EP3050550A1 - Dispositif pour l'entraînement et le traitement thérapeutique et/ou le soutien des membres inférieurs d'un être humain - Google Patents

Dispositif pour l'entraînement et le traitement thérapeutique et/ou le soutien des membres inférieurs d'un être humain Download PDF

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Publication number
EP3050550A1
EP3050550A1 EP15000260.8A EP15000260A EP3050550A1 EP 3050550 A1 EP3050550 A1 EP 3050550A1 EP 15000260 A EP15000260 A EP 15000260A EP 3050550 A1 EP3050550 A1 EP 3050550A1
Authority
EP
European Patent Office
Prior art keywords
pivot arm
holding means
rotary drive
movement
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15000260.8A
Other languages
German (de)
English (en)
Other versions
EP3050550B1 (fr
Inventor
Rupert Waldner
Julius Michael Waldner
Christopher Tomelleri
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
REHA TECHNOLOGY AG
Original Assignee
Villa Melitta GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Villa Melitta GmbH filed Critical Villa Melitta GmbH
Priority to ES15000260.8T priority Critical patent/ES2634696T3/es
Priority to EP15000260.8A priority patent/EP3050550B1/fr
Priority to CA2918956A priority patent/CA2918956A1/fr
Priority to US15/005,418 priority patent/US10080915B2/en
Publication of EP3050550A1 publication Critical patent/EP3050550A1/fr
Application granted granted Critical
Publication of EP3050550B1 publication Critical patent/EP3050550B1/fr
Priority to US16/139,883 priority patent/US10596405B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A63B21/023—Wound springs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4034—Handles, pedals, bars or platforms for operation by feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
    • A63B22/0056—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis the pivoting movement being in a vertical plane, e.g. steppers with a horizontal axis
    • A63B22/0058—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis the pivoting movement being in a vertical plane, e.g. steppers with a horizontal axis the vertical plane being the frontal body-plane
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
    • A63B22/201—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising for moving a support element in reciprocating translation, i.e. for sliding back and forth on a guide track
    • A63B22/203—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising for moving a support element in reciprocating translation, i.e. for sliding back and forth on a guide track in a horizontal plane
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2213/00—Exercising combined with therapy

Definitions

  • the invention relates to a device for the therapeutic treatment or training of the lower extremities of a human.
  • Devices for therapeutic treatment or training of the lower extremities of a person are for example out DE 10 2006 035 715 A1 .
  • a double-sided practice of the healthy side and the weakened side of the lower extremities is superior to a one-sided practice of the weakened side.
  • the co-movement of Non-weakened side exerts a promoting influence on the activation of the responsible for the use of the paralyzed limb brain structures in the parietal lobe.
  • robotic systems are known for therapeutic purposes that include control systems that measure patient forces during exercise. Different evaluations of the parameters for determining minimum natural movements or forces and complete comparisons with predefined programs are possible. Such robot systems are out DE 100 28 511 A1 as well as the initially mentioned DE 10 2006 035 715 A1 . DE 20 2008 001 590 U1 and DE 10 2009 022 560 A1 known.
  • the invention has for its object to provide a device for the therapeutic treatment and / or training of the lower extremities of a person can be simulated with the various stress situations that occur in everyday life.
  • the device is intended to allow a good access of the therapist to the patient.
  • the invention has the advantage that the mechanics of the movement devices is simple and compact.
  • the reduced height of the mechanism facilitates the therapist's access to the patient.
  • a successful therapy on the one hand by the frequent repetition of exercise elements and on the other hand by the transmission of learning effects of the responsible for the healthy limb side of the brain on the responsible for the weakened limb brain side or the brain area responsible can be achieved.
  • a single movement within the entire gait cycle can be specifically isolated and repeatedly practiced by the patient.
  • the device of the present invention allows the leg and back muscles to be strengthened to further improve the patient being well advanced and to train healthy people.
  • the device according to the invention provides the prerequisite for enabling running training or running therapy either in a given everyday environment or evaluating the therapy performance in real time, whereby different everyday simulations, for example climbing stairs, entering, are made possible by the robust and simply constructed mechanism of a sidewalk or situations in which the patient stumbles.
  • the linear drive may include a power transmission element that couples the first carriage to the fixed frame.
  • the linear drive may comprise a driven chain, which is mounted on the carriage on the one hand and on the frame on the other hand, whereby the horizontal movement of the carriage is achieved in a simple manner.
  • the carriage travels along two or more guide rails.
  • the carriage can be made wider, which leads to the fact that the mechanics gain in stability, as the burden is better distributed by the patient on the movement mechanics.
  • the stationary frame includes height-adjustable feet in the region of the guide rails of the carriages.
  • the first rotary drive may include a power transmission element that couples the pivot arm to the carriage.
  • the height adjustment of the pivot arm is variable by actuation of the force transmission element.
  • the coupling of the swivel arm with the carriage by a force transmission element has the advantage that the height adjustment of the swivel arm takes place directly via the first rotary drive.
  • the height movement of the swivel arm by a system in particular a force storage device, supported, which can store energy and can feed back to the mechanics if necessary.
  • a system in particular a force storage device, supported, which can store energy and can feed back to the mechanics if necessary.
  • drives and power transmission elements specifically the first rotary drive, are installed with less space and energy supply requirements, whereby the mechanism gains in compactness and the use is guaranteed in any environment.
  • An energy storage device is for example a spring element, in particular a tension or compression spring, which acts via a guide on a lever arm, which is firmly connected to the Schenkarm.
  • the mechanism can be designed so that the height movement of the pivot arm is supported in its mechanical unfavorable position by the energy of the bias of the spring element.
  • the first rotary actuator for the height adjustment may be spaced from the pivot arm and coupled thereto by a power transmission means.
  • the first rotary drive can be arranged at a position favorable for the movement or for the center of gravity.
  • the power transmission can be applied by the first rotary drive, for example, by a gear belt system on the carriage also spaced from the pivot arm on the swing arm itself.
  • the first drive pulley can be attached to the first rotary drive.
  • the second drive pulley may be attached to the swing arm.
  • the power transmission then takes place via the belt from the gear of the first rotary drive to the gear of the swivel arm and thereby on the swivel arm itself.
  • the second rotary drive may comprise a power transmission element which couples the retaining means to the pivot arm.
  • the rotation of the holding means is variable by actuation of the force transmission element.
  • the coupling of the holding means with the swivel arm by means of a force transmission element has the advantage that the rotation of the holding means takes place directly via the rotary drive.
  • the second rotational drive for the inclination change can be arranged spaced from the holding means and coupled thereto by a power transmission means.
  • the second rotary drive can be arranged at a position which is favorable for the center of gravity.
  • the power transmission from the second rotary drive for example, by a gear belt system spaced from the holding means are applied to the holding means itself.
  • the first drive pulley can be attached to the second rotary drive.
  • the second drive pulley may be attached to the support member.
  • the power transmission is then via the belt from the gear of the second rotary drive to the gear of the holding element and thereby to the holding element itself.
  • the retaining means may be movably mounted along the force transmitting member and adjusted via a locking mechanism. This adjustment of the holding means allows the holding means to be precisely adjusted to the crotch width.
  • an adjusting device is arranged above the movement device, which is adapted to change the center of gravity of a person connected to the holding means people.
  • This embodiment has the advantage that a control of the body center of gravity of a patient is possible by the adjusting device.
  • the displacement of the center of gravity of the body occurring in the course of human locomotion, that is to say during locomotion can be simulated along the direction of locomotion, which takes place in the vertical and lateral direction.
  • the control of the center of gravity allows the correct execution of the therapeutic movement, thus preventing postural damage caused by compensatory movements of the patient.
  • Another advantage of controlling body center of gravity is that balance can be maintained in critical situations such as (simulated) tripping, slipping or under conditions where the proprioceptive component is disturbed. Repeated practice of these situations is necessary to minimize the risk of falls and falls for patients.
  • the three-dimensional control of the center of gravity which is possible in this embodiment, and the option of influencing the proprioceptive component of the patients by means of perturbations, create the conditions for a safe, repeatable and targeted training.
  • the perturbations of the proprioceptive component are performed by the retaining means, in particular the foot plates, which are connected to the feet of the patients. These can be moved to any position along the three degrees of freedom.
  • vibrations can be realized by the holding means.
  • Fig. 1 there is shown an apparatus which may be used for the therapeutic treatment and / or training of the lower extremities of a human during any movement of human locomotion in everyday situations or specific training conditions.
  • the device is particularly well suited for training the lower extremities of neurological patients and has two driven, controllable movement units 11a, 11b.
  • the two movement units 11a, 11b are each connected to a fixed frame 12.
  • the moving units 11a, 11b have holding means 13a, 13b, for example foot plates with bindings, in which the feet of the patients are held.
  • the movement devices 11a, 11b and thus the holding means 13a, 13b can be moved independently of one another along calculated movement sequences. Asynchronous or synchronous movements are possible.
  • the device comprises a frame 34, on which the patient is connected to the adjusting device for changing the body center of gravity, and that with the stationary frame 12 is firmly connected.
  • the frame 34 comprises two arms 35a, 35b which extend in a vertical direction from bottom to top, wherein the arms 35a, 35b are connected to the stationary frame 12 approximately at the height of the moving means 11a, 11b.
  • a horizontally arranged connecting element 36 which connects the arms 35a, 35b.
  • Arranged on the arms 35a, 35b approximately at the level of the forearms of the respective patient and vertically adjustable two side rails 37a, 37b are movably mounted.
  • the side rails 37a, 37b serve as handles for patients who can cling to the side rails 37a, 37b.
  • the movement devices 11a, 11b each have a pivot arm 14, which is pivotable in different elevations.
  • the pivot arm 14 is articulated pivotably on a single carriage 15, which is guided by a linear guide 16.
  • the linear guide 16 is fixedly connected to the fixed frame 12 and forms a rail in which the carriage 15 is slidably disposed. How out Fig. 1 . Fig. 2 and Fig. 4 can be seen, the pivot arm 14 is movably connected at one end to the carriage 15 via the first rotary drive 17.
  • the pivot arm 14 is rotatably connected in each case with one of the holding means 13a, 13b.
  • the connection point between the holding means 13a, 13b and the pivot arm 14 is located at the other, second longitudinal end of the pivot arm 14th
  • the pivot arms 14a, 14b extend in the longitudinal direction of the respective linear guide 16.
  • the pivot arms 14a, 14b are each movable on a circular path which runs along the longitudinal direction of the respective linear guide 16.
  • the pivot arms 14a, 14b are each rotatably connected to the carriage 15 via the first rotary drive 17.
  • the position of the pivot point of the respective pivot arm can be arranged arbitrarily.
  • the pivot arms 14a, 14b can each be supported by a force storage system 20, which is attached at one end to the carriage 15 and at the other end with the pivot arm and is able to store energy and due to the movement mechanics.
  • a force storage system comprises, for example, a tension or compression spring 21, which acts on the pivot arm 14 and the carriage 15 along a guide element 22 which is movably mounted on the pivot arm 14 and the carriage 15.
  • a tension or compression spring 21 which acts on the pivot arm 14 and the carriage 15 along a guide element 22 which is movably mounted on the pivot arm 14 and the carriage 15.
  • Other embodiments are possible.
  • the force storage device 20 is formed in the form of a compression spring 21 which is biased in the most unfavorable position of the swing arm.
  • the compression spring 21 is biased when the respective pivot arm 14a, 14b is disposed in the horizontal lower position. If the pivot arm 14a, 14b pivoted by the first rotary drive 17 upwards, this movement is supported by the compression spring 21, which relaxes it.
  • the spring or generally the energy storage device 20 is fastened on the one hand to the carriage 15, specifically to an L-shaped holding arm 22a.
  • a first leg of the support arm 22a extends in the longitudinal direction of the linear guide 16.
  • the shorter second leg of the support arm 22a extends perpendicular thereto and is connected to a first end of the force storage device 20, specifically the spring 21.
  • the second end of the spring 21 is connected to one end of the swing arm 14a, 14b.
  • the connection between the pivot arm 14a, 14b and the spring 21 is designed so that the spring exerts a torque on the pivot arm 14a, 14b.
  • the spring with a (not shown) lever on the pivot arm 14a, 14b fixedly connected.
  • the spring 21 is guided by a guide rod 22.
  • the guide rod 22 is located in the spring 21.
  • the guide rod 22 is on the one hand on the support arm 22a and on the other hand attached to the pivot arm 14a, 14b.
  • the guide rod 22 is telescopic. Other leadership options are possible.
  • a tension spring can be used instead of the compression spring 21, a tension spring can be used. This is then to be arranged accordingly on the opposite side and to connect to the carriage or the swivel arm.
  • pivot point on the pivot arm 14 is articulated in an area or at a location which is arranged between the connection of the respective pivot arm 14a, 14b with the carriage 15 and the connection of the pivot arm 15 with the holding means 13a, 13b.
  • the carriage 15 has a linear drive 18 which is provided for changing the longitudinal position or horizontal position of the respective holding means 13a, 13b.
  • the first linear drive 18 comprises a first power transmission means 23a, which connects the carriage 15 with the stationary frame 12 for power transmission.
  • the first power transmission means 23a may comprise a driven toothed belt 24 which is connected on the one hand to the movable carriage 15 and on the other hand to the stationary frame 12.
  • an electric motor is provided in each case.
  • the linear drive 18 can also be realized by other means, for example by a driven chain, by a rack or by hydraulic or pneumatic cylinders.
  • the first rotary drive 17 is associated with the carriage 15 and couples it with the pivot arm 14.
  • a second force transmission element 23b is provided, which acts on the one hand on the first carriage 15 and on the other hand on the pivot arm 14.
  • the second power transmission element has the function to take the pivot arm 14 with a movement of the carriage 15.
  • the second force transmission element 23b acts as a push and pull element.
  • a force from the pivot arm 14 are transmitted to the carriage 15 and vice versa, when the second power transmission element 23b is actuated. In this case, the angle between carriage 15 and pivot arm 14, and thus the altitude of the respective pivot arm 14a, 14b is changed.
  • the linear drive 18 forms a main drive, which moves the carriage 15 together with the first rotary drive 17 relative to the stationary frame 12.
  • the first rotary drive 17, in particular the second force transmission element 23b acts as a driver, which transmits the driving force of the linear drive 18 to the pivot arm 14.
  • the first rotary drive 17 acts as a height drive for the vertical movement of the pivot arm 14, as described above.
  • the second power transmission means 23b for example in the form of a transmission, is rotatably connected to the carriage 15 and provides for the entrainment and height adjustment of the pivot arm 14th
  • the first rotary drive 17 is fixed to the carriage 15 and coupled to the power transmission means 23b.
  • Other power transmission elements such as a rack or hydraulic / pneumatic actuators are possible.
  • the force transmission element 23b has a dual function and acts both as a driver and for the height adjustment of the pivot arm 14th
  • the carriage 15 In the case of the movement device 11a arranged on the right in the forward direction, the carriage 15 is located, with the pivoting arm 14a projecting in the forward direction toward the frame 12.
  • An orientation of the pivot arms 14a, 14b to the frame 12 is possible in any direction.
  • other orientations of the pivot arm for example, the frame vertically downwardly projecting covered.
  • a second rotary drive 19 is provided, which cooperates with the respective rotatably arranged holding means 13a, 13b.
  • the rotary drive 19 is arranged in the region of the front end of the pivot arms 14a, 14b.
  • the connection of the rotary drive 19 with the respective holding means 13a, 13b is effected by a third force transmission element 23c, for example in the form of a transmission.
  • Other power transmission elements such as a rack or hydraulic / pneumatic actuators are possible.
  • the force transmission element 23c acts both as a driver and for the tilt adjustment of the holding elements 13th
  • the rotary drive 19 can also be arranged in the region of the rear end of the pivot arms 14a, 14b.
  • the connection of the rotary drive 19 with the respective holding means 13a, 13b takes place in this case by the third force transmission element 23c via a belt, which on the one hand on a drive pulley on the pivot arm 14 and on the other on a driven pulley, which is connected to the holding means 13a, 13b, is arranged.
  • the inclination of the holding means 13 a, 13 b is adjusted and adapted to the respective position of the pivot arm 14.
  • all possible tilt positions are variably adjustable, which are required for the simulation of training and everyday situations.
  • the movement of the holding means 13a, 13b takes place in a work plane extending in the sagittal direction, wherein a work space has proved to be expedient, the forward movement in the range of 0-800 mm, in particular at 650 mm, the height movement in the range of 0-400 mm, in particular at 250 mm and the pivoting movement of the holding means 13a, 13b in a range of - allows 80 ° to + 30 °.
  • the pivoting movement of the holding means 13a, 13b takes place about a horizontally extending axis.
  • the horizontal axis is moved by the operation of the linear drive 18 in the horizontal and the first rotary drive 17 in the vertical direction.
  • the holding means 13a, 13b can be positioned along the horizontal axis 25 via a guide 26 and a shutter 27 so that the distance between the holding means 13a, 13b corresponds to the physiological step width of the patients. This ensures that the patients correctly load the joints during the exercise and the training effect is maximized, since no evasive movements or adaptation on the part of the patient are necessary during the execution of the movement sequence predetermined by the invention.
  • a closure device is in Fig. 5 shown, wherein the horizontally extending axis 25 is given by a rack on which the guide 26, by operating the shutter 27 in the form of a screw, is firmly misunderstood and thereby a displacement along the horizontal axis 25 is no longer possible.
  • the lower limb holding means 13a, 13b can be simulated with the patient standing and secured on it, both by programmed defaults of the control and by the patient in the case of compliant footplates. It can be varied between the programmed movement and the guided by the patient movement.
  • a holding means 13a can be controlled by the patient and the other holding means 13b by programmed specifications.
  • an adjusting device 28 is provided, which is arranged next to the movement devices 11a, 11b.
  • the adjusting device 28 is located above the linear guides 16, so that the movement devices 11a, 11b, in particular the holding means 13a, 13b can be moved under the adjusting device 31.
  • the adjusting device 28 is adapted to control the center of gravity of the body or to change the center of gravity of a person connected to the holding means 13a, 13b.
  • the adjusting device 28 allows both a change in the body center of gravity in the vertical and in the transverse direction.
  • the adjusting device 28 comprises a vertical drive 29 which cooperates with a belt 30.
  • the strap 30 is connected to a patient carrying strap (not shown).
  • the vertical drive allows a change in the length of the vertical portion of the belt 30 so that the center of gravity of the patient is variable in the vertical direction.
  • the working space of the mechanism or of the adjusting device 31 for the change in focus is based on a zero position +/- 10 cm. Other areas are possible.
  • An example of the embodiment of the adjusting device 28 is shown in FIG Fig. 1 .
  • a deflation of the patient or an extension of the belt 33 is also possible.
  • a transverse drive 32 which has a rotary drive connected to a disk 33.
  • a rope is attached (not shown), the ends of which extend to the patient.
  • the rope is deflected by an unillustrated roller system and engages at both ends, for example by carabiners, on lateral loops of the patient's belt.
  • a possible working space for the center of gravity displacement enabled by the transverse drive 32 is, for example, based on a zero position, +/- 15 cm. Other areas are possible.
  • the control of the center of gravity in the forward or backward direction is effected by the relative movement of the holding means 13a, 13b or the foot plates relative to the suspension point of the adjusting device 28.
  • the position of the carriage 15 can be freely controlled on the linear guide 16. In this case, the suspension point of the patient in a direction parallel to the linear guide 16 is fixed, so that a corresponding displacement of the center of gravity is possible.
  • the possible by the carriage length working space is based on a zero position +/- 10 cm. Other areas are possible.
  • the device allows a highly variable and flexible therapy or training of the lower extremities, wherein the device is simple and compact and thus provides good access to the patient.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Vascular Medicine (AREA)
  • Cardiology (AREA)
  • Pain & Pain Management (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Tools (AREA)
EP15000260.8A 2015-01-28 2015-01-28 Dispositif pour l'entraînement et le traitement thérapeutique et/ou le soutien des membres inférieurs d'un être humain Active EP3050550B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ES15000260.8T ES2634696T3 (es) 2015-01-28 2015-01-28 Dispositivo para el entrenamiento y el tratamiento terapéutico y/o la asistencia a las extremidades inferiores de una persona
EP15000260.8A EP3050550B1 (fr) 2015-01-28 2015-01-28 Dispositif pour l'entraînement et le traitement thérapeutique et/ou le soutien des membres inférieurs d'un être humain
CA2918956A CA2918956A1 (fr) 2015-01-28 2016-01-25 Dispositif de controle de l'entrainement et du traitement therapeutique ou de soutien aux extremites inferieures du corps humain
US15/005,418 US10080915B2 (en) 2015-01-28 2016-01-25 Device for controlling the training and the therapeutic treatment and/or for supporting the lower extremities of a human
US16/139,883 US10596405B2 (en) 2015-01-28 2018-09-24 Device for controlling the training and the therapeutic treatment and/or for supporting the lower extremities of a human

Applications Claiming Priority (1)

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EP15000260.8A EP3050550B1 (fr) 2015-01-28 2015-01-28 Dispositif pour l'entraînement et le traitement thérapeutique et/ou le soutien des membres inférieurs d'un être humain

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CN106730591A (zh) * 2016-12-27 2017-05-31 广东技术师范学院 一种开合式健腿机
CN109350461A (zh) * 2018-12-20 2019-02-19 冯可佩 脑梗塞患者下肢康复训练装置

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CN106176136B (zh) * 2016-08-09 2018-06-05 南京医科大学 儿童用全身力线矫正训练装置
WO2018068037A1 (fr) * 2016-10-07 2018-04-12 Children's National Medical Center Systèmes, appareils, et leurs procédés associés destinées à la rééducation de cheville robotiquement assistée
CN108236557B (zh) * 2016-12-27 2019-12-24 上银科技股份有限公司 行走训练机
US11413499B2 (en) * 2018-03-09 2022-08-16 Nicholas Maroldi Device to produce assisted, active and resisted motion of a joint or extremity
GB201804717D0 (en) * 2018-03-23 2018-05-09 Uea Enterprises Ltd Apparatus to aid walking
KR102127011B1 (ko) * 2019-02-11 2020-06-25 큐렉소 주식회사 진입 특성이 향상된 착석형 보행재활로봇
US11097158B2 (en) * 2019-08-28 2021-08-24 Hiwin Technologies Corp. Gait training machine and method of using same
US11266879B2 (en) * 2020-02-24 2022-03-08 Hiwin Technologies Corp. Adaptive active training system
CN112826697A (zh) * 2020-12-24 2021-05-25 阁步(上海)医疗科技有限公司 一种下肢康复训练机器人
CN114486037A (zh) * 2022-02-18 2022-05-13 橙象医疗科技（广州）有限公司 一种具有测力装置的路况模拟设备及其控制方法

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DE8528083U1 (de) 1985-10-02 1986-01-02 Bolzek-Porstner, Irene, 8500 Nürnberg Schulter-Arm-Trainingsgerät
DE3618686A1 (de) 1986-06-03 1987-12-23 Effner Und Spreine Gmbh Bewegungsvorrichtung
DE19529764A1 (de) 1995-08-12 1997-02-13 Reck Anton Bewegungstrainingsgerät mit einer Kurbel
EP1137378A1 (fr) 1998-11-13 2001-10-04 Hocoma AG Dispositif et procede d'automatisation de la reeducation a la marche sur tapis roulant
DE10028511A1 (de) 2000-06-06 2002-05-16 Stefan Hesse Roboter-Gangtrainer zum Einsatz in der Rehabilitation
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CN106730591A (zh) * 2016-12-27 2017-05-31 广东技术师范学院 一种开合式健腿机
CN109350461A (zh) * 2018-12-20 2019-02-19 冯可佩 脑梗塞患者下肢康复训练装置
CN109350461B (zh) * 2018-12-20 2020-10-16 冯可佩 脑梗塞患者下肢康复训练装置

Also Published As

Publication number Publication date
CA2918956A1 (fr) 2016-07-28
US10080915B2 (en) 2018-09-25
US20190022449A1 (en) 2019-01-24
US10596405B2 (en) 2020-03-24
ES2634696T3 (es) 2017-09-28
US20160213972A1 (en) 2016-07-28
EP3050550B1 (fr) 2017-03-22

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