Classifications

• • 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
  • A63B22/0235—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 driven by a motor
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
  • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
  • A61B5/112—Gait analysis
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
  • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
  • A61B5/6813—Specially adapted to be attached to a specific body part
  • A61B5/6828—Leg
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
  • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
  • A61B5/6813—Specially adapted to be attached to a specific body part
  • A61B5/6829—Foot or ankle
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
  • A63B21/0056—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using electromagnetically-controlled friction, e.g. magnetic particle brakes
• • 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
  • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
  • A63B21/055—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters extension element type
  • A63B21/0552—Elastic ropes or bands
• • 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
  • A63B21/06—User-manipulated weights
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/15—Arrangements for force transmissions
  • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
  • A63B21/153—Using flexible elements for reciprocating movements, e.g. ropes or chains wound-up and unwound during exercise, e.g. from a reel
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/15—Arrangements for force transmissions
  • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
  • A63B21/154—Using flexible elements for reciprocating movements, e.g. ropes or chains using special pulley-assemblies
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/40—Interfaces with the user related to strength training; Details thereof
  • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
  • A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
  • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
  • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
  • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
  • A63B23/047—Walking and pulling or pushing a load
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B69/00—Training appliances or apparatus for special sports
  • A63B69/0057—Means for physically limiting movements of body parts
  • A63B69/0062—Leg restraining devices
• • 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
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/15—Arrangements for force transmissions
  • A63B21/157—Ratchet-wheel links; Overrunning clutches; One-way clutches
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2214/00—Training methods
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/10—Positions
  • A63B2220/13—Relative positions
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/30—Speed
  • A63B2220/31—Relative speed

Definitions

• the object of the invention is an apparatus and a method for decelerating, stopping and propelling movement of various body segments during human walking on a treadmill.
• the method and the apparatus of the invention allow an individual who has successfully completed an early stage of rehabilitation and has his stepping function re-established to continue his walking training with a focus on some other aspects such as movement of a leg in a swing, symmetry of walking, coordination of movement, and training balance.
• the technical problem that is successfully solved by the proposed apparatus and method is enabling the application of force or force impulses to various body segments (pelvis, thigh, shank and foot) during treadmill walking in a desired portion of a walking cycle with a minimal mechanical impact on walking exerted by the apparatus/mechanism (low mechanical impedance) when said forces or force impulses are not applied.
• Robots for walking normally have a limited number of mechanical degrees of freedom thus limiting the scope of walking training to practicing stepping movement. This type of training in an early rehabilitation phase is of benefit to people with diminished walking ability due to a neurological disease or injury (like stroke due to a cerebro-vascular incident).
• Such robots for example LOKOMAT, G-EO, Lyra, Well-Walk 1000
• LOKOMAT, G-EO, Lyra, Well-Walk 1000 are either in the form of exoskeletons or in the form of mechanisms interacting with feet.
• These robots are complex and expensive mechanisms and their ability to haptically interact with lower limbs is considerably limited due to their limited number of mechanical degrees of freedom and substantial mechanical inertia.
• the proposed solution to the set technical problem relates to an apparatus, i. e. a braking mechanism that allows for the application of force or force impulses to various body segments (pelvis, thigh, shank and foot) during treadmill walking in a desired portion of a walking cycle with a minimal mechanical impact on walking exerted by the apparatus/mechanism (low mechanical impedance) when said forces or force impulses are not applied, and to the related method.
• the main innovative feature of the mechanism and the method proposed is that the forces or force impulses are not generated actively by for example an electrical actuator but are achieved by decelerating the movement of non-elastic or elastic cables that are attached to a certain body segment, thus achieving a short-term mechanical stop or a slow-down of movement.
• the timing of applying said forces or force impulses within a walking cycle is such that various mechanical effects can be achieved. For instance, when exerting force to the pelvis in a frontal plane, a prolongation of a stance phase on the impaired leg can be achieved thus promoting equal loading of both legs and the symmetry of walking. Moreover, an almost instant stop of the pelvis movement may create a perturbation that induces a human’s reaction to adequately change the location of a next step. Another example is application of a short force impulse to the foot during a swing phase that mimics tripping that needs to be appropriately handled by a walking subject by appropriately changing the location of a next step. Yet another example is timely application of forces to the thigh and shank in order to modify a trajectory of a swinging leg.
• the innovative aspect of the proposed apparatus and method is a possibility to follow, measure, assist and perturb movement of various body segments during walking on a treadmill in a way that minimally impedes movement while also allowing for modifying a movement pattern of these segments and enabling application of perturbations like tripping or frontal plane perturbation of pelvis when non-elastic cables are used.
• the apparatus for decelerating, stopping and propelling movement of various body segments during human walking on a treadmill of the invention is represented by a braking mechanism that is fastened at one side with its connecting means to a human body segment under exercise and is provided at its other side by a weight or a constant force spring that serves to bias the connecting means.
• the braking mechanism that is optionally an electromagnetic brake/clutch either decelerates or completely and almost instantly stops the movement of the connecting means.
• the braking mechanism has a measuring means for measuring movement (position and velocity) of the connecting means, which measuring means together with an algorithm for identifying various sub-phases of a walking cycle manages the braking mechanism.
• Figure 1 is a schematic illustration of an apparatus for an efficient application of the method of the invention
• Figure 2 is a structural embodiment of the braking mechanism of the apparatus of the invention.
• Figure 3 illustrates the method of the invention that enables tripping while walking on the treadmill
• Figure 4 illustrates the method of the invention allowing the application of lateral perturbation to the pelvis while walking on a treadmill
• Figure 5 illustrates the method of the invention allowing the application of swing leg kinematics modulation
• Figure 6 illustrates a situation when two additional braking mechanisms of the apparatus are used on the posterior side of the leg.
• the apparatus of the invention is represented by a braking mechanism A provided with a measurement means 7 having an algorithm for identifying particular sub-phases of a gait cycle which is used to control the braking mechanism A.
• FIG. 1 is a schematic illustration of an embodiment of the apparatus for an efficient application of the method of the invention and the utilization of the apparatus of the invention.
• a human subject walking on a treadmill has one end of a cable 1 attached to the lower end of his shank.
• this cable 1 is fastened at its other end to a pulley 3 that is stiffly connected to a pulley 4, to which a weight 5 is fastened by way of a cable 2, said weight having a mass that provides an appropriate tension of the cable 2 and also of the cable 1.
• the rotation of the pulleys 3, 4 and consequently the movement of the cables 1 , 2 can be either stopped or slowed down by the operation of the braking mechanism A.
• Information on a current position and velocity of the ankle and thus also information on the current sub-phase of a gait cycle is provided for by a measurement means 7 modifying the rotation of the pulleys 3, 4.
• the whole system is simple, light-weight and minimally impedes the movement of the leg when the braking mechanism is not engaged.
• FIG 2 illustrates an embodiment of the proposed braking mechanism A.
• the braking mechanism A consists of two pulleys 3, 4 which may have different diameters, are stiffly connected to each other and firmly attached to a mechanical axle 5 that is mounted on a stationary base 6.
• the measurement means 7 On one side of the mechanical axle 5 the measurement means 7 is appropriately fastened to measure rotation and angular velocity, while on the other side of the mechanical axle 5 a friction wheel 8 is fastened, which is acted upon by a braking disk 9 by way of an electromagnet 10 which, depending on the applied voltage, provides an adequate braking moment on the mechanical axle 5.
• first pulley 3 On the first pulley 3, one end of the first cable 1 is firmly attached to the pulley 3, the cable 1 is wound with a sufficient number of loops onto the pulley 3 to provide a sufficient total length of the cable 1 , while the other end of the cable 1 is attached to a cuff arranged on a certain body segment of a human walking on the treadmill.
• second pulley 4 one end of the second cable 2 is firmly attached to the pulley 4, the cable 2 is wound with a sufficient number of loops onto the pulley 4 to provide a sufficient total length of the cable 2, while the other end of the cable 2 is provided with a weight 11 having an appropriate mass and a constant force spring.
• Such arrangement represents low impedance to the movement of a given body segment when the braking mechanism A is not engaged.
• the force exerted by the weight 1 1 or the constant force spring onto this body segment while the braking mechanism A is not engaged mainly depends on the mass of the weight 1 1 which can in turn be very low (less than 5 N).
• the connecting means, the cables 1 , 2, can be stiff/non-elastic or flexible/elastic cables
• the weight 1 1 can be a weight with a mass that provides for an adequate tension of the cables 1 , 2 or can be formed as a constant force spring that provides for a pretension of the cables 1 , 2, while the braking function in the braking mechanism A can be successfully performed by an electromagnetic brake/clutch or the like.
• Figure 3 illustrates the proposed method that enables tripping while walking on the treadmill by using the apparatus of the invention.
• the left column in Figure 3 shows four sub-phases of a gait cycle where the braking mechanism A is not engaged, while the right column shows a situation, in which the braking mechanism A is engaged for a short period of time (typically 100-200 ms) during the early swing phase.
• a short period of time typically 100-200 ms
• Figure 4 illustrates the proposed method that enables performing lateral perturbation to the pelvis while walking on a treadmill by using the apparatus of the invention.
• the left column in Figure 4 shows five sub-phases of a gait cycle where the braking mechanism A is not engaged, while the right column shows a situation, in which the braking mechanism A is engaged for a short period of time (typically 100-200 ms) during the mid-stance phase.
• a short period of time typically 100-200 ms
• the gait pattern changes causing an imbalance that needs to be adequately handled after the braking mechanism A is disengaged.
• a typical human reaction is to change the location of a next step as depicted in Figure 4.
• FIG. 5 illustrates the proposed method and system that allows modulation of swing leg kinematics by using the apparatus of the invention.
• Two braking mechanisms A, A’ as shown in Figure 5a are used, the first braking mechanism A being arranged on the thigh and the second braking mechanism A’ being arranged on the shank, both being arranged from the anterior aspect.
• a gait cycle starts with the right leg initial contact when both braking mechanisms A, A’ allow for a free movement of the leg.
• both braking mechanisms A, A’ are engaged.
• the elastic portion B of the connecting means undergoes elongation due to the movement of the right leg on the motorized treadmill.
• the connecting means would be attached to a shoe instead to the shank; this would not only facilitate knee extension but also foot clearance. Both braking mechanisms A, A’ can be disengaged either at the end of the swing phase or somewhat earlier, giving us control over the release of the amount of potential energy from the portion B of the connecting means into the adequately modified leg swing movement.
• Figure 5 illustrates the method of the invention allowing the application of swing leg kinematics modulation and the timing of engagement/disengagement of the braking mechanism A, which is purely illustrative.
• the timing interval of the engagement/disengagement of the braking mechanism A can be adequately changed in subsequent steps in order to achieve the desired leg movement.
• Utilization of two or more proposed braking mechanisms A, A’ on the anterior side of the leg enables the modification of the leg movement forward.
• Figure 6 illustrates a situation when two additional braking mechanisms A”, A’” are used on the posterior side of the leg, said mechanisms assisting in the movement of the thigh and the shank or leg backward.
• the optimal timing of operation of all four braking mechanisms A, A’, A”, A’” can be determined in order to achieve the desired leg movement in the swing phase and the desired step length.
• the measurements of movement of various body segments can be used for real-time visual feedback that is forwarded to a walking subject.

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• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• General Health & Medical Sciences (AREA)
• Biophysics (AREA)
• Physical Education & Sports Medicine (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Physics & Mathematics (AREA)
• Animal Behavior & Ethology (AREA)
• Molecular Biology (AREA)
• Veterinary Medicine (AREA)
• Public Health (AREA)
• Pathology (AREA)
• Engineering & Computer Science (AREA)
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• Heart & Thoracic Surgery (AREA)
• Medical Informatics (AREA)
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• Rehabilitation Therapy (AREA)
• Physiology (AREA)
• Oral & Maxillofacial Surgery (AREA)
• Cardiology (AREA)
• Vascular Medicine (AREA)
• Rehabilitation Tools (AREA)

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• 2019
  • 2019-03-15 SI SI201900055A patent/SI25803A/sl active IP Right Grant
• 2020
  • 2020-02-27 WO PCT/SI2020/050008 patent/WO2020190218A1/en active Application Filing
  • 2020-02-27 EP EP20721125.1A patent/EP3938059A1/de active Pending

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