EP3541483B1 - Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne - Google Patents

Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne Download PDF

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Publication number
EP3541483B1
EP3541483B1 EP17818427.1A EP17818427A EP3541483B1 EP 3541483 B1 EP3541483 B1 EP 3541483B1 EP 17818427 A EP17818427 A EP 17818427A EP 3541483 B1 EP3541483 B1 EP 3541483B1
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EP
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Prior art keywords
movement
axis
motion
elements
training
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EP17818427.1A
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German (de)
English (en)
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EP3541483A1 (fr
Inventor
Alexander Kollreider
David Ram
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Tyromotion GmbH
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Tyromotion GmbH
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Priority to HRP20240403TT priority Critical patent/HRP20240403T1/hr
Publication of EP3541483A1 publication Critical patent/EP3541483A1/fr
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • 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
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
    • A63B22/0005—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms with particular movement of the arms provided by handles moving otherwise than pivoting about a horizontal axis parallel to the body-symmetrical-plane
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
    • A63B22/0007—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms by alternatively exercising arms or legs, e.g. with a single set of support elements driven either by the upper or the lower limbs
    • 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
    • A63B22/0694—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 without integral seat, e.g. portable mini ergometers being placed in front of a chair, on a table or on a bed
    • 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
    • A63B22/14—Platforms for reciprocating rotating motion about a vertical axis, e.g. axis through the middle of the platform
    • 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
    • A63B22/16—Platforms for rocking motion about a horizontal axis, e.g. axis through the middle of the platform; Balancing drums; Balancing boards or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • 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
    • A63B22/0025—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs
    • A63B2022/0028—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs the movement path being non-parallel to the body-symmetrical-plane, e.g. support elements moving at an angle to the body-symmetrical-plane
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0025—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs
    • A63B2022/0038—One foot moving independently from the other, i.e. there is no link between the movements of the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0025—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs
    • A63B2022/0041—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs one hand moving independently from the other hand, i.e. there is no link between the movements of the hands
    • 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
    • A63B2022/0611—Particular details or arrangement of cranks
    • A63B2022/0617—Particular details or arrangement of cranks with separate crank axis for each limb, e.g. being separately adjustable or non parallel
    • 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
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/065—Visualisation of specific exercise parameters
    • A63B2071/0652—Visualisation or indication relating to symmetrical exercise, e.g. right-left performance related to spinal column
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors

Definitions

  • the invention relates to a device for training the lower and / or upper extremities of a person according to the preamble of claim 1, the use of such a device according to the preamble of claim 9 and methods for controlling and adjusting such a device according to the preamble of claims 10 and 13.
  • a device can also be referred to as a training device for training a person's motor skills. It is particularly suitable for training a person's upper extremities, i.e. the arms, and/or the lower extremities, i.e. the legs.
  • Numerous training devices for the upper and lower extremities are known from the prior art.
  • mobile training devices that can be set up on the floor with a base element to which two pedals with pedal arms are attached as actuating elements. These pedals can then be operated by a user like when riding a bicycle.
  • the pedals on such devices can be replaced with handles with a crank, so that the device can be operated like a so-called handbike when it is standing on a table.
  • Such a device has a mobile frame with an arm, which then extends over the bed.
  • the pedals can be replaced with handles with a crank so that the device can be operated like a handbike.
  • the common axis of rotation of the pedals or the handles can advantageously be moved relative to the boom about an axis perpendicular to the axis of rotation, so that the frame with the boom of can be pushed towards the lying user on different sides of the bed without the user having to change their position.
  • the left and right pedals or the left and right handles rotate around the same axis and are mechanically coupled to one another, which means that both pedals or handles always move together.
  • ski training devices where the skis run on front and rear rollers.
  • the front and rear rollers are driven in opposite directions, so that when the user's weight shifts accordingly, the skis are moved alternately forwards and backwards.
  • two drives can be provided, one for rollers for the right ski and one for rollers for the left ski, so that the left and right rollers and thus the left and right skis can have different rotation speeds. The geometric arrangement of the roles cannot be changed.
  • the DE 299 22 913 U1 discloses a training device, in particular for the physically disabled, with a stationary or movable frame and a lifting element that can be changed in height by means of a drive, on which a support device for the person to be trained is arranged. By raising and lowering the lifting element, the person can, for example, be brought from a sitting to a standing position and vice versa.
  • the frame is bridge-shaped, two drives are preferably used, which are arranged in the two frame posts or in the two end regions of the frame support or the lifting element.
  • the DE 103 16 688 A1 describes a training device with at least two standing surfaces that are movable relative to a device frame, each for a user's foot, and with a motor drive for generating a rolling or pivoting movement of the standing surfaces relative to one another.
  • the WO 2016/032416 A1 discloses a movement training device to train a user's walking movement.
  • the user is held by slings to the lower extremities to relieve.
  • the legs are guided during the walking movement, so that even a purely passive user can carry out a walking movement.
  • the EP 2 010 121 B1 relates to a training device for training the musculoskeletal system of a person, comprising a rocker that supports the person and can be pivoted with respect to a rocker stand and a drive arrangement with at least one motor and a gearbox having gear elements, the gear elements forming at least one power transmission chain between the rocker and the motor.
  • the US 3,721,438 A describes an exercise machine that has a pair of rotatable arms mounted on a movable frame. Handles can be mounted on the arms. With this training device, active training (without motor support) is possible.
  • the US 2005/004352 A1 describes a training device that includes two essentially opposite handles that can be moved by a user. It is also possible for the handles to be mounted on a common base module that a user can position on their lap, for example.
  • the US 9,320,935 B1 describes a training device with a seat and two resistance wheels housed in a common housing and having hand or foot pedals.
  • the resistance applied by the resistance wheels is adjustable.
  • the US 4,973,046 A describes a training device with two pedals that are powered by a common motor. It is possible to individually align the pedals to the needs of the user. The motor speed can be adjusted if necessary.
  • the US 9,199,114 B1 describes a training device that can be used to train arm movements.
  • the training device enables active training (without motor support). It is possible to record and display certain parameters such as a user's pulse rate, time, energy consumption or a virtual distance traveled via a control unit. This can also be done via a smartphone app, for example.
  • the task is to provide a training device for training a person's motor skills, which has more flexible setting options and more individually adjustable training modes than those from the prior art Has training devices known from technology.
  • the flexibility can relate, for example, to the geometry of the device and/or to the operation of the device in order to enable optimal adaptation to each user and to each training purpose.
  • the device has at least two movement elements, which are arranged on a base element.
  • the movement elements each have a rotation axis around which an actuating element can be moved.
  • the movement elements are each independently movable relative to the base element about a first movement axis.
  • the first axis of movement runs essentially perpendicular to a surface in which the base element extends.
  • the device is characterized in that each movement element has its own drive (its own motor) in order to rotate the actuating elements about the axis of rotation.
  • the device has a control element that can control each drive individually. In this way, it is possible for each drive to be controlled and moved independently of another drive of the same device, which ultimately enables different movement of the individual actuating elements of the device.
  • substantially indicates an angular range of plus minus 5° around the specifically specified geometric relationship. “Substantially perpendicular” therefore refers to an angular range of 85° to 95° and includes “perpendicular” (90°). “Substantially parallel” therefore refers to an angular range from -5° (355°) to +5° (5°) and includes “parallel” (0°).
  • the individual movement elements can be designed to be identical, but do not have to be.
  • the device claimed according to the invention can be used for actively training the lower and/upper extremities of a person.
  • at least one drive is activated, it becomes possible to train a purely passive user or to support the movement of an active user.
  • the latter is also known as a servo drive.
  • each movement element has its own drive, it is possible that left and right as well as upper and lower extremities can be addressed flexibly and differently if, for example, there are differences in the motor skills of the user's left and right or upper and lower extremities.
  • At least one of the movement elements has a means for detecting a parameter that is representative of a movement and/or a force that is applied to the actuation element by a person using the device.
  • a means for detecting a movement or a force can also be referred to as a means for determining or a means for detecting a parameter that is representative of a movement and/or force applied by a person to the actuating element.
  • Such a means can be, for example, a torque, force, angle and/or rotational speed sensor. This enables an analysis of the movement and/or force applied by a user to the actuating element and thus to the movement element.
  • the measured variables recorded by the means can be used to define motor training tasks and/or to monitor their fulfillment.
  • playful exercises can be designed whose task is to achieve a specific goal either by means of a movement or by means of a force or torque (e.g. a certain number of revolutions within a given time, a certain angular position of the actuating elements, a certain Change in angle of the actuating elements etc.).
  • the device has a control element to which each of the movement elements and each drive is connected.
  • the control element is also connected to any existing means for detecting the movement applied by a person to the actuating element.
  • the control element is also connected to any existing means for detecting the movement applied by a person to the actuating element.
  • the movement detected by the means or means for detecting the movement applied by a person to the actuating element as a controlled variable in the control element, for example to control the drives.
  • parameters of the recorded Movement can be output on an output element, for example acoustically or on a display.
  • Such an output element for example a display or a loudspeaker, can be provided on an actuating element or the base element. The parameters are then output in the immediate vicinity of the user.
  • control element it is also possible to output via a network.
  • more than two devices can be controlled by one control element and the training of several users can be controlled at the same time.
  • the connection of the control element to the drives and any existing output elements or means for detecting a movement applied by a person to the actuating element can be wireless or wired.
  • the drives can be adjusted in such a way that the moving elements are moved at the same speed. It is also possible to control the drives in such a way that the movement elements are completely decoupled from one another in terms of effectiveness, i.e. they do not transmit any feedback to the other movement element or its drive about the movement they have carried out. Finally, it is also possible for the drives to be controlled synchronously in such a way that the movement elements are dependent on one another, that is to say that they are in operative connection with one another with regard to the movement carried out or the force or torque applied.
  • the control element can be designed, for example, in the form of a central, common control unit. It is also possible to assign each drive or motor its own motor control, with the individual motor controls being synchronized with one another. The control parameters for a second motor control are then known to a first motor control, so that individual control of the individual drives is made possible, taking into account the control parameters of the other drive or drives.
  • One option is purely active training. Any existing drives then produce no power.
  • the means for detecting a movement applied by a person to the actuating element are read by the control element. Measured torques, forces, angles and/or rotational speeds are evaluated by the control element and used to create an individual training session.
  • symmetry training in which it is evaluated whether the user applies different movements to the two movement elements, for example whether one leg pedals harder than the other or whether the pedals are placed in different angular positions.
  • resistance to the user's movements can also be set, which is implemented, for example, by two passive electric drives. With two such drives, the resistance for the left and right extremities can be controlled and adjusted differently.
  • Another training mode is semi-active training, in which a drive only acts as a servo drive to support the user's movements. Measured torques, forces, angles and/or rotational speeds are evaluated by the control device and the drives are controlled in such a way that they optimally support the user's movement. Since at least two drives are provided, the support for the left and right extremities can be controlled differently.
  • Another training mode is passive training, in which the user does not apply his own movements to the movement elements. Measured torques, forces, angles and/or rotational speeds are evaluated by the control device and the drives are controlled so that they move the user's extremities optimally.
  • the movement of the left and right extremities can be controlled differently using two separate drives.
  • the torques generated by the drives can be adjusted individually for each extremity, e.g. B. to relieve cramps, blockages or spasticity or to loosen the muscles. Accordingly, cramps, blockages or spasticity of an extremity can be more easily recognized because measured torques, forces, angles and/or rotational speeds on both sides can be evaluated separately.
  • a software-based training logic evaluates the measured torques, forces, angles and/or rotational speeds and adapts a previously created training program.
  • the basic element can be, for example, a base plate or a frame, which can be arranged, for example, on a table and/or floor.
  • Movement elements are each arranged on their own base element. This achieves a particularly high level of flexibility in the arrangement of the individual movement elements, so that the device can be optimally adapted to the individual user and the specific application.
  • the basic elements are completely mechanically separated from each other.
  • At least one of the axes of rotation can be movable relative to the respective first axis of movement and can assume any angle, for example in a range of 0° to 360°, 0° to 180°, 0° to 90°, 80° to 100° or 60° to 120°.
  • An angle of 0° between the axis of rotation and the first axis of movement means that both are parallel to each other.
  • An angle of 90° means that both axes are perpendicular to each other, that is, the axis of rotation is parallel to the surface in which the base element extends.
  • the axis of movement can be perpendicular to the respective axis of rotation; alternatively or in addition, both axes can be immovable relative to one another. It is possible that the axes of rotation can be moved independently of one another relative to the corresponding first axes of movement.
  • the first movement axis is at least one of the movement elements or movement modules, in particular each of the movement elements or movement modules, a rotation axis or a pivot axis.
  • the movement element can be rotated relative to the base element, for example about the first movement axis in the form of an axis of rotation which runs approximately centrally through the movement element.
  • a movement can also take place about the first movement axis in the form of a pivot axis which runs eccentrically through the movement element.
  • At least one of the movement elements in particular each of the movement elements, can move through an angle of at least 90°, in particular at least 120°, in particular at least 150°, in particular at least 180°, in particular at least 210°, in particular at least 240°, in particular at least 270°, in particular at least 300°, in particular at least 330° and most particularly through an angle of 360° about the first axis of movement.
  • ranges of movement of the movement element or elements of 90° to 360° or any other interval that can be formed from the angle specifications mentioned above (for example 120° to 270°) can be provided.
  • the upper and lower limits are included in the respective areas.
  • Such a movement option further increases the flexibility of the device, so that, for example, the (fine) adjustment to the specific application or user can only take place after the movement elements have been set up.
  • An intermediate element is arranged between the base elements and the movement elements, each intermediate element being able to be moved independently of another intermediate element about the corresponding first movement axis relative to the respective base element. This movement can then be transferred via the intermediate element to the movement element connected to the intermediate element, so that the movement element can move around the first movement axis.
  • the movement elements are movable relative to the respective intermediate element independently of one another about a second respective movement axis, the second movement axis being arranged essentially parallel to the surface in which the respective base element extends.
  • the second axis of movement is further arranged substantially perpendicular to the first axis of movement and also substantially perpendicular to the axis of rotation.
  • the special effect of such an intermediate element is that it also enables the movement elements to move about a horizontal axis, for example to compensate for unevenness in the standing surface (e.g. a table or a floor) or inclinations in the standing surface.
  • the axis of rotation of at least one of the actuating elements can be aligned so that it is essentially perpendicular to the extension surface of the respective base element.
  • the special effect of such an alignment is to enable training of the ankle joint by moving the foot relative to the lower leg around a longitudinal axis of the lower leg.
  • an actuating element which can be moved around the axis of rotation, directly to the movement elements.
  • it is provided to provide an adapter on the movement elements for attaching such an actuation element, which is movable around the axis of rotation.
  • Such an adapter makes it particularly easy to exchange different actuating elements with one another. This is particularly the case when the actuating element can be or is attached to the adapter in a detachable manner.
  • the actuating element can be, for example, a pedal, similar to an accelerator/brake or clutch pedal of a motor vehicle.
  • This pedal can then be operated by the user like a corresponding motor vehicle pedal. This means that during such an operation the pedal is rotated or pivoted about the axis of rotation. This means, for example, that the user's ankle joint can be optimally trained.
  • the actuating element can also be a pedal with a pedal arm, similar to a bicycle pedal. This can then be operated by a user like a bicycle pedal.
  • the pedal with pedal arm is rotated around the axis of rotation. This allows the user to train like on a bicycle ergometer. In this case, the corresponding pedal is itself movable relative to the pedal arm.
  • the actuating element can be a handle with a crank, similar to a handbike.
  • This handle can then be operated by a user like a handbike, with the handle being rotated around the axis of rotation using the crank. This allows the user to train like on a handbike.
  • Each actuating element can be permanently or detachably attached to at least one adapter, in particular to each of the adapters.
  • Releasably attached actuating elements can be easily exchanged, which means that damaged actuating elements can be replaced or different applications can be implemented, in particular one after the other, with one movement element.
  • Means are preferably provided for releasably fixing the movement elements against movement relative to the respective base element.
  • These means can be, for example, adjusting screws or clamps.
  • they can also be fixing bolts, that is to say pins, which are each provided on the movement element or base element, and engage in a grid, for example a drilling grid, which is provided on the other of the two elements. This avoids uncontrolled movements of the movement elements relative to the base element, which could change the setting made.
  • a concrete possibility for designing the device according to the invention is that two actuating elements are provided on a common base element, which are accommodated in a common housing, but still allow the completely autonomous movement possibility of the individual movement elements as explained above.
  • One aspect of the present invention is the use of a device according to the previous explanations for training the lower and/or upper extremities.
  • This training can be training without a therapeutic purpose, for example purely athletic training without an intended or unintended therapeutic effect.
  • the training can also have a therapeutic purpose, for example as Rehabilitation measure after damage to the extremities due to an illness or an accident or due to the user's inability to control the extremities, such as paralysis, for example as a result of a stroke.
  • the invention relates, in one aspect, to a non-therapeutic method for training the lower and/or upper extremities of a person in need of such training using a device according to the previous explanations.
  • a further aspect of the present invention is a method for controlling a device according to the above explanations, wherein the movement elements and their drives are individually controlled by the control element.
  • the control element can, for example, read out the means or means for detecting a movement applied to the actuating element and further process the control parameters read out in this way.
  • these control parameters can be used as a controlled variable to control the drive accordingly.
  • the control parameters can also be output, for example acoustically or on a display.
  • a resistance of the first movement element is set differently than a resistance of the second movement element.
  • symmetry training can be achieved.
  • an active movement of the first movement element is set differently from an active movement of the second movement element. This makes it possible to train a purely passive user or to support the movement of an active user. The latter is also known as a servo drive.
  • a speed or a torque of the first movement element is set differently from a speed or a torque of the second movement element.
  • a further aspect of the present invention is a method for adjusting a device according to the above explanations, wherein the individual movement elements are moved individually relative to the base element about the movement axes before the start of a training session and are then releasably fixed against movement relative to the base element. This ends such a procedure for setting the device before training begins.
  • the method for setting a device explained above can also be a first step in a therapeutic method for training the lower and / or upper extremities of a patient using the device.
  • This also discloses the possibility of providing a common base element for at least two movement elements, whereby the movement elements cannot be moved around a movement axis, but rather only each have an axis of rotation around which an actuating element can be moved.
  • the Figure 1 shows, as a first exemplary embodiment, a training device as a device for training the arms and / or legs of a person.
  • the training device includes a first movement module 1 as a first movement element and a second movement module 2 as a second movement element.
  • the first movement module 1 is arranged on a first base plate 3, which serves as the first basic element.
  • the second movement module 2 is arranged on a second base plate 4, which serves as a second basic element.
  • the shape of the first base plate 3 and the second base plate 4 is not crucial for the function of the training device.
  • a first movement plate 5 is arranged between the first movement module 1 and the first base plate 3.
  • a second movement plate 6 is arranged between the second movement module 2 and the second base plate 4.
  • the first movement plan 5 serves to enable movement of the first movement module 1 relative to the first base plate 3 about a first movement axis 7 of the first movement module 1.
  • the second movement plate 6 serves to enable movement of the second movement module 2 relative to the second base plate 4 about a first movement axis 8 of the second movement module 2.
  • the first movement axis 7 of the first movement module 1 and the first movement axis 8 of the second movement module 2 are each essentially perpendicular to a first surface 9 in which the first base plate 3 extends, or to a second surface 10 in which the second Base plate 4 extends, arranged.
  • the first movement axis 7 of the first movement module 1 is aligned vertically when the base plate 3 is arranged horizontally. If the second base plate 4 is arranged horizontally, this applies in the same way to the first movement axis 8 of the second movement module 2.
  • the first movement module 1 further has a first axis of rotation 13, which runs essentially perpendicular to the first movement axis 7 of the first movement module 1 and is arranged essentially parallel to the first surface 9.
  • the second movement module 2 has a second axis of rotation 14, which runs essentially perpendicular to the first movement axis 8 of the second movement module 2 and essentially parallel to the second surface 10.
  • the first movement module 1 can be rotated around the first axis of rotation 13.
  • the second movement module 2 can and the second axis of rotation 14 can be rotated around.
  • a first adapter 15 is attached to the first movement module 1.
  • This first adapter 15 serves to releasably fasten an actuating element that is movable together with the first movement module 1 around the first axis of rotation 13.
  • a second adapter 16 is attached to the second movement module 2, which serves to releasably fasten an actuating element with which the second movement module 2 can be moved around the second axis of rotation 14.
  • the first movement module 1 and the second movement module 2 each have their own electric drive in order to ensure movement of an actuating element attached to the first adapter 15 or the second adapter 16.
  • These drives are in the representation of the Figure 1 Not shown. These drives make it possible to train a purely passive user or to enable movement support for an active user of the training device. Using different drives, the user's left and right extremities and/or upper and lower extremities can be addressed flexibly and differently. This is particularly advantageous if there are differences in the motor skills of the user's left and right or upper and lower extremities.
  • the training device of the Figure 1 has a PC 19, which serves as a common control element for the first movement module 1 and the second movement module 2. For this purpose, it is connected to both the first movement module 1 and the second movement module 2 via an electrical line 20.
  • a PC 19 a notebook or smartphone could also be used as a common control element.
  • the electrical line 20, which connects the first movement module 1 and the second movement module 2 to the PC 19, can also be implemented by a network. Both a wired and a wireless connection are possible, for example via Bluetooth or WLAN.
  • first base plate 3 and second base plate 4 are not mechanically coupled to one another. Such a constructive separation between the first However, base plate 3 and the second base plate 4 do not exclude that the first movement module 1 and the second movement module 2 are connected to the PC 19 via a common electrical line 20.
  • the first movement axis 7 of the first movement module 1 and the first movement axis 8 of the second movement module 2 are axes of rotation that allow the first movement module 1 and the second movement module 2 to rotate 360°. If necessary, a smaller movement of the first movement module 1 around the first axis of rotation 7 and/or of the second movement module 2 around the first axis of rotation 8 can be set.
  • FIG. 2 shows a further exemplary embodiment of a training device, which in essential aspects corresponds to the exemplary embodiment of Figure 1 corresponds.
  • the same elements are given the same reference numbers. In this context, reference is made to the above explanations Figure 1 referenced and only the differences between the two exemplary embodiments will be discussed below.
  • a first tilt holder 17 is arranged between the first base plate 3 and the first movement module 1, which serves as an intermediate element.
  • a movement of the first tilt holder 17 relative to the first base plate 3 about the first movement axis 7 of the first movement module 1 leads to a similar movement of the first movement module 1 relative to the first base plate 3.
  • the second axis of movement 11 is arranged essentially perpendicular to the first axis of movement 7 and also essentially perpendicular to the first axis of rotation 13. It runs essentially parallel to the first surface 9 in which the first base plate 3 extends.
  • a second tilt holder 18 is arranged, which can be moved around the first movement axis 8 of the second movement module 2. Such a movement leads to a similar movement of the second movement module 2 relative to the second base plate 4.
  • the second tilt holder 18 is also around a second movement axis 12 movable, which runs essentially perpendicular to the first axis of movement 8 of the second movement module 2 and also essentially perpendicular to the second axis of rotation 14.
  • the second axis of movement 12 also runs parallel to the surface 10 in which the second base plate 4 extends.
  • the first tilt holder 17 and the second tilt holder 18 make it possible to achieve an additional degree of freedom of movement for the first movement module 1 relative to the first base plate 3 and the second movement module 2 relative to the second base plate 4.
  • the second movement axis 11 of the first movement module 1 and the second movement axis 12 of the second movement module 2 are designed as axes of rotation about which the first movement module 1 and the second movement module 2 can each be rotated or tilted continuously, namely relative to an orientation of the first Axis of rotation 13 or the second axis of rotation 14 parallel to the surface 10. After a corresponding rotation or tilting, the first movement module 1 or the second movement module 2 can be determined in its rotated or tilted position.
  • FIGS 3 to 7 show possible operating modes of a device according to any of the two exemplary embodiments explained above. They show Figures 3 to 7 each the first movement module 1 and the second movement module 2, with different actuating elements being attached to the first adapter 15 and the second adapter 16, respectively.
  • the actuating element can be as in the Figure 3 shown be a pedal 21 with a pedal arm 22, similar to a bicycle pedal. This can then be operated by a user like a bicycle pedal.
  • the pedal 21 is rotated with the pedal arm 22 about the first axis of rotation 13 and/or the second axis of rotation 14. This allows the user to train like on a bicycle ergometer if such pedals 21 with corresponding pedal arms 22 are attached to both movement modules 1, 2.
  • the actuating element can be as in the Figure 4 shown be a handle 23 with a crank 24, similar to a handbike.
  • This handle 23 can then be operated by a user like a handbike.
  • the handle 23 is rotated with the crank 24 about the first axis of rotation 13 and/or the second axis of rotation 14. This allows the user to train like on a handbike if handles 23 with cranks 24 are attached to both movement modules 1 and 2.
  • the actuating element can be as in the Figure 5 shown be a pedal 25, similar to an accelerator, brake or clutch pedal of a motor vehicle.
  • This pedal 25 can then be operated by the user like a corresponding motor vehicle pedal.
  • the pedal 25 is rotated or pivoted about the first axis of rotation 13 and/or the second axis of rotation 14. This means, for example, that the user's ankle joint can be optimally trained.
  • the movement elements 1, 2 are generally aligned such that the first axis of rotation 13 and the second axis of rotation 14 are aligned essentially collinear with one another.
  • first movement module 1 and the second movement module 2 can also be used as in the Figure 6 shown.
  • the first axis of rotation 13 and the second axis of rotation 14 are aligned truly parallel to one another.
  • the first movement module 1 and the second movement module 2 are also aligned so that a user can simultaneously stand with each foot on each pedal 22 with the corresponding pedal arm 21 and carry out pivoting movements.
  • a user's legs are in the Figure 6 shown in dashed lines for illustrative purposes.
  • FIG. 7 Another alternative for aligning the first movement module 1 and the second movement module 2 is shown in Figure 7 .
  • the first axis of rotation 13 and the second axis of rotation 14 are again aligned truly parallel.
  • the first movement module 1 and the second movement module 2 are aligned so that a lying user can simultaneously place one foot on each pedal 22 with the corresponding pedal arm 21 and carry out pivoting movements.

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  • Orthopedic Medicine & Surgery (AREA)
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Claims (13)

  1. Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne, comprenant au moins deux éléments mobiles (1, 2) qui sont agencés sur un élément de base (3, 4), les éléments mobiles (1, 2) présentant chacun un axe de rotation (13, 14) autour duquel un élément d'actionnement (21-25) respectif peut être déplacé, les éléments mobiles (1, 2) respectifs étant mobiles indépendamment les uns des autres par rapport à l'élément de base (3, 4) autour d'un premier axe de mouvement (7, 8), le premier axe de mouvement (7, 8) s'étendant sensiblement perpendiculairement à une surface d'extension (9, 10) de l'élément de base,
    caractérisé en ce
    que chaque élément mobile (1, 2) présente un entraînement propre pour faire tourner les éléments d'actionnement (21-25) autour de l'axe de rotation (13, 14), en ce que le dispositif présente un élément de commande (19) qui peut actionner individuellement chaque entraînement pour permettre un mouvement de chaque entraînement indépendamment d'un mouvement d'un autre entraînement, en ce que le premier élément mobile (1) est agencé sur un premier élément de base (3) et en ce que le deuxième élément mobile (2) est agencé sur un deuxième élément de base (4), le premier élément de base (3) et le deuxième élément de base (4) étant complètement séparés mécaniquement l'un de l'autre, en ce qu'un premier élément intermédiaire (17) est agencé entre le premier élément de base (3) et le premier élément mobile (1) et en ce qu'un deuxième élément intermédiaire (17) est agencé entre le deuxième élément de base (4) et le deuxième élément mobile (1), le premier élément intermédiaire (17) étant mobile indépendamment du deuxième élément intermédiaire (18) autour du premier axe de mouvement (7) par rapport au premier élément de base (3) et le deuxième élément intermédiaire (18) étant mobile indépendamment du premier élément intermédiaire (17) autour du premier axe de mouvement (8) par rapport au deuxième élément de base (4), les éléments mobiles (1, 2) étant mobiles par rapport à l'élément intermédiaire respectif (17, 18) indépendamment l'un de l'autre chacun autour d'un deuxième axe de mouvement (11, 12), le deuxième axe de mouvement (11, 12) s'étendant sensiblement parallèlement à la surface d'extension (9, 10) de l'élément de base respectif (3, 4), sensiblement perpendiculairement au premier axe de mouvement (7, 8) et sensiblement perpendiculairement à l'axe de rotation (13, 14).
  2. Dispositif selon la revendication 1, caractérisé en ce qu'au moins l'un des éléments mobiles (1, 2) comporte un moyen de détection d'au moins une grandeur appliquée par une personne à l'élément d'actionnement (21-25), choisie dans le groupe constitué par le couple, la force, la vitesse angulaire et la vitesse de rotation.
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que les premier et deuxième éléments de base (3, 4) sont chacun une plaque de base (3, 4) ou un châssis qui peut être agencé par exemple sur une table et/ou un sol.
  4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins un des éléments mobiles (1, 2) est mobile d'un angle d'au moins 90°, en particulier d'un angle de 360°, autour du premier axe de mouvement (7, 8).
  5. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le premier axe de mouvement (7, 8) s'étend sensiblement perpendiculairement à l'axe de rotation (13, 14).
  6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins l'un des éléments mobiles (1, 2) comporte un adaptateur (15, 16) pour fixer l'un des éléments d'actionnement (21-25) mobiles autour de l'axe de rotation (13, 14).
  7. Dispositif selon la revendication 6, caractérisé en ce que l'un des éléments d'actionnement (21-25), en particulier une pédale (25), une pédale (21) avec bras de pédale (22) ou une poignée (23) avec manivelle (24), est fixé de manière amovible à l'adaptateur (15, 16).
  8. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est prévu un moyen pour fixer de manière amovible les éléments mobiles (1, 2) contre un mouvement par rapport à l'élément de base (3, 4).
  9. Utilisation d'un dispositif selon l'une quelconque des revendications précédentes pour l'entraînement non thérapeutique des membres inférieurs et/ou supérieurs.
  10. Procédé de commande d'un dispositif selon l'une quelconque des revendications 1 à 8, caractérisé en ce que les éléments mobiles (1, 2) et leurs entraînements sont actionnés individuellement par l'élément de commande (19).
  11. Procédé selon la revendication 10, caractérisé en ce qu'une résistance du premier élément mobile (1) est réglée différemment d'une résistance du deuxième élément mobile (2) et/ou en ce qu'un mouvement actif du premier élément mobile (1) est réglé différemment d'un mouvement actif du deuxième élément mobile (2).
  12. Procédé selon la revendication 10, caractérisé en ce qu'une vitesse du premier élément mobile (1) est réglée différemment d'une vitesse du deuxième élément mobile (2).
  13. Procédé de réglage d'un dispositif selon l'une quelconque des revendications 1 à 8, caractérisé en ce que les différents éléments mobiles (1, 2) sont déplacés individuellement autour des axes de mouvement (7, 8, 11, 12) par rapport à l'élément de base respectif (3, 4) avant le début d'un entraînement, et puis sont fixés de manière amovible pour empêcher un mouvement par rapport à l'élément de base respectif (3, 4).
EP17818427.1A 2016-11-21 2017-11-21 Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne Active EP3541483B1 (fr)

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EP16199806.7A EP3323473A1 (fr) 2016-11-21 2016-11-21 Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne
PCT/EP2017/079902 WO2018091731A1 (fr) 2016-11-21 2017-11-21 Dispositif d'entraînement des membres inférieurs et/ou supérieurs d'une personne

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HRP20240403T1 (hr) 2024-06-21
WO2018091731A1 (fr) 2018-05-24
DK3541483T3 (da) 2024-03-18
CN110225785A (zh) 2019-09-10
US20200016453A1 (en) 2020-01-16
US11117016B2 (en) 2021-09-14
EP3323473A1 (fr) 2018-05-23
CN110225785B (zh) 2022-01-25
ES2974882T3 (es) 2024-07-02
EP3541483A1 (fr) 2019-09-25
PL3541483T3 (pl) 2024-06-17

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