EP2370184B1 - Muscle and/or joint exercise apparatus - Google Patents

Description

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 user's body part, such as an upper limb (arm) and / or lower limb (limb), or an upper limb part ( 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.

• une première mobilisation articulaire pendant laquelle le membre est déplacé sans faire intervenir le muscle du patient, suite à une période de repos articulaire avec immobilisation du membre concerné ;
• une mobilisation active pendant laquelle l'effort du muscle du patient est assisté ; et enfin
• le renforcement musculaire proprement dit pendant lequel le patient déplace le membre contre une force résistante, avec éventuellement une phase de musculat analytique, c'est-à-dire ne faisant intervenir qu'un ou plusieurs muscles spécifiques, suivie d'une phase de musculation globale.

In known manner, the rehabilitation 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 muscle of the patient, following a period of articular rest with immobilization of the limb concerned;
• 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 muscle phase, that is to say involving only one or more specific muscles, followed by a phase of bodybuilding overall.

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.

• les exercices de musculation isométrique, avec une contraction du muscle sans mouvement du membre ;
• les exercices de musculation à charge constante pendant lesquels une charge pesante est déplacée verticalement par un jeu de câbles et de poulies et ce plus ou moins rapidement selon l'effort de la personne ;
• les exercices de musculation isocinétique (ou isokinétique) pendant lesquels la vitesse du mouvement est imposée par une machine à une valeur constante ; et enfin
• les exercices de musculation isotonique nécessitant des appareils d'exercices imposant une force de contre-réaction et une vitesse de mouvement de telle sorte que le tonus du muscle impliqué reste constant.

We usually distinguish muscle exercises according to the constraints and movements imposed on the muscle, namely:

• isometric weight training exercises, with contraction of the muscle without movement of the limb;
• constant load weight training exercises 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) bodybuilding 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.

• contraction du biceps pour tirer dans un mouvement concentrique le levier ;
• effort du biceps pour retenir le levier se déplaçant dans un mouvement excentrique ;
• poussée par le triceps du levier dans un mouvement excentrique ; et enfin
• retenue par le triceps du levier se déplaçant concentriquement.

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 in a concentric movement the lever;
• biceps effort to hold the lever moving in an eccentric motion;
• pushed by the triceps of the lever in an eccentric motion; and finally
• held 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 interesting 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.

• du décollement de la charge, avant la première phase P1 ;
• de l'inversion du sens de déplacement de ladite charge, entre les deux phases P1 et P2, où l'effort de traction bascule en un effort de résistance ;
• de la pose de la charge, après la deuxième phase P2.

Such devices have the disadvantage of brutally solicit the members objects of the exercise. The figure 1 represents a curve C0 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 curve, located below the abscissa axis , corresponding to a restraining effort (or resistance) in which the patient retains the load he fired during the first phase. The figure 1 illustrates the three abrupt or discontinuous variations in the effort when:

• detachment of the charge, before the first phase P1;
• reversing the direction of movement of said load, between the two phases P1 and P2, where the tensile force switches into a resistance force;
• of the laying of the charge, after the second phase P2.

• des tendons, pouvant conduire en cas de fatigue à des problèmes de tendinite ; et
• des articulations, limitant l'usage de tels appareils pour les personnes ayant des problèmes articulaires et souhaitant tout de même entraîner les muscles du membre en question.

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 to problems of tendonitis in case of fatigue; 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, 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 teaching documents FR 2 875 140 A1 and FR 2 619 723 A1 . These documents disclose apparatus for training and re-educating the lower limbs, and in particular the knee for the document FR 2 875 140 A1 , which use rotatable 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 devices can not simultaneously perform bi-directional, multidirectional or multidirectional movements or efforts, in the sense that they do not make it possible to simultaneously perform bidirectional or multidirectional movements or efforts.

In the field of the rehabilitation of persons suffering from movement disorders, it is known from the document WO 2004/096501 to employ an exercise apparatus comprising a piston movable within a cylinder under the action of a hydraulic or pneumatic unit. Such an apparatus is however expensive and unsuitable for certain types of movement, particularly because of the inherent inertia of a displacement controlled by a hydraulic or pneumatic unit, it is known from this document WO 2004/096501 use a robotic or force feedback type exercise machine 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 discloses an exercise apparatus 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.

• un corps creux présentant un fond;
• un organe mobile déplaçable en translation selon un axe principal et conçu pour être déplacé par la partie du corps de l'utilisateur et également pour déplacer ladite partie du corps;
• un moyen moteur relié à l'organe mobile et adapté pour entraîner en déplacement l'organe mobile dans les deux sens de translation, et également pour freiner le déplacement de l'organe mobile dans les deux sens de translation ; et
• un moyen de coopération entre le corps et un bâti;

ce moyen de coopération comprend :

• au moins un moyen d'articulation du corps sur le bâti,

ledit moyen d'articulation offrant au moins au moins un degré de liberté en rotation pour le corps autour d'un axe de rotation ; et

• un moyen amovible de montage et de démontage du corps.

US 2007/0299371 A1 , figures 23 and 26A, and the corresponding description, discloses a muscle and / or joint exercise apparatus adapted to the rehabilitation and / or physical training of a body part, in particular an upper and / or lower limb, of a user , said apparatus comprising:

• a hollow body having a bottom;
• a movable member movable in translation along a major axis and adapted to be moved by the body portion of the user and also to move said body portion;
• a motor means connected to the movable member and adapted to drive the movable member in displacement in both translation directions, and also for braking the displacement of the movable member in both directions of translation; and
• a means of cooperation between the body and a building;

this means of cooperation includes:

• at least one means of articulation of the body on the frame,

said hinge means providing at least at least one rotational degree of freedom for the body about an axis of rotation; and

• a removable means for mounting and dismounting the body.

The document US 2007/0299371 A1 discloses an exercise apparatus adapted to guide a patient to perform a movement along a determined spatial trajectory. This apparatus includes a telescopic arm limited in terms of range of motion and is therefore intended 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 is a solution with four degrees of mobility of which at least three are motorized which is particularly expensive and cumbersome, 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 apparatus 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.

• un corps creux, ouvert à l'une de ses extrémités et présentant un fond sur l'extrémité opposée à l'extrémité ouverte ;
• un organe mobile déplaçable en translation à l'intérieur du corps selon un axe principal et conçu pour être déplacé par la partie du corps de l'utilisateur et également pour déplacer ladite partie du corps ;
• un moyen moteur, relié à l'organe mobile et adapté pour entraîner en déplacement l'organe mobile dans les deux sens de translation, et également pour freiner le déplacement de l'organe mobile dans les deux sens de translation ;
• un moyen de coopération entre le corps et un bâti, ce moyen de coopération comprenant :
  • au moins un moyen d'articulation du corps sur le bâti, ledit moyen d'articulation offrant au moins au moins un degré de liberté en rotation pour le corps autour d'un axe de rotation ; et
  • un moyen amovible de montage et de démontage du corps, ledit moyen amovible étant conçu pour le montage amovible dudit corps sur un support monté à coulissement dans le bâti.

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 translatable within the body along a major axis and adapted to be moved by the user's body portion and also to move said body portion;
• a motor means, connected to the movable member and adapted to drive the movable member in displacement in both translation directions, and also for braking the displacement of the movable member in the two translation directions;
• a means of cooperation between the body and a frame, this means of cooperation comprising:
  • at least one means for articulating the body on the frame, said articulation means providing at least 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 adapted 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 device is suitable for simultaneously making bidirectional movements or efforts, multidirectional or multidirectional, allowing to perform an effort according to several degrees of freedom. Indeed, the movable member provides a first degree of freedom vis-à-vis the body, and the hinge means provides at least one 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 one or more degrees of freedom in rotation produced by the articulation means, and the possibility of adjusting the position (eg height or vertical position) of the apparatus, a a multitude of combinations and movements for the patient can be envisaged, with the patient being able, for example, to be in a lying, sitting or standing posture, and with the apparatus (in other words the body of the apparatus) which can be positioned adjustable 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.

• un mode moteur ou actif dans lequel l'appareil génère un mouvement auquel l'utilisateur doit résister. L'énergie est fournie par le moyen moteur selon des courbes de consigne prédéfinies, comme par exemple des courbes d'effort ou de vitesse, et l'utilisateur offre un contre effort résistant, lui permettant ainsi d'exercer une partie de ces muscles.
• un mode générateur ou résistant ou passif, dans lequel l'appareil exerce à l'encontre du mouvement réalisé par le sujet, qui fournit donc l'énergie, un contre effort pré programmé.

The apparatus according to the invention may have two modes of operation:

• a motor or active mode in which the device generates a motion 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 or resistant or passive mode, in which the device exerts against the movement made by the subject, which therefore provides the energy, a 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 allows in particular to perform exercises on including the lower and upper limbs, without for example an exclusive use to one or the other member. Work exercises involving other parts of the body (pelvis, back, etc.) can also be performed with this apparatus, for example by means of a strap.

• un moteur prévu pour un fonctionnement quatre quadrants ;
• une alimentation réversible du moteur ; et
• des moyens de conversion réversible du mouvement de sortie du moteur en un déplacement en translation de l'organe mobile.

According to another characteristic, the motor means comprises:

• an engine provided for four quadrant operation;
• a reversible power supply of the motor; and
• means for reversibly converting the output movement of the motor into 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.

• plusieurs tirants, de préférence trois tirants, s'étendant à l'intérieur du corps parallèlement à l'axe principal ; et
• au moins un coulisseau monté à coulissement sur chacun desdits tirants et monté fixe sur l'organe mobile.

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 slider 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.

• effort ou vitesse à développer pour déplacer l'organe mobile ou freiner le déplacement de l'organe mobile ;
• temps ou nombre de cycle restant pour l'exercice ou pour la phase de l'exercice correspondant.

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 guide 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 that 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.

• un appareil d'exercice conforme à l'une quelconque des revendications précédentes ; et
• un bâti dans lequel est monté à coulissement un support ;

où le corps est monté de façon amovible sur ledit support, via le moyen amovible, de manière à permettre le réglage de la position de l'appareil en réglant la position du support sur le bâti.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 is slidably mounted a support;

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.

• montage de façon amovible du corps de l'appareil sur un support monté à coulissement dans un bâti ;
• réglage de la position de l'appareil en réglant la position du support sur le bâti.

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.

1. a) enregistrement ou saisie d'au moins une courbe de consigne correspondant à une variation prédéfinie d'un paramètre principal d'exercice prédéterminé en fonction d'un paramètre d'état tel que le temps ou le déplacement de l'organe mobile, ledit paramètre d'exercice étant représentatif de l'effort de déplacement imposé par l'organe mobile à ladite partie du corps ou inversement et notamment choisi parmi la force développée par l'utilisateur sur l'organe mobile pour déplacer ou freiner l'organe mobile, le couple ou la force développés par le moyen moteur pour déplacer ou freiner l'organe mobile, la vitesse de déplacement de l'organe mobile et l'accélération du déplacement de l'organe mobile ;
2. b) acquisition d'une courbe réelle correspondant à la variation du paramètre principal d'exercice mesuré pendant l'exercice en fonction du paramètre d'état ;
3. c) commande du moyen moteur afin d'asservir la courbe réelle autour de la courbe de consigne pendant l'exercice, ledit moyen moteur étant contrôlé pour déplacer et/ou freiner l'organe mobile dans un mouvement de translation.

According to a possibility of the invention, this method of use further comprises a method of controlling the apparatus comprising the following steps:

1. a) recording or entering 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 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 speed of movement of the movable member and the acceleration of the displacement of the movable member;
2. 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;
3. 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.

• travailler en aérobie ;
• éviter des variations brusques d'effort lors de l'exercice, supprimant ainsi les sollicitations brutales pour les tendons, les articulations, et le coeur ;
• travailler sur des muscles ou des chaînes musculaires souhaités, en ciblant l'effort pour une ou quelques chaîne musculaire choisies, les autres n'étant pas sollicitées restant au repos ;
• faire travailler deux chaînes bien distinctes de muscles dans le même mouvement.

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

• work in aerobics;
• avoid sudden variations of effort during exercise, thus eliminating sudden stresses for tendons, joints, and the heart;
• working on desired muscles or muscle chains, targeting the effort for one or a few chosen muscle chains, 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.

• d) mesure pendant l'exercice d'au moins un paramètre de consigne choisi parmi :
  • un paramètre d'exercice secondaire distinct du paramètre d'exercice principal, ledit paramètre d'exercice secondaire étant représentatif de l'effort de déplacement imposé par l'organe mobile à ladite partie du corps ou inversement et notamment choisi parmi la force développée par l'utilisateur sur l'organe mobile pour déplacer ou freiner l'organe mobile, le couple ou la force développés par le moyen moteur pour déplacer ou freiner l'organe mobile, la vitesse de déplacement de l'organe mobile, et l'accélération du déplacement de l'organe mobile ; et/ou
  • un paramètre physiologique représentatif de l'état physiologique du sujet et choisi notamment parmi l'activité électromyographique, le rythme respiratoire, le rythme cardiaque, la température de l'utilisateur, le taux d'oxygène dans le sang, la tension artérielle, et la sudation ; et/ou
  • un paramètre de durée représentatif de la durée de l'exercice et choisi notamment parmi la durée de l'exercice, le nombre de cycle de déplacement effectué par l'organe mobile, le temps nécessaire à l'utilisateur pour effectuer un ou plusieurs déplacements prédéterminés de l'organe mobile ; et/ou
  • un paramètre d'environnement représentatif de l'environnement externe dans lequel l'utilisateur effectue l'exercice et choisi notamment parmi la température ambiante externe, le taux d'humidité externe, la pression ambiante externe ;
• e) comparaison pendant l'exercice du au moins un paramètre de consigne avec au moins une valeur seuil prédéfinie, notamment du type valeur de seuil minimale ou valeur de seuil maximale, ladite comparaison pouvant notamment être effectuée sur une période de temps prédéterminée et/ou sur une portion prédéterminée du déplacement de l'organe mobile ;
• f) modification ou remplacement de la courbe de consigne si, lors de l'étape e), au moins un paramètre de consigne est supérieur ou inférieur à la valeur seuil correspondante, avant de reprendre les étapes b) à e) avec la courbe de consigne telle que modifiée ou remplacée afin d'adapter l'exercice à l'utilisateur suivant un protocole d'exercice prédéfini en fonction de l'évolution d'au moins un paramètre de consigne.

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 mobile member on said part of the body or vice versa and in particular chosen from the force developed by the user on the movable member for moving or braking the movable member, the torque or the force developed by the motor means for moving or braking the movable member, the speed of movement of the movable member, and the acceleration of the moving the movable member; and or
  • a physiological parameter representative of the physiological state of the subject and chosen in particular from electromyographic activity, respiratory rate, heart rate, user temperature, blood oxygen level, 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, the time required for the user to perform one or more predetermined displacements the mobile organ; 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 rate, 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.

• s'adapter à l'utilisateur (qui peut fatiguer et souhaiter diminuer l'effort ou au contraire souhaiter augmenter l'effort) ; et/ou
• faire travailler différents muscles ou chaînes musculaires lors d'un même exercice ; et/ou
• faire travailler différentes articulations lors d'un même exercice ;
• réaliser au choix des exercices de musculation isométrique, isocinétique ou isotonique.

Thus, the exercise can change along the way, for example with different series of successive work cycles (each series being associated with a very specific setpoint curve), for example:

• adapt to the user (who may tire and wish to reduce the effort or, on the contrary, wish to increase the effort); and or
• to work different muscles or muscle chains during the same exercise; and or
• to work different joints during the same exercise;
• perform either 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.

• un moyen de stockage ou de saisie adapté pour enregistrer ou saisir la au moins une courbe de consigne pendant l'étape a) du procédé ;
• au moins un premier moyen de mesure du premier paramètre principal d'exercice et au moins un deuxième moyen de mesure du paramètre d'état ;
• au moins un troisième moyen de mesure du au moins un paramètre de consigne afin de réaliser l'étape d) du procédé ; et
• un moyen de contrôle relié aux premier et second moyens de mesure, au moyen moteur et au moyen de stockage ou de saisie, ledit moyen de contrôle étant conçu pour :
• acquérir la courbe réelle à partir des mesures effectuées par les premier et deuxième moyens de mesure afin de réaliser l'étape b) du procédé ;
• commander le moyen moteur afin de réaliser l'étape d) du procédé ;
• réaliser l'étape e) de comparaison ; et
• réaliser l'étape f) de modification ou de remplacement de la courbe de consigne.

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 a first measurement means of the first main exercise parameter and at least a second measurement means of 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, the motor means and the storage or gripping means, said control means being adapted to:
• acquiring the actual curve from the measurements made by the first and second measuring means in order to perform step b) of the method;
• controlling the motor means to perform step d) of the method;
• performing the e) comparison step; and
• performing step f) modifying 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.

• une première phase au cours de laquelle :
  1. i) les étapes b) et c) sont réalisées avec une première courbe de consigne (C_c10), pendant un nombre déterminé de cycle de déplacement de l'organe mobile (3) ou pour une durée prédéterminée ;
  2. ii) les étapes d) et e) sont réalisées pendant l'étape i) avec un paramètre de consigne (P_C) déterminé ;
  3. iii) l'étape f) est réalisée une fois que le nombre déterminé de cycle de déplacement a été effectuée par l'organe mobile (3) ou que la durée prédéterminée est écoulée, en remplaçant la première courbe de consigne (C_C10) par une seconde courbe de consigne (C_C20) ou en modifiant la première courbe de consigne (C_C10) afin de définir une seconde courbe de consigne (C_C20), et à condition que le paramètre de consigne (P_C) soit inférieur ou supérieur à une valeur seuil déterminée ;
• une seconde phase suivant la première phase au cours de laquelle :
  • iv) les étapes b) et c) sont réalisées avec la seconde courbe de consigne (Cc20) pendant un nombre déterminé de cycle de déplacement de l'organe mobile (3) ;
  • v) les étapes d) et e) sont réalisées pendant l'étape iv) avec un ou plusieurs paramètres de consigne (P_C) déterminés ;
  • vi) l'étape f) est réalisée pendant les étapes iv) et v) si l'un des paramètres de consigne (P_C) étudié durant l'étape v) est supérieur ou inférieur à une valeur seuil déterminé, en remplaçant la seconde courbe de consigne (C_C20) par une autre courbe de consigne ou en modifiant ladite seconde courbe de consigne (C_C20).

Preferably, an exercise protocol defines several successive exercise phases:

• a first phase during which:
  1. i) steps b) and c) are performed with a first setpoint curve (C _c 10), during a determined number of movement cycle of the movable member (3) or for a predetermined duration;
  2. ii) steps d) and e) are performed during step i) with a determined setpoint parameter (P _C );
  3. 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 (C _C 10) in order to define a second setpoint curve (C _C 20), and provided that the setpoint parameter (P _C ) 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 (Cc20) during a given number of cycles of displacement 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 (C _C 20).

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).

• faire travailler l'utilisateur dans un seul sens de translation de l'organe mobile, dit sens de travail, entre une position initiale et une position finale avec un asservissement autour d'une courbe de consigne prédéfinie ; et
• déplacer automatiquement l'organe mobile dans le sens de translation opposé au sens de travail, jusqu'en position initiale, afin de ne pas faire travailler l'utilisateur dans ce sens de translation ;

les étapes b) à f) pouvant éventuellement être réalisées pendant cette phase de l'exercice.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:

• the user works 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, so as not to work the user 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 series 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.

• la figure 1 représente une courbe C0 illustrant la variation de l'effort F en fonction du déplacement D de la charge, pour un cycle de déplacement montée/descente de la charge, dans le cas d'un appareil de pouliethérapie connu ;
• la figure 2 représente schématiquement un appareil conforme à l'invention ;
• les figures 3a à 3c sont des vues respectivement de dos, de face et de côté d'un appareil conforme à l'invention avec un organe mobile en position rétractée, et la figure 3d est une vue de dos de cet appareil avec l'organe mobile en position déployée ;
• les figures 4a et 4b sont des vues respectivement de face et de côté de l'intérieur d'un appareil conforme à l'invention illustrant un moyen moteur selon un premier mode de réalisation ;
• la figure 5 est une vue de côté de l'intérieur d'un appareil conforme à l'invention illustrant un moyen moteur selon un deuxième mode de réalisation ;
• les figures 6a et 6b sont des vues respectivement de face et de côté de l'intérieur d'un appareil conforme à l'invention illustrant un moyen moteur selon un troisième mode de réalisation ;
• les figures 7a et 7b sont des vues respectivement de face et de côté de l'intérieur d'un appareil conforme à l'invention illustrant un moyen moteur selon un quatrième mode de réalisation ;
• la figure 8 est une vue partielle en perspective d'un moyen moteur selon un cinquième mode de réalisation ;
• la figure 9 illustre schématiquement un appareil conforme à l'invention en prise avec un rail de guidage solidaire d'un bâti ;
• la figure 10 illustre schématiquement un appareil conforme à l'invention en liaison avec un bâti et libre en mouvement à l'intérieur d'un tronçon de cône prédéfini ;
• la figure 11 représente schématiquement les différentes liaisons d'un appareil conforme à l'invention ;
• les figures 12 et 13 sont des vues schématiques d'un appareil conforme à l'invention muni de moyens moteur secondaires ;
• les figures 14 et 15 sont des vues schématiques d'un appareil conforme à l'invention muni de moyens moteur secondaires selon respectivement un premier et un deuxième mode de réalisation ;
• la figure 16 illustre schématiquement les quatre quadrants de fonctionnement d'un moyen moteur équipant un appareil conforme à l'invention ;
• les figures 17 et 18 représentent respectivement une première C_C1 et une deuxième C_C2 courbes de consigne en effort pour un appareil conforme à l'invention ;
• la figure 19 représente à la fois une troisième courbe de consigne C_C3 en effort avec trois phases distinctes, et les mouvements d'un membre supérieur associé à chaque phase de la courbe C_C3 ;
• la figure 20 représente une quatrième courbe de consigne C_C4 en effort ;
• La figure 21 représente une cinquième courbe de consigne C_C5 en effort pour un cycle de déplacement aller/retour de l'organe mobile ;
• les figures 22 et 23 représentent respectivement une sixième C_C6 et une septième C_C7 courbes de consigne en vitesse pour un appareil conforme à l'invention ;
• les figures 24 à 27 représentent différents schémas fonctionnels d'un appareil conforme à l'invention comprenant un moyen moteur selon différents modes de réalisation ;
• les figures 28 à 30 représentent différents schémas fonctionnels d'un appareil conforme à l'invention ;
• la figure 31 représente un schéma de principe de l'organe de contrôle d'un appareil conforme à l'invention et des différents moyens en liaison avec cet organe de contrôle ;
• la figure 32 illustre un exemple de protocole ou de stratégie d'exercice pour un appareil conforme à l'invention ;
• la figure 33 illustre un modèle de définition d'un protocole ou d'une stratégie d'exercice pour un appareil conforme à l'invention ;
• la figure 34 illustre schématiquement un utilisateur utilisant un appareil conforme à l'invention et essayant de suivre une trajectoire délimitée dans l'espace ;
• la figure 35 illustre une courbe de consigne C_C associée à l'exercice effectué par l'utilisateur illustré à la figure 34 ;
• la figure 36 illustre schématiquement l'utilisateur de la figure 34 essayant de rester à l'intérieur d'une zone de tolérance entourant la trajectoire délimitée ;
• la figure 37 illustre schématiquement d'une part l'utilisateur de la figure 34 essayant de rester à l'intérieur de la zone de tolérance sous la contrainte du moyen moteur et/ou des moyens moteur secondaires de l'appareil, et d'autre part une section agrandie de la zone de tolérance ;
• les figures 38 à 45 illustrent chacune un utilisateur d'un appareil conforme à l'invention dans deux situations où l'organe mobile est en position respectivement rétractée et déployée, à chaque figure correspondant un exercice distinct sur un membre donné de l'utilisateur ;
• les figures 46 et 47 illustrent chacune un utilisateur d'un appareil conforme à l'invention avec une tierce personne telle qu'un thérapeute ou un entraîneur sportif ;
• les figures 46a et 46b sont des vues schématiques respectivement en perspective et de côté d'un dispositif d'exercice conforme à l'invention comportant un appareil conforme à l'invention monté de façon amovible sur un bâti ;
• la figure 48 est une vue schématique en perspective de l'appareil illustré sur les figures 46a et 46b, sans son moyen de coopération ;
• la figure 48a est une vue schématique en coupe longitudinale verticale du dispositif illustré sur les figures 46a et 46b ;
• les figures 49a et 49b sont des vues schématiques en coupe longitudinale, respectivement verticale et horizontale, de l'appareil illustré sur les figures 46a et 46b, avec son moyen de coopération ;
• la figure 50 est une vue schématique en perspective de la poignée formant moyen de liaison de l'appareil illustré sur les figures 46a et 46b ;
• la figure 51 est une vue schématique en perspective du moyen de coopération de l'appareil illustré sur les figures 46a et 46b ;
• les figures 52a et 52b sont des vues schématiques en coupe longitudinale, respectivement horizontale et verticale, du moyen de coopération illustré sur la figure 51.

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:

• the figure 1 represents a curve C0 illustrating the variation of the force F as a function of the displacement D of the load, for a cycle of movement up / down of the load, in the case of a known pulley-therapy apparatus;
• the figure 2 schematically represents an apparatus according to the invention;
• the Figures 3a to 3c are respectively back, front and side views of an apparatus according to the invention with a movable member in the retracted position, and the figure 3d is a back view of this apparatus with the movable member in the deployed position;
• the Figures 4a and 4b are respectively front and side views of the interior of an apparatus according to the invention illustrating a motor means according to a first embodiment;
• the 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;
• the Figures 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;
• the Figures 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;
• the figure 8 is a partial perspective view of a motor means according to a fifth embodiment;
• the figure 9 schematically illustrates an apparatus according to the invention engaged with a guide rail integral with a frame;
• the figure 10 schematically illustrates an apparatus according to the invention in connection with a frame and free moving within a predefined cone section;
• the figure 11 schematically represents the different links of an apparatus according to the invention;
• the Figures 12 and 13 are schematic views of an apparatus according to the invention provided with secondary motor means;
• the 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;
• the figure 16 schematically illustrates the four quadrants of operation of a motor means equipping an apparatus according to the invention;
• the Figures 17 and 18 represent respectively a first C _C 1 and a second C _C 2 stress setpoint curves for an apparatus according to the invention;
• the figure 19 represents both a third setpoint curve C _C 3 in effort with three distinct phases, and the movements of an upper limb associated with each phase of the curve C _C 3;
• the figure 20 represents a fourth setpoint curve C _C 4 in effort;
• The figure 21 represents a fifth setpoint curve C _C 5 in force for a cycle of movement of the moving member back and forth;
• the Figures 22 and 23 represent respectively a sixth C _C 6 and a seventh C _C 7 speed setpoint curves for an apparatus according to the invention;
• the Figures 24 to 27 represent different functional diagrams of an apparatus according to the invention comprising a motor means according to different embodiments;
• the Figures 28 to 30 represent different functional diagrams of an apparatus according to the invention;
• the figure 31 represents a block diagram of the control device of an apparatus according to the invention and various means in connection with this control member;
• the figure 32 illustrates an exemplary protocol or exercise strategy for an apparatus according to the invention;
• the figure 33 illustrates a model for defining a protocol or an exercise strategy for an apparatus according to the invention;
• the figure 34 schematically illustrates a user using an apparatus according to the invention and trying to follow a trajectory delimited in space;
• the figure 35 illustrates a setpoint curve C _C associated with the exercise performed by the user illustrated in FIG. figure 34 ;
• the figure 36 schematically illustrates the user of the figure 34 attempting to remain within an area of tolerance surrounding the bounded path;
• the figure 37 schematically illustrates on the one hand the user of the figure 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 tolerance zone;
• the Figures 38 to 45 each illustrate a user of an apparatus according to the invention in two situations where the movable member is respectively retracted and deployed position, each corresponding figure a separate exercise on a given member of the user;
• the 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;
• the Figures 46a and 46b are schematic respectively perspective and side views of an exercise device according to the invention comprising an apparatus according to the invention removably mounted on a frame;
• the figure 48 is a schematic perspective view of the apparatus shown on the Figures 46a and 46b without his means of cooperation;
• the figure 48a is a schematic view in vertical longitudinal section of the device illustrated on the Figures 46a and 46b ;
• the Figures 49a and 49b are schematic views in longitudinal section, respectively vertical and horizontal, of the apparatus illustrated on the Figures 46a and 46b , with its means of cooperation;
• the figure 50 is a schematic perspective view of the handle forming a connecting means of the apparatus illustrated in FIGS. Figures 46a and 46b ;
• the figure 51 is a schematic perspective view of the means of cooperation of the apparatus illustrated on the Figures 46a and 46b ;
• the Figures 52a and 52b are schematic views in longitudinal section, respectively horizontal and vertical, of the cooperation means illustrated in FIG. figure 51 .

• une première partie dédiée spécifiquement à l'appareil d'exercice conforme à l'invention et ses caractéristiques structurelles ;
• une deuxième partie relative plus spécifiquement au procédé de commande conforme à l'invention ; et
• une troisième partie consacrée à l'utilisation de l'appareil et du procédé conformes à l'invention.

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 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.

• un corps 2 creux, ouvert à l'une de ses extrémités 20 et s'étendant selon un axe principal A ;
• un organe mobile 3, dit bras pour la suite de la description, déplaçable en translation à l'intérieur du corps 2 selon l'axe principal A et traversant l'extrémité ouverte 20 dudit corps 2, ledit bras 3 étant déplaçable entre une position rétractée illustrée aux figures 3a à 3c et une position déployée illustrée en figure 3d ;
• un moyen de liaison 4 adapté pour relier une partie du membre de l'utilisateur audit bras 3 afin que ledit membre puisse imposer un effort de déplacement audit bras 3 et inversement, autrement dit afin que le membre puisse tirer et pousser le bras 3 et que le bras 3 puisse tirer et pousser le membre ;
• un moyen moteur 5 fixé sur le corps 2 et relié audit bras 3, ledit moyen moteur 5 étant adapté pour d'une part, dans un mode d'entraînement, entraîner en déplacement le bras 3 dans les deux sens de translation, et pour d'autre part, dans un mode de freinage, freiner le déplacement du bras 3 dans les deux sens de translation.

With reference to Figures 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 retracted position illustrated in Figures 3a to 3c and a deployed 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 firstly, in a driving mode, to cause the arm 3 to move in both translation directions, and for d 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 visible in figure 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 each other, one of the axes of rotation 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 guided in the space inside a cone of freedom.

• des butées pour limiter la rotation de la première liaison pivot 61 autour de l'axe principal A sur un secteur angulaire SA1 ; et
• des butées pour limiter la rotation de la seconde liaison pivot 62 autour d'un axe perpendiculaire à l'axe principal A sur un secteur angulaire SA2.

As illustrated in figure 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 rotation angles 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 for limiting the rotation of the first pivot connection 61 around 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 articulation means 60 is also schematically illustrated in FIG. figure 11 , wherein 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) slidably and adjustably mounted in frame B, in order to connect the means of articulation 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 figure 9 , the cooperation means 6 is slidably mounted in a support (not visible) guided in translation in a rail R fixed on the frame B (wall and / or floor) in order to adjust the position of the apparatus 1 vis-à- screw 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.

• un appareil 1 d'exercice conforme à l'invention ; et
• un bâti B dans lequel est monté à coulissement un support ;

où le corps 2 de l'appareil 1 est monté de façon amovible sur ce support, via le moyen amovible 63, de manière à permettre le réglage de la position de l'appareil 1 en réglant la position du support sur le bâti 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 is slidably mounted a support;

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.

In a variant, the cooperation means 6 may 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 the Figures 3 to 7 , the cooperation means 6 is in the form of a spherical piece or a point connection. 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.

• une première extrémité 31 dite extrémité libre et sur laquelle est disposé le moyen de liaison 4 afin que l'utilisateur puisse déplacer le bras 3 dans les deux sens et également pour que le bras 3 puisse déplacer le membre l'utilisateur ; et
• une deuxième extrémité 32 en liaison avec le moyen moteur 5 afin que le moyen moteur puisse déplacer le bras 3 dans les deux sens et également pour que le déplacement du bras 3 puisse être freiné par le moyen moteur 5.

The arm 3 has two opposite ends, namely:

• a first end 31 said free end and on which is disposed the connecting means 4 so that the user can move the arm 3 in both directions and also so that the arm 3 can move the user member; 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.

• à la fois tirer et pousser le bras 3, le fait de tirer le bras 3 consistant à déplacer le bras 3 de la position rétractée vers la position déployée, et le fait de pousser le bras consistant à déplacer le bras 3 de la position déployée vers la position rétractée ; et/ou
• à la fois être tiré et être poussé par le bras 3.

The connecting means 4 is adapted so that the body part of the user can:

• both pulling and pushing the arm 3, pulling the arm 3 of moving the arm 3 from the retracted position to the deployed position, and pushing the arm of moving the arm 3 from the deployed position to the retracted position; and or
• both being pulled and being pushed by the arm 3.

• un moyen de préhension pour une main, comme par exemple une poignée sphérique (illustrée sur les figures 3 à 7), une poignée articulée du type notamment poignée à rotule offrant plusieurs degrés de liberté en rotation ou poignée pivotante offrant un seul degré de liberté en rotation, ou une surface formant prise pour la main ménagée sur la première extrémité 31 du bras 3 ;
• une sangle ou une attache pour attacher le bras 3 autour d'une partie du corps de l'utilisateur, comme par exemple une sangle qui passe autour d'un membre (par exemple au niveau du genou, de la cheville, de la cuisse d'une jambe ou au niveau du poignet, du coude, de l'épaule du bras) ou d'une autre partie du corps (autour du bassin, de la hanche, du dos etc.) de l'utilisateur.

The connecting means 4 may take different forms depending in particular on the part of the body to be exerted, such as for example:

• gripping means for a hand, such as a spherical handle (illustrated on the Figures 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 surface forming a hand-grip formed 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 knee, ankle, thigh, one leg or at the 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.

• un moteur rotatif 50 dit réversible et prévu pour un fonctionnement quatre quadrants ; et
• des moyens de conversion 51 réversible du mouvement de rotation du moteur rotatif 50 en un déplacement en translation du bras 3, lesdits moyens de conversion 51 permettant ainsi la transmission du mouvement entre la sortie du moteur 50 et le bras 3 et inversement dans les deux sens de translation du bras 3.

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 reversible and provided for operation four quadrants; and
• conversion means 51 reversibly 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 directions translation of the arm 3.

• dans un mode d'entraînement, autrement appelé mode moteur, où le moteur 50 entraîne le bras 3 en translation dans l'un ou l'autre sens de translation ; et
• dans un mode de freinage, autrement appelé mode de régénération ou mode générateur, où le moteur 50 freine le déplacement du bras 3 dans l'un ou l'autre sens de translation.

The reversible rotary motor 50 operates in four quadrants, i.e. it can operate at a time:

• in a drive mode, otherwise called motor mode, where the motor 50 drives the arm 3 in translation in either 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.

• le premier quadrant Q1 correspond un mode moteur où la vitesse en sortie du moteur et la direction du couple moteur ont le même sens de rotation (ici un sens horaire) et où le moteur 50 entraîne le bras 3 en translation dans un premier sens de translation, dit sens positif correspondant à un déplacement de la position rétractée vers la position déployée, tandis que l'utilisateur ne résiste pas à ce déplacement voire le soutient en tirant sur le bras 3 ;
• le deuxième quadrant Q2 correspond un mode freinage où la vitesse en sortie du moteur et la direction du couple moteur ont des sens opposés de rotation, respectivement un sens antihoraire et un sens horaire, et où le bras 3 est déplacé par l'utilisateur dans le sens positif de translation, c'est-à-dire tiré par l'utilisateur, tandis que le moteur 50 freine ce déplacement ;
• le troisième quadrant Q3 correspond un mode moteur où la vitesse en sortie du moteur et la direction du couple moteur ont le même sens de rotation (ici un sens antihoraire opposé au sens horaire) et où le moteur 50 entraîne le bras 3 en translation dans un deuxième sens de translation, dit sens négatif opposé au sens positif et correspondant à un déplacement de la position déployée vers la position rétractée, tandis que l'utilisateur ne résiste pas à ce déplacement voire le soutient en poussant sur le bras ;
• le quatrième quadrant Q4 correspond un mode freinage où la vitesse en sortie du moteur et la direction du couple moteur ont des sens opposés de rotation, respectivement un sens horaire et un sens antihoraire, et où le bras 3 est déplacé par l'utilisateur dans le sens négatif de translation, c'est-à-dire poussé par l'utilisateur, tandis que le moteur 50 freine ce déplacement.

This four quadrant operation is illustrated in figure 16 where the four quadrants are schematized on a graph with the motor torque CM on the abscissa and the angular velocity VA at the output 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 counterclockwise and clockwise, and where the arm 3 is moved by the user into 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 direction 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 direction 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 electrical 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 figure 25 . Without power supply, the braking does not work and therefore the arm 3 can move freely under the effect of its own weight.

• un moteur rotatif 150 prévu pour un fonctionnement deux quadrants ;
• un variateur 152 de vitesse pour le moteur 150, relié électriquement au secteur S ; et
• des moyens de conversion 151 réversible du mouvement de rotation du moteur rotatif 150.

In a second embodiment of the motor means 5 illustrated in figure 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
• reversible conversion means 151 of the 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.

• un moteur rotatif 250 non réversible prévu pour un fonctionnement uniquement en mode moteur et pour effectuer des déplacements avant et arrière sans mode de freinage interne au moteur 250 ;
• un variateur 252 de vitesse pour le moteur 250, relié électriquement au secteur S ; et
• des moyens de conversion 251 irréversibles du mouvement de rotation du moteur rotatif 250 et pourvus de moyens de freinage par frottement mécanique.

In a third embodiment of the motor means 5 illustrated in figure 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 provided for operation only in engine mode and to perform forward and reverse movements 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 of 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.

• un moteur rotatif 350 non réversible prévu pour un fonctionnement uniquement en mode moteur et pour effectuer des déplacements avant et arrière sans mode de freinage interne au moteur 350 ;
• un variateur 352 de vitesse pour le moteur 350, relié électriquement au secteur S ;
• des moyens de conversion 351 irréversibles du mouvement de rotation du moteur rotatif 350 ; et
• un frein mécanique 354 disposé en parallèle du moteur 350 et conçu pour freiner le déplacement du bras 3.

In a fourth embodiment of the motor means 5 illustrated in figure 27 , hereinafter referred to as the "irreversible embodiment with mechanical brake", said motor means 5 comprises:

• a non-reversible rotary motor 350 provided for operation only in the engine mode and to move forward and backward without internal braking mode to the engine 350;
• a speed variator 352 for the motor 350, electrically connected to the sector S;
• irreversible conversion means 351 of the rotational movement of the rotary motor 350; and
• a mechanical brake 354 arranged in parallel with the motor 350 and designed to slow 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 takes care of creating a counter-force which opposes the displacement of the arm 3.

• moteur à courant continu ;
• moteur universel ;
• moteur synchrone du type moteur à aimants permanents dit moteur « brushless » ou moteur sans balai, moteur à réluctance variable, moteur pas à pas, moteur hybride ou moteur à hystérésis ;
• moteurs asynchrone du type moteur triphasés à cage, moteur monophasé ou moteur pas à pas ;
• moteur piézoélectrique ;
• servomoteurs à courant continu ;
• servomoteurs asynchrone ;
• servomoteur à aimants permanents dit « brushless » (AC et DC).

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 of the permanent magnet motor type, 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).

The Figures 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 the same arm 3. As visible on the Figures 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 guiding shoes 23 fixed in the body 2 and surrounding the arm 3. The conversion means 51 extend into part inside the arm 3.

• une courroie 510 liée en rotation d'une part à l'arbre moteur 500 rotatif du moteur 50 et d'autre part à une poulie 511 fixée sur un support 24 solidaire du corps 2, ledit support 24 s'étendant sur une partie de la longueur du corps 2 à l'intérieur du bras 3 et ladite courroie 510 traversant ledit support 24 ;
• une roue dentée 512 solidaire en rotation de la poulie 511 et fixée sur le support 24 ; et
• une crémaillère 513 en engrènement avec la roue dentée 512 et fixée sur le bras 3.

In the first embodiment illustrated in Figures 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 part 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 in 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 rotates the toothed wheel 512 which, by turning, translational moves the arm 3 via the rack 513. 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.

• un arbre fileté 514 (par exemple du type vis à bille) entraîné en rotation par le moteur 50, constituant de ce fait l'arbre de sortie dudit moteur 50 et traversant la deuxième extrémité 32 du bras 3 via un palier 515 ; et
• une pièce formant écrou 516 fixée sur le bras 3 et pourvue d'un orifice fileté coopérant avec l'arbre fileté 514.

In the second embodiment illustrated in figure 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 nut member 516 fixed to 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.

• une courroie 517 liée en rotation à l'arbre moteur 500 qui s'étend selon un axe perpendiculaire à l'axe principal A ;
• des galets 518 s'étend selon des axes respectifs perpendiculaires à l'axe principal A et guidant le déplacement de la courroie 517 afin que ladite courroie présente une longue portion plane, entre deux galets, qui est parallèle à l'axe principal A le long du bras 3, lesdits galets 518 étant ici au nombre de cinq et étant fixés sur un support 24 solidaire du corps 2 et s'étendant sur une partie de la longueur du corps 2 à l'intérieur du bras 3 ;
• une pièce de connexion 519 solidaire à la fois du bras 3 et de la longue portion plane de la courroie 517.

In the third embodiment illustrated in Figures 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 extend along respective axes perpendicular to the main axis A and guide 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 along 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 portion 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 drive shaft 500 rotates the belt 517 around the rollers 518, so that the connecting piece 519 is driven in translation between the two rollers 518 delimiting the long flat portion of said belt 517, thereby causing in translation the arm 3.

• une courroie 519 liée en rotation à l'arbre moteur 500 qui s'étend selon un axe parallèle à l'axe principal A ;
• une poulie 520 permettant un renvoi à angle droit de la courroie 519 afin que ladite courroie présente une longue portion plane, entre la poulie 520 et un galet 521, ladite poulie 520 et ledit galet 521 étant fixés sur un support 24 solidaire du corps 2 et s'étendant sur une partie de la longueur du corps 2 à l'intérieur du bras 3 ;
• une pièce de connexion 522 solidaire à la fois du bras 3 et de la longue portion plane de la courroie 519.

In the fourth embodiment illustrated in Figures 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 allowing 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 inside 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 connecting piece 522 is driven in translation between the pulley 520 and the roller 521, thereby causing translation the arm 3.

• deux engrenages coniques 523 en engrènement, le premier étant solidaire en rotation de l'arbre moteur 500 et le second étant entraîné en rotation par le premier engrenage conique autour d'un axe perpendiculaire à l'axe principal A ;
• une courroie 524 entraînée en rotation par le deuxième engrenage conique 523 au moyen d'une roue dentée 525 solidaire en rotation de ce deuxième engrenage conique, ladite courroie 524 entraînant ensuite en translation le bras 3 via des moyens de type connu.

In the fifth embodiment illustrated at figure 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 meshing, the first being rotatably connected to 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 the second bevel gear, said belt 524 then driving the arm 3 in translation via means of known type.

The motor means 5 can also comprise a speed reducer 501 visible in particular at Figures 4b , 6b and 7b . In the fifth embodiment illustrated in figure 8 , the reduction of speeds can be achieved by adjusting 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.

The 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.

• un moteur rotatif 50 ;
• un arbre fileté 514 (par exemple du type vis à bille) entraîné en rotation par le moteur 50 ; et
• une pièce formant écrou 516 fixée sur le bras 3 et pourvue d'un orifice fileté coopérant avec l'arbre fileté 514.

In substantially equivalent manner to the second embodiment described above with reference to the figure 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
• a nut member 516 fixed to the arm 3 and provided with a threaded orifice cooperating with the threaded shaft 514.

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.

• trois tirants 27 s'étendant à l'intérieur du corps 2 parallèlement à l'axe principal A et répartis à 120° les uns des autres autour de l'axe principal A ; et
• un coulisseau 28 monté à coulissement sur chacun des trois tirants 27 et monté fixe sur le bras 3 notamment au moyen des vis 280 visibles sur la figure 49b, où le coulisseau 28 est fixé, par vissage, sur la pièce formant écrou 516.

As illustrated on figures 48 , 49a and 49b , to support the radial forces perpendicular to the main axis A and guide the arm 3 in its translational movement. the body 2 internally supports guide means of 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 slide 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 on the figure 49b , where the slider 28 is fixed, by screwing, on the nut part 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 this nut piece 516, be guided by the tie rods 27.

• une extrémité avant 271 fixée, par vissage, sur une pièce formant palier 272 pour l'arbre fileté 514 ; et
• une extrémité arrière 273 fixée, par vissage, sur le carter 26 du moteur 50.

The arm 3 is hollow and the tie rods 27 extend inside the arm 3 and through the bottom 21 of the body 2. The tie rods 27 respectively show:

• a front end 271 fixed by screwing on a bearing part 272 for the threaded shaft 514; and
• a rear end 273 fixed by screwing on the housing 26 of the motor 50.

As illustrated on figures 48 , 51 , 52a and 52b , the cooperation means 6 comprises a hinge means 60 made in the form of a double pivot link having 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 housing 26 of the motor 50 after the motor 50.

As illustrated on figures 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.

The 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 apparatus 1, as schematically illustrated in FIG. figure 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.

• un moteur 71 entraînant en translation un arbre de commande 72, la translation de l'arbre de commande 72 étant illustré par les flèches T sur les figures ;
• une pièce de pivotement 73 fixée, notamment de manière amovible, sur le corps 2, ladite pièce de pivotement 73 s'étendant selon l'axe principal A ;
• une articulation 74, notamment du type liaison pivot, entre l'arbre de commande 72 et la pièce de pivotement 73 ;
• un support 75 de la pièce de pivotement 73 sur un bâti B, où ladite pièce de pivotement 73 est articulée sur le support 75 afin de pouvoir pivoter autour d'un axe incliné par rapport à l'axe principal A.

The Figures 14 and 15 illustrate an apparatus 1 provided with secondary motor means 70 according to separate embodiments. In both embodiments, the secondary motor 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 pivot piece 73 on a frame B, wherein said pivoting piece 73 is articulated on the support 75 in order to be pivotable about an axis inclined with respect to the main axis A.

In the embodiment of the 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 the figure 15 the support 75 is disposed below the hinge 74, ie 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 can be disposed inside a box CA, illustrated by mixed lines on the Figures 14 and 15 from which protrudes the free end of the pivoting piece 73 on which the body 2 of the apparatus 1 will be connected.

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 thus make it possible to constrain the part of the body of the user to follow a delimited trajectory T in space. Such a constraint around a trajectory T is described at the end of the second part with reference to the Figures 34 to 37 .

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

• a) enregistrement ou saisie d'au moins une courbe de consigne Cc correspondant à une variation prédéfinie d'un paramètre principal d'exercice P_P prédéterminé en fonction d'un paramètre d'état P_E tel que le temps ou le déplacement du bras 3, ledit paramètre principal d'exercice étant représentatif de l'effort de déplacement imposé par le bras 3 à la partie du corps de l'utilisateur ou inversement et notamment choisi parmi la force développée par l'utilisateur sur le bras 3 pour déplacer ou freiner le bras 3, le couple ou la force développés par le moyen moteur 5 pour déplacer ou freiner le bras 3, la vitesse de déplacement du bras 3 et l'accélération du déplacement du bras 3 ;
• b) acquisition d'une courbe réelle C_R correspondant à la variation du paramètre principal d'exercice P_P mesuré pendant l'exercice en fonction du paramètre d'état P_E ;
• c) commande du moyen moteur 5 afin d'asservir la courbe réelle C_R autour de la courbe de consigne C_C pendant l'exercice, ledit moyen moteur 5 étant contrôlé pour déplacer et/ou freiner le bras 3 dans un mouvement de translation, comme décrit ci-avant dans la première partie de la description.

The invention also relates to a control method of the apparatus 1 described above. This control method comprises the following steps:

• a) recording or entering at least one setpoint curve Cc corresponding to a predefined variation of a predetermined main exercise parameter P _P as a function of a state parameter P _E such that the time or the movement of the arm 3, said main exercise parameter 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 braking 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 P _P 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 C _C 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 at Figures 24 to 30 and 31).

• un moyen de stockage 81 (du type mémoire de données numériques) adapté pour enregistrer des courbes de consigne ;
• un moyen de transfert 82 conçu pour transférer des courbes de consigne enregistrées sur un terminal ou un moyen de stockage externe 92 (tel qu'une clé USB, un terminal informatique, un disque d'enregistrement de données numériques, etc.) à destination du moyen de stockage 81 de l'appareil 1 ; et éventuellement
• un moyen de saisie de courbes de consigne par l'utilisateur et/ou une tierce personne, comme par exemple une interface de saisie du type clavier, écran ou similaire.

To perform step a) recording or input, the apparatus 1 comprises:

• storing means 81 (of the digital data memory type) adapted to record set-point curves;
• transfer means 82 designed to transfer setpoint curves recorded on a terminal or external storage means 92 (such as a USB key, a computer terminal, a digital data recording disk, etc.) to the storage means 81 of the apparatus 1; and eventually
• means for entering setpoints by the user and / or a third party, such as an input interface of the keyboard, screen or similar type.

• liaison filaire, par exemple du type liaison par câble ou prise de réception d'un moyen de stockage externe tel qu'une prise USB ou équivalent ; ou
• liaison non filaire, par exemple liaison Wi-Fi ©, BlueTooth © ou équivalent.

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
• non-wired link, eg Wi-Fi ©, 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. device 1.

• au moins un premier moyen de mesure, pendant l'exercice, du paramètre principal d'exercice P_P réel, comme par exemple un capteur d'effort 83 mesurant l'effort développé sur le bras 3 ou un capteur de vitesse 84 mesurant la vitesse de déplacement du bras 3 ;
• au moins un deuxième moyen de mesure, pendant l'exercice, du paramètre d'état P_E réel, tel qu'une horloge interne à l'unité centrale ou un capteur de déplacement 85 mesurant le déplacement D du bras 3.

To perform this step b) of acquisition, the apparatus 1 comprises:

• at least a 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 moving the arm 3;
• at least a second measurement means, during 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 being also connected to the motor means 5 (as visible to the Figures 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 storage means 81.

• un comparateur 98 qui compare la courbe de consigne C_C mémorisée dans le moyen de stockage 81 avec les données issues des capteurs 83 à 84, le signal de sortie E du comparateur correspondant à la différence ou l'erreur à compenser pour réaliser l'asservissement ; et
• un correcteur ou régulateur 99 qui commande le moyen moteur 5 pour compenser l'erreur E.

In order to carry out the control or servocontrol step c), the apparatus 1 may comprise, as illustrated schematically in FIG. figure 30 :

• 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 to achieve the control ; and
• a corrector or regulator 99 which controls the motor means 5 to compensate for the error E.

The set-point curves C _C correspond to curves programmed according to the therapeutic, physiological or physical objectives sought for the user or the therapist or the 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 C _C.

The Figures 17 to 23 illustrate different set curves C _C 1 to C _C 7 may be recorded for exercise on the device 1 according to the invention.

The Figures 17 to 21 illustrate curves of setpoint C _C 1 to Cc 5 in effort, that is to say, curves of variation of a force F as a function of the displacement D of the arm 3, in other words according to the position of the arm 3 relative to the 2. In this case, the main exercise parameter P _P 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 brake 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 P _P (for example the force 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.

• faire travailler l'utilisateur selon un seul sens de déplacement du bras 3 ; et à
• faire revenir le bras 3 en position initiale de façon motorisée ou à laisser l'utilisateur ramener le bras 3 en position initiale avec le moyen moteur 5 qui offre un effort résistant nul ou quasi nul (par exemple inférieur à 1 Newton).

The setpoint curves C _C 1 to C _C 4 illustrated in FIGS. Figures 17 to 20 correspond to an exercise consisting of:

• operate the user 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 offers 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 figure 17 , the setpoint curve C _C 1 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.

• une première phase PH1 avec une montée progressive et sans à-coup de l'effort F, sans discontinuité au début du déplacement (à D=0, position initiale) ;
• une deuxième phase PH2 dite de palier avec un effort F constant ou quasi constant ; et enfin
• une troisième phase PH3 avec une descente progressive et sans à-coup de l'effort F, sans discontinuité à la fin du déplacement.

To the figures 18 and 19 , the setpoint curves C _C 2 and Cc 3 correspond to an increase in the effort F at the beginning of the displacement to a stage followed by a decrease in the effort F at the end of the displacement. These setpoint curves Cc2 and Cc3 have numerous advantages over a curve similar to the curve C0 described above with reference to FIG. figure 1 , in particular by ensuring a progressive work generating no trauma for the user. Indeed, these setpoint curves C _C 2 and Cc 3 correspond to an exercise comprising three distinct phases:

• a first phase PH1 with a gradual and smooth rise of the effort F, without discontinuity at the beginning of the displacement (at D = 0, initial position);
• a second phase PH2 called bearing with a constant or almost constant effort F; and finally
• a third phase PH3 with a gradual and smoothly descent of the effort F, without discontinuity at the end of the displacement.

The figure 19 also illustrates the movement of an upper limb MS (or arm) during the three phases of this exercise, with arrows F illustrating the effort F undergone by the upper limb MS when moving the movable arm 3 of the apparatus 1.

In figure 20 , the setpoint curve C _C 4 corresponds to a linear increase of the force F at the beginning of the displacement up to a first level (situated at the value of 350 N for example), followed by a linear decrease in the effort 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 up to a third level (situated at the value of 30 N for example), and concluded by a last linear of the force F up to the abscissa axis at the value of 0 N.

This setpoint curve C _C 4 has particular interest for working the body part of the user with degressive force levels.

• faire travailler l'utilisateur selon un premier sens de déplacement du bras 3, avec un asservissement autour de la première partie C1 de la courbe de consigne C_C5 ; et à
• faire travailler l'utilisateur selon un deuxième sens de déplacement du bras 3 opposé au premier sens, avec un asservissement autour de la deuxième partie C2 de la courbe de consigne C_C5.

The setpoint curve C _C 5 illustrated in figure 21 is an exercise consisting of:

• to make the user work in a first direction of movement of the arm 3, with a servocontrol 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 C _C 5.

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.

On the figure 21 , the first curve portion C1 is of the same type as the setpoint curve C _C 2 described above with reference to FIG. figure 18 , and the second curve portion C2 is also of the same type as this setpoint curve Cc2, with the same advantages as described above in the two translation directions 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. figure 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 of the curve C1 and C2.

The Figures 22 and 23 illustrate curves of setpoint C _C 6 and C _C 7 in speed, that is to say curves of variation of 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 figure 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 figure 23 , the setpoint curve C _C 6 corresponds to an increase of the speed V to a speed step, followed by a return to zero at the end of the displacement. Thus, on the landing, the user works in iso-kinetics, 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 C _C may relate to the desire to perform aerobic work. In this case, a force setpoint curve will make it possible to provide recovery zones within the exercise itself (such 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 anaerobic. 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 C _C 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 up to maximum effort preset as in the case of curves and Cc2 C _C 3 described above. The jerks are 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 C _C 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 C _C 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 antagonistic chains, as in the case Cc2 of the curves C and _C 3, or conversely to have a stress on the return, as in the case of curve C _C 5. the second part of curve C2 (effort upon return) is programmed to record in the continuity with the first part of curve C1 (effort during the outward) so as not to undergo jolts during the reversal of the direction of movement.

As in the case of the curve C _C 5, the apparatus 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.

• un paramètre d'exercice secondaire P_S distinct du paramètre d'exercice principal P_P, ledit paramètre d'exercice secondaire P_S étant représentatif de l'effort de déplacement imposé par le bras 3 à la partie du corps de l'utilisateur ou inversement et notamment choisi parmi la force développée par l'utilisateur sur le bras 3 pour déplacer ou freiner le bras 3, le couple ou la force développés par le moyen moteur 5 pour déplacer ou freiner le bras 3, la vitesse de déplacement du bras 3, et l'accélération du déplacement du bras 3 ; et/ou
• un paramètre physiologique P_PHY représentatif de l'état physiologique du sujet et choisi notamment parmi l'activité électromyographique, le rythme respiratoire, le rythme cardiaque, la température de l'utilisateur, le taux d'oxygène dans le sang, la tension artérielle, et la sudation ; et/ou
• un paramètre de durée P_D représentatif de la durée de l'exercice et choisi notamment parmi la durée de l'exercice, le nombre de cycle de déplacement effectué par le bras 3, le temps nécessaire à l'utilisateur pour effectuer un ou plusieurs déplacements prédéterminés du bras 3 ; et/ou
• un paramètre d'environnement P_E représentatif de l'environnement externe dans lequel l'utilisateur effectue l'exercice et choisi notamment parmi la température ambiante externe, le taux d'humidité externe, la pression ambiante externe.

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 P _C chosen from:

• a secondary exercise parameter P _S distinct from the main exercise parameter P _P , said secondary exercise parameter P _S 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 electromyographic activity, respiratory rate, heart rate, user temperature, blood oxygen level, 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 displacements predetermined arms 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 rate, the external ambient pressure.

• un capteur du paramètre d'exercice secondaire P_S qui peut être le capteur d'effort 83 ou le capteur de vitesse 84 ;
• un capteur physiologique 86 (illustré aux figures 29 à 31) comme par exemple une sonde thermique, une sonde de mesure de l'activité électromyographique, du rythme respiratoire ou du rythme cardiaque etc. ;
• un capteur d'environnement 87 comme par exemple un hygromètre, une sonde thermique, un manomètre etc.

In order to carry out this measuring step d), the apparatus 1 comprises at least a third means for measuring the reference parameter P _C , for example:

• a sensor of the secondary exercise parameter P _S which may be the force sensor 83 or the speed sensor 84;
• a physiological sensor 86 (shown in FIGS. Figures 29 to 31 ) such as a heat probe, a measurement probe for 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.

• e) comparaison pendant l'exercice du au moins un paramètre de consigne P_C avec au moins une valeur seuil prédéfinie, notamment du type valeur de seuil minimale ou valeur de seuil maximale, ladite comparaison pouvant notamment être effectuée sur une période de temps prédéterminée et/ou sur une portion prédéterminée du déplacement D du bras 3 ; et
• f) modification ou remplacement de la courbe de consigne C_C si, lors de l'étape e), au moins un paramètre de consigne P_C est supérieur ou inférieur à la valeur seuil correspondante, avant de reprendre les étapes b) à e) décrite ci-dessus avec la courbe de consigne C_C telle que modifiée ou remplacée afin d'adapter l'exercice à l'utilisateur suivant un protocole d'exercice prédéfini en fonction de l'évolution du paramètre de consigne P_C.

The process according to the invention also comprises the following two steps:

• e) comparison during the exercise of the at least one setpoint parameter P _C 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 D of the arm 3; and
• f) modification or replacement of the setpoint curve C _C if, during step e), at least one setpoint parameter P _C is greater or less than the corresponding threshold value, before repeating steps b) to e) described above with the setpoint curve C _C as modified or replaced in order to adapt the exercise to the user according to a predefined exercise protocol as a function of the evolution of the setpoint parameter P _C.

• modifier la courbe de consigne C_C qui sert de base à l'asservissement de l'étape c), la modification de la courbe de consigne C_C consistant à modifier les paramètres qui définissent cette courbe, comme par exemple la pente de la courbe en certains endroits (début et/ou fin de déplacement du bras 3), la valeur en ordonnée du ou des paliers, la valeur en abscisses des points d'extrémité du ou des paliers etc. ;
• remplacer la courbe de consigne C_C par une autre courbe de consigne, comme par exemple remplacer la courbe C_C1 par la courbe C_C2.

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 P _C chosen, or as a function of the evolution of several selected setpoint parameters P _C. It is understood by modifying the course of the exercise to perform one or other of the following functions:

• modify the setpoint curve C _C which serves as a basis for the control of step c), the modification of the setpoint curve C _C of modifying the parameters which define this curve, such as the slope of the curve in some places (beginning and / or end of movement of the arm 3), the value in ordinate of the bearing or bearings, the value in abscissa of the end points of the bearing or bearings etc. ;
• replace the setpoint curve C _C by another setpoint curve, such as for example to replace the curve C _C 1 by the curve C _C 2.

These two functions are substantially equivalent because replacing the curve Cc1 by the curve C _C 2 somehow returns to change the curve C _C 1 so that it becomes the curve C _C 2; and conversely modify a curve C _C 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 C _C 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.

• d'une part des paramètres internes à l'appareil (notamment la vitesse V, l'accélération, le déplacement D ou positionnement, l'effort F etc.) ; et
• d'autre part les paramètres externes reliées à l'unité centrale 80 qui vont apporter à cette dernière des informations sur l'environnement (paramètre d'environnement P_E) et surtout sur l'utilisateur (paramètre physiologique P_PHY). L'asservissement du moyen moteur 5 prend en considération une ou plusieurs de ces différentes paramètres de consigne Pc.

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

• on the one hand internal parameters to the device (in particular 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 Pc.

For example, it is conceivable to have a setpoint curve C _C of the force F as a function of the displacement D of the arm 3, the chosen setpoint parameter P _C 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 displacement of the arm 3 as a function of the displacement D of the arm 3, the chosen setpoint parameter P _C being the force F. Such a programming will make it possible to perform 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 (s) P _PHY 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 of threshold values and predetermined time period 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 because 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 subject's attitude, 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 C _C 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 C _C according to said instruction.

Thus, it is possible to modify the exercise en route on 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 if the method comprises a step of displaying the evolution of the main exercise parameter P _P and / or at least a setpoint parameter P _C 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) P _P and / or P _C 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 for the method to comprise a data transmission step reflecting the change in the main exercise parameter P _P and / or at least one setpoint parameter P _C 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, change the subsequent exercises and establish diagnoses.

The figure 29 illustrates the third party TP, possibly located at a distance from the user U who performs the exercise, where the third person TP receives or displays data via the display means 88 and / or the transmission means, and where the third party person TP sends an instruction to the central unit 80 via the receiving means 97. On 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.

• effort ou vitesse à développer pour déplacer le bras 3 ou freiner le déplacement du bras 3 ;
• temps ou nombre de cycle restant pour l'exercice ou pour la phase de l'exercice correspondant.

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 to slow the movement of the arm 3;
• time or number of cycles remaining for the exercise or for the corresponding exercise phase.

• un générateur de signal sonore, tel qu'un générateur de son (la fréquence et/ou l'intensité du signal sonore étant associées à une recommandation particulière à destination de l'utilisateur) ou un générateur de phrase vocale émettant des recommandations parlées (comme par exemple des recommandations du type « poussez plus fort », « tirez moins fort », etc.) ;
• un générateur de signal visuel apte à émettre plusieurs signaux lumineux distincts, chaque signal lumineux étant associé à une recommandation particulière à destination de l'utilisateur, comme par exemple un générateur de signaux colorés (la couleur étant associée à une recommandation), un générateur de signaux clignotants (la fréquence du signal étant associée à une recommandation), un générateur de phrase écrite (le contenu de la phrase étant associé à une recommandation) ;
• un générateur de signal tactile, comme par exemple un générateur de vibration disposé sur ou dans le moyen de liaison 4, tel qu'un vibrateur dans une poignée 4.

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 intensity of the sound signal being associated with a particular recommendation to the user) or a voice phrase generator issuing spoken recommendations (such as for example, "push harder", "pull harder", etc.) recommendations;
• 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 signal generator; flashing signals (the signal frequency being associated with a recommendation), a written sentence generator (the content of the sentence being associated with a recommendation);
• a tactile signal generator, such as for example a vibration generator disposed on or in the connecting 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 network. 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 performed 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 online C _C setpoint curves and exercise programs or protocols according to the desired objectives for therapeutic purposes. , muscle development, physical maintenance or weight loss. These people can also download the results of the user (evolution of the real curves) in real time or after the exercise, in particular for the purpose of comparing these results with theoretical data, averages, results obtained on previous exercises , or the results of another user. It is also possible that people registered on this website create new curves, new programs or exercise protocols and make them available to other people registered on the website in question.

The figure 32 illustrates an example of an exercise protocol with a succession of phases (or steps). For this protocol, two setpoint curves, respectively a first C _C 10 and a second C _C 20 setpoint curves, are recorded in the storage means 81.

• une phase dite d'initialisation PHINI, en début d'exercice, au cours de laquelle :
  • l'utilisateur effectue l'exercice avec une courbe de consigne C_C0, cette courbe de consigne CC0 étant notamment choisie pour tester ou échauffer l'utilisateur (comme par exemple la courbe C_C0 en effort illustrée correspondant à une courbe avec un effort F₀ constant en fonction du déplacement D) ; et
  • une condition relative à l'état physiologique est nécessaire pour passer à la phase suivante, par comparaison entre un paramètre physiologique P_PHY et une valeur seuil maximale ou minimale (comme par exemple le rythme cardiaque de l'utilisateur qui est comparé à une valeur seuil maximale, par exemple une valeur de 120 pulsations par seconde, de sorte que l'on passe à la phase suivante si le rythme cardiaque est inférieur à la valeur seuil maximale ; autrement dit, tant que le rythme cardiaque est supérieure à la valeur seuil maximale l'utilisateur continue son exercice sur la courbe de consigne C_C0 et ne passe pas à la phase suivante) ;
• une phase d'exercice PHEX proprement dite, qui suit la phase d'initialisation PHINI à condition que la condition physiologique soit remplie (par exemple le rythme cardiaque passe en-dessous de la valeur seuil maximale).

The exercise protocol defines several successive phases of exercise:

• a phase called initialization PHINI, at the beginning of the year, during which:
  • the user performs the exercise with a setpoint curve C _C 0, this setpoint curve CC0 being chosen in particular to test or warming the user (as for example the curve C _C 0 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 threshold value maximum, for example a value of 120 beats 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 maximum threshold value the user continues his exercise on the setpoint curve C _C 0 and does not proceed to the next phase);
• a PHEX exercise phase proper, which follows the PHINI initialization phase provided that the physiological condition is met (for example, the heart rate falls below the maximum threshold value).

• une première phase au cours de laquelle l'utilisateur effectue l'exercice avec une première courbe de consigne C_C10 (comme par exemple la courbe C_C10 en effort illustrée) ; suivie de
• une deuxième phase au cours de laquelle l'utilisateur effectue l'exercice avec une deuxième courbe de consigne C_C20 différente de la première courbe de consigne C_C10 (comme par exemple la courbe C_C20 en effort illustrée) si la condition 2 est remplie.

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

• a first phase during which the user performs the exercise with a first setpoint curve C _C 10 (as for example the curve C _C 10 in illustrated effort); followed by
• a second phase during which the user performs the exercise with a second setpoint curve C _C different from the first setpoint curve C _C 10 (as for example the C _C 20 curve in illustrated effort) if the condition 2 is fulfilled.

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 of comparing the speed V of movement of the arm 3 with a minimum threshold value, for example the speed V to the point E1 of the first setpoint curve C _C 10 illustrated; the first setpoint curve C _C 10 being defined by the coordinates (in force F and in 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; in other words, 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 condition 1 of the figure 32 which is filled when the number of cycles reaches the predetermined value.

In parallel with the conditions 1 and 2, it is conceivable to perform 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 estimated 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 threshold 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.

• recommencer le même cycle (chemin n°1);
• modification des paramètres du cycle en cours (chemin n°2), correspondant à un remplacement ou une modification de la courbe de consigne ;
• passage à un autre exercice (chemin n°3) ;
• fin de l'entraînement (chemin n°4).

With reference to the figure 32 , depending on the test results, we can go to:

• repeat the same cycle (path # 1);
• modification of the parameters of the current cycle (path No. 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.

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

In a particularly interesting embodiment called "multiaxis" embodiment, the method comprises a step of locating the arm 3 in space, and a step of controlling the position of the arm 3 in the space in order to force the user to follow, with the arm 3, a trajectory delimited in the 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.

The Figures 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 cooperation means 7 provided with secondary motor means 70 for constraining 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 device 1 continues to impose a servocontrol around the setpoint curve Cc visible in figure 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 visible in figure 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 (when 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 on the figure 35 .

• la pathologie à traiter ; et/ou
• des muscles ou chaînes musculaires que l'on souhaite faire travailler ou au contraire que l'on ne souhaite pas faire travailler ; et/ou
• des articluations que l'on souhaite faire travailler ou au contraire que l'on ne souhaite pas faire travailler

The trajectory T depends on the chosen exercise and more particularly on:

• the pathology to be treated; and or
• muscles or muscle chains that you want to work or on the contrary that you do not want to work; and or
• articulations that we want to work or on the contrary that we do not want to work

During the movement of the arm 3 along the trajectory T, the force, the counter-force or the speed will for example be imposed by the motor means 5 according to the setpoint curve C _C preprogrammed.

As visible 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 within this working corridor CT, he will exercise under the conditions defined above, in other words the apparatus 1 will apply only the servocontrol around the setpoint curve C _C (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 figure 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 CE force against more or less important to constrain the user to return within 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.

The Figures 38 to 47 illustrate the many uses of the device 1. This device 1 allows in particular a rehabilitation for the lower and upper limbs sitting, standing or lying, according to the setting of the position of the device 1 on the frame; 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.

On the Figures 38 to 39 , the user works a higher member, standing, with a device 1 against a wall or articulated on a wall.

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

On the figure 42 , the user works a lower limb, lying down, with a device 1 against a wall or articulated on a wall.

On the Figures 43 and 44 , the user works a lower limb, while standing, with a device 1 against a wall or articulated on a wall.

On the figure 45 , the user works a lower limb, sitting, with a device 1 against a wall or articulated on a wall.

On the Figures 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 integral with the frame B (here a wall), and with a third party TP, such as a therapist or a sports coach, who supervises the exercise.

• la tierce personne TP peut avoir accès à l'utilisateur U sur quasiment 360 degrés, c'est-à-dire qu'elle peut tourner tout autour de l'utilisateur U, notamment pour analyser sa posture et éventuellement corriger sa posture avant ou pendant l'exercice avec l'appareil 1 ;
• la tierce personne TP peut agir directement, avec ses deux mains libres, sur l'utilisateur U pour notamment corriger des déséquilibres, éliminer ou modifier des mouvements parasites, guider l'utilisateur U dans son mouvement (que ce soit en terme de trajectoire, d'effort, de vitesse, etc.), soutenir ou maintenir physiquement le membre en exercice.

With such a device 1, we note that:

• the third party TP may have access to the user U on almost 360 degrees, that is to say that it can rotate around the user U, in particular to analyze his posture and possibly correct his posture before or during exercise with the device 1;
• the third person TP can act directly, with both hands free, on the user U to correct particular imbalances, eliminate or modify parasitic movements, guide the user U in its movement (whether in terms of trajectory, d effort, 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 in nature and further details and improvements can be made to the apparatus according to the invention as described in the claims, without departing from the scope of the present invention. the invention where other forms of motor means and / or secondary motor means and / or hinge means and / or movable member may for example be made.

Claims (15)

1. An apparatus (1) for muscle and/or joint exercise, adapted to reeducation and/or physical conditioning of a body part, notably an upper and/or lower limb, of a user, said apparatus (1) comprising:

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

   - a mobile member (3) translatable inside the body (2) along a main axis (A) and designed to be displaced by the body part of the user and also for displacing said body part;

   - a motor-driven means (5) connected to the mobile member (3) and adapted for driving in displacement the mobile member (3) in both translatory directions, and also for decelerating the displacement of the mobile member (3) in both translatory directions;

   - a cooperating means (6) between the body (2) and a frame (B), this cooperating means (6) comprising:

   - at least one hinge (60) of the body (2) on the frame (B), said hinge (60) providing at least one degree of rotational freedom for the body (2) around an axis of rotation; and

   - a removable means (63) for installing and removing the body (2), said removable means (63) being designed for removably installing said body (2) on a base (S) slidingly mounted in the frame (B).
2. The apparatus (1) according to claim 1, wherein the hinge (60) is designed for providing two degrees of rotational freedom around respectively two axes of rotation, notably perpendicular to each other.
3. The apparatus according to claim 2, wherein the hinge (60) comprises a first pivot link (61) along the main axis (A) connected to a second pivot link (62) along a transverse axis perpendicular to the main axis (A).
4. The apparatus (1) according to any of the preceding claims, wherein the or each hinge (60) further comprises at least one adjustable stop limiting the rotation of the body around at least one axis of rotation, so that said stop allows to define an angular range adjustable for the rotation of said body around the corresponding axis of rotation.
5. The apparatus (1) according to any of the preceding claims, wherein the body supports at least one secondary motor-driven means (70) capable of rotationally driving the body (2) around an axis of rotation (B1; B2), said secondary motor-driven means (70) comprising at least one angle sensor around the axis of rotation thereof.
6. The apparatus according to any of the preceding claims, wherein the motor-driven means (5) comprises:

   - a motor (50) provided for four-quadrant operation;

   - a reversible supply (52) of the motor; and

   - reversible means for converting (51) the output movement of the motor (50) into a translatory displacement of the mobile member (3).
7. The apparatus according to any of the preceding claims, wherein on the inside, the body (2) supports guiding means (27, 28; 23) of the mobile member (3) in order to sustain the radial efforts perpendicular to the main axis (A) and guide said mobile member (3) in the translatory movement thereof.
8. The apparatus according to claim 7, wherein the guiding means comprise:

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

   - at least one slide (28) slidingly mounted on each of said tie bars (27) and fixedly mounted on the mobile member (3).
9. The apparatus according to claim 8, wherein the motor-driven means comprises a rotary motor (50), a threaded shaft (514) rotatingly driven by the motor (50) and a nut part (516) provided with a threaded orifice cooperating with the threaded shaft (514), and wherein the nut part (516) is integral with the slide (28).
10. A muscle and/or joint exercise device adapted for reeducation and/or physical conditioning of a body part, notably an upper and/or lower limb, of a user, said device comprising:

    - an exercise apparatus (1) according to any of the preceding claims; and

    - a frame (B) in which a base (S) is slidingly mounted;

    wherein the body (2) is removably mounted on said base (S), via the removable means (63), so as to allow for the position of the apparatus (1) to be adjusted by adjusting the position of the base (S) on the frame (B).
11. A method for using an exercise apparatus (1) according to any of claims 1 to 9, comprising the following steps:

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

    - adjusting the position of the apparatus (1) by adjusting the position of the base (S) on the frame (B).
12. The method according to claim 11, further comprising a control method of the apparatus (1) comprising the following steps:

    a) recording or inputting at least one set-point curve (C_C) corresponding to a predefined variation of a main exercise parameter (P_P) predetermined depending on a status parameter (P_E) such as time or the displacement (D) of the mobile member (3), said main exercise parameter (P_P) representing the effort of displacement imposed by the mobile member (3) on said body part or vice versa, and notably selected from the force (F) produced by the user on the mobile member (3) for displacing or decelerating the mobile member (3), the torque or force produced by the motor-driven means (5) for displacing or decelerating the mobile member (3), the speed (V) of displacement of the mobile member (3) and the acceleration of the displacement of the mobile member (3);

    b) acquiring an actual curve corresponding to the variation of the main exercise parameter (P_P) measured during the exercise depending on the status parameter (P_E);

    c) controlling the motor-driven means (5) so as to regulate the actual curve around the set-point curve (C_C) during the exercise.
13. The method according to claim 12, wherein the control method further comprises the following steps:

    d) during the exercise, measuring at least one set-point parameter (P_C) selected from:

    - a secondary exercise parameter (P_S) distinct from the main exercise parameter (P_P), said secondary exercise parameter (P_S) representing the effort of displacement imposed by the mobile member (3) on said body part or vice versa, and notably selected from the force (F) produced by the user on the mobile member (3) for displacing or decelerating the mobile member, the torque or force produced by the motor-driven means (5) for displacing or decelerating the mobile member (3), the speed (V) of displacement of the mobile member (3), and the acceleration of the displacement of the mobile member (3); and/or

    - a physiological parameter (P_PHY) representing the physiological state of the subject, and notably selected from electromyographic activity, respiration rate, heart rate, the user's temperature, blood oxygen level, blood pressure, and perspiration; and/or

    - a duration parameter representing the duration of the exercise, and notably selected from the duration of the exercise, the number of displacement cycles carried out by the mobile member (3), the time required for the user to carry out one or several predetermined displacements of the mobile member (3); and/or

    - an environmental parameter (P_E) representing the external environment in which the user is carrying out the exercise, and notably selected from external ambient temperature, external level of humidity, external ambient pressure;

    e) during the exercise, comparing the at least one set-point parameter (P_C) with at least one predefined threshold value, notably of the minimum threshold value or maximum threshold value type, wherein said comparison can notably be carried out for a predetermined period of time and/or a predetermined portion of the displacement of the mobile member (3);

    f) modifying or replacing the set-point curve if, in step e), at least one set-point parameter is greater or smaller than the corresponding threshold value, before resuming steps b) to e) with the set-point curve as modified or replaced so as to adapt the exercise to the user according to an exercise protocol predefined depending on the progress of at least one set-point parameter (P_C).
14. The method according to claims 12 or 13, wherein the control method comprises a step of receiving at least one order issued by the user or a third party, and a step of modifying or changing the set-point curve (C_C) depending on said order so as to modify the current exercise or replace the current exercise with another exercise.
15. The method according to any of claims 12 to 14, wherein the control method comprises a step of locating the mobile member (3) in space, and a step of steering the position of the mobile member (3) in space so as to oblige the user to follow, with the mobile member (3), a delimited path in space during the exercise.

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