EP2364686B1 - Training device, method for operating same and assembly for measuring, controlling and/or regulating performance on a training device - Google Patents

Description

The invention relates to a training device according to the preamble of claim 1.

The training device is in particular a so-called ergometer, which allows aerobic endurance training. A relevant training device is z. B. from the US 6,001,071 A known. Such training devices serve as fitness equipment both in the field of recreational sports as well as in the field of competitive sports. Furthermore, such fitness devices also serve as therapy devices or rehabilitation devices for therapeutic applications to people with a physical disability.

From the GB 2 349 099 A is a back-training device with hand and foot pedals known in which is proposed according to a variant to let the patient partially free floating in a pool of water on the edge of the pool mounted hand pedals. There is no provision for control or mobilization.

From the EP 1,900,398 A1 An ergometer is known in which the training of the operator is made possible by controlled braking. A mobilization is not provided.

From the US 4,828,522 An ergometer with inflatable bodies is shown, which allows an operator to float in the water to operate the otherwise uncontrolled ergometer. Also the US 4,828,522 does not teach mobilization for people with reduced mobility.

From the US 2007/0275831 A1 is a therapeutic training device is known in which is proposed in support of coupled with a motor starting load of pedals, during the start-up phase of the engine from a standstill startup help by motor assistance during the start-up phase to verwrklichen.

An object of the invention is to enable an improved mobilization of movement-restricted patients by means of a controlled support of the pedal rotation, whereby a gravity support is made possible.

The object is achieved in a particular underwater training device according to the invention by the characterizing features of claim 1. Thereafter, it is provided that at least one float is provided, by means of which the underwater exerciser is partially held over the water surface, wherein the at least one float is designed so that the arm bars are at least partially and the pedals are always below the water surface, said Electric motor and this braking device are designed and controlled by the control device such that defined by the pedals and / or the arm rods both absorbed by the person performance and a power can be delivered to this person. As a result, for the first time, active mobilization supported by gravity is supported by the water by motor rotation and not only braking of the pedals allows.

A service is primarily understood as a mechanical service (movement work per time). A distinction must be made between the actual training performance, which is the amount of power that can be effectively spent by a person to be trained through muscle work (body performance or muscle performance). For the purposes of the invention, the training performance can be influenced by setting a "power".

The training device according to the invention makes it possible for both the person to be trained to deliver a defined power to the training device and a defined power provided by the training device to the person. The training device according to the invention thus allows the person to be trained to be actively moved or passively moved. For this purpose, however, it is necessary that the involved limbs are positively coupled with the pedals and / or arm bars of the training device. For this purpose, loops and / or straps are preferably included on the pedals and / or arm bars.

According to a preferred embodiment, it is provided that the at least one electric motor and the at least one braking device are designed as a structural unit, and in particular that the braking device is integrated in the electric motor. With regard to a given by the person performance of the electric motor acts as a resistance to movement, which requires a defined performance of the person to overcome it. This can be z. B. be effected by that the electric motor as a braking device, for. B. as a generator or eddy current brake acts. In the case of a defined power provided by the exerciser, the electric motor acts as a drive.

It is preferably provided to move the person to be trained only in certain, precisely defined phases of movement (for example, when passing through a kinematic dead center of the transmission mechanism), the electric motor acting as a drive, while the person to be trained in the other phases of motion movement through muscle work itself brought about, wherein the electric motor or the braking device can act as a resistance to movement here.

The training device is designed as an underwater training device. Such a training device may also be referred to as a water training device. An aerobic endurance training in the water allows z. B. an efficient therapy in disorder of movement and posture regulation. Standard training equipment, especially ergometers designed for on-shore training only, can not be used for water training.

The water training devices according to the prior art have a speed-dependent power specification, which is in many cases (eg. In motion disorder and Dekonditionierungen) does not make sense. Further, these water training devices can not or only very conditionally adapted to the physical disability of the person to be trained (patient). An inventive underwater training device allows a combination of load (electric motor or braking device acts as a resistance to movement) and relief (electric motor acts as a drive). Here is a control of the training performance in the water with an accuracy of z. B. ± 5% possible, which is an excellent value compared to the prior art. Furthermore, a speed-independent power control for training in the water is made possible.

When training in water is a special feature in that the forces acting on the limbs buoyancy forces and water resistance forces change the training performance. Through a combination of resistance to movement and drive (related to the electric motor), the person to be trained can be actively supported in overcoming a water resistance. As a result, a training below the water resistance can be made possible. Furthermore, a training in water with a very low power is made possible.

According to a preferred embodiment, it is provided that the training device comprises at least one coupling to at least temporarily be able to cancel the mechanical coupling of the pedals and / or arm rods with the electric motor and / or the braking device. The clutch is preferably controlled by the control device.

According to a preferred embodiment, it is provided that the training device has a frame or a frame construction with several, in particular three height-adjustable legs. This allows a height adjustment and adaptation to uneven and / or sloping floors done.

According to a preferred embodiment, it is provided that the training device has at least one computer interface. This may be z. B. may be a cable interface. In particular, this is a wireless communication interface, such. B. a WLAN or Bluetooth interface. Such a computer interface is used for. B. the evaluation of training results and / or the programming of the control device (eg software updates).

It is advantageously provided that the at least one electric motor and the at least one braking device are controlled (or regulated) by means of at least one control device such that a defined power of the person is both received and delivered to the person via the pedals and / or the arm rods can be.

According to a preferred embodiment, it is provided that the control of the power takes place taking into account a water resistance acting on the person. This will be explained in more detail below in connection with the figures.

According to a preferred development, it is provided that, at the beginning of the use of the training device, an individual calibration first takes place with regard to the water resistance acting on a person to be trained. The z. B. carried out such that the electric motor performs a movement of the person in proper contact with the pedals and / or the arm bars, the person with the most relaxed musculature allows the movement, and the expended driving power is measured (eg about the electrical power consumption). Particularly preferably, it is provided that the calibration takes place at different rotational speeds, ie at different pedaling frequencies of the legs and / or rudder frequencies of the arms. Details will be explained in more detail below in connection with the figures.

According to a preferred embodiment, it is provided that the person to be trained can be mobilized without his own intervention, at least in individual phases of movement. By means of the electric motor, it is possible to mobilize the person to be trained partially or completely. Ie. the person to be trained is z. B. passively moved at a predetermined speed (cadence and / or rudder frequency). Details will be explained in more detail below in connection with the figures.

According to a preferred development, a spasticity check is provided. This preferably includes the initiation of any countermeasures. This will be explained in more detail below in connection with the figures.

According to a preferred embodiment, a stiffness control is provided. This preferably includes the initiation of any countermeasures. This will be explained in more detail below in connection with the figures.

Fig. 1

ein Trainingsgerät in einer perspektivischen Ansicht;

Fig. 2

das Trainingsgerät der Fig. 1 in einer anderen perspektivischen Ansicht;

Fig. 3

das Trainingsgerät der Fig. 1 beim Unterwassereinsatz;

Fig. 4

die Übersetzungsmechanik des Trainingsgeräts der Fig. 1 in einer schematischen Ansicht;

Fig. 5

ein Antriebskonzept für ein erfindungsgemäßes Trainingsgerät in einer schematischen Ansicht;

Fig. 6

ein weiteres Ausführungsbeispiel eines erfindungsgemäßen Trainingsgeräts in zwei perspektivischen Ansichten; und

Fig. 7

mehrere Diagramme in Verbindung mit dem Trainingsgerät der Fig. 1 und der Fig. 6.

The invention will be explained in more detail by way of example with reference to the figures. Show it:

Fig. 1

a training device in a perspective view;

Fig. 2

the training device of Fig. 1 in another perspective view;

Fig. 3

the training device of Fig. 1 underwater use;

Fig. 4

the translation mechanism of the training device of Fig. 1 in a schematic view;

Fig. 5

a drive concept for a training device according to the invention in a schematic view;

Fig. 6

a further embodiment of a training device according to the invention in two perspective views; and

Fig. 7

several diagrams in connection with the training device of the Fig. 1 and the Fig. 6 ,

Fig. 1 shows a total of 100 designated exercise device. By way of example, this training device is an underwater training device, to which the following statements also refer. However, the invention is not limited thereto.

The exercise device 100 comprises a seat 101 for a person to be trained or for a patient P. The exercise device 100 further comprises a frame or a frame construction 102 with a total of three legs 103 (the exercise device 100 may also have a different number of legs or the like ). Training device 100 further includes a pedal drive (pedal crank) 104 with two pedals 104r / 1041 to be moved with the legs / feet, and two levers or arm rods 106r / 1061 to be moved with the arms. The arm bars 106r / 1061 are tiltably hinged to the frame structure 102. The pedals 104r / 1041 and the arm rods 106r / 1061 are kinematically connected, as explained in more detail below. The training device 100 further includes an electric motor, a braking device, an easily replaceable power storage device (accumulator) for power supply and a control device (control unit) for measurement, control and / or regulation, which are not visible in the frame structure 102 included (eg. Below the seat 101). With 108 an operating panel is referred to, which is at least designed as a display panel and coupled to the control device of the exercise device 100.

The training device 100 can be ergonomically adapted to the person P to be trained. That is, that z. B. the seat 101 or the effective length of the arm bars 106r / 1061 and possibly also the pedals 104r / 1041 is adjustable. It is also conceivable, the distance between the two pedals 104r / 1041 and / or the two arm rods 106r / 1061 to each other to adjust.

Fig. 2 shows the same exercise machine 100 in a different perspective. Good to see here is the tripod construction with three legs 103, each leg 103 is provided with a large stand plate 113. The tripod construction is adaptable to an uneven floor and / or to a floor slope (eg up to 5 °). The large stand plates 113 ensure a very safe stand.

Fig. 3 shows the training device 100 in underwater use. The water surface is designated S. The control panel 108 is arranged to be above the water surface S with the other components of the exerciser 100 substantially in the water. The water depth can be z. B. be up to 1.8 m. The tripod construction with the large stand plates 113 ensures a secure state of the training device 100 even in the water. The training device 100 can not tilt during normal use. The adaptation to a particular water depth can be done without a descent of the supervisor. Also, the exerciser 100 ensures easy maneuverability in the water by a caregiver, as well as easy insertion or removal from the water. The replacement of the power storage device can be done without requiring the training device 100 must be taken out of the water. Self-explanatory, the training device 100 is also operable on land. Even on land, the training device 100 is easily maneuverable by a caregiver.

Fig. 4 shows the translation mechanism of the exercise device 100 in a schematic view. The pedals 104r / 1041 and the arm bars 106r / 1061 each represent a human-machine interface at which a muscular force of the to be trained person P to the training device 100, respectively. can be transmitted to a combined electric motor braking device EB and / or to which a power provided by the electric motor braking device EB of the training device 100 can be transmitted to the person P to be trained. The combined electric motor braking device EB functions depending on the movement resistance or as a drive.

The person to be trained P has the ability to work purely through the leg training, by pedaling 104r / 1041 as in a bicycle, which is shown with movement arrows. In addition, the person P has the opportunity to train the arms by means of the arm rods 106r / 1061, in which they in the manner of a rowing movement (Cross-Walker) in opposite directions (with respect to the body trunk) moves forward and backward, also with movement arrows is shown. The two training options can be claimed individually, but can also be mechanically coupled so that they are kinematically connected. This allows support from one limb to the other and allows a round or flowing movement.

It is also possible to mechanically decouple the arm / leg workout, for example, by means of a coupling. Further, the combined electric motor brake device EB is equipped with a clutch. The clutch is controlled via the control device. The clutch serves to decouple the combined electric motor braking device EB mechanically from the pedals 104r / 1041 and / or arm rods 106r / 1061, if this is temporarily not needed.

The respective rotational speeds, rotational speeds, torques and / or powers are measured by means of measuring sensors For example, permanently detected at the measuring points M1, M2 and M3 and further processed and / or stored by the control device. Furthermore, the training time and / or the pulse rate of the person to be trained P can be detected, stored and / or further processed. The obtained data may be displayed on the panel 108. All data can also be evaluated via a computer interface. Preferably, this computer interface is designed as a wireless interface (WLAN or Bluetooth). If necessary, programming (eg also software updates) of the control device can take place via such a computer interface.

Fig. 5 shows a drive concept (or an arrangement for power measurement, control and / or regulation on a training device) for a training device according to the invention in a schematic view. Contrary to the example of Fig. 4 In this drive concept, the electric motor E and the brake device B are designed as structurally separate or separate components.

The pedals 104r / 1041 of the pedal drive (pedal crankshaft 104) are directly connected to each other via a shaft 140. The two levers or arm rods 106r / 1061 to be moved with the arms are indirectly connected to one another by means of belt drives 162 and 163 via a shaft 160. The connecting shafts 140 and 160 are connected to a central shaft 170 by means of the belt drives 141 and 161. The arm rods 106r / 1061 and the pedals 104r / 1041 can be separated by the coupling 171. The central shaft 170 is in turn connected via a coupling 172 and a converter gear 173 to the electric motor E. Furthermore, the central shaft 170 is connected to a secondary shaft 180 by means of a belt drive 175. In the drive train of the auxiliary shaft 180 include a clutch 181, a freewheel device 182, a Flywheel device 183, and the braking device B. C is a control device. Essential bus connections are shown in dashed lines. Instead of belt drives also functionally identical chain drives or transmission devices can be installed.

Fig. 6a shows a further embodiment of a training device according to the invention in a perspective view. The training device 100 'has a banana-shaped frame structure 102', at the end of the bow floating bodies or floating pontoons 121 and 122 are arranged. The total number of two floating pontoons is exemplary. By means of these floating pontoons training device 100 'can be used as a floating device, as in the Fig. 6b shown. On legs, as in the Fig. 1 shown, can be omitted here. The training device 100 'can also be used in deep water (for example in free use in lakes).

1. 1. Drehzahlunabhängige Leistungsregelung im Wasser:
   • Beim Training im Wasser ist ein erhöhter Strömungswiderstand im Wasser zu berücksichtigen. Die Dichte von Wasser ist rund 772-mal höher als der in der Luft bzw. Atmosphäre, was bedeutet, dass im Wasser hohe Strömungswiderstände zu überwinden sind. Beim Training im Wasser tritt somit ein bedeutender auf die Gliedmaßen einwirkender Strömungswiderstand auf. Ein großer Teil der durch die Muskulatur erbrachten Leistung wird zur Überwindung des Wasserwiderstandes benötigt, während nur ein kleiner Teil der gesamten Kraftentwicklung (mechanischer Output oder physikalisch messbare Leistung) auf die Pedale 104r/1041 und/oder Armstangen 106r/1061 geleitet wird. Somit entspricht z. B. eine an den Pedalen 104r/1041 gemessene Leistung (Messpunkt M2) nicht der effektiv erbrachten Körper- oder Muskelleistung (Trainingsleistung). Der Strömungswiderstand steigt zudem im Quadrat zur Drehzahl n (Trittfrequenz = Pedalumdrehung, Ruderfrequenz; Winkelgeschwindigkeit) an
   • Das erfindungsgemäße Trainingsgerät 100 zeichnet sich z. B. dadurch aus, dass aufgrund einer Leistungsmessung und Leistungsregelung auch mit Leistungen unterhalb des Wasserwiderstandes trainiert werden kann. Handicapierte Personen mit Lähmungen oder mit erhöhter Muskelaktivität (Tetanie, Krampi usw.) und dekonditionierte Personen können im Wasser ein Training mit einer Leistung von wenigen Watt [W] durchführen. Dies wird durch eine von dem Elektromotor E und der Bremseinrichtung B bereitgestellte und von der Steuereinrichtung C gesteuerte oder geregelte Kombination von Bewegungswiderstand und Antrieb erreicht. Dadurch kann die zu trainierende Person aktiv bei der Überwindung des Wasserwiderstandes unterstützt werden. Die Steuereinrichtung berücksichtigt auch die nichtlineare Zunahme des Wasserwiderstandes bei zunehmender Tritt- oder Ruderfrequenz n. Dies ist die Grundlage für eine drehzahlunabhängige Leistungsregelung.
2. 2.Arbeitsbereiche und Kalibrierung (Fig. 7a; Fig. 7b):
   • Grundlegend sind zwei Arbeitsbereiche zu unterscheiden, wie in der Fig. 7a gezeigt. Der erste Bereich (rechts der Wasserwiderstandskurve) ist der Widerstandsbereich. Dieser Bereich umfasst die Leistungen der zu trainierenden Person die kleiner als der Wasserwiderstand sind. An den Mensch-Maschinen-Schnittstellen (resp. an den Messpunkten M1, M2 und M3) sind kaum Leistungen zu messen da die meiste Energie durch den Strömungswiderstand absorbiert wird. Der zweite Bereich ist der Leistungsbereich (links der Wasserwiderstandskurve). Dieser Bereich umfasst die erbrachten Leistungen die höher sind als der Wasserwiderstand. In diesem Bereich können Leistungen an den Mensch-Maschinen-Schnittstelle (resp. an den Messpunkten M1, M2 und M3) gemessen werden.
   • Der Wasserwiderstand ist je nach Körperfläche (teilweise ableitbar vom Gewicht) der zu trainierenden Person P unterschiedlich. D. h. in unteren Leistungsbereichen (z. B. hohe Drehzahl bei wenig Leistung [W]) kann an den Pedalen 104r/1041 und/oder den Armstangen 106r/1061 kaum Leistung gemessen werden. Insbesondere kann unterhalb des Wasserwiderstandes die Leistung an den Mensch-Maschine Schnittstellen nicht mehr korrekt erfasst werden, da kaum Kraft auf die Pedale 104r/1041 und/oder Armstangen 106r/1061 übertragen wird. In den oberen Leistungsbereichen muss ein Offset hinzugerechnet werden, der dem Wasserwiderstand der jeweiligen zu trainierenden Person entspricht. In beiden Arbeitsbereichen wird die Leistung somit unterschiedlich erfasst.
   • Zu Beginn des Trainings müssen zunächst die Widerstandswerte bei den verschiedenen Drehzahlen n (bzw. Trittfrequenzen und/oder Ruderfrequenzen) mittels einer Kalibrierung erfasst werden. Die Kalibrierung erfolgt im Widerstandsbereich. Hierzu setzt sich die zu trainierende Person P auf das Trainingsgerät 100. Sie muss sich möglichst passiv verhalten. Der Elektromotor E fungiert als Antrieb und bewegt über die Pedale 104r/1041 und/oder die Armstangen 106r/1061 die Gliedmaßen, wobei die Muskulatur dabei völlig entspannt bleibt. Nun wird mittels des Elektromotors E ein vorgegebenes Drehzahlspektrum (n1, n2, n3, n4) abgefahren. Die vom Elektromotor abgegebene Leistung wird bei den verschiedenen Drehzahlen gemessen und z. B. in Form einer individuellen Wasserwiderstandskurve in der Steuereinrichtung hinterlegt. Eine solche individuelle Wasserwiderstandskurve zeigt die Fig. 7b, wobei hier auch die einzelnen Drehzahlen angegebenen sind, bei denen eine Leistungsmessung erfolgt. Der Kalibriervorgang wird von der Steuereinrichtung gesteuert.
   • Beispiel: Das Kalibrierprogramm des Trainingsgeräts 100 wird gestartet. Nun beginnt der Elektromotor E mit einer Drehzahl von z. B. 10 Umdrehungen pro Minute die zu trainierende Person P zu bewegen. Die Leistung (bspw. die elektrische Leistung) die der Elektromotor E benötigt, um die Person P entsprechend zu bewegen, wird protokolliert. Dieser Kalibrierschritt wird nun bei 15, 20 oder mehr Umdrehungen pro Minute wiederholt. Anhand der Kalibrierwerte ist nun der individuelle Wasserwiderstandsverlauf (Wasserwiderstandskurve) der zu trainierenden Person bzw. des Patienten bekannt. Das Training kann mit der Registrierung der tatsächlich erbrachten Leistung beginnen. Für ein Training an Land ist eine solche Kalibrierung nicht erforderlich.
3. 3. Trainieren im Widerstandsbereich (Fig. 7c):
   • Die zu trainierende Person oder deren Betreuer wählt z. B. am Bedienungspanel 108 eine gewünschte Leistung (P_Patient) aus, bei der trainiert werden soll. Die zu trainierende Person beginnt das Training mit einer ihr angenehmen Drehzahl bzw. Trittfrequenz oder Ruderfrequenz (n_Patient). Die Steuereinrichtung errechnet anhand der Drehzahl(n_Patient) und der gewünschten Leistung (P_Patient) die Differenz zum Wasserwiderstand. Der Elektromotor E unterstützt nun die zu trainierende Person P, indem er als Antrieb fungiert und eine Antriebsleistung(P_Motor) aufbringt, welche die Differenz von der gewünschten Leistung (P_Patient) zur Wasserwiderstandsleistung am korrespondierenden Punkt der Wasserwiderstandkurve bildet, wie in Fig. 7c gezeigt.
   • Beispiel: Die zu trainierende Person gibt eine Leistung (P_Pa-_tient) von 50 Watt [W] vor und bewegt sich mit einer Drehzahl (n_Patient) von 50 Umdrehungen pro Minute. Anhand der Kalibrierung erkennt die Steuereinrichtung, dass bei 50 Umdrehungen pro Minute die Wasserwiderstandsleistung 80 Watt beträgt. Daraus resultiert, dass der Elektromotor E die zu trainierende Person nun mit einer Antriebsleistung (P_Motor) von 30 Watt unterstützt. Bevorzugt ist dieser Fall für ein Training an Land nicht vorgesehen.
4. 4. Trainieren im Leistungsbereich (Fig. 7d):
   • Ist die gewünschte Leistung (P_Patient) bei einer vorgegebenen Drehzahl (n_Patient) höher als die korrespondierende Wasserwiderstandsleistung (P_{Wasserwiderstand}), wird die zu trainierende Person P zusätzlich zum Wasserwiderstand belastet. Hierbei fungiert der Elektromotor E oder die Bremseinrichtung B als Bewegungswiderstand und erzeugt eine Bremsleistung (P_Bremse). Die Bremsleistung(P_Bremse) ist die Differenz zwischen der gewünschten bzw. vorgegebenen Leistung (P_Patient) und der Wasserwiderstandsleistung (P_{Wasserwiderstand}) am korrespondierenden Punkt der Wasserwiderstandkurve, wie in Fig. 7d gezeigt.
   • Beispiel: Die zu trainierende Person soll eine Leistung (P_Pa tient) von 50 Watt erbringen. Sie bewegt sich mit einer Drehzahl (n_Patient) von 15 Umdrehungen pro Minute. Anhand der Kalibrierung erkennt die Steuereinrichtung, dass bei 15 Umdrehungen pro Minute die Wasserwiderstandsleistung (P_{Wasserwiderstand}) 30 Watt beträgt. Daraus resultiert, dass der Elektromotor E nun eine Bremsleistung (P_Bremse) von 20 Watt erzeugen muss. Aufgrund dieser Kompensation ist trotz der nicht linearen Wasserwiderstandsfunktion die Belastung der zu trainierenden Person drehzahlunabhängig, wobei die Belastung selbst einstellbar ist. Auch kann hierbei die eigentliche Trainingsleistung (Körperleistung oder Muskelleistung) sehr gut eingestellt werden.
5. 5.Mobilisierung:
   • Durch den eingebauten Elektromotor E ist es möglich die zu trainierende Person teilweise oder ganz zu mobilisieren. D.h. die Person wird mit einer vorgegebenen Drehzahl n bewegt. Wahlweise können die unteren und/oder die oberen Gliedmaßen mobilisiert werden. Hierzu gibt bspw. der Betreuer (Therapeut) am Bedienungspanel 108 eine gewünschte Drehzahl und Trainingsdauer ein, mit welcher die zu trainierende Person mobilisiert werden soll. Nach dem Start eines in der Steuereinrichtung hinterlegten Programms wird die zu trainierende Person mit dieser Drehzahl über eine bestimmte Zeitdauer bewegt. Eine Mobilisierung an Land läuft gleich ab wie im Wasser.
6. 6. Spastikkontrolle:
   • Um bei auftretender Spastizität (d. h. eine durch muskulären Hypertonus verursachte Bewegungshemmnis des Patienten) an gefährdeten Personen keine Schäden zu verursachen, ist eine entsprechende Überwachung vorgesehen. Das Training wird sofort unterbrochen, sobald anhand des Bewegungsflusses an den Pedalen 104r/1041 und/oder Armstangen 106r/1061 eine beginnende Spastizität detektiert wird (bspw. durch erhöhte Stromaufnahme). Alternativ ist es auch möglich, mit einer geringen, für den Patienten ungefährlichen Leistung fortzufahren, bis sich der Spastikkrampf löst. Ein Wechsel der Betriebsart (bspw. auch ein Abschalten des Elektromotors und/oder der Bremseinrichtung bzw. ein Entkoppeln derselbigen mittels der Kupplungen) kann helfen, den abnormalen Muskeltonus wieder zu regulieren. Z. B. werden die Pedale 104r/1041 und/oder die Armstangen 106r/1061 des Trainingsgeräts entgegen gesetzt bewegt, wenn nicht eine muskuläre Totalblockierung vorliegt, die sich in der Regel von selbst nach kurzer Zeit wieder auflöst. Danach wird versucht das normale Training wieder aufzunehmen. Wenn die Blockierung immer noch anhält wird der Vorgang wiederholt.
7. 7.Steifigkeitskontrolle:
   • Nach Läsionen des zentralen Nervensystems können unerwünschte Haltungsreflexe auftreten, die nicht gehemmt oder modifiziert werden können. Der Mangel an Selektion in der Bewegung führt dazu, dass Bewegungsmuster auftreten, die einen flüssigen Bewegungsablauf verhindern. Durch die Steifigkeit der Muskulatur gelangt die Bewegung der zu trainierenden Person meist an den kinematisch bedingten Totpunkten des Übersetzungsmechanismus ins Stocken. Um trotzdem ein Training zu realisieren ist es nötig, einen konstanten Rundlauf zu gewährleisten. Dies wird erreicht indem die Umlaufgeschwindigkeit (Umdrehgeschwindigkeit) der Pedale 104r/1041 und/oder Armstangen 106r/1061 überwacht wird. Wenn ein unrunder Lauf detektiert wird, wird mittels Antriebsunterstützung durch den Elektromotor jeweils ein Kraftimpuls gegeben, der zur Überwindung des Totpunktes führt. Durch die permanente Überwachung der Umlaufgeschwindigkeit(en) kann eine Veränderung registriert werden und die Unterstützung den aktuellen Gegebenheiten angepasst werden.
8. 8.Unabhängige Leistungsmessung:
   • Auf einem erfindungsgemäßen Trainingsgerät 100 kann eine unabhängige Leistungsmessung durchgeführt werden, die als Grundlage bspw. zu einem Training auch an anderen Geräten dienen kann. Hierzu wird auf einem erfindungsgemäßen Trainingsgerät (mit eingebautem Elektromotor E) eine Versuchsreihe durchgeführt. Es werden mehrere Personen mit verschiedenen Körpergrößen und Gewichten ausgemessen. Die Werte werden in Tabellen hinterlegt und dienen dann z. B. für Patienten die aufgrund einer Behinderung nicht in der Lage sind, eine Kalibrierung durchzuführen (z.B. Muskelsteifheit o.ä.) und/oder z. B. bei einem anderen Trainingsgerät (ohne Elektromotor der als Antrieb verwendet werden kann) als Grundlage zur Berechnung eines Widerstandwertes (Wasserwiderstandswert). In gleicher Weise kann auch eine einzelne Person individuell ausgemessen werden.

Various operating modes, functions and applications of the training device 100 or 100 'are explained in more detail below.

1. 1. Speed-independent power control in the water:
   • When training in the water, increased flow resistance in the water must be considered. The density of water is about 772 times higher than that in the air or atmosphere, which means that high flow resistance has to be overcome in the water. When training in the water thus occurs a significant acting on the limbs flow resistance. Much of the power provided by the musculature is needed to overcome water resistance, while only a small portion of the total force (mechanical Output or physically measurable power) to the pedals 104r / 1041 and / or arm rods 106r / 1061. Thus, z. B. measured at the pedals 104r / 1041 performance (measuring point M2) not the effectively provided body or muscle performance (exercise performance). The flow resistance also increases in the square of the speed n (pedal frequency = pedal rotation, rudder frequency, angular velocity)
   • The exercise device 100 according to the invention is z. B. by the fact that due to a performance measurement and power control can be trained with benefits below the water resistance. Handicapped persons with paralysis or with increased muscular activity (tetany, Krampi etc.) and deconditioned persons can perform a training in the water with a power of a few watts [W]. This is achieved by a combination of movement resistance and drive provided by the electric motor E and the brake device B and controlled or controlled by the control device C. As a result, the person to be trained can be actively supported in overcoming the water resistance. The controller also takes into account the non-linear increase in water resistance as the treadle or rudder frequency n increases. This is the basis for speed independent power control.
2. 2. Workspaces and calibration ( Fig. 7a; Fig. 7b ):
   • Basically, two work areas are distinguished, as in the Fig. 7a shown. The first area (to the right of the water resistance curve) is the resistance area. This area includes the performance of the person to be trained less than the water resistance. At the human-machine interfaces (or at the measuring points M1, M2 and M3) are hard to measure performances because most of the energy is absorbed by the flow resistance. The second area is the power range (left of the water resistance curve). This area includes the services provided which are higher than the water resistance. In this area, services can be measured at the man-machine interface (or at measuring points M1, M2 and M3).
   • The water resistance is different depending on the body surface (partially derived from the weight) of the person to train P. Ie. in lower power ranges (eg high speed with low power [W]), little power can be measured on the pedals 104r / 1041 and / or the arm rods 106r / 1061. In particular, the power at the human-machine interfaces can no longer be detected correctly below the water resistance, since hardly any force is transmitted to the pedals 104r / 1041 and / or arm rods 106r / 1061. In the upper power ranges, an offset must be added, which corresponds to the water resistance of the respective person to be trained. In both work areas, the performance is thus recorded differently.
   • At the beginning of the training, the resistance values at the various rotational speeds n (or pedaling frequencies and / or rudder frequencies) must first be determined by means of a calibration. The calibration takes place in the resistance area. For this purpose, the person P to be trained sits on the training device 100. It must behave as passively as possible. The electric motor E acts as a drive and moves via the pedals 104r / 1041 and / or the arm bars 106r / 1061 the limbs, while the muscles remain completely relaxed. Now, a predetermined speed spectrum (n1, n2, n3, n4) is traversed by means of the electric motor E. The output from the electric motor power is at the various Measured speeds and z. B. deposited in the form of an individual water resistance curve in the controller. Such an individual water resistance curve shows the Fig. 7b , where also the individual speeds are given, where a power measurement takes place. The calibration process is controlled by the control device.
   • Example: The calibration program of the training device 100 is started. Now the electric motor E starts at a speed of z. B. 10 revolutions per minute to move the person to train P. The power (eg, electric power) required by the electric motor E to move the person P accordingly is logged. This calibration step is now repeated at 15, 20 or more revolutions per minute. Based on the calibration values, the individual water resistance curve (water resistance curve) of the person or patient to be trained is now known. The training can begin with the registration of the actual performance. For on-shore training, such a calibration is not required.
3. 3. Training in the resistance area ( Fig. 7c ):
   • The person to be trained or their supervisor chooses z. B. on the control panel 108, a desired performance (P _patient ), to be trained in the. The person to be trained starts the training with a pleasant speed or cadence or rudder frequency (n _patient ). The control calculates the difference to the water resistance based on the speed (n _patient ) and the desired power (P _patient ). The electric motor E now supports the person to be trained P by acting as a drive and a driving power (P _motor) applies, which is the difference of the desired power (P _patient ) to the water resistance performance forms at the corresponding point of the water resistance curve, as in Fig. 7c shown.
   • For example, the person to be trained is a power (P _patient) of 50 watts [W] before and moves at a speed (n _patient) of 50 revolutions per minute. Based on the calibration, the controller detects that at 50 rpm, the water resistance is 80 watts. As a result, the electric motor E now supports the person to be trained with a drive power (P _motor ) of 30 watts. Preferably, this case is not intended for training on land.
4. 4. Training in the performance area ( Fig. 7d ):
   • If the desired power (P _patient ) at a given speed (n _patient ) is higher than the corresponding water resistance power (P _{water resistance} ), the person to be trained P is additionally charged to the water resistance. Here, the electric motor E or the braking device B acts as a resistance to movement and generates a braking power (P _brake ). The brake power (P _brake ) is the difference between the desired power (P _patient ) and the water resistance power (P _{water resistance} ) at the corresponding point of the water resistance curve, as in Fig. 7d shown.
   • Example: The person to be trained should provide a power (P _Pa tient) of 50 watts. It moves at a speed (n _patient ) of 15 revolutions per minute. Based on the calibration, the controller detects that at 15 rpm the water resistance (P _{water resistance} ) is 30 watts. As a result, the electric motor E now has to generate a braking power (P _brake ) of 20 watts. Due to this compensation, despite the non-linear water resistance function, the load to be trained Person speed independent, the load itself is adjustable. Also, the actual training performance (body performance or muscle performance) can be adjusted very well.
5. 5.Mobilisierung:
   • The built-in electric motor E, it is possible to mobilize the person to be trained partially or completely. That is, the person is moved at a predetermined speed n. Optionally, the lower and / or upper limbs can be mobilized. For this purpose, for example, the caregiver (therapist) on the control panel 108 enters a desired speed and training duration with which the person to be trained is to be mobilized. After the start of a program stored in the control device, the person to be trained is moved at this speed over a certain period of time. Mobilization on land is the same as in the water.
6. 6. Spasticity control:
   • In order to prevent any damage occurring in the event of spasticity (ie a movement inhibition of the patient caused by muscular hypertension) at endangered persons, a corresponding monitoring is provided. The training is immediately interrupted as soon as an incipient spasticity is detected on the basis of the flow of movement at the pedals 104r / 1041 and / or the arm rods 106r / 1061 (eg by increased current consumption). Alternatively, it is also possible to continue with a low, harmless to the patient performance until the spasticity spasm dissolves. A change of the operating mode (for example also a switching off of the electric motor and / or the braking device or a decoupling of the same by means of the clutches) can help the abnormal muscle tone to regulate again. For example, the pedals 104r / 1041 and / or the arm bars 106r / 1061 of the exerciser are moved in opposition unless there is a total muscular blockage that usually resolves itself after a short time. Thereafter, an attempt is made to resume normal training. If the block still stops, the process is repeated.
7. 7.Steifigkeitskontrolle:
   • After lesions of the central nervous system, unwanted postural reflexes may occur that can not be inhibited or modified. The lack of selection in the movement leads to movement patterns that prevent fluid movement. Due to the rigidity of the musculature, the movement of the person to be trained usually comes to a standstill at the kinematically caused dead centers of the translation mechanism. In order to realize a training anyway, it is necessary to ensure a constant concentricity. This is accomplished by monitoring the orbital speed (rotational speed) of the pedals 104r / 1041 and / or armbars 106r / 1061. If a non-round running is detected, by means of drive assistance by the electric motor in each case a force pulse is given, which leads to the overcoming of the dead center. Permanent monitoring of the rotational speed (s) allows a change to be registered and the support to be adapted to current conditions.
8. 8.Independent power measurement:
   • On a training device 100 according to the invention, an independent power measurement can be performed, which can serve as a basis, for example, for a training on other devices. This is done on a training device according to the invention (with built-in electric motor E) carried out a series of experiments. Several people with different body sizes and weights are measured. The values are stored in tables and then serve z. B. for patients who are due to a disability not able to perform a calibration (eg muscle stiffness, etc.) and / or z. B. in another training device (without electric motor can be used as a drive) as a basis for calculating a resistance value (water resistance value). In the same way, a single person can be measured individually.

Now, if you want to train on a device with only one braking device, this can only be done in the power range. The resulting power is in turn composed of the braking power and the water resistance performance. However, the exact values of a water resistance relative to the person to be trained are not available because no calibration can be performed with the person. Thus, the person to be trained at the beginning of the training in addition to the desired performance and their body size and weight, and possibly other anthropometric parameters (such as thigh circumference values) enter. Based on these parameters, the corresponding resistance values can be derived from the tables.

Claims (12)

1. An underwater training device (100),
   which comprises pedals (104r; 1041) to be moved with the feet, and arm rods (106r; 1061) to be moved with the arms, for operation by a person (P) who is in a predominantly seated position,
   wherein at least one control device (C) is provided for measuring and/or regulating the training power,
   wherein the pedals (104r; 1041) and/or the arm rods (106r; 1061) are mechanically connected to at least one electric motor (E) and to at least one braking device (B),
   characterised in that
   at least one floating element is provided, by means of which the underwater training device is partially held above the surface of the water,
   wherein the at least one floating element is designed in such a way that the arm rods are located below the water surface at least in sections and the pedals at all times,
   wherein this electric motor (E) and this braking device (B) are designed in such a way and controlled by the control device (C) in such a way that defined via the pedals (104r; 1041) and/or the arm rods (106r; 1061) a power produced by the person (P) can be taken up and a power can also be assigned to this person (P).
2. The underwater training device (100) according to claim 1,
   characterised in that
   the braking device (B) is integrated into the electric motor (E).
3. The underwater training device (100) according to claim 1 or 2,
   characterised in that
   at least one clutch is included in order to at least temporarily be able to release the mechanical coupling of the pedals (104r; 1041) and/or of the arm rods (106r; 1061) with the electric motor (E) and/or the braking device (B).
4. The underwater training device (100) according to at least one of the preceding claims,
   characterised in that
   that it has at least one wireless communications interface, such as, in particular, a WLAN or Bluetootn interface.
5. The underwater training device (100) according to any one of the preceding claims,
   characterised in that
   the floating elements are fastened to booms in front of and behind the seated position of a user of the underwater training device.
6. The underwater training device according to any one of the preceding claims,
   characterised in that
   the electric motor (E) and the braking device (B) are controlled by the control device (C) in such a way that via the pedals (104r; 1041) and/or the arm rods (106r; 1061) a defined power can be taken up through their movement or assigned thereto in an requirement-specific manner.
7. The underwater training device according to claim 6,
   characterised in that
   the power is controlled taking into account a water resistance acting on the pedals.
8. The underwater training device according to claim 6 or 7,
   characterised in that
   when starting to use the training device, calibration takes place by means of the water resistance acting on the pedals.
9. The underwater training device according to claim 8,
   characterised in that
   the calibration takes place at different step frequencies and/or rowing frequencies.
10. The underwater training device according to any one of claims 6 to 9,
    characterised in that
    the electric motor (E) acts as an actuator, through which a person (P) can without his/her own assistance be mobilised at least in individual movement phases.
11. The underwater training device according to any one of claims 6 to 10,
    characterised in that
    spasticity monitoring is envisaged.
12. The underwater training device according to any one of claims 6 to 11,
    characterised in that
    stiffness monitoring is envisaged.

Images