EP4271487A1

EP4271487A1 - Treadmill assembly having movable support elements

Info

Publication number: EP4271487A1
Application number: EP21844735.7A
Authority: EP
Inventors: Wolfgang Brunner
Original assignee: Zebris Medical GmbH
Current assignee: Zebris Medical GmbH
Priority date: 2021-01-04
Filing date: 2021-12-24
Publication date: 2023-11-08
Also published as: WO2022144324A1; CN116710179A; DE202021000028U1

Abstract

The invention relates to a gait training assembly, comprising a treadmill frame (3) and a continuous belt or slatted belt which runs over and is driven by rollers (5) held in the treadmill frame, the surface of which continuous or slatted belt provides a walking or running surface, wherein the treadmill frame (3) is resiliently mounted on a main stand (11) by means of support elements (1) such that, during use, the landing force exerted by the user causes the treadmill frame (3) to vibrate in the main stand (11) with a dominant horizontal component of the movements of the treadmill frame.

Description

Treadmill assembly with moveable support members

DESCRIPTION

The invention relates to a gait training arrangement with a treadmill frame and an endless belt running over rollers held in the treadmill frame or slats running from the treadmill frame over a guide device, the surface of which serves as a walking or running surface, the treadmill frame being mounted in a base frame. It also relates to an alternative gait training arrangement in which a walking platform is mounted in the base frame by means of a substructure.

The present application is about making the gait and running training on the treadmill or a walking plate more varied and interesting, but also about enabling effective training for the treatment of various diseases. This is especially true in conditions such as stroke and Parkinson's, where there is a need to regain postural control and balance to enable standing and walking with the least possible risk of falling. In the case of older people, it is particularly important to maintain the ability to walk into old age.

The invention is therefore based on the object of providing a gait training arrangement of the type characterized above which is improved in terms of its therapeutic application possibilities.

This object is achieved by a gait training arrangement having the features of claim 1. Expedient developments of the inventive concept are the subject matter of the dependent claims.

The gait training arrangement according to the invention offers the user - and especially older users - a completely new quality of stress on the musculoskeletal system without the risk of accidents, with a significantly higher activation of the stabilizing muscles (especially in the pelvic region, on the trunk and on the joints) even when walking slowly. The cardiovascular and Sensorimotor skills can be significantly increased with the proposed arrangement in a very short time.

The invention includes the idea of impressing the treadmill frame and thus the treadmill itself or the substructure of the walking plate and thus the walking plate itself with a movement with a dominant horizontal component that is generated by the user's touchdown movements. The amount of this horizontal movement is therefore dependent on the user's positioning behavior and is therefore subject to his own control, which is highly advantageous for the desired training and therapy effects.

Furthermore, the invention includes the idea of bringing about the conversion of the positioning movement into the largely horizontal movement of the treadmill frame or the substructure of the walking plate by means of specially configured support bodies and/or specially connected to the treadmill frame or the substructure on the one hand and the base frame on the other. The support bodies are therefore configured and/or attached in such a way that they block a vertical component of the movement of the treadmill frame or the substructure at least to a considerable extent or deflect the direction thereof. Exemplary constructions of the supporting bodies with which this effect is achieved are described in the following paragraphs and in exemplary embodiments.

The belt or the slats can be driven by the leg movement of the runner and/or an electric drive. It is also possible to switch between the two.

Four or more elastic or movable support elements are preferably used. It is also conceivable, however, to mount it on three support bodies or two support bodies on one side and a mount that can rotate or move in some other way (e.g. via an elastomer) on the other side.

In a first specific embodiment, the treadmill frame or the walking plate is rectangular in plan view and at least one support element is provided at or near each end of the rectangular treadmill frame, which elastically connects the treadmill frame to the base frame. In another specific embodiment, the treadmill frame or the walking plate has a rectangular shape in plan view, and at least one support element is provided at or near the end points of the front edge or rear edge of the rectangular treadmill frame or the walking plate, which elastically connects the treadmill frame to a suspension point in the base frame, and at the other of the leading edge or the trailing edge, the treadmill frame is substantially movably or rotatably supported in the base frame.

In further expedient embodiments, it is provided that the support elements are designed as essentially rigid but movable bodies, in particular balls or rolling bodies, or as partially or along the entire support element as elastically flexible bodies. In one configuration of this embodiment, it is also provided that the balls or rolling elements are each movably mounted in a recess in the base frame, which has a radius that is significantly larger than the radius of the ball or the rolling element, at least in the longitudinal direction of the base frame and in a ball or roller bearing shell stored on the underside of the treadmill frame, or vice versa.

The support elements are mounted as support bodies either rigidly and movably with damping, or are inherently flexible and/or elastic or spring-elastic, preferably with pronounced resilience properties. A damping behavior of the support elements is achieved via the spring properties of the support bodies themselves and/or additionally incorporated elastomers and/or spring elements.

Due to the different design of the vibration and damping behavior of the individual support bodies, the movement behavior of the entire treadmill frame can be individually adjusted in different directions of movement.

The deflection range of the arrangement to the left and right as well as front and rear as well as diagonally can also be set asymmetrically with the support bodies. In this way, movement restrictions of the user can be taken into account and/or the training effect can be increased with different gait training arrangements.

In a further embodiment, the damping of the support body and thus the vibration frequency of the treadmill frame can be adjusted individually. The device preferably includes a facility for locking the treadmill frame to the frame at at least two points, so that gait or running training can be carried out under "normal" conditions without vibration of the frame.

The locking device can be designed in such a way that, when locking with only one such device, a rotational movement is essentially retained. This allows restricted movement patterns of the treadmill frame to be retained.

In a special embodiment, the locking device is not rigidly connected to the treadmill base frame, but allows residual mobility. This can be accomplished in that the locking device is connected to the base frame via an elastomer and/or tension or compression springs.

This locking device can, for. B. can be arranged centrally on the side or front part of the treadmill frame.

While walking, the frame of the treadmill or the walking surface is already set in motion by the walking and running movement, thus achieving a training effect. The tendency to swing can be increased by special exercises while walking. A special effect can be produced in that, with an electric drive of the treadmill or the slats, the drive is not carried out uniformly, but rather the speed changes at irregular time intervals, if necessary. This can be done very suddenly or by changing the speed less sharply, with the vibration behavior changing more or less as a result.

In a further embodiment, one or more electromagnets are attached to one or more outside or inside sides of the frame, if necessary on the holder of the oscillating elements. During the natural movement of the frame when walking, the frame can be held in place by the magnets and released at a defined point in time. As a result, the swinging behavior can be influenced and the training effect can be increased by unpredictable movements. In a further embodiment, the frame can be pushed or guided by electric, pneumatic or other types of actuators. These can advantageously be combined with a magnet.

In a particular embodiment, at least one magnet or actuator is combined with an elastic element. This can consist of an elastomer and/or of a construction with one or more springs. In this way, both a residual mobility of the walking surface can be maintained and the docking onto the walking surface can take place without jerks. An additional tilt adjustment can also be useful. If the support body according to the invention has elastic properties in the vertical direction, the walking surface of the treadmill is automatically adjusted in its inclination while walking due to the weight shift.

In one embodiment, additional light barriers, force sensors/strain gauges or pressure distribution sensors are arranged on/under/on the running surface for controlling and measuring the walking behavior.

Furthermore, display elements from virtual reality that are coupled or synchronized with the movements of the running surface can be used—displayed with a screen, projector, or AR glasses.

Furthermore, advantages and expediencies of the invention result from the following description of exemplary embodiments with reference to the figures. Show of these:

Fig. la and lb cross-sectional views of an exemplary arrangement (seen from behind),

2a to 2c longitudinal sectional views of a further exemplary arrangement and a detailed view of a special embodiment,

3a to 3c different variants of an arrangement with restoring spring elements, Fig. 4 is a cross-sectional view (seen from behind) of a

arrangement with locking device,

5 shows an example configuration of a modified

locking device,

Fig. 6 is a schematic representation of an arrangement for controlling the

speed of the electrically operated drive roller,

Fig. 7 an exemplary arrangement of actuators for influencing

Oscillating movement of the treadmill frame.

For the following exemplary explanation of essential aspects of the invention, it is expressly pointed out that gait training arrangements have long been familiar to the person skilled in the art and are described in numerous patent and technical publications, including by the applicant.

This also applies to special configurations such as the provision of an elastically suspended treadmill frame, actuators for setting an inclination of the treadmill or user-independent movements of the treadmill frame. The provision of means for speed control of the treadmill (also depending on the movement behavior of the user or training programs) or display means for representing a virtual running environment and/or training instructions is known to the person skilled in the art. This also applies to a pressure detection sensor system for detecting the touchdown and optionally touchdown points and touchdown forces on the walking surface and other useful features for special purposes of the gait training arrangement.

The examples and aspects of the arrangement according to the invention explained below offer particular advantages with regard to the design of a simple construction of the gait training arrangement and the many possibilities of designing the movements of the treadmill frame and thus the walking surface in the various horizontal directions very individually.

Fig. La shows a gait training arrangement from behind, in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. The rollers 5 have axes of rotation or shafts 5a, which can rotate in bearing bores 3a of the treadmill frame 3 with little friction. The treadmill frame 3 is fastened to a base frame 11 via elastically flexible support elements 1 in such a way that, during use, the treadmill frame vibrates in the base frame with a dominant horizontal component of the vibration due to the placement force exerted by the user.

This effect is achieved in particular in that the support elements, which are configured as essentially cuboid support bodies, are firmly connected at or near their two ends to the treadmill frame on the one hand and the base frame on the other and have an inherent rigidity that allows them to function as compressible "support posts" of the treadmill frame The inherent rigidity in connection with the flexural elasticity means that placement forces with practically any direction of force are essentially converted into horizontal movements of the treadmill frame.

In Fig. lb is shown as an example of how the preferably resilient support elements 1 bend when walking on the treadmill and the treadmill frame 3 moves in the direction to the side. Both the deflection range and the movement properties can be changed by the configuration of the support body 1 in length and cross section. If the cross-section of the support body 1 is not symmetrical, the deflection properties of the treadmill frame 3 can be set arbitrarily and differently to the front and back and to the left and right as well as in diagonal directions of movement. 1 also shows that the supporting body 1 can be fastened both under the treadmill frame 3 and laterally to it. In the case of the lateral attachment of the supporting bodies la shown on the left-hand side, the height of the tread can be advantageously designed to be low.

2a shows a gait training arrangement from the side in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. In this case, the treadmill frame 3 is mounted on the treadmill base frame 11 via cylindrical or spherical rigid support elements 1 that can, however, be rotated about an axis of rotation. In use, the treadmill frame is caused to vibrate with a dominant horizontal component by the force exerted by the user. 2b shows by way of example that the support elements 1, which are preferably of spherical design, enable the movement of the treadmill frame 3 in the horizontal direction when walking. The spherical support bodies 1 move between the treadmill frame 3 and the base 11. The configuration and shape of the support bodies 1 can vary in length, cross section and diameter, with which both the deflection range and the movement properties can be changed.

2c shows in a detailed view that a spherical support element 1 rests in a ball bearing shell 1A in the treadmill frame 3 on the one hand and in a concave formation 11a in the base frame on the other hand. This centers and dampens the movement of the treadmill frame relative to the base. The movement parameters of the movement can be set as desired by suitably designing the curvature of the formation 11a. An additional limiting element (not shown) on both sides of the concave shape (such as a raised edge of the shape) can, if necessary, prevent the ball from rolling out of the shape even more effectively. The configuration enables the support body 1 to be easily rotated under the treadmill frame 3 and can provide advantages such as low noise and reduced wear of the support body.

If a movement of the treadmill frame 3 relative to the base frame 11 is only to take place in the longitudinal direction, the support body can also be cylindrical (as already noted above) and the bearing can be constructed as a needle bearing instead of a ball bearing.

In a particularly preferred embodiment, the support bodies 1 are embedded in an elastic body 2 so that the treadmill frame 3 moves back into the starting position after deflection. The elastic body 2a - preferably with good restoring properties - can also be arranged separately under the treadmill frame 3. As a particular advantage, the elastic bodies 2 create a mechanical connection between the treadmill frame 3 and the underframe 11 and thus prevent them from being displaced or lifted off.

It goes without saying that the support bodies in this embodiment cannot be rigidly connected to the treadmill frame and the base frame. on the other hand but their mentioned mobility must be limited in some way. This can be done in a simple manner, for example, by accommodating them in a support body cage or by mounting their axis of rotation in a support body holder on the base frame.

The number of support bodies 1 is basically not limited, so that a large number of support bodies 1 can be arranged under the treadmill frame 3 or a flat structure connected thereto under the running surface.

3a shows a gait training arrangement from behind, in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. Supporting elements 1 are in turn arranged between the treadmill frame 3 and the base frame 11 in order to convert placement forces into a substantially horizontal movement of the treadmill frame 3 . Their configuration can be similar to that of FIGS. 1a and 1b, for example.

To improve the restoring properties in a starting position, elements with spring properties 9 are arranged laterally between the treadmill frame 3 and upstanding parts 11a of the base frame 11 here. Instead of tension and compression springs, elastomers can be used in any number and area.

3b and 3c show two different configurations of the arrangement of the spring/damping elements 9, on the one hand diagonally at the four corners of the treadmill frame and on the other hand in a mutually perpendicular arrangement of two such elements near the corners of the treadmill frame. In particular, they have the task of dampening the movement of the treadmill frame due to the placement forces and of centering the treadmill frame in the base frame. They can be interchangeable, so that elements with different spring and damping properties can be used, e.g. B. Elastomer elements made of rubber mixtures with different degrees of hardness.

In FIG. 4, an outrigger 3b is attached to the treadmill frame 3 on the left-hand side as an example. This is associated with a locking device 13 with a locking screw 13a, via which the treadmill frame 3 is fixed with at least local suppression of vibrations of the frame on the boom 11a leaves. It goes without saying that if several such locking devices are provided at different points of the treadmill frame, the frame can be completely locked in the frame.

5 schematically shows a modified embodiment of the locking device 13 in the form of a plan view and a side view, with which a certain residual mobility can be maintained within the base frame even when the treadmill frame is in the locked state. For this purpose, a pot-shaped abutment 13b is provided below the end of the locking screw 13a, which is braced by four locking spring elements 13c in the corners of a square recess 11b at the end of the extension arm 11a. This construction is only an example, the cup-shaped abutment 13b can also be embedded in an elastic material.

It should be noted with regard to all of the above-described versions that these can in principle also be implemented with a walking plate with a corresponding frame as the substructure instead of a treadmill frame. Minor structural adjustments to implement this modification are within the scope of professional action, so that a more detailed description of these versions can be dispensed with here.

Fig. 6 schematically shows an option for designing the gait training arrangement according to the invention, namely the design with a drive control device 15, with which on the one hand (example via a speed detection of the drive shaft) the current speed of the treadmill is recorded and on the other hand (example via an operating computer 17) a variation of the Belt speed, preferably for generating perturbation movements of the treadmill frame 3 and thus the tread can be made. For this purpose, for example, jerky changes in speed of the drive roller 5 can be carried out. The control can be done via a computer located in the treadmill or an external computer. The treadmill frame is only partially shown here. A support element 1 is shown schematically.

FIG. 7 shows the arrangement from FIGS. 1 and 2 in a plan view, with additional elements which serve to bring about user-induced movements of the treadmill frame in the treadmill frame. This is an electric magnets 19 or other types of actuators 21, optionally in conjunction with an elastic coupling element 23. The corresponding elements are each preferably connected to the treadmill base frame 11.

If the treadmill frame 3 and thus the tread 7 are set in motion by the arrangement according to the invention, the electromagnet 19 located in a fixed position on the treadmill base frame 11 can be activated and fix the treadmill frame 3 and release it again at a given time. The actuator 21 can set the treadmill frame in motion in a targeted manner via a lifting cylinder 21 and thus exert interference pulses on the running surface 7 . As shown and to combine both properties, the actuator 21 can be connected to the lifting cylinder 21 .

The addition of an elastic element 23 allows a jolt-free docking to the treadmill frame 3 and, if necessary, allows a residual mobility of the running surface. The elastic element 23 is shown as an example in front of the electromagnet 19, but it can also be connected directly to the base frame 11 behind it and/or be used in connection with the actuator 21 or the combination of both elements.

The implementation of the invention is not limited to the examples and aspects explained above, but is also possible in a large number of modifications that are within the scope of professional action. In particular, it should be noted that any combination of the dependent claims should be considered as falling within the scope of the invention.

Claims

CLAIMS Gait training arrangement, with a treadmill frame and an endless belt or lamellar belt running and driven over rollers held in the treadmill frame, one surface of which serves as a walking or running surface, the treadmill frame being elastically mounted on a base frame by means of support elements in such a way that in use by the User exerted touchdown force causes the treadmill frame to vibrate in the base frame with a dominant horizontal component of its movements. Gait training arrangement, with a walking plate mounted in a base frame, which has a flat substructure, the substructure being elastically mounted on the base frame by means of support elements in such a way that, during use, the base frame vibrates in the base frame with a dominant horizontal component of its movements due to the placement force exerted by the user is effected. Gait training arrangement according to claim 1 or 2, wherein the support elements are connected as support bodies with a first end to the base frame and with a second end to the treadmill frame or a flat substructure of the walking plate. Gait training arrangement according to one of Claims 1 to 3, wherein the supporting bodies are designed and/or connected in such a way that they essentially block a vertical component of the movement of the treadmill frame or the substructure with the treadmill frame or the substructure on the one hand and the base frame on the other hand or deflect it in its direction , which causes the conversion of the placement force exerted by the user into swinging with a dominant horizontal component. Gait training arrangement according to one of claims 1 to 4, wherein the treadmill frame or the walking plate has a rectangular shape in plan view and at least one support member is provided at or near each end of the rectangular treadmill frame which elastically connects the treadmill frame to the connects the base frame, or at least one support element is provided at or near the end points of the front edge or rear edge of the rectangular treadmill frame or the walking plate, which elastically connects the treadmill frame to a suspension point in the base frame and is essentially movable at the other of the front edge or rear edge of the treadmill frame or rotatably mounted in the base frame. Gait training arrangement according to one of claims 1 to 5, wherein the support elements are designed as essentially rigid but movable bodies, in particular balls or rolling bodies, or as partially or along the entire support element as elastically flexible bodies. Gait training arrangement according to claim 6, wherein the balls or rolling bodies are each movably mounted in a recess in the base frame, which has a radius that is significantly larger than the radius of the ball or the rolling body, at least in the longitudinal direction of the base frame and in a ball or rolling bearing shell on the underside of the Treadmill frame are stored, or vice versa. Gait training arrangement according to one of the preceding claims, wherein locking means are provided for the side or front area of the treadmill frame or the walking plate, which in particular have an elastic element for developing residual mobility between the treadmill frame and base frame. Gait training arrangement according to one of the preceding claims, wherein the treadmill frame or the walking plate or each walking plate as a whole or each support element has damping means and/or restoring means for setting a predetermined damping of the vibration of the treadmill frame or the walking plate caused by the placement forces and/or the return of the treadmill frame the starting position are assigned. Gait training arrangement according to one of the preceding claims, wherein the treadmill frame or the walking plate have electric, electromagnetic, pneumatic or hydraulic actuators for impressing an adjustable front-back inclination and/or lateral inclination of the treadmill frame 14 or the walking plate relative to the base frame and/or for generating user-independent movements of the treadmill frame or the walking plate in the base frame. Gait training arrangement according to claim 10, wherein at least one electromagnetic actuator is provided, which responds to the oscillating movement of the treadmill frame or the walking plate in the base frame caused by the placement forces in such a way that at predetermined deflection amounts of the treadmill frame, this is detected with magnetic force and subjected to an additional movement component or this/ r is released again by the electromagnet or by switching on or off additional movement components of the treadmill frame or the walking plate with respect to the base frame. Gait training arrangement according to one of the preceding claims, wherein the drive of the treadmill is assigned control means for effecting speed changes of the treadmill, in particular on the basis of output signals from a random number generator or a training program memory. Gait training arrangement according to one of the preceding claims, wherein the endless belt or lamellar belt or the walking plate is assigned a pressure/force detection sensor system for detecting the touchdown and optionally touchdown points and touchdown forces on the walking or running surface and the treadmill arrangement has a touchdown evaluation unit for evaluating the signals of the force sensors, the force sensors comprising in particular strain gauges and/or a pressure sensor array for the spatially resolved detection of the contact forces. Gait training arrangement according to claim 13, wherein the placement evaluation unit is connected via a signal input to a sensor for detecting the vibration state of the treadmill frame or the walking plate in the base frame and is designed in such a way that the vibration state or the vibration behavior of the treadmill frame in the base frame is taken into account when evaluating the placement forces becomes. 15 gait training arrangement according to claim 13 or 14, wherein the placement evaluation unit is connected to optical and / or to the acoustic display means and a display / output control is provided, the processing means for processing the evaluation results of the pressure sensors to influence the representation of the virtual walking environment or the issuance of training instructions.