EP3221015B1 - Dispositif d'entraînement avec détection de position en trois dimensions, et son procédé de fonctionnement - Google Patents

Dispositif d'entraînement avec détection de position en trois dimensions, et son procédé de fonctionnement Download PDF

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Publication number
EP3221015B1
EP3221015B1 EP15797641.6A EP15797641A EP3221015B1 EP 3221015 B1 EP3221015 B1 EP 3221015B1 EP 15797641 A EP15797641 A EP 15797641A EP 3221015 B1 EP3221015 B1 EP 3221015B1
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EP
European Patent Office
Prior art keywords
arm
cable
rope
actuator
force
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.)
Not-in-force
Application number
EP15797641.6A
Other languages
German (de)
English (en)
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EP3221015A1 (fr
Inventor
Markus Knestel
Reinhold Ferstl
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Fynamics GmbH
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Fynamics GmbH
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Publication date
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Publication of EP3221015B1 publication Critical patent/EP3221015B1/fr
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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
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • 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
    • A63B21/00058—Mechanical means for varying the resistance
    • A63B21/00076—Mechanical means for varying the resistance on the fly, i.e. varying the resistance during exercise
    • 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
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • 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
    • A63B21/15—Arrangements for force transmissions
    • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
    • A63B21/153—Using flexible elements for reciprocating movements, e.g. ropes or chains wound-up and unwound during exercise, e.g. from a reel
    • 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
    • A63B21/15—Arrangements for force transmissions
    • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
    • A63B21/154—Using flexible elements for reciprocating movements, e.g. ropes or chains using special pulley-assemblies
    • 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
    • A63B21/4035—Handles, pedals, bars or platforms for operation by hand
    • 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
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4043—Free movement, i.e. the only restriction coming from the resistance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/12—Absolute positions, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/18—Inclination, slope or curvature
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/09—Adjustable dimensions

Definitions

  • the present invention relates to a training device with 3D position detection for three-dimensional, functional training.
  • the training device has an actuator operatively connected to a rope, the rope being passed over an arm and communicating with a rope end on the handling device. Due to the spatial detection of the force vector on the handling device and the corresponding control of the training device, the training process can be improved via the biofeedback.
  • a training device for developing and strengthening the muscles and joints of an exerciser is shown by reciprocating movements under load.
  • the load is decelerated by an electric motor. It uses a motor with DC and Mau gleich characterisik, the stator is designed with permanent magnetic coils.
  • the clamping voltage of the electric motor is steplessly highly controllable via a control unit and its output torque via a transmission, in a the exercise person loading linear force convertible.
  • a training device for muscle training has an electric motor with an output, which interacts with at least one exerciser provided to the trainee, a control device being arranged upstream of the electric motor.
  • the exercise organ is connected to a cable arrangement and know two gripping options for the trainees.
  • WO 2011/076240 A1 discloses a device for muscle training with an actuator, an arm, an adjustment mechanism for adjusting the arm, a control unit for controlling at least the actuator, and detection means for determining the spatial position of a manipulator for determining an acting force, wherein the control unit, the actuator based on the Comparison of the determined spatial position with predetermined values controls.
  • One object is to design a generic training device in such a way that a simple and efficient training opportunity is created. This object is solved by the features of the independent claim.
  • the dependent claims relate to advantageous embodiments of the invention.
  • the training device comprises the features of claim 1.
  • a training device can be provided, which allows the user perform a variety of different exercises without the need for another training device.
  • visual, haptic, and / or acoustic biofeedback it is thus possible to guide the user always in the optimal or predetermined or desired training line or in the optimal training corridor. Therefore, it is possible to always convey the user in which desired force, space and time relation the respective training exercise should be performed, and deviations from the optimal relation can be communicated in the simplest manner.
  • Another advantage is the fact that can be reduced by the activation of the training device, incorrect workload of the user of the training device.
  • the detection means can determine a force vector based on the spatial position of the handling device and the cable force. Based on this force vector, it is possible to detect and monitor the user's movements and to give the controller a training corridor in which to locate the force vector in order to always perform an optimal exercise.
  • the control unit based on the comparison to the actuator, output a desired value.
  • the actuator is thus directly influenced by the spatial position and / or the cable force and / or their derivatives, whereby it can be ensured that the user exercises the exercise always carried out in the predetermined force or space area and thus incorrect loads can be avoided and the effectiveness of the training exercise can be increased.
  • the setpoint value can also be a motion setpoint value, so that a 3D motion corridor can thus be specified and / or the pull-out direction and return direction can also be different. As a result, the applicability is further increased and even more versatile exercises can be performed.
  • the control unit based on the comparison of the actuator, a speed setpoint, a force setpoint and / or output motion setpoints.
  • a motion setpoint not only a three-dimensional motion corridor can be specified, but it can also be applied in addition to the extension direction and the return direction with different setpoints.
  • the speed of the training exercises can be increased and on the other hand, the user-friendliness of the training device can be increased because the individual adjustment firstly eliminates a change of training device and secondly, the change of load can be performed automatically so that the user does not have to manually adjust the weight plates of the training device to his desired training load.
  • the control unit based on the comparison, output a desired value for the spatial position of the arm and the arm accordingly control.
  • the force vector can be specifically influenced during the exercise.
  • This additional possibility of control makes it possible to optimally adapt the arm individually and depending on the respective boundary conditions.
  • This makes it possible on the one hand to specify curved spatial reference value corridors and at the same time to influence the direction of the user force vector in a targeted manner.
  • the training device can be used even more flexible and efficient.
  • vector fields can also be specified, with vectors of various sizes and orientation. The ease of use and effectiveness of the training device can thus be greatly increased.
  • the control unit can also determine a movement profile based on the determined spatial position, wherein in addition the size of the cable force can be detected.
  • the entire training profile or the training course for analysis purposes and / or optimization purposes of the exercises can be detected within the framework of a single exercise and, on the other hand, the movement profiles can also be detected by a plurality of exercises and depending on the actually applied to the user training force, individual Motion profiles are created to increase the training effect even further.
  • the motion profiles may change dynamically as needed to further increase the efficiency of the training exercise.
  • the rope can be guided via a pivotable roller to a cable exit region of the arm.
  • the pivoting roller allows a further axis of movement of the rope in space.
  • the rope can be rolled out on the one hand on the guide and on the other hand can be on the pivoting roller, the exit angle of the rope, depending on the Exercise or the position of the handling device, change.
  • the flexibility of the training device is increased and the efficiency of the training device can be further increased, since the swivel role additional training exercises are possible.
  • the rope can be guided by a pivotable sleeve in a rope exit region of the arm.
  • a pivotable sleeve By a pivotable sleeve, it is possible to measure the rope outlet angle over the position of the sleeve.
  • the cable direction in the exit region can be determined precisely, and subsequently the actuator can be controlled via the control unit based on the angle of the pivotable sleeve.
  • the provision of the pivotable sleeve also allows a timely detection of the cable outlet angle from the guide. Since the pivotable sleeve guides the cable, slippage is avoided, thus increasing the accuracy of measuring the angle.
  • the detection means may determine the cable exit direction based on a pivot angle of the pivotable sleeve and / or the pivotable roller. By detecting the cable exit direction via the pivotable sleeve and / or pivoting roller, the cable exit direction can be determined from the guide in the room without delay and with high accuracy. In addition, it is possible to measure the cable force by means of additional sensors in the pivotable roller or in its bearing and to close it on the user force vector on the handle or to determine this.
  • the rope can be passed at least partially through the arm. This makes it possible, on the one hand to protect the rope in these areas from environmental influences and on the other hand, the ease of use of the training device to increase, since the sections exposed rope of the training device can be reduced and thus, for example, reduce the risk of injury by pinching between the rope and the rope guide. In addition, the risk of incorrect operation of the training device can be reduced, since the arm can be touched by the user, without having to worry about lifting the rope led out of the guide.
  • the arm may also have a handle and in the region of the handle may be arranged a switch for controlling the adjusting mechanism.
  • a switch for controlling the adjusting mechanism By this arrangement, it is possible for the user in a simple manner, on the handle and the switch to move the arm in the desired position, for each exercise.
  • the adjustment mechanism is actuated via the switch, so that on the one hand a switch for releasing the adjustment of the arm and on the other hand a switch for the automatic positioning of the arm in the desired position are possible.
  • the adjustment mechanism may be configured to automatically position the arm by the control unit, block the movement of the arm, and / or release the arm so that the arm can be manually moved to the desired position.
  • the arm can be blocked, so that during the training exercises, the stability of the training device is ensured and vibrations of the arm can be avoided.
  • the actuator may comprise a sensor device for determining the magnitude of the cable force and / or for determining the unrolled cable length.
  • a sensor device for determining the magnitude of the cable force and / or for determining the unrolled cable length.
  • the actuator may be in operative connection with a cable winch for winding and unwinding the cable.
  • a cable winch for winding and unwinding the cable.
  • the deviation of the determined spatial position and / or the cable force and / or their derivatives of predetermined values can be used as biofeedback
  • this feedback can be passed on to the exerciser or the user of the training device via acoustic, visual and / or haptic signals.
  • This makes it possible for the user interactively or intuitively perform the respective training exercises optimally.
  • the usability of the training device can be extended. Therefore, for example, even blind persons can use the training device without complicated training and at the same time achieve an ideal training effect.
  • Power regulation via biofeedback teaches the user whether the exercise is performed in the desired force, space, time relation or whether it deviates from it. Faulty loads can then be prevented by corresponding force reductions or coordinative abilities can be trained by imparting proprioceptive feedback on the quality of motion via power regulation. This can be detected by a force variable recognizable as artifacts force effect, which in the current movement or in their retrograde evaluation in the anticipation of the next movement flows and thereby a successive improvement in movement are made possible. Therefore, with this type of resistance control even blind people can learn a spatially predetermined movement.
  • FIG. 1 a schematic overview of the structure of the exercise device is shown.
  • one end of the rope 1 is connected to a handling device 18.
  • the force of the user of the training device is introduced into the rope.
  • FIG. 1 is schematically drawn the user force vector (FB), which shows the user power and its direction schematically.
  • FB user force vector
  • various types of handles can be used or it is also possible to connect other exercise equipment at the end of the rope.
  • connection point of the manipulator 18 with the cable 1 the cable end of a second training device according to the invention connected.
  • This possibility of embodiment or combination of training devices it is possible in FIG. 1 directly reversing the user force vector shown so that the user of the training device can apply both tensile and compressive forces to the connected ropes in one exercise. Depending on whether a tensile force or compressive force, based on the burden of the user, the rope of the first or the second training device is charged to train.
  • the rope exits the guide in the arm and is guided via a pivotable roller 9 and by a pivotable sleeve 10 to the user's area of the training device.
  • the pivotable sleeve 10 is rotatably or pivotably mounted about a pivot axis of the sleeve, the pivot axis 17.
  • the pivot angle of the pivotable sleeve 10 can be detected and forwarded to a control unit for further processing.
  • a pivotable sleeve it would also be possible to provide other types of exit direction detection.
  • the pivotable roller 9 is pivotable about at least one pivot axis 16, the pivotable roller 9.
  • the swivel angle is also detected by a sensor device and can be forwarded to the control unit for controlling the actuator.
  • the direction detection 8 is in the in FIG. 1 shown embodiment of the pivotable sleeve 10 and the pivotable roller 9 together or from the provided respective sensor devices for detecting the respective pivoting angle (or angle of rotation) and ultimately for detecting the exit angle or the exit direction of the rope. 1
  • the in FIG. 1 shown arm 3 is arranged to be movable about a first axis of rotation 6 and a second axis of rotation 7.
  • a handle 15 In an end region of the arm 3 is a handle 15 to which a switch 19 can be attached.
  • a switch 19 and the handle 15 it is possible, on the one hand to control the adjustment mechanism 5 and to adjust by acting on the handle 15, the position of the arm 3 about the first axis of rotation 6 and / or the second axis of rotation 7.
  • the rope 1 is in the in FIG. 1 illustrated embodiment passed through the arm 3, whereby this rope is provided protected from external circumstances. In addition, it is avoided by a passage of the rope through the arm that injure persons by entrapment between the rope and the cable guide.
  • a balance weight 14 may be located, which serves to provide a balanced arm.
  • a balanced arm 3 has the advantage that it can be moved without great effort in the desired position by the user.
  • a particularly inexpensive and efficient design of the arm provides the use of four-edged raw profiles or pipes.
  • the arm 3 is made extendable, so that the length of the arm 3 is variable. The arm 3 can thus be changed depending on the use static as well as dynamically during a training exercise or during operation of the training device in its length.
  • the length variability is achieved, for example, via profiles which are arranged displaceably in one another, wherein the change in length can be achieved via a provided motor, for example a linear motor.
  • the arm 3 is connected via a shaft with the adjusting mechanism 5.
  • the adjustment mechanism 5 has, inter alia, the task of positioning the arm 3 in the space suitable for the respective exercise of the user.
  • the adjusting mechanism 5 has a first adjusting drive 11 and a second adjusting drive 12, via which the first axis of rotation 6 and the second axis of rotation 7 of the arm 3 are controlled.
  • the entire adjusting mechanism 5 is mounted on the base body 19. This main body 19 is in FIG. 1 merely shown as a simple frame, wherein on the underside of the actuator 2 is mounted.
  • the actuator 2 is connected to a winch 13 in angular connection, via which the cable 1 up and can be unwound.
  • the cable 1 is thus guided over the winch 13 by the adjusting mechanism 5 into the arm 3 and in the cable exit area 4, the rope on the direction detection 8 in the training area led to the user who can apply the training force on the rope 1, which in particular can take place on the handling device 18, or by direct contact with the rope end by the user.
  • an output rope length is determined via the detection means, which is e.g. can be determined via the winch 13 and a sensor attached thereto.
  • the spatial position of the arm 3 can be detected by sensors, e.g.
  • both absolute encoder and incremental encoder can be provided, depending on the angle to be measured.
  • the angle but also the angular velocities can be measured via the respective sensors on the pivotable sleeve 10 and the pivotable roller 9 or on the pivot axis 16 of the roller, thereby making it possible to determine the movement on the manipulator 18 even more accurately.
  • the cable force can be measured via a sensor in the actuator 2 or via force sensors, which are in communication with the rope. It is also in one Another embodiment possible to determine the cable force directly on the pivotable roller 9 via a radial force sensor. Furthermore, it is possible in one embodiment to measure the cable force via a cable tension sensor.
  • All of these devices for determining the angles or the angular velocities belong to the detection means by means of which the spatial position of the cable or of the handling device 18 can be determined.
  • the actuator 2 is controlled, which controls based on the comparison of the determined values such as spatial position and / or cable force and / or their derivatives (or the force vector on the handling device or cable end) with predetermined values.
  • the determined values such as spatial position and / or cable force and / or their derivatives (or the force vector on the handling device or cable end) with predetermined values.
  • the cable forces generated by the actuator 2 can thus be controlled.
  • the position of the arm 3 is also dynamically adjusted via the adjusting mechanism 5 (during the training exercise), depending on the mentioned values.
  • the three-dimensional position is determined in the space of the manipulator 18 and the actuator and the arm position can be adjusted individually and even dynamically during training, whereby new training approaches can be realized.
  • a plurality of training vectors can be generated in different spatial coordinates, whereby different train vectors can be generated on the force application point of the user. This can e.g. be used to selectively influence the force vector course during the exercise to obtain more training stimuli on the muscles to be trained.
  • the rope exit positions of two training devices can be located in different ways in the room, which during a training exercise certain disturbances to the movement of the user are generated, which also can not be parallel to the main training direction and which the user must balance.
  • the feedback for the user, whether the currently performed movement is in the optimal range or not, on the one hand be done directly via the control of the actuator 2 or additionally via projections and / or a display, a video glasses or acoustic signals or visual signals, so that the user is always aware of whether he is with his exercise performed in, for him, optimal range. As a result, user stress can be avoided or reduced and simple feedback is ensured.
  • FIG. 2 a side view of a training device according to the invention.
  • the adjusting mechanism 5 is moved via a first adjusting drive 11 and a second adjusting drive 12.
  • the arm is attached via the L-shaped arm receptacle 3005.
  • the rope is thereby passed through the adjusting mechanism 5 and introduced via the arm receptacle 3005 and the cable guide roller of the arm, - cable guide roller 3003, in the leadership of the arm.
  • the implementation of the rope 1 in a central position allows movement of the arm about its own axes.
  • the arm 3 in FIG. 2 shown embodiment is constructed of a first arm portion 3001 and a second arm portion 3002. At one end of the second arm portion 3002 is the pivotal mounting of the pivotable roller 9.
  • the axis of rotation of the pivot bearing 9001 is provided along the symmetry axis of the second arm portion 3002.
  • the rope 1 is guided by the pivotable sleeve 10.
  • the first arm portion 1 has two second arm portions and in particular the possibility is created via a second cable and a second actuator that two persons perform their exercises simultaneously on a training device.
  • FIG. 3 a detail view of the direction detection 8 on the second arm portion 3002 is shown.
  • the pivot bearing 9001, the pivoting roller 9, consists of a turntable 9002, which is movably connected via a bearing with the counterpart 9003.
  • the turntable 9002 is thus rotatable about an axis of rotation which runs along the axis of symmetry of the second arm portion 3002.
  • the rope 1 runs directly along this axis of rotation, so that upon rotation of the hub 9002 the rope 1 within the second arm portion 3002 rotates only about its own axis.
  • the turntable 9002 is connected to a base 9004.
  • the base 9004 can do this welded to the turntable 9002.
  • the base 9004 is also suitable for receiving additional sensors, such as acceleration sensors or rotation angle sensors.
  • additional sensors such as acceleration sensors or rotation angle sensors.
  • the rotational angles of the sleeve 10 and the pivotable roller 9 are detected via the sensor 10006 and the sensor 3013.
  • a sensor may be provided which detects the angle of rotation of the pivotable roller with respect to the base 9004, for example, to deduce the rolled-out cable length.
  • the pivotable sleeve 10 comprises, in addition to the sensor 10006, a sleeve bearing on which the sleeve is rotatably mounted to the base 9004 and a first sleeve frame 10003 and a second sleeve frame 10004, which together fix the sleeve body 10005, through which the cable 1 through a rope opening 10002 to be led.
  • FIG. 4 is again the view, similar to the one in FIG. 3 shown portion of the end portion of the second arm portion 3002, shown, but wherein the cable exit direction has been changed. Therefore, on the one hand, the sleeve body 10005, which comprises the cable opening 10002, adapted to the adapted cable exit direction and on the other hand, the base 9004 with the hub 9002, with respect to the second arm portion 3002 of the cable exit direction, turned back.
  • the pivoting roller 9 is configured with a cable guide 9005, in which the cable is guided.
  • This cable guide 9005 is designed so that the cable does not protrude beyond the side walls of the pivotable roller 9 and thus jumping out of the rope 1 from the pivotal roller 9 is effectively prevented.
  • the pivotable roller 9 in addition to the cable guide 9005, a first lateral surface 9a and a second lateral surface 9b, which limit the cable guide 9005 and have a diameter which is greater than the diameter of the deflection radius of the rope. 1 around the axis of rotation of the pivotable roller 9, so that the rope is always guided safely in the cable guide 9005.
  • first lateral surface 9a and second lateral surface 9b are configured such that the diameter of the pivotable roller 9 in the direction of the cable guide 9005 which is centrally provided in the pivotable roller 9, decreases, so that, should Lift rope by jerky movement of the cable guide 9005, the first and second lateral surface 9a, 9b, lead the rope back into the cable guide 9005.
  • the diameter of the lateral surface thus decreases steadily in this embodiment, in the direction of the cable guide 9005. This results in a V-shaped configuration of the two lateral surfaces, which meet in the direction of cable guide 9005.
  • the rope 1 is passed through the rope opening 10002 through the sleeve body 10005. It is advantageous that this rope opening 10002 has a special coating, which allows to minimize the rope friction. As a result, the training resistance of the rope is less distorted. In addition, the edges of the rope opening 10002 are rounded so that the rope friction is minimized.
  • the sleeve body 10005 is modified to increase the measurement accuracy.
  • FIG. 11 the modified sleeve body 10005 is shown.
  • the cable opening 10002 is provided in a guide sleeve A5.
  • This guide sleeve A5 is movable along a guide configured, wherein the guide is fixed in the sleeve body 10005.
  • a centering spring is provided, via which the centering of the guide sleeve A5 can be effected in a simple manner.
  • the bearing of the guide takes place via a guide bearing A3, which is advantageously designed for example as a linear ball bearing.
  • the guide sleeve A5 is thus movable along a predetermined axis.
  • the movement of the guide sleeve A5 is forwarded via a guide ram A4 which is in operative connection therewith.
  • the guide tappet A4 is connected at one end to a dipole magnet A2, which is provided for the reduction of environmental influences in a separate measuring chamber.
  • the position of the dipole magnet A2 is determined via a sensor A1 and in particular a magnetoresistive sensor. This makes it possible to determine the position and the speed of the guide sleeve A5 and the guide tappet A4 with high accuracy via a magnet in a separate measuring chamber.
  • this modified sleeve body By means of this modified sleeve body, it is also possible to detect the movement of the rope even more accurately and, above all, to determine accurate measured values in the dynamic operation of the training device.
  • the magnetoresistive sensor instead of the magnetoresistive sensor, however, other sensors for position detection are possible, such as optical, resistance-dependent or inductive / capacitive sensors.
  • the position and the movement of the rope can be detected transversely or orthogonally to the cable handling level by the described embodiment.
  • the cable handling plane is the plane in which the roller 9 lies and in which the cable 1 is unwound from the roller 9.
  • the guide sleeve B5 is provided on a guide tappet B4, as in FIG. 12 shown. Via a right centering spring B7 and a left centering spring B6, the guide sleeve B5 is centered in a simple manner.
  • the guide tappet B4 is mounted in the sleeve body 10005 via a first and second bearing B3 and B8.
  • the guide sleeve B5 also has a dipole magnet B2 for position detection.
  • the dipole magnet B2 is integrated in an advantageous manner in the guide sleeve B5, so that the required installation space is reduced and therefore the sleeve body 10005 is particularly compact.
  • Via a magnetoresistive sensor B1 the position of the guide sleeve with, for example, the integrated magnet is determined via a pole angle detection.
  • the guide sleeve C5 is supported by two guide rods C3 and C4.
  • the guide sleeve has openings through which these guide rods C3 and C4 are performed.
  • the guide sleeve C5 can thus move along the two guide rods.
  • a dipole magnet C2 is integrated in the guide sleeve C5 and the position of the guide sleeve C5 is determined via a magnetoresistive sensor C1.
  • FIGs 14a, 14b and 15 is a guide sleeve C5 according to the embodiment C shown in the installed state.
  • the sleeve body 10005 is applied to the first sleeve frame 10003 and the second sleeve frame 10004.
  • the rope 1 is unwound via the roller 9 and guided by the guide sleeve C5.
  • a rotational movement of the sleeve frame 10005 about the axis of rotation of the roller 9 is detected via the sensor 10006 and a movement transversely (or orthogonally) to the unwinding direction of the rope 1 is detected by the movement of the guide sleeve C5 and in particular via the sensor C6.
  • the guide sleeve C5 and springs can be provided which are preferably provided on both sides on the first and / or on the second guide rod.
  • the cable outlet vector is detected via an optical sensor S1.
  • the optical measuring sensor is attached directly to the arm 3, in particular to the second arm section 3002, via a sensor receptacle, as shown in FIG FIG. 16 is shown.
  • the sensor is installed such that the cable exit position of the cable 1 from the roller 9 is in the detection range S2 of the optical sensor S1.
  • the sensor mount is attached directly to the base 9004 or the turntable 9002, so that the optical sensor rotates with the turntable 9002 with.
  • FIG. 5 is a further view of the training device shown, wherein only the first arm portion 3001 of the arm is mounted.
  • the Horizontalverstellmechanismus 5A On the base body 19 is mounted on a horizontal base plate 5A2, the Horizontalverstellmechanismus 5A.
  • This Horizontalverstellmechanismus 5A has a horizontal worm wheel 5A1, which allows rotation about the vertical axis.
  • the horizontal displacement mechanism 5A is connected to a vertical displacement mechanism 5B.
  • the horizontal displacement mechanism 5A adjusts the position of the vertical displacement mechanism 5B and the arm about the vertical axis, and the vertical displacement mechanism 5B again adjusts the position of the arm about an axis in the horizontal direction.
  • the vertical displacement mechanism 5B is fixed on a vertical base plate 5B2, and the vertical displacement mechanism 5B further includes a vertical worm wheel 5B1.
  • a vertical worm wheel 5B1 About the screw 3006 of the arm receiving the arm receptacle 3005, on which the arm 3 is fixed, with the vertical worm in Connection set.
  • adjustment mechanism 5 is the central feedthrough of the rope 1 through the respective axes of rotation, so that an all-round movement of the arm is made possible without blocking the rope 1 undesirable.
  • FIG. 6 is the execution according to FIG. 5 shown again, wherein the first arm portion 3001 about the horizontal axis, which is controlled by the Vertikalverstellmechanismus 5B, was adjusted downwards. It can be seen that the position of the rope 1 has not changed as a result of this rotational movement. By the cable feedthrough 5B3, by the Vertikalverstellmechanismus 5B, it is thus possible to move the arm in all spatial directions without blocking the rope.
  • FIG. 7 is a detailed view of the adjusting mechanism 5 is shown. Particular attention is given to the central feedthrough of the cable 1.
  • the cable 1 is guided by the horizontal worm gear 5A1 coming from the main body 19 and the actuator 2 therein, and by the vertical worm wheel 5B1, the vertical adjusting mechanism, via the guide roller 5C. 5B. Subsequently, the cable 1 is inserted via the attachment roller 3010 in the guide of the arm or the first arm portion 3001.
  • the horizontal worm wheel 5A1 is movably supported on the horizontal base plate 5A2. The rotation of the horizontal worm wheel 5A1 is effected via the horizontal worm shaft 5A3.
  • the particular advantage of the illustrated adjusting mechanism is the fact that it can be folded over a further first fixing drive 101 to the horizontal worm wheel 5A1 horizontal worm shaft 5A3.
  • this makes it possible on the one hand to release the horizontal worm wheel for a free movement, so that the first fixing drive 111, the horizontal worm shaft 5A3 from the horizontal Worm wheel 5A1 folds away so that they are no longer in contact with each other.
  • the first fixing drive 101 via the first fixing drive 101, it is possible to bring the horizontal worm shaft 5A3 into moving contact with the horizontal worm wheel 5A1 to thereby cause rotation of the horizontal worm wheel 5A1 by the rotation of the horizontal worm shaft 5A3, and thirdly, the first fixing drive 101 enables pressing of the horizontal Worm shaft 5A3 to the horizontal worm wheel 5A1 and thus blocking any movement of the horizontal worm wheel 5A1.
  • a first adjusting drive 11 is provided, which rotates the horizontal worm shaft.
  • the inventive design of the horizontal adjustment mechanism 5A thus allows a flexible control of the position of the arm to this one hand to move freely to fix this or to bring this automatically in a desired position.
  • the Vertikalverstellmechanismus 5B therefore has a second adjustment drive 12 which drives the vertical worm shaft, which in turn is set as required via the second fixing drive 121 with the vertical screw 5B1 either without contact or is set in moving contact or fixed the vertical worm wheel 5B1 by firmly pressing movement blocking.
  • This makes it possible even when driving the Vertikalverstellmechanismus to automatically move the arm in different positions, to fix the arm in different positions or to release the arm.
  • the central passage of the rope through the vertical worm gear, the horizontal displacement mechanism 5A and the vertical displacement mechanism 5B via the guide pulley 5C, enables the already mentioned flexible rotation of the entire arm in space.
  • the Guide roller 5C is similar to the pivotable roller 9 configured so that the guide roller also has a first and second lateral surface, which protrude beyond the guided in the pulley rope 1 to a Rausspringen the rope 1 in jerky movements of the guide roller or the Guide the pulley to avoid.
  • the cable is guided by the vertical worm wheel 5B1 to the connecting roller 3010, which has over the guided cable projecting lateral surface analogous to the deflection roller 5C and the pivotable roller 9.
  • the connection roller 3010 is fixed via a bearing 3011 such that the cable 1 can be guided centrally through the arm.
  • the cable 1 is guided through the first arm section 3001 and the second arm section 3002 up to the upper guide roller 3009, which is mounted on the second arm section 3002 via the bearing 3012.
  • At the bearing 3011 and at the bearing 3012 it is possible to provide further sensors in order to detect the position of the guide roller 3009 or the position of the connecting roller 3010 via an angle measurement.
  • FIG. 8 shows a part of the Horizontalverstellmechanismus 5A.
  • the horizontal worm wheel 5A1 is engaged with the horizontal worm shaft 5a3.
  • the horizontal worm shaft 5A3 is designed to be movable. In particular, on the tiltable receptacle 5A3 is a fold and fold away the horizontal auger shaft 5A3 to the horizontal worm wheel 5A1 possible.
  • the rotation of the horizontal worm shaft 5A3 is via the first adjustment 11 causes which is fixed to the attachment 5A11.
  • the folding movement of the horizontal worm shaft 5A3 is provided via the first fixing drive 111 and an optional gear 5A10.
  • the horizontal worm wheel 5A1 has in the center on a through hole 5A7 through which the cable 1 is guided.
  • the horizontal worm wheel 5A1 also has first holes 5A4 and second holes 5A5.
  • the horizontal worm wheel 5A1 is connected to the horizontal base plate 5A2 or the connecting piece 5C5 via these bores.
  • the arrangement of the first adjusting drive 11 and the first fixing drive 111 not only enables flexible actuation of the arm 3, but this design is also compact and weight saving.
  • FIG. 9 is the horizontal worm wheel 5A1 and the horizontal worm shaft 5A3 shown in the installed state.
  • the side of the shaft away from the first adjusting drive 11, on which the horizontal worm shaft 5A3 is mounted is guided in a guide opening 5A12.
  • This guide opening may be configured, for example, as an elongate bore or groove to allow the tilting movement of the horizontal worm shaft 5A3.
  • the horizontal worm shaft 5A3 is supported in the tiltable receptacle 5A13, which can be folded with the horizontal worm shaft 5A3.
  • the stably executed body 5A14 guarantees, in any tilted position of the horizontal worm shaft 5A3, a stable Positioning or storage of the horizontal worm shaft 5A3 on the horizontal base plate 5A2.
  • the through hole 5C7 In the center of the horizontal worm wheel 5A1 is the through hole 5C7 through which the cable 1 is guided. According to an advantageous embodiment of the present invention, the rope is not touched, so that the losses can be reduced.
  • the connector 5C5 is connected to the horizontal worm wheel 5A1 through the wheel mount 5C2.
  • rotation of the horizontal worm wheel 5A1 also causes rotation of the connecting piece 5C5 which is communicated with the vertical adjusting mechanism 5B via the connecting plate 5B4.
  • the connecting piece 5C5 is connected to the connecting plate 5B4 via a middle piece 5C6, the middle piece 5C6 simultaneously also having a roller fastening 5C1 via which the deflecting roller 5C is mounted.
  • the horizontal worm wheel 5A1 is mounted on the bearing 5C4, which can be advantageously designed as a rolling bearing to allow a simple low-cost construction of the adjustment mechanism 5.
  • the bearing 5C4 can also be fixed via a fastening nut 5C3, which comprises a central opening.
  • the training device of this embodiment which is particularly suitable for functional muscle training, can have an arm 3 for guiding a cable 1, an adjusting mechanism 5 for adjusting the arm 3 and a control unit for controlling at least the adjusting mechanism 5.
  • the control unit of this embodiment can be adapted to position the arm 3 by the adjusting mechanism 5, the movement of the Arms 3 to block and / or the arm 3 free, so that the arm 3 can be manually moved to the desired position.
  • the desired cable exit position can either be adjusted automatically by the adjustment mechanism, the movement of the arm can be blocked and / or the arm can also be released for manual positioning.
  • a balanced arm facilitates manual positioning and is particularly advantageous.
  • the adjusting mechanism 5 of the exemplary embodiment may comprise at least one toothed wheel 5A1 which can be driven via a worm 5A3 and which may be arranged with the worm 5A3 in the area of the worm 5A3.
  • the arm 3 can be adjusted by the adjusting mechanism 5 via the gear 5A1 about a first axis 6 and / or via a second gear 5B1 about a second axis 7, wherein each gear can be driven by its own worm.
  • the arm can be rotated about two axes and the adjustment remains compact at the same time.
  • the axis of rotation of the respective arm coincide with the axis of rotation of the respective gear to allow a simple rotational movement.
  • the axis of rotation of the screw 5A3 can be made adjustable and by the adjustment of the axis of rotation of the screw 5A3, the engagement range of the screw 5A3 can be adjusted with the gear 5A1.
  • the gear can be released or blocked by the engagement range is selected to be zero or negative (high contact pressure leads to elastic deformation and thus to "negative" engagement region).
  • the worm 5A3 may be slidably disposed to adjust the meshing portion with the gear 5A1 relative to the gear 5A1, the worm 5A3 being pressed against the gear 5A1 to block the rotation of the gear 5A1, and the worm 5A3 entirely disengaged to release the gear 5A1 Engaging area with the gear 5A1 can be moved.
  • a compact and multi-functional adjustment mechanism is provided, which also allows easy and safe use of the training device.
  • the displacement of the screw 5A3 can be effected via an actuator. This ensures a controllable positioning of the screw and in particular the axis of rotation of the screw, which can be adjusted individually, in particular by the control unit, depending on the training exercise, or even during training.
  • the worm 5A3 can be designed axially displaceable and have a duplex toothing. As a result, the clearance in the engagement region of the screw can be adjusted in a simple manner and at the same time a compact design is ensured.
  • the cable 1 can be guided through an opening 5A7 in the center of the gear 5A1.
  • This particularly advantageous leadership of the rope be complicated Rope guides avoided which also limit the angle of rotation of the arm and gear, because by the passage of the rope through the center of the gear along the axis of rotation of the gear, the rope is directly in the axis of rotation and a rotation, the rope must rotate only about its own axis. This increases the possible angle of rotation of the gear, and subsequently of the arm.
  • the adjusting mechanism 5 may comprise a second gear 5B1 and a second worm for adjusting the arm about a second axis. As a result, the adjustment of the arm is increased in a simple manner.
  • the cable 1 can be guided through an opening 5A7 in the center of the gear 5A1, deflected by a roller 5C and guided through an opening in the center of the second gear 5B1.
  • the double implementation of the rope, the effects described in terms of increasing the possible angle of rotation and easy guidance of the rope can be achieved by two axes of rotation.
  • the opening in the center of the gear 5A1, 5B1 may extend along the rotational axis of the gear 5A1, 5B1.
  • the axis of rotation of the screw 5A3 can be arranged to be essentially parallel displaceable.
  • the worm can be easily and quickly folded into the engagement area or folded out of the engagement area since the direction of the axis of rotation does not substantially change. This makes the system particularly robust and easy to manufacture and store.
  • a first axis of rotation of the arm 3 may pass through the opening in the center of the gear 5A1 and / or a second axis of rotation of the arm 3 may pass through the opening in the center of the second gear 5B1.
  • FIG. 10 shows a schematic control and regulation structure of an embodiment of the present training device.
  • the input variable to be input is forwarded via a controller in the electric drive, which further passes this to the control system of the training device, in which case various disturbances act on the controlled system to ultimately lead to rope movement.
  • Measured are the cable exit direction, the cable path and the counterforce.
  • a desired training corridor may be set in which the movement of the user of the training device should move.
  • the training corridor can also be designed as a vector field, so that any point in a training area can be controlled depending on the measured input variables, such as position of the manipulator 18 or movement speed of the exerciser or exercise of the person or the like.
  • the invention further includes the following aspects:
  • a first aspect of a training device in particular for functional muscle training, with an arm 3 for guiding a rope 1, an adjusting mechanism 5 for adjusting the arm 3, a control unit for controlling at least the adjusting mechanism 5, wherein the control unit is adapted to position the arm 3 by the adjusting mechanism 5, to block the movement of the arm 3 and / or to release the arm 3, so that the arm 3 can be manually moved to the desired position.
  • a second aspect of a training device characterized in that the adjusting mechanism 5 comprises at least one via a screw 5A3 drivable gear 5A1 which is arranged engageable with the screw 5A3.
  • a third aspect of a training device characterized in that the arm 3 by the adjusting mechanism 5 via the gear 5A1 about a first axis 6 and / or via a second gear 5B1 about a second axis 7 is adjustable.
  • a fourth aspect of a training device characterized in that the axis of rotation of the screw 5A3 is adjustably removablestalltet and adjusted by the adjustment of the axis of rotation of the screw 5A3, the engagement region of the screw 5A3 with the gear 5A1.
  • a fifth aspect of a training device characterized in that the worm 5A3 is slidably disposed for adjusting the engagement portion with the gear 5A1 relative to the gear 5A1, the worm 5A3 for blocking the rotation of the gear 5A1 to the gear 5A1 is pressed and wherein the release of the gear 5A1, the worm 5A3 is completely displaced from the engagement area with the gear 5A1.
  • a sixth aspect of a training device according to at least one of aspects two to five, characterized in that the displacement of the screw 5A3 is effected via an actuator.
  • a seventh aspect of a training device characterized in that the screw 5A3 is designed axially displaceable and has a duplex toothing.
  • An eighth aspect of a training device according to at least one of aspects one to five, characterized in that the cable 1 is guided through an opening 5A7 in the center of the gear 5A1.
  • a ninth aspect of a training device characterized in that the adjusting mechanism 5 comprises a second gear 5B1 and a second worm for adjusting the arm about a second axis.
  • a tenth aspect of a training device characterized in that the cable 1 is guided through an opening 5A7 in the center of the gear 5A1, for example, is deflected via a roller 5C and through an opening in the center of the second gear 5B1 to be led.
  • An eleventh aspect of a training device characterized in that the opening in the center of the gear 5A1, 5B1 extends along the rotational axis of the gear 5A1, 5B1.
  • a twelfth aspect of a training device according to at least one of the aspects two to eleven, characterized in that the axis of rotation of the screw 5A3 is arranged to be displaceable in parallel.
  • a thirteenth aspect of a training device characterized in that the one first axis of rotation of the arm 3 passes through the opening in the center of the gear 5A1 and / or a second axis of rotation of the arm 3 passes through the opening in the center of the second gear 5B1.
  • the active control of the device as a function of the user power on the handling device or in dependence on the determined position of the handling device and the cable force makes it possible to adapt the load to the user individually and flexibly. As a result, incorrect loading or overloading of the user of the device can be reduced.
  • the device according to the invention can also be used to relieve the user.
  • the user of the device can experience not only loads, but also reliefs by supporting the device according to the invention in a variety of movements. Therefore, the device according to the invention can also be used as an assistance system in various measures.
  • the possibility of relieving the user of the device also includes the use of the device as guided surgery assistance system Relief of the user.
  • Via a corresponding handling device a connection to the user can be established in such a way that overloading or incorrect loading can be reduced or avoided.
  • limbs of the upper extremities can be connected via a corresponding handling device with the device according to the invention, so that the movement of the respective limbs is supported and the load can be reduced.
  • the device according to the invention can thus also be used as an operation assistance system.
  • the handling device is designed in such a way that the limbs or body parts to be relieved can be accommodated and relieving the body weight can be achieved.
  • a device can be provided as an operation assistance system with an actuator 2, which is in operative connection with a cable 1, an arm 3 for guiding the cable 1, an adjusting mechanism 5 for adjusting the arm 3, a control unit for Controlling at least the actuator 2, and detecting means for determining the spatial position of an associated with the rope 1 handling device 18 based on a cable exit direction of the cable guide of the arm 3, an issued pitch and the spatial position of the arm 3 and to determine a on the Rope 1 acting cable force Fs, wherein the control unit, the actuator 2 based on the comparison of the determined spatial position and / or the cable force Fs and / or their derivatives with predetermined values.
  • the actuator (2) in particular for the winding and unwinding of the rope (1) with a cable receptacle and in particular a winch (13) are in operative connection.
  • a biofeedback in particular acoustic, visual and / or haptic signals, can be output.
  • the pivotable sleeve (10) may comprise a guide sleeve (A5; B5; C5) through which the cable (1) is guided, the guide sleeve (A5; B5; C5) being movable along at least one axis and the position the guide sleeve (A5; B5; C5) can be detected via a sensor.
  • the movable guide sleeve (A5; B5; C5) may be in communication with a magnet, the position of the magnet being detected by a sensor, the magnet being integrated in particular in the guide sleeve (A5; B5; C5).
  • the length of the arm (3) can be adjustable in particular via the control unit.
  • the detection means may comprise an optical sensor (S1) for determining the cable exit angle and / or the cable exit vector.
  • the optical sensor (S1) can be provided on the arm (3) or in a region which can be swiveled with the pivotable roller (9).
  • the device according to the invention can be set up in such a way that it can be used as an operation assistance system.

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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)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Rehabilitation Tools (AREA)

Claims (15)

  1. Dispositif, en particulier pour l'entraînement musculaire fonctionnel ou pour l'assistance lors d'opérations, comportant
    un actionneur (2) en liaison d'action avec une corde (1),
    un bras (3) pour guider la corde (1),
    un mécanisme de réglage (5) pour régler le bras (3),
    une unité de commande pour commander au moins l'actionneur (2), et
    des moyens de détection pour déterminer la position spatiale d'un appareil de manipulation (18) en liaison avec la corde (1) en se basant sur une direction de sortie de corde hors du guidage de corde du bras (3), sur une longueur de corde extraite et sur la position spatiale du bras (3), et pour déterminer une force de corde FS agissant sur la corde (1),
    dans lequel
    l'unité de commande contrôle l'actionneur (2) en se basant sur la comparaison de la position spatiale déterminée et/ou de la force de corde FS et/ou de sa dérivée à des valeurs prédéterminées.
  2. Dispositif selon la revendication 1,
    caractérisé en ce que
    le moyen de détection détermine un vecteur de force agissant sur l'appareil de manipulation (18) en se basant sur la position spatiale de l'appareil de manipulation (18) et sur la force de corde FS.
  3. Dispositif selon l'une au moins des revendications 1 ou 2,
    caractérisé en ce que
    l'unité de commande émet une valeur de consigne à l'actionneur (2) en se basant sur la comparaison.
  4. Dispositif selon l'une au moins des revendications précédentes,
    caractérisé en ce que
    l'unité de commande émet à l'actionneur (2) une valeur de consigne de vitesse, une valeur de consigne de force et/ou des valeurs de consigne de mouvement, en se basant sur la comparaison.
  5. Dispositif selon l'une au moins des revendications précédentes,
    caractérisé en ce que
    l'unité de commande émet une valeur de consigne pour la position spatiale du bras (3), en se basant sur la comparaison, et contrôle le bras (3) en correspondance.
  6. Dispositif selon l'une au moins des revendications précédentes,
    caractérisé en ce que
    l'unité de commande définit un profil de mouvement en se basant sur la position spatiale déterminée, en détectant en outre l'ampleur de la force de corde.
  7. Dispositif selon la revendication 6,
    caractérisé en ce que
    l'unité de commande contrôle l'actionneur (2) et/ou le bras (3) en se basant sur une comparaison du profil de mouvement déterminé à des valeurs prédéterminées.
  8. Dispositif selon l'une au moins des revendications 1 à 7,
    caractérisé en ce que
    la corde (1) est guidée dans une zone de sortie de corde (4) du bras (3) via une poulie (9) mobile en basculement.
  9. Dispositif selon l'une au moins des revendications 1 à 8,
    caractérisé en ce que
    la corde (1) est guidée dans une zone de sortie de corde (4) du bras (3) à travers une douille (10) mobile en basculement.
  10. Dispositif selon l'une au moins des revendications 8 ou 9,
    caractérisé en ce que
    les moyens de détection déterminent la direction de sortie de corde en se basant sur un angle de basculement de la douille (10) mobile en basculement et/ou de la poulie (9) mobile en basculement.
  11. Dispositif selon l'une au moins des revendications 1 à 10,
    caractérisé en ce que
    la corde (1) est guidée au moins partiellement à travers le bras (3).
  12. Dispositif selon l'une au moins des revendications 1 à 11,
    caractérisé en ce que
    le bras (3) comprend au moins une poignée (15), et un commutateur (19) pour piloter le mécanisme de réglage (5) est agencé au niveau de la poignée (15).
  13. Dispositif selon l'une au moins des revendications 1 à 12,
    caractérisé en ce que
    le mécanisme de réglage (5) est conçu pour positionner automatiquement le bras (3) par l'unité de commande, pour bloquer le mouvement du bras (3) et/ou pour libérer le bras (3), de sorte que le bras (3) peut être déplacé manuellement dans la position désirée.
  14. Dispositif selon l'une au moins des revendications 1 à 13,
    caractérisé en ce que
    l'actionneur (2) comprend un dispositif capteur pour définir l'ampleur de la force de corde et/ou pour définir la longueur de corde déroulée.
  15. Procédé pour faire fonctionner un dispositif selon l'une au moins des revendications 1 à 14.
EP15797641.6A 2014-11-17 2015-11-17 Dispositif d'entraînement avec détection de position en trois dimensions, et son procédé de fonctionnement Not-in-force EP3221015B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014223435.2A DE102014223435A1 (de) 2014-11-17 2014-11-17 Trainingsvorrichtung mit 3D-Positionserfassung und deren Betriebsverfahren
PCT/EP2015/076793 WO2016079104A1 (fr) 2014-11-17 2015-11-17 Dispositif d'entraînement avec détection de position 3d et son procédé de fonctionnement

Publications (2)

Publication Number Publication Date
EP3221015A1 EP3221015A1 (fr) 2017-09-27
EP3221015B1 true EP3221015B1 (fr) 2019-01-23

Family

ID=54608509

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15797641.6A Not-in-force EP3221015B1 (fr) 2014-11-17 2015-11-17 Dispositif d'entraînement avec détection de position en trois dimensions, et son procédé de fonctionnement

Country Status (3)

Country Link
EP (1) EP3221015B1 (fr)
DE (1) DE102014223435A1 (fr)
WO (1) WO2016079104A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108905087A (zh) * 2018-06-26 2018-11-30 王行德 可更换防滑套的腕力锻炼器
CN109850557A (zh) * 2019-01-31 2019-06-07 鹤壁职业技术学院 一种机械手转运装置及其实现方法
CN110179626A (zh) * 2019-05-28 2019-08-30 山东建筑大学 一种上肢康复训练装置及方法

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CN106726350A (zh) * 2016-12-29 2017-05-31 河北工业大学 一种绳驱动肘腕康复机器人
CN112354132B (zh) * 2020-10-20 2021-04-09 深圳市零点智联科技有限公司 健身用的智能拉力器

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CN108905087A (zh) * 2018-06-26 2018-11-30 王行德 可更换防滑套的腕力锻炼器
CN109850557A (zh) * 2019-01-31 2019-06-07 鹤壁职业技术学院 一种机械手转运装置及其实现方法
CN110179626A (zh) * 2019-05-28 2019-08-30 山东建筑大学 一种上肢康复训练装置及方法
CN110179626B (zh) * 2019-05-28 2021-02-26 山东建筑大学 一种上肢康复训练装置及方法

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