EP4151285A1 - Exoskeleton fitness device for training the human body - Google Patents
Exoskeleton fitness device for training the human body Download PDFInfo
- Publication number
- EP4151285A1 EP4151285A1 EP21197141.1A EP21197141A EP4151285A1 EP 4151285 A1 EP4151285 A1 EP 4151285A1 EP 21197141 A EP21197141 A EP 21197141A EP 4151285 A1 EP4151285 A1 EP 4151285A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- exoskeleton
- fitness device
- user
- joint
- mechanical joint
- 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.)
- Pending
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Classifications
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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
- 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
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
-
- 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
- A63B21/4023—Interfaces with the user related to strength training; Details thereof the user operating the resistance directly, without additional interface
- A63B21/4025—Resistance devices worn on the user's body
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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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
- 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
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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
- 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
- A63B2071/0675—Input for modifying training controls during workout
- A63B2071/0683—Input by handheld remote control
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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
- 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
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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
- 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
- A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
-
- 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
- A63B2220/16—Angular positions
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
Definitions
- the present invention relates to a versatile fitness and/or training device that is designed as an exoskeleton (exoskeleton) and can be worn on the body by the user. With the help of a control, the resistance to movement, which is opposed to the individual limbs, can be dynamically adjusted and thus "virtual weights" can be simulated.
- exoskeletons are known from the prior art, which take the form of support robots that can be worn on the body.
- the exoskeleton is not a direct part of the supporting body, but supports and amplifies its movements with the help of mechanical power.
- Active drive components of the exoskeleton contribute to power reduction and load reduction.
- the mechanical support is often provided via spring drives.
- other actuators such as electric motors, pneumatic or hydraulic drives can also be used.
- Exoskeletons are used, for example, in industry for physically demanding activities to support workers.
- Another example of an area where exoskeletons are used is orthopedics. In the orthopedic field, exoskeletons are used as orthopedic aids. On the one hand, exoskeletons can be used to relieve the limbs. On the other hand, exoskeletons can also take over the function of active prostheses.
- training devices are known that require a fixed installation location and thus space, such as multi-gyms, treadmills or ergometers.
- training devices are known which can set and dynamically change the mechanical resistance of the training device to be overcome during training. For example, it is possible to simulate an incline in the terrain with treadmills or ergometers.
- all of these training devices have the disadvantage that they require a fixed location and must be operated in a stationary manner. Training equipment that does not require a fixed location, can be used flexibly, but have the disadvantage that they are usually used without instruction by a specialist and can therefore lead to damage and injuries to the user through improper use.
- an exoskeleton fitness device that allows a targeted restriction of a user's physical mobility.
- an exoskeleton fitness device in particular for training the human body, is provided, which comprises a wearable structure with at least one fastening element, wherein the at least one fastening element is formed, the wearable structure on the body of a user to attach.
- the exoskeleton fitness device according to the invention comprises at least one mechanical joint with at least one axis of rotation and at least one degree of freedom, the at least one mechanical joint being attached to the portable structure.
- the exoskeleton fitness device comprises at least one unit for generating a rotary resistance, which counteracts a rotary movement of the at least one mechanical joint, and a controller for controlling the rotary resistance, the controller being designed to control the rotary resistance according to a user setting.
- the exoskeleton fitness device comprises a mechanical structure that is worn on a user's body.
- the exoskeleton fitness equipment can be an exoskeleton that is worn on the entire body or only on a specific part of the body such as the back, legs or arms.
- the exoskeleton fitness device can be a combination of two or more exoskeleton fitness devices.
- a left arm exoskeleton fitness machine can be combined with a right arm exoskeleton fitness machine, or a left arm exoskeleton fitness machine can be combined with a left leg exoskeleton fitness machine.
- An exoskeleton fitness machine can be shaped for an upper body or for the hips and legs. Any combinations with a different number of exoskeleton fitness devices are conceivable.
- the exoskeleton fitness device includes a portable structure.
- the portable structure may include one or more parts. When the portable structure is carried by a user, at least a part of the portable structure may be arranged parallel to a limb of the user.
- the portable structure can contain different materials.
- the wearable structure is attached to the user's body with fasteners.
- the fasteners may be removably or non-removably connected to the portable structure.
- the fastening elements can each consist of one component or of several components.
- the fasteners may include rigid components and/or flexible components and/or straps and/or straps.
- the fasteners can include various materials such as textiles, plastics and metals.
- the attachment elements can be designed in such a way that they attach the portable structure to the user's body in such a way that the at least one mechanical joint is positioned on the user's body in such a way that the at least one mechanical joint is at the level of a body joint and is oriented such that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint.
- At least a part of the wearable structure may be parallel to the body part including the body joint.
- the exoskeletal fitness device further includes at least one mechanical joint attached to the portable structure.
- the mechanical joint rotatably connects two parts of the portable structure together.
- the mechanical joint has at least one axis of rotation and at least one degree of freedom.
- the number of degrees of freedom indicates in how many planes a rotational movement around an axis of rotation of the mechanical joint is possible.
- the mechanical joint can have several degrees of freedom. For example, if the mechanical joint has only a single degree of freedom, the mechanical joint has only one axis of rotation. A rotational movement is only possible around this one axis of rotation. The rotary movement is carried out in one plane.
- the number of planes in which rotational movement is permitted by the mechanical joint corresponds to the number of degrees of freedom of the mechanical joint and the number of axes of rotation that the mechanical joint possesses. For example, if the number of degrees of freedom is 3, the mechanical joint has 3 rotation axes and 3 planes are defined in which a rotation movement about a rotation axis is possible.
- the mechanical joint can be a rotary joint or a universal joint, for example.
- a universal joint is an angularly movable connection between two shafts. Due to the angular mobility, a large number of degrees of freedom is achieved.
- Other types of mechanical joints can also be used with the invention.
- the exoskeleton fitness device also includes at least one unit for generating a rotational resistance.
- the rotational resistance counteracts a rotational movement of the at least one mechanical joint.
- the resistance to rotation slows down the rotation of the mechanical joint.
- the exoskeleton fitness device also includes a controller for controlling the rotational resistance according to a user setting.
- the user preference is a setting that the user can accept as a default or change according to their needs.
- the user can adjust the rotational resistance that the user has to overcome when moving the exoskeleton fitness device around a rotational axis of a body joint and thus around the rotational axis of the mechanical joint.
- the controller can control the rotational resistance in each plane in which rotational movement about a rotational axis of the mechanical joint is possible.
- the controller can control the turning resistance such that the turning resistance remains constant or is dynamically changed.
- Control is to be understood here as an electronic control that contains at least one processor and/or microprocessor.
- the controller may include an electronic memory.
- the at least one unit for generating a rotary resistance can also have an electric motor, a pneumatic or a hydraulic drive.
- the electric motor, the pneumatic or the hydraulic drive can provide the force for the rotational resistance to brake the rotational movement.
- the exoskeleton fitness device according to the invention can include a radio module with an antenna for the wireless transmission of data between the controller and a mobile terminal.
- the advantage of the exoskeleton fitness device according to the invention is that the exoskeleton fitness device can be used flexibly. A fixed location is not required. With all the flexibility of the exoskeleton fitness device according to the invention, a risk of improper use is minimized.
- the portable structure and the fastening elements ensure that the position of the mechanical joint corresponds to a position of the body joint and that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint.
- an exoskeleton fitness device can also be manufactured that is much lighter than the exoskeletons that are already known.
- the portable structure may further comprise a first part and a second part, the first part and the second part being rotatable with each other via the mechanical joint are connected.
- the first part and the second part can each extend along a part of the body.
- the first part and the second part may be shaped as rails, cups, struts or grids that are positioned along the body portion and parallel to the body portion by the fasteners.
- the first part and the second part can be formed from a combination of rails and/or shells and/or struts and/or grids.
- the splints can be straight in shape or have a slight curvature that is adapted to a curve of the body part.
- the shells can be designed according to an external shape of the body part.
- the first part and the second part may be shaped to cover, partially enclose, or fully enclose the body part.
- the first part and the second part can each be formed in one piece or in multiple pieces. If the first part and the second part are formed as struts, each part may have at least one strut.
- the first part and the second part can be formed from a rigid material.
- the first part and the second part may be formed from a combination of rigid and more resilient materials.
- the exoskeleton fitness device can be designed in such a way that the at least one axis of rotation of the at least one mechanical joint corresponds to an axis of rotation of a body joint of the user.
- the portable structure can also be designed to enable a sequence of movements that is carried out by at least one part of the user's body, in particular by a left shoulder and/or a right shoulder and/or a torso and/or a left arm and /or a right arm and/or a left upper arm and/or a right upper arm and/or a left forearm and/or a right forearm and/or a left hand and/or a right hand and/or at least one finger and/or a left hip and/or a right hip and/or a left leg and/or a right leg and/or a left knee and/or a right knee and/or a left foot and/or a right foot.
- the at least one unit for generating the rotational resistance comprises an electrically controllable brake.
- the exoskeleton fitness device can further comprise at least one position sensor, which is positioned on a joint of the body when the structure is being worn and is designed to detect position data of the movement sequence.
- the at least one position sensor can be provided on the at least one mechanical joint in order to detect an angle of rotation about the axis of rotation.
- the position data can recorded, forwarded to the controller and/or stored.
- the controller can compare the received position data with stored data of a motion specification.
- the exoskeleton fitness device according to the invention can include a radio module with an antenna for the wireless transmission of data between the position sensor, the controller and a mobile terminal.
- the exoskeleton fitness device can also include at least one optical marking.
- the at least one optical marker can be provided on the portable structure and/or on the at least one mechanical joint.
- the optical marking can be captured by a camera.
- the camera can use the optical marking to record a movement sequence of the user wearing the exoskeleton fitness device with position measurement.
- the sequence of movements can be captured either by the camera or by the position sensor.
- the movement sequence can be recorded simultaneously by the camera and the position sensor.
- the resulting data can be saved and evaluated by the controller.
- the exoskeleton fitness device can comprise at least one pair of mechanical joints whose axes of rotation match.
- the pair of mechanical joints can for example be arranged in pairs at the level of a body joint of a limb, so that one mechanical joint is positioned on an inside of the limb next to the body joint and the other mechanical joint is positioned on an outside of the limb next to the body joint.
- the two mechanical joints of the pair are arranged opposite one another on the portable structure in accordance with a position of a body joint of the user, so that the body joint is positioned in its center.
- the body joint can be arranged between the two mechanical joints, whereby the axes of rotation of the two mechanical joints and the body joint can be aligned with each other.
- the controller is also designed to control the at least one rotary resistance as a function of an angular force applied by the user.
- the exoskeleton fitness device can also include at least one torque sensor, in particular at least one magnetostrictive torque sensor, for measuring the angular force applied by the user.
- the torque sensor can be a magnetostrictive torque sensor comprising a shaft which is magnetized in a first circumferential direction in a first axial section and to which a torque to be measured can be applied.
- Such a torque sensor can furthermore comprise a first magnetic field sensor for detecting a magnetic field outside the shaft which is generated by the first section of the shaft and is dependent on the applied torque.
- the first magnetic field sensor may include a first 3D AMR sensor.
- the torque sensor can be a magnetostrictive torque sensor with a hollow shaft, which is magnetized in a first circumferential direction in a first axial section and to which a torque to be measured can be applied, and a first magnetic field sensor for detecting a magnetic field generated by the first section of the hollow shaft outside the hollow shaft.
- a torque sensor is detailed in the European patent application EP3232172A1 described.
- the torque sensor may be a disc sensor comprising a disc comprising a magnetostrictive, biased or magnetizable material and a magnetic field sensor assembly. A torque acting about an axis of rotation of the disk can be applied to the disk.
- the magnetostrictive material is designed to generate a magnetic field outside the disk that can be changed as a function of the acting torque.
- the magnetic field sensor arrangement outputs a signal based on the magnetic field generated by the magnetostrictive material.
- the torque sensor uses the output signal to determine a value for the effective torque.
- a disk which acts as a force-transmitting element, is used to measure the applied torque by pre-magnetizing the disk. In this way, the disk is used as the primary sensor (magnetized area) and not a shaft on which the disk can be placed.
- Such a disc sensor is in the European patent application EP21183622.6 described in detail.
- the exoskeleton fitness device can include a radio module with an antenna for the wireless transmission of data between the torque sensor, the controller and a mobile terminal.
- the measurement data of the angular force applied by the user can be transmitted to the control.
- the controller can control the rotation resistance depending on the angular force measurement data.
- the present invention also provides a method, in particular for exercising the human body, with an exoskeleton fitness device.
- the procedure includes the following Steps: Fastening a portable structure of the exoskeleton fitness device by means of at least one fastening element on the body of a user, generating a rotational resistance which counteracts a rotational movement of a mechanical joint, the mechanical joint comprising at least one axis of rotation and at least one degree of freedom, and the at least one mechanical joint is attached to the portable structure, and controlling the turning resistance by means of a controller according to a user setting.
- the method also includes the following steps: the user, using the portable structure, performs an angular movement, the center of which forms a joint of the user's body, measuring an angular force applied by the user using a torque sensor, and the control further includes to control the at least one rotary resistor depending on the measured angular force.
- FIG 1 1 is a schematic representation of an exemplary exoskeleton fitness device according to the present invention on a user. Without loss of generality are in the figure 1 an exoskeleton fitness device for an arm and a leg is clearly shown.
- the exoskeleton fitness device can be designed to mimic the natural movement patterns of the limbs when worn. This means that, for example, the arms and/or legs can be moved freely when wearing the exoskeleton fitness device.
- the exoskeleton fitness device can be designed in such a way that when the exoskeleton fitness device is worn, it only maps part of the natural movement patterns of the limbs. This means that, for example, the arms and/or legs can be restricted to certain movement planes when wearing the exoskeleton fitness device.
- a ball joint consists of a spherical joint head that slides in a joint socket in the shape of a hollow spherical section.
- Ball joints have practically an infinite number of joint axes and accordingly allow mobility in all directions.
- the shoulder joint and the hip joint are ball and socket joints.
- Another example of a joint found in the human body is a hinge joint.
- the hinge joint consists of a groove and a matching roller.
- a hinge joint has only one degree of freedom, which allows movement around only one axis, namely around the hinge axis, in just a single plane of movement.
- Finger middle and finger end joints are, for example, hinge joints.
- the mobility of the human body is not only caused by the body joints alone.
- an interaction of muscles and joints is necessary.
- the muscles are strengthened by using the exoskeleton fitness device according to the invention.
- the exoskeleton fitness device has three mechanical joints 10 and a portable structure 20 with a plurality of fasteners 30 .
- the wearable structure 20 on the user's body is such attached that a mechanical joint 10 is positioned at the knee, at the elbow and at the shoulder of the user.
- the mechanical joints 10 shown connects a first part and a second part of the portable structure 20 rotatably together.
- “Rotatable” means that the mechanical joint 10 allows the first part 21 and the second part 22 of the wearable structure 20 attached to the user's body to undergo angular movement about the axis of the mechanical joint.
- One end of the first part 21 and/or the second part 22 of the portable structure 20 may be rotatably connected to one mechanical joint 10 and each longitudinally opposite end may be connected to another mechanical joint 10 .
- the figure 1 Figure 1 shows that part of the portable structure 20 is connected to both the mechanical joint 10 positioned at the user's shoulder joint and the mechanical joint 10 positioned at the elbow joint.
- a portion of the portable structure 20 running along a thigh may be connected to a mechanical joint 10 positioned at the knee and a mechanical joint 10 positioned at the hip.
- a portion of the portable structure 20 running along a lower leg may be connected to a mechanical joint 10 positioned at the knee and to a mechanical joint 10 positioned at the ankle.
- the list of examples does not claim to be complete.
- the portable structure 20 and the mechanical joints 10 are arranged on an outer side of the limbs, which faces away from a middle of the user's body.
- the mechanical joints are attached to the portable structure such that the position of each mechanical joint of the exoskeleton fitness device corresponds to the position of a joint in the body.
- the parts 21, 22 of the portable structure 20, which are connected by a mechanical joint 10, are arranged so that the parts 21, 22 are parallel to a body axis or a limb of the user.
- the parts 21, 22 of the portable structure 20 are arranged to run along the outside of an arm and leg, respectively, and parallel to the arm and leg.
- the parts 21, 22 of the portable structure 20 and the mechanical joints 10 can be arranged on an inner side of the limbs, ie on a side of the limbs which is towards the middle of the body.
- the parts 21, 22 of the portable structure 20 and the mechanical joints 10 can be arranged on an outside and an inside of the limbs.
- the exoskeleton fitness device according to the invention can comprise at least one pair of mechanical joints 10 whose axes of rotation coincide.
- the mechanical joints 10 and/or the parts 21, 22 of the portable structure 20 can be arranged in pairs. This means that mechanical joints 10 and parts 21, 22 of the portable structure 20 are arranged in pairs on the inside and outside of the limbs.
- An inventive Exoskeleton fitness equipment may have other mechanical joints 10 at positions each corresponding to the position of a body joint.
- a mechanical joint 10 may be positioned at each ankle and/or wrist and/or finger joints and/or hip and/or shoulder blade of the user's body.
- a first part 21 of the portable structure 20 can extend from the mechanical joint 10 along a back side of an upper arm of the user parallel to the upper arm.
- the length of the first part 21 can be determined in such a way that bending of the elbow is possible.
- the length of the first part 21 can also be determined in such a way that bending of the elbow is no longer possible.
- a second portion 22 of the portable structure 20 may extend from the mechanical joint 10 along the user's back toward the ground.
- the exoskeleton fitness device can comprise one or more position sensors.
- a position sensor is placed at a joint of the body when the structure is worn.
- the position sensor captures position data of the movement sequence that the user performs with the corresponding part of the body where the position sensor is located.
- the movement of an object can be detected and converted into suitable signals for processing, transmission and control.
- position measurement solutions include inductive, potentiometric, magnetoresistive, and capacitive measurements.
- the wearable structure can comprise an optical marking which is captured by a camera. A sequence of movements that the user performs with different parts of the body can be filmed, analyzed and controlled.
- a mechanical joint 10 which comprises an axis of rotation 11 .
- the top right diagram illustrates a plane defined by the xy-axes in which rotational movement about the rotational axis 11 of the mechanical joint 10 can take place.
- the figure 2 also shows a schematic view in the direction of the axis of rotation 11 of the mechanical joint 10.
- the in the figure 2 The mechanical joint 10 shown schematically connects a first part 21 and a second part 22 of the portable structure 20 of the exoskeleton fitness device according to the invention in a rotatable manner.
- the fasteners 30 were in the figure 2 omitted for the sake of clarity.
- a rotational movement of the first part 21 about the axis of rotation 11 is indicated by dashed lines. Without rotational movement, the first part 21 and the second part 22 are in an extended form.
- "Stretched form” means here that the first part 21 and the second part 22, which are rotatably connected to one another via the mechanical joint 10, form an angle of 180 degrees.
- the stretched shape corresponds, for example, to stretched limbs of the human body.
- the axis of rotation 11 of the mechanical joint 10 coincides with the axis of rotation of the body joint.
- a rotational resistance counteracts a rotational movement of the mechanical joint 10 . Therefore, the rotational movement to which, for example, the first part 21 of the portable structure 20 is subjected by the user is decelerated.
- FIG. 12 schematically shows the mechanical joint 10 according to the present invention.
- the mechanical joint 10 includes the axis of rotation 11.
- the figure 3 FIG. 12 further shows a unit 12 for generating a rotary resistance.
- a braking force acts on the angled portion 21A of the first part 21 of the portable structure 20, causing the rotation resistance.
- the angled area 21A is referred to as a shaft 21A.
- the unit 12 generates the rotary resistance, which is controlled by a controller 50 according to a user setting.
- the rotational resistance generated counteracts a rotational movement of the mechanical joint 10 . Therefore, the rotational movement to which, for example, the first part 21 of the portable structure 20 is subjected by the user is decelerated.
- FIG. 12 schematically shows the mechanical joint 10 according to the present invention.
- the mechanical joint 10 includes the axis of rotation 11.
- the figure 3 FIG. 12 further shows a unit 12 for generating a rotary resistance.
- a braking force acts on the angled portion
- the torque sensor 40 also shows a torque sensor 40 which measures the angular force applied by the user.
- the torque sensor 40 includes a magnetic field sensor 41 and a magnetized portion 42 of the bent portion of the first part 21 (shaft 21A).
- the torque acting on the axis of rotation causes a minimal torsion of the shaft 21A, whereby a magnetic field generated outside the shaft 21A through the magnetized area 42 is generated changes.
- the change in the magnetic field is detected by the magnetic field sensor 42 .
- the magnetic field sensor 42 sends a signal containing information about the detected magnetic field change to the controller 50.
- the controller 50 processes the received information about the magnetic field change and determines a magnitude of the angular force.
- the magnitude of the angular force determined is compared with a user setting.
- the controller 50 controls the rotational resistance generating unit 12 so that the generated rotational resistance that brakes the rotational movement is either increased or decreased according to the deviation.
- the controller 50 of the exoskeleton fitness device according to the invention can control the rotational resistance depending on an angular force applied by the user.
- the rotational resistance can be generated, for example, by an electrically controllable brake.
- the force required by the user to rotate the exoskeleton fitness device around the axis of rotation of the body joint can be adjusted and controlled.
- the controller 50 can process data from a position sensor and control the rotary resistance accordingly.
- the controller 50 can image data from a captured by the camera, and control the rotary resistance accordingly, or feedback can be provided with a motion preset.
- the figure 4 shows the mechanical joint 10, which is also in the figure 3 is shown, with the difference that the torque sensor is a magnetostrictive disc sensor 40.
- the first part 21 is connected to an inner area (with respect to the radial direction) of the disk 43 .
- the second part 22 is connected to an outer side (with respect to the radial direction) of the disc 43 .
- the disk sensor 40 includes a disk 43 containing a magnetostrictive, biased or magnetizable material 42 and a magnetic field sensor assembly 41.
- the magnetostrictive material 42 is magnetized in a central region (between the inner and outer regions) of the disk 43.
- FIG. A torque acting about an axis of rotation of the disk can be applied to the disk 43 .
- the magnetostrictive material 42 generates a variable magnetic field outside the disk 43 as a function of the acting torque (angular force).
- the magnetic field sensor arrangement 41 emits a signal based on the magnetic field generated by the magnetostrictive material.
- the torque sensor 40 determines a value of the effective torque on the basis of the output signal.
- the disk 43 which acts as a force-transmitting element, is used to measure the applied torque by the disk 43 being pre-magnetized.
- the figure 5 shows a scheme for a method, in particular for training a human body, with an exoskeleton fitness device according to the invention.
- the user attaches the wearable structure 20 of the exoskeleton fitness device to their body using the fasteners 30 .
- the position of a mechanical joint 10 corresponds to the position of a body joint.
- the axis of rotation 11 of the mechanical joint 10 coincides with the axis of rotation of the body joint.
- the user makes settings using a mobile terminal by entering appropriate data into the mobile terminal.
- the data entered by the user in the mobile terminal are transmitted to the controller 50.
- a resistance to rotation is generated, which counteracts the rotation of the mechanical joint.
- the rotary resistance is controlled by the controller 50 according to the user setting.
- the user can perform an angular movement by means of the portable structure, the center of which forms a joint of the user's body.
- the angular force applied by the user can be detected using a torque sensor.
- the rotational resistance can be controlled depending on the angular force applied by the user.
- the invention described allows flexible use without a fixed installation site. A risk of improper use is minimized with all flexibility.
- the weight of the exoskeleton fitness device according to the invention can be very much lighter than that of exoskeletons that are already known.
Abstract
Die vorliegende Erfindung stellt ein Exoskelett-Fitnessgerät, insbesondere zum Trainieren eines menschlichen Körpers, zur Verfügung. Das Exoskelett-Fitnessgerät umfasst eine tragbare Struktur mit wenigstens einem Befestigungselement, wobei das wenigstens eine Befestigungselement ausgebildet ist, die tragbare Struktur am Körper eines Nutzers zu befestigen, wenigstens ein mechanisches Gelenk mit wenigstens einer Drehachse und wenigstens einem Freiheitsgrad, wobei das wenigstens eine mechanische Gelenk an der tragbaren Struktur befestigt ist, wenigstens eine Einheit zum Erzeugen eines Drehwiderstands, welcher einer Drehbewegung des wenigstens einen mechanischen Gelenks entgegenwirkt, und eine Steuerung zum Steuern des Drehwiderstands, wobei die Steuerung ausgebildet ist, den Drehwiderstand entsprechend einer Nutzereinstellung zu steuern.The present invention provides an exoskeleton fitness device, in particular for exercising a human body. The exoskeleton fitness device comprises a wearable structure with at least one fastening element, the at least one fastening element being designed to fasten the wearable structure to the body of a user, at least one mechanical joint with at least one axis of rotation and at least one degree of freedom, the at least one mechanical joint attached to the portable structure, at least one unit for generating a rotational resistance counteracting rotational movement of the at least one mechanical joint, and a controller for controlling the rotational resistance, the controller being configured to control the rotational resistance according to a user setting.
Description
Die vorliegende Erfindung betrifft ein vielseitig einsetzbares Fitness- und/oder Trainingsgerät, das als Exoskelett (Exoskeleton) ausgestaltet ist und vom Nutzer am Körper getragen werden kann. Mit Hilfe einer Steuerung können die Bewegungswiderstände, die den einzelnen Gliedmaßen entgegengesetzt werden, dynamisch angepasst und somit "virtuelle Gewichte" simuliert werden.The present invention relates to a versatile fitness and/or training device that is designed as an exoskeleton (exoskeleton) and can be worn on the body by the user. With the help of a control, the resistance to movement, which is opposed to the individual limbs, can be dynamically adjusted and thus "virtual weights" can be simulated.
Aus dem Stand der Technik sind beispielsweise künstliche, maschinelle Exoskelette bekannt, die die Form von am Körper tragbaren Stützrobotern annehmen. Dabei ist das Exoskelett kein direkter Bestandteil des tragenden Körpers, sondern unterstützt und verstärkt seine Bewegungen mithilfe von maschineller Kraft. Aktive Antriebskomponenten des Exoskeletts tragen zu Kraftreduzierung und Lastminderung bei. Die mechanische Unterstützung wird häufig über Federantriebe zur Verfügung gestellt. Es können aber auch andere Aktoren wie Elektromotoren, pneumatische oder hydraulische Antriebe eingesetzt werden. Exoskelette werden beispielsweise in der Industrie für körperlich anspruchsvolle Tätigkeiten eingesetzt, um die Arbeitenden zu unterstützen. Ein weiteres Beispiel für einen Bereich, in dem Exoskelette Anwendung finden, ist die Orthopädie. Im orthopädischen Bereich werden Exoskelette als orthopädische Hilfen eingesetzt. Dabei können Exoskelette einerseits als Entlastung für die Gliedmaßen verwendet werden. Aber andererseits können Exoskelette auch die Funktion aktiver Prothesen übernehmen.For example, artificial, mechanical exoskeletons are known from the prior art, which take the form of support robots that can be worn on the body. The exoskeleton is not a direct part of the supporting body, but supports and amplifies its movements with the help of mechanical power. Active drive components of the exoskeleton contribute to power reduction and load reduction. The mechanical support is often provided via spring drives. However, other actuators such as electric motors, pneumatic or hydraulic drives can also be used. Exoskeletons are used, for example, in industry for physically demanding activities to support workers. Another example of an area where exoskeletons are used is orthopedics. In the orthopedic field, exoskeletons are used as orthopedic aids. On the one hand, exoskeletons can be used to relieve the limbs. On the other hand, exoskeletons can also take over the function of active prostheses.
Im Fitnessbereich, in dem eine Steigerung der körperlichen Leistungsfähigkeit und/oder Muskelaufbau durch ein gezieltes Training angestrebt wird, gibt es eine Vielzahl von Fitnessgeräten. Beispielsweise sind Trainingsgeräte bekannt, die einen festen Aufstellungsort und damit entsprechend Platz benötigen, wie beispielsweise Kraftstationen, Laufbänder oder Ergometer. Des Weiteren sind Trainingsgeräte bekannt, die den beim Training zu überwindenden mechanischen Widerstand des Trainingsgeräts einstellen und dynamisch verändern können. So ist es beispielsweise möglich, bei Laufbändern oder Ergometern eine Geländesteigung zu simulieren. Alle diese Trainingsgeräte haben jedoch den Nachteil, dass sie einen festen Aufstellungsort benötigen und stationär betrieben werden müssen. Trainingsgeräte, die keinen festen Aufstellungsort benötigen, können zwar flexibel eingesetzt werden, haben aber den Nachteil, dass sie meist ohne Einweisung durch eine Fachkraft angewendet werden und deshalb, durch unsachgemäße Anwendung, zu Schädigungen und Verletzungen beim Anwender führen können.In the fitness sector, in which an increase in physical performance and/or muscle building is aimed at through targeted training, there is a large number of fitness equipment. For example, training devices are known that require a fixed installation location and thus space, such as multi-gyms, treadmills or ergometers. Furthermore, training devices are known which can set and dynamically change the mechanical resistance of the training device to be overcome during training. For example, it is possible to simulate an incline in the terrain with treadmills or ergometers. However, all of these training devices have the disadvantage that they require a fixed location and must be operated in a stationary manner. Training equipment that does not require a fixed location, can be used flexibly, but have the disadvantage that they are usually used without instruction by a specialist and can therefore lead to damage and injuries to the user through improper use.
Es liegt somit der vorliegenden Erfindung die Aufgabe zugrunde, ein Fitnessgerät bereitzustellen, das einem Nutzer eine anspruchsvolle Trainingsmöglichkeit bietet ohne dabei einen festen Aufstellungsort des Fitnessgerätes zu benötigen, und das ein Risiko für eine unsachgemäße Anwendung minimiert.It is therefore the object of the present invention to provide a fitness device that offers a user a demanding training option without requiring a fixed installation location for the fitness device and that minimizes the risk of improper use.
Die oben genannte Aufgabe wird durch ein Exoskelett-Fitnessgerät gelöst, das ein gezieltes Einschränken der körperlichen Bewegungsfähigkeit eines Nutzers ermöglicht. Im Speziellen wird die oben genannte Aufgabe dadurch gelöst, dass ein Exoskelett-Fitnessgerät, insbesondere zum Trainieren des menschlichen Körpers, bereitgestellt wird, das eine tragbare Struktur mit wenigstens einem Befestigungselement umfasst, wobei das wenigstens eine Befestigungselement ausgebildet ist, die tragbare Struktur am Körper eines Nutzers zu befestigen. Des Weiteren umfasst das erfindungsgemäße Exoskelett-Fitnessgerät wenigstens ein mechanisches Gelenk mit wenigstens einer Drehachse und wenigstens einem Freiheitsgrad, wobei das wenigstens eine mechanische Gelenk an der tragbaren Struktur befestigt ist. Des Weiteren umfasst das erfindungsgemäße Exoskelett-Fitnessgerät wenigstens eine Einheit zum Erzeugen eines Drehwiderstands, welcher einer Drehbewegung des wenigstens einen mechanischen Gelenks entgegenwirkt, und eine Steuerung zum Steuern des Drehwiderstands, wobei die Steuerung ausgebildet ist, den Drehwiderstand entsprechend einer Nutzereinstellung zu steuern.The above-mentioned problem is solved by an exoskeleton fitness device that allows a targeted restriction of a user's physical mobility. In particular, the above object is achieved in that an exoskeleton fitness device, in particular for training the human body, is provided, which comprises a wearable structure with at least one fastening element, wherein the at least one fastening element is formed, the wearable structure on the body of a user to attach. Furthermore, the exoskeleton fitness device according to the invention comprises at least one mechanical joint with at least one axis of rotation and at least one degree of freedom, the at least one mechanical joint being attached to the portable structure. Furthermore, the exoskeleton fitness device according to the invention comprises at least one unit for generating a rotary resistance, which counteracts a rotary movement of the at least one mechanical joint, and a controller for controlling the rotary resistance, the controller being designed to control the rotary resistance according to a user setting.
Das erfindungsgemäße Exoskelett-Fitnessgerät umfasst eine mechanische Struktur, die am Körper eines Nutzers getragen wird. Das Exoskelett-Fitnessgerät kann ein Exoskelett sein, das am gesamten Körper oder nur an einer bestimmten Körperpartie wie beispielsweise dem Rücken, den Beinen oder Armen getragen wird. Das Exoskelett-Fitnessgerät kann eine Kombination aus zwei oder mehreren Exoskelett-Fitnessgeräten sein. Beispielsweise kann ein Exoskelett-Fitnessgerät für einen linken Arm mit einem Exoskelett-Fitnessgerät für einen rechten Arm oder ein Exoskelett-Fitnessgerät für einen linken Arm mit einem Exoskelett-Fitnessgerät mit einem linken Bein kombiniert werden. Ein Exoskelett-Fitnessgerät kann für einen Oberkörper oder für die Hüfte und die Beine geformt sein. Es sind beliebige Kombinationen mit einer unterschiedlichen Anzahl von Exoskelett-Fitnessgeräten denkbar.The exoskeleton fitness device according to the invention comprises a mechanical structure that is worn on a user's body. The exoskeleton fitness equipment can be an exoskeleton that is worn on the entire body or only on a specific part of the body such as the back, legs or arms. The exoskeleton fitness device can be a combination of two or more exoskeleton fitness devices. For example, a left arm exoskeleton fitness machine can be combined with a right arm exoskeleton fitness machine, or a left arm exoskeleton fitness machine can be combined with a left leg exoskeleton fitness machine. An exoskeleton fitness machine can be shaped for an upper body or for the hips and legs. Any combinations with a different number of exoskeleton fitness devices are conceivable.
Das Exoskelett-Fitnessgerät umfasst eine tragbare Struktur. Die tragbare Struktur kann einen oder mehrere Teile umfassen. Beim Tragen der tragbaren Struktur durch einen Nutzer kann wenigstens ein Teil der tragbaren Struktur parallel zu einer Gliedmaße des Nutzers angeordnet sein. Die tragbare Struktur kann verschiedene Materialien enthalten.The exoskeleton fitness device includes a portable structure. The portable structure may include one or more parts. When the portable structure is carried by a user, at least a part of the portable structure may be arranged parallel to a limb of the user. The portable structure can contain different materials.
Die tragbare Struktur wird mit Befestigungselementen am Körper des Nutzers befestigt. Die Befestigungselemente können mit der tragbaren Struktur abnehmbar oder nicht abnehmbar verbunden sein. Die Befestigungselemente können jeweils aus einer Komponente oder aus mehreren Komponenten bestehen. Die Befestigungselemente können starre Komponenten und/oder flexible Komponenten und/oder Gurte und/oder Riemen beinhalten. Die Befestigungselemente können verschiedene Materialien beinhalten wie beispielsweise Textilien, Kunststoffe und Metalle. Die Befestigungselemente können derart gestaltet sein, dass sie die tragbare Struktur am Körper des Nutzers so befestigen, dass das wenigstens eine mechanische Gelenk am Körper des Nutzers so positioniert ist, dass das wenigstens eine mechanische Gelenk auf Höhe eines Körpergelenks liegt und so ausgerichtet ist, dass die Drehachse des mechanischen Gelenks mit der Drehachse des Körpergelenks übereinstimmt. Wenigstens ein Teil der tragbaren Struktur kann an der Körperpartie, die das Körpergelenk beinhaltet, parallel angeordnet sein.The wearable structure is attached to the user's body with fasteners. The fasteners may be removably or non-removably connected to the portable structure. The fastening elements can each consist of one component or of several components. The fasteners may include rigid components and/or flexible components and/or straps and/or straps. The fasteners can include various materials such as textiles, plastics and metals. The attachment elements can be designed in such a way that they attach the portable structure to the user's body in such a way that the at least one mechanical joint is positioned on the user's body in such a way that the at least one mechanical joint is at the level of a body joint and is oriented such that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint. At least a part of the wearable structure may be parallel to the body part including the body joint.
Das Exoskelett-Fitnessgerät umfasst weiterhin wenigstens ein mechanisches Gelenk, welches an der tragbaren Struktur befestigt ist. Das mechanische Gelenk verbindet zwei Teile der tragbaren Struktur drehbar miteinander. Das mechanische Gelenk besitzt wenigstens eine Drehachse und wenigstens einen Freiheitsgrad. Die Anzahl von Freiheitsgraden gibt an, in wie vielen Ebenen eine Drehbewegung um eine Drehachse des mechanischen Gelenks möglich ist. Das mechanische Gelenk kann mehrere Freiheitsgrade aufweisen. Wenn das mechanische Gelenk beispielsweise nur einen einzigen Freiheitsgrad besitzt, weist das mechanische Gelenk nur eine Drehachse auf. Eine Drehbewegung ist nur um diese eine Drehachse möglich. Die Drehbewegung wird in einer Ebene ausgeführt. Die Anzahl der Ebenen, in der eine Drehbewegung durch das mechanische Gelenk erlaubt wird, entspricht der Anzahl von Freiheitsgraden des mechanischen Gelenks und der Anzahl von Drehachsen, die das mechanische Gelenk besitzt. Beträgt die Anzahl von Freiheitsgraden beispielsweise 3, weist das mechanische Gelenk 3 Drehachsen auf und es werden 3 Ebenen definiert, in denen eine Drehbewegung um eine Drehachse möglich ist. Das mechanische Gelenk kann beispielsweise ein Drehgelenk oder ein Kreuzgelenk sein. Ein Kreuzgelenk ist eine winkelbewegliche Verbindung zwischen zwei Wellen. Durch die Winkelbeweglichkeit wird eine Vielzahl von Freiheitsgraden erreicht. Auch andere Arten von mechanischen Gelenken können mit der Erfindung verwendet werden.The exoskeletal fitness device further includes at least one mechanical joint attached to the portable structure. The mechanical joint rotatably connects two parts of the portable structure together. The mechanical joint has at least one axis of rotation and at least one degree of freedom. The number of degrees of freedom indicates in how many planes a rotational movement around an axis of rotation of the mechanical joint is possible. The mechanical joint can have several degrees of freedom. For example, if the mechanical joint has only a single degree of freedom, the mechanical joint has only one axis of rotation. A rotational movement is only possible around this one axis of rotation. The rotary movement is carried out in one plane. The number of planes in which rotational movement is permitted by the mechanical joint corresponds to the number of degrees of freedom of the mechanical joint and the number of axes of rotation that the mechanical joint possesses. For example, if the number of degrees of freedom is 3, the mechanical joint has 3 rotation axes and 3 planes are defined in which a rotation movement about a rotation axis is possible. The mechanical joint can be a rotary joint or a universal joint, for example. A universal joint is an angularly movable connection between two shafts. Due to the angular mobility, a large number of degrees of freedom is achieved. Other types of mechanical joints can also be used with the invention.
Das Exoskelett-Fitnessgerät umfasst des Weiteren wenigstens eine Einheit zum Erzeugen eines Drehwiderstands. Der Drehwiderstand wirkt einer Drehbewegung des wenigstens einen mechanischen Gelenks entgegen. Der Drehwiderstand bremst die Drehbewegung des mechanischen Gelenks.The exoskeleton fitness device also includes at least one unit for generating a rotational resistance. The rotational resistance counteracts a rotational movement of the at least one mechanical joint. The resistance to rotation slows down the rotation of the mechanical joint.
Das Exoskelett-Fitnessgerät umfasst außerdem eine Steuerung zum Steuern des Drehwiderstands entsprechend einer Nutzereinstellung. Die Nutzereinstellung ist eine Einstellung, die der Nutzer als eine Voreinstellung übernehmen oder entsprechend seinen Bedürfnissen ändern kann. Beispielsweise kann der Nutzer den Drehwiderstand, den der Nutzer überwinden muss, wenn er das Exoskelett-Fitnessgerät um eine Drehachse eines Körpergelenks und damit um die Drehachse des mechanischen Gelenks bewegt, einstellen. Die Steuerung kann den Drehwiderstand in jeder Ebene, in der eine Drehbewegung um eine Drehachse des mechanischen Gelenks möglich ist, steuern. Die Steuerung kann den Drehwiderstand derart steuern, dass der Drehwiderstand konstant bleibt oder dynamisch verändert wird. Unter Steuerung ist hier eine elektronische Steuerung zu verstehen, die mindestens einen Prozessor und/oder Mikroprozessor enthält. Die Steuerung kann einen elektronischen Speicher umfassen.The exoskeleton fitness device also includes a controller for controlling the rotational resistance according to a user setting. The user preference is a setting that the user can accept as a default or change according to their needs. For example, the user can adjust the rotational resistance that the user has to overcome when moving the exoskeleton fitness device around a rotational axis of a body joint and thus around the rotational axis of the mechanical joint. The controller can control the rotational resistance in each plane in which rotational movement about a rotational axis of the mechanical joint is possible. The controller can control the turning resistance such that the turning resistance remains constant or is dynamically changed. Control is to be understood here as an electronic control that contains at least one processor and/or microprocessor. The controller may include an electronic memory.
Die wenigstens eine Einheit zum Erzeugen eines Drehwiderstands kann weiterhin einen Elektromotor, einen pneumatischen oder einen hydraulischen Antrieb aufweisen. Der Elektromotor, der pneumatische oder der hydraulische Antrieb können die Kraft für den Drehwiderstand zum Bremsen der Drehbewegung bereitstellen. Das erfindungsgemäße Exoskelett-Fitnessgerät kann ein Funkmodul mit einer Antenne zum drahtlosen Übertragen von Daten zwischen der Steuerung und einem mobilen Terminal umfassen.The at least one unit for generating a rotary resistance can also have an electric motor, a pneumatic or a hydraulic drive. The electric motor, the pneumatic or the hydraulic drive can provide the force for the rotational resistance to brake the rotational movement. The exoskeleton fitness device according to the invention can include a radio module with an antenna for the wireless transmission of data between the controller and a mobile terminal.
Der Vorteil des erfindungsgemäßen Exoskelett-Fitnessgeräts liegt darin, dass das Exoskelett-Fitnessgerät flexibel eingesetzt werden kann. Ein fester Aufstellungsort wird nicht benötigt. Bei aller Flexibilität des erfindungsgemäßen Exoskelett-Fitnessgeräts wird ein Risiko für eine unsachgemäße Anwendung minimiert. Insbesondere wird durch die tragbare Struktur und die Befestigungselemente gewährleistet, dass die Position des mechanischen Gelenks einer Position des Körpergelenks entspricht und die Drehachse des mechanischen Gelenks mit der Drehachse des Körpergelenks übereinstimmt. Bei Verwendung von leichten, aber dennoch stabilen Materialien, kann zudem ein Exoskelett-Fitnessgerät gefertigt werden, das im Vergleich zu den bereits bekannten Exoskeletten sehr viel leichter ist.The advantage of the exoskeleton fitness device according to the invention is that the exoskeleton fitness device can be used flexibly. A fixed location is not required. With all the flexibility of the exoskeleton fitness device according to the invention, a risk of improper use is minimized. In particular, the portable structure and the fastening elements ensure that the position of the mechanical joint corresponds to a position of the body joint and that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint. When using light but stable materials, an exoskeleton fitness device can also be manufactured that is much lighter than the exoskeletons that are already known.
Erfindungsgemäß kann die tragbare Struktur weiterhin einen ersten Teil und einen zweiten Teil umfassen, wobei der erste Teil und der zweite Teil über das mechanische Gelenk drehbar miteinander verbunden sind. Der erste Teil und der zweite Teil können sich jeweils entlang einer Körperpartie erstrecken. Beispielsweise können der erste Teil und der zweite Teil als Schienen, Schalen, Streben oder Gitter geformt sein, die entlang der Körperpartie und parallel zur Körperpartie durch die Befestigungselemente positioniert werden. Der erste Teil und der zweite Teil können aus einer Kombination von Schienen und/oder Schalen und/oder Streben und/oder Gitter gebildet werden. Die Schienen können in ihrer Form gerade sein oder eine leichte Wölbung aufweisen, die an eine Rundung der Körperpartie angepasst ist. Die Schalen können dabei entsprechend einer äußeren Form der Körperpartie ausgebildet sein. Der erste Teil und der zweite Teil können so geformt sein, dass sie die Körperpartie bedecken, teilweise umschließen oder vollständig umschließen. Der erste Teil und der zweite Teil können jeweils in einem Stück oder aus mehreren Stücken geformt sein. Wenn der erste Teil und der zweite Teil als Streben geformt sind, kann jeder Teil mindestens eine Strebe aufweisen. Der erste Teil und der zweite Teil können aus einem starren Material gebildet sein. Der erste Teil und der zweite Teil können aus einer Kombination aus starren und elastischeren Materialien gebildet sein.According to the invention, the portable structure may further comprise a first part and a second part, the first part and the second part being rotatable with each other via the mechanical joint are connected. The first part and the second part can each extend along a part of the body. For example, the first part and the second part may be shaped as rails, cups, struts or grids that are positioned along the body portion and parallel to the body portion by the fasteners. The first part and the second part can be formed from a combination of rails and/or shells and/or struts and/or grids. The splints can be straight in shape or have a slight curvature that is adapted to a curve of the body part. The shells can be designed according to an external shape of the body part. The first part and the second part may be shaped to cover, partially enclose, or fully enclose the body part. The first part and the second part can each be formed in one piece or in multiple pieces. If the first part and the second part are formed as struts, each part may have at least one strut. The first part and the second part can be formed from a rigid material. The first part and the second part may be formed from a combination of rigid and more resilient materials.
Erfindungsgemäß kann das Exoskelett-Fitnessgerät so ausgestaltet sein, dass die wenigstens eine Drehachse des wenigstens einen mechanischen Gelenks mit einer Drehachse eines Körpergelenks des Nutzers übereinstimmt.According to the invention, the exoskeleton fitness device can be designed in such a way that the at least one axis of rotation of the at least one mechanical joint corresponds to an axis of rotation of a body joint of the user.
Gemäß einer Weiterbildung kann die tragbare Struktur weiterhin ausgebildet sein, einen Bewegungsablauf, der durch wenigstens eine Körperpartie des Nutzers ausgeführt wird, zu ermöglichen, insbesondere von einer linken Schulter und/oder einer rechten Schulter und/oder eines Torsos und/oder eines linken Arms und/oder eines rechten Arms und/oder eines linken Oberarms und/oder eines rechten Oberarms und/oder eines linken Unterarms und/oder eines rechten Unterarms und/oder einer linken Hand und/oder einer rechten Hand und/oder wenigstens eines Fingers und/oder einer linken Hüfte und/oder einer rechten Hüfte und/oder eines linken Beins und/oder eines rechten Beins und/oder eines linken Knies und/oder eines rechten Knies und/oder eines linken Fußes und/oder eines rechten Fußes.According to a further development, the portable structure can also be designed to enable a sequence of movements that is carried out by at least one part of the user's body, in particular by a left shoulder and/or a right shoulder and/or a torso and/or a left arm and /or a right arm and/or a left upper arm and/or a right upper arm and/or a left forearm and/or a right forearm and/or a left hand and/or a right hand and/or at least one finger and/or a left hip and/or a right hip and/or a left leg and/or a right leg and/or a left knee and/or a right knee and/or a left foot and/or a right foot.
Gemäß einer Weiterbildung des erfindungsgemäßen Exoskelett-Fitnessgeräts umfasst die wenigstens eine Einheit zum Erzeugen des Drehwiderstands eine elektrisch steuerbare Bremse.According to a development of the exoskeleton fitness device according to the invention, the at least one unit for generating the rotational resistance comprises an electrically controllable brake.
Gemäß einer Weiterbildung kann das erfindungsgemäße Exoskelett-Fitnessgerät weiterhin wenigstens einen Positionssensor umfassen, der beim Tragen der Struktur an einem Gelenk des Körpers positioniert und ausgebildet ist, Positionsdaten des Bewegungsablaufs zu detektieren. Der wenigstens eine Positionssensor kann an dem wenigstens einen mechanischen Gelenk vorgesehen sein, um einen Drehwinkel um die Drehachse zu erfassen. Die Positionsdaten können aufgenommen, an die Steuerung weitergegeben und/oder gespeichert werden. Die Steuerung kann die erhaltenen Positionsdaten mit gespeicherten Daten einer Bewegungsvorgabe vergleichen. Das erfindungsgemäße Exoskelett-Fitnessgerät kann ein Funkmodul mit einer Antenne zum drahtlosen Übertragen von Daten zwischen dem Positionssensor, der Steuerung und einem mobilen Terminal umfassen.According to a further development, the exoskeleton fitness device according to the invention can further comprise at least one position sensor, which is positioned on a joint of the body when the structure is being worn and is designed to detect position data of the movement sequence. The at least one position sensor can be provided on the at least one mechanical joint in order to detect an angle of rotation about the axis of rotation. The position data can recorded, forwarded to the controller and/or stored. The controller can compare the received position data with stored data of a motion specification. The exoskeleton fitness device according to the invention can include a radio module with an antenna for the wireless transmission of data between the position sensor, the controller and a mobile terminal.
Gemäß einer Weiterbildung kann das Exoskelett-Fitnessgerät weiterhin wenigstens eine optische Markierung umfassen. Die wenigstens eine optische Markierung kann an der tragbaren Struktur und/oder an dem wenigstens einen mechanischen Gelenk vorgesehen sein. Die optische Markierung kann von einer Kamera erfasst werden. Die Kamera kann mithilfe der optischen Markierung einen Bewegungsablauf des Nutzers beim Tragen des Exoskelett-Fitnessgeräts mit Positionsmessung aufzeichnen. Der Bewegungsablauf kann entweder von der Kamera oder vom Positionssensor erfasst werden. Der Bewegungsablauf kann gleichzeitig von der Kamera und vom Positionssensor erfasst werden. Die jeweils resultierenden Daten können von der Steuerung gespeichert und ausgewertet werden.According to a development, the exoskeleton fitness device can also include at least one optical marking. The at least one optical marker can be provided on the portable structure and/or on the at least one mechanical joint. The optical marking can be captured by a camera. The camera can use the optical marking to record a movement sequence of the user wearing the exoskeleton fitness device with position measurement. The sequence of movements can be captured either by the camera or by the position sensor. The movement sequence can be recorded simultaneously by the camera and the position sensor. The resulting data can be saved and evaluated by the controller.
Gemäß einer Weiterbildung kann das Exoskelett-Fitnessgerät wenigstens ein Paar von mechanischen Gelenken umfassen, deren Drehachsen übereinstimmen. Das Paar von mechanischen Gelenken kann beispielsweise paarig auf Höhe eines Körpergelenks einer Gliedmaße angeordnet sein, so dass ein mechanisches Gelenk an einer Innenseite der Gliedmaße neben dem Körpergelenk und das andere mechanische Gelenk auf einer Außenseite der Gliedmaße neben dem Körpergelenk positioniert ist.According to a further development, the exoskeleton fitness device can comprise at least one pair of mechanical joints whose axes of rotation match. The pair of mechanical joints can for example be arranged in pairs at the level of a body joint of a limb, so that one mechanical joint is positioned on an inside of the limb next to the body joint and the other mechanical joint is positioned on an outside of the limb next to the body joint.
Gemäß einer Weiterbildung des erfindungsgemäßen Exoskelett-Fitnessgeräts sind die beiden mechanischen Gelenke des Paares in Entsprechung einer Position eines Körpergelenks des Nutzers einander gegenüberliegend an der tragbaren Struktur angeordnet, so dass das Körpergelenk in ihrer Mitte positioniert ist. Mit anderen Worten, das Körpergelenk kann zwischen den beiden mechanischen Gelenken angeordnet sein, wobei die Drehachsen der beiden mechanischen Gelenke und des Körpergelenks miteinander ausgerichtet sein können.According to a development of the exoskeleton fitness device according to the invention, the two mechanical joints of the pair are arranged opposite one another on the portable structure in accordance with a position of a body joint of the user, so that the body joint is positioned in its center. In other words, the body joint can be arranged between the two mechanical joints, whereby the axes of rotation of the two mechanical joints and the body joint can be aligned with each other.
Gemäß einer Weiterbildung des erfindungsgemäßen Exoskelett-Fitnessgeräts ist die Steuerung weiterhin dazu ausgebildet, den wenigstens einen Drehwiderstand in Abhängigkeit von einer durch den Nutzer aufgebrachten Winkelkraft zu steuern.According to a development of the exoskeleton fitness device according to the invention, the controller is also designed to control the at least one rotary resistance as a function of an angular force applied by the user.
Gemäß einer Weiterbildung kann das Exoskelett-Fitnessgerät weiterhin wenigstens einen Drehmomentsensor, insbesondere wenigstens einen magnetostriktiven Drehmomentsensor, zum Messen der durch den Nutzer aufgebrachten Winkelkraft umfassen. Der Drehmomentsensor kann ein magnetostriktiver Drehmomentsensor sein, der eine Welle, die in einem ersten axialen Abschnitt in einer ersten Umfangsrichtung magnetisiert ist, und an die ein zu messendes Drehmoment anlegbar ist, umfasst. Ein solcher Drehmomentsensor kann weiterhin einen ersten Magnetfeldsensor zum Erfassen eines durch den ersten Abschnitt der Welle erzeugten, vom angelegten Drehmoment abhängigen Magnetfelds außerhalb der Welle, umfassen. Der erste Magnetfeldsensor kann einen ersten 3D-AMR-Sensor umfassen. Ein solcher Drehmomentsensor ist ausführlich in der Patentanmeldeschrift
Das erfindungsgemäße Exoskelett-Fitnessgerät kann ein Funkmodul mit einer Antenne zum drahtlosen Übertragen von Daten zwischen dem Drehmomentsensor, der Steuerung und einem mobilen Terminal umfassen.The exoskeleton fitness device according to the invention can include a radio module with an antenna for the wireless transmission of data between the torque sensor, the controller and a mobile terminal.
Die Messdaten der durch den Nutzer aufgebrachten Winkelkraft können an die Steuerung übermittelt werden. Die Steuerung kann den Drehwiderstand in Abhängigkeit von den Winkelkraftmessdaten steuern.The measurement data of the angular force applied by the user can be transmitted to the control. The controller can control the rotation resistance depending on the angular force measurement data.
Die vorliegende Erfindung stellt auch ein Verfahren, insbesondere zum Trainieren des menschlichen Körpers, mit einem Exoskelett-Fitnessgerät bereit. Das Verfahren umfasst die folgenden Schritte: Befestigen einer tragbaren Struktur des Exoskelett-Fitnessgeräts mittels wenigstens eines Befestigungselements am Körper eines Nutzers, Erzeugen eines Drehwiderstands, welcher einer Drehbewegung eines mechanischen Gelenks entgegenwirkt, wobei das mechanische Gelenk wenigstens eine Drehachse und wenigstens einen Freiheitsgrad umfasst, und wobei das wenigstens eine mechanische Gelenk an der tragbaren Struktur befestigt ist, und Steuern des Drehwiderstands mittels einer Steuerung entsprechend einer Nutzereinstellung.The present invention also provides a method, in particular for exercising the human body, with an exoskeleton fitness device. The procedure includes the following Steps: Fastening a portable structure of the exoskeleton fitness device by means of at least one fastening element on the body of a user, generating a rotational resistance which counteracts a rotational movement of a mechanical joint, the mechanical joint comprising at least one axis of rotation and at least one degree of freedom, and the at least one mechanical joint is attached to the portable structure, and controlling the turning resistance by means of a controller according to a user setting.
Gemäß einer Weiterbildung umfasst das Verfahren weiterhin die folgenden Schritte: Ausführen, mittels der tragbaren Struktur, einer Winkelbewegung durch den Nutzer, deren Mittelpunkt ein Körpergelenk des Nutzers bildet, Messen einer durch den Nutzer aufgebrachten Winkelkraft mittels eines Drehmomentsensors, und wobei das Steuern weiterhin umfasst, den wenigstens einen Drehwiderstand in Abhängigkeit von der gemessenen Winkelkraft zu steuern.According to one development, the method also includes the following steps: the user, using the portable structure, performs an angular movement, the center of which forms a joint of the user's body, measuring an angular force applied by the user using a torque sensor, and the control further includes to control the at least one rotary resistor depending on the measured angular force.
Weitere Merkmale und beispielhafte Ausführungsformen sowie Vorteile der vorliegenden Erfindung werden nachfolgend anhand der Zeichnungen näher erläutert. Es versteht sich, dass die Ausführungsformen nicht den Bereich der vorliegenden Erfindung erschöpfen. Es versteht sich weiterhin, dass einige oder sämtliche der im Weiteren beschriebenen Merkmale auch auf andere Weise miteinander kombiniert werden können.Further features and exemplary embodiments as well as advantages of the present invention are explained in more detail below with reference to the drawings. It is understood that the embodiments do not exhaust the scope of the present invention. It is also understood that some or all of the features described below can also be combined with one another in other ways.
- Figur 1figure 1
- zeigt schematisch ein beispielhaftes Exoskelett-Fitnessgerät gemäß der vorliegenden Erfindung an einem Nutzer.12 schematically shows an exemplary exoskeleton fitness device according to the present invention on a user.
- Figur 2figure 2
- zeigt eine schematische Ansicht einer tragbaren Struktur und eines mechanischen Gelenks gemäß der vorliegenden Erfindung.Figure 12 shows a schematic view of a portable structure and a mechanical joint according to the present invention.
- Figur 3figure 3
- zeigt eine schematische Ansicht eines mechanischen Gelenks gemäß der vorliegenden Erfindung.Figure 12 shows a schematic view of a mechanical joint according to the present invention.
- Figur 4figure 4
- zeigt eine schematische Ansicht eines mechanischen Gelenks gemäß der vorliegenden Erfindung.Figure 12 shows a schematic view of a mechanical joint according to the present invention.
- Figur 5figure 5
- zeigt ein Schema eines Verfahrens.shows a scheme of a method.
In den im Folgenden beschriebenen Figuren bezeichnen gleiche Bezugszeichen gleiche Elemente. Zur besseren Übersichtlichkeit werden gleiche Elemente nur bei ihrem ersten Auftreten beschrieben. Es versteht sich jedoch, dass die mit Bezug auf eine der Figuren beschriebenen Varianten und Ausführungsformen eines Elements auch auf die entsprechenden Elemente in den übrigen Figuren angewendet werden können.In the figures described below, the same reference symbols designate the same elements. For the sake of clarity, the same elements are only displayed the first time they appear described. However, it goes without saying that the variants and embodiments of an element described with reference to one of the figures can also be applied to the corresponding elements in the other figures.
In der
Im menschlichen Körper werden verschiedene Gelenkarten nach Form und der durch die Form gegebenen Bewegungsmöglichkeit unterschieden. Die jeweilige Form des Körpergelenks bestimmt die Anzahl der Freiheitsgrade. Die Anzahl der Freiheitsgrade gibt an, in wie vielen Bewegungsebenen eine Drehbewegung durch das Körpergelenk ermöglicht wird. Die Anzahl der Bewegungsebenen entspricht der Anzahl der Freiheitsgrade. Beispielsweise besteht ein Kugelgelenk aus einem kugelförmigen Gelenkkopf, der in einer Gelenkpfanne von der Form eines Hohlkugelausschnittes gleitet. Kugelgelenke haben praktisch unendlich viele Gelenkachsen und erlauben dementsprechend eine allseitige Beweglichkeit. Beispielsweise sind das Schultergelenk und das Hüftgelenk Kugelgelenke. Ein anderes Beispiel für ein Gelenk, das im menschlichen Körper vorkommt, ist ein Scharniergelenk. Das Scharniergelenk besteht aus einer Auskehlung und einer dazu passenden Walze. Ein Scharniergelenk besitzt nur einen Freiheitsgrad, der eine Bewegung um nur eine Achse, nämlich um die Scharnierachse, in nur einer einzigen Bewegungsebene ermöglicht. Fingermittel- und Fingerendgelenke sind beispielsweise Scharniergelenke. Die Beweglichkeit des menschlichen Körpers wird allerdings nicht nur durch die Körpergelenke allein bewirkt. Damit sich ein Mensch bewegen kann, ist ein Zusammenspiel von Muskeln und Gelenken notwendig. Gemäß der vorliegenden Erfindung wird beispielsweise eine Stärkung der Muskulatur durch den Einsatz des erfindungsgemäßen Exoskelett-Fitnessgeräts erzielt.In the human body, different types of joints are differentiated according to shape and the possibility of movement that is given by the shape. The respective shape of the body joint determines the number of degrees of freedom. The number of degrees of freedom indicates in how many planes of movement a rotational movement is made possible by the body joint. The number of movement planes corresponds to the number of degrees of freedom. For example, a ball joint consists of a spherical joint head that slides in a joint socket in the shape of a hollow spherical section. Ball joints have practically an infinite number of joint axes and accordingly allow mobility in all directions. For example, the shoulder joint and the hip joint are ball and socket joints. Another example of a joint found in the human body is a hinge joint. The hinge joint consists of a groove and a matching roller. A hinge joint has only one degree of freedom, which allows movement around only one axis, namely around the hinge axis, in just a single plane of movement. Finger middle and finger end joints are, for example, hinge joints. However, the mobility of the human body is not only caused by the body joints alone. In order for a person to be able to move, an interaction of muscles and joints is necessary. According to the present invention, for example, the muscles are strengthened by using the exoskeleton fitness device according to the invention.
In der Darstellung der
Wie aus der
Das erfindungsgemäße Exoskelett-Fitnessgerät kann einen oder mehrere Positionssensor/en umfassen. Ein Positionssensor wird beim Tragen der Struktur an einem Gelenk des Körpers angeordnet. Der Positionssensor erfasst Positionsdaten des Bewegungsablaufs, den der Nutzer mit der entsprechenden Körperpartie, an der sich der Positionssensor befindet, ausführt. Mit einem Positionssensor kann die Bewegung eines Objekts erkannt und in geeignete Signale zur Verarbeitung, Übertragung und Steuerung umgewandelt werden. Beispielsweise schließen Positionsmesslösungen induktive, potenziometrische, magnetoresistive und kapazitive Messungen ein. Bei dem erfindungsgemäßen Exoskelett-Fitnessgerät kann die tragbare Struktur eine optische Markierung umfassen, die von einer Kamera erfasst wird. Ein Bewegungsablauf, den der Nutzer mit verschiedenen Körperpartien ausführt, kann gefilmt, analysiert und gesteuert werden.The exoskeleton fitness device according to the invention can comprise one or more position sensors. A position sensor is placed at a joint of the body when the structure is worn. The position sensor captures position data of the movement sequence that the user performs with the corresponding part of the body where the position sensor is located. With a position sensor, the movement of an object can be detected and converted into suitable signals for processing, transmission and control. For example, position measurement solutions include inductive, potentiometric, magnetoresistive, and capacitive measurements. In the case of the exoskeleton fitness device according to the invention, the wearable structure can comprise an optical marking which is captured by a camera. A sequence of movements that the user performs with different parts of the body can be filmed, analyzed and controlled.
In der
Die
Die
Die
Die beschriebene Erfindung erlaubt einen flexiblen Einsatz ohne einen festen Aufstellungsort. Ein Risiko für eine unsachgemäße Anwendung wird bei aller Flexibilität minimiert. Bei Verwendung von leichten, aber dennoch stabilen Materialien, kann das Gewicht des erfindungsgemäßen Exoskelett-Fitnessgeräts sehr viel leichter sein als das von bereits bekannten Exoskeletten.The invention described allows flexible use without a fixed installation site. A risk of improper use is minimized with all flexibility. When using light but stable materials, the weight of the exoskeleton fitness device according to the invention can be very much lighter than that of exoskeletons that are already known.
Claims (15)
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EP21197141.1A EP4151285A1 (en) | 2021-09-16 | 2021-09-16 | Exoskeleton fitness device for training the human body |
US17/944,643 US20230079411A1 (en) | 2021-09-16 | 2022-09-14 | Exoskeleton Fitness Device for Exercising the Human Body |
CN202211115426.2A CN115814330A (en) | 2021-09-16 | 2022-09-14 | Exoskeleton fitness device and method for utilizing same |
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Citations (8)
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WO1991012786A1 (en) * | 1990-02-21 | 1991-09-05 | Stark John G | Orthopedic restraining device and method of use |
WO1997000661A1 (en) * | 1995-06-23 | 1997-01-09 | Kinetecs, Inc. | Exercise apparatus and technique |
US20130260968A1 (en) * | 2012-03-28 | 2013-10-03 | Alexandr Shkolnik | Controllable Training and Rehabilitation Device |
WO2016154271A1 (en) * | 2015-03-23 | 2016-09-29 | Tau Orthopedics, Llc | Dynamic proprioception |
EP3232172A1 (en) | 2016-04-13 | 2017-10-18 | Ncte Ag | Force sensor system for robotics applications |
EP3364163A1 (en) | 2017-02-15 | 2018-08-22 | Ncte Ag | Magnetoelastic torque sensor |
US20210162263A1 (en) * | 2019-12-03 | 2021-06-03 | Samsung Electronics Co., Ltd. | Method and device for providing resistance to user of wearable device |
US20210260445A1 (en) * | 2018-12-04 | 2021-08-26 | Fynamics Gmbh | Auxiliary drive for a training device |
-
2021
- 2021-09-16 EP EP21197141.1A patent/EP4151285A1/en active Pending
-
2022
- 2022-09-14 US US17/944,643 patent/US20230079411A1/en active Pending
- 2022-09-14 CN CN202211115426.2A patent/CN115814330A/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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WO1991012786A1 (en) * | 1990-02-21 | 1991-09-05 | Stark John G | Orthopedic restraining device and method of use |
WO1997000661A1 (en) * | 1995-06-23 | 1997-01-09 | Kinetecs, Inc. | Exercise apparatus and technique |
US20130260968A1 (en) * | 2012-03-28 | 2013-10-03 | Alexandr Shkolnik | Controllable Training and Rehabilitation Device |
WO2016154271A1 (en) * | 2015-03-23 | 2016-09-29 | Tau Orthopedics, Llc | Dynamic proprioception |
EP3232172A1 (en) | 2016-04-13 | 2017-10-18 | Ncte Ag | Force sensor system for robotics applications |
EP3364163A1 (en) | 2017-02-15 | 2018-08-22 | Ncte Ag | Magnetoelastic torque sensor |
US20210260445A1 (en) * | 2018-12-04 | 2021-08-26 | Fynamics Gmbh | Auxiliary drive for a training device |
US20210162263A1 (en) * | 2019-12-03 | 2021-06-03 | Samsung Electronics Co., Ltd. | Method and device for providing resistance to user of wearable device |
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