EP4151285A1 - Appareil exosquelette de mise en forme permettant l'entraînement du corps humain - Google Patents

Appareil exosquelette de mise en forme permettant l'entraînement du corps humain Download PDF

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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
Application number
EP21197141.1A
Other languages
German (de)
English (en)
Inventor
Günter Pröpster
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NCTE AG
Original Assignee
NCTE AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NCTE AG filed Critical NCTE AG
Priority to EP21197141.1A priority Critical patent/EP4151285A1/fr
Priority to CN202211115426.2A priority patent/CN115814330A/zh
Priority to US17/944,643 priority patent/US20230079411A1/en
Publication of EP4151285A1 publication Critical patent/EP4151285A1/fr
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B2071/0675—Input for modifying training controls during workout
    • A63B2071/0683—Input by handheld remote control
    • 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
    • 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
    • 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.

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Therapy (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
EP21197141.1A 2021-09-16 2021-09-16 Appareil exosquelette de mise en forme permettant l'entraînement du corps humain Pending EP4151285A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21197141.1A EP4151285A1 (fr) 2021-09-16 2021-09-16 Appareil exosquelette de mise en forme permettant l'entraînement du corps humain
CN202211115426.2A CN115814330A (zh) 2021-09-16 2022-09-14 外骨骼健身装置和利用外骨骼健身装置的方法
US17/944,643 US20230079411A1 (en) 2021-09-16 2022-09-14 Exoskeleton Fitness Device for Exercising the Human Body

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21197141.1A EP4151285A1 (fr) 2021-09-16 2021-09-16 Appareil exosquelette de mise en forme permettant l'entraînement du corps humain

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EP4151285A1 true EP4151285A1 (fr) 2023-03-22

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US (1) US20230079411A1 (fr)
EP (1) EP4151285A1 (fr)
CN (1) CN115814330A (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991012786A1 (fr) * 1990-02-21 1991-09-05 Stark John G Dispositif de restriction orthopedique et utilisation dudit dispositif
WO1997000661A1 (fr) * 1995-06-23 1997-01-09 Kinetecs, Inc. Exerciseur et technique correspondante
US20130260968A1 (en) * 2012-03-28 2013-10-03 Alexandr Shkolnik Controllable Training and Rehabilitation Device
WO2016154271A1 (fr) * 2015-03-23 2016-09-29 Tau Orthopedics, Llc Proprioception dynamique
EP3232172A1 (fr) 2016-04-13 2017-10-18 Ncte Ag Technique sensorielle pour applications robotiques
EP3364163A1 (fr) 2017-02-15 2018-08-22 Ncte Ag Capteur magnéto-élastique de couple de rotation
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991012786A1 (fr) * 1990-02-21 1991-09-05 Stark John G Dispositif de restriction orthopedique et utilisation dudit dispositif
WO1997000661A1 (fr) * 1995-06-23 1997-01-09 Kinetecs, Inc. Exerciseur et technique correspondante
US20130260968A1 (en) * 2012-03-28 2013-10-03 Alexandr Shkolnik Controllable Training and Rehabilitation Device
WO2016154271A1 (fr) * 2015-03-23 2016-09-29 Tau Orthopedics, Llc Proprioception dynamique
EP3232172A1 (fr) 2016-04-13 2017-10-18 Ncte Ag Technique sensorielle pour applications robotiques
EP3364163A1 (fr) 2017-02-15 2018-08-22 Ncte Ag Capteur magnéto-élastique de couple de rotation
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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CN115814330A (zh) 2023-03-21

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