EP2370184A2

EP2370184A2 - Muscle and/or joint exercise apparatus

Info

Publication number: EP2370184A2
Application number: EP09802163A
Authority: EP
Inventors: Marc Champsaur
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-12-11
Filing date: 2009-12-11
Publication date: 2011-10-05
Anticipated expiration: 2029-12-11
Also published as: WO2010067034A3; EP2370184B1; US20110275480A1; FR2939687A1; CA2746440A1; FR2939687B1; WO2010067034A2; US9005145B2

Abstract

The invention relates to a muscle and/or joint exercise apparatus (1) adapted for the reeducation and/or physical training of a portion of the body of a user, including: a hollow body (2); a mobile member (3) translatable inside the body; a motorisation means (5) provided on the bottom (21) of the body and adapted for driving and braking the movement of the mobile member in the two translation directions; a means (6) engagement between the body and a frame (B), said engagement means being provided on the bottom of the body and including: at least one hinge means (60) for the body on the frame, the hinge means providing at least one rotational degree of freedom for the body about a rotational axis; and a removable means (63) for mounting and dismounting said body, the removable means being adapted for the removable mounting of the body on a bearing (S) slidingly mounted in the frame.

Description

MUSCLE EXERCISE APPARATUS AND / OR ARTICULAR

The present invention relates to a muscular and / or joint exercise apparatus, to a muscular and / or joint exercise device comprising such an exercise apparatus and to a method of using this exercise apparatus; such apparatus being adapted for rehabilitation and / or physical training of a body part of a user, such as an upper limb (arm) and / or lower limb (leg), or a part of upper limb (forearm, wrist, elbow) and / or lower (ankle, thigh, knee), or another part of the body such as the hip or pelvis.

It relates more particularly to a muscular and articular exercise machine that can advantageously be used in a hospital, a physiotherapy practice, a sports club, a fitness club or at home at the user, of course. per user any person likely to use such an exercise machine.

In known manner, the reeducation of a limb, arm or leg, following an illness or an accident mainly comprises the following steps: a first articular mobilization during which the limb is moved without involving the patient's muscle, more a period of joint rest with immobilization of the member concerned;

an active mobilization during which the effort of the patient's muscle is assisted; and finally - the actual muscle reinforcement during which the patient moves the limb against a resistant force, possibly with an analytic musculature phase, that is to say involving only one or more specific muscles, followed by a overall bodybuilding phase.

In sports clubs or fitness clubs, people usually practice muscular exercises that are rarely performed in their daily lives, with the exception of athletes who, in addition to maintaining their physical condition, develop muscles. particulars necessary for their sports activity such as those of the legs and arms for a skier, a swimmer or a tennis player. We usually distinguish muscle exercises according to the constraints and movements imposed on the muscle, namely: - exercises of isometric musculation, with a contraction of the muscle without movement of the limb;

- Constant load weight training during which a heavy load is moved vertically by a set of cables and pulleys and more or less quickly depending on the effort of the person;

- isokinetic (or isokinetic) weight training exercises during which the speed of movement is imposed by a machine at a constant value; and finally

- Isotonic bodybuilding exercises requiring exercise equipment imposing a counter-reaction force and a speed of movement so that the muscle tone involved remains constant.

In addition, knowing that any member has two muscles or chains of muscles working in opposition, one agonist and the other antagonist (such as for example the biceps and the triceps for the arm, or the quadriceps and the muscles hamstrings for the leg), it is possible to define four distinct muscle forces of a limb relative to a lever, ie for the forearm:

contraction of the biceps to pull the lever in a concentric movement;

- effort of the biceps to hold the lever moving in an eccentric movement;

- pushed by the triceps of the lever in an eccentric movement; and finally

- retained by the triceps of the lever moving concentrically.

In addition, it is well known that the muscles, because of the asymmetry of the orientation of their fibers and their insertions, exert on the bones and their joints forces and / or simultaneous bidirectional or even multi-directional couples . Thus, almost all the muscles exert multi-directional stresses on the articular segments. However, it is established that during a muscular exercise developing bi-directional or even multidirectional efforts, the overactivation of the muscular activity can reach 15 to 25% of muscular motor units recruited in addition to a muscle exercise developing unidirectional efforts; the motor unit being defined as an assembly comprising a muscle fiber and a nerve fiber ensuring its control. In the context of the invention, bidirectional, multidirectional or pluridirectional terms express the possibility for a subject, a limb, or one or more joints, to be able to simultaneously or successively perform an effort according to several degrees of freedom, therefore according to several directions, as will be shown hereinafter in detail.

From the set of definitions indicated above, one can understand the wide variety of muscular exercises as well as the multitude of possible movements, hence the interest in multi-purpose muscle exercise equipment, in particular to ensure efforts or multi-directional movements, to work specific muscles or muscle chains without for example working the muscle or antagonistic muscle chains, to allow concentric and eccentric movements. It is also advantageous to have a joint exercise apparatus allowing articular mobilization during which the limb is moved without involving the patient's muscle, as well as active mobilization during which the effort of the patient's muscle is assisted.

Existing products in the field of rehabilitation and fitness use mainly to create a work effort on the member of the systems using weights (it is called pulley therapy device), or resistors with pneumatic systems (This is called a mechanotherapy device). These devices are usually heavy and bulky, not configurable, offering a reduced choice of movement for the member, difficult to assemble oneself and difficult to transport.

Such devices have the disadvantage of brutally solicit the members objects of the exercise. FIG. 1 represents a curve CO illustrating the variation of the force F as a function of the displacement D of the load, for a load up / down cycle of the load, in the specific case of a pulley-therapy apparatus: the first part P1 of the curve, located above the abscissa axis, corresponds to a tensile force in which the patient or user pulls to lift the load, and the second part P2 of the cou rbe, s itée below the abscissa axis, corresponding to a retaining force (or resistance) in which the patient retains the load he fired during the first phase. Figure 1 illustrates the three abrupt or discontinuous variations in the effort when:

- the detachment of the charge, before the first phase P1;

- the reversal of the direction of movement of said load, between the two phases P1 and P2, where the tensile force switches into a resistance force; - the laying of the load, after the second phase P2. These discontinuities are inevitable, non-adjustable and all the more important that the load to lift or hold is heavy. However, these sudden variations of effort generate important solicitations at the level of:

- tendons, which can lead in case of fatigue to problems of tendonitis; and

- joints, limiting the use of such devices for people with joint problems and still want to train the muscles of the member in question.

In addition, these sudden variations of effort strongly solicit the cardiac system, because the heart must respond to this sudden muscular effort. Thus people with heart failure, such as people with pacemaker, can not use these devices, or in a very limited way.

During the phase of the first phase P1 of displacement, the tensile force F of the machine remains during all the movement almost constant. During this first phase P1, it is observed that the breathing is adjusted substantially to the rhythm of the movements, which do not correspond to the normal rhythm of breathing. So this breathing will not allow a correct oxygen supply and the muscle will work in anaerobic way, in other words with a deficit in oxygenation. Such a deficiency of oxygenation of the muscles creates toxins that will have to be evacuated, to avoid aches, by stretching at the end of exercise and a greater hydration.

During this first phase P1, it is also observed a solicitation of all muscle fibers. As the effort F is constant throughout the first phase P1 of displacement of the load, all the fibers work. Such solicitation of all fibers can be detrimental to people with muscle contusions on certain fibers, so that training of this muscle can not be done with such exercise machine. For these people, only a specialist, such as a physiotherapist, can specifically work some muscles or muscle chains including varying the effort during movement. Similarly, these devices are not suitable for people with a tendon weakened and / or painful and can only work their member in a limited range of movement of the member in question. After towing the load during the first phase P1, it is then necessary to bring the latter back to the starting point during the second phase P2. The return of the load is therefore mandatory and the resistance force to be performed is equivalent to the traction force. All the above remarks relating to the first phase P1 are of course valid for the second phase P2.

These constant and repetitive efforts of traction and resistance will certainly exert efforts on the member in exercise, but will also solicit the muscles maintaining the posture of the patient. For example, in the case where the patient is seated and performs movements of a single arm, his bust will compensate for the imbalance caused by the forces exerted on the arm. As the exercise progresses, the patient will not compensate the same way each time and his posture may deviate, which can cause long-term muscle problems. In addition, the known musculoskeletal devices are generally not versatile or multifunctional in the sense that these devices have articulations specifically dedicated to the exercise of certain muscles or certain limbs or parts of limbs, such as the arm, the shoulder , elbow, wrist, thigh, ankle etc. The state of the art can also be illustrated by the teaching of documents FR 2 875 140 A1 and FR 2 619 723 A1. These documents disclose devices for training and rehabilitation of the lower limbs, and in particular the knee for the document FR 2 875 140 A1, which use rotating members. Such apparatus and system have the disadvantage of being bulky and difficult to transport, besides they are limited to the exercise of the lower limbs, or even only the exercise of the knee, using such a movable member in rotation.

It is also known so-called multi-purpose devices that can perform several functions successively, by adding two separate devices. However, these apparatuses can not perform simultaneous movements or bi-directional, multidirectional or multidirectional efforts in the sense that they do not make it possible to simultaneously achieve bi-directional or multidirectional movements or efforts. In the field of the rehabilitation of persons suffering from movement disorders, it is known from WO 2004/096501 to use an exercise apparatus comprising a piston movable inside a cylinder under the action of a hydraulic or pneumatic unit. Such an apparatus is however expensive and unsuitable for certain types of movement, in particular because of the inherent inertia of a displacement controlled by a hydraulic or pneumatic unit, it is known from this document WO 2004/096501 to use a Exercise apparatus of the robotic or force-retaining arm type requiring pneumatic, hydraulic or motorized control with torque motors. Such a device is however particularly complex and expensive, and it allows to work only in a predefined plan imposed by the device.

The document US 2007/0202992 A1 describes an exercise machine comprising a crank movable in rotation whose rotational displacement is enslaved around a stress setpoint curve. Such a device is bulky, difficult to transport, and unsuitable for certain types of movement due to the limitation of movement to a simple rotation of the crank.

Document US 2007/0299371 A1 discloses an exercise apparatus designed to guide a patient to perform a movement along a determined spatial trajectory. This apparatus comprises in particular a telescopic arm l im ité in terms of amplitude of the movement and is do n c for learning gestures on small amplitudes. This device is therefore not very suitable for joint rehabilitation which requires much greater amplitude possibilities. In addition, this telescopic arm is limited in terms of radial forces by its mechanical design. Indeed, this telescopic arm is poorly adapted to resume radial forces too strong, and thus limits the exercises to very low radial forces. This device is not suitable for muscle building exercises that require significant effort. The barycentre of this device varies significantly in operation, thus requiring particularly expensive compensation mechanisms, complex and cumbersome, namely servo mechanisms of the motors and the rudder brake.

In addition, the apparatus described in the document US 2007/0299371 A1 constitutes a solution with four degrees of mobility of which at least three are motorized which is particularly expensive and bulky, especially with a work table, and therefore limited to clinical or hospital type rehabilitation centers. The clutter of the work table also prevents work in space.

In the field of lower limb rehabilitation, the document US 2007/0066451 A1 discloses an exercise machine comprising a pedal movable under the action of the foot of the patient. With such an apparatus, the work is done in a non-parametrizable plane and according to a fixed trajectory within the same series of repetitions of the exercise, thus limiting its use to a very limited number of exercise. The present invention is intended in particular to solve all or part of the above-mentioned drawbacks, and proposes for this purpose a muscular and / or articular exercise apparatus adapted to the rehabilitation and / or the physical training of a part of the body, including an upper and / or lower limb of a user, said apparatus comprising: - a hollow body, open at one of its ends and having a bottom on the end opposite the open end;

- A movable member movable in translation within the body along a main axis and adapted to be moved by the body portion of the user and also to move said body part; a motor means disposed on the bottom of the body, connected to the movable member and adapted to move the movable member in both translation directions, and also to slow the movement of the movable member in both directions of movement; translation;

a means of cooperation between the body and a frame, this means of cooperation being arranged on the bottom of the body and comprising:

- At least one means of articulation of the body on the frame, said hinge means providing at least one degree of freedom in rotation for the body about an axis of rotation; and

- Removable means for mounting and dismounting the body, said removable means being designed for removably mounting said body on a support slidably mounted in the frame.

This device has the advantage of being lightweight and compact, transportable or portable, mainly comprising the hollow body, the motor means and the movable member. The bulk of such a device lies essentially in the bulk of the body, when the arm is retracted at least partially inside the body; the motor medium being advantageously fixed on the bottom of the body, inside or outside the body. Thus, this device is easily transportable by hand or in a car, allowing for example a therapist or a sports trainer to move with one or more devices according to the invention and to go to the home of his patients or clients to have them perform exercises on these devices.

The positioning of the motor means and the means of cooperation on the bottom of the body thus makes it possible to stabilize the center of gravity on the rear of the apparatus, and thus to shift the weight of the apparatus to the frame with the advantage of minimizing weight changes in operation, during exercises. Advantageously, the motor means is disposed in a housing integral with the crop, and the cooperation means is fixed on the housing in question, so that the cooperation means is disposed substantially between the removable means and the motor means. In addition, this apparatus is suitable for simultaneously carrying out bi-directional, multi-directional or multi-directional functions, allowing effort to be effected with several degrees of freedom. Indeed, the movable member provides a first degree of freedom vis-à-vis the body, and the means of articulation offers a mo i n s an additional degree of freedom. Thus, the device can be used in the rehabilitation (or fitness) of the majority of the patient's muscles.

In addition, the user can choose the work plan by adjusting the position of the body on the frame, thanks to the removable means for removable mounting of the body on a support which is adjustable in translation on a frame. By combining the mobility of the movable member in translation, the degree or degrees of rotational freedom achieved by the articulation means, and the possibility of adjusting the position (eg height or vertical position) of the apparatus a multitude of combinations and movements for the patient are possible, with the patient who can for example be in a lying posture, sitting or standing, and with the device (in other words the body of the device) which can be positioned horizontally, vertically or inclined. This device thus makes it possible to make the user work in a quasi-half space, of approximately - 90 ° to + 90 ° in horizontal and approximately - 90 ° to + 90 ° in vertical. This apparatus advantageously makes it possible to perform aerobic exercises. With this device, it is indeed possible to work with an effort during a part of the exercise and so avoid to copy its exhalation on the effort and to regulate its breathing on the exercise and thus its heart rate on the breathing. Respiration and heart rate are therefore decoupled from the effort. Gaseous exchanges (oxygen supply to the muscle) are therefore optimized, thus allowing exercises to be performed without a consequent need for prior cardiovascular heating. This device allows the practice of physical training and / or rehabilitation to populations unable to perform a warm-up beforehand. In addition, the toxins generated during the efforts are also drained out of the muscle more effectively, thus avoiding a consequent need for muscle stretching after the exercises, while avoiding the traumas of the following day such as body aches. This device therefore allows populations unable to perform a cardiovascular warm-up before exercise and / or stretching after exercise to practice this type of physical training and / or rehabilitation. Amongst the advantages, this apparatus makes it possible to work on a single chain of muscles without the antagonistic muscle chain being solicited under load in the exercise. Indeed, the device can provide energy, or resist energy, in a moving direction of the movable member and ensure a return to the initial position without the user having to develop effort. Such a work makes it possible to exercise a muscle or a muscular chain precisely without loading the muscles of the antagonistic chain, thus opening the practice of physical training and / or rehabilitation to people who have muscular trauma or problems of articulation, tendon or bone. This device can of course be programmed to solicit several muscles and also involve several chains of muscles during the same exercise. It is thus possible with this device to work antagonistic chains, for balancing, muscle development or time saving. The apparatus according to the invention may have two modes of operation:

- a motor or active mode in which the device generates a movement to which the user must resist. The energy is supplied by the motor means according to predefined setpoint curves, such as, for example, force or speed curves, and the user offers a resistant counterforce, thus enabling him to exert a part of these muscles. - A generator mode or resistant or passive, in which the device exerts against the movement made by the subject, which provides energy, pre-programmed against effort.

Advantageously, the hinge means is designed to provide two degrees of freedom in rotation about respectively two axes of rotation, in particular perpendicular to each other; one of the axes of rotation possibly coinciding with the main axis of translation.

For example, the articulation means comprises a first pivot connection along the main axis connected to a second pivot connection along a transverse axis perpendicular to the main axis.

Preferably, the or each articulation means further comprises at least one adjustable stop limiting the rotation of the body about at least one axis of rotation, so that said stop allows to define an adjustable angle range for the rotating said body about the corresponding axis of rotation.

By having such an adjustable stop, the hinge means makes it possible to limit the rotation of the body about the axis of rotation concerned and thus to define an angle range for the rotation about the corresponding axis of rotation, so as to limiting the movement of the user's body part within a certain corner sector, or even within a given freedom cone when two degrees of freedom in rotation are limited.

According to a possibility of the invention, the body supports at least one secondary motor means capable of rotating the body about an axis of rotation, said secondary motor means comprising at least one angle sensor around its axis of rotation. .

The or each angle sensor may be connected to a control means for controlling the or each secondary motor means so as to constrain the body part of the user to follow a defined path, said angle sensor being able to be associated a displacement sensor of the movable member to be able to locate the movable member in the space; the control means for performing a step of controlling the path of the movable member in space.

It is of course conceivable to have two secondary motor means connected to the control means and able to rotate the body around two respective axes of rotation; these axes being for example perpendicular to each other. Similarly, it is possible to have three secondary motor means connected to the control means and adapted to rotate the body about three respective axes of rotation. It is also possible to have at least one secondary motor means capable of rotating the body about an axis of rotation, as well as at least one other secondary motor means capable of driving the body in translation.

According to one characteristic, the apparatus has a connection means adapted to connect said part of the body of the user to said movable member so that the user can impose a displacement force on said movable member and vice versa. According to another feature, the connecting means corresponds to one of the means chosen from a spherical handle, a ball-and-socket handle, a pivoting handle, a strap, a gripping surface formed on one end of the movable member, and any other equivalent gripping means for both pulling and / or pushing the movable member. In general, the connecting means is adapted to the part of the body to be exerted, so that it is advantageous for the connecting means to be interchangeable. Thus, the connecting means is removably attached to the movable member to allow this interchangeability.

The apparatus makes it possible, in particular, to perform exercises on notably the lower and upper limbs, without, for example, exclusive use of one or the other member. Work exercises involving other parts of the body (pelvis, back, etc.) may also be performed with this apparatus, for example by means of a strap.

According to another characteristic, the motor means comprises: an engine provided for four quadrant operation;

- a reversible power supply of the motor; and

reversible conversion means of the output movement of the motor in a displacement in translation of the movable member.

Advantageously, the body internally supports guide means of the movable member to support the radial forces perpendicular to the main axis and guide said movable member in its translational movement.

Thus, the device can perform muscle building exercises that require significant effort. In a particular embodiment, these guiding means comprise: - several tie rods, preferably three tie rods, extending inside the body parallel to the main axis; and

- At least one slide slidably mounted on each of said tie rods and fixedly mounted on the movable member. With these tie rods, the guidance of the movable member is substantially isostatic, thus ensuring optimal recovery of radial forces and allowing the device to withstand substantial radial forces.

In this embodiment with tie rods, it is conceivable that the motor means comprises a rotary motor, a threaded shaft rotated by the motor and a nut forming part fixed on the movable member and provided with a threaded hole cooperating with the shaft. threaded, and that the nut piece is secured to the slide.

The body is for example of a length between 700 and 1500 mm, preferably between 1000 and 1200 mm. The movable member has for example a maximum travel distance of between 500 and 1000 mm, preferably between 700 and 800 mm.

In a particular embodiment, the apparatus further comprises display means adapted to perform a step of displaying the evolution of the main exercise parameter and / or of at least one setpoint parameter during the exercise so that to inform the user and / or a third person of the evolution of this or these characteristic parameters of the exercise performed by the user, said display means being in particular realized in the form of a screen or of a monitor or set of light-emitting diodes on or off the device.

This display makes it possible to follow in real time the work performed by the user, either for a third party practitioner or sports trainer anxious to control the exercise in progress, possibly to modify the exercise en route according to curves displayed by the display means.

Advantageously, the apparatus further comprises a transmission means adapted to perform a data transmission step reflecting the evolution of the main exercise parameter and / or at least one setpoint parameter during the exercise at destination. an external terminal, in particular of the telephone and / or computer terminal type, in order to inform a third party located at a distance from the user of the evolution of this or these parameters characteristic of the exercise performed by the user, said transmission means being in particular of the type wired transmission or wireless transmission.

Thus, a remote person (such as a practitioner or a sports trainer) can receive via a network a history of the exercise performed by the user, thus making it possible to follow the progress of the user session after session and possibly adapt the exercise to the user by modifying or replacing the setpoint curve and / or the complete exercise protocol. According to one characteristic, the apparatus further comprises at least one user guidance means adapted to generate a guidance signal, in particular of the visual, tactile or audible signal type, intended for the user and intended to guide the user. user in particular in terms of:

- effort or speed to develop to move the movable member or to slow the movement of the movable member;

- time or number of cycles remaining for the exercise or for the corresponding exercise phase.

This guidance means thus allows the user to be guided in his exercises in a visual way (with for example a screen positioned in front of him) and / or in a sound manner (with for example a loudspeaker which emits prerecorded sentences) , with the issue of written or spoken sentences of the informative type (such as "you have five minutes left" or "go slower") or type intended to encourage the user (such as "you will beat your record "). The device is for example equipped with integrated man-machine interfaces (such as a screen, a keyboard, a speech synthesizer, a microphone, etc.) and communication devices (such as a touch screen, a computer, etc. .) that allow entry or recording of setpoint curves and data transfer before and after exercise. It also provides the user and his immediate or distant entourage with sound, visual and graphical data in real time during the exercises.

The invention also relates to a muscular and / or articular exercise device adapted to the rehabilitation and / or physical training of a part of the body, in particular an upper and / or lower limb, of a user, said device comprising : an exercise apparatus according to any one of the preceding claims; and

a frame in which a support is slidably mounted; wherein the body is removably mounted on said support, via the removable means, so as to allow the adjustment of the position of the apparatus by adjusting the position of the support on the frame.

Such a device is particularly advantageous because the combination of such a frame and such an apparatus allows to choose his work plan from an infinity of solutions. Indeed, this device allow work in a complete half space, limited by the frame that supports the support.

The apparatus and device according to the invention allow the work of the upper limbs, lower limbs and also the trunk (work spine) with a single equipment.

The invention also relates to a method of using an exercise machine according to the invention, comprising the following steps:

- removably mounting the body of the apparatus on a support slidably mounted in a frame;

- adjusting the position of the device by adjusting the position of the support on the frame. According to a possibility of the invention, this method of use further comprises a method of controlling the apparatus comprising the following steps: a) recording or input of at least one setpoint curve corresponding to a predefined variation of a predetermined main exercise parameter as a function of a state parameter such as the time or displacement of the movable member, said exercise parameter being representative of the displacement force imposed by the movable member to said part the body or conversely and in particular chosen from the force developed by the user on the movable member to move or brake the movable member, the torque or the force developed by the motor means for moving or braking the movable member, the speed moving the movable member and accelerating the displacement of the movable member; b) acquisition of an actual curve corresponding to the variation of the main exercise parameter measured during the exercise as a function of the state parameter; c) control of the motor means to enslave the actual curve around the setpoint curve during exercise, said motor means being controlled to move and / or brake the movable member in a translational movement.

This method thus controls in slaving a movable member moved or braked in translation, thus making it possible to perform linear movements according to a predefined setpoint curve. The enslavement aims essentially at the fact that the real curve is getting closer, with a certain tolerance, to the setpoint curve; said setpoint curve corresponding to an objective to be achieved by the user, during the exercise, in terms of effort during movement of the movable member. The movable member is able to push and pull the member, and also to withstand a force exerted by the body of the user on the movable member in both directions of movement; during a cycle (movement with return to the starting point) the main exercise parameter may vary depending on the setting. The programming of the effort thus makes it possible to have a multifunctional device, the same method (or device) that can be used for, for example, all the members of the user, lower and upper, and other parts of the body (hip , basin, etc.). In addition, the programming of the effort offers many physiological advantages for the user: the set-point curves (as for example curves of effort or velocity according to the displacement of the mobile organ) are entirely programmable or parameterizable by the user or by a practitioner, such as a physiotherapist, or by a sports trainer.

Thus, as mentioned later, the programming of the effort will allow for example:

- work in aerobic;

- Avoid sudden changes of effort during exercise, thus eliminating sudden stresses for the tendons, joints, and heart;

- work on desired muscles or muscle chains, targeting the effort for one or a few chosen muscle chain, the others not being asked to remain at rest;

- to work two very distinct chains of muscles in the same movement.

With this control method and the associated apparatus according to the invention, it is possible to perform exercises in static and dynamic. Among the main parameters of exercise (as for example the effort and the speed) and the state parameters (such as the time and the displacement of the movable member), each can, alone or in combination with another parameter, be programmed or neutralized within a exercise. In the particular case where the displacement is fixed to a predefined value (in other words the case where the position of the movable member is fixed), the exercise corresponds to a static work because the user will exert an effort, or will resist a effort, so that the point of contact of his body and the movable organ will remain motionless in space. In other cases, the exercises correspond to work in dynamics with a displacement of the movable member vis-à-vis the body of the user.

In an advantageous embodiment, the control method further comprises the following steps: d) measuring during the exercise of at least one setpoint parameter chosen from: a secondary exercise parameter distinct from the main exercise parameter, said secondary exercise parameter being representative of the displacement force imposed by the movable member to said body part or vice versa and in particular selected from the force developed by the user on the movable member to move or brake the movable member , the torque or force developed by the motor means for moving or braking the movable member, the moving speed of the movable member, and the acceleration of the displacement of the movable member; and or

a physiological parameter representative of the physiological state of the subject and chosen in particular from the electromyographic activity, the respiratory rate, the heart rate, the temperature of the user, the oxygen level in the blood, the blood pressure, and sweating and or

a parameter of duration representative of the duration of the exercise and chosen in particular from the duration of the exercise, the number of movement cycle performed by the mobile device, the time required for the user to make one or more displacements predetermined ones of the movable member; and or

an environment parameter representative of the external environment in which the user performs the exercise and chosen in particular from the external ambient temperature, the external humidity level, the external ambient pressure; e) comparison during the exercise of the at least one setpoint parameter with at least one predefined threshold value, in particular of the minimum threshold value or maximum threshold value type, said comparison being able to be performed in particular over a predetermined period of time and / or on a predetermined portion of the displacement of the movable member; f) modification or replacement of the setpoint curve if, during step e), at least one setpoint parameter is higher or lower than the corresponding threshold value, before taking steps b) to e) with the curve of set as modified or replaced to adapt the exercise to the user according to a predefined exercise protocol according to the evolution of at least one setpoint parameter.

Thus, the exercise can change along the way, with for example different series of successive work cycles (each series being associated with a very specific setpoint curve), for example: - adapting to the user ( who can tire and wish to reduce the effort or on the contrary wish to increase the effort); and or

- work different muscles or muscle chains during the same exercise; and or

- to make work different articulations during the same exercise; - Perform isometric, isokinetic or isotonic weight training exercises.

In this case, the control method makes it possible to modify the exercise (by modifying or replacing the setpoint curve) or to stop the exercise in case, for example, of fatigue or of user failure; we then speak of a process (or device) of self-adaptive exercise because the exercise automatically adapts itself to the user according to a protocol or a preset parameterization.

To have an adaptation of the exercise to the user and that the apparatus can carry out steps d) to f) of the control method, this apparatus can comprise:

storage or input means adapted to record or enter the at least one setpoint curve during step a) of the method;

at least one first measurement means of the first main exercise parameter and at least one second means for measuring the state parameter; at least a third means for measuring the at least one setpoint parameter in order to perform step d) of the method; and control means connected to the first and second measuring means, to the motor means and to the storage or gripping means, said control means being designed for:

acquiring the real curve from the measurements made by the first and second measuring means in order to carry out step b) of the method;

- control the motor means to perform step d) of the method;

- Perform the step e) comparison; and

- Perform step f) of changing or replacing the setpoint curve. In a first example, the setpoint curve or curves can be curves of effort (or counter-force) as a function of the displacement of the movable member or time. In this case, the servocontrol of the motor means ensures the respect of the main parameter of effort, or counter-force, and the speed of the movable member is a resultant taken into account to ensure a range of operation or to view or save the data; the speed being here a predetermined setpoint parameter.

In a second example, the setpoint curve or curves may be velocity curves of the movable member as a function of the displacement of the movable member or time. In this case, the motor means ensures compliance with the main speed parameter, and the effort is a consequence whose measurement ensures a range of operation and can be displayed or recorded; the force here being a predetermined setpoint parameter.

According to one characteristic, the control method comprises a step of receiving at least one instruction issued by the user or a third party, and a step of modifying or changing the setpoint curve according to said instruction in order to modify the current year or replace the current year with another year.

This step of modifying or replacing the setpoint curve is of the same type as step f) described above; the only difference being the origin (or starting point) of the step, namely the reception of a setpoint sent by an individual in this case and a variation of a setpoint parameter in the case of step f ). It is of course conceivable that these two steps are carried out in parallel. Thus, a practitioner, such as a physiotherapist, or a sports trainer can intervene on the exercise by forcing the control means to modify the exercise, the goal being for example to adapt the exercise according to the user placed under the observation of the practitioner or the sports trainer. Likewise, the user can modify the exercise himself on the road according to his physical impressions of the current exercise. The apparatus may thus comprise means for receiving an instruction adapted to perform the reception step in accordance with the control method.

The user as well as the therapist or sports trainer can thus intervene in real time during an exercise to modify one or more parameters, such as, for example, the effort or the speed as the main parameter of exercise. The user therefore completely controls his exercises and can adapt them voluntarily within a unitary movement to accelerate, increase the force, add iterations or time, lengthen or shorten a movement (ie say increase or decrease the amplitude of a translational movement of the movable member) and see the modification taken into account in real time.

Preferably, an exercise protocol defines several successive exercise phases:

a first phase during which: i) steps b) and c) are performed with a first setpoint curve

(Cc10), during a determined number of cycles of displacement of the movable member (3) or for a predetermined duration; ii) steps d) and e) are performed during step i) with a determined setpoint parameter (P _c ); iii) step f) is performed once the determined number of movement cycle has been performed by the movable member (3) or the predetermined time has elapsed, replacing the first setpoint curve (C _c 10) by a second setpoint curve (C _c 20) or by modifying the first setpoint curve (Cc1 0) in order to define a second setpoint curve (C _c 20), and provided that the setpoint parameter (Pc) is less than or greater than a specified threshold value;

a second phase following the first phase during which: iv) steps b) and c) are performed with the second setpoint curve (C _c 20) during a determined number of movement cycles of the movable member ( 3); v) steps d) and e) are performed during step iv) with one or more setpoint parameters (P _c ) determined; vi) step f) is carried out during steps iv) and v) if one of the setpoint parameters (P _c ) studied during step v) is greater than or less than a determined threshold value, replacing the second setpoint curve (C _c 20) by another setpoint curve or by modifying said second setpoint curve (Cc20).

Thus, this exercise protocol allows to exercise the user's body part with at least two predetermined distinct phases; these phases being characterized in particular by the associated setpoint curves which have been recorded or entered by possibly a practitioner, such as a physiotherapist, or a sports trainer, depending on the pathology to be treated and / or training adapted to the 'user.

A drive may thus consist of a programmed movement according to a given setpoint curve, itself repeated according to a defined number of iteration (or cycle). Some parameters of this initial exercise may change depending on one or more selected setpoint parameters. Several exercises of different types can be combined within the same exercise protocol; the complete exercise protocol that can be represented in a control algorithm. The conditions of linking from one exercise to another exercise and the number of exercise cycles may depend on the predetermined setpoint parameter (s).

In a particular embodiment, an exercise protocol defines at least one exercise phase during which, during a determined number of movement cycles, the motor means is controlled for, at each cycle:

- Operate the user in a single direction of translation of the movable member, said working direction, between an initial position and a final position with a servo around a predefined setpoint curve; and - automatically move the movable member in the direction of translation opposite to the working direction, to the initial position, in order not to make the user work in this direction of translation; steps b) to f) possibly being performed during this phase of the exercise. With such an exercise protocol, the user works his part of the body in a single direction of translation, thus making it possible to work a very specific muscle chain, without making the antagonist muscle chain work. Such a protocol may also be intended to make more specifically work a joint of an upper or lower limb. In a particularly advantageous embodiment, the setpoint curve (as recorded or entered or possibly as replaced or modified) corresponds to the predefined variation of the predetermined main exercise parameter as a function of the displacement of the movable member, said variation effected only within a predetermined range of movement between a predetermined minimum value and a predetermined maximum value of the displacement.

With such a setpoint curve, an exercise protocol defines an exercise phase during which the motor means is controlled to move the movable member according to a predefined setpoint curve only within a range of displacement. selected from the movable member. In this phase, the movable member does not move over its entire stroke (that is to say between the retracted position and the deployed position), but moves on a reduced stroke, typically between two intermediate positions associated with corresponding minimum and maximum values. Thus, it is possible to limit the displacement of the body part of the user between two terminals selected in particular according to the muscles and / or joints that one wishes to work or not and also according to the pathologies presented by the patient. user, In a first example of exercise, it is possible with this exercise protocol to make a succession of small rapid movements of a user member, that is to say movements on a race low amplitude relative to the total stroke of the movable member, in order to work the muscle tone. In a second example of exercise, it is possible to work a joint (such as those of the knee, elbow, shoulder, etc.) within a predetermined angular sector; the angular sector being defined from the minimum and maximum values of the displacement of the movable member.

Advantageously, the control method comprises a step of locating the movable member in space, and a step of controlling the position of the mobile member in the space in order to constrain the user to follow, with the mobile organ, a trajectory delimited in space during the exercise. Thus, the control method and the associated apparatus make it possible to control the motor means and the secondary motor means or means in order to control the movement of the movable member around a predefined path, allowing work in the space of the part of the user's body (usually an upper or lower limb), with the advantage of working specific muscle chains, according to a program or exercise protocol chosen.

Other features and advantages of the present invention will appear on reading the following detailed description of several nonlimiting exemplary embodiments, with reference to the appended figures in which:

FIG. 1 represents a curve CO illustrating the variation of the force F as a function of the displacement D of the load, for a load raising / lowering cycle of the load, in the case of a known pulley-therapy apparatus;

FIG. 2 diagrammatically represents an apparatus according to the invention;

FIGS. 3a to 3c are respectively rear, front and side views of an apparatus according to the invention with a movable member in the retracted position, and FIG. 3d is a back view of this apparatus with the movable member in the deployed position;

FIGS. 4a and 4b are respectively front and side views of the inside of an apparatus according to the invention illustrating a motor means according to a first embodiment; - Figure 5 is a side view of the interior of an apparatus according to the invention illustrating a motor means according to a second embodiment;

FIGS. 6a and 6b are respectively front and side views of the interior of an apparatus according to the invention illustrating a motor means according to a third embodiment;

FIGS. 7a and 7b are respectively front and side views of the interior of an apparatus according to the invention illustrating a motor means according to a fourth embodiment;

- Figure 8 is a partial perspective view of a motor means according to a fifth embodiment; - Figure 9 schematically illustrates an apparatus according to the invention engaged with a guide rail integral with a frame;

- Figure 1 0 schematically illustrates an apparatus according to the invention in connection with a frame and free moving within a predefined cone section;

- Figure 11 shows schematically the different connections of an apparatus according to the invention;

- Figures 12 and 13 are schematic views of an apparatus according to the invention provided with secondary motor means; - Figures 14 and 15 are schematic views of an apparatus according to the invention provided with secondary motor means respectively according to a first and a second embodiment;

FIG. 16 diagrammatically illustrates the four operating quadrants of a motor means equipping an apparatus according to the invention;

FIGS. 17 and 18 represent respectively a first Cc1 and a second Cc2 setpoint curves in effort for an apparatus according to the invention;

FIG. 19 represents both a third setpoint curve Cc3 in effort with three distinct phases, and the movements of an upper limb associated with each phase of the curve Cc3;

FIG. 20 represents a fourth setpoint curve C _C 4 in effort;

FIG. 21 represents a fifth setpoint curve Cc5 in effort for a round trip movement of the movable member;

- Figures 22 and 23 show respectively a sixth Cc6 and a seventh Cc7 speed reference curves for an apparatus according to the invention;

- Figures 24 to 27 show different functional diagrams of an apparatus according to the invention comprising a motor means according to different embodiments;

- Figures 28 to 30 show different functional diagrams of an apparatus according to the invention;

- Figure 31 shows a block diagram of the control device of an apparatus according to the invention and the various means in connection with this control member; FIG. 32 illustrates an exemplary protocol or exercise strategy for an apparatus according to the invention;

FIG. 33 illustrates a model for defining a protocol or an exercise strategy for an apparatus according to the invention; - Figure 34 schematically illustrates a user using an apparatus according to the invention and trying to follow a path defined in space;

- Figure 35 shows a reference curve C _c associated with the exercise performed by the user shown in Figure 34; FIG. 36 schematically illustrates the user of FIG. 34 attempting to remain within a tolerance zone surrounding the delimited trajectory;

FIG. 37 schematically illustrates, on the one hand, the user of FIG. 34 attempting to remain within the tolerance zone under the constraint of the motor means and / or secondary motor means of the apparatus, and on the other hand, an enlarged section of the zone of tolerance;

FIGS. 38 to 45 each illustrate a user of an apparatus according to the invention in two situations in which the movable member is in retracted and deployed position respectively, with each corresponding figure a separate exercise on a given member of the user. ;

- Figures 46 and 47 each illustrate a user of an apparatus according to the invention with a third person such as a therapist or a sports trainer;

FIGS. 46a and 46b are diagrammatic perspective and side views, respectively, of an exercise device according to the invention comprising an apparatus according to the invention removably mounted on a frame;

FIG. 48 is a schematic perspective view of the apparatus illustrated in FIGS. 46a and 46b, without its means of cooperation; - Figure 48a is a schematic vertical longitudinal sectional view of the device shown in Figures 46a and 46b;

- Figures 49a and 49b are schematic views in longitudinal section, respectively vertical and horizontal, of the apparatus shown in Figures 46a and 46b, with its cooperation means; FIG. 50 is a schematic perspective view of the handle forming a connecting means of the apparatus illustrated in FIGS. 46a and 46b; - Figure 51 is a schematic perspective view of the cooperation means of the apparatus shown in Figures 46a and 46b;

- Figures 52a and 52b are schematic views in longitudinal section, respectively horizontal and vertical, of the cooperation means illustrated in Figure 51.

The following description of the invention mainly comprises three parts, with:

a first part dedicated specifically to the exercise machine according to the invention and its structural characteristics; a second part relating more specifically to the control method according to the invention; and

a third part devoted to the use of the apparatus and the method according to the invention.

The first part of the description relating to the structure of the apparatus according to the invention is made below.

The invention relates to an exercise apparatus 1 adapted to the rehabilitation and / or physical training of a body part of a user, such as an upper limb and / or lower. This apparatus 1 is adapted to work the upper and lower limbs of the user, as well as other parts of the body such as the hips or the pelvis. In addition, this apparatus 1 is also designed to perform muscle and joint exercises of the member in question.

With reference to FIGS. 2 and 3, this apparatus 1 comprises:

a hollow body 2, open at one of its ends 20 and extending along a principal axis A;

- A movable member 3, said arm for the rest of the description, movable in translation inside the body 2 along the main axis A and through the open end 20 of said body 2, said arm 3 being movable between a position retracted illustrated in Figures 3a to 3c and an extended position illustrated in Figure 3d;

a connecting means 4 adapted to connect a portion of the user's limb to said arm 3 so that said limb can impose a displacement force on said arm 3 and vice versa, in other words so that the limb can pull and push the arm 3 and that the arm 3 can pull and push the member; a motor means 5 fixed to the body 2 and connected to said arm 3, said motor means 5 being adapted for, on the one hand, in a driving mode, to cause the arm 3 to move in both translation directions, and for secondly, in a braking mode, braking the movement of the arm 3 in both directions of translation.

The body 2 is an elongated body along the main axis A which has the open end 20 and a bottom 21 on the end opposite to the open end 20. Without limitation, the body 2 is made from two half-shells assembled together; these two half-shells being for example made by molding a plastic material or by deformation of a metal sheet. The body 2 delimits internally an elongate cavity 22.

The body 2 supports a means of cooperation 6 between the body 2 and a frame, such as for example a gantry, a wall or the floor or any other fixed element. This cooperation means 6 is disposed on the bottom 21 at the other end of the body 2 opposite to the open end 20.

As can be seen in FIG. 2, the cooperation means 6 comprises a hinge means 60 offering two degrees of rotation for the body 2 around respectively two axes of rotation perpendicular to one another, one of the axes rotation means coinciding with the main axis A of the body 2. This articulation means 60 comprises for example a first pivot connection 61 along the main axis A connected to a second pivot connection 62 along a transverse axis perpendicular to the main axis A. As described later, this articulation means 60 offers the arm 3 two degrees of rotation in addition to the degree of freedom in translation, thus allowing the arm 3 to be oriented in the space inside a cone. of freedom.

As illustrated in FIG. 10, it is conceivable to partially limit certain degrees of freedom of rotation by providing one or two stops per degree of freedom, each stop limiting the rotation of said body 2 around the corresponding axis of rotation, in other words closing the angles of rotation of the degrees of freedom. Thus, the arm 3 is steerable in space within a cone portion CO defined by angular sectors. It is therefore possible to provide:

- stops to limit the rotation of the first pivot link 61 about the main axis A on an angular sector SA1; and - stops for limiting the rotation of the second pivot link 62 about an axis perpendicular to the main axis A on an angular sector SA2. These two corner sectors SA1 and SA2 thus define a cone portion CO of freedom for the arm 3. Preferably, the stops are adjustable or positionable, automatically or manually, in order to adjust the angular sectors SA1 and SA2 on a range between 0 and 360 °.

It is also conceivable that the articulation means 60 offers more than two degrees of freedom (for example three) by providing more than two pivot links; the number of pivot links and the orientation of the respective axes of rotation contributing to delimit a space within which the user can move the arm 3.

With two abutments pivot connection, it is possible to play on the position of said stops to define a corridor (more or less narrow depending on the relative position of the stops) within which the user can move the arm 3. In this way , the user can follow a trajectory in space while remaining in the corridor defined between the different stops.

With regard to the stops, the latter can be provided with a security system so that, beyond a predetermined force printed by the user on an abutment, the corresponding security system is triggered by releasing the stop, c ' that is to say, leaving the user out of the angular limitation defined by the abutment in question. Such a security system is advantageously designed to return to the initial position, that is to say that it is possible to reset the security system (after release) so that the stop finds its primary function of angularly locking the pivot connection corresponding. Such a hinge means 60 is also schematically illustrated in FIG. 11, where the cooperation means 6 further comprises a removable means 63 for mounting and dismounting on a support, such as for example a support (not illustrated) mounted on sliding and adjustably in frame B, in order to connect the hinge means 60 to the frame B via said removable means 63 and to be able to adjust the position (vertical or horizontal) of the apparatus 1 by adjusting the position of this support in the frame B.

The detachable means 63 is fixed on the movable support and is for example made in the form of a clipping means, removable collapse, screwing, suction cup or any other equivalent means. It is thus possible to fix the body 2 of the apparatus 1 in a removable manner on the mobile support via this removable means 63, in order to be able to assemble and dismount easily and quickly the apparatus 1 on the frame B. In a variant not shown, the hinge means 60 and the removable means 63 are reversed in position, that is to say that the removable means 63 is fixed directly on the body 2 while the hinge means 60 is fixed directly to the movable support in the frame B.

As illustrated in FIG. 9, the cooperation means 6 are slidably mounted in a support (not visible) guided in translation in a rail R fixed on the frame B (wall and / or ground) in order to adjust the position of the apparatus 1 vis-à-vis the frame B in particular depending on the morphology of the user and / or the exercise to be performed and / or the member to exercise. Thus, it is conceivable that the removable means 63 allow mounting and disassembly on the carrier, the carriage type, slidably mounted in the rail R integral with the frame B.

A muscular and / or articular exercise device according to the invention comprises: - an exercise apparatus 1 according to the invention; and

a frame B in which a support is slidably mounted; where the body 2 of the apparatus 1 is removably mounted on this support, via the removable means 63, so as to allow the adjustment of the position of the apparatus 1 by adjusting the position of the support on the frame B. alternatively, the cooperation means 6 can be fixed on a heavy mass, of the cast type, or on a gyroscopic inertial mass, and not directly on a frame. Once the exercise is completed, the device 1 can be detached from its support (frame, heavy mass, trolley, rail or gantry) and then be stored or transported. It is also conceivable to motorize the movement of the apparatus 1 on the rail R to ensure automatic positioning of the apparatus 1 in the rail R.

The articulation means 6 may also be in the form of a single ball joint having three degrees of freedom in rotation. In FIGS. 3 to 7, the cooperation means 6 is made in the form of a spherical piece or a point link. This spherical piece can come into specific support against a flat surface, such as a wall or the floor, thereby providing three degrees of rotation to the device 1. This spherical piece can also engage inside a spherical cage fixed to a frame, thus providing a pivot connection with three degrees of freedom in rotation for the apparatus 1. The arm 3 is an elongate member slidably mounted inside the body 2. The body 2 internally supports means for guiding the arm 3 in order to support the radial forces perpendicular to the main axis A and to guide the arm 3 in its translational movement. For example, the guiding means comprise rails fixed on the body 2, in the cavity 22, where a carriage integral with the arm 3 slides.

To allow exercises for both the lower and upper limbs and for reasons of compactness, the body 2 has a length of between 700 and 1500 mm, advantageously between 1000 and 1200 mm. For the same reasons, the arm 3 has a maximum travel distance of between 500 and 1000 mm, preferably between 700 and 800 mm.

The arm 3 has two opposite ends, namely:

- A first end 31 said free end and on which the connecting means 4 is arranged so that the user can move the arm 3 in both directions and also so that the arm 3 can move the member the user; and

- A second end 32 in connection with the motor means 5 so that the motor means can move the arm 3 in both directions and also so that the movement of the arm 3 can be braked by the motor means 5.

In a variant not shown, the movable member is in the form of a telescopic arm.

The connecting means 4 is adapted so that the body part of the user can: - both pull and push the arm 3, pulling the arm 3 consisting in moving the arm 3 from the retracted position to the position deployed, and pushing the arm of moving the arm 3 from the deployed position to the retracted position; and or

- At the same time be pulled and be pushed by the arm 3. The connecting means 4 can take different forms depending in particular on the part of the body to exercise, such as:

a gripping means for a hand, such as for example a spherical handle (illustrated in FIGS. 3 to 7), an articulated handle of the type, in particular a ball-and-socket handle with several degrees of freedom in rotation, or a pivoting handle offering a single degree of freedom in rotation, or a hand-forming surface provided on the first end 31 of the arm 3; a strap or a fastener for attaching the arm 3 around a part of the user's body, such as for example a strap which passes around a limb (for example at the level of the knee, the ankle, the thigh one leg or wrist, elbow, shoulder of the arm) or other part of the body (around the pelvis, hip, back etc.) of the user.

It is thus conceivable to have several connecting means 4 in accessory of the apparatus 1 to make the connection between the arm 3 and the different parts of the body of the user; said connecting means 4 being adapted to the part of the body (limb or other) to be exerted, such as for example the elbow, the knee, the hand, the ankle etc. Thus, the connecting means 4 are removably attached to the arm 3 to be able to assemble, disassemble, interchange and replace each other.

In a first embodiment of the motor means 5 illustrated in FIG. 24, hereinafter referred to as the "four-quadrant reversible" embodiment, said motor means 5 comprises:

a rotary motor 50 said to be reversible and provided for four-quadrant operation; and

- Conversion means 51 reversible rotational movement of the rotary motor 50 in translation displacement of the arm 3, said conversion means 51 thus allowing the transmission of movement between the output of the motor 50 and the arm 3 and vice versa in both direction of translation of the arm 3.

The reversible rotary motor 50 operates in four quadrants, i.e. it can operate both: - in a drive mode, otherwise called motor mode, where the motor

50 drives the arm 3 in translation in one or the other direction of translation; and

- In a braking mode, otherwise called regeneration mode or generator mode, where the motor 50 brakes the movement of the arm 3 in one or the other direction of translation. This four-quadrant operation is illustrated in FIG. 16 where the four quadrants are schematized on a graph with the motor torque CM on the abscissa and the angular velocity VA on the output side of the motor:

the first quadrant Q1 corresponds to a motor mode in which the speed at the output of the motor and the direction of the engine torque have the same direction of rotation (here a clockwise direction) and where the motor 50 drives the arm 3 in translation in a first direction of translation, said positive sense corresponding to a displacement from the retracted position to the deployed position, while the user does not resist this movement or even supports it by pulling on the arm 3;

the second quadrant Q2 corresponds to a braking mode in which the speed at the output of the motor and the direction of the motor torque have opposite directions of rotation, respectively a counterclockwise and a clockwise direction, and where the arm 3 is moved by the user in the positive direction of translation, that is to say pulled by the user, while the motor 50 brakes this movement;

the third quadrant Q3 corresponds to a motor mode in which the speed at the output of the motor and the direction of the engine torque have the same direction of rotation (in this case a counterclockwise direction opposite to the clockwise direction) and where the motor 50 drives the arm 3 in translation in a second direction of translation, said negative direction opposite to the positive direction and corresponding to a displacement of the deployed position to the retracted position, while the user does not resist this movement or even supports it by pushing on the arm; the fourth quadrant Q4 corresponds to a braking mode in which the output speed of the motor and the direction of the motor torque have opposite directions of rotation, respectively a clockwise and a counterclockwise direction, and where the arm 3 is moved by the user in the negative direction of translation, that is to say pushed by the user, while the motor 50 brakes this movement. In this "reversible four quadrant" embodiment of the motor means 5, the motor means 5 optionally comprises a speed variator 52 for the motor 150; said drive 52 being of the reversible electric type with an equally reversible power supply connected to the sector S. In fact, the power supply 52 must be reversible in voltage and current so that, in braking mode of the motor 50, the energy can be either dissipated is sent back to the power grid. The motor 50 is then connected to the arm 3 via the conversion means 51 reversible.

When the electric reversible motor 50 operates in braking mode, that is to say when the motor 50 must exert on the arm 3 a force opposite to the direction of movement of the arm 3, the motor 50 manufactures (or generates) current electric. This electric power thus generated by the motor 50 is for example dissipated in the form of heat through a load or variable resistor 53 visible in FIG. 25. Without power supply, the braking does not work and therefore the arm 3 can move freely under the effect of its own weight. In a second embodiment of the motor means 5 illustrated in FIG. 25, hereinafter referred to as the "two-quadrant reversible" embodiment, said motor means 5 comprises:

a rotary motor 150 provided for two quadrant operation; a speed variator 152 for the motor 150, electrically connected to the sector S; and

- Conversion means 151 reversible rotational movement of the rotary motor 150.

The motor 150 operates only in the two quadrants Q1 and Q3 described above.

In this "reversible two-quadrant" embodiment of the motor means 5, the generator mode is no longer used with respect to the "four-quadrant reversible" embodiment, the braking is carried out by creating a resistive torque in the motor 150. The principle is thus to create a torque (or a force) which opposes the displacement of the motor 150 to rotate in order to slow down the movement.

In a third embodiment of the motor means 5 illustrated in FIG. 26, hereinafter referred to as the "irreversible embodiment with mechanical friction in the conversion", said motor means 5 comprises: a non-reversible rotary motor 250 intended for operation only in motor mode and to move forward and backward without internal braking mode to the engine 250;

a speed variator 252 for the motor 250, electrically connected to the sector S; and irreversible conversion means 251 for the rotational movement of the rotary motor 250 and provided with mechanical friction braking means.

In this embodiment "irreversible with mechanical friction in the conversion" of the motor means 5, the motor 250 operates all the time in motor mode and the conversion means 251 are not reversible. If an effort is exerted on the arm 3, the mechanical conversion means 251 will automatically block the displacement of the arm 3 due to this effort by the internal mechanical friction of the conversion means 251, as schematically illustrated by the arrow RM translating the internal mechanical resistance by friction of the conversion means 251. In the case where the motor means 5 must create a force to move the arm 3, the motor 250 must provide, in addition to the effort required to move the arm 3, an additional effort necessary to overcome the internal mechanical friction of the conversion means 251. In the case where the motor means 5 must oppose a movement of the arm 3, the engine 250 will eventually operate in engine mode to accompany the external force applied to the arm 3. Without power supply, the arm 3 is locked in position due to internal friction of the conversion means 251.

In a fourth embodiment of the motor means 5 illustrated in FIG. 27, called for the irreversible realisation with mechanical brake, said motor means 5 comprises:

a non-reversible rotary motor 350 provided for operation only in engine mode and for moving forward and backward without an internal braking mode to the engine 350;

a speed changer 352 for the motor 350, electrically connected to the sector S;

irreversible conversion means 351 for the rotational movement of the rotary motor 350; and

a mechanical brake 354 arranged in parallel with the motor 350 and designed to slow down the movement of the arm 3. In this "irreversible with mechanical brake" embodiment of the motor means 5, the motor 350 operates all the time in motor mode and the conversion means 351 are not reversible. In the case where the motor means 5 is to slow the movement of the arm 3, the motor 350 is not electrically powered and the mechanical brake 354 is in charge of creating a counter-force which opposes the displacement of the arm 3.

The motors 50, 150, 250, 350 may for example be made in the form of one of the following types of electric motor:

- DC motor ;

- universal motor; - Synchronous motor type permanent magnet motor said brushless motor or brushless motor, variable reluctance motor, stepper motor, hybrid motor or hysteresis motor;

asynchronous motors of the three-phase cage motor type, single-phase motor or stepper motor; - piezoelectric motor;

- DC servomotors; - asynchronous servomotors;

- servomotor with permanent magnets called "brushless" (AC and DC).

FIGS. 4 to 8 illustrate different embodiments of the motor means 5 of the "four-quadrant reversible" type adapted to translate the arm 3 in translation and to brake the movement of this same arm 3. As can be seen in FIGS. 4 to 7, the arm 3 is an elongated hollow piece, open at its second end 32 and guided in translation in the body 2 via guide pads 23 fixed in the body 2 and surrounding the arm 3. The conversion means 51 extend in part to inside the arm 3. In the first embodiment illustrated in FIGS. 4a and 4b, the conversion means 51 comprise:

a belt 510 rotatably connected on the one hand to the rotary motor shaft 500 of the motor 50 and on the other hand to a pulley 511 fixed on a support 24 integral with the body 2, said support 24 extending over a portion of the length of the body 2 inside the arm 3 and said belt 510 passing through said support 24;

a toothed wheel 512 integral in rotation with the pulley 511 and fixed on the support 24; and

- A rack 513 meshing with the toothed wheel 512 and fixed on the arm 3. Thus, the rotation of the motor shaft 500 rotates the pulley

512 via the belt 510, and said pulley 511 drives in rotation the toothed wheel 512 which, by turning, translational moves the arm 3 via the rack 513. In this embodiment, the motor shaft 500 extends along an axis perpendicular to the main axis A. As illustrated, the motor 50 optionally exceeds the body 2 via a suitable opening in said body 2.

In the second embodiment illustrated in FIG. 5, the conversion means 51 comprise:

a threaded shaft 514 (for example of the ball screw type) rotated by the motor 50, thereby constituting the output shaft of said motor 50 and passing through the second end 32 of the arm 3 via a bearing 515; and

a piece forming a nut 516 fixed on the arm 3 and provided with a threaded orifice cooperating with the threaded shaft 514.

Thus, the threaded shaft 514 and the nut piece 516 together form a screw / nut system for converting a rotational movement into translation movement: the rotation of the threaded shaft 514 causes the translation of the nut member 516 which drives in translation the arm 3. In this embodiment, the threaded shaft 514 extends along the main axis A.

In the third embodiment illustrated in FIGS. 6a and 6b, the conversion means 51 comprise: a belt 517 rotatably connected to the drive shaft 500 which extends along an axis perpendicular to the main axis A;

- Rollers 518 extends along respective axes perpendicular to the main axis A and guiding the movement of the belt 517 so that said belt has a long flat portion between two rollers, which is parallel to the main axis A the along the arm 3, said rollers 518 being here five in number and being fixed on a support 24 integral with the body 2 and extending over a part of the length of the body 2 inside the arm 3;

a connecting piece 519 secured to both the arm 3 and the long flat portion of the belt 517. Thus, the rotation of the motor shaft 500 rotates the belt 517 around the rollers 518, so that the part connection 519 is driven in translation between the two rollers 518 delimiting the long flat portion of said belt 517, thereby driving the arm 3 in translation.

In the fourth embodiment illustrated in FIGS. 7a and 7b, the conversion means 51 comprise:

a belt 519 rotatably connected to the drive shaft 500 which extends along an axis parallel to the main axis A;

a pulley 520 enabling a right-angle return of the belt 519 so that said belt has a long flat portion, between the pulley 520 and a roller 521, said pulley 520 and said roller 521 being fixed on a support 24 integral with the body 2 and extending over a portion of the length of the body 2 within the arm 3;

a connecting piece 522 secured to both the arm 3 and the long flat portion of the belt 519. Thus, the rotation of the motor shaft 500 rotates the belt 519 around the pulley 520 and the roller 521, so that the connection piece 522 is driven in translation between the pulley 520 and the roller 521, thereby causing the arm 3 to be translated.

In the fifth embodiment illustrated in FIG. 8, the motor means 5 comprises two rotary motors 50 each with a shaft motor 500 which extends along an axis parallel to the main axis A, and conversion means 51 which comprise, for each motor 50:

two meshing gears 523 in meshing, the first one being integral in rotation with the drive shaft 500 and the second being rotated by the first conical gear about an axis perpendicular to the main axis A;

a belt 524 driven in rotation by the second bevel gear 523 by means of a toothed wheel 525 rotationally integral with this second bevel gear, said belt 524 then driving the arm 3 in translation via means of known type. The motor means 5 may also comprise a speed reducer 501 visible in particular in Figures 4b, 6b and 7b. In the fifth embodiment illustrated in FIG. 8, the reduction of speeds can be achieved by varying the transmission ratio between the two bevel gears 523. In addition, the conversion means 51 must be easily displaceable by the user, preferably under a force of less than 5 or 1 newton, in the case where the motor 50 is stopped or does not work.

Figures 46 to 52 illustrate a preferred embodiment of an exercise device and an exercise apparatus according to the invention.

The frame B is in the form of a vertical gantry having a rail R in which is slidably and adjustably mounted a support S made in the form of a slider.

The apparatus 1 is removably mounted on this support S. In substantially equivalent manner to the second embodiment described above with reference to FIG. 5, the motor means 5 comprises:

a rotary motor 50;

a threaded shaft 514 (for example of the ball screw type) rotated by the motor 50; and

The apparatus 1 comprises a housing 26 fixed on the bottom 21 of the body 2 and in which the rotary motor 50 is mounted.

As illustrated in FIGS. 48, 49a and 49b, to support the radial forces perpendicular to the main axis A and to guide the arm 3 in its translational movement, the body 2 internally supports means for guiding the arm 3 comprising: three tie rods 27 extending inside the body 2 parallel to the main axis A and distributed at 120 ° to each other around the main axis A; and

- A slider 28 slidably mounted on each of the three tie rods 27 and fixedly mounted on the arm 3 in particular by means of the screws 280 visible in Figure 49b, wherein the slider 28 is fixed, by screwing, on the nut member 516.

The slider 28 is in the form of a disc provided with three holes for the passage of the respective tie rods 27, so that the translation of the nut member 516, and thus of the slider 28 integral with the nut piece 516, is guided by the tie rods 27. The arm 3 is hollow and the tie rods 27 extend inside the arm

3 and passing through the bottom 21 of the body 2. The tie rods 27 respectively show:

a front end 271 fastened by screwing on a bearing piece 272 for the threaded shaft 514; and

a rear end 273 fastened, by screwing, on the housing 26 of the motor 50. As illustrated in FIGS. 48, 51, 52a and 52b, the cooperation means 6 comprises a hinge means 60 made in the form of a double pivot connection with two degrees of freedom in rotation. This articulation means 60 is mounted on the bottom 21 of the body 2, and more specifically on the casing 26 of the motor 50 after the motor 50. As illustrated in FIGS. 48 and 50, the connecting means 4 is made in the form of a handle possibly provided with switches 40 for controlling various functions of the apparatus.

Figures 12 and 13 schematically illustrate another type of apparatus 1 according to the invention. In this other embodiment, in this other embodiment, the cooperation means 6 comprising a hinge means 60 is completed or replaced by another means of cooperation 7 which comprises two secondary motor means 70 able to rotate the body 2 around respectively two axes of rotation B1, B2 perpendicular to each other, the two axes of rotation B1, B2 being perpendicular to the main axis A of the body 2. Of course, it is conceivable to have a third secondary motor means adapted to rotate the body 1 about an axis of rotation parallel to the main axis A (or another predefined axis), or to have only one of the secondary motor means 70. Each secondary motor means 70 is fixed on the body 2, for example outside the body 2 of the app 1, as schematically illustrated in FIG. 13.

Each secondary motor means 70 is adapted to rotate the body 2 in both directions of rotation, and also to brake rotation of the body 2 in both directions of rotation. Advantageously, the or each secondary motor means 70 comprises a reversible rotary motor provided for four quadrant operation.

Each secondary motor means 70 comprises an angle sensor for determining the angle of rotation of the body 2 about the associated axis of rotation B1, B2, thus making it possible to determine the angular position of the body 2 vis-à-vis this rotation axis.

Each secondary motor means 70 is thus designed to ensure a radial movement transmission and the rotational power of the motor is calculated according to the lever effect of the body 2 and arm 3 together.

Figures 14 and 15 illustrate an apparatus 1 provided with a secondary motor means 70 according to separate embodiments. In both embodiments, the secondary drive means 70 is of the rudder system type and comprises: - a motor 71 driving in translation a control shaft 72, the translation of the control shaft 72 being illustrated by the arrows T in the figures;

- A pivoting part 73 fixed, in particular removably, on the body 2, said pivoting part 73 extending along the main axis A; a hinge 74, in particular of the pivot connection type, between the control shaft 72 and the pivot piece 73;

a support 75 of the pivoting piece 73 on a frame B, where said pivoting piece 73 is articulated on the support 75 in order to be able to pivot about an axis inclined with respect to the main axis A. In the embodiment of Figure 14, the support 75 is disposed above the hinge 74, in other words between the body 2 and the hinge 74; while in the embodiment of FIG. 15, the seat 75 is located below the hinge 74, that is to say the hinge 74 is disposed between the body 2 and the support 75. In operation, the motor 71 moves the control shaft 72 in translation T so that this control shaft 72 rotates the workpiece. pivoting 73, and thus the body 2, around the support 75, as shown schematically by the arrow R.

The assembly of the secondary motor means 70 may be disposed inside a box CA, illustrated by broken lines in FIGS. 14 and 15, from which the free end of the pivot piece 73 on which will be connect the body 2 of the appliance 1.

In a variant not illustrated, the secondary motor means 70 comprises a rotary / gear motor assembly in direct contact with the body 2.

It is also conceivable to provide a secondary motor means which drives in translation the body 2 along an inclined axis (for example at right angles) with respect to the main axis A. Such a secondary motor means in translation could be coupled with a secondary motor means as described above, that is to say which rotates the body 2. This or these secondary motor means 70 and allow to constrain the body part of the user to follow a trajectory bounded T in space. Such a constraint around a trajectory T is described at the end of the second part with reference to FIGS. 34 to 37.

The second part relating to the control method according to the invention is made below.

The invention also relates to a control method of the apparatus 1 described above. This control method comprises the following steps: a) recording or recording of at least one setpoint curve Cc corresponding to a predefined variation of a predetermined main exercise parameter Pp as a function of a state parameter P _E such as the time or the displacement of the arm 3, said main exercise parameter being representative of the displacement force imposed by the arm 3 on the user's body part or vice versa and in particular chosen from the force developed by the user on the arm 3 to move or brake the arm 3, the torque or the force developed by the motor means 5 to move or brake the arm 3, the speed of movement of the arm 3 and the acceleration of the displacement of the arm 3; b) acquiring an actual curve C _R corresponding to the variation of the main exercise parameter Pp measured during the exercise as a function of the state parameter P _E ; c) controlling the motor means 5 in order to slave the real curve C _R about the setpoint curve Cc during the exercise, said motor means 5 being controlled to move and / or brake the arm 3 in a translational movement, as described above in the first part of the description. To carry out the various steps of the method according to the invention, the apparatus 1 is provided with means for implementing the method, these means comprising a control means 80 made in the form of a control unit or central unit. (visible in Figures 24 to 30 and 31). To perform step a) recording or input, the apparatus 1 comprises:

storage means 81 (of the digital data memory type) adapted to record setpoint curves;

a transfer means 82 designed to transfer setpoint curves recorded on a terminal or an external storage means 92 (such as a USB key, a computer terminal, a digital data recording disk, etc.) to storage means 81 of the apparatus 1; and eventually

a means for entering setpoint curves by the user and / or a third party, such as for example an input interface of the keyboard, screen or similar type.

The transfer means 82 may be of the type:

wired link, for example of the cable link type or reception socket of an external storage means such as a USB socket or equivalent; or - wireless link, eg Wi-Fi © link, BlueTooth © or equivalent.

In addition, the setpoint curves can advantageously be downloaded from the Internet or an electronic message sent by a therapist or a sports trainer, then transferred from the user's computer terminal to the storage means 81. 1. To perform this step b) of acquisition, the apparatus 1 comprises:

at least one first measurement means, during the exercise, of the main exercise parameter P _P , such as for example a force sensor 83 measuring the force developed on the arm 3 or a speed sensor 84 measuring the speed of movement of the arm 3; at least a second measurement means, during the exercise, of the actual state parameter P _E , such as an internal clock at the central unit or a displacement sensor 85 measuring the displacement D of the arm 3.

These measuring means 83, 84, 85 are of course connected to the central unit 80 to perform step b). Similarly, the input means and / or the storage means 81 are connected to the central unit 80; the central unit 80 is also connected to the motor means 5 (as visible in FIGS. 24 to 27) in order to perform step c) of controlling the motor means 5 in a controlled manner around the setpoint curve stored in the means of storage 81.

In order to carry out the control or servocontrol step c), the apparatus 1 may comprise, as illustrated schematically in FIG.

a comparator 98 which compares the setpoint curve C _c stored in the storage means 81 with the data coming from the sensors 83 to 84, the output signal E of the comparator corresponding to the difference or the error to be compensated for realizing the enslavement; and

- or a correction controller 99 which controls the drive means 5 to compensate for the error E. The set of curves C _c correspond to curves programmed according to the therapeutic objectives desired physiological or physical for the user or therapist or sports coach. The device 1 is thus multifunctional and scalable according to the needs of the therapist, the sports trainer or the user, by playing on the setpoint curve or curves.

Figures 17 to 23 illustrate different set curves Cc1 to Cc7 may be recorded for exercise on the device 1 according to the invention.

FIGS. 17 to 21 illustrate setpoint curves Cc1 to Cc5 in effort, that is to say the variation curves of a force F as a function of the displacement D of the arm 3, in other words as a function of the position of the arm 3 in relation to the body 2. In this case, the main exercise parameter Pp corresponds to the force F (which may be the force directly applied by the user to the arm 3, or the force developed by the motor means 50 to move or braking the arm 3) and the state parameter P _E is the displacement D (the time t being also possible for such a curve in effort). The different set-point curves define a variation of an exercise principal Pp (for example the effort F) as a function of the displacement D of the arm 3 within a predefined movement range. This displacement range is delimited by a predetermined minimum value Dmin and a maximum value Dmax of the displacement of the arm 3.

The minimum value Dmin can be associated with the retracted position of the arm 3 and the maximum value Dmax can be associated with the extended position of the arm 3 and in this case the displacement range corresponds to the maximum (or total) stroke of movement of the arm 3. It is also conceivable for one or each of the values Dmin and Dmax to be associated with an intermediate position of the arm 3 situated between the two end positions (retracted position and extended position), so that the range of movement of the arm 3 corresponds to a reduced stroke less than the maximum travel stroke of the arm 3. By adjusting the values Dmin and Dmax, it is thus possible to limit the exercise to a chosen range of movement of the arm 3, and for example to limit the exercise to a selected angular sector of a joint.

The set-point curves C _C 1 to C _C 4 illustrated in FIGS. 17 to 20 correspond to an exercise consisting of: - making the user work in a single direction of movement of the arm 3; and - to return the arm 3 to the initial position in a motorized manner or to let the user bring the arm 3 back to the initial position with the motor means 5 which provides a zero or virtually zero resistance force (for example less than 1 Newton).

These set-point curves C _C 1 to C _C 4 represent a half-cycle of movement of the arm 3, for example a displacement of the arm 3 from the retracted position to the deployed position or a displacement of the arm 3 from the deployed position towards the retracted position; a complete cycle corresponding to a forward and backward movement of the arm 3.

In FIG. 17, the setpoint curve Cc1 corresponds to an increase in the force F as the displacement D of the arm 3 increases, for example as the arm 3 leaves the body 2.

In FIGS. 18 and 19, the set-point curves C _C 2 and C _C 3 correspond to an increase in the effort F at the beginning of the displacement up to a plateau followed by a decrease in the effort F at the end of the displacement. . These Cc2 and Cc3 setpoint curves have many advantages over a curve similar to the CO curve described above with reference to the Figure 1, in particular by ensuring a progressive work generating no trauma for the user. Indeed, these setpoint curves C _C 2 and C _C 3 correspond to an exercise comprising three distinct phases:

a first phase PH1 with a gradual and smooth rise of the force F, without discontinuity at the beginning of the displacement (at D = 0, initial position);

a second phase PH2 called a plateau with a constant or almost constant effort F; and finally

a third phase PH3 with a gradual and smooth descent of the force F, without discontinuity at the end of the displacement. FIG. 19 also illustrates the movement of an upper limb MS (or arm) during the three phases of this exercise, with arrows F illustrating the force F undergone by the upper limb MS during the displacement of the mobile arm 3 of the device 1.

In FIG. 20, the setpoint curve C _C 4 corresponds to a linear increase of the effort F at the beginning of the displacement to a first plateau (situated at the value of 350 N for example), followed by a linear decrease of the force F up to a second level (located at the value of 150 N for example), also followed by a linear decrease of the force F to a third level (located at the value of 30 N for example ), and concludes with a last linear of the force F up to the abscissa at the value of 0 N.

This setpoint curve Cc4 is particularly interesting for making the body part of the user work with degressive force levels.

The setpoint curve Cc5 illustrated in FIG. 21 corresponds to an exercise consisting of:

- Operate the user in a first direction of movement of the arm 3, with a servo around the first part C1 of the setpoint curve C _C 5; and

- Operate the user in a second direction of movement of the arm 3 opposite the first direction, with a servo around the second part

C2 of the setpoint curve Cc5.

This setpoint curve C _C 5 thus represents a complete cycle of movement of the arm 3; the first half-cycle corresponding to the first portion of curve C1 and the second half-cycle corresponding to the second portion of curve C2. The device 1 makes it possible to work in both directions of translation of the arm 3, that is to say to provide an effort or a resistance to a compressive and tensile force as described above in the first part of the description.

In FIG. 21, the first curve portion C1 is of the same type as the setpoint curve C _C 2 described above with reference to FIG. 18, and the second curve portion C2 is also of the same type as this curve of FIG. set C _C 2, with the same advantages as described above in both directions of translation of the arm 3.

The two parts of curve C1 and C2, corresponding to a tensile force and compression (or thrust), are completely independent of one another; each curved portion being separately configurable and independent of the other portion of the curve, depending on the pathology to be treated and / or the training adapted to the user. For example, the parameters representative of the curve portions C1 and C2 illustrated in FIG. 21, such as the progression of the effort in the first and third phases and the absolute value of the bearing in the second phase, can be distinct between the two parts. curve C1 and C2.

FIGS. 22 and 23 illustrate setpoint curves Cc6 and Cc7 in terms of speed, that is, curves for varying the speed V of displacement of the arm 3 as a function of the displacement D of the arm 3 (or possibly of the time) . These setpoint curves C _C 6 and C _C 7 are illustrated only for a half cycle of movement of the arm 3.

In FIG. 22, the setpoint curve C _C 6 corresponds to an increase in the speed V at the beginning of the displacement followed by a decrease in the speed V. In FIG. 23, the setpoint curve Cc6 corresponds to an increase in the speed V up to a speed stop, followed by a return to zero at the end of the trip. Thus, on the landing, the user works in isokinetics, that is to say at constant speed.

In use, the parameters of the setpoint curve Cc are simply programmed by the user, the therapist or the sports trainer according to the needs of rehabilitation or training. The user who will do the exercise will only have to perform the exercise without constraint.

The choice of the setpoint curve Cc may relate to the desire to perform aerobic work. In this case, an effort setpoint curve will make it possible to provide recovery zones within the exercise itself.

(as the third phase PH3 of the curves C _C 2 and C _C 3 described above) and the rhythm of the effort will be studied not to unbalance the respiratory rhythm for a good oxygenation of the muscles and to avoid the manufacture of toxin; toxins mainly from muscle work without oxygen, that is to say anaerobically. In addition, the setpoint curve can be programmed so that the respiratory and cardiac rhythms are no longer modeled on the entire effort phase.

The choice of the setpoint curve Cc can also relate to the desire to avoid violent efforts: with the programming of the effort, there is no more violent effort, but a gradual increase in power to a pre-set maximum force as in the case of the Cc2 and Cc3 curves described above. The jolts are therefore removed and the effort is progressive which requires less tendons, joints and heart, making the exercises accessible to people with cardiovascular recommendations. The choice of the setpoint curve Cc can also relate to the wish to work a desired muscle chain: the effort is targeted for one or more selected muscle chains, the others not being requested are at rest. The exercise therefore seems more flexible and more enjoyable for the user. It becomes possible to work a unique kinetic chain. The programming can target the effort on a precise range of muscle displacement to work only a few muscle fibers and solicit the others to a minimum, for example in the case where the user has muscle problems.

Moreover, the advantage of being able to program the setpoint curves Cc is to be able to suppress the accompanying effort of the return so as to make work only one group of muscles without soliciting the chains antagonists, as in the case of curves Cc2 and Cc3, or on the contrary to have a force during the return, as in the case of the curve Cc5. The second part of curve C2 (effort during the return) is programmed to be in continuity with the first part of curve C1 (effort on the go) so as not to undergo jolts during the reversal of the direction of movement.

As in the case of the Cc5 curve, the device 1 advantageously allows to associate a traction force with a thrust force. This means that the apparatus 1 will be able to work two very distinct chains of muscles in the same movement, while eliminating the discontinuities injurious efforts to the joints, tendons, heart, etc. and thus make the session much more pleasant. Such programming also saves time by 50% of the exercise time by working two separate chains of muscles in the same movement. The method according to the invention further comprises the following measurement step d) consisting in measuring during the exercise of at least one setpoint parameter Pc chosen from:

a secondary exercise parameter Ps distinct from the main exercise parameter P _P , said secondary exercise parameter Ps being representative of the displacement force imposed by the arm 3 on the body part of the user or vice versa and in particular chosen from the force developed by the user on the arm 3 to move or brake the arm 3, the torque or the force developed by the motor means 5 to move or brake the arm 3, the speed of movement of the arm 3, and the acceleration of the movement of the arm 3; and / or a physiological parameter P _PHY representative of the physiological state of the subject and chosen in particular from the electromyographic activity, the respiratory rate, the heart rate, the temperature of the user, the oxygen level in the blood, blood pressure, and sweating; and or

a parameter of duration P _D representative of the duration of the exercise and chosen in particular from the duration of the exercise, the number of movement cycle performed by the arm 3, the time required for the user to perform one or more predetermined displacements of the arm 3; and or

an environmental parameter P _E representative of the external environment in which the user performs the exercise and chosen in particular from the external ambient temperature, the external humidity level, the external ambient pressure.

To carry out this measuring step d), the apparatus 1 comprises at least a third means for measuring the reference parameter Pc, for example: a sensor of the secondary exercise parameter P _s which can be the force sensor 83 or the speed sensor 84;

a physiological sensor 86 (illustrated in FIGS. 29 to 31), such as for example a thermal probe, a probe for measuring electromyographic activity, respiratory rate or heart rate, etc. ; an environmental sensor 87 such as a hygrometer, a thermal probe, a manometer, etc. Of course, these or these third measurement means are connected to the central unit 80 to perform the step d) of measurement.

The method according to the invention also comprises the following two steps: e) comparison during exercise of the at least one setpoint parameter Pc with at least one predefined threshold value, in particular of the minimum threshold value or maximum threshold value type, said comparison can in particular be performed over a predetermined period of time and / or on a predetermined portion of the displacement D of the arm 3; and f) modifying or replacing the setpoint curve Cc if, during step e), at least one setpoint parameter Pc is greater or smaller than the corresponding threshold value, before repeating steps b) to e) described above with the setpoint curve Cc as modified or replaced in order to adapt the exercise to the user according to a predefined exercise protocol according to the evolution of the setpoint parameter Pc-

The principle of these two steps e) and f) is to modify the course of the exercise as a function of the evolution of the setpoint parameter Pc chosen, or as a function of the evolution of several selected setpoint parameters Pc. It is understood by modifying the course of the exercise to perform one or other of the following functions:

modifying the setpoint curve Cc which serves as a basis for the servocontrol of step c), modifying the setpoint curve Cc by modifying the parameters that define this curve, such as, for example, the slope of the curve in certain places (beginning and / or end of the movement of the arm 3), the ordinate value of the bearing or bearings, the abscissa value of the end points of the bearing or bearings, etc. ;

- Replace the setpoint curve Cc with another setpoint curve, such as replacing the curve C _C 1 by the curve C _C 2.

These two functions are substantially equivalent because replacing the curve C _C 1 by the curve C _C 2 somehow returns to modify the curve Cc1 so that it becomes the curve Cc2; and conversely modify a curve Cc is to replace it with another different curve.

In the end, it is a question of modifying the exercise to adapt it to the user. For example, if the user has trouble following a setpoint curve Cc in effort and the speed V of movement of the arm 3 passes below a threshold value predefined by the therapist, the setpoint curve is modified or replaced so that the user is less difficult to perform the exercise.

Various parameters Pc instructions can be taken into account before and during the execution of the program according to the invention. These setpoint parameters Pc can be of two kinds:

- On the one hand internal parameters to the device (including speed V, acceleration, displacement D or positioning, effort F etc.); and

on the other hand, the external parameters connected to the central unit 80 which will provide the latter with information on the environment (environment parameter P _E ) and especially on the user (physiological parameter P _PHY ). The servocontrol of the motor means 5 takes into consideration one or more of these different setpoint parameters P _c .

For example, it is conceivable to have a setpoint curve Cc of the force F as a function of the displacement D of the arm 3, the chosen setpoint parameter Pc being the speed V of movement of the arm 3; the speed being a resultant of the effort F and the displacement D. Such a programming will make it possible to reproduce a current exercise with the physiotherapists within the framework of conventional reeducations, namely that the user must make an effort to which the therapist opposes a resistance progressive. For example, it is conceivable to have a setpoint curve C _c of the speed V of movement of the arm 3 as a function of the displacement D of the arm 3, the chosen setpoint parameter Pc being the force F. Such a programming will make it possible to achieve work in iso-kinetics, that is to say at constant speed. Iso-kinetic work usually leads to exercises where the user performs exocentric work, that is to say, he actually provides the counterforce of resistance to arm-controlled pushing or pulling by arm 3. The user is therefore in brake mode and the engine means in engine mode. The exocentric work of the brake is generally used in the first sessions of reeducation and it is predominantly for exercises of maintenance of the form at the seniors; hence the interest of the apparatus according to the invention.

The physiological sensor (s) 86, which will notably monitor the rhythm of the heartbeats and the blood pressure of the user, are mainly used to add safety monitoring in the context of at-risk or weakened persons. The physiological parameter or parameters PPHY collected during the exercise are thus exploited in real time for the adaptation of the exercise to the user, that is to say that these data can, according to pre-established programs (definition threshold values and predetermined period of time and / or predetermined portion of the displacement D of the arm 3) to change in real time the rehabilitation program or training.

In addition, these physiological data can also be returned in real time to the user, and possibly to a therapist or sports trainer, or recorded for later return to these same people. This data can then be used to make adjustments to successive exercise programs within the same session or for subsequent sessions. The device 1 is therefore of the adaptive type, since it can potentially adapt to the physical and pathological characteristics of the user before the session, offer programs or the exercise will be dependent in real time on the attitude of the subject, and offer proposals for the evolution of the initial protocols.

It is possible that the method also comprises a step of receiving at least one instruction issued by the user or a third person, such as a therapist or a sports trainer, and a step of modifying or changing the setpoint curve Cc according to said instruction. To carry out this step, the apparatus 1 comprises means 97 for receiving an instruction connected to the central unit 80 and adapted to perform the reception step described above, the central unit 80 being of course adapted to performing the step of modifying or changing the setpoint curve Cc according to said instruction.

Thus, it is possible to modify the exercise en route by instruction of the user, the therapist or the sports trainer; modifying the exercise corresponding to the same type of modification as that described below for step f) of the method. For example, the user may wish to harden the exercise, increasing the effort, if he feels fit. In addition, the user can adapt the exercise voluntarily within a unitary movement to accelerate, increase the force, add iterations or time or lengthen a displacement and have the modification taken into account in real time . It is also advantageous that the method comprises a step of displaying the evolution of the main exercise parameter Pp and / or at least a setpoint parameter Pc during the exercise to inform the user and / or a third person of the evolution of this or these parameters characteristic of the exercise performed by the user. To carry out this step, the apparatus 1 comprises a display means 88 connected to the central unit for displaying the evolution of the parameter (s) Pp and / or Pc during the exercise.

The display means 88 may be in the form of a screen or a monitor or a set of light-emitting diodes arranged on the body 2 of the apparatus 1 or outside the body 2.

The interest is to show in real time how the user behaves on the programmed exercise, so that the user can modify his behavior in real time or so that a therapist or a sports coach can send an instruction to the CPU 80 to modify the exercise in real time; the goal being again to adapt the exercise to the user.

It is also advantageous that the method comprises a data transmission step reflecting the evolution of the main exercise parameter Pp and / or at least one setpoint parameter Pc during the exercise to an external terminal, in particular of the telephone and / or computer terminal type, in order to inform a third party located at a distance from the user of the evolution of this or these parameters. To achieve this step, the apparatus 1 comprises a transmission means 89 connected to the central unit 80 and adapted to perform this transmission step. The transmission means 89 may be of the wired transmission or wireless transmission type.

The interest is to allow a remote person to follow the exercise of the user, for example via a computer network (internet, intranet or equivalent); this person can then, depending on the evolution of the transmitted parameter or parameters, send a setpoint to the central unit 80 to modify the exercise in real time. In addition, the transmitted data can be stored (for example on an external computer terminal or on the storage means 81) for later analysis, in particular to establish comparisons between the different exercise sessions, modify subsequent exercises and establish diagnoses.

FIG. 29 illustrates the third person TP, possibly located at a distance from the exercising user U, where the third party TP receives or displays data via the display means 88 and / or the transmission means, and where the third person TP sends an instruction to the central unit 80 via the receiving means 97. In this figure 29 is also illustrated a source of EE electrical energy to supply among others the motor means 5; this source may for example be the sector or an electric battery.

In addition, the method may comprise a user guide step consisting in generating a setpoint signal, in particular of the visual, sound or tactile signal type, intended for the user in order to guide the user in his exercise, particularly in term of:

- effort or speed to develop to move the arm 3 or curb the movement of the arm 3; - time or number of cycles remaining for the exercise or for the corresponding exercise phase.

To perform this step, the apparatus 1 comprises a guiding means 90 of the user in his practice, said guide means 90 connected to the central unit 80 and adapted to generate the guide signal defined above. This guide means 90 can be made in the form of:

a sound signal generator, such as a sound generator (the frequency and / or the intensity of the sound signal being associated with a particular recommendation intended for the user) or a voice-phrase generator issuing spoken recommendations ( for example, recommendations such as "push harder", "pull harder", etc.);

a visual signal generator capable of emitting several distinct light signals, each light signal being associated with a particular recommendation intended for the user, such as for example a colored signal generator (the color being associated with a recommendation), a generator flashing signals (the frequency of the signal being associated with a recommendation), a written sentence generator (the content of the sentence being associated with a recommendation);

a tactile signal generator, for example a vibration generator disposed on or in the connection means 4, such as a vibrator in a handle 4.

With this device 1, it is possible to monitor the exercise at a distance, as for example to perform reeducation sessions or remote sports coaching. Thus, the exercises can be done in a specialized room (physiotherapist's office, institute, weight room, fitness club, etc.) or at home. Exercise programs or protocols can be downloaded remotely via the Internet. All the data on the execution and results of an exercise can also be downloaded remotely via the internet. The physical equipment, the conversation modes and the site form an application set that allows to have his personal exercise protocol performed by a professional from the data including pathological, physiological or physical.

The data of the exercises carried out in real time and transmitted via the means of transmission 89, allow to have a real interaction between the user and the professional third person during the exercise. The coupling with an on-line camera (especially of the webcam type) allows the professional to indicate to the user corrections of postures and movements. The data relating to the performed exercise can then be downloaded by the professional at the end of the exercise, allowing the latter to adapt the exercise protocol between each session.

The user, the sports trainer or the therapist have the possibility to register on a website and to download in line C _c setpoint curves and programs or protocols of exercise according to the objectives for purposes therapeutic, muscle development, physical maintenance or weight loss. These people can also download the user's results (evolution of the real curves) in real time or after the exercise, in particular to compare these results with theoretical data, averages, results obtained on exercises. previous, or results from another user. It is also conceivable that people registered on this website will create new curves, new programs or exercise protocols and make them available to other people registered on the website in question.

Figure 32 illustrates an exemplary exercise protocol with a succession of phases (or steps). For this protocol, two setpoint curves, respectively a first Cc10 and a second Cc20 setpoint curves, are recorded in the storage means 81.

The exercise protocol defines several successive phases of exercise:

a so-called PHINI initialization phase, at the beginning of the exercise, during which: the user carries out the exercise with a setpoint curve CcO, this setpoint curve CCO being chosen in particular to test or warming the user (as for example the curve CcO in illustrated effort corresponding to a curve with a constant force F ₀ as a function of the displacement D); and

a condition relating to the physiological state is necessary to proceed to the next phase, by comparison between a physiological parameter P _PHY and a maximum or minimum threshold value (such as, for example, the user's heart rate which is compared with a value maximum threshold, for example a value of 120 pulses per second, so that the next phase is passed if the heart rate is below the maximum threshold value, that is, as long as the heart rate is above the threshold value maximum the user continues his exercise on the setpoint curve CcO and does not proceed to the next phase);

- a PHEX exercise phase proper, which follows the initialization PHINI phase provided that the physiological condition is met (for example the heart rate falls below the maximum threshold value).

The PHEX exercise phase can be broken down into two successive exercise phases:

a first phase during which the user carries out the exercise with a first setpoint curve C _C 10 (for example, the curve

Cc10 in illustrated effort); followed by

a second phase during which the user carries out the exercise with a second setpoint curve Cc20 different from the first setpoint curve C _c (for example the curve C _c in illustrated effort) if the condition 2 is filled.

Thus, one goes from the first to the second phase provided that the condition 2 is fulfilled, this condition relating to a setpoint parameter as described above. For example, this condition 2 may consist in comparing the movement speed V of the arm 3 with a minimum threshold value, for example the speed V to the point E1 of the first setpoint curve Cc10 illustrated; the first setpoint curve Cc10 being defined by the coordinates (in force F and displacement D) of three points E1, E2 and E3. Thus, we go to the second phase if the speed V is greater than the minimum threshold value; that is, as long as the speed V is below the minimum threshold value the user continues to exercise on the first setpoint curve C _c 10 and does not proceed to the second phase. Once in the second phase, the user performs for example the exercise on a number of movement cycle (round trip) of the arm 3 before the end of the training.

However, during the first phase, the number of movement cycles is also counted so that, if condition 2 is never fulfilled, the user accesses the end of the training when he has made a number predetermined predetermined cycle of movement of the arm 3. This condition corresponds to the condition 1 of Figure 32 which is met when the number of cycles reaches the predetermined value. In parallel with the conditions 1 and 2, it is conceivable to carry out one or more measurements on the real curves in order to verify whether the user is able to follow the first setpoint curve C _c 10. It is considered that the user does not follow the exercise if the condition 3 is fulfilled, and in this case the user is informed of this situation via the means described above. For example, this condition 3 may consist in comparing the actual effort at point E2 with a maximum threshold value. Thus, the user is informed if this effort is less than the maximum threshold value; in other words, as long as the effort is greater than the maximum value, the user continues his exercise normally. During a training, a first series of tests take place in real time during a cycle. The central unit first checks that the motor means respects the stored setpoint curve, and also monitors the physiological parameters that can in critical cases modify the planned cycle; a cycle corresponding to a round-trip sequence of the arm 3, an exercise corresponding to a sequence of the same cycles, and a training corresponding to a set of identical or different exercises. At the end of a cycle, the same tests are performed.

With reference to FIG. 32, according to the test results, it is possible to go towards: - restarting the same cycle (path n ° 1);

- modification of the parameters of the current cycle (path n ° 2), corresponding to a replacement or modification of the setpoint curve;

- move to another exercise (path 3);

- end of training (path 4). Therefore, at each moment t and at the end of each cycle, a set of tests are performed and the result of these tests indicates the next path to be performed.

Figure 33 illustrates a general protocol model in the form of an algorithm.

In a particularly interesting embodiment called realization

"Multiaxis", the method comprises a step of locating the arm 3 in space, and a step of controlling the position of the arm 3 in space in order to force the user to follow, with the arm 3, a trajectory bounded in space during the exercise.

Such an embodiment can be envisaged with the apparatus 1 comprising the cooperation means 7 as described above in the second part of the description, in other words the cooperation means 7 provided with secondary motor means 70 making it possible to constrain the user to follow a delimited path in space.

The step of locating the arm 3 in space is achieved by means of angle sensors fitted to each of the secondary motor means 70 and by the displacement sensor 85 measuring the displacement D of the arm 3; the information from these sensors providing information on the position of the free end of the arm 3 in connection with the user, and thus on the path followed by this free end of the arm 3 and therefore followed by the user.

FIGS. 34, 36 and 37 illustrate a user U performing an exercise on a device 1 consisting of working an upper limb MS (or arm) by moving and / or braking the arm 3 of the apparatus 1. This apparatus 1 comprises a means of cooperation 7 as described above in the second part of the description, in other words a means of cooperation 7 provided with secondary motor means 70 making it possible to constrain the upper limb MS of the user U to follow a delimited trajectory T in space.

In this "multiaxis" embodiment, the central unit 80 controls the motor means 5 and the secondary motor means 70 to possibly enslave the trajectory of the arm 3 around a predefined trajectory T, advantageously stored in the storage means 81. the central unit 80 calculates in real time the trajectory of the arm 3 (thanks to the sensors mentioned above) and slaves the various motor means 5, 70 to constrain the user U to follow the path T. During the exercise, the apparatus 1 continues to impose a servocontrol around the setpoint curve Cc visible in FIG. 35 and corresponding to a curve in force F or in speed V as a function of the displacement D of the arm 3. As can be seen in FIG. 34, the user must therefore follow during his exercise the trajectory T, which forms a kind of imaginary path in space, between two end points, namely a point A (in which the arm 3 is in the deployed position) and a point B (where the arm 3 is in the retracted position); these points A and B being also illustrated in FIG. 35. The trajectory T depends on the chosen exercise and more particularly on:

- the pathology to be treated; and or

muscles or muscle chains that one wishes to work or on the contrary that one does not wish to make work; and / or - articluations that one wishes to make work or on the contrary that one does not wish to make work

During the movement of the arm 3 along the path T, the force, the counter-force or the speed will for example be imposed by the motor means 5 according to the pre-programmed setpoint curve Cc. As shown in Figure 36, a working corridor CT is established around the predefined path T. In other words, as long as the user U will work inside this working corridor CT, he will do his exercise under the conditions defined above, in other words the apparatus 1 will only apply him the servocontrol around the setpoint curve Cc (As for example a servocontrol in force or speed during the movement of the arm). In other words, the user is entitled to a margin of error in his movement around this trajectory T and the movements will therefore take place in this CT corridor centered on the trajectory T between points A and B.

On the other hand, and as illustrated in FIG. 37, if the user U reaches the limits of the working corridor CT, the apparatus 1 will slave the motor means 5, 70 necessary to correct the wrong trajectory taken by the user U by imposing a Against a more or less important effort to compel the user to return to the limits of the CT working corridor. In addition, the apparatus 1 may send a message to the user informing him that he is not following the trajectory correctly, notably by using the guiding means 90 or the display means 88. A crown CR can be established around the working corridor CT, the radial counter-force EC will force the user U to remain in the corridor CT planned by the exercise as the user U does not return inside the crown CR. If the user U continues to move away from the trajectory T, to leave the working corridor CT and to go inside the crown CR, the counter-force CE increases until reaching a maximum value CEmax predetermined to limits of the crown CR. The increase of the CE counterforce in the crown CR may be progressive or discontinuous up to the limits of the CR crown. The third part relating to the use of the apparatus according to the invention is made below.

Figures 38 to 47 illustrate the many uses of the apparatus 1. This apparatus 1 allows in particular a rehabilitation for the lower and upper limbs in a sitting, standing or lying position, according to the setting of the position of the apparatus 1 on the built; such an adjustment being obtained by adjusting the position of the support (not shown) sliding on the frame. With this apparatus 1, the user can work, as far as possible, simultaneously the two lower or upper limbs; it suffices for the connecting means to be suitable for such work. In general, the device 1 will be used in the rehabilitation or fitness of the majority of the muscles of the user. To do this, the user and the apparatus 1 will be positioned in a multitude of combinations. The user may be in a lying, sitting or standing posture, and the apparatus 1 may be positioned horizontally or vertically or intermediately inclined.

In Figures 38 to 39, the user works an upper limb, standing, with a device 1 against a wall or articulated on a wall.

In Figure 41, the user works an upper limb, standing, with a device 1 resting against the ground or articulated on the ground.

In Figure 42, the user works a lower limb, while lying, with a device 1 against a wall or articulated on a wall.

In Figures 43 and 44, the user works a lower limb, standing, with a device 1 against a wall or articulated on a wall. In Figure 45, the user works a lower limb, sitting, with a device 1 against a wall or articulated on a wall.

In FIGS. 46 and 47, the user U works an upper limb, while standing, with a device 1 set at a suitable height after adjusting the position of the support (not visible) on a rail R secured to the frame B (here a wall), and with a third party TP, such as a therapist or a sports coach, who supervises the exercise.

With such a device 1, we note that:

the third person TP can have access to the user U on almost 360 degrees, that is to say that he can turn around the user U, in particular to analyze his posture and possibly correct his posture before or during exercise with the apparatus 1;

the third person TP can act directly, with both hands free, on the user U, in particular to correct imbalances, eliminate or modify parasitic movements, to guide the user U in his movement (whether in terms of trajectory, exercise, speed, etc.), physically support or maintain the practicing member.

This device 1 allows for example to perform eccentric and concentric movements, depending on the muscle chain considered. In addition, this device 1 has the advantage of being portable or portable, bulky or compact, so that a user can move easily, and especially a therapist or a sports trainer can go with the device in a patient or client.

Of course the implementation example mentioned above is not limiting and other details and improvements can be made to the apparatus according to the invention without departing from the scope of the invention where Other forms of motor means and / or secondary motor means and / or means of articulation and / or movable member may for example be made.

Claims

Apparatus (1) for muscle and / or joint exercise adapted to the reeducation and / or physical training of a body part, in particular an upper and / or lower limb, of a user, said apparatus (1 ) including:

- a body (2) hollow, open at one of its ends (20) and having a bottom (21) on the end opposite the open end (20);

- a movable member (3) movable in translation within the body (2) along a main axis (A) and adapted to be moved by the body portion of the user and also to move said body portion;

- motor means (5) disposed on the bottom (21) of the body (2), connected to the movable member (3) and adapted to drive the movable member (3) in displacement in both directions of translation, and also for braking the movement of the movable member (3) in both directions of translation;

a means of cooperation (6) between the body (2) and a frame (B), this cooperation means (6) being placed on the bottom (21) of the body (2) and comprising:

at least one articulation means (60) of the body (2) on the frame (B), said articulation means (60) offering at least at least one degree of freedom in rotation for the body (2) around an axis of rotation; and

- Removable means (63) for mounting and dismounting the body (2), said removable means (62) being designed for the removable mounting of said body (2) on a support (S) slidably mounted in the frame (B) .

2. Apparatus (1) according to claim 1, wherein the hinge means (60) is designed to provide two degrees of freedom in rotation to the ureter resect two rotat ion axes, in particular perpendicular to one by report to the other.

3. Apparatus according to claim 2, wherein the hinge means (60) comprises a first pivot connection (61) along the main axis (A) connected to a second pivot connection (62) along a transverse axis perpendicular to the longitudinal axis. main axis (A).

4. Apparatus (1) according to any one of the preceding claims, wherein the or each articulation means (60) further comprises at least one adjustable stop limiting the rotation of the body about at least one axis of rotation, so that said stop allows to define an adjustable angle range for the rotation of said body about the corresponding axis of rotation.

5. Apparatus (1) according to any one of the preceding claims, wherein the body supports at least one secondary motor means (70) adapted to rotate the body (2) about an axis of rotation (B1; B2). ), said secondary motor means (70) comprising at least one angle sensor around its axis of rotation.

Apparatus according to any one of the preceding claims, wherein the motor means (5) comprises:

a motor (50) provided for four quadrant operation;

a reversible power supply (52) for the motor; and

- Conversion means (51) reversibly the output movement of the motor (50) in a translational movement of the movable member (3).

7. Apparatus according to any one of the preceding claims, wherein the body (2) internally supports guide means (27, 28; 23) of the movable member (3) to support the radial forces perpendicular to the main axis (A) and to guide said movable member (3) in its translational movement.

Apparatus according to claim 7, wherein the guide means comprises:

- several tie rods (27), preferably three tie rods, extending inside the body (2) parallel to the main axis (A); and

- At least one slide (28) slidably mounted on each of said tie rods (27) and fixedly mounted on the movable member (3).

9. Apparatus according to claim 8, wherein the motor means comprises a rotary motor (50), a threaded shaft (514) rotated by the motor (50) and a nut member (516) provided with a threaded orifice. cooperating with the threaded shaft (514), and wherein the nut piece (516) is integral with the slide (28).

10. A muscular and / or articular exercise device adapted to the rehabilitation and / or physical training of a body part, in particular an upper and / or lower limb, of a user, said device comprising:

an exercise apparatus (1) according to any one of the preceding claims; and - a frame (B) in which is slidably mounted a support (S); wherein the body (2) is removably mounted on said support (S), via the removable means (63), so as to allow adjustment of the position of the apparatus (1) by adjusting the position of the support (S ) on the frame (B).

11. A method of using an exercise apparatus (1) according to any one of claims 1 to 9, comprising the steps of:

- removably mounting the body (2) of the apparatus (1) on a support (S) slidably mounted in a frame (B);

- adjusting the position of the device (1) by adjusting the position of the support (S) on the frame (B).

The method according to claim 11, further comprising a method of controlling the apparatus (1) comprising the following steps: a) recording or input of at least one setpoint curve (Cc) corresponding to a predefined variation of a main exercise parameter (Pp) predetermined according to a state parameter (P _E ) such as the time or the displacement (D) of the movable member (3), said main exercise parameter (Pp) ) being representative of the displacement force imposed by the movable member (3) to said body part or vice versa and in particular selected from the force (F) developed by the user on the movable member (3) to move or braking the movable member (3), the torque or the force developed by the motor means (5) to move or brake the movable member (3), the speed (V) of displacement of the movable member (3) and accelerating the movement of the movable member (3); b) acquiring an actual curve corresponding to the variation of the main exercise parameter (Pp) measured during the exercise as a function of the state parameter (P _E ); c) controlling the motor means (5) to enslave the real curve around the setpoint curve (Cc) during the exercise.

The method according to claim 12, wherein the control method further comprises the following steps: d) measuring during the exercise of at least one setpoint parameter (Pc) chosen from:

a secondary exercise parameter (Ps) distinct from the main exercise parameter (P _P ), said secondary exercise parameter (P _s ) being representative of the displacement force imposed by the mobile member (3) to said body part or conversely and in particular chosen from the force (F) developed by the user on the movable member (3) for moving or braking the movable member, the torque or the force developed by the driving means (5) for moving or braking the movable member (3), the speed (V) of displacement of the movable member (3), and the acceleration of the displacement of the movable member (3); and / or a physiological parameter (P _PHY ) representative of the physiological state of the subject and chosen in particular from the electromyographic activity, the respiratory rate, the heart rate, the temperature of the user, the level of oxygen in the blood, blood pressure, and sweating; and / or - a duration parameter representative of the duration of the exercise and chosen in particular from the duration of the exercise, the number of movement cycle performed by the mobile member (3), the time required by the user to perform one or more predetermined displacements of the movable member (3); and / or - an environment parameter (P _E ) representative of the external environment in which the user performs the exercise and chosen in particular from the external ambient temperature, the external humidity rate, the external ambient pressure; e) comparison during exercise of the at least one setpoint parameter (Pc) with at least one predefined threshold value, in particular of the minimum threshold value type or the maximum threshold value value, said comparison being able to in particular be performed over a predetermined period of time and / or on a predetermined portion of the displacement of the movable member (3); f) modification or replacement of the setpoint curve if, during step e), at least one setpoint parameter is higher or lower than the corresponding threshold value, before taking steps b) to e) with the curve of set as modified or replaced to adapt the exercise to the user according to a predefined exercise protocol according to the evolution of at least one setpoint parameter (Pc).

14. The method of claim 12 or 13, wherein the control method comprises a step of receiving at least one instruction issued by the user or a third person, and a step of changing or changing the setpoint curve. (Cc) according to the instruction to change the current fiscal year or replace the current fiscal year with another fiscal year.

15. Method according to any one of claims 12 to 14, wherein the control method comprises a step of locating the movable member (3) in space, and a step of controlling the position of the organ. mobile (3) in space to constrain the user to follow, with the movable member (3), a path delimited in space during the exercise.