Classifications

• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
  • A63B21/0084—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters by moving the surrounding water
  • A63B21/00845—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters by moving the surrounding water using electrorheological or magnetorheological fluids
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/0076—Rowing machines for conditioning the cardio-vascular system
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
  • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
  • F16F9/32—Details
  • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
  • F16F9/535—Magnetorheological [MR] fluid dampers
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
  • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/30—Speed
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/40—Acceleration
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
  • A63B2220/51—Force
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
  • A63B2220/54—Torque
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
  • A63B2220/56—Pressure
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2230/00—Measuring physiological parameters of the user
  • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
  • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04M—TELEPHONIC COMMUNICATION
  • H04M1/00—Substation equipment, e.g. for use by subscribers
  • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
  • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
  • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
  • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories

Definitions

• 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.
• 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.
• 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.
• 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
• Damping device are associated with a field-sensitive rheological medium and at least one field generating device for generating and controlling a field strength.
• the training device comprises at least one control device.
• the control device is particularly suitable and designed, the
• 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.
• the corresponding damper device of the training device training can be significantly improved because the damping is very selectively adjustable.
• those for the training desired settings are made particularly comfortable and inexpensive.
• control device particularly advantageous is the control device.
• the field generating device can be set so that training with very targeted training parameters is possible.
• Adjustment of the training device done.
• a trainer or therapist can determine the required training parameters in advance and deposit them in the training device.
• 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.
• 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.
• the training parameter may be stored on a portable storage medium, which carries the training person with it. So can by inserting the
• the actuating force of the actuating element adjustable.
• a path and / or a rotational angle can be set, via which at least one of the two components can be moved.
• 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.
• the damping characteristic is variable during at least a single actuation of the actuator.
• the damping characteristic is during a single one
• the movement cycle can z. B. be a single turn with the right and / or left leg.
• the operation is a pulling on an arm lever or a pivoting of a leg lever.
• 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.
• Damping force during a single operation by adjusting the field strength can be varied almost arbitrarily. This offers significant advantages over exercise equipment over
• 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 offers a very quick adjustment of the settings, eg. In real time and / or during a single movement.
• the invention presented here offers a very quick adjustment of the settings, eg. In real time and / or during a single movement.
• 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.
• the training parameter is at least one parameter of the group as a function of at least one other
• Speed and / or the force as a function of the distance and / or the angle in the control device be stored.
• a characteristic value for the training parameter can be input, by which the training parameter can be derived and / or is derived indirectly.
• 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.
• control device is preferably suitable for this and
• the trainer can determine certain angular positions of the actuating element for the actuation of certain forces
• 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.
• the actuating element to detect at least one parameter for the movement of the actuating element.
• the detected characteristic relates to one or more of the variables, which also be used as training parameters.
• the parameter describes a for operating the detected characteristic
• 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.
• the damping force can be regulated so that the exerciser performs the exercise accordingly slower due to an increased damping force. size in
• control device is suitable for this and
• Control device takes place. This saves the coach one
• the trainer first of all has an empirical value or a value
• 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.
• control device is suitable and designed to carry out a permanent adaptation of the training parameter.
• 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.
• damper device is suitable and designed
• the damper device is suitable and designed, taking into account the characteristic, the damping property in
• 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 body part, i.e. the right arm is e.g. B. trained differently than the left arm.
• the sensor device in particular with different
• 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.
• the damper device is suitable and designed to change the damping characteristic by at least 30% within less than 100 milliseconds.
• 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.
• the damping characteristic is under a single operation of the actuating element below
• 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
• 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.
• certain movements of the training person can be specifically prevented.
• a range of motion can be adjusted thereby and / or a too extensive movement can be stopped.
• the damper device is designed so that the maximum damping force is a multiple of the expected muscle strength.
• Training parameters and / or the characteristic lockable 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.
• 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.
• the actuator is taken from a group of actuators comprising: pedal drive, leg lever, toggle, arm 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.
• 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.
• 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.
• two actuators are provided, which at their
• the training device may also be embodied as a finger trainer or at least comprise such.
• each finger is an actuating element, each having at least one
• 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.
• the training device comprises at least one damper device with at least one
• the one component comprises one
• Inner component and the other component an outer component.
• the outer component preferably surrounds the inner component at least in sections radially. In particular, between the components is a radially inward of the
• 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.
• a plurality of at least partially radially extending arms is provided on at least one of the components.
• at least part of the arms is with an electrical coil having at least one winding
• 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.
• the training device comprises at least one
• 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.
• the actuating element itself is rotatable. Then, the rotational movement of the actuating element is preferably damped directly by the rotary damper.
• the training device comprises a rotary damper with at least one displacement device, wherein the
• Displacement device a damper shaft and each other
• the displacer device preferably contains at least one
• magnetorheological fluid as a working fluid and is thus operable. It is preferably a control device
• Magnetic field generating device is controllable.
• Magnetic field is the magnetorheological fluid influenceable to adjust a damping of the rotational movement of the damper shaft.
• 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.
• 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.
• 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
• 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 Rejuvenate component relative to the rotary body.
• Damper device at least one linear damper with at least a first damper chamber and at least one second
• 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.
• 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.
• 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.
• the training device or fitness device is equipped with at least one rotary damper.
• 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 dampened by the rotary damper Actuator dampened by the rotary damper.
• a customer comes z. B. ins
• Gym goes to a body scanner and / or
• 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).
• the customer has the data (eg using a smart watch, smartphone, chip or
• 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.
• 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).
• 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.
• 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
• control device is suitable for this and
• the parameter in particular detected by at least one sensor.
• a continuous detection takes place.
• the parameter then preferably concerns one
• Threshold value and / or a comparison function for the parameter can also be an assignment of predetermined parameter and detected characteristic in the manner of a map done.
• the caregiver can specify a value for a force / torque desired during the exercise as a parameter.
• 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
• a haptic feedback can be output by the damper to the user.
• the damper With a registered overload, the damper can also be switched powerless or very smooth.
• the parameter describes an angular position and / or a movement direction and / or a movement moment and / or an acceleration of the actuating element.
• the setting of the damper takes place as a function of the parameter.
• 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.
• the halves of the body are often trained differently from home (for example, left - or
• the training device can be particularly designed
• the training program can also be varied several times and individually within the training time.
• the parameter describes 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.
• 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.
• the damper can be preset exactly to these conditions (personalized training).
• 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
• haptic feedback 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.
• control device can register pulse values, heart rate and other vital parameters and use them to set the damper.
• the user exhausts
• Damper properties take place.
• 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
• 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
• relatively slow brake eg friction brake, eddy current brake or other suitable brakes
• 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
• a brake or the like Energy conversion element
• Actuation can be varied to a single operation (not only eg, per full revolution, per full stroke), but also during a single operation.
• 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).
• 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
• the rotary damper according to the invention preferably simulates the rudder or actuating kinematics, immersion depth,
• ski or biathlon training device can be such.
• an exact course of force eg force course on the hand or the arms and shoulders of the person
• 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
• the damper device is at least one
• the damping can be adjustable.
• the work area of the training device but in particular the training device itself can be better adapted to the user.
• z. Coil springs 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.
• the spring bar end 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.
• 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
• the 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.
• 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.
• the level position (longitudinal extent) can be kept constant and / or varied.
• 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.
• the spring device or the spring force is adjustable analogously to the previously described damper device or damper force.
• a different damping characteristic than for a right half of the body is adjustable.
• At least one is for each body half
• Actuator BE provided.
• 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
• each damper is preferably single
• 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.
• the actuators are cranks
• each crank can each represent an actuating element, wherein the rotational movement of the common shaft is damped.
• 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.
• Actuator for the respective body half another damping adjustable.
• the damper setting is adjustable depending on which body half or with which actuator the greater or lesser force on the
• the damper adjustment can be customized for each body half. Is z. For example, if the right arm becomes ill and fatigues faster, the
• 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.
• 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.
• the damping characteristic provided for a particular body half is at least partially variable during a single actuation of the actuator.
• the body half is influenced or selected
• the invention offers particular advantages here, since the body halves are selectively addressed differently can, for. Even during a single movement.
• the damping characteristic is at least partially taking into account at least one signal of a
• 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.
• 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.
• it can be provided: optical sensors, environment camera, ultrasound, image recognition, laser.
• Existing sensors e.g., Microsoft Kinetics
• sensors coupled to a smart phone may also be used
• the Nahfeldkennungssystem is particularly suitable and adapted to the
• 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.
• 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.
• the inventive method provides an inexpensive and very individual adjustment of settings for training.
• At least one parameter is monitored for at least one individual actuation of the actuating element.
• 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
• the senor device described above is provided for this purpose.
• 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.
• the detection of the characteristic also takes place repeatedly and / or continuously during a single actuation.
• 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.
• Field generating device generates a field only when the relative movement of the first and the second component is present.
• a field strength to be set is derived, in particular 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
• 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
• Figure 1 is a schematic exploded view of a
• Figure 2 is a schematic cross section through the rotary damper of Figure 1;
• Figure 3 is a perspective view of part of the
• FIG. 4 shows a schematic cross section through the rotary damper according to FIG. 1;
• Figure 5 schematically drawn magnetic field lines in the
• FIG. 6 shows a cross section through a further rotary damper
• FIG. 7 shows a schematic perspective partial cross section of a rotary damper for an inventive
• Figure 8 is a section through a partially exploded
• Figure 9 is a highly schematic sketch of the control of
• 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.
• Figure 17 is a schematic sectional view of the damper according to
• Figure 18 is a linear damper z. B. the fitness device
• FIG. 12 is a diagrammatic representation of 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
• FIG. 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.
• 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
• 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 body position may be unfavorable, z. B. when lifting (scribing) of the weights of the back is more curved, which is high
• 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
• 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.
• a device computer, bracelet, chip, smartphone or smartwatch or the like
• this is always set optimally or tells the customer how to adjust (eg, mechanically adjust the seat %) or the device adjusts itself (electric motors ).
• 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 %)
• 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).
• 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.
• Postures Certainly can be charged differently than others, if z. B. an injury, may not be charged in this position under certain circumstances.
• Targeted means here: exactly adapted to the muscle / body impairment. For example, a (older) patient may go after a
• the same training device eg Ergometer or exercise bike
• Adaptive and intelligent therapy actuators / training devices are possible, including early mobilization
• Body parts or body halves more affected like other regions. That's why it's important that not so
• 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
• the rotary damper 1 is essentially formed from the components 2 and 3, wherein on the component 2, the pivot shaft 4th
• 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
• 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.
• the key can also be a spline, polygonal connection or another non-positive or positive connection can be used.
• 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.
• 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
• 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.
• FIG. 2 shows a schematic cross section in the assembled state, wherein it can be seen that the component 3 in FIG.
• 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.
• a bearing 37 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.
• a geometric axis 9 extends centrally through the
• Slip ring are performed by the pivot shaft 4 to the electric coil 8, which are arranged inside the housing 30.
• 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.
• 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.
• the seal 11 is provided between the pivot shaft and the corresponding passage opening in the lid 3a.
• 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.
• 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
• Connecting element can also be deflections, translations (eg pulley principle %) with the element to be damped
• 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
• the transmission element 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
• 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.
• a coil 8 is wound with at least one and here a plurality of turns.
• 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
• 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.
• 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.
• casting resin or the like can be filled there to fill the cavities.
• Cast resin or the like can be filled there to fill the cavities.
• 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.
• 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.
• 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
• 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
• 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.
• 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
• Magnetic field 408 can be exposed.
• 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.
• 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.
• 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.
• 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.
• 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
• 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.
• control device 407 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 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
• 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.
• 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
• 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.
• 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.
• 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).
• control also means a regulation, so that the
• Control system preferably also suitable and designed for control.
• actuators 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
• 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.
• 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.
• the arithmetic unit 201 takes into account a plurality of actuator signals 204 originating from different sensors.
• 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.
• 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.
• Control signals with other and / or additional suitable for controlling the damper 1 sizes as the voltage Based on
• the control shown in FIG. 9 is as one
• Central controller 200 configured. It includes the
• respective damper 1 associated power / torque control 202 may also be designed decentralized.
• the arithmetic unit 201 remains central.
• the current / torque control 202 is arranged in particular separately and spatially separated from the arithmetic unit 201.
• 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
• FIG. 11 shows a training device 300 or fitness device with a device according to the invention
• 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.
• a control device 302 is provided here.
• FIG. 11 shows a training device 300 with a
• 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.
• 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.
• the torque required to rotate the actuator 301 is adjusted.
• 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.
• 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.
• 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.
• control unit 302 can execute the
• control device 302 monitors the cadence as a parameter and by means of a sensor device not visible here
• the required torque or the damping force can be reduced when the training person as
• the training device shown here 300 also offers a
• Adjusting the damping force during a single actuation of the actuator 301 means a single revolution of the pedal drive.
• 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
• the damping force or moment can also be varied during a single actuation of the actuation element 301, resulting in a low body load
• the damping force or the damping torque can also during a single actuation of the actuating element 301
• 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.
• the seat 305 is slidably mounted on a frame 304.
• the rudder 306 is also attached to the frame 304.
• 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.
• the movement of the rudder 306 may be damped via a damper device 10.
• 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.
• the path can also be predetermined as a training parameter that the seat 305 can travel in a rowing train.
• 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.
• 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.
• 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
• Actuator 301 adaptively to vary, taking into account a characteristic. The single operation of the
• Actuator 301 is here a single rowing train.
• 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
• 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 is the 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
• 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.
• 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
• 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.
• the pivoting angle and the force required to pivot the leg lever 309 are predetermined here.
• the actuation force of the leg lever 309 provided as a function of the angle.
• Control device 302 continuously the angular position of the
• Damping force The angular position or the angle is indicated here by two dashed lines and a double arrow.
• 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
• 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.
• 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.
• 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.
• control device 302 recognizes too fast a movement of the leg lever 309, it automatically increases the height
• Knee extension can be done. Otherwise already can
• 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
• 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.
• the damper unit 80 can be used as a rotary damper. 1
• 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.
• 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 Certainly 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.
• the receiving housing 561 can be glued to the base plate 560 after assembly of the parts arranged therein.
• the component 3 is rotatably or pivotally received.
• 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
• the shaft 562 is rotatable about a bearing 530 on the
• the bearing 530 may for example be designed as a sliding bearing, but may also comprise a different rolling bearing.
• 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.
• the magnetization of the permanent magnet 525 via corresponding magnetic pulses of the electric coil 8 are changed.
• 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.
• At least one contact element 559 in the form of a contact ring 559 may be provided.
• 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.
• 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
• 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
• 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.
• Receiving housing 561 a circumferential gap is provided on which a serving as an angle sensor sensor 556 is arranged.
• 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.
• 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
• the controller preferably operates at a control clock of 4kHz or more.
• 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.
• FIG 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
• 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.
• 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
• 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
• 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.
• a magnetorheological fluid 5 which for example comprises a carrier liquid as an oil
• 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 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
• 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.
• the rotary body 511 runs on the surface of the other component 2, so that there is a relative speed 518.
• 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 ⁇ .
• the free distance is in particular between 75 ⁇ and 300 ⁇ and more preferably between 100 ⁇ and 200 ⁇ .
• the free distance 509 is in particular at least ten times the diameter of a typical middle one
• 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
• the rotary damper 1 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.
• 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.
• 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.
• Rotary movement is possible without and also with an acting magnetic field 508.
• 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
• 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.
• 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.
• 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.
• Figure 18 shows a linear damper 60, which with a
• Valve device 69 is equipped, the two here
• Damping channels 70 includes.
• 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.
• 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.
• 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
• 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.
• the joint and muscle load body stress, long-term consequences (7), 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.
• 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
• 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
• FIG. 20 shows another course of force over the
• the force is plotted on the Y-axis and the angle on the X-axis. This is the weight lifting or
• FIG. 21 shows an embodiment with a
• Nahfeldkennungssystem 310 a customer z. B. to the gym and goes to a body scanner and / or analyzer.
• 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.
• 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 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.
• 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.
• 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.
• the low point begins the kick of the other leg.
• 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.
• 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.
• the force curve (braking characteristic) is reduced by the left leg (left half of the body), so this
• Body half is loaded less.
• the rehabilitation process can be optimized.
• the energy input is larger or smaller.
• a necessary cooling to dissipate the energy is primarily about the
• the MRF flows via conduits and / or flow channels (e.g.
• FIGS. 7 and 8 Thus, a particularly good one here
• Air flow (eg electrical or mechanical cooling fan). This is advantageous for MRF actuators without flow line.
• connection line 203 system information

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• 2016
  • 2016-10-05 DE DE102016118920.0A patent/DE102016118920B4/de not_active Expired - Fee Related
• 2017
  • 2017-03-31 EP EP17719170.7A patent/EP3436717A2/de not_active Withdrawn
  • 2017-03-31 WO PCT/EP2017/057791 patent/WO2017168004A2/de active Application Filing
  • 2017-03-31 CN CN201780026773.9A patent/CN109073030A/zh active Pending

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