 19 is arranged, which may comprise a variety of different sensors. In addition to the arrangement on the bike, a direct arrangement on the driver of the bicycle 16 is possible.
  • the sensor unit 19 comprises a GPS transmitter 18, which makes it possible to determine the exact position data of the bicycle 16 via satellite navigation with the satellite 22. The position data thus determined can be fed via a transmitter with the antenna 17 to the relay station 20 and from there via the antenna 21 and the antenna 5 of the detection device 9 in this.
  • the processor unit 11 can match the distance profile of the racetrack stored in the storage means 10, which covers the bicycle 16 real and in particular at the same time, to the current position of the bicycle 16 and adjust the roller resistance of the roller assembly 2 according to this position, so that the user of the simulator 1 parallel to the racing events of a real bicycle race time synchronous with the real race participants 16 mitirriate the corresponding route, at the same time the real video of the track on the screen 13 can be recorded.
  • a corresponding video camera can be arranged on the sensor unit 19 of the bicycle 16.
  • the sensor unit 19 may include a variety of sensors whose data can also be used to control the simulator 1.
  • sensors for the road condition or wind sensors, so that these temporally variable environmental parameters corresponding to the real racing events in the control of the simulator and thus the generation of frictional resistance can be included.
  • These real environmental conditions can be used additionally or alternatively to the time-synchronous position detection for controlling the simulator 1. If no time-synchronous position detection is desired, but only the use of the real environmental conditions, the user of the simulator 1, the bicycle race taking into account the real conditions with a time delay, for example, in the evening, nachfahren. In this case, there is also no shortening or lengthening of the route, as in the time-synchronous case, for example, if the real racer is faster or slower, but the user can drive on the simulator 1, the entire route in the time required by him.
  • the simulator 1 can thus be operated so that on the one hand the real racer with the bike 16 dictates the total time of the cycling race and the resistance forces are adjusted on the simulator, the real race driver has experienced over the period of the race (time-synchronous Mode).
  • the user of the simulator 1 covers the entire predetermined race track, wherein the real environmental conditions determined by the real driver of the bicycle 16 are included in the control of the resistance of the roller arrangement 2, the previously stored route being the basis is used.
  • a plurality of simulators 1 are networked with one another, wherein they have corresponding connection possibilities, for example for a computer network (not shown).
  • a computer network not shown
  • corresponding racing data of the other participants of the race can be displayed on the screen 13, wherein the corresponding image generating device (not shown) or the evaluation unit 11, the processed over the computer network data of the other race participants accordingly.
  • the simulator 1 may have corresponding input means (not shown), such as reading means, e.g. Have drives for a variety of storage media, keyboards and the like to enter data.
  • reading means e.g. Have drives for a variety of storage media, keyboards and the like to enter data.
  • time-invariable user parameters such as body weight and the like, can be input via a keyboard, wherein these data can also be used to calculate the rolling resistance by the processor unit 11.
  • the simulator can also simulate other sports or activities such as motorsports, running, skiing, rowing and the like.
  • the actuating device such as the bike against a rowing machine, be replaced and the roller assembly must be replaced with appropriate means for influencing the actuator.
  • the sensor unit 19 can also be arranged on a support vehicle, for example a camera motorcycle or the like.
  • An example of a race is as follows: Several simulators 1 are connected to each other via a computer network, wherein the users in the simulators have stored the route data of a real stage, for example the Tour de France. Furthermore, the cyclists have their personal, temporally unchanging user data, such as body weight, height and the like in the simulator 1 or corresponding storage means 10 entered. The users of the various simulators 1 want to race against each other at the same time as the actual Tour de France stage. The simulators can be locally adjacent or far away from each other, where they can then be connected to each other here, for example via the Internet.
  • a driver of the peloton of the Tour de France or a support vehicle has the sensor unit 19, by means of which the real ambient conditions or real action data, such as current position and the like are transmitted to the simulators via the remote connection 5,21.
  • the sensor unit 19 can also comprise a camera which transmits the video image.
  • the television picture of the live broadcast on the monitor 13 can be recorded.
  • FIG. 1 Another example of integrating the simulator into real-life racing is the ability to run a 6-day race with virtual and real participants.
  • a 6-day race for example, two-person teams can be formed, as usual in 6-day races, but these include only a real race participant and additionally a virtual race participant on a simulator.
  • the virtual and the real 6-day cyclists can replace each other in rounds, with the virtual race participant on the simulator displaying the handover on the screen of the simulator, while the real race participant, for example, plays a small LCD.
  • Screen or other display unit has placed on the handlebars of his bike, on which the relay handover from the virtual subscriber is displayed on the real race participants. Accordingly, the data must be mutually exchanged.
  • the processing of the data can be done in the processing unit of the simulator or in several networked simulators in a central computer. Furthermore, a corresponding processing unit can also be provided in the receiving or displaying units for the real race participant.
  • the 6-day race then runs off in such a way that, for example, the real race participants on the track in a racecourse take up the race, after a certain number of laps to the virtual race participants leave, whose activity is represented for example on screens in the hall can, where then the real Race participants after a certain number of rounds of virtual race participants again take the race of their respective virtual partners and continue real.
  • the finale of the race can then be contested by both the real and the virtual race participants.
  • a cycle racing hall in the breaks in which the real race participants do not need the train, perform additional races or other attractions.
EP06100775A 2005-01-24 2006-01-24 Simulateur à l'adaptation variable aux conditions réelles Withdrawn EP1683550A1 (fr)

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ITFI20110132A1 (it) * 2011-07-04 2013-01-05 Giovannini Alessandro Sistema di acquisizione e trattamento di dati attinenti alla dinamica di veicoli a due o quattro ruote su pista.
JP2013538640A (ja) * 2010-10-01 2013-10-17 ビークール，エス．エル． スポーツトレーニングデバイス
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EP2859922A1 (fr) * 2013-10-09 2015-04-15 SportCrafters, Inc. Système de résistance progressive pour dispositif d'exercice
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BE1027416B1 (nl) * 2019-07-08 2021-02-09 Voxdale Bv Trainingsinstallatie voor het trainen van een sporttechniek
CN114832351A (zh) * 2021-02-02 2022-08-02 雅马哈发动机株式会社 锻炼系统、用于提供锻炼的方法和计算机程序
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MD3886B2 (ro) * 2005-09-22 2009-04-30 Николае Павел КОВАЛЕНКО Simulator
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US9393475B2 (en) 2012-09-24 2016-07-19 SportCrafters, Inc. Progressive resistance system for an exercise device
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EP2859922A1 (fr) * 2013-10-09 2015-04-15 SportCrafters, Inc. Système de résistance progressive pour dispositif d'exercice
US9381396B2 (en) 2014-02-04 2016-07-05 SportCrafters, Inc. Portable progressive resistance exercise device
BE1027416B1 (nl) * 2019-07-08 2021-02-09 Voxdale Bv Trainingsinstallatie voor het trainen van een sporttechniek
CN114832351A (zh) * 2021-02-02 2022-08-02 雅马哈发动机株式会社 锻炼系统、用于提供锻炼的方法和计算机程序
EP4035747A1 (fr) * 2021-02-02 2022-08-03 Yamaha Hatsudoki Kabushiki Kaisha Système d'exercice
US20220241648A1 (en) * 2021-02-02 2022-08-04 Yamaha Hatsudoki Kabushiki Kaisha Exercise system, method for providing exercise, and computer program
WO2024018419A1 (fr) * 2022-07-22 2024-01-25 Universita' Vita-Salute San Raffaele Système d'activité physique et procédé associé

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