EP3549571A1 - Dispositif d'entraînement, traitement thérapeutique et/ou support des membres inférieurs d'un être humain et utilisation - Google Patents

Dispositif d'entraînement, traitement thérapeutique et/ou support des membres inférieurs d'un être humain et utilisation Download PDF

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Publication number
EP3549571A1
EP3549571A1 EP19167568.5A EP19167568A EP3549571A1 EP 3549571 A1 EP3549571 A1 EP 3549571A1 EP 19167568 A EP19167568 A EP 19167568A EP 3549571 A1 EP3549571 A1 EP 3549571A1
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EP
European Patent Office
Prior art keywords
vertical
horizontal
carriage
guide
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19167568.5A
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German (de)
English (en)
Inventor
Franz PLONER
Julius Michael Waldner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rehalise Srl
Original Assignee
Rehalise Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rehalise Srl filed Critical Rehalise Srl
Publication of EP3549571A1 publication Critical patent/EP3549571A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1666—Movement of interface, i.e. force application means linear multidimensional

Definitions

  • the invention relates to a device for the training, the therapeutic treatment and / or the support of the lower extremities of a person having the features of the preamble of claim 1.
  • Devices of this kind are for example made DE 10 2006 035 715 A1 .
  • a double-sided practice of the healthy side and the weakened side of the lower extremities is superior to a one-sided practice of the weakened side.
  • the co-movement of the non-weakened side exerts a promoting influence on the activation of the responsible for the use of the paralyzed limb brain structures in the parietal lobe.
  • robotic systems are known for therapeutic purposes that include control systems that measure patient forces during exercise. Different evaluations of the parameters for determining minimum natural movements or forces and complete comparisons with predefined programs are possible. Such robot systems are out DE 100 28 511 A1 as well as the initially mentioned DE 10 2006 035 715 A1 . DE 20 2008 001 590 U1 and DE 10 2009 022 560 A1 known.
  • the invention has for its object to provide a device for training, therapeutic treatment and / or the support of the lower extremities of a person can be simulated with the diverse stress situations that occur in everyday life.
  • the device should allow a good access of the therapist to the patient and enable effective and realistic support, therapy or training control.
  • the invention is based on the object of specifying a use of such a device.
  • the invention has the advantage that the individual drives can be controlled independently of each other directly. As a result, more complex movement patterns can be realized faster and easier, without performing necessary compensatory or compensatory movements.
  • the laterally offset construction of the horizontal linear guide on the stationary frame allows the lowest possible therapy height, in the form of a so-called virtual level, to be realized, which results in a subjectively increased sense of a real gait pattern in the patient and thus a higher motivation for therapy.
  • the device according to the invention can thus perceive the virtual level of the course, which is taken by the patient in the course of a gait therapy or the like as a base of the soil will simulate near the base and thus give the patient a more realistic feel.
  • a successful therapy on the one hand by the frequent repetition of exercise elements and on the other hand by the transmission of learning effects of the responsible for the healthy limb side of the brain on the responsible for the weakened limb brain side or the brain area responsible can be achieved.
  • a single movement within the entire gait cycle can be specifically isolated and repeatedly practiced by the patient.
  • the device of the present invention allows the leg and back muscles to be strengthened to further improve the patient being well advanced and to train healthy people.
  • the device according to the invention provides the prerequisite for enabling running training or running therapy in a given everyday environment or evaluating the therapy performance in real time through a screen, with different everyday simulations, for example climbing stairs, entering, through the robust and simply constructed mechanism of a sidewalk or situations in which the patient stumbles.
  • a stationary frame is to be understood as meaning that the frame serves for the spatial arrangement of the device, in particular the movement devices.
  • the device is thus at any location, e.g. a hospital, rehabilitation facilities or the like can be used, wherein the fixed frame dictates the local arrangement and the essential limitation of the device relative to the environment.
  • each movement device can have its own stationary frame.
  • the fixed frames of the moving means are designed to be connected together to form a single stationary frame.
  • each of the movement means is adapted to each move a holding means in the horizontal, vertical and rotational direction appropriate.
  • appropriate support of a patient at e.g. a usual gear movement or the like.
  • the holding means On the basis of the device is a free mobility of the holding means, in particular in the form of any combinable horizontal, vertical and rotational movement, provided.
  • the holding means for this purpose, only a minimum number of drives is necessary, in particular three drives in order to simulate or control or support relevant movement sequences of human locomotion.
  • the horizontal movement carriage is in each case arranged to be movable along the horizontal linear guide, wherein the horizontal linear guide has more than one guide element, in particular a first guide element and a second guide element.
  • first guide element and the second guide element of the horizontal linear guide for slidably receiving the horizontal moving carriage are arranged spaced apart from each other only in the vertical direction on the stationary frame.
  • the horizontal linear guide can be aligned in the vertical direction, wherein the horizontal linear guide is arranged laterally or laterally on the stationary frame.
  • the horizontal linear guide can be brought up to a minimum distance to a bottom plane of the stationary frame and to a base or the ground.
  • the device has a functional control unit, an input unit and an output unit, for example in the form of a screen may have. In this way, movement sequences for the patient can be specified, supported, controlled, corrected and trained.
  • the horizontal guide carriage moves along two or more guide rails, which are mounted vertically offset.
  • the entry and therapy levels can be minimized, which has a positive effect on the patient's therapeutic success.
  • the virtual track plane can be formed at minimum height above the ground or the base surface.
  • the fixed frame in the region of the guide rails of the carriage may have height-adjustable feet.
  • any unevenness in the floor can be compensated and the invention can also be used on uneven ground.
  • the vertical distance between the first guide element and the lower side plane of the stationary frame is minimized in each case such that only part of the sliding receptacle of the horizontal movement carriage, in particular for embracing the first guide element, can be arranged within the minimum vertical distance.
  • the first guide element of the horizontal linear guide is arranged on the stationary frame, preferably at a distance of 2 mm to the bottom plane of the device or the fixed frame that given sufficient space for convenient storage and recording of the horizontal carriage movement is.
  • the distance between the first guide member and the lower surface level can be minimally formed as long as a corresponding storage and sliding recording of the horizontal movement carriage is given.
  • the first guide element can be flush with the bottom plane, provided that the horizontal motion carriage can be placed exclusively from above on the first guide element and at the same time sufficiently guided laterally.
  • the vertical linear drive in each case comprises a second force transmission element, which is articulated on the horizontal motion carriage or on the vertical guide carriage and connects the horizontal motion carriage with the vertical guide carriage directly, wherein the vertical position of the vertical guide carriage along the vertical linear guide via the vertical linear drive with the second power transmission element is variable.
  • the height adjustment of the vertical guide carriage is variable by actuation of the second power transmission element.
  • the coupling of the vertical guide carriage with the horizontal moving carriage through the second power transmission element has the advantage that the height adjustment of the vertical guide carriage can be effected directly via the second linear drive.
  • the direct height adjustment requires no energy storage system.
  • drives and power transmission elements with less space and energy supply requirements can be installed, whereby the mechanics gain in compactness and the use is possible in any environment.
  • a mechanical system that can store mechanical energy is no longer needed in this design.
  • the drive for the height adjustment may be spaced from the vertical guide carriage and coupled thereto by a power transmission means or element. As a result, the drive can be arranged at a position favorable for the movement or for the center of gravity.
  • the drive may conveniently comprise a belt, and a linear motor, a timing chain, push rods, tie rods, racks, a cable or a spindle drive, which directly determines the height of the vertical guide carriage.
  • the horizontal linear drive in each case comprises a first force transmission element, which couples the horizontal movement slide with the stationary frame, so that the horizontal movement slide can be driven.
  • the horizontal linear drive in each case comprises a gear drive, in particular as the first power transmission element, which is coupled on the one hand with the horizontal motion carriage and on the other hand with the stationary frame.
  • the horizontal linear drive may comprise a first power transmission element, which couples the horizontal motion carriage with the stationary, preferably vertical frame.
  • the horizontal linear drive may comprise a driven chain or a rack drive, which is mounted on the horizontal motion carriage on the one hand and on the stationary frame on the other hand, whereby the horizontal movement of the horizontal moving carriage is achieved in a simple manner.
  • the rotary drive is articulated in each case on the vertical guide carriage or on the holding means and couples the holding means with the vertical guide carriage, wherein the rotary drive as a driver of the holding means, the driving force of the horizontal linear drive and the vertical linear drive of the vertical guide carriage transmits to the holding means, is formed and is provided as a drive for a change in inclination of the holding means relative to the horizontal.
  • the rotary drive in each case comprises a third force transmission element which couples the vertical guide carriage with the holding means.
  • the rotary drive may comprise a third force transmission element that couples the holding means with the rotary drive or with a pivot arm of the rotary drive.
  • the rotation of the holding means is variable by actuation of the third power transmission element.
  • the coupling of the holding means with the rotary drive or the swivel arm of the rotary drive by a third force transmission element has the advantage that the rotation of the holding means takes place directly over the rotary drive and from the x, y position of the guide carriage, so its horizontal and vertical position relative to the fixed frame, independent.
  • the rotational drive for the inclination change can be arranged spaced from the holding means and coupled thereto by the third power transmission means.
  • the rotary drive can be arranged at a position which is favorable for the center of gravity.
  • the rotary drive may expediently comprise a belt which is arranged on a drive pulley on the boom and on a drive pulley on the holding element, as well as being designed as a drive by means of a rack, cable, spindle or push and pull rods.
  • the vertical linear drive and the horizontal linear drive are arranged directly in the pivot point of the acting force for driving the vertical guide carriage and the horizontal moving carriage.
  • each of the vertical linear drive and the horizontal linear drive are designed as linear motors.
  • a linear drive is understood in particular to mean a drive which has a linear translational movement, e.g. of horizontal movement carriage, brought about.
  • the linear drive may be a commercially available rotary motor or stepping motor or the like, wherein the rotational movement is convertible by chain drives, gear rack and pinion or the like in a translational movement.
  • linear drive as a linear motor
  • linear drive is designed for example as a magnetically, hydraulically or pneumatically operating, linearly extending drive machine for providing a translational movement.
  • the holding means are each arranged to be movable along an axis of rotation and adjustable by changing the distance from one another. Along the axis of rotation, the inclination of the holding means can each be adjusted or adjusted.
  • the entire guide mechanism so preferably in each case the movement means in the whole, the left and right legs are movably arranged to adjust the crotch width of the two holding means.
  • an adjusting device is arranged on the stationary frame above the moving means, wherein the adjusting device is provided for that the body center of gravity with a Persons connected to the holding means are variably adaptable for training, therapeutic treatment and / or support of the lower extremities.
  • This embodiment has the advantage that a control of the body center of gravity of a patient is possible by the adjusting device.
  • the displacement of the center of gravity of the body occurring in the course of human locomotion, that is to say during locomotion can be simulated along the direction of locomotion, which takes place in the vertical and lateral direction.
  • the control of the center of gravity allows the correct execution of the therapeutic movement, thus preventing postural damage which can be caused by compensatory movements of the patient.
  • Another advantage of controlling body center of gravity is that balance can be maintained in critical situations such as (simulated) tripping, slipping or under conditions where the proprioceptive component is disturbed. Repeated practice of these situations is necessary to minimize the risk of falls and falls for patients.
  • the three-dimensional control of the center of gravity which is possible in this embodiment, and the option of influencing the proprioceptive component of the patients by means of perturbations, create the conditions for a safe, repeatable and targeted training.
  • the perturbations of the proprioceptive component are performed by the retaining means, in particular the foot plates, which are connected to the feet of the patients. These can be moved to any position along the three degrees of freedom.
  • vibrations can be realized by the holding means.
  • a device according to the invention for controlling the training, therapeutic treatment and / or controlled support of the lower extremities of a human during any movement of human locomotion in everyday situations or under specific training conditions.
  • the device according to the present invention can be advantageously used for the targeted and therapeutic support of a patient.
  • the patient can be given a more realistic feeling during use of the device by means of a low virtual gear plane, and access to the patient during use is facilitated, advantageous power transmission can be provided by the individual drives, and deployment is possible in many places due to the space-saving design becomes.
  • FIG. 1 Fig. 3 is a perspective view of a device 1 according to one embodiment that may be used for training, therapeutic treatment and / or assisting the lower extremities of a human.
  • Fig. 2 is a part of a device 1, in particular a single movement device 11a shown.
  • the device 1 is particularly suitable for training the lower extremities of neurological patients and has two driven, controllable movement units 11a, 11b.
  • the two movement units 11a, 11b are each mobile or movably mounted on a stationary frame 12.
  • the moving units 11a, 11b have holding means 13a, 13b, for example foot plates with bindings, in which the feet of the patients are held.
  • the movement devices 11a, 11b, and thus the holding means 13a, 13b, can be moved independently of one another along calculated movement sequences. Asynchronous or synchronous movements are possible.
  • the device 1 comprises a frame 30, with which the patient can be connected via an adjusting device 24 for changing the body center of gravity, and which can be movably connected to the stationary frame 12 via a linear guide.
  • the frame 30 can be considered as part of the stationary frame 12.
  • the frame 30 comprises according to Fig. 1 four arms 31a, 31b extending vertically from bottom to top, the arms 31a, 31b being fixed to the outer positions of the moving means 11a, 11b. At the upper end of the arms 31a, 31b there is provided a horizontally arranged connecting element 32 which connects the arms 31a, 31b.
  • the stationary frame 12 is formed with side rails 33a, 33b which are movable, in particular vertically adjustable and can be arranged approximately at the level of the lower arms of the respective patient.
  • the two side rails 33a, 33b serve as handles for patients, so that the patient can hold on or appropriate support.
  • the movement devices 11a, 11b each have a vertical guide carriage 14a, 14b, which can be moved to different elevations, preferably steplessly.
  • the vertical guide carriage 14a, 14b is in each case movably articulated on a horizontal movement carriage 15, which is guided by a horizontal linear guide 16.
  • the horizontal linear guide 16 is fixedly connected to the stationary frame 12 and has a first guide element 16.1 and a second guide element 16.2, in which the horizontal movement slide 15 is slidably disposed.
  • the first and second guide elements 16.1, 16.2 of the horizontal linear guide 16 are vertically spaced from one another and arranged laterally or laterally on the stationary frame 12. In particular, that is first and second guide element 16.1, 16.2 arranged on mutually facing sides of the stationary frame 12.
  • the vertical guide carriage 14a, 14b is movably connected at one end to the horizontal movement carriage 15 via the vertical drive.
  • the vertical guide carriages 14a; 14b are each rotatably connected to one of the holding means 13a, 13b.
  • the connection point between the holding means 13a, 13b and the associated rotary drive 19 can be located on the vertical guide carriages 14a, 14b.
  • the vertical guide carriages 14a, 14b are movable in the longitudinal direction of the respective horizontal linear guide 16.
  • the vertical guide carriages 14a, 14b are each movably connected to the horizontal movement carriage 15 via a vertical linear drive 17.
  • the position of the force application can thus vary as desired.
  • the vertical guide carriage 14a, 14b is not supported by any mechanical energy storage system.
  • the horizontal motion carriage 15 has a Linear drive 18, which is provided in each case for changing the longitudinal position or horizontal position of the associated holding means 13a, 13b.
  • the first linear drive 18 comprises a first power transmission means 21a, which connects the horizontal movement slide 15 with the fixed frame 12 for power transmission.
  • the first power transmission means 21a comprises a gear drive in which the fixed toothing can be mounted on the stationary frame 12, but the drive unit is arranged on the horizontal movement slide 15.
  • an electric motor is provided in each case.
  • the linear drive 18 can also be realized by other means, for example by a driven chain, by a toothed belt or by hydraulic or pneumatic cylinders.
  • the vertical linear drive 17 is associated with the horizontal movement carriage 15 and couples it with the vertical guide carriage 14a, 14b.
  • a second force transmission element 21b is provided, which acts on the one hand on the horizontal motion carriage 15 and on the other hand on the vertical guide carriage 14a, 14b.
  • the second power transmission element 21b has the function of carrying along the vertical guide carriages 14a, 14b during a movement of the horizontal movement carriage 15.
  • the second force transmission element 21b acts as a push and pull element.
  • a force can be transmitted from the vertical guide carriage 14a, 14b to the horizontal moving carriage 15 by the second power transmission element 21b, and vice versa, when the second power transmission element 21b is actuated.
  • the altitude between the horizontal motion carriage 15 and the vertical guide carriage 14a, 14b, and thus the altitude of the respective holding means 13a, 13b changed.
  • the horizontal linear drive 18 forms a main drive, which moves the horizontal moving carriage 15 together with the vertical linear drive 17 relative to the stationary frame 12.
  • the vertical linear drive 17 acts as a height drive for the vertical movement of the vertical guide carriage 14a, 14b, as described above.
  • the second power transmission means 21b for example in the form of a gear drive, is rotatably connected to the horizontal movement carriage 15 and provides for the vertical adjustment of the vertical guide carriage 14a, 14b.
  • the entrainment of the vertical guide carriage 14a, 14b is given by the connection with the horizontal moving carriage 15.
  • the vertical linear drive 17 is fixed to the horizontal moving carriage 15 and coupled to the second power transmission means 21b.
  • Other power transmission elements such as a spindle or hydraulic / pneumatic actuators are possible.
  • the second power transmission element 21b is responsible exclusively for the height adjustment of the vertical guide carriage 14a, 14b.
  • the height adjustment of the vertical guide carriage 14a, 14b is changed.
  • the horizontal motion carriages 15 and the vertical motion carriages 14a, 14b always remain within the dimensions of the frame 12.
  • the two carriages 15 can be brought into a locked entry position.
  • a rotary drive 19 is provided which cooperates with the respective rotatably arranged holding means 13a, 13b.
  • the rotary drive 19 is in each case arranged in the center of the vertical guide carriages 14a, 14b.
  • the connection of the rotary drive 19 with the respective holding means 13a, 13b is effected by a third force transmission element 21c, for example in the form of a shaft.
  • Other power transmission elements such as a gear, a rack or hydraulic / pneumatic actuators are possible.
  • the third power transmission element 21c has a dual function and acts both as a driver and in the sense of a driver for the height adjustment of the vertical guide carriage 14a, 14b.
  • the rotary drive 19 can also be arranged in the rear region of the vertical guide carriages 14a, 14b.
  • the connection of the rotary drive 19 with the respective holding means 13a, 13b takes place in this case by the third force transmission element 21c via a belt which on the one hand on a drive pulley on the rotary drive 19 and on a pivot arm of the rotary drive 19 and on the other hand on a driven pulley, with the Holding means 13a, 13b is connected, is arranged.
  • belt other power transmission elements can be used, which convert a translational movement into a rotational movement, for example a rack, which meshes with a pinion on the holding means 13a, 13b.
  • a direct transfer of the rotational movement can take place.
  • the movement of the holding means 13a, 13b takes place in a working plane extending in the sagittal direction, wherein a working space has proved to be expedient, the forward movement in the range of 0 to 1000 mm, in particular up to 800 mm, the height movement in the range of 0 to 420 mm, in particular up to 270 mm, and the pivoting movement of the holding means 13a, 13b in a range of - allows 120 ° to + 90 ° relative to the horizontal.
  • the pivoting movement of the holding means 13a, 13b takes place about a horizontally extending axis.
  • the horizontal axis can be moved by the operation of the horizontal linear drive 18 in the horizontal and the vertical linear actuator 19 in the vertical direction.
  • the holding means 13a, 13b can be positioned within the fixed frame 12 by varying the distance between the two moving means 11a, 11b so that the distance between the holding means 13a, 13b corresponds to the physiological step width of the patient. This will Ensure that patients correctly load the joints during training or therapeutic treatment and maximize the training effect.
  • no evasive movements or adaptations on the part of the patient are necessary.
  • the possible displacement of the movement devices 11a, 11b about the transverse axis of the device requires no locking mechanisms.
  • the lower extremity holding means 13a, 13b can be simulated with the patient standing and secured on it both by programmed defaults of a control and by the patient in the case of compliant foot plates. It can be varied between a programmed movement and guided by the patient movement.
  • a holding means 13a may be controlled by the patient and the other holding means 13b by programmed defaults.
  • the apparatus may include a control unit, an input unit and an output unit, e.g. in the form of a screen.
  • adjusting device 24 is arranged next to the moving means 11a, 11b or between them.
  • Fig. 4 is the adjusting device 24 in a plan view of the embodiment according to Fig. 1 shown in more detail.
  • the adjusting device 24 is located centrally above the moving devices 11a, 11b on the stationary frame, so that the moving devices 11a, 11b, in particular the holding means 13a, 13b, can be moved under the adjusting device 24.
  • the adjustment device 24 is adapted to control the center of gravity of the body or to change the center of gravity of a person connected to the holding means 13a, 13b.
  • the adjusting device 24 allows both a change in the body center of gravity in the vertical, saggitaler as well as in the transverse direction.
  • the adjusting device 24 comprises a vertical drive 25 which cooperates with a belt.
  • the strap is connected to a cattragegurt (not shown).
  • the vertical drive 25 allows a change in the length of the vertical portion of the belt so that the center of gravity of the patient is variable in the vertical direction.
  • the adjusting device 24 may be mounted mobile or movable, preferably along a linear guide.
  • the working space of the mechanism or of the adjustment device 24 for the change of center of gravity is, relative to a zero position, +/- 10 cm. Other areas are possible.
  • Fig. 1 An example of the embodiment of the adjusting device 24 is also made Fig. 1 can be seen and may include a rotary drive, which raises the belt or patient support belt via a roller system 27 and thus controls the center of gravity of the patient vertically. A deflation of the patient or an extension of the belt is also possible.
  • a transverse drive 28 which represents a linear drive connected to a spindle 29.
  • a support system is attached, the ends of which extend to the patient.
  • the carrier system moves the patient actively and synchronously with the major axis in the transverse plane. Through sliding mechanisms in the sagittal, transverse and horizontal plane, the carrier system can be optimally adjusted to the needs of the patient.
  • a possible working space for the transverse displacement made possible by the transverse drive 28 is, for example, based on a zero position, +/- 15 cm. Other areas are possible.
  • the control of the center of gravity in the forward or backward direction is effected by the displacement of the adjusting mechanism 24 in the sagittal axis.
  • the position of the horizontal movement carriage 15 can be freely controlled along the horizontal linear guide 16.
  • the possible by the sled length Working space is, relative to a zero position, +/- 10 cm. Other areas are possible.
  • the device allows a highly variable and flexible therapy or training of the lower extremities, wherein the device is simple and compact and thus provides good access to the patient. Furthermore, by means of the device, a virtual gear plane can be provided in an advantageous proximity to the base surface.

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
EP19167568.5A 2018-04-06 2019-04-05 Dispositif d'entraînement, traitement thérapeutique et/ou support des membres inférieurs d'un être humain et utilisation Withdrawn EP3549571A1 (fr)

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Application Number Priority Date Filing Date Title
IT201800004260 2018-04-06

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Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8109699U1 (de) 1981-12-03 Jankowski, Ursula, 4020 Mettmann Trainingsgerät
DE8528083U1 (de) 1985-10-02 1986-01-02 Bolzek-Porstner, Irene, 8500 Nürnberg Schulter-Arm-Trainingsgerät
DE3618686A1 (de) 1986-06-03 1987-12-23 Effner Und Spreine Gmbh Bewegungsvorrichtung
DE19529764A1 (de) 1995-08-12 1997-02-13 Reck Anton Bewegungstrainingsgerät mit einer Kurbel
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DE10028511A1 (de) 2000-06-06 2002-05-16 Stefan Hesse Roboter-Gangtrainer zum Einsatz in der Rehabilitation
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WO2005074370A2 (fr) * 2004-02-05 2005-08-18 Motorika Inc. Methodes et appareils de reeducation de la marche
DE102006035715A1 (de) 2006-08-01 2008-02-07 Schmidt, Henning, Dipl.-Ing. Robotergestützter Laufsimulator
US20100268129A1 (en) * 2007-09-10 2010-10-21 Klmed Co., Ltd. Gait trajectory guiding device of gait rehabilitation device
DE202008001590U1 (de) 2008-01-31 2008-07-17 Schulte-Tigges, Gotthard, Dr.-Ing. Multifunktionales Trainingsgerät für menschliche Gangvarianten
US20100285929A1 (en) * 2009-04-10 2010-11-11 Woodway Usa, Inc. Treadmill with integrated walking rehabilitation device
DE102009022560A1 (de) 2009-05-25 2010-12-16 Reha Technologies Gmbh Vorrichtung zur therapeutischen Behandlung und/oder zum Training der unteren Extremitäten eines Menschen
US20140100491A1 (en) * 2012-10-05 2014-04-10 Jianjuen Hu Lower Extremity Robotic Rehabilitation System

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