EP3436717A2

EP3436717A2 - Training equipment and method

Info

Publication number: EP3436717A2
Application number: EP17719170.7A
Authority: EP
Inventors: Stefan Battlogg
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2016-03-31
Filing date: 2017-03-31
Publication date: 2019-02-06
Also published as: WO2017168004A3; CN109073030A; DE102016118920A1; WO2017168004A2; DE102016118920B4

Abstract

The invention relates to training equipment (300) for targeted muscle actuation. The training equipment (300) comprises a muscle-powered actuating element (301) and a damping system (10) comprising two components (2, 3) that can move in relation to one another. One of the components (2, 3) is operatively connected to the actuating element (301), such that a movement of the actuating element (301) can be damped. A field-sensitive rheological medium (5) and a field generation system (7) are associated with the damping system (10), in order to generate and control a field strength. A damping characteristic can be influenced by the field generation system (7). A control system (302) is suited and designed to control the field generation system (11) in a targeted manner in accordance with a training parameter, such that the movement of the actuating element (301) can be damped taking into account the training parameter.

Description

Training device and procedure

The present invention relates to a training device for targeted muscle actuation with at least one at least partially powered by muscle power actuator and at least one damper device.

A crucial feature of exercise equipment is their

Adaptability to specific training requirements and to the individual needs of the training person. Therefore, exercise equipment usually have different settings. For example, it is possible to set which force the training person must apply or how much he has to stretch or stretch.

However, the adjustment of exercise equipment is often very uncomfortable and time consuming. As a rule, specialist knowledge is required in order to optimally make the settings necessary for targeted training. It can even

that happen because of incorrect settings

Overload and pain occur.

In the prior art, therefore, training devices have become known in which the training movements are influenced by dampers. This usually makes it easier to set certain training requirements.

For optimal training and a particularly comfortable

However, using the training devices it would be advantageous if the setting of the corresponding damper could be even more targeted and in particular also at least partially automated.

It is therefore the object of the present invention to provide a Exercise device and a method for operating a

Training device to provide that allow improved training and in which particularly inexpensive and preferably also at least partially automated targeted settings can be made.

This problem is solved by a training device with the

Features of claim 1 and by a method having the features of claim 25. Preferred developments of

Invention are the subject of the dependent claims. Further advantages and features of the present invention will become apparent from the general description and the description of the

Embodiments.

The training device according to the invention is used for targeted

Muscle operation and includes at least one at least partially powered by muscle actuator. The training device comprises at least one damper device with at least two relatively movable components. One of the components is operatively connected to the actuator, so that a

Movement of the actuator is damped. Of the

Damping device are associated with a field-sensitive rheological medium and at least one field generating device for generating and controlling a field strength. By the

Field generating device is at least one

Damping property influenced.

In a preferred embodiment, the training device comprises at least one control device. The control device is particularly suitable and designed, the

Field generating device in dependence of at least one

To control training parameters targeted. As a result, the movement of the actuating element is preferably attenuable taking into account the training parameter.

The exercise device according to the invention offers many advantages. By the corresponding damper device of the training device training can be significantly improved because the damping is very selectively adjustable. In addition, those for the training desired settings are made particularly comfortable and inexpensive.

Particularly advantageous is the control device. Through this, the field generating device can be set so that training with very targeted training parameters is possible. In addition, via the control device an automated

Adjustment of the training device done. For this purpose, a trainer or therapist can determine the required training parameters in advance and deposit them in the training device. Or the user receives the training parameters online or from the network. The training person can then start training without having to make any adjustments or wait for the trainer.

In particular, the training parameter is stored in the control device. The training parameter can also be on a

Storage medium be deposited, which is operatively connected to the control device. For example, the training parameter may be stored on a portable storage medium, which carries the training person with it. So can by inserting the

Storage medium or by a near-field detection, an automated setting of the desired training parameters carried out when the training person uses the training device.

In particular, depending on the training parameter to be applied to the movement of one of the two components

Damping force adjustable. By the damping force is

in particular, the actuating force of the actuating element adjustable.

Preferably, depending on the training parameter, a path and / or a rotational angle can be set, via which at least one of the two components can be moved. As a result, in particular, the path and / or the angle of rotation of the movement of the

Actuator adjustable. It is also possible that on the adjustment of the damping force, the mobility of the

Actuator can be limited and / or blocked. For example, a movement of the actuating lever outside a predetermined path or angle of rotation can be prevented. The Blocking of the actuating element takes place in particular by setting a correspondingly high damping force, so that, for example, the actuating element no longer

Muscle power is movable.

Preferably, the damping characteristic is variable during at least a single actuation of the actuator. In particular, a single actuation of the actuating element with different damping properties and, for example, with different damping forces executable. In particular, the damping characteristic is during a single one

Movement cycle variable. The movement cycle can z. B. be a single turn with the right and / or left leg.

For example, the operation is a pulling on an arm lever or a pivoting of a leg lever. Then, other damping properties, and preferably other damping forces, can be adjustable at the beginning of the pulling or pivoting than during the further course or towards the end of the pulling or pivoting.

The adjustment of the damping characteristic during an actuation can be described by at least one function. The

Function is preferably stored in the control device. This offers considerable advantages over a damping, which remains at a certain value during the entire operation. In many exercises, it is of great advantage if just at the beginning or towards the end of the respective movement or actuation, the damping force is deliberately lowered or raised. Due to the damper device with the rheological medium or with the field generating device, the

Damping force during a single operation by adjusting the field strength can be varied almost arbitrarily. This offers significant advantages over exercise equipment over

mechanical valves must be adjusted.

This makes it possible for the training process over the training time to be particularly individual and targeted. This offers considerable advantages over adjustments that take place for a longer period and z. B. for warm-up, main training phase, Phasing out period, each z. B. several minutes or hours are made. Because that's when they become

exercising body parts usually synchronously loaded or

applied. For optimal training in the sense of

It is, however, an advantage if the training course does not last longer

Duration, z. B. minutes or even hours, is roughly variable, but each movement cycle individually and even different for the body part to be trained.

The invention presented here, however, offers a very quick adjustment of the settings, eg. In real time and / or during a single movement. In an embodiment as

Exercise bike in the form of a bicycle can be such. B. during a pedal rotation through 360 °, the braking force and the torque can be varied controlled by the damper settings. In particularly preferred embodiments, even the left leg can be exercised differently than the right leg or can be subjected to braking torque and vice versa.

The training parameter is particularly preferably taken from a group of parameters which one for actuating the

Actuator provided force or torque,

Speed or angular velocity, acceleration, distance, direction of movement or direction of rotation, trajectory and provided for actuating the actuator angle includes. The consideration of such training parameters in the control of the damper device allows a particularly targeted adaptation to the individual training requirements of a training person. The angle can for example specify the range by which the actuating element can be pivoted with a certain force and / or speed.

It is also possible that the training parameter is at least one parameter of the group as a function of at least one other

Describes the parameters of the group. For example, the

Speed and / or the force as a function of the distance and / or the angle in the control device be stored. It can be provided that a characteristic value for the training parameter can be input, by which the training parameter can be derived and / or is derived indirectly. For example, the trainer can select and enter a value from a scale for the exercise state. A high value is then z. For a strong, trained person and a low value for an untrained person. The control device can then convert the characteristic value into a training parameter that is suitable for driving the damper device.

The control device is preferably suitable for this and

designed to control the field generating device as a function of at least one training parameter as a function of at least one other training parameter.

For example, the trainer can determine certain angular positions of the actuating element for the actuation of certain forces

Assign actuator. The control device

then takes particular account of the force as a function of the angle. This has the advantage that in certain positions of the actuating element a higher or a lower force is required of the training person. This is particularly beneficial in rehab exercises, as in certain strain positions high forces must be avoided. So can at the

Rehabilitation of a knee injury with increasing draft angle of the knee a lower attenuation and thus a lower

Be provided actuating force.

In an advantageous embodiment, the control device is suitable and designed, based on at least one

Sensor device to detect at least one parameter for the movement of the actuating element. In particular, the

Control device suitable and designed, the

Field control device under consideration of the characteristic to control targeted. In particular, the damping force to move at least one of the two components below

Consideration of the characteristic variable. In particular, the detected characteristic relates to one or more of the variables, which also be used as training parameters. In particular, the parameter describes a for operating the

Actuator provided force or torque, air pressure, pressure in liquids, speed, acceleration, distance, direction of movement or direction of rotation, trajectory and / or an angle.

Such a configuration has the particular advantage that the setting of the damping force not only takes place as a function of a previously defined training parameter, but also by a sensory monitoring of the training adaptable and particularly preferably also adjustable. So z. B. incorrectly executed exercises and, for example, too fast movements can be detected without the presence of the trainer.

For example, when detecting too fast movements, the damping force can be regulated so that the exerciser performs the exercise accordingly slower due to an increased damping force. size in

Trainers who analyze and possibly adjust the training

Preferably, the control device is suitable for this and

designed to adapt the training parameter depending on the characteristic. This enables an intelligent or adaptive

Adaptation of the training parameter. It is particularly advantageous that the adaptation of the training parameter by the

Control device takes place. This saves the coach one

time-consuming and tedious redefinition of the training parameter. It is also particularly advantageous in such an embodiment that the trainer first of all has an empirical value or a value

Can provide approximate value as a training parameter. Should this training parameter require optimization, this recognizes the control device in particular on the basis of the sensory recorded characteristic and takes z. B. an independent adjustment of the training parameter before. For example, the sensory recorded characteristic gives the

Speed at the actuation of the actuator on. If the speed exceeds a threshold, it can be assumed that the exercise is rather simple. The

Control device is preferably suitable and designed to adapt the training parameter when a threshold value is exceeded. For example, the control device sets the force required for the actuation based on the damping force to a higher value. This automatically keeps the training level at an advantageous level.

Particularly preferably, control device is suitable and designed to carry out a permanent adaptation of the training parameter. As a result, the adapted and not the original training parameter can also be used in later training units. It is also possible that by the

Control means only a temporary adjustment of the training parameter takes place. For example, the training parameter is adjusted only for a session or actuation.

In all embodiments, it is particularly preferred that it damper device is suitable and designed, the

Adjust damping property in real time. In particular, the damper device is suitable and designed, taking into account the characteristic, the damping property in

To set real time. As a result, optimum adaptation to the individual needs of the training person is possible even with fast or very dynamic training sequences.

For example, the actual state of the person being trained is detected in real time and the extent of training in this form is also adapted in real time by changing the parameters during a training movement. This is preferably done for each body part, i.e. the right arm is e.g. B. trained differently than the left arm. This is achieved in particular by the fact that the sensor device in particular with different

Sensors detected states, this data to an electronic control system passes, an algorithm evaluates this and outputs to fast actuators and this implements it in force or moment. Fast is for example a hundred times per second or within less than 100 ms.

A significant advantage of a training device according to the invention is that the damper device is equipped with a magneto-rheological fluid as the working fluid. It can be controlled by the controller, the magnetic field of the electric coil in real time, d. H. in a few milliseconds (less than 10 or 20 ms). Thus, the damping force can be adjusted in real time.

In particular, the damper device is suitable and designed to change the damping characteristic by at least 30% within less than 100 milliseconds. In particular, the damping characteristic can be varied by at least 10%, preferably by at least 30% and particularly preferably by at least 50%, within less than 10 milliseconds. The damping characteristic may also be variable by at least 100% or 500% or by ten or a thousand times within less than 100 milliseconds. Such real-time control is particularly advantageous for training procedures.

Particularly preferably, the damping characteristic is under a single operation of the actuating element below

Consideration of the variable adaptively variable. Thus, a wrongly executed and, for example, too fast operation of the actuator particularly quickly by adjusting the

Damping property can be counteracted. This is particularly useful in rehabilitation training, as even a single exercise that is too vigorous or too stretched can cause great pain to the exerciser. So can

For example, too vigorously executed movement already detected in the approach sensor and thereby be prevented that the damping force is greatly reduced or completely withdrawn.

It is possible and preferred that the damper device is suitable and designed to block a movement of the actuating element that is driven by muscle power by means of the field-generating device and the field-sensitive rheological medium. As a result, certain movements of the training person can be specifically prevented. For example, a range of motion can be adjusted thereby and / or a too extensive movement can be stopped. Preferably, the damper device is designed so that the maximum damping force is a multiple of the expected muscle strength.

Particularly preferred is the movement in dependence of

Training parameters and / or the characteristic lockable. As a result, unfavorable training movements can be specifically and advantageously prevented. Since such blocking can occur particularly quickly and preferably in real time, unfavorable movements are already prevented in the beginning. For example, the trainer can specify an angle or an angular range in which the mobility of the actuating element is selectively blocked. By blocking as a function of the detected characteristic, an unfavorable movement can be prevented particularly quickly and preferably in real time, if the parameter indicates such a movement.

In all embodiments, it is preferred that the actuator is taken from a group of actuators comprising: pedal drive, leg lever, toggle, arm lever,

Back lever, belly lever, trunk lever, cable, rudder lever. The actuator may also act as a finger lever and / or

Hand lever and / or wrist lever be formed. The pedal drive may be formed as a tread plate or at least include such. Preferably, an actuating element is provided for each finger and / or each foot.

A lever is understood in particular also a rocker or a pivotable and / or rotatable lever element or a pressure or pull lever. In particular, a pulling and / or pressing takes place via the actuating element.

The exerciser may also be embodied as or include at least one of a hand exerciser. In particular, two actuators are provided, which at their

End portions via a pivot bearing means together are connected. Preferably, this is an actuator with the one component and the other actuator with the other component of the damper device and z. B. of

Rotary damper connected, so pivoting the two

Actuators is damped.

The training device may also be embodied as a finger trainer or at least comprise such. In this case, for each finger is an actuating element, each having at least one

Damper provided. The training parameter then gives, inter alia, the number of fingers to be moved and / or the

Finger type in front. The dampers of these fingers can then be actuated with a defined damping force or a damping curve defined by a function. The dampers of the other fingers are then blocked in particular. All fingers can be shared. It can be provided for each finger individual damping forces or damping curves.

In an advantageous embodiment, the training device comprises at least one damper device with at least one

Rotary damper. In particular, the one component comprises one

Inner component and the other component an outer component. In particular, the outer component preferably surrounds the inner component at least in sections radially. In particular, between the components is a radially inward of the

Inner component and arranged radially outwardly of the outer component and at least partially filled with the rheological medium annular and circumferential damping gap. The damping gap is in particular by the

Field generating device exposed to a magnetic field in order to damp a pivoting movement between the two mutually pivotable components about an axis.

Particularly preferably, a plurality of at least partially radially extending arms is provided on at least one of the components. In particular, at least part of the arms is with an electrical coil having at least one winding

equipped. In particular, the winding extends next to the axis and spaced from the axis. Such a rotary damper is particularly well suited for use in the training device, since it requires little space and is very quickly adjustable.

In particular, the training device comprises at least one

Transmission device. The transmission device is preferably suitable and designed to provide a linear movement of the

Actuate at least partially implement in a pivoting movement of one of the two components, so that the linear

Movement is dampened by the rotary damper.

It is also possible that the actuating element itself is rotatable. Then, the rotational movement of the actuating element is preferably damped directly by the rotary damper.

Preferably, the training device comprises a rotary damper with at least one displacement device, wherein the

Displacement device a damper shaft and each other

having positive displacement components, wherein a

Rotary movement of the damper shaft is damped. The displacer device preferably contains at least one

magnetorheological fluid as a working fluid and is thus operable. It is preferably a control device

associated with a magnetic field of at least one

electric coil comprising magnetic field source or

Magnetic field generating device is controllable. By the

Magnetic field is the magnetorheological fluid influenceable to adjust a damping of the rotational movement of the damper shaft.

Preferably, the training device comprises a damper device with at least one damper unit, wherein an attenuation of the rotational movement between the at least two components is adjustable. In this case, at least one channel is provided, wherein the channel contains a magnetorheological medium. At least one magnetic field generating device is provided for generating at least one magnetic field in the channel in order to influence with the magnetic field the magnetorheological medium in the channel. In channel, at least one rotary body is preferably provided. In one development, a free distance between the

Rotary body and the component is at least ten times as large as a typical mean diameter of the magnetic

polarizable particles in the magnetorheological medium.

Preferably, at least one acute-angled and that between the rotating body and at least one component

Magnetorheological medium containing area provided with the magnetic field of the magnetic field generating device

can be acted upon to selectively chain the particles and / or wedged with the rotating body or release.

In this case, the acute-angled region between the rotary body and a component may be in the direction of the relative movement of the

Rejuvenate component relative to the rotary body.

In an advantageous development, the

Damper device at least one linear damper with at least a first damper chamber and at least one second

Damper chamber. The first and second damper chambers are in particular coupled to one another via at least one controllable damping valve. The damping valve is preferably associated with the field generating device. The

Field generating device is used in particular for generating and controlling a field strength in at least one damping channel of the damping valve. The field-sensitive rheological medium is preferably provided in the damping channel.

Such a linear damper can be used particularly well for damping translational or linear movements of the actuating element. It is also possible that the linear damper is operatively connected via at least one transmission device with the actuating element. In this case, the transmission device is particularly suitable and adapted to a rotational movement of the

Actuate at least partially convert into a translational movement of one of the two components.

In particular, the linear damper comprises a chamber filled with the rheological medium and one relative to the chamber movable piston. The piston is in particular operatively connected to the actuating element.

In further preferred embodiments, the training device or fitness device is equipped with at least one rotary damper. In particular, in the context of the present invention, an exercise device is also understood to mean a fitness device, and vice versa. The exerciser is to controlled

Muscle operation suitable and trained. It comprises at least one at least partially muscle-powered

Actuator. At least one movement of the

Actuator dampened by the rotary damper.

In one possible variant, a customer comes z. B. ins

Gym and goes to a body scanner and / or

Analyzer. Here the "leverage ratios" are determined and stored (eg upper arm, forearm, thighs, height ...) The customer receives a device (eg NFC wristband, chip, Smartdevice like smartphone or watch or the like) which, when using the device, transmits this data to the fitness device so that it is always optimally adjusted with regard to the exercise (eg force over distance, moment via angle or the like) or tells the user how to adjust it (eg B. Adjust the seat mechanically or the like) or the device adjusts itself (eg by means of electric motors or the like).

In another possible variant, the customer has the data (eg using a smart watch, smartphone, chip or

like). He can start in every gym (worldwide), which can use this data or has the right fitness equipment (user loyalty).

In both variants or a further variant, the data is transmitted again from the fitness device to a "memory" and evaluated (eg cloud, internal memory or the like) .The customer can then process the data at home, for example.

On the basis of the data, the useful profile is preferably refined (for example, an adaptive embodiment can be provided). The Data can also be compared and optimized with colleagues (eg via community, cloud or the like). Preferably, a log file is created that displays the training history and success. The data can also be sent to diagnostics, doctors,

Caregivers or health insurances are sent so that they see how and what was done.

Preferably, at least one control device is provided and suitable and designed to set the damper targeted taking into account at least one predetermined parameter. The adjustment preferably takes place in real time. For example, a force desired for a muscle exercise can be provided as a parameter. The damper is then adjusted so that the user has the force to move the actuator

must apply.

Preferably, the control device is suitable for this and

formed, at least one parameter of the movement of the

To register actuator. In particular, the

Control device suitable and trained, depending on the characteristic of the rotary damper in its damping below

To take account of the parameter.

The characteristic of the movement of the actuating element is

in particular detected by at least one sensor. In particular, a continuous detection takes place. For example, by one of the sensors described here, and preferably by the rotary encoder. The parameter then preferably concerns one

Threshold value and / or a comparison function for the parameter. It can also be an assignment of predetermined parameter and detected characteristic in the manner of a map done.

For example, the caregiver can specify a value for a force / torque desired during the exercise as a parameter. As a parameter of the movement of the actuating element, the force / torque applied by the user is then detected and compared with the predetermined value. If the user exceeds the value, the damper can be made softer or easier to move. This will overload the muscle during exercise effectively avoided. This is especially true

Rehabilitation is an advantage where congestion is essential. Alternatively, a haptic feedback can be output by the damper to the user. With a registered overload, the damper can also be switched powerless or very smooth.

Preferably, the parameter describes an angular position and / or a movement direction and / or a movement moment and / or an acceleration of the actuating element. These characteristics are particularly advantageous since they are characteristic for the user's muscle activity on the training device.

Particularly preferably, the setting of the damper takes place as a function of the parameter. In particular, the setting of the damper is dynamic and / or adaptive. This has the advantage that a much more individual training than in weight trains or a conventional linear damper adjustment is possible. For example, use a training movement with light force and become heavier with increasing stroke and / or rotation. The applied force can also be in real time

Dependence of a registered as a parameter acceleration can be set. Also can be between left and right

Body half distinguished and adapted accordingly.

In many people, the halves of the body are often trained differently from home (for example, left - or

Right-handed), on this the training device can be particularly

preferably be adjusted or adjust. This is particularly true after illness, accidents in which most body part is more affected than the other (rehabilitation).

The training program can also be varied several times and individually within the training time.

For example, the parameter describes the angle of rotation

Knee extensions. Then, depending on the angle of rotation, the damper and thus the applied muscle power can be adjusted become. For example, with increasing extension of the knee, the force is reduced. This prevents harmful training loads. At a critical angle of rotation, the damper can also be adjusted powerless, so that harmful overstretching can be prevented.

Critical angles or positions can also be predetermined due to injury or have physiological origin. Here, the damper can be preset exactly to these conditions (personalized training).

Since exercises are often carried out too hastily and too quickly, which puts more strain on the joints and musculature, the damper can do so in such a situation

be set or automatically set, that a fast method / moving is not possible or not

is allowed. The damper can then be very soft

be set or spend a haptic feedback.

It is also possible that the parameter describes the direction of movement. As a result, z. B. be set for a knee stretching a different force than for the backward movement or squatting. In many muscle exercises, it is often very

crucial that the return movement easier or even

more forceful than the forward movement.

It can also give a haptic feedback to the user during the workout. This is done in particular by a targeted change in the damping properties and preferably as described above. The feedback is output in particular as a function of the parameter of the movement. For example, haptic chatter or jerking may be adjusted by the damper if the characteristic indicates that the user is performing an exercise too fast or too hard. The feedback can also be output if the user goes beyond a rotation angle or over a movement distance or within one

Movement range does not perform an exercise correctly. So the user can easily and simply learn the correct execution of the exercises. It is also possible that the feedback is output taking into account other sensor values serving as a parameter.

For example, the control device can register pulse values, heart rate and other vital parameters and use them to set the damper. The user exhausts

(Exhaustion) or is it outside a meaningful training area, it is pointed out by the haptic feedback and / or the damper adapts automatically and adaptively so that the user works again in a meaningful and preferably non-harmful training area.

Taking into account other sensor values and, for example, the vital parameters as a parameter, an adaptation of the

Damper properties take place. Thus, the force to be applied can be increased when the pulse indicates a warmed-up muscle apparatus. It is also possible that until the registration of a specific value of the vital parameters or other characteristics of the damper in certain angles of rotation is set so hard that the user can not bring the actuator in these rotation angle. This avoids overstretching the muscles at the beginning of the workout.

The rotary damper according to the invention can in preferred

Developments are used in fitness equipment as a damper and in particular as a hybrid damper to existing systems.

This z. B. in the millisecond range and steplessly switching rotary damper parallel to an existing relatively slow brake (eg friction brake, eddy current brake or other suitable brakes) in a training device and z. B. one

Fitness bicycle (eg Ergotrainer or the like) can be switched. As a result, load peaks (which, for example, result from kinematic conditions), nonuniformities, vibrations, wear, bearing clearance and other games, etc.

be compensated. This is advantageously done as a regulated system.

In the following, with "single actuation", for example, one

Pedal rotation in a training bike, partial or partial complete rudder movement (eg display, draft, reserve or the like) in a boat training machine, opening and closing a door and much more. meant. It may also be meant a movement of the actuating element of the training device.

The rotary damper according to the invention can also be the only one

Energy conversion element (eg, a brake or the like) are used, which previously not possible or very individual force / torque curves are possible. It can be such. B. the Betätigungskraft- / moment not only by individual

Actuation can be varied to a single operation (not only eg, per full revolution, per full stroke), but also during a single operation. In particular, the force / moment can be changed over path / angle, resulting in a multiply changing torque during one revolution and thus a specific torque curve / characteristic during one revolution).

In a rowing training machine can be such. B. during a complete rudder movement of the exact moment course (eg., Force course on the hand of man), adequately one

Rowing motion in a boat in the water, generated. The rotary damper according to the invention preferably simulates the rudder or actuating kinematics, immersion depth,

Traversing speed, angle of attack of the paddle and many other force courses of the sport.

In a cross-country, ski or biathlon training device can be such. For example, during a complete movement of the arms or of the body, an exact course of force (eg force course on the hand or the arms and shoulders of the person), adequately one

Movement on snow, to be generated. The invention

Training device with its controllable damper device

preferably simulates the actuation kinematics,

Submersion depth into the snow (especially adjustable to simulate different types and types of snow), adjustment of the angle of attack in the snow, traversing / operating speed, attitude of the hull to the body, angles and positions that occur when moving upwards or downwards

Descending results and many other force courses of the Sport. This linear or / and rotary damper can be used, which also with adjustable springs

(Spring stiffness; spring travel) can be combined.

Preferably, the damper device is at least one

Assigned spring device.

Depending on the embodiment of the training device, not only the damping, but also the spring force can be adjustable. Thus, the work area of the training device but in particular the training device itself can be better adapted to the user. A setting in relation to the user weight or the

Daily constitution is usually useful. When using z. Coil springs, this can be done by manual or automatic adjustment (e.g., with an electric motor) of the spring support surface. As a result, in particular, the spring length (linear length) changes. In torsion springs, the spring bar end may have a toothing, which is in engagement with a housing. By turning the basic position other moments can be generated. Preferably, any suitable spring types can be used (spiral spring, torsion spring, coil spring, coil spring, leg spring, bar spring, coil spring, gas spring).

A comfortable way of setting is z. B. by means of an air spring or gas spring. The air suspension is on

Suspension system that exploits the compressibility of gases, especially air. Here, the air (ambient air), for example, enclosed in a rolling bellows, which is airtight connected with other parts such as lid and rolling piston. The rolling bellows is in particular slipped over the piston and rolls in particular under pressure on this. The air spring can be supplied with compressed air by a hand pump (eg bicycle pump) and / or a compressor. Depending on the desired training range, body weight or load (dead weight of the components of the exerciser), air can be pumped in or out to increase or decrease the spring force. Via the filling volume, the level position (longitudinal extent) can be kept constant and / or varied. In training devices, the air spring is also particularly advantageous because it is very clean and easy on or adjustable. A dynamic adjustment of the spring force, similar to the dynamic damping adjustment, in particular increases the range of functions of the training device. Preferably, the spring device or the spring force is adjustable analogously to the previously described damper device or damper force.

In particular, for a left half of the body at least partially a different damping characteristic than for a right half of the body is adjustable. Preferably, a different damping force to be applied for the left half of the body than for the right

Body half adjustable.

In particular, at least one is for each body half

Actuator BE provided. For example, at least one actuator is provided for each leg and / or arm and / or hand and / or trunk half. The respective actuators can be a separate damper

include. In this case, each damper is preferably single

adjustable. For example, the cushioning for the right arm or the right leg may be set differently than for the left arm and the left leg, respectively.

The respective actuating elements can also be damped together or comprise at least one common damper. For example, the actuators are cranks

formed, which are operatively connected via a common shaft. Then, each crank can each represent an actuating element, wherein the rotational movement of the common shaft is damped. Preferably, another damper setting is adjustable when the left leg on the left crank and the right leg is taken, as if the right leg on the right crank and the left leg is taken. In particular, depending on the angular position of

Actuator for the respective body half another damping adjustable. In particular, the damper setting is adjustable depending on which body half or with which actuator the greater or lesser force on the

Damper is introduced. Co-operation of the two body halves or actuators may be taken into account so that the degree of difference between the body halves settings is dynamically adaptable. For example, at the

Damper setting for the left arm sensory the force curve or rotation angle of the right arm detected and taken into account.

Are differences between the halves of the body or

Detected actuators, the damper adjustment can be customized for each body half. Is z. For example, if the right arm becomes ill and fatigues faster, the

Adjusted damping force for the left arm, so that an unhealthy imbalance is avoided. On the other hand, it is also an advantageous imbalance for the training

adjustable.

The damping characteristic can also be used for a combination of body parts of a body half and / or different

Body halves be adjustable differently. For example, an arm-leg combination can be crossed or on one

Body half done. For example, for a left leg and a right arm, a different damper setting is possible than for a right leg and a left arm.

Preferably, the damping characteristic provided for a particular body half is at least partially variable during a single actuation of the actuator. Preferably, for the body half to be influenced or selected

Damping force during a single cycle of motion

changeable and in particular repeatedly variable.

Arms and legs and many muscles are usually present left and right. For most people, these are

differently trained or trained. In addition, the flexibility is very different from person to person or even from the left to the right half of the body. This especially occurs after an accident or after injuries. Even state-of-the-art training or rehabilitation equipment usually does not consider this. Therefore, the invention offers particular advantages here, since the body halves are selectively addressed differently can, for. Even during a single movement.

In particular, the damping characteristic is at least partially taking into account at least one signal of a

Near field detection system variable. The damping characteristic can also be varied taking into account at least one preferably intelligent evaluation of the signal of the near-field detection system. In particular, the damping force is variable depending on the signals and the subsequent intelligent evaluation of a Nahfeldkennungssystems.

The near field detection system comprises in particular at least one near field sensor. For example, it can be provided: optical sensors, environment camera, ultrasound, image recognition, laser. Existing sensors (e.g., Microsoft Kinetics) and / or sensors coupled to a smart phone may also be used

Exerciser can be combined. The Nahfeldkennungssystem is particularly suitable and adapted to the

Training parameters in particular at least partially below

Adjust the consideration of the detected signal and / or create taking into account the detected signal.

The near field detection system detects z. B. the posture. The controller reduces z. B. the forces when z. B. the back is greatly bent to train the lifting of a weight. The bent back usually leads to a high disc load and thus to possible health damage. Therefore, preferably as soon as or analogously to the withdrawal of the back curvature, the force is increased, so that a good

Training result is achieved. Continuous monitoring of the training with adjustments for targeted improvement can be carried out in this way. This is especially true not only for sports studios or professional equipment, but also for home use.

The inventive method is used to operate a

Training device for targeted muscle operation. It is actuated an at least partially muscle-powered actuator. The training device comprises at least one

Damper device with at least two relative to each other movable components. One of the components is operatively connected to the actuator so that movement of the

Actuator is damped. The damper device is associated with a field-sensitive rheological medium and at least one field-generating device for generating and controlling a field strength. At least one damping property is influenced by the field generation device. In this case, the field-generating device is selectively controlled with at least one control device as a function of at least one training parameter, so that the movement of the actuating element is damped taking into account the training parameter.

Preferably, the invention described above

Exercised training device according to the inventive method.

The inventive method provides an inexpensive and very individual adjustment of settings for training.

In particular, at least one parameter is monitored for at least one individual actuation of the actuating element. The

Damping property is preferably set specifically taking into account the characteristic, so that an optimal force / moment profile can be set with regard to the desired training result. Preferably, this is monitored and / or adjusted in real time. In particular, taking into account the training parameter, a single movement of the

Actuator during a single operation

preferably monitored in real time and so influenced or damped by an actuator and selectively controlled that it results in an optimal power / torque curve with respect to the desired training result. In particular, at least the sensor device described above is provided for this purpose.

In particular, the adjustment of the damping characteristic taking into account the parameter is more than once, preferably several times, during a single actuation of the

Actuator made. The actuation is z. B. one revolution of the actuating element. The setting can also continuously during a single actuation.

Preferably, the detection of the characteristic also takes place repeatedly and / or continuously during a single actuation.

In particular, between the operation of the

Actuator, for which the characteristic is monitored, and the resulting adjustment of the damping characteristic less than 100 ms. Also possible are less than 10 ms. The adjustment takes place in particular in real time and preferably as described above for the training device.

In particular, at least one characteristic value for a

Relative movement of the first and the second component to each other determined in real time and in particular repeated and z. B.

determined periodically. In particular, with the

Field generating device generates a field only when the relative movement of the first and the second component is present. In particular, with the characteristic value, a field strength to be set is derived, in particular in real time. In particular, with the field generating device, preferably in real time, the field intensity to be set is generated in order to set a damping property, in particular damping force, in real time, which results from the determined characteristic value. In particular, pass between the relative movement and the resulting

Setting the damping characteristic less than 100 ms,

preferably less than 10 ms. In particular, pass between the identification and the derived therefrom

Damping property less than 100 ms, preferably less than 10 ms. The adjustment of the damping characteristic takes place in particular more than once and preferably several times during an actuation of the actuating element.

The training device may comprise at least one active or passive cooling device.

The damper device of the training device can in particular be designed in such a way as is the case for damper devices in DE 10 2012 016 948 A1 and WO 2017/013234 A1 and also US Pat

WO 2017/013236 AI is described. The objects of this Fonts and in particular the construction principles of the dampers described therein are therefore fully in the

Description of the present invention added.

Further advantages and features of the present invention will become apparent from the description of the embodiments, which in the

Below will be explained with reference to the accompanying figures.

In the figures show:

Figure 1 is a schematic exploded view of a

rotary damper according to the invention;

Figure 2 is a schematic cross section through the rotary damper of Figure 1;

Figure 3 is a perspective view of part of the

Rotary damper of Figure 1;

FIG. 4 shows a schematic cross section through the rotary damper according to FIG. 1;

Figure 5 schematically drawn magnetic field lines in the

Rotary damper according to Figure 4;

FIG. 6 shows a cross section through a further rotary damper;

7 shows a schematic perspective partial cross section of a rotary damper for an inventive

Fitness device;

Figure 8 is a section through a partially exploded

Representation of Figure 7;

Figure 9 is a highly schematic sketch of the control of

Damper device;

Figure 10 is a highly schematic sketch of another Embodiment of the control of the damper device;

FIG. 11 shows a training device or fitness device;

FIG. 12 shows another training device or fitness device;

Figure 13 is still a training device or fitness device;

FIG. 14 shows another exercise device or fitness device;

FIG. 15 shows yet another training device or fitness device;

FIG. 16 shows a damper for the training device according to FIG. 15 in FIG

Cut;

Figure 17 is a schematic sectional view of the damper according to

Figure 16;

Figure 18 is a linear damper z. B. the fitness device

FIG. 12;

FIG. 19 shows a course of force;

FIG. 19a shows a further course of force;

FIG. 20 shows another course of force;

Figure 21 is a highly schematic training device with a

NahfeiderkennungsSystem;

Figure 22 is still a force curve; and FIG. 23 shows a further course of force.

FIGS. 1 to 18 describe different training devices 300 or fitness devices. Without limiting the list, the fitness machine can be used as a device for building muscle, for example, as a leg press, as a weight bench, as a cable pulling station, as a traction unit, as a multi-press rack, as Stepper and as a power station. It can also be used on dumbbells. Also possible is the use of the invention in fitness equipment for endurance enhancement, such as ergometers and crosstrainers, treadmills and rowing machines.

The invention provides z. B. in design as a leg press benefits, as it is there with large weights in combination with too weak muscles and the stretching of the legs to a

Kinking of the legs to the back and thus to heavy

Injuries could come. This can be avoided with the invention. An inventive training device with a

(Adaptive) damper device can prevent this targeted by a position detection is performed or the force is generated depending on the angle. It is preferably applied only (a suitably adapted) force, even if pressed.

The same is true when lifting a weight. Again, the body position may be unfavorable, z. B. when lifting (scribing) of the weights of the back is more curved, which is high

Loads on the vortices generated. The fitness device with the controllable (adaptive) damper device can be optimally adapted here.

A possible use in a variant A can be as follows: The customer comes into the studio and goes to a body scanner. Here the "leverage ratios" are determined and saved

(Upper arm, forearm, thighs, height ..). The customer receives a device (computer, bracelet, chip, smartphone or smartwatch or the like) which transmits this data to the device when using the device. Thus, this is always set optimally or tells the customer how to adjust (eg, mechanically adjust the seat ...) or the device adjusts itself (electric motors ...).

In a variant B can proceed as follows: The customer has the data (smartwatch, smartphone, chip ...). He can start in any gym (worldwide) right away, which can use this data or the appropriate devices to do so has (user binding ...)

In both variants, the data from the fitness device can also be transmitted to the "memory" and evaluated.The customer can process the data at home.On the basis of the data, the useful profile can be refined (learning).

During training, it is possible for the force (moment) and / or traversing speed to adjust not only during a movement but also during the number of movements (eg, the force increases). This is preferably dependent on z. B. the exhaustion, the profile of the user, the

Heartbeat and / or blood pressure etc. It can also be dependent on the lever ratios of the machine and the user (flexion angle of the limbs ...). The number of movements and the energy introduced can also be displayed / output.

It can be braked in all embodiments either only in one direction or braked in both directions. It can also be generated with a memory a constant force (pump with pressure accumulator). This or everything can also be done alternately. The left and right sides can be treated differently. Certain positions (bending angle,

Postures ...) can be charged differently than others, if z. B. an injury, may not be charged in this position under certain circumstances.

There is a special benefit in rehabilitation:

Especially with users with / after health problems and / or problems a coordinated training is very important. The greater the deficit resulting from an accident / illness is the standard, the more important is the targeted training.

Targeted means here: exactly adapted to the muscle / body impairment. For example, a (older) patient may go after a

Stroke usually only minimally exercise in terms of strength, duration and flexibility, a trained (professional) athletes after a z. B. Leg break has a completely different training spectrum here. For example, an injured left knee must / should during training on the same training device (eg Ergometer or exercise bike) are charged differently than the healthy right knee. This can be considered individually by the training device with the MRF damper.

So z. As a early mobilization on the normal ward or even in the intensive care unit possible.

Adaptive and intelligent therapy actuators / training devices are possible, including early mobilization

enable or even automate.

After a stroke or similar are usually individual

Body parts or body halves more affected like other regions. That's why it's important that not so

powerful limbs / muscles are charged differently and in particular with a smaller force. This allows a different force-over-travel or torque-over-angle gradient to be used. The tension and compression can also be different. So in total the best possible result can be achieved or the patient is not overloaded and does not lose the pleasure of training. Here, the recovery progress can also be logged (send the data to the insurance or a cloud for evaluation).

It has also been implemented a training device, which can be referred to as a smart hand exerciser.

Figure 1 shows a schematic perspective view of a damper device 10 and a rotary damper 1 for the z. B. illustrated in Figure 11 training device or fitness device 300th

In this case, the individual parts of the rotary damper 1 can be seen in Figure 1.

The rotary damper 1 is essentially formed from the components 2 and 3, wherein on the component 2, the pivot shaft 4th

arranged or formed. The pivot shaft 4 has a first end 31 and a second end 32. Over the circumference of the component 2, several arms 21, 22 and 23 can be seen here, to which in the description of Figures 3 to 5 even closer

will be received. A driver 4a (for example a feather key) can be arranged on the pivot shaft 4 in order to non-rotatably connect the component 2 with a part to be damped. Instead of the key can also be a spline, polygonal connection or another non-positive or positive connection can be used. During assembly, the component 3 is pushed over the component 2 and finally screwed to the lid 3a, wherein the first end 31 of

Swivel shaft 4 extends out of the here right end of the component 3 out. Spacers 38 can be used to comply with predetermined distances.

Basically, two variations are possible here, namely that extends on the other side of the component 3, the second end 32 of the pivot shaft to the outside, or that the second end 32 of the pivot shaft 4 in the interior of the component 3 and z. B. in the bearing 37 of the lid 3a of z. As aluminum or the like. is stored. The bearing 37 can be a cost effective

Plain bearing, but also be a ball or roller bearing with high or very high demands on the basic friction and life. For low requirements, it can also be omitted.

A rotary encoder or angle sensor 17 is used to detect the relative angular position of the components 2 and 3 to each other. The angle sensor 17 may include a magnetic stack and

be read without contact from outside the housing 30. The sensors may also be mounted on coupling elements or operatively connected parts. Instead of a rotary measuring system, a linear measuring system can also be used.

The connecting lines 14 supply the rotary damper 1 with electrical energy.

Furthermore, from left to right, a collar, a shim, even a collar, seals and bearings,

Distance sleeve etc. to see.

The components 2 and 3 may also have a tapered shape. The damping gap 6 need not be equal or uniform over the axial extent 16. FIG. 2 shows a schematic cross section in the assembled state, wherein it can be seen that the component 3 in FIG

assembled state, a housing 30 of the rotary damper 1 forms. The component 3 takes in the interior of the essential part of the component 2, so that after the screwing of the lid 3a with the component 3, only the first end 31 of

Pivot shaft 4 protrudes out of the housing 30 to the outside. At the outwardly projecting part of the pivot shaft 4 of the driver 4a is arranged. The component 3 has an outer component 13 and forms the housing 30. The component 2 has an inner component 12, which is surrounded by the outer component 13.

The pivot shaft 4 is mounted in the vicinity of the first end 31 via a bearing 37 and at the other end 32 is a spherical bearing here with a kind of bearing 37 is provided so that only one implementation of the pivot shaft 4 is present to the outside. As a result, the basic friction and thus the basic torque can be reduced, resulting in a higher sensitivity and better

Responsibility of the rotary damper 1 under load can be achieved.

A geometric axis 9 extends centrally through the

Swivel shaft 4. Through the pivot shaft 4, the electrical connection lines 14 extending from the outside (without

Slip ring) are performed by the pivot shaft 4 to the electric coil 8, which are arranged inside the housing 30.

In the highly schematic cross section of the rotary damper 1, two arms 21, 22 can be seen on the inner component 12 of the component 2.

The damping gap 6 is provided radially between the inner component 12 and the outer component 13 and extends over an axial length 16 which has a substantial portion of the length of the inner component 12. The length 16 of the damping gap 6 is preferably at least half and in particular at least 2/3 of the length of the component 3. In particular, with large diameters 27 of the damping gap 6, it is possible to provide at the axial ends of the damping gap 6 each seals to the magnetorheological medium substantially and preferably completely within the

Retain damping gap 6. In simple embodiments, a magnetic seal may be provided in which a magnetic seal of the very thin gap still existing there between the components 2 and 3 takes place.

At least one seal is provided at the outlet of the thinnest possible pivot shaft 4 out of the housing 30. Here, the seal 11 is provided between the pivot shaft and the corresponding passage opening in the lid 3a.

Without a separate seal at the axial ends of the

Damping gap 6, the basic friction is very low. The volume of the magnetorheological medium is determined by the volume of the damping gap 6 and the approximately disc-shaped volumes at the two axial end faces between the inner component 12 and the outer component 13 and is low overall.

The volume of the damping gap 6 is very small, since the radial height of the damping gap is preferably less than 2% of a diameter 27 of the here cylindrical damping gap. The radial height of the damping gap is in particular less than 1 mm and preferably less than 0.6 mm and particularly preferably less than 0.3 mm. With a length 16 of for example up to 40 or 50 mm and a diameter 27 of up to 30 mm and a gap height in the range of 0.3 mm, this results in a gap volume of <2 ml, whereby the production costs can be kept very low , The volume of and of the magnetorheological medium is in particular less than 3 ml and preferably less than 2 ml.

Between the pivot shaft 4 and the element to be damped, a transmission according to the prior art, preferably a backlash-free as possible planetary gear, micro-transmission or

Corrugated transmission (eg Harmony Drive) can be arranged. Instead of direct connection or a connection via a

Coupling linkage can also be a disc mounted on the input shaft. The disc or the disc outer diameter can have at least one rope, belt with the to be damped

Element (positive or effective) to be connected. The

Connecting element can also be deflections, translations (eg pulley principle ...) with the element to be damped

be actively connected. This is the structure with respect to

Attachment very flexible. But it can also be an eccentric or cam disc can be used, whereby the forces / moments are dependent on angular position. It is also possible to use a circulating rope with a fixing point, whereby a positive control becomes possible, ie. h., tensile and compressive forces can be transmitted. The transmission element (eg the cable) can be positively or non-positively connected to the disk.

Figure 3 shows a schematic perspective view of a portion of the rotary damper 1, wherein the component 2 without the

Swivel shaft 4 is shown. During assembly, the

Pictured part of the component 2 rotatably coupled to the pivot shaft 4.

The component 2 has a plurality of radially outwardly projecting arms 21, 22, 23, etc. Here are eight arms provided. But possible and preferred are also 6 or 10 or 12 or more arms.

To the respective arms, a coil 8 is wound with at least one and here a plurality of turns. In this case, the winding and the connection of the electric coils are made such that different poles of the magnetic field result at adjacent locations of adjacent arms when the coils 8 are supplied with current.

FIG. 4 shows a cross section through the rotary damper 1, the component 2 having the inner component 12 which is surrounded by the outer component 13 of the component 3. Between the two components 2 and 3 extends here in the

Substantially cylindrical damping gap 6, in which a magnetorheological medium 5 is present. In particular, the damping gap 6 is completely filled with the magnetorheological medium 5. At least one reservoir 15 may be provided, in which a supply of the magnetorheological medium is stored in order to be able to compensate for the loss of a certain amount of the medium over the life of the rotary damper 1. Such a reservoir 15 may be provided, for example, in the recess between two arms 22, 23. The reservoir can also be outside the component 3.

During production, the coils 8 are first wound around the individual arms. Subsequently, the remaining

Cavities between the individual arms are partially or completely filled with a medium, so there is no

magnetorheological fluid must be filled. For example, casting resin or the like can be filled there to fill the cavities. Cast resin or the like

less expensive than the magnetorheological fluid. The filling of the cavities is functionally not necessary. But it is also possible that a thin protective layer in the form of a cover 34 is coated, for example, to locally limit the attenuation gaps 6, while the recesses between the arms remain hollow.

Preferably, the damping gap is cylindrical. But it is also possible that separating elements 29 in the

Coupling gap are arranged, which divide the per se cylindrical coupling gap into a plurality of partial gaps. In this case, the separating elements 29 are preferably connected either to the component 2 or the component 3.

The coupling gap 6 can itself the chamber 28 for the

form magnetorheological medium or the coupling gap 6 forms together with the reservoir 15 at least the essential part of the chamber 28th

Figure 5 shows a highly schematic view of a

Field line course over the cross section of the rotary damper 1 of Figure 6. In this case, the field lines 36 occur approximately radially through the Damping gap 6 through, each extending over an angular section through the component 3, before they

adjacent arm again approximately vertically through the damping gap 6 therethrough (in the adjacent arm) enter.

Illustratively, Figure 5 shows that practically over the entire circumference of the rotary damper, a high field line density is present, so that an effective damping of a pivoting movement is made possible.

Figure 6 shows a further embodiment of a rotary damper 1 for a training device 300, in which the functionality is basically the same as in the previous rotary damper 1. Im

In contrast to the previous embodiments, in the rotary damper 1 according to FIG. 6, the pivot shaft 4 exits both at the first end 31 and at a second end 32 to the outside. Therefore, the pivot shaft 4 is supported at both ends and sealed by seals 11 to the outside. Again, magnetic seals IIa can seal the damping gap 6 in the axial directions back.

The pivot shaft 6 can at this as well as the other

Executions are executed standing, d. H. that is, as an axis, in which case the housing 3 then pivots damping and is operatively connected to the element to be damped.

Figure 7 shows a rotary damper 1 of a fitness device 300 z. B. from Figure 11, 13 or Figure 14.

FIG. 7 shows a partial section of the rotary damper 1, wherein an outer toothing 411 of the first displacer component 404 and also the inner toothing 413 of the second component or

Displacer component 405 can be seen. Inside a magnetorheological medium or fluid is provided or the interior is substantially with a magnetorheological fluid

filled, which with the electric coil 8 a

Magnetic field 408 can be exposed.

Here it can be seen that the housing 412 of the rotary damper 1 three Includes portions, namely, a first end portion 422, a middle portion 423, and a second end portion 424. Here, each portion is formed by a separate part. It is also possible that even more parts are provided, or that only a total of two housing halves are provided.

The housing forms a component 2 or 3 and the damper shaft 403 forms the other component 3 or 2. A rotational movement of the component 2 and 3 to each other is controlled damped to set in the exercise device 300, the necessary at the appropriate time damping force.

In the housing 412 of the rotary damper 1, in each case one electrical coil 8 is accommodated in a coil holder 438 in the left-hand end region 422 and in the second right end region 424, which is in this case.

Axially adjacent to each electric coil 8, a ring 420 is provided, wherein the rings 420 are arranged between the two coils 8 and here in each case adjoin the central region 423 from the outside. The rings 420 are disposed axially adjacent to the electric coils 8 to prevent a magnetic short circuit there.

At the damper shaft 403, an angle sensor 432 is provided, which may be embodied for example as an absolute rotary encoder. The damper shaft 403 is sealed by a seal 428 to the interior 416. Circumferential seals 442 are arranged between the housing parts of the different regions in order to prevent the escape of magnetorheological fluid from the interior of the displacer device 402 to the outside.

The second displacer component 405 having a generally cylindrical outer shape has a plurality of outer peripheries

Guide units 421, which extend here in the embodiment over the full axial length, in others

But versions can also be shorter, for example. The guide units 421 are radially outwardly beyond the second displacer 405 and the core material of the second displacer component 405 outwardly and provide a defined radial distance between the outer surface of the core material of the second displacer component 405 and the inner periphery of the housing 412 at the central region 423.

Figure 8 shows an exploded view of the rotary damper 1 in section, wherein the left housing part with the first

End portion 422 and also the first displacer component 404 and the second displacer component 405 are each shown a piece axially offset arranged to allow a better understanding of the technical function.

The damper shaft 403 is here integral with the first

Displacer component 404 is formed, which has on its outer circumference an external toothing 411 which meshes with an internal toothing 413 in the interior of the second displacer 405. The second displacer component 405 is surrounded radially by a

Damping channel 417 through which the here in the interior of the second displacer component 405 conveyed through magnetorheological fluid can flow back to the axially other side.

On the outside of the control device 407 is shown here, via an energy storage 437 or accumulator or

The same can be supplied with the necessary power, even if an electrical power supply fails.

An equalization volume 429 is always available to provide volume balance at different temperatures.

The damper shaft 403 is supported by a bearing 444. The

The rotation axis 414 of the first displacer component 404 coincides with the rotation axis of the damper shaft 403. The rotation axis 415 of the second displacer component 405 is offset parallel thereto.

A fitness device 300 with a rotary damper 1 according to FIGS. 7 and 8 or with a plurality of rotary dampers (identical or different) offers outstanding properties and can generate or decelerate high torques. It can at any time in real time Adjustment and any change in the damping strength done. The attenuation can be set as a function of at least one training parameter.

The rotary damper 1 according to FIGS. 7 and 8 has a

Displacer 402 on. The displacement device 402 has a damper shaft 403 and intermeshing and in particular rotating displacement components 404 and 405. In this case, a rotational movement of the damper shaft 403 controlled and damped controlled. The displacer 402 includes a magnetorheological fluid as the working fluid. At least one control device 407 is assigned. Furthermore, at least one magnetic field source is provided or comprises, which has at least one electrical coil 8. The magnetic field source can be controlled via the control device 407 and the magnetorheological fluid can be influenced via the magnetic field in order to set a damping of the rotational movement of the damper shaft 403.

Such a rotary damper 1 in a fitness device 300 is very advantageous. One advantage is that the

Displacer 402 is equipped with a magnetorheological fluid as a working fluid. This can be done by the

Control device 407 controls the magnetic field of

Magnetic field source in real time, d. H. be set in a few milliseconds (less than 10 or 20 ms) and thus in real time and the applied braking torque is set to the damper shaft 403 when the fitness device 300 a corresponding

Braking moment should give up. The structure of the rotary damper 1 is simple and compact and requires few components, so that the rotary damper 1 can be produced inexpensively and integrated into the fitness device.

The displacement device 402 is designed in particular as a type of compressor device or pump. The

Displacer 402 has intermeshing and operationally rotating displacer components 404 and 405. Inside the displacement device 402, a displacement chamber is provided, which can also be referred to as a compressor chamber. Inside or in the interior of the displacer is a contain magnetorheological fluid as a working fluid.

As a sensor, a liquid pressure sensor can be used, which detects the pumping pressure. This can be deduced the introduced torque and / or force and this as

Parameter in the controller or the training algorithm find use.

FIGS. 9 and 10 show highly schematic embodiments of a control system of the damper device 10 of a fitness device 300 (or several fitness devices 300).

In the context of the present invention, the term control also means a regulation, so that the

Control system preferably also suitable and designed for control.

As an example, only three interconnected rotary damper 1 are shown here as actuators. However, it is also possible to provide four or five or even 10 or a multiplicity of actuated actuators. It is also possible that only one actuator or two actuators are provided.

The dampers 1 are here with a computing unit 201

operatively connected. The arithmetic unit 201 receives for each damper 1 at least one actuator signal 204, which describes at least one characteristic of at least one state of the damper 1 size. For example, an actuator signal comprises a characteristic quantity which is detected by the rotary encoder 17. The actuator signal may also include a characteristic quantity detected by at least one torque sensor and / or at least one current sensor. Other suitable sensor types are also possible. Particularly preferably, the arithmetic unit 201 takes into account a plurality of actuator signals 204 originating from different sensors.

Preferably, the arithmetic unit 201 also takes into account at least one system information 203 which describes at least one system variable. The system information 203 includes, for example Acceleration values of the drum 101 and / or the drum housing 109 and / or other system sizes.

Based on the provided actuator signals 204 determines the

Arithmetic unit 201 for the damper 1 each at least one parameter for an optimal resistance moment. The parameters for the determined resistance torques of the damper 1 actuator are each provided to a current / torque control 202 associated with a damper 1.

The current / torque control 202 outputs at least one control voltage 205 for each damper 1 as a function of the resistance torques provided. Are possible too

Control signals with other and / or additional suitable for controlling the damper 1 sizes as the voltage. Based on

Control voltage 205, the respective damper 1 is set.

The control shown in FIG. 9 is as one

Central controller 200 configured. It includes the

Central controller 200, the arithmetic unit 201 and the associated damper 1 current / torque control 202nd

In an embodiment not shown here can the

respective damper 1 associated power / torque control 202 may also be designed decentralized. The arithmetic unit 201 remains central. For this purpose, the current / torque control 202 is arranged in particular separately and spatially separated from the arithmetic unit 201.

In the figure 10, a control is shown as a

decentralized control 206 is configured. Here are the

Dampers 1 each assigned at least one own computing unit 201 and at least one own current / torque control 202. It is possible that the damper 1 assigned

Computing unit 201 and the power / torque control 202 is autonomously acting. But it is also possible

Embodiment in which the decentralized control 206 also takes into account system information 203. FIG. 11 shows a training device 300 or fitness device with a device according to the invention

Damper device 10. In this case, the training device 300 is designed as an ergometer or exercise bike. It includes a

muscle-powered actuator 301, which is designed here as a pedal crank with a pedal and a bottom bracket. In this case, the movement of the actuating element 301 by the rotary damper 1 is damped.

The damping properties of the rotary damper 1 can be adjusted several times during one revolution. In particular, the torque required to rotate the actuator 301 is adjusted. To set the damper 1, a control device 302 is provided here.

FIG. 11 shows a training device 300 with a

muscle-powered actuator 301, which is designed here as a pedal crank with a pedal and a bottom bracket. In this case, the movement of the actuating element 301 by the rotary damper 1 is damped. To set the

Damper 1 here is a control device 302 is provided.

The damping properties of the rotary damper 1 can be adjusted several times during one revolution. In particular, the torque required to rotate the actuator 301 is adjusted. As a training parameter thus the torque is provided. The torque can also be adjusted depending on the angle of rotation. The angular position or the angle of rotation is indicated here by two dashed lines and a double arrow. The direction of rotation is marked by an arrow.

The control device 302 controls the field-generating device here in such a way that a certain damping force must be applied for the movement of the mutually movable components 2, 3. In this case, the control device 302 takes into account the predetermined training parameter (s). Is for example a given predetermined torque, the controller 302, the damping force so that the training person the

Pedal drive can only rotate with the specified torque.

As a training parameter, an angular speed or cadence can be specified, which must reach the training person. The damping force can be set to a basic value or a value determined by the trainer. The training person must then reach the specified cadence with this torque.

If the cadence frequency defined as the training parameter is reached over a defined period of time or exceeded by a defined value, the control unit 302 can execute the

Increase damping force by a defined value. For this purpose, the control device 302 monitors the cadence as a parameter and by means of a sensor device not visible here

This also takes into account when setting the damping force.

The achievement or exceeding of the required

Cadence indicates that a certain training condition has been reached. Thus, the controller can now

independently make an adjustment of the damping force, so that the training person must achieve the required cadence at a higher torque. By such an adaptive or intelligent adaptation can be particularly good

Training results are achieved.

Likewise, the required torque or the damping force can be reduced when the training person as

Training parameter set cadence even after a

certain period not reached.

The training device shown here 300 also offers a

Adjusting the damping force during a single actuation of the actuator 301. A single operation in this case means a single revolution of the pedal drive.

For example, the damping force can be reduced when the pedal drive is in a dead center position. Possible is also that the damping force is increased when the pedal position in an optimal for the training person

Lever position or outside the dead center is.

The damping force or moment can also be varied during a single actuation of the actuation element 301, resulting in a low body load

(Joint load, muscle strain) results. The damping force or moment can also be varied during a single actuation of the actuation element 301 in such a way that the best possible training result / success results therefrom

(Increased stamina, muscle gain, good fat burning) results. The damping force or the damping torque can also during a single actuation of the actuating element 301

be varied so as to give a user-selected combination of body strain and training result / success. All this can also be further optimized in that a distinction is made and made between a left and a right half of the body (e.g., left or right leg) during a single operation.

This is achieved here in that the control device 302 carries out the adjustment of the damping force and thus of the torque as a function of the angular position of the actuating element 301 or of the pedal drive. For this, the angular position of

Actuator 301 preferably continuously sensed during pedaling as a characteristic.

FIG. 12 shows an embodiment of the exercise device 300 as a rowing machine. The actuator 101 is here formed as the seat 305 and the rudder 306, respectively. In this case, the seat 305 is slidably mounted on a frame 304. The rudder 306 is also attached to the frame 304. In an alternative embodiment, the rudder 306 may also be movably received on the frame 304.

The movement of the seat 305 is here attenuated via a damper device 10 with a linear damper. Also, the movement of the rudder 306 may be damped via a damper device 10. As a training parameter here, for example, the force required to pull the seat 305 to the rudder 306 can be adjusted. The controller 302 then adjusts the damper force accordingly. In this case, a different damping force than for the backward movement may be provided for the forward movement. So the rudder movement can be simulated particularly well.

In addition, the path can also be predetermined as a training parameter that the seat 305 can travel in a rowing train. In doing so, the controller 302 may sensually detect the position of the seat 305 with respect to the frame 304 and adjust the damping force as a function of the seating position. Thus, the mobility of the seat 305 completely by a correspondingly high

Damping force can be blocked when the seat is one as

Training parameter predetermined length was preferred in the direction of the rudder 306. This can be a wrong attitude when

Rowing training can be avoided. In addition, the rudder movement can be optimally adapted to the height or leg length of the training person.

The training device 300 offers the possibility here, the

Damping force during a single actuation of the

Actuator 301 adaptively to vary, taking into account a characteristic. The single operation of the

Actuator 301 is here a single rowing train. In this case, the speed of movement of the seat 305 along the frame 304 is sensory detected as a characteristic. If the speed of the seat 305 reaches a threshold or exceeds the threshold value in a single rudder, the damping force for the movement of the seat 305 by one

increased certain value. Likewise, the damping force can be reduced by a certain value when the seat 305 a

Threshold for a movement speed once or repeatedly not reached.

FIG. 13 shows an embodiment of the training device 300 as a cable pull device for training the arms and / or the trunk. The training person pulls with his hands on each of a cable 307 as actuator 301. Die Cables 307 are here added to a pulley 308. It can also be a continuous cable 307 be provided for both arms, which on only one pulley 308th

is connected. The provision of the cables 307 takes place here via a scroll spring.

The rotational movement of the pulley 308 when pulling on the cable 307 is attenuated here by a rotary damper 1. In a

Alternative embodiment, the movement of the cable 307 can also take place via a damper device 10 with a linear damper.

The damping for pulling and holding and leaving the cable 307 is separately adjustable here. This significantly improves the training effect. For example, the cable 307 can be deliberately left behind slowly by the damping. A spring back through the spring and high holding forces can be such. B. be avoided during rehabilitation exercises. At the same time, however, higher tensile forces in a withdrawal of the

Cable pull 307 possible.

FIG. 14 shows a leg extension device

Exerciser 300. The exerciser is seated on a seat 305 during exercise and lifts a leg lever 309 by stretching the legs or knees. The leg lever 309 serves as an actuator 301 and is pivotally mounted on the seat 305. The pivoting movement is by a

Damper device 10 can be damped. As damper device 10 is used here, for example, with reference to Figure 7, 8 rotary damper 1 or with the damper unit 80 according to FIG 16.

As training parameters, the pivoting angle and the force required to pivot the leg lever 309 are predetermined here. As a further training parameter here is the actuation force of the leg lever 309 provided as a function of the angle.

At the beginning of the movement, ie when the knee is still bent, one adapted to the needs of the training person

Damping force set by the controller 302. Around To avoid unfavorable loading of the knee, the force required to move the leg lever 109 is reduced as the knee is stretched. This includes the

Control device 302 continuously the angular position of the

Leg lever 309 and fits depending on the angle of the

Damping force. The angular position or the angle is indicated here by two dashed lines and a double arrow.

In addition, the angle range in which the leg lever 309 can be pivoted can also be set here as a training parameter. This is especially true in the rehabilitation of

Knee injuries important because then too far stretching of the knee should be avoided. For example, the trainer can specify as a training parameter at which angular position of the leg lever 309 the damper force is increased to a level which blocks the mobility of the leg lever 309. For this purpose, the control device 302 monitors the angular position of the

Leg lever 309.

The exerciser 300 may also adaptively vary the damping characteristic during a single actuation of the leg lever 309, taking into account the characteristic. For this purpose, the control device 302 detects the angular velocity or the speed of movement of the leg lever 309 as a parameter. This avoids that the training person stretches the knee too fast and thus does not achieve the necessary muscle training.

For example, if the control device 302 recognizes too fast a movement of the leg lever 309, it automatically increases the height

Damping force and thus slows down the unfavorable movement. It is particularly advantageous that this adaptive adaptation during a single operation or a single

Knee extension can be done. Otherwise already can

one-time passing cause pain. Especially

Another advantage of the adaptive adaptation is that it is performed by the control device 302 itself and the trainer or therapist thus does not have to constantly monitor the training person. If the trainee executes the next movement again at a correct speed, the control device 302 does not make any adjustment or sets the training parameter

unchanged.

The control device 302 can be used to pivot the

Leg lever 309 also permanently increase or decrease necessary force. This can be done if repeated too fast

Movements of the leg lever 309 are detected by sensors. In this way, a training parameter can be adjusted without the trainer having to follow the entire training unit or analyzing the recorded parameters.

With reference to Figures 15 to 17 will be another

Training device 300 and the damper unit 80 inserted therein explained. The damper unit 80 can be used as a rotary damper. 1

be executed, but also realized as a linear damper. FIG. 15 shows a perspective view of the exercise device 300 designed as a hand gripper device.

The exercise device 300 includes two actuators 301, each with an actuator with a component of

Damper unit 80 is connected. The actuators 301 are pivotally connected together. At the pivot joint here a rotary damper 1 is arranged as a damper unit 80.

The moment or the manual force can be varied steplessly by means of the rotary damper 1. The hand force can also over the

Angle can be varied. There are also tactile grid or ripple, etc. possible. The controller can be located internally or externally. An activation can also be done via Bluetooth and Smartdevice (smartphone, smartwatch ...) or computer. Also via the Internet or a (company-internal) LAN can be controlled. To control a program on the computer can serve (also as an app). The manual force is set between components 2 and 3.

Figure 16 shows a schematic cross section of a rotary damper 1 of the exercise device 300, wherein the rotary damper on magnetorheological basis works whose principle is explained with reference to Figure 17.

Figure 16 shows a cross section, in which case the component 2 is connected to the base body, against which the component 3 is rotatably received. The main body has a

Receiving housing 561 which is attached to a separate base plate 560. For example, the receiving housing 561 can be glued to the base plate 560 after assembly of the parts arranged therein. Relative to the main body, the component 3 is rotatably or pivotally received. The

Component 3 here comprises a shaft 562 to which a holder 582 is screwed by means of a screw 581. An internal display unit, which is surrounded by the component 3, can also be accommodated on the holder 582. This allows the components

be turned against each other and the display unit remains visible. However, it is preferable to provide a display on an external device and to transfer the necessary data there via a

wired or wireless interface.

The shaft 562 is rotatable about a bearing 530 on the

Housing 561 stored. The bearing 530 may for example be designed as a sliding bearing, but may also comprise a different rolling bearing.

In the interior is in the component 2 and more precisely in the

Receiving housing 561 an annular receiving space 569 is provided, which is filled by an electric coil 8 as a field-generating device 7 here. Any clearances can be filled by, for example, a potting compound or a filler, which also serves to hold the electric coil 8 in the annular receiving space.

It is possible, as on the left side of FIG. 16

plotted that an additional permanent magnet 525 or more additional permanent magnets 525 on the receiving housing 561

are intended to be independent of a power source

to generate a permanent magnetic field. Optionally, the magnetization of the permanent magnet 525 via corresponding magnetic pulses of the electric coil 8 are changed.

In the interior 563 between the receiving housing 561 and the shaft 562, a channel 505 is provided, which is partially filled with here cylindrical rotary bodies 511, which are arranged in particular symmetrically over the circumference of the channel 505. The rotating bodies rotate during the rotation of the two components 2, 3 against each other, since the rotating body 511 regularly with the receiving housing 561 and / or the shaft 562 are in contact and so roll on it.

To support the rolling and to ensure a rolling contact, at least one contact element 559 in the form of a contact ring 559 (friction ring) may be provided. Such a contact ring can be designed in particular as an O-ring (round or square or rectangular ring) and, for example, consist of a rubber-like material.

Such a contact ring 559 may be arranged, for example, in a circumferential groove 567 on the running surface 565 of the receiving housing 561. It is also possible that a further contact ring 559b is arranged in a groove 566 on the running surface 564 on an enlarged circumferential ring 568 of the shaft 562.

It is possible and preferred that a contact ring 559 is arranged in the groove 567 and that a contact ring 559 b in the inner circumferential groove 566 on the running surface 564 of the circulating ring 568

is arranged.

Alternatively, it is also possible that the individual

Rotary body 511 are each provided with a contact ring 559 c, wherein a contact ring 559 c then extends around a rotary body 511. Even with such an embodiment is

ensures that the rotary bodies 511 and their contact ring 559 respectively have contact with the shaft 562 and the receiving housing 561, respectively, so that the rotary body is provided with a continuous rotation when the component 3 (or 2) is rotated.

Here in the embodiment is via a stop ring 583 a defined axial distance between the receiving housing 561 and an axial surface of the circulating ring 568 guaranteed. The interior 563 is sealed by a seal 546, so that the magnetorheological medium can not escape from the interior 563.

Between the lid or the holder to 582 and the

Receiving housing 561, a circumferential gap is provided on which a serving as an angle sensor sensor 556 is arranged.

Preferably, the angle sensor 556 consists of at least two parts 557 and 558, wherein the sensor part 557, for example, at certain angular positions magnets or other position marks or the like, so over the z. B. on the

Electronics mounted sensor part 558 on the receiving housing 561 a rotational movement of the component 3 is detected. It can be both an absolute angular position and a relative

Angle change can be detected. With the angle sensor 556 or with a separate actuation sensor 554, an axial movement or axial force can be detected on the component 3 as a whole. For example, by applying an axial force, a small change in distance between the holder 582 and the receiving housing 561 may be achieved by the actuating sensor 554

is detectable. It is also possible that certain parts or the outer rotary ring of the component 3 against a spring force are axially displaceable, so that an axial actuation is detected. The controller preferably operates at a control clock of 4kHz or more.

It is possible that a cable feed 591 and a central channel are provided and to provide the required electrical power. But it is preferred that one

Energy storage 528 is provided in particular internally. The energy storage 528 (battery or rechargeable battery) can also be provided externally.

An axial distance 223 is provided between the end face 570 on the shaft 562 and the end face 571 on the receiving housing 561. This axial distance is considerably less than the radial distance 574 between the circulating ring 568 and the Tread 565 in the receiving housing 561. A small distance is advantageous because the magnetic field 508 and the magnetic field lines in the axial direction passes through the gap 572. With a thin gap, relatively low magnetic losses are possible.

With reference to FIG. 17, the functional principle for generating moments of the rotary damper according to FIG. 16 will be described below

described.

Figure 17 shows a highly schematic cross-sectional view of a damper unit 80, which may be designed as a rotary damper 1 or as a linear damper. The damper unit 80 serves for

Influencing the power transmission between the two components 2 and 3. Here, between the two components 2 and 3 in Fig. 17 in any case a rotary body 511 is provided as a separate part. The components 2 and 3 can rotate relative to each other (see Fig. 16) or be linearly displaceable. In the

In any case, relative rotation of the rotary body 511 rotates. The rotary body 511 is formed here as a ball 514. But it is also possible, rotary body 511 as a cylinder (Fig. 16) or

Ellipsoids, rollers or other rotatable rotary bodies

train. Also in the actual sense not rotationally symmetric rotary body such as a gear or rotary body 511 with a specific surface structure can be used as a rotating body. The rotary body 511 are not used for storage against each other, but for

Transmission of torque.

Between the components 2 and 3 of the rotary damper 1, a channel 505 is provided, which here with a magnetorheological fluid 5, which for example comprises a carrier liquid as an oil, in the ferromagnetic particles 519 are present. Glycol, fat, viscous substances can also be used as a carrier medium, without being limited thereto. The carrier medium can also be gaseous or it can be dispensed with the carrier medium (vacuum). In this case, only by the

Magnetic field influencing particles filled in the channel.

The ferromagnetic particles 519 are preferably carbonyl Iron powder, wherein the size distribution of the particles depends on the specific application. Concretely preferred is a

Distribution Particle size between one and ten microns, but also larger particles of twenty, thirty, forty and fifty microns are possible. Depending on the application, the particle size can be significantly larger and even in the

Penetrate millimeter area (particle balls). The particles may also have a special coating / coating (titanium coating, ceramic, carbon mantle, etc.), so that they better withstand the high pressure loads occurring depending on the application. The MR particles can for this application not only from carbonyl iron powder (pure iron), but z. B. also be made of special iron (harder steel).

The rotary body 511 is offset by the relative movement 517 of the two components 2 and 3 in rotation about its axis of rotation 512 and runs virtually on the surface of the component 3 from.

At the same time, the rotary body 511 runs on the surface of the other component 2, so that there is a relative speed 518.

Strictly speaking, the rotary body 511 has no direct contact with the surface of the component 2 and / or 3 and therefore does not roll directly therefrom. The free distance 509 from the rotary body 511 to one of the surfaces of the component 2 or 3 is z. B. 140 μιη. In a specific embodiment with particle sizes between 1 μιη and 10 μιη the free distance is in particular between 75 μιη and 300 μιη and more preferably between 100 μιη and 200 μιη.

The free distance 509 is in particular at least ten times the diameter of a typical middle one

Particle diameter. Preferably, the free distance 509 is at least ten times a largest typical particle. Due to the lack of direct contact results in a very low (s) basic friction / force / moment when moving the relative

Components 2 and 3 to each other.

If the rotary damper 1 is acted upon by a magnetic field, form the field lines depending on the distance between the rotating bodies 511 and the components 2, 3 from. The rotary body consists of a ferromagnetic material and z. The steel type ST 37 has a magnetic permeability of about 2,000. The field lines pass through the rotating body and concentrate in the rotating body. At the here radial inlet and outlet surface of the field lines on the rotary body there is a high flux density in the channel 505. The inhomogeneous and strong field leads to a local and strong networking of the magnetically polarizable particles 519. By the rotational movement of the rotary body 511 in the direction the forming wedge in the magnetorheological fluid, the effect is greatly increased and the possible braking or clutch torque is extremely increased far beyond the amount that is normally generated in the magneto ^¬ rheological fluid. Preferably exist

Rotary body 511 and component 2, 3 at least partially made of ferromagnetic material, which is why the magnetic flux density is higher, the smaller the distance between the rotating body 511 and component 2, 3. As a result, a substantially wedge-shaped region 516 forms in the medium, in which the gradient of the magnetic field strongly increases at the acute angle at the contact point / the region of the smallest distance.

Despite the distance between the rotary body 511 and component 2, 3 can be offset from each other by the relative speed of the surfaces of the rotary body 511 in a rotary motion. The

Rotary movement is possible without and also with an acting magnetic field 508.

When the magnetorheological transmission device 1 a magnetic field 508 of a not shown here in Figure 17

Magnetic field generating device 7 is exposed, the individual particles 519 of the magnetorheological fluid 5 chain along the field lines of the magnetic field 508. It should be noted that the drawn in Figure 1 vectors for the

Only a rough schematic representation of the influence of the MRF relevant field of field lines. The field lines enter the channel 505 substantially normal to the surfaces of the ferromagnetic components and must, above all, be in the acute-angled region 510 not straightforward.

At the same time on the circumference of the rotary body 511 something

Material of the magnetorheological fluid with set in rotation, so that forms an acute-angled portion 510 between the component 3 and the rotary body 511. On the other hand, a similar acute-angled region 510 is formed between the rotary body 511 and the component 2. The acute-angled regions 510 may be cylindrical, for example

designed rotary bodies 511 have a wedge shape 516. Due to the wedge shape 516, the further rotation of the

Rotary body 511 obstructed, so that the effect of the magnetic field is amplified on the magnetorheological fluid, as resulting by the acting magnetic field within the acute-angled region 510, a stronger cohesion of the local medium.

As a result, the effect of the magnetorheological fluid in the accumulated heap is increased (the chain formation in the fluid and thus the cohesion or the viscosity), which makes the further rotation or movement of the rotary body 511 more difficult.

By the wedge shape 516 much larger forces or moments can be transmitted, as would be possible with a comparable structure, which only uses the shearing motion without wedge effect.

The transferable directly by the applied magnetic field forces represent only a small part of the transferable through the device forces

Wedge formation and thus control the mechanical power amplification. The mechanical reinforcement of the magnetorheological effect can go so far that a force transmission is possible even after switching off an applied magnetic field, when the particles were wedged.

It has been found that the wedge effect of the acute-angled regions 510 results in a significantly greater effect of a magnetic field 508 of a certain thickness. The effect can be increased many times over. In one

concrete case was an about ten times as strong influence on the relative velocity of two components 2 and 3 to each other as observed in prior art MRF couplings. The possible gain depends on different factors. If necessary, it can be reinforced by a larger surface roughness of the rotary body 511. It is also possible that on the outer surface of the rotary body 511 outwardly projecting projections are provided, which can lead to an even stronger wedge formation. The wedge effect or the wedge effect is distributed over the surface of the rotary body 511 and the components 2 or 3.

Figure 18 shows a linear damper 60, which with a

Valve device 69 is equipped, the two here

Damping channels 70 includes. The linear damper 60 as

Damping device 10 here has a first component 2 and a second component 3, which can be connected to two different housing parts, housings or bodies in order to damp a relative movement in a fitness device. For such a linear damping is z. B. the fitness device of Figure 12.

The linear damper 60 has a damper housing 63 in which a piston 65 is arranged. The piston 65 is connected to a piston rod 64 which is fixedly connected to the second component 3 here.

The piston 65 divides the interior of the damper housing 63 into a first damper chamber 66 and a second damper chamber 67, which are at least partially filled with a magnetorheological medium and in particular a magnetorheological fluid 5.

The piston 65 also serves as a valve device or comprises at least one such. For this purpose, at least one flow channel or damping channel 70 is provided in the piston 65. The flow of the magnetorheological fluid 5 is damped as it passes through the flow channel 70 of the piston 65. The flow direction is either from the first damper chamber 66 to the second

Damper chamber 67 or directed vice versa. Via a cable 68, the power supply can take place. FIG. 19 shows the course of force (on the foot) or the course of moment (on the device or in the knee joint) of a training device via the angular position, eg the leg press according to FIG. 14. The force is on the Y-axis and the angle on the X - Axis applied. Regarding the joint and muscle load (body stress, long-term consequences ...), it may be unfavorable, for example, in this fitness device, when at an angle of 90 ° between the upper and lower leg high forces applied to the leg or foot. At an angle of 50 to 80 °, the forces may be higher, but should then be greatly reduced between 80 ° and 110 °, and then again to be very close to 180 degrees (leg extended). Immediately before the complete extension (180 °), it is again advantageous if the forces are lower.

Fig. 19a shows a force curve with smaller

Force differences as z. The force is plotted on the y-axis and the angle on the x-axis. The moment or force curve can also be adapted to the daily constitution and / or the training time. This means that e.g. at the beginning of training lower powers / moments on

Training device abut, which increase in the course of training, because the muscles / the user is warmed up, and against

Reduce the end of the training, almost in the form of a

Not only can the curve be scaled, but the course can also be changed so that the best possible training result is achieved with low body strain.

FIG. 20 shows another course of force over the

Moving angle. The force is plotted on the Y-axis and the angle on the X-axis. This is the weight lifting or

Dumbbell training is beneficial because the elbow should not be stretched under load. This is achieved with the lower force at the beginning of the movement (characteristic curve). The low force at the end of the movement results in a gentle end of the exercise, thereby joint pain and possible muscle damage are prevented. FIG. 21 shows an embodiment with a

Nahfeldkennungssystem 310. In one possible variant, a customer z. B. to the gym and goes to a body scanner and / or analyzer. Here the "leverage ratios" are determined and stored (eg upper arm, forearm, thighs, height ...) The customer receives a device (eg NFC wristband, chip, Smartdevice like smartphone or watch or the like) which, when using the device, transmits this data to the device

Fitness device 300 transmitted. Thus, this is always optimally adjusted with respect to the training (eg force over path, torque over angle or the like) or tells the user how to adjust it (eg mechanically adjust seat or

the like) or the device adjusts itself (eg by means of electric motors or the like).

FIG. 22 shows an exemplary course of force in the device 300 or ergotrainer according to FIG. 11. The force is plotted on the Y-axis and the angle on the X-axis. The

dashed line marks the separation between the

Body halves. For example, the damper setting for the right leg and left for the left leg is made to the right of the line. The damper settings are the same for both body halves here.

The curve starts here at 50 °, the power increases and then runs gently. In the lower pedal position (180 °), the force is also reduced in order to transfer in the "almost" stretched leg not too high load or not to stress the joints too much. After the low point (180 °) begins the kick of the other leg. Depending on the seating position (size, kinematics of the user ...), the angles change, with the adaptive damper taking this relationship into account.

FIG. 23 shows another exemplary course of force. The dashed lines mark the separations between the body halves. The damper settings are different here for both body halves. In this example, the left half of the body or the left leg is weakened, z. B. by an accident or illness. The force curve is over here Movement cycle (360 °) of an ergotrainers in the form of a bicycle shown. Here, the force curve (braking characteristic) is reduced by the left leg (left half of the body), so this

Body half is loaded less. Thus, e.g. after an accident the rehabilitation process can be optimized. Of the

Building muscle can be more targeted. It is also conceivable, however, the reverse approach. An athlete wants that now

build stronger weaker body part, but still not overburden the other part of the body, which he can make targeted by individually adjusting the braking force and torque damping.

Depending on the training device and training state of the user, the energy input is larger or smaller. A necessary cooling to dissipate the energy is primarily about the

Outer housing possible. In the rotary damper according to the invention, the MRF flows via conduits and / or flow channels (e.g.

FIGS. 7 and 8). Thus, a particularly good one here

be installed intermediate separate radiator, so that the damper or the brake is not too hot. Also possible is an active cooling by means of additional pumping circuit, heat pipes (a heat pipe which allows using the heat of vaporization of a medium, a high heat flux density), or by means

Air flow (eg electrical or mechanical cooling fan). This is advantageous for MRF actuators without flow line.

List of reference numbers:

1 rotary damper 35 cavity, filling material

2 component 36 field line

3 component 37 bearings

3a cover 38 spacer sleeve

4 pivot shaft 60 linear damper

4a driver 63 housing

5 magnetorheological 64 piston rod

Medium 65 pistons

6 damping gap 66 first damper chamber

7 magnetic field ^¬ 67 second damper chamber

Generating device 68 Cable

8 electric coil 69 damping valve

9 axis 70 damping channel

10 Damping device 80 Damping unit

11 Sealing device 200 Central control

12 internal component 201 arithmetic unit

13 Exterior component 202 Current / torque control

14 connection line 203 system information

15 Reservoir 204 actuator signal

16 axial length 205 actuating voltage

17 encoders 206 decentralized control

18 winding 300 raining device

19 end of 21, 22 301 actuator

20 spring device 302 control device

21 arm 303 gear mechanism

22 arm 304 frame

23 arm 305 seat

24 pole 310 seam detection system

25 pole 402 displacement device

26 radial height of 6 403 damper shaft

27 diameter of 6 404 displacer component

28 chamber 405 displacer component

29 separating element 407 control device

30 housing 408 field line

31 end of 4 411 external teeth of 404

32 end of 4 412 housings of 402

33 Permanent magnet 413 Internal toothing of 405

34 cover 414 axis of rotation of 404 415 axis of rotation of 405 562 shaft

417 Damping channel 564 Tread of 562

420 ring in 412 565 tread of 561

421 guide unit 566 groove

422 first end 567 groove

423 middle section 568 Circulating ring with 564 and

424 second end 569 receiving space for 8

428 gasket on 403 570 face of 568

429 Compensation volume 571 Face of 561 432 Angle sensor 572 Gap

437 Energy storage 580 Lid

438 Coil holder 581 screw

442 seal of 423 582 holder

444 Bearing 583 Stop ring

505 channel 591 cable

508 field

509 free space

510 acute-angled area

511 rotary body

512 axis of rotation

513 rotary body

514 ball

515 cylinders

516 wedge shape

517 direction of

relative movement

518 direction of

relative movement

519 magnetic particles

520 fluid

525 permanent magnet

527 control device

528 energy storage

530 bearings

556 angle sensor

557 sensor part

558 sensor part, electronics

559 contact ring, friction ring

560 base plate

561 housing

Claims

Claims :

1. Training device (300) for targeted muscle activation,

comprising at least one at least partially

muscle-powered actuator (301) and

at least one damper device (10) having at least two components (2, 3) which can be moved relative to one another, wherein one of the components (2, 3) is operatively connected to the actuating element (301), so that a movement of the

Actuator (301) is damped

and wherein the damper device (10) comprises a field-sensitive rheological medium (5) and at least one

Field generating means (7) are associated with the generation and control of a field strength and that by the

Field generating device (7) at least one

Damping property can be influenced

in

by at least one control device (302) which is suitable and designed to selectively control the field generating device (11) as a function of at least one training parameter, so that the movement of the

Actuator (301) taking into account the

Training parameter is attenuable.

2. Training device (300) according to the preceding claim, wherein a function of the training parameter to be applied to the movement of one of the two components (2, 3)

Damping force is adjustable.

3. Training device (300) according to any one of the preceding claims, wherein depending on the training parameter, a path and / or rotation angle is adjustable, via which at least one of the two components (2, 3) is movable.

4. Training device (300) according to any one of the preceding claims, wherein the damping property during at least one individual actuation of the actuating element (301) is variable.

Training device (300) according to one of the preceding claims, wherein the training parameter is taken from a group of parameters, one for operating the

Actuator (301) provided force,

Speed, acceleration, distance, direction of movement, a trajectory and an angle.

6. Training device (300) according to any one of the preceding claims, wherein the control device (302) suitable and

is formed, the field generating device (7) in

Dependence of at least one training parameter as

To control the function of at least one other training parameter.

7. Training device (300) according to any one of the preceding claims, wherein the control device (302) suitable and

is formed, based on at least one sensor device at least one parameter for the movement of the

To detect actuator (301) and the

Field control device (7) under consideration of the characteristic to control targeted.

8. Training device (300) according to the preceding claim, wherein the control device (302) is suitable and designed, the training parameter in dependence

to adjust the characteristic.

9. Training device (300) according to one of the two preceding claims, wherein the damper device (10) is adapted and designed to set the damping characteristic in real time, taking into account the characteristic.

Training device (300) according to one of the three preceding claims, wherein the damping characteristic during a single actuation of the actuating element (301) below Considering the parameter is adaptively variable.

11. Training device (300) according to any one of the preceding claims, wherein the damper device (10) suitable and

is designed to change the damping characteristic by at least 30% within less than 100 milliseconds.

Training device (300) according to one of the preceding claims, wherein the damper device (10) suitable for this and

is formed, one at least partially

Muscle-force-driven movement of the actuating element (301) by means of the field-generating device (7) and the

Field-sensitive rheological medium (9) to block.

Training device (300) according to the preceding claim, wherein the movement is blockable in dependence of the training parameter and / or the characteristic.

The exercise device (300) of any one of the preceding claims, wherein the actuator (301) is taken from a group of actuators comprising: pedal drive, leg lever, knee lever, arm lever, back lever, belly lever, body lever, cable, rudder lever.

Training device (300) according to one of the preceding claims, wherein the damper device (10) at least one

And wherein one component (2) comprises an inner component (12) and another component (3) an outer component (13) and wherein the outer component (13) radially surrounds the inner component (12) at least in sections, wherein between the Components (2, 3) a radially and inwardly of the inner component (12) and radially outwardly of the outer component (13) limited and at least partially with the rheological medium (5) filled annular and circumferential damping gap (6) is arranged,

wherein the damping gap (6) through the

Field generating device (7) exposable to a magnetic field is to make a pivoting movement between the two

against each other pivotable components (2, 3) to damp about an axis (4).

16. Training device (300) according to the preceding claim, wherein a plurality of at least partially radially extending arms (21, 22, 23) on at least one of the components (2, 3) is provided and that at least a part of the arms (21, 22 ) with an electrical coil (8) with at least one

Winding (18) is equipped, wherein the winding (18) each adjacent to the axis (4) and spaced from the axis (4).

17. Training device (300) according to one of the two preceding claims, comprising at least one transmission device

(303) which is adapted and adapted to at least partially implement a linear movement of the actuating element (301) in a pivoting movement of one of the two components (2, 3), so that the linear movement through the rotary damper

(1) is dampable.

18. Training device (300) according to one of the preceding claims, wherein the damper device (10) at least one

Rotary damper (1) with at least one displacement device (402), wherein the displacement device (402) a damper shaft (403) and intermeshing

Displacer components (404, 405), wherein a

Rotary movement of the damper shaft (403) is damped.

19. Training device (300) according to the preceding claim, wherein the displacement device (402) at least one

magnetorheological fluid (5) as a working fluid and thus operable, and wherein an associated

Control device (407) a magnetic field of at least one electric coil (409) comprising magnetic field source

controllable and by the magnetic field, the magnetorheological fluid (5) can be influenced to a damping of the Adjust the rotational movement of the damper shaft (403).

20. Training device (300) according to one of the preceding claims, wherein the damper device (10) at least one

Linear damper (60) with at least one first damper chamber

(66) and at least one second damper chamber (67), which are coupled to each other via at least one controllable damping valve (69) and wherein the damping valve (70) is associated with the magnetic field generating means (7) for generating and controlling a field strength in at least one Damping channel (70) of the damping valve

(69), wherein in the damping channel (70) the

field-sensitive rheological medium (5) is provided.

21. Training device (300) according to the preceding claim, wherein the linear damper (60) comprises a with the rheological medium (5) filled damper chamber (66, 67) and a relative to the damper chamber (66, 67) movable piston (65).

22. Exercise device (300) according to any one of the preceding claims, wherein for a left half of the body at least partially a different damping characteristic than for a right body half is adjustable.

23. Training device (300) according to the preceding claim, wherein the intended for a particular body half

Damping property is at least partially variable during a single operation of the actuating element (301).

24. Training device (300) according to any one of the preceding claims, wherein the damping property at least partially taking into account at least one signal of a

Near field detection system is variable.

25. A method for operating a training device (300) for

targeted muscle actuation, wherein an at least partially muscle-power operated actuator (301) is actuated and wherein at least one damper device (10) is provided with at least two relatively movable components (2, 3) and wherein at least one of the components (2, 3) is operatively connected to the actuator element (301), characterized

in that at least one movement of the actuating element (301) is damped and that the damper device (10) comprises at least one field-sensitive rheological medium (5) and at least one field-generating device (7) for generating and

Control of a field strength are assigned and that by the field generating means (7) at least one

Damping property is influenced and that at least one control device (302), the field generating device (7) is selectively controlled in response to at least one training parameter, so that the movement of the

Actuator (301) taking into account the

Training parameters is attenuated.

26. The method according to the preceding claim, wherein at least one characteristic for at least a single actuation of the actuating element (301) is monitored and the

Damping property is deliberately adjusted taking into account the characteristic, so that an optimal force / moment curve with respect to the desired

Training result is adjustable.

27. The method according to any one of the preceding claims, wherein the adjustment of the damping property taking into account the characteristic more than once, in particular repeatedly, during a single actuation of the actuating element (301) is made.

28. The method according to any one of the preceding claims, wherein

between the actuation of the actuator (301) for which the characteristic is monitored and the one therefrom

resulting adjustment of the damping characteristic less than 100 ms pass.

9. The method according to any one of the preceding claims, wherein at least one characteristic value for a relative movement of the first and the second component (2, 3) to each other repeatedly in real time is determined and wherein the

Field generating device (7) a field is generated only when the relative movement of the first and the second

Component (2, 3) is present to each other and wherein the characteristic value to be set in real-time field strength

is derived and with the field generating device (7) in real time the field strength to be set is generated in order to set a damping property, in particular damping force, in real time, resulting from the determined characteristic value.