EP2744466B1 - Gait training apparatus for generating a natural gait pattern - Google Patents

Description

The invention is in the field of gait training apparatus and relates to a gait training apparatus according to the preamble of claim 1.

The gait training device is used in particular for the mechanical generation of the natural gait pattern of the sole of the foot. The gait training apparatus includes, in particular for each leg, respective first and second multi-link mechanisms mechanically coupled to each other, a drive for inputting a rotational movement into the first multi-link mechanism, and a footrest element coupled to the second multi-link mechanism.

The gait image in the present description is to be understood as the summary of the movements of the individual segments of the lower extremities during walking. The individual segments include thighs, lower legs and feet, which are connected by joints. In particular, the gait pattern also includes the change in the position of the segments relative to one another. Thus, different points of the lower extremities describe different movement trajectories. Therefore, the gait pattern can not be represented by a specific gait curve but rather by a plurality of motion trajectories of representative points in the lower extremities. Such representative points represent, for example, the heel point, the toe point as well as joint points, over which the body segments are connected to each other, such. B. hip joint, knee joint and ankle.

The gait pattern includes not only purely geometric movement trajectories but also the speed of movement of the extremities along their trajectory.

Neurological events, such as accidents or illnesses, or musculoskeletal disorders caused by the aging process present a major challenge for the therapist. For example, stroke patients, cerebral palsy sufferers, patients with multiple sclerosis, and patients with Parkinson's disease are affected. There are various therapeutic methods within the Neurorehabilitation, by which the walking ability of the affected patients can be improved or at least stabilized. Various studies and the practice show that the repetitive execution of the movements of walking is a possible promising application.

STATE OF THE ART

It is Z. B. known to perform a therapy on treadmills by therapists move the lower limbs of patients by hand. Furthermore, mechanically driven training devices are also known in which the legs and / or the feet of the patients are automatically guided in a trajectory approximating the human gait pattern.

The US 2011/0077562 A1 describes, for example, a gait training device for the mechanical generation of a natural gait pattern. The gait training apparatus has a first four-bar mechanism and a second four-bar mechanism coupled to the first to mechanically replicate the gait pattern of each leg. The joint mechanisms are driven by a drive motor. The gait training device has the disadvantage that for the generation of a realistic gait image, the speed of the drive motor must imperatively be regulated. The gait training device also allows not to change the movement trajectories by mechanical settings on the device. Another disadvantage is that the gait training device only simulates a curve of a point, such as the heel or metatarsus, and not the desired motion of the entire footpad plane. That is, the angle of the foot is not controlled. Furthermore, the gait training device has large dimensions due to its mechanical design and is therefore unwieldy and requires a lot of space.

The US6312362 describes a training device for strengthening the leg muscles, which mechanically simulates the movement of the gait. The training device comprises for each leg a first multi-joint part mechanism, which is responsible for the horizontal and vertical position of the foot along the curve, and a second multi-joint part mechanism, which is responsible for the angle of attack of the foot. The sub-mechanisms are driven by a common drive, which feeds a rotational movement into the system. The training device has the disadvantage that it does not simulate the human gait pattern very precisely. This may be enough for a fitness machine whose sole purpose is to strengthen the leg muscles. However, the device is not suitable as a gait training device for passive training of the gait movement. Furthermore, the direct implementation of a rotary movement in a translational movement leads to large-sized devices, which are unwieldy and take up a lot of space.

The publication font EP 1 974 778 A1 describes a training device for training an elliptical gait movement. The exerciser includes footrests that approximate the natural gait movement of the foot.

The publication font DE 20 2008 001590 U1 describes a training device for human gait variations. The exerciser contains one foot for each foot Carriage segment, which is guided on a carriage guide rail back and forth.

It is undisputed in the professional world that the human gait pattern of both the single leg and both, coordinated moving legs is a very complex matter. The most accurate simulation of the human gait pattern is therefore a great challenge. It should also be noted that each person has his own gait, which among other things of the anatomy, the walking speed, and the individual expression of the walking movement stirs.

PRESENTATION OF THE INVENTION

It is an object of the present invention to provide a gait training device which is able to reproduce the human gait pattern as precisely as possible mechanically. However, the gait training device should still have the simplest possible mechanical structure. Furthermore, it should be possible to adapt the gait image by mechanical adjustment individually to the user. The gait training device is to be used, in particular, as a therapy device for improving the ambulation of patients. However, the gait training device should also be used as a fitness device for targeted strengthening or preservation of the leg muscles.

Unless otherwise stated, the following statements with regard to multi-link mechanisms and guide device relate to a first partial device of the gait training device designed for moving a first leg. It should be noted at this point, however, that the gait training device has expediently also designed for moving a second leg, second sub-device. However, this second part device is expediently functionally and preferably structurally the same, but mirror-inverted constructed as the first sub-device. However, it is operated according to the first part of the device corresponding to the human gait phase out of phase.

The object is achieved by a gait training device according to claim 1.

According to the invention, the gait training device includes a longitudinal guide, wherein the first and second multi-joint mechanism are mechanically coupled or connected to each other via a longitudinal displacement body, wherein the longitudinal displacement body is in mechanical operative connection with the longitudinal guide and is arranged relative to this displaceable.

The longitudinal guide is preferably a mechanical construction element, over which the longitudinal displacement body is guided. The longitudinal displacement body is arranged displaceably in particular along the longitudinal guide. The longitudinal displacement body is in particular translationally displaceable along the longitudinal guide. The longitudinal displacement body is preferably part of the second multi-joint mechanism. The longitudinal displacement body is also preferably hingedly connected to the first multi-link mechanism.

Further preferred embodiments and developments of the invention will become apparent from the dependent claims.

The gait training device preferably includes a fourth multi-link mechanism for deflecting the longitudinal guide. The deflection preferably causes a raising and lowering of the longitudinal guide or a part thereof.

As explained below, the longitudinal guide is connected as part of the third member preferably via a hinge point (see thirteenth hinge point) with the support frame of the gait training device. The third member is now preferably pivotable about the fourth multi-link mechanism about the pivot point and therefore pivotable about the pivot point and lowered.

The fourth multi-link mechanism is also driven by a drive. The drive is preferably designed to generate a rotational movement, by means of which the fourth multi-joint mechanism is set in motion.

• erster Mehrgelenkmechanismus;
• zweiter Mehrgelenkmechanismus;
• vierter Mehrgelenkmechanismus.

According to a preferred development, two or all of the following multi-joint mechanisms are driven directly or indirectly via a common drive:

• first multi-link mechanism;
• second multi-link mechanism;
• fourth multi-link mechanism.

The drive or drives generate, for. B. via a shaft, a torque which is removed from the multi-joint mechanisms. In each case, a first member of the multi-joint mechanism, also called rotary member, set in rotation. That is, the rotary member rotates about a drive hinge point and makes complete revolutions.

In a particularly preferred development, at least the first and second and in particular the first, second and fourth multi-joint mechanism are driven by a common drive. According to this embodiment, the first and possibly the fourth multi-joint mechanism are preferably driven directly. This means that the first link of the respective mechanism removes the torque directly from the drive. The second multi-link mechanism is preferably driven indirectly. That is, the torque is guided by the drive via a further gear arrangement to be driven first member of the second multi-link mechanism. The further gear arrangement is preferably arranged on the first multi-joint mechanism or part thereof.

The drive comprises a motor and optionally also a transmission, which converts the speed supplied by the engine to a required higher or lower speed. The engine is preferably an electric motor. The speed of the drive can preferably be controlled or regulated via a control or regulating device.

The drive motor may be arranged so that the motor shaft is located in the axis of rotation of the first pivot point. However, the drive motor can also be arranged with its motor shaft axially offset from the axis of rotation of the first pivot point. In this case, the torque is transmitted via a corresponding gear, such as a toothed belt or planetary gear.

In a development of the invention, as already mentioned above, the first multi-joint mechanism contains means for transmitting torque from a drive, in particular from a common drive, to the second multi-link mechanism. That is, the means are adapted to set a first member of the second multi-link mechanism in rotation. The first member rotates about a drive hinge point of the second multi-link mechanism. Accordingly, the first rotation members of the first and second multi-link mechanisms preferably rotate synchronously.

According to a preferred embodiment of the invention, the first multi-link mechanism is designed as a crank drive, with a first link, which is designed in particular as a crank, and with a second link, which is designed in particular as a connecting rod. Crankshaft in the present context, a functional group to understand, which causes the conversion of a rotational movement in an oscillating longitudinal movement, in particular translational movement. The term "crank" should not be limited to an elongate structural element in the context of this patent application, but may, for. B. also be a disk-shaped component. The crank is characterized structurally rather by the fact that it has two spaced hinge points, said about a drive hinge point, hereinafter called the first pivot point, the crank is rotationally driven, such that another hinge point, hereinafter called the second hinge point, at which another Limb is fixed, completely revolving around the first pivot point.

For the purpose of changing the gait pattern, the second pivot point can be displaced relative to the first member (crank) via corresponding displacement means.

The numbering of the points of articulation serves only to identify them and to distinguish them from other points of articulation. The number one In particular, the point of articulation should not be interpreted in such a way that the gait training device must necessarily have a corresponding number of articulation points. If, for example, in the context of the disclosure of a twelfth hinge point the speech, this should not be interpreted to the effect that the gait training device in addition to the twelfth hinge point must necessarily contain eleven more hinge points.

The pivot points are each characterized by the fact that these pivot joints form with axes of rotation, which allow the partial or complete rotation of the linked together via the hinge point members relative to each other. The respective limbs are therefore articulated to each other via the hinge points. The hinge connection can be formed in a variety of ways in a known manner. For example, it may comprise one axis of rotation connecting the links. The hinge joints should simply allow a rotational movement of the respective components relative to each other. Depending on the function of the pivot points, the swivel connections can allow rotational movements of less than 360 ° or complete revolutions.

The first link of the first multi-link mechanism is now connected via a first pivot point (drive link point) to the drive rotatably driven. The first and second links are interconnected via a second pivot point. The second member is connected via a further hinge point, hereinafter called third hinge point, with the longitudinal displacement body, which is preferably part of the second multi-joint mechanism.

The operation of the first multi-link mechanism, as can also be deduced from the figures, consists in the fact that the crank is rotationally driven by the drive via the first pivot point, so that the second pivot point on which the second link is mounted around the first pivot point rotates. Of the Rotary drive triggers at the third hinge point, at which the second member is connected to the longitudinal displacement body, a longitudinal displacement of the longitudinal displacement body along the longitudinal guide. The longitudinal guide restricts the relative movement of the longitudinal displacement body such that its degree of freedom is 1. This relative movement, or guide movement, is preferably a sliding movement, wherein two points of the longitudinal displacement body are guided on a common or two different guide paths of the longitudinal guide. The guide movement is preferably linear. The longitudinal displacement body is in this case, relative to the longitudinal guide a translational body. However, it can also be provided that the longitudinal movement at least partially non-linear, z. B. arcuate, or that the two points of the longitudinal displacement body are guided on two different guide paths of the longitudinal guide.

According to a development of the invention, the second multi-joint mechanism is a multi-joint coupling mechanism, in particular a four-joint coupling mechanism, with a movable first and third member. A coupling formed as a second member connects the first and the third member with each other. A fourth member, namely the longitudinal displacement body, forms the reference member to which the first and third members are connected. The reference member represents that member of a multi-link mechanism which is not driven by the respective multi-link mechanism itself.

Coupling gear in the present context, a gear to understand, which converts rotational movements in oscillating or curved movements. Coupling gears are in this sense uneven translating gear.

The four-bar linkage is designed in particular as a rocker arm. The rocker arm, also called "crank gear", belongs to the coupling gears. It is characterized as all coupling gears by the coupling of at least two of the movable members with a coupling. The first link is in execution a crank used as a drive and the third member in the form of a rocker as an output.

According to this embodiment, the first link is now designed as a crank and, via a pivot point, referred to below as the fourth pivot point, rotatably drivable attached to the longitudinal displacement body, which represents the reference link of the four-bar linkage. The second member is formed as a coupling and connected via a further hinge point, hereinafter referred to as the fifth hinge point, with the first member. Furthermore, the second member is connected via a further articulation point, hereinafter referred to as sixth articulation point, with a third member, which is designed as a rocker. The third member is connected via a further hinge point, hereinafter referred to as the seventh hinge point, with the longitudinal displacement body, the reference member.

The term "rocker" should not be limited to an elongate structural element in the present context, but may, for. B. also be a disk-shaped component. Rather, the rocker is structurally characterized in that it has two mutually spaced hinge points, wherein a first pivot point serves as a rotation axis, around which, driven by the coupling, the second hinge point oscillates, i. oscillates or oscillates.

The third and fourth articulation points are preferably arranged in a common axis of rotation on the longitudinal displacement body and thus coincide. The second link of the crank drive (connecting rod) is in this case directly connected via the third pivot point to the longitudinal sliding body, the reference link of the second multi-link mechanism, and also to the first link (crank) of the second multi-link mechanism. But it can also be provided that the third and fourth hinge point are arranged at different locations on the longitudinal displacement body.

The fourth and seventh pivot point of the second multi-link mechanism are now located on the longitudinal sliding body and are moved together with this oscillating along the driven first multi-link mechanism. The two hinge points are fixed relative to each other. Accordingly, the entire second multi-joint mechanism is subjected by the moving longitudinal displacement body of an oscillating longitudinal movement. This longitudinal movement contributes a part to the stride length of the gait movement.

According to a development of the invention, the gait training device includes a further multi-joint mechanism, hereinafter referred to as the third multi-joint mechanism, which is connected to the second multi-joint mechanism, and on which the footrest element is formed.

The gait training apparatus further includes another longitudinal displacement body mechanically coupled to the third multi-link mechanism. The further longitudinal displacement body is connected to a longitudinal guide in mechanical operative connection and is arranged relative to this displaceable.

This further longitudinal displacement body is referred to below as the second longitudinal displacement body and the previously introduced longitudinal displacement body as a first longitudinal displacement body.

The longitudinal guide of the second longitudinal displacement body is referred to below as the second longitudinal guide and the longitudinal guide introduced above is hereinafter referred to as the first longitudinal guide.

The first longitudinal guide and / or the second longitudinal guide are preferably part of the third member of the fourth multi-link mechanism.

The second longitudinal guide may be formed as a separate or independent, further longitudinal guide relative to the first longitudinal guide.

However, the first and second longitudinal guide can also be a common longitudinal guide. That is, the second longitudinal guide corresponds to the first longitudinal guide and the first and second longitudinal displacement body move along a common longitudinal guide. Accordingly, in this case, the first and second longitudinal guide is preferably part of the third member of the fourth multi-link mechanism.

The second longitudinal displacement body is arranged displaceably in particular along the second longitudinal guide. The shift is in particular a translational shift. The second longitudinal guide is preferably a mechanical construction element, over which the second longitudinal displacement body is guided. The second longitudinal displacement body is preferably part of the third multi-joint mechanism.

The second longitudinal guide may be mechanically coupled to the first longitudinal displacement body, such that the second longitudinal guide moves with a displacement of the first longitudinal displacement body along the first longitudinal guide with the first longitudinal displacement body. The second longitudinal guide is not part of the third member of the fourth multi-link mechanism in this case.

Thus, for example, the second longitudinal sliding body on the one hand along the second longitudinal guide and on the other hand over the first longitudinal sliding body along the first longitudinal guide displaceable. The movements of the second longitudinal displacement body along the first and second longitudinal guide may overlap. The second longitudinal guide may for example be part of the first longitudinal displacement body. The second longitudinal guide may be connected to the first longitudinal displacement body.

This further longitudinal guide, on which the second longitudinal displacement body is arranged, works analogously to the first. It restricts the relative movement of the second longitudinal displacement body relative to the longitudinal guide such that their Degree of freedom is 1. This relative movement, or guide movement, is preferably a sliding movement, wherein two points of the second longitudinal displacement body are guided on a common or two different guide paths on the longitudinal guide. The guide movement is preferably linear. The second longitudinal displacement body is in this case relative to the longitudinal guide a translational body. However, it can also be provided that the longitudinal movement at least partially non-linear, z. B. arcuate, or that the two points of the second longitudinal displacement body are guided on two different guide paths of the longitudinal guide.

The third multi-link mechanism is connected to the second multi-link mechanism, in particular the second link, via a pivot point, referred to below as the eighth pivot point. In addition to the second longitudinal displacement body, the third multi-link mechanism also preferably contains a first part link, which is connected via the eighth pivot point to the second multi-link mechanism and is fastened to the second longitudinal sliding body via a further pivot point, referred to below as the pivot point. Furthermore, the third multi-link mechanism preferably has a second part link, which is preferably rigidly connected to the first part link. Rigid means that the two sub-members are not connected to each other via hinge points and therefore are not against each other rotatably movable. The second part member is also preferably rigidly connected to the footrest element. The two sub-members may be formed together as a one-piece component. The two sub-elements can also be designed as separate components.

If the second multi-link mechanism is designed as a four-joint coupling mechanism and in particular as a crank rocker, the second link (coupling) preferably has three pivot points arranged in a triangular configuration. These articulation points are the already mentioned fifth, sixth and eighth articulation points. The triangular configuration may be, for example, a triangular Linkage be realized whose vertices represent the points of articulation. However, the triangle configuration can also be realized via a disk element.

The operation of the second and third multi-joint mechanism, as can also be deduced from the figures, consists in the fact that the first member (crank) of the second multi-link mechanism is rotationally driven, wherein the third member (rocker) on the second member (coupling) in a movement oscillating about the seventh articulation point is displaced. As a result, the fixed at the coupling eighth hinge point relative to the reference element (first longitudinal displacement body) performs a curved path movement, which is preferably lemniscaten- or loop-shaped (a lying eight). This movement of the eighth pivot point now causes firstly a longitudinal displacement of the second longitudinal displacement body and correspondingly also of the third multi-joint mechanism and secondly an angular course of the two partial links of the third multi-joint mechanism. In this way, the footrest element and a footrest surface formed thereon is longitudinally displaced and guided at an angle.

The step length of the gear movement is now produced inter alia by the longitudinal movement of the second longitudinal displacement body. Furthermore, the pivoting movement of the footrest element around the hinge point with the second longitudinal displacement body contributes to the stride length. The longitudinal movement of the second longitudinal displacement body, in turn, arises firstly by its relative movement relative to the first longitudinal displacement body (triggered by the second and third multi-link mechanism) and secondly by the movement of the first longitudinal displacement body (triggered by the first multi-link mechanism).

In this case, the multi-joint mechanisms are shaped and coupled to one another in such a way that, although the two longitudinal displacement bodies move at different speeds, they mostly move in a common direction. The second longitudinal displacement body moves in the majority with a higher Speed relative to the first longitudinal displacement body in a common direction of movement. Thus, the second longitudinal displacement body moves in a rearward movement toward the first longitudinal displacement body and in a forward movement away from the first longitudinal displacement body. The longitudinal displacement body are viewed in the longitudinal displacement direction z. B. arranged one behind the other.

The gear movement spans a plane of motion in which, for example, the motion trajectories of the gait image lie. The coupling planes of the second and fourth multi-joint mechanism are, for example, parallel to the plane of motion. The planes of movement of the first and third multi-joint mechanism are also preferably parallel to the movement plane of the movement. Furthermore, the guide paths of the longitudinal guides also preferably run parallel to the plane of motion. The longitudinal guides can z. B. be designed as guide rails or as a common guide rail. The longitudinal displacement body can, for. B. be designed as a slide, which are guided in particular on said guide rail.

The footrest element preferably forms a footrest surface on which the foot is placed with its foot sole. The footrest element preferably further comprises a fixation device for fixing the foot to the footrest element. In a development of the invention, means may be provided on the footrest element which give the foot freedom of movement relative to the footrest element. These may be spring elements which z. B. allow a limited lateral tilting movement and a tilting movement of the foot to the rear or to the front relative to the footrest element or even torsional movements of the foot relative to the footrest element. This optional measure is also intended to be used for therapy purposes and to encourage the user to actively take control of his foot position or movement. The footrest element can, for. B. comprise a foot plate which forms the footrest surface.

• ein erstes Übertragungsrad, welches starr mit dem ersten, rotativ angetriebenen Glied (Kurbel) des ersten Mehrgelenkmechanismus verbunden ist, sowie
• ein zweites Übertragungsrad, welches derart mit dem ersten Glied des zweiten Mehrgelenkmechanismus verbunden, bzw. mit diesem derart in mechanischer Wirkverbindung steht, dass das erste Glied über das Übertragungsrad rotatorisch antreibar ist.

The means at the first multi-link mechanism for transmitting torque to the second multi-link mechanism comprise according to a preferred embodiment the following components:

• a first transmission wheel which is rigidly connected to the first, rotatively driven member (crank) of the first multi-joint mechanism, as well as
• a second transmission wheel, which is so connected to the first member of the second multi-joint mechanism, or with this in such a mechanically operative connection, that the first member is rotatably driven via the transmission wheel.

The second transmission wheel is preferably rigid, and z. B. via a shaft connected to the first member of the second multi-link mechanism. In this way, the drive torque is transmitted from the second transmission wheel to the first member of the second multi-link mechanism. Furthermore, the second transmission wheel via the third hinge point is also connected to the first longitudinal displacement body.

The first transmission wheel and the second transmission wheel are connected to each other via a flexible, the wheels encircling force transmission element. The power transmission element is preferably a drive belt, such as a toothed belt or flat belt, or a drive chain. The wheels are preferably gears or pinions. In this case, the power transmission takes place positively. However, the power transmission can also be done by friction. The first transmission wheel and the second transmission wheel preferably have an equally large diameter and thus run synchronously in order to maintain the relative phase position between the multi-joint mechanisms over several cycles.

The second transmission wheel is now driven by the force transmission element, wherein the force transmission element in turn by the circulation of the first transmission wheel is driven or set in motion about the first pivot point.

So that the length of the power transmission element does not have to vary, i. the distance between the centers of the first and second transmission wheel always remains the same, the fulcrum of the second transmission wheel is preferably on the third hinge point, so that the third and fourth hinge point fall on each other and the distance between the centers of the first and second transmission wheel always with the second Member of the first multi-link mechanism moved. The transmission wheel is rotatably mounted in this case on the second member (rocker).

Instead of the embodiment described above, an additional drive can also be provided on the first longitudinal displacement body, which rotatably drives the first member of the second multi-joint mechanism. The further drive need not be attached to the longitudinal sliding body, but may also be arranged elsewhere and transmit the torque via a gear to the fourth articulation point specified there. However, the drive is conveniently synchronized, i. at the same speed, to drive the first link mechanism.

The fourth multi-link mechanism for the deflection of the longitudinal guide is preferably also a multi-joint coupling gear, in particular a four-bar linkage, of the type described above with a first and third member, which is connected to each other via a second member which is formed as a coupling. The four-bar linkage is designed in particular as a rocker arm. The first link, which is designed in particular as a crank, is fastened to a drive in a rotationally drivable manner via a pivot point, referred to below as the tenth pivot point. The second link (coupling) is connected to the first link via a further articulation point, referred to below as the eleventh articulation point. Further, the second member is connected via a further hinge point, hereinafter referred to as twelfth hinge point, connected to the third member, which in particular as a rocker is trained. The third member comprises or consists of the longitudinal guide of the first and / or second longitudinal displacement body. The longitudinal guide is thus part of the fourth multi-link mechanism. The third member is connected to the support structure of the gait training apparatus via a further articulation point, hereinafter called the thirteenth articulation point, spaced from the twelfth articulation point.

If the first and fourth multi-joint mechanism are driven by a common drive, then the tenth and first pivot points are preferably located in a common axis of rotation. It is even conceivable that the first link (crank) of the first and fourth multi-joint mechanism are formed together and so on the one hand, the first and tenth pivot point are identical and on the other hand, the second and the eleventh pivot point coincide.

The mode of operation of the fourth multi-link mechanism, as can also be deduced from the figures, consists in that the first link (crank) is rotationally driven by the drive via the tenth pivot point, so that the eleventh pivot point at which the second link (link) attached is rotated around the tenth pivot point. The rotary drive triggers an oscillating lifting and lowering movement of the twelfth hinge point and thus also of the third member, which includes or forms the longitudinal guide, via the second member.

The angle of the gear movement is now composed of the angular course of the longitudinal guide (triggered by the fourth multi-link mechanism) and this superimposed relative angular course of the two sub-links of the third multi-link mechanism together. In contrast, the raising and lowering of the foot in the gait movement is primarily triggered by the fourth multi-joint mechanism. Furthermore, the pivoting movement of the footrest element contributes to the hinge point with the second longitudinal displacement body to the raising and lowering movement of the foot.

The fourth multi-joint mechanism is preferably designed such that the first and the second member in a lower rotational angle range of the first member exert a rectified rotational movement, so that the hinge point between the second and third member for a certain period of time or over a certain rotation angle range only insignificantly moved up and down. This causes the footrest element is practically only moved horizontally in a movement phase, which corresponds to the ground contact of the feet. This movement can z. B. can be achieved by the distance between the tenth and eleventh and the distance between the eleventh and the twelfth hinge point are similar.

The support structure comprises non-moving parts of the gait training device on which the above-described hinge mechanisms are mounted or suspended or supported. The support structure thus carries the joint mechanisms. The support structure may, for. Example, a housing, a frame, a framework or a frame or a combination of the aforementioned modules. The support structure may, for. B. be formed by profiles.

As already mentioned above, a subdevice described above is expediently provided for each leg, which are advantageously mirror images of one another. The two sub-devices can be connected via separate, z. B. two drives, each with its own drive motor or driven by a common drive with a single drive motor. The two sub-devices are the human gear correspondingly phase-shifted, ie generally operated 180 °. The drives can be operated with constant or variable speed. The drives are preferably operated for further approximation of the mechanically generated gait image to the real gait image with variable speed according to a predetermined speed profile. As a result, the differences in the speed of movement of the foot in the gait pattern of a human being along the curve can be simulated better.

In a preferred development of the invention, the gear curve can be adjusted by adjusting means or adjusting means on the gait training device. By adjusting the length of the characteristic curve in particular is adjustable.

The length of the gearing curve is adjustable, for example, by the adjusting means adjusting the distance between the first hinge point on which the first member of the first multi-joint mechanism is rotationally driven, and the second hinge point, at which the second member hingedly connected to the first member of the first multi-joint mechanism connected. As a result, the radius of rotation of the second pivot point can be changed by the first pivot point.

The adjustability can be done via an adjustment mechanism. The adjustment mechanism may include, for example, a flight. The adjustment mechanism may alternatively include a slot guide. Furthermore, it is also possible that the adjusting mechanism has a latching mechanism, for. B. includes a dental splint.

The first and second members are preferably part of the adjustment mechanism. The adjustment mechanism can be actuated by hand or via a drive, in particular an electric drive operated. The electric drive can z. B. be a linear motor.

As an alternative or in addition to this setting possibility, the characteristic curve, in particular the length of the gait curve, can also be changed by adjusting means which adjusts the distance between the foot support surface of the foot support element and the ninth hinge point, via which the third multi-joint mechanism is pivotally connected to the second longitudinal displacement body. enable. This allows the swivel radius of the footrest surface of the footrest element to change the ninth hinge point. This can be done, for example, by the position of the Fußauflagefläche the Fußauflageelementes along the second part of the link to the ninth hinge point or away from it is changeable. For this purpose, an adjusting mechanism of the type described above can be provided.

The gait training device preferably further comprises a weight-relieving device which receives at least a portion of the body weight so that it no longer fully rests on the lower extremities. The weight relief device may include a suspension, e.g. B. with straps and / or ropes, which ensures a passive weight relief of the legs. "passive" means that the user does not have to do his own effort to relieve weight. The user is in the suspension z. B. fixed to and / or above the hip. Depending on the design and setting of the suspension, this can cause a complete or partial weight reduction. Such a device is used in particular in therapy devices.

Furthermore, the weight-relieving device may also consist of means that the active weight relief z. B. over the arms allow. "Active" means that the user only gets the weight relief of the legs under his own effort. For example, bar-like handles may be provided, which allow a support of the body via the arms.

The gait training device is, as already mentioned, use as a therapy device to improve the ability of people to walk. The walking movement is hereby trained by the footrest elements are moved over the one or more drives and the multi-joint mechanisms to form a gait image. There are various training modes are conceivable in which the user either passive training (ie, do not apply their own force for the execution of the gear movement must), or actively trained (that is, the gear movement must partly perform with their own strength).

The latter is possible via a corresponding control or regulating device. The gait training device controls only part of the necessary driving force via the drives. The control and regulating device can regulate the drive power also depending on the contribution of the user. There are also conceivable modes in which the patient has to apply the full force himself, or in which the drive even provides resistance.

The latter embodiment can be used in particular in a continuation as a fitness device for targeted strengthening or preservation of the leg muscles of people use.

The present gait training device has the advantage that it can be structurally simple and can be realized with a comparatively small number of components. Furthermore, standard components available on the market for a variety of components can be used. Accordingly, the gait training device is also inexpensive to manufacture and easy to install and maintain.

Another significant advantage is that the gait training device has a compact and therefore space-saving design. This is not self-evident in the light of a purely mechanical implementation of a complex gear movement. This advantage stems, inter alia, from the fact that the stride length, as a linear component of motion movement movement is not derived directly from a single rotational movement, but is composed of at least two longitudinal movements together.

BRIEF DESCRIPTION OF THE DRAWINGS

Figur 1-3

perspektivische Ansichten einer erfindungsgemässen Ausführungsform eines Gangtrainingsgerätes;

Figur 4-7

Funktionsschema des erfindungsgemässen Gangtrainingsgerätes in verschiedenen Bewegungslagen.

The subject matter of the invention will be explained in more detail below on the basis of preferred exemplary embodiments, which are illustrated in the accompanying drawings. Each show schematically:

Figure 1-3

perspective views of an inventive embodiment of a gait training device;

Figure 4-7

Functional diagram of the inventive gait training device in different movement positions.

The reference numerals used in the drawings and their meaning are listed in the list of reference numerals. Basically, the same parts are provided with the same reference numerals in the figures.

WAYS FOR CARRYING OUT THE INVENTION

The FIGS. 1 to 3 show a functional model of a novel gait training device 1 in different views. The FIGS. 1 and 3 show the gait training device from a perspective view from the rear right and the FIG. 2 from a perspective view from the back left. In addition, the shows FIG. 1 the gait training device in a first position, in the so-called stance phase of walking (with a horizontally oriented footrest surface 45), while the FIG. 2 in a second position represents a position just before the end of the swing phase of walking, and the FIG. 3 in a third position shows a position at the beginning of the swing phase.

The gait training device 1 includes a fixed support structure 2 to which the articulation mechanisms 10, 20, 30 40 described below are attached directly or indirectly are. The gait training device 1 includes a first multi-link mechanism 10 in the form of a crank mechanism. The first multi-link mechanism 10 is driven via a drive 3 and comprises a first link 11 (crank), which is driven via a first drive pivot point 51. The first member 11 is for this purpose coupled to a shaft (not shown). The drive 3 comprises an electric motor (not shown), which transmits the drive torque via a belt drive to the shaft.

The first multi-link mechanism 10 is supported on the support structure 2 via the first drive hinge point 51. The first member 11 is connected via a second hinge point 52 with the second member 12 (connecting rod). The second member 12 is connected via a third hinge point 53 to a translational body 81 (first longitudinal displacement body and reference member of the second multi-articulation mechanism). The translation body 81 is arranged linearly displaceable along a guide rail 83 (longitudinal guide). The linear displacement takes place in an oscillating motion, triggered by the movement of the second member 12.

Furthermore, the gait training device 1 includes a second multi-link mechanism 20 in the form of a crank rocker. A first member 21 (crank) is connected via a fourth hinge point 54 with the translation body 81 and is driven in rotation. Since the translation body 81 moves linearly along the guide rail 83 in an oscillating manner, the second multi-joint mechanism 20 is moved accordingly. The first link 21 (crank) is connected via a fifth pivot point 55 to a second link 22 (coupling). The second member 22 (coupling) is connected via a sixth hinge point 56 with a third member (rocker), which in turn is connected via a seventh hinge point 57 with the translation body 81 (reference member). The fourth and seventh hinge points 54, 57 are thus arranged fixed relative to one another on the translatory body 81.

The second member 22 further includes an eighth hinge point 58, the fifth, sixth and eighth hinge points 55, 56, 58 forming a triangular arrangement.

For driving the first member 21 (crank) of the second multi-link mechanism 20, the first multi-link mechanism 10 has means 90 for transmitting torque. The means 90 include a first transmission wheel 91, which is non-rotatably mounted on the first member 11, wherein the center of the circle of the first transmission wheel 91 is located in the axis of rotation of the second pivot point 52. On the second member 12, a second transmission wheel 92 is also rotatably mounted, wherein the axis of rotation is in the axis of rotation of the third pivot point 53, which is not mandatory. On the other hand, it is imperative that the axis of rotation of the output gear 92 lies in the axis of rotation of the fourth pivot point 54 on which the first link 21 of the second multi-link mechanism is fixed. In the present exemplary embodiment, the axis of rotation of the fourth pivot point 54 corresponds to the axis of rotation of the third pivot point 53.

The first transmission gear 91 and the second transmission gear 92 are formed as gears. They are connected via a toothed belt 93 drive technology together. Now rotates the first member 11 to the first hinge point 51, the first transmission wheel 91 describes an orbit around the first hinge point 51. Since the first transmission wheel 91 is rotatably mounted on the first member 11, the form-fitting guided around the first transmission gear 91 toothed belt 93rd set in motion by the orbital movement of the first transmission wheel 91. The movement of the toothed belt 93 is transmitted to the second transmission wheel 92, which is also wrapped in a form-fitting manner by the toothed belt 93. The second transmission wheel 92 is thereby set in rotation and drives the first member 21 of the second multi-joint mechanism 20 at. For this purpose, the second transmission wheel 92 and the first member 21 are rigidly connected in the present embodiment via a shaft.

The rotational movement of the two first links 11, 21 of the first and second multi-link mechanism 10, 20 is correspondingly synchronous. It can additionally be provided pulleys, which provide for a better power transmission from the timing belt 93 to the second transmission wheel 92 or the first transmission wheel 91 on the timing belt 93 (not shown).

The second pivot point 52 is adjustable along the first member 11 relative to this via a slot guide. That the distance between the first and second hinge points 51, 52 is adjustable. As a result, the amplitude of the oscillating linear movement of the translatory body 81 and thus the step length of the gear movement can be changed.

The gait training apparatus 1 further includes a third multi-link mechanism 40 having first and second sub-members 41, 42 which are at an angle to each other and rigidly connected to each other and a translational body 82 (second longitudinal-displacement body). The first partial member 41 is now connected via the eighth hinge point 58 to the second member 22 (coupling) of the second hinge mechanism 20. The second partial member 42 has a footrest element 43. The footrest element 43 forms a footrest surface 45. Furthermore, the footrest element 43 comprises a fixing device 44 for fixing the foot (not shown) on the footrest element 43. The first and second part members 41, 42 are connected to the translatory body 82 via a common ninth hinge point 59.

The first and second translation bodies 81, 82 are arranged one behind the other via a common guide rail 83.1 in the longitudinal guide direction. For design reasons, the second translation body 82 is additionally guided on a second, parallel to the first extending guide rail 83.2.

The second multi-link mechanism 20 then initiates a movement into the third multi-link mechanism 40 via the eighth pivot point 58, which on the one hand has a component parallel to the guide rail 83 or to the longitudinal movement direction of the first translatory body 82, whereby the second translational body 82 is both absolute and relative to the first Translational body 81 is also displaced in a linear movement along the guide rail 83. The third multi-link mechanism 40 and with it the footrest element 43 is now moved parallel to the longitudinal guide direction of the translational bodies 81, 82 in a total movement composed of the longitudinal movement of the first and one superimposed relative longitudinal movement of the second translational body 81, 82.

At the same time, the second multi-link mechanism 20 also initiates a pivoting movement into the third multi-link mechanism 40 via the eighth pivot point 58, which causes a change in the angle of the footrest surface 45 along the path of movement of the footrest element 43. The second and third multi-link mechanisms are designed to produce an irregular pivotal movement that approximates the natural gear motion.

The gait training device 1 further comprises a fourth multi-joint mechanism 30, also in the form of a crank rocker. The fourth multi-link mechanism 30 includes a first link 31 (crank) driven by a tenth drive hinge point 60 from the same drive as the first multi-link mechanism 10. The axes of rotation of the first and tenth pivot point 51, 60 are therefore identical. The first member 31 is connected via an eleventh hinge point 61 with a second member 32 (coupling). The second member 32 is connected via a twelfth hinge point 62 to a third member 33, the rocker. The third member 33 includes, among other things, the longitudinal guide, here formed as a guide rail 83, and an angled connecting member (84), which with the Guide rail 83 is rigidly connected, and via which the third member 33 is connected to the second member 32.

The guide rail 83 is also connected at the other end to the support structure 2 via a thirteenth hinge point 63. The twelfth and thirteenth pivot points 62, 63 are arranged spaced apart, so that the third member 33 acts as a rocker.

By rotational drive of the first member 31 of the twelfth pivot point 61 and with this the third member 33 is placed in an oscillating up and down movement. The third member 33 and correspondingly the guide rail 83 pivots about the thirteenth hinge point 63. This movement is carried out simultaneously with the drive of the first and second multi-joint mechanism 20, 30, so that a superimposed movement pattern is formed, which comes very close to the natural walking motion of the human ,

The FIGS. 4 to 7 show functional diagrams of the inventive gait training device in different movement positions. The schematically illustrated construction elements essentially correspond to the construction features according to the exemplary embodiment Figure 1 to 3 , Therefore, the corresponding construction elements are provided with the same reference numerals.

Furthermore, in the FIGS. 4 to 7 also the curve A of a heel point A1 and the curve B of a toe ball point B1 are shown schematically. The said points A1, B1 move during a complete cycle of movement along their associated aisle curve A, B. Die FIG. 4 shows the movement position when placing the foot on the ground. The FIG. 5 shows the movement position when rolling the foot on the ground. The FIG. 6 shows the movement position when pushing the foot off the ground following the rolling movement. The FIG. 7 shows the movement position in the forward movement of the leg, in which the foot is still angled.

With the arrow R is in the FIGS. 1 to 7 the direction of forward movement indicated during the running movement.

Claims (15)

1. A gait training apparatus (1) for producing a natural gait pattern (T1, T2), comprising a first and a second multi-joint mechanism (10, 20) which are mechanically coupled to one another, a drive (3) for introducing a rotatory movement into the first multi-joint mechanism (10), a foot support element (43) and a longitudinal guide (83), wherein the first and the second multi-joint mechanism (10, 20) are coupled to one another via a first longitudinal displacement body (81), wherein the first longitudinal displacement body (81) is in mechanical active connection with the longitudinal guide (83) and is displaceably arranged relative to this characterised in that the gait training apparatus (1) comprises a third multi-joint mechanism (40) which is connected to the second multi-joint mechanism (20), and the foot support element (43) is formed on the third multi-joint mechanism (40) and the gait training apparatus (1) comprises a second longitudinal displacement body (82) which is mechanically coupled to the third multi-joint mechanism (40) and which is in mechanical active connection with a longitudinal guide (83) and is displaceably arranged relative to this.
2. The gait training apparatus according to claim 1, characterised in that the gait training apparatus (1) comprises a fourth multi-joint apparatus (30) for the lifting and lowering deflection of the longitudinal guide (83) or parts thereof.
3. The gait training apparatus according to claim 1 or 2, characterised in that two or all of the subsequently mentioned multi-joint mechanisms are driven via a common drive (3):

   - First multi-joint mechanism (10)

   - Second multi-joint mechanism (20)

   - Fourth multi-joint mechanism (30).
4. The gait training apparatus according to any of claims 1 to 3, characterised in that the first multi-joint mechanism (10) comprises means (90) for transmitting torque from the drive (3) onto the second multi-joint mechanism (20).
5. The gait training apparatus according to any of claims 1 to 4, characterised in that the first multi-joint mechanism (10) is designed as a crank drive, with a first and a second link (11, 12), wherein the first link (11) is connected to the drive (3) in a rotatorily drivable manner via a joint point (51) and the second link is connected to the first longitudinal displacement body (81) via a further joint point (53), and the first and the second link (11, 12) are connected to one another via a further joint point (52).
6. The gait training apparatus according to any of claims 1 to 5, characterised in that the second multi-joint mechanism (20) is a multi-joint transmission, in particular a four-bar transmission, with a first link (21) which is rotatorily drivably connected to the first longitudinal displacement body (81) via a joint point (54), and with a second link (22) which is connected to the first link (21) via a further joint point (55), and with a third link (23) which is connected to the second link (22) via a further joint point (56) and to the first longitudinal displacement body (81) via a further joint point (57).
7. The gait training apparatus according to any of claims 1 to 6, characterised in that the third multi-joint mechanism (40) comprises:

   - a first part-link (41) which is connected via a joint point (58) to the second link (22) of the second multi-joint mechanism (20) and via a further joint point (59) to the second longitudinal displacement body (82), and

   - a second part-link (42) which is rigidly connected to the first-part link (41) and to which the foot support element (43) is rigidly connected.
8. The gait training apparatus according to claim 4, characterised in that the means (90) for the transmission of torque comprise the following components:

   - a first transmission wheel (91) which is rigidly connected to the first rotatorily driven link (11) of the first multi-joint mechanism (10),

   - a second transmission wheel (92) which is connected to the first link (21) of the second multi-joint mechanism (20) or is in mechanical active connection with this, in a manner such that the first link (21) is rotatorily drivable via the transmission wheel (92),

   wherein the first transmission wheel (91) and the second transmission wheel (92) are connected to one another via a flexible force transmission element (93) wrapping around the first and the second transmission wheel (91, 92), and the second transmission wheel (92) is drivable via the force transmission element (93) by way of the revolving of the first transmission wheel (91) about the drive joint point (51).
9. The gait training apparatus according to any of claims 1 to 8, characterised in that the second link (12) of the first multi-joint mechanism (10) and the first link (21) of the second multi-joint mechanism (20), preferably together with a second transmission wheel (92) are connected to one another via a common joint point (53) on the reference element of the second multi-joint mechanism (20), the longitudinal displacement body (81).
10. The gait training apparatus according to any of claims 1 to 9, characterised in that the first longitudinal displacement body (81) is part of the second multi-joint mechanism (20) and in particular is its reference link.
11. The gait training apparatus according to any of claims 1 to 10, characterised in that the second longitudinal displacement body (82) is part of the third multi-joint mechanism (40) and in particular is its reference link.
12. The gait training apparatus according to any of claims 1 to 11, characterised in that the first and the second longitudinal displacement bodies (81, 82) are led via a common longitudinal guide (83).
13. The gait training apparatus according to any of claims 1 to 12, characterised in that the first and/or the second longitudinal displacement body (81, 82) is a translation body which is linearly displaceable along the longitudinal guide (83).
14. The gait training apparatus according to any of claims 1 to 13, characterised in that the gait training apparatus comprises setting means, by way of which the gait curve and in particular the length of the gait curve can be changed, wherein:

    a. the setting means are designed in a manner such that the distance between the first joint point (51), at which the first link (11) of the first multi-joint mechanism (10) is rotatorily driven, and the second joint point (52), at which the second link (12) is articulately connected to the first link (11) of the first multi-joint mechanism (10), is settable; and/or

    b. the setting means are designed in a manner such that the distance between the foot support surface of the foot support element (43) and the ninth joint point (59), via which the third multi-joint mechanism (40) is articulately connected to the second displacement body, is settable.
15. The use of the gait training apparatus (1) according to any of claims 1 to 15 as a fitness apparatus for the non-therapeutic strengthening or maintenance of the leg muscle system of persons.

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