EP4525999A1

EP4525999A1 - Modular device for generating perturbation or support impulses during treadmill walking

Info

Publication number: EP4525999A1
Application number: EP22743945.2A
Authority: EP
Inventors: Zlatko MATJA I; Andrej OLEN EK
Original assignee: Univerzitetni Rehabilitacijski Institut Republike Slovenije Soca
Current assignee: Medica Medizintechnik GmbH
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2025-03-26
Also published as: WO2023224564A1

Abstract

The subject of the invention is a modular device for generating perturbation or support impulses during treadmill walking, which enables the implementation of a well-established method of dynamic balance training during standing and walking in persons who have recovered from a neurological disease, such as a stroke. The modular device according to the invention consists of two mechanical assemblies (A, B), mechanically coupled/separated by an electromagnetic clutch (7), wherein the mechanical assembly (A) houses an electric actuator (1 ) mounted on a holder (2) and driving, via an axle coupling (3), a mechanical axle (4) which is mounted with two bearings (5) in two places and to which a body of known mass - a flywheel (6) - is fixed, while in the mechanical assembly (B) there is mounted a mechanical axle (8) in bearings (5'), to which two discs (9; 10) are fixed, and a cord (13) is wound and attached to a reel (9), which is at one side attached to a cuff (14) that encloses a selected segment of the human body, and a cord (15) is wound and attached to the reel (10) in the opposite direction to the cord (13), on the other side of which a weight (12) is attached.

Description

A MODULAR DEVICE FOR GENERATING PERTURBATION OR SUPPORT IMPULSES DURING TREADMILL WALKING

The subject of the invention is a modular device for generating perturbation or support impulses during treadmill walking, which enables the implementation of a well-established method of dynamic balance training during standing and walking in persons who have recovered from a neurological disease, such as a stroke. The modular device of the invention allows the application of an abrupt, externally imposed, short-term change in the distance between the current centre-of-mass (COM) position and the current reaction force centre-of-pressure within the current base-of-support (BOS).

Said method, which requires an appropriate balance reaction after the perturbation action, is called perturbation-based training (PBT). PBT is usually performed by abrupt movements of a standing platform or treadmill (example: Balance Tutor apparatus; Shapiro A, Melzer I. Balance perturbation system to improve balance compensatory responses during walking in old persons. J Neuroeng Rehabil. 2010 Jul 15:7:32. doi: 10.1 186/1743-0003-7-32. PMID: 20630113; PMCID: PMC2911463.) or by abrupt pushes to the pelvis (example: BART apparatus; Matjacic Z., Zadravec M, Olensek A. Feasibility of robot-based perturbed-balance training during treadmill walking in a high-functioning chronic stroke subject: a case-control study. J Neuroeng Rehabil. 2018 Apr 11 ;15(1 ):32. doi: 10.1186/sl 2984-018-0373-z. PMID: 29642921 ; PMCID: PMC5896154.) or by abrupt pelvic pulls (example: A-TPAD apparatus, Aprigliano F, Martelli D, Kang J, Kuo SH, Kang UJ, Monaco V, Micera S, Agrawal SK. Effects of repeated waistpull perturbations on gait stability in subjects with cerebellar ataxia. J Neuroeng Rehabil. 2019 Apr 11 ;16(1):50. doi: 10.1186/s12984-019-0522-z. PMID: 30975168; PMCID: PMC6460671 ) of a standing or walking subject.

Without exception, the devices known to date to perform PBT require servomotor drives with appropriate nominal forces/torques and appropriate nominal power. Perturbation impulse must have a large enough amplitude to induce the desired displacement of the COM with respect to the BOS. Driving these devices requires the use of closed-loop impedance-admittance control schemes, which increases the complexity and price of each device, while also increasing the complexity in terms of managing risks and adverse events. In terms of operational safety, these devices need support safety systems. In the case of the Balance Tutor apparatus, care must be taken to ensure that under no circumstances does a person step from the treadmill onto the stationary part of the platform, which could provoke a foot injury. In the case of both devices, which apply perturbation impulses to the pelvis of a standing or walking person, it must be ensured that in the event of any malfunction, the powerful servo-drives cannot injure the person.

Having prior art in mind, there is a need for a simpler, cheaper and safer technical solution to performing perturbation impulses.

The proposed device according to the invention allows the modulation of perturbation impulse duration and its application to a selected part of the body according to the principle of elastic impact, either as a perturbation impulse in training the dynamic balance maintenance or as a support impulse in the execution of a movement during treadmill standing and walking. The main mechanical feature of the proposed device is two mechanically separated mechanical assemblies which are mechanically coupled by an electromagnetic clutch only for the duration of the impulse. The first mechanical assembly is attached to a selected body segment by elastic or inelastic cords and follows the movement of the segment so that the cord is always stretched and has negligible effect on gait (low mechanical impedance). The second mechanical assembly consists of a mechanical element with certain inertia - a flywheel, which is mechanically coupled to an electrical actuator, e.g. an electric motor, which accelerates the flywheel to a desired angular velocity, equivalent to the desired mechanical energy, before the two mechanical assemblies are coupled.

The main functional characteristic of the proposed device according to the invention is that the support and perturbation impulses are not directly exerted by electric actuators, e.g. electric motors, but said forces are generated by transferring the desired mechanical energy from a body with certain mechanical inertia - the flywheel - via mechanical coupling of the two mechanical assemblies with an electromagnetic clutch to the desired segment of the human body.

Depending on the mechanical coupling time of the two mechanical assemblies within the gait cycle, the duration of the mechanical coupling of the two mechanical assemblies and the use of elastic or inelastic cords, different mechanical effects can be achieved. For example, in a short-term mechanical coupling of the two mechanical assemblies, a short-term perturbance may be transmitted to the pelvis via the inelastic cords, eliciting a balance reaction in the human. In a second example, in the case of prolonged coupling of the two mechanical assemblies, a long-term support impulse is transmitted to the pelvis via the elastic cord in the direction of the paretic leg, which extends the support on the paretic leg, promoting equal loading of both legs and symmetry of gait. A third example is the use of short-term coupling of the two mechanical assemblies, which generates perturbation that is transmitted via an inelastic cord to the foot in the swing, impeding the progress of the leg in the direction of gait. Another example is the application of a support impulse to the knee joint when weight is transferred to the foot in support, where by prolonged mechanical coupling of the two assemblies via an elastic cord, the support impulse in the knee helps to maintain sufficient extension moment.

Compared to comparable devices, the proposed device according to the invention does not require complex control schemes, e.g. impedance or admittance control, to operate, since the low mechanical inertia acting on the user during the time without application of impulses is provided by the mechanical design. The control of the device implements the alternating engagement of the electromagnetic clutch and the motor. Prior to the application of a support or perturbation impulse, an electronic circuit performing the function of a switch, e.g. an electronic switch, is used to control an electric actuator, e.g. an electric motor, with an appropriate voltage, which accelerates the body with certain mechanical inertia - the flywheel - to an appropriate speed and thus to a desired mechanical energy. During this time, the electromagnetic clutch is switched off by an electronic circuit which performs the function of a switch, e.g. an electronic switch, ensuring that there is no mechanical coupling between the two mechanical assemblies. When an impulse is applied, the electronic circuit performing the switch function, e.g. the electronic switch, switches off the electric actuator, e.g. the electric motor, and at the same time the other electronic circuit performing the switch function, e.g. the electronic switch, switches on the electromagnetic clutch, allowing mechanical coupling of the two assemblies. Such mechanical design and control are very important from a safety point of view, as they prevent the user from being exposed to the direct action of an electric actuator, e.g. an electric motor, at any time during the operation of the device. Even in the event of any failure, the motor is practically unable to move the person walking on the treadmill due to its low nominal power and torque.

Due to its modular device, the device according to the invention for generating impulses can be used with virtually all existing treadmills and existing weightrelief systems. In the event of a loss of balance, the weight relief system prevents the person from falling, and the operation of the device for generating impulses is stopped in the event of a loss of balance due to the interruption of the circuit of the magnetic safety switch to which the person is attached via a light cord.

The device will be explained in more detail based on an embodiment with the corresponding drawings, on which:

Figure 1 is a schematic illustration of the structural design of a device for the application of perturbation and support impulses in a specific application;

Figure 2 is a schematic illustration of the principle of operation;

Figure 3 is a schematic illustration of possible embodiments of the device;

Figure 4 is a schematic illustration of possible applications of the device;

Figure 5 is a schematic illustration of the control of the device.

Figure 1 is a schematic illustration of the structural design of the proposed device for the application of perturbation and support impulses to a selected body segment during treadmill standing or walking, a specific use is illustrated.

The device consists of two mechanical assemblies A and B which are either mechanically separated from each other by an electromagnetic clutch 7 when the electromagnetic clutch 7 is not engaged or mechanically coupled when the electromagnetic clutch 7 is engaged. In the mechanical assembly A, an electric actuator 1 , e.g. an electric motor, mounted on a holder 2, drives a mechanical axle 4 via an axle coupling 3 when the electric actuator 1 is switched on. The mechanical axle 4 may also be driven by a belt which drives a pulley on the mechanical axle 4 via a pulley on the axle of the electric actuator 1 . The mechanical axle 4 is mounted in two places by two bearings 5 and a body of known mass, a flywheel 6, is fixed to it and rotates with the mechanical axle 4.

The drive part of the electromagnetic clutch 7 is fixed to a second end of the mechanical axle 4. The driven part of the electromagnetic clutch 7 is fixed to a mechanical axle 8 in the mechanical assembly B; the mechanical axle 8 is mounted in two places by two bearings 5'. Discs 9 and 10 are fixed to the mechanical axle 8. A cord 13, which may be either an inelastic cord 13a or an elastic cord 13b, is attached and wound onto a reel 9 and is at the other side attached to a cuff 14 which encircles a selected body segment, e.g. the pelvis, of a person walking on a treadmill 18. Different stiffness of the inelastic cord 13a or the elastic cord 13b has a different mechanical effect on the selected body segment during the operation of the device.

A second inelastic cord 15a is attached to the reel 10 and wound in the opposite direction to the inelastic cord 13a wound on the reel 9, on which a weight 12 is suspended to ensure that the inelastic cord 13a is kept tight at all times. At the opposite end of the mechanical axle 8, a rotary motion sensor 11 is attached to measure the angle and speed of rotation, through which the characteristic phase diagram of the gait cycle is monitored. This allows the identification of individual events within the gait cycle which are used to activate the electromagnetic clutch 7 in the sub-phase of the gait cycle in which the perturbation or support impulse is to be applied. The operation of the proposed device according to the invention is stopped in the event of a loss of balance of the walking person due to the interruption of the circuit of a safety switch 16 with which the person is magnetically fastened via a light cord 17.

Figure 2 shows the principle of operation of the proposed device according to the invention. Depending on the use of an inelastic cord 13a or an elastic cord 13b on the reel 9, which is attached to a selected segment of the person's body, two mechanical effects on the selected segment of the person's body can be achieved. Figure 2.1 shows the principle of operation of the proposed device when an inelastic cord 13a is used. The action is cyclic in nature, with each cycle taking place in three phases.

In the first phase (Figure 2.1 a), the electromagnetic clutch 7 is not activated - the electromagnetic clutch 7 is not connected to a voltage source - and the electric actuator 1 , e.g. the electric motor, is connected to a voltage source. The electric actuator 1 drives the mechanical axle 4 and thus a body of known mass - the flywheel 6. In this way, the electric actuator 1 introduces and maintains the desired amount of mechanical energy in the flywheel 6 in the mechanical assembly A. Meanwhile, the mechanical assembly B, via the inelastic cord 13a, follows the movement of the selected body segment, e.g. the pelvis. Due to the slow motion of the selected segment, the mechanical assembly B has a much lower mechanical energy than the mechanical assembly A. The situation can be illustrated as a system of two bodies with masses mA (mechanical assembly A) and RIB (mechanical assembly B + human), where the body with mass mA moves much faster than the body with mass RIB and therefore has a much higher energy. In the second phase (Figure 2.1 b), when an impulse F is to be applied to the selected body segment, the electromagnetic clutch 7 is briefly activated - the electromagnetic clutch 7 is energized - and the power supply to the electric actuator 1 - the electric motor - is cut off at the same time. In this way, mechanical coupling of the mechanical assemblies A and B is achieved and the mechanical energy is transferred from the flywheel 6 in the mechanical assembly A to the mechanical assembly B in a very short time. The mechanical axle 8 and the reels 9 and 10 are rotated in the same direction as the mechanical axle 4 and the flywheel 6, so that the end of the inelastic cord 13a pulls the selected segment of the standing or walking person in the direction of the inelastic cord 13a towards the mechanical assembly B. The energy transfer is felt by the person as a brief perturbation impulse F on the selected body segment in the direction of the inelastic cord 13a.

The amplitude of the support impulse F depends proportionally on the rotational speed of the flywheel 6, which in turn depends proportionally on the voltage of the voltage source to which the electric motor is connected before the electromagnetic clutch 7 is activated.

The situation can be illustrated as a flexible collision of two bodies having masses mA and ms, where in a very short impulse F a transfer of energy occurs from the body of mass mA to the body of mass ms.

In the third phase (Figure 2.1 c), after the energy transfer is complete, the voltage at the electromagnetic clutch 7 is disconnected and the electric actuator 1 is reconnected to the voltage source. As a consequence, the mechanical coupling of the two mechanical assemblies A and B is interrupted while the selected body segment, e.g. the pelvis, moves in the direction of motion of the inelastic cord 13a. If the inertia of the flywheel 6 is suitably selected with respect to the mass of the person, then during the coupling of the two mechanical assemblies A and B, there is an almost complete transfer of mechanical energy - the flywheel 6 stops and the selected body segment, e.g. the pelvis, after the transfer of mechanical energy, moves with a velocity proportional to the mechanical energy of the flywheel 6 in the mechanical assembly A.

The situation can be illustrated as a system of two bodies having masses mA and ms, where the body of mass mA is stopped for a short time immediately after the transfer, while the body of mass ms moves in the direction of the impulse F.

A slightly different mechanical principle is established when an elastic cord 13b is attached to a selected body segment (Figure 2.2). The action is cyclic in nature, with each cycle taking place in five phases.

In the first phase (Figure 2.2a), the electromagnetic clutch 7 is not activated - the electromagnetic clutch 7 is not connected to a voltage source - and the electric actuator 1 , e.g. the electric motor, is connected to a voltage source. The electric actuator 1 drives the mechanical axle 4 and thus the flywheel 6 which is fixed to the mechanical axle 4. In this way, the electric actuator 1 maintains the desired amount of mechanical energy in the flywheel 6 in the mechanical assembly A. Meanwhile, the mechanical assembly B, via the elastic cord 13b, follows the movement of the selected body segment, e.g. the pelvis. Due to the slow motion of the selected segment of the body, the mechanical assembly B has a much lower mechanical energy than the mechanical assembly A.

The situation can be illustrated as a system of two bodies having masses mA and ms, coupled together by a spring and a rigid yet slack cord. The body of mass mA has high energy and is moving away from the body of mass RIB at high speed, which reduces the slack in the rigid cord. As long as the rigid cord is loose, there is no exchange of energy between the two masses. In the second phase (Figure 2.2b), when an impulse F is to be applied to the selected body segment, the electromagnetic clutch 7 is activated - the electromagnetic clutch 7 is energized - and the power supply to the electric actuator 1 - the electric motor - is cut off at the same time. In this way, mechanical coupling of the mechanical assemblies A and B is achieved, initiating the transfer of mechanical energy from the flywheel 6 in the mechanical assembly A to the mechanical assembly B. The mechanical axle 8 and the reels 9 and 10 start rotating in the same direction as the mechanical axle 4 and the flywheel 6, so that the end of the elastic cord 13b starts pulling the selected segment of the body of the standing or walking person in the direction of the elastic cord 13b towards the mechanical assembly B. Since the cord 13 is an elastic cord 13b, it starts to stretch from its initial length to its maximum stretch during the energy transfer and then starts to shorten when the selected body segment starts to move in the direction of the impulse or when the energy is fully transferred.

In the case of the use of an elastic cord 13b, the mechanical coupling with the electromagnetic clutch 7 must be longer than in the case of the inelastic cord 13a to fully transfer the energy to the selected body segment.

At each instant, the amplitude of the force F acting on the selected body segment during the energy transfer is proportional to the stretch of the elastic cord 13b or the amount of energy transferred since the beginning of the coupling. The impulse F profile during the energy transfer is bell-shaped. As the energy is gradually transferred from mechanical assembly A to B during the mechanical coupling by the electromagnetic clutch 7, the flywheel 6 slows down proportionally until it stops when the energy transfer is complete.

The situation can be illustrated as a system of two bodies having masses mA and ms, coupled together by a spring and a rigid cord. The body of mass mA has high energy and is moving away from the body of mass RIB at high speed that much that the rigid cord is stretched. At this moment, the spring starts to stretch, the force F starts to act between the two masses and the energy from the mass mA starts to be gradually transferred to the body of mass RIB. As a result, the body of mass RIB is accelerating and the body of mass mA is decelerating. When the energy transfer is complete, the body of mass mA stops and the rigid cord becomes slack, breaking the coupling of the two masses. The amplitude of the force F acting between the two masses is proportional to the elongation of the spring and has a bell-shaped profile during the energy transfer.

In the third phase (Figure 2.2c), after the energy transfer is completed, the voltage on the electromagnetic clutch 7 is interrupted and the electric actuator 1 is reconnected to the voltage source, the mechanical coupling of the two mechanical assemblies A and B is interrupted, while the selected body segment, e.g. the pelvis, moves in the direction of the elastic cord 13b (Figure 2.2 below). If the inertia of the flywheel 6 is suitably selected with respect to the mass of the person, then during the coupling of the two mechanical assemblies A and B, there is an almost complete transfer of mechanical energy - the flywheel 6 stops and the selected body segment, e.g. the pelvis, after the transfer of mechanical energy, moves with a velocity proportional to the mechanical energy of the flywheel 6 in the mechanical assembly A.

The situation can be illustrated as a system of two bodies having masses mA and RIB, where the body of mass mA is stopped for a short time immediately after the transfer, while the body of mass RIB moves in the direction of the impulse.

The described principle of perturbation impulse requires a certain time after each activation for the relatively weak motor to accelerate the flywheel to a desired velocity. However, as the perturbation impulses in PBT training follow each other relatively slowly (the time between two impulses should be at least 10 seconds, allowing the stabilization of a standing or walking person after the action of the preceding impulse), this limitation of the proposed system does not affect the dynamics of the balance training.

Figure 3 shows the possible versions of the pre-tensioning of the cord 13 to be attached to the selected body segment. For effective energy transfer during a perturbation or support impulse, it is necessary to ensure that the inelastic cord 13a or the elastic cord 13b is tensioned before the pulse is applied, i.e. when the electromagnetic clutch 7 is not active and there is no mechanical coupling between the mechanical assemblies A and B. In the first embodiment of the pretensioning of the cord 13 (Figure 3a), an inelastic cord 15a is wound on the reel 10 in the opposite direction to that in which the cord 13 is wound on the reel 9, and a weight 12 is suspended therefrom. Since the reels 9 and 10 are fixed to the mechanical axle 8, they both always rotate in the same direction. When the selected body segment moves away from the proposed device, the latter pulls the cord 13 with a force whose torque on the mechanical axle 8 overcomes the counter-torque due to the weight of the weight 12. Therefore, the cord 13 unwinds from the reel 9 in the direction of movement of the selected body segment, while, on the contrary, the cord 15a, which lifts the weight 12, winds up on the reel 10.

When the selected body segment approaches the proposed device, the cord 13 is released, resulting in less or no torque on the mechanical axle 8 due to the cord 13, which is overcome by an opposing torque due to the weight force of the weight 12. The mechanical axle 8 and the two reels 9 and 10 are rotated in such a way that the cord 13 is wound on the reel 9, which keeps it stretched, while, conversely, the cord 15a, which carries the weight 12, is unwound from the reel 10, releasing the weight. The second embodiment of the pre-tensioning of the cord 13 differs from the first embodiment in that the cord 15 is either an inelastic cord 15a and attached to a fixed point, e.g. a base, via a pre-tensioned spring, or an elastic cord 15b and attached to a fixed point (Figure 3b).

When the selected body segment moves away from the proposed device, it pulls the cord 13 with a force and the torque, due to the force in the cord 13, rotates the mechanical axle 8 and the two discs 9 and 10 in the same direction. The cord 13 is unwound from the reel 9 and the elastic cord 15b, which is wound on the reel 10 in the opposite direction, is wound and stretched. In this way, a counter-torque is generated on the mechanical axle 8 which tensions the cord 13 more as the selected body segment is moved away from the proposed device.

When the selected body segment approaches the proposed device, the cord 13 is released, resulting in less torque on the mechanical axle 8 due to the cord 13, which is overcome by an opposing torque due to the force in the elastic cord 15b. The reel 10 rotates in such a direction that the elastic cord 15b unwinds and the elongation of the elastic cord 15b decreases. Conversely, the cord 13 is always stretched and winds on the reel 9 due to the opposing torque. The force with which the cord 13 is tensioned and which acts on the selected body segment is proportional to the elongation of the elastic cord 15b and its stiffness, or is proportional to the displacement of the selected body segment from the proposed device.

In rehabilitation terms, this mode of action has a greater stabilizing effect, as it helps the person walking on the treadmill to move the selected body segment, e.g. the pelvis, in a more pronounced way.

The third embodiment of the pre-tensioning of the cord 13 differs from the second embodiment in that the inelastic cord 15a is attached to a fixed point via a transmission 20, e.g. a lever, where the transmission can be variably adjusted (either manually or by means of a suitable motor), and a spring 19 (Figure 3c).

The principle of operation is the same as in the second embodiment with the inelastic cord 15a and the spring 19, where the change in transmission 20 is equivalent to replacing the spring of one stiffness in the second embodiment by a spring of a different stiffness. In rehabilitation terms, this mode of action also has a greater stabilizing effect, as it helps the person walking on the treadmill to move the selected body segment, e.g. the pelvis, in a more pronounced way, wherein the assistance level can be adjusted by adequately setting the transmission 20.

Figure 4 shows examples of possible applications of the proposed device.

In Figure 4a, the proposed device (indicated by element I) is positioned laterally with respect to a person walking on the treadmill and attached to the pelvis by the cord 13. During the time between the activation of the electromagnetic clutch 7, the impulse F is transmitted to the pelvis in the lateral direction. Depending on the choice of the stiffness of the cord 13 (inelastic cord 13a or elastic cord 13b), the impulse F may be either a short-term perturbation with high amplitude (inelastic cord 13a) or a long-term support impulse with a bell-shaped profile (elastic cord 13b).

From a rehabilitation point of view, the purpose of the short-term perturbation impulse F is to elicit an appropriate balance response from the user, while the purpose of the support impulse is to improve a particular aspect of gait, e.g. the example in Figure 4, top left, shows the extension of support on the paretic side and the improvement of gait symmetry.

Another example of the application of the proposed device is to place four such devices around a human by attaching them to a selected segment, e.g. the pelvis, with the cords 13 in pairs on two sides (Figure 4b), e.g. to the pelvis from the front (I and II) and from the back (III and IV). In this way, by appropriately timed activation of the electromagnetic clutches and varying the energy input to each device (the rotational speed of the flywheels 6 may vary between devices), several impulses can be applied simultaneously to a selected body segment, e.g. the pelvis, whose resultant F can be applied to the selected body segment in any direction and with any amplitude. For example, a simultaneous transfer of the same amount of energy from devices I and II to a person walking on a treadmill results in a forward impulse. Depending on the choice of the stiffness of the cord 13 (inelastic cord 13a or elastic cord 13b), the impulse may be again either a short-term perturbation with high amplitude (inelastic cord 13a) or a long-term support impulse with a bell-shaped profile (elastic cord 13b).

The following example of an application of the proposed device shows the installation of the device I for a person walking on a treadmill and the attachment of the inelastic cord 13a to the ankle (Figure 4c). In this case, when the electromagnetic clutch 7 is activated during the swing, a momentary perturbation impulse F momentarily decelerates the advancement of the leg to a new point of contact, similar to stumbling while walking, which requires an appropriate balance response. The fourth embodiment is similar, when the device I is positioned in front of a person walking on a treadmill and the inelastic cord 13a is attached close to the knee of the leg in the support (Figure 4d). In this case, when the electromagnetic clutch 7 is activated during the swing, the momentary perturbation impulse F momentarily inhibits the transfer of weight to the leg in support, which requires an appropriate equilibrium response.

The last embodiment shows circumstances, when the device I is positioned behind a person walking on a treadmill and the inelastic cord 13a is attached close to the knee of the leg in support (Figure 4e). When the electromagnetic clutch 7 is activated during weight transfer to the leg in support, a longer support, bell-shaped impulse F pulls the knee in the posterior direction to assist the leg in support in establishing the knee and hip extensor moment required for adequate weight transfer to the leg in support during gait.

Figure 5 shows a schematic diagram of the control of the device. The control system, e.g. PLC, microcontroller, and similar systems with control logic at its output, provides an electrical signal which directly controls the electronic circuit which performs the function of the switch to activate the electromagnetic clutch 7 and indirectly, via the inverter, the electronic circuit which performs the function of the switch to activate the electric actuator 1 . When the electrical signal is at a low level, the electronic circuit which performs the function of the switch for the electromagnetic clutch 7 is switched off, therefore the clutch 7 is not activated and no impulse is applied to the selected body segment (Figure 5a). On the contrary, the inverter then gives a high level at its output, the electronic circuit which performs the function of the switch for the electric actuator 1 is therefore switched on, which causes the electric actuator 1 to accelerate or maintain the desired rotational speed of the flywheel 6 (Figure 5b).

When the electrical signal is at a high level, the electronic circuit which performs the function of the switch for the electromagnetic clutch 7 is switched on and is activated. An impulse is then applied to the body segment. At the same time, the inverter then gives a low level at its output, the electronic circuit which performs the function of the switch for the electric actuator 1 is therefore switched off, which causes the electric actuator 1 not to accelerate the flywheel 6.

Claims

CLAIMS A modular device for generating perturbation or support impulses during treadmill walking on different segments of the human body, which allows modification of the kinematics of different segments of the body during treadmill standing or walking using the physical principle of elastic collision of two bodies of mass and the associated transfer of the rotational mechanical energy of a flywheel to the translational energy of the whole body or of a selected part of the body - a segment of the walking person, characterized in that the device consists of two mechanical assemblies (A, B), mechanically coupled/separated by an electromagnetic clutch (7), wherein the mechanical assembly (A) houses an electric actuator (1 ) mounted on a holder (2) and driving, via an axle coupling (3), a mechanical axle (4) which is mounted with two bearings (5) in two places and to which a body of known mass - a flywheel (6) - is fixed, while in the mechanical assembly (B) there is mounted a mechanical axle (8) in bearings (5’), to which two discs (9; 10) are fixed, and a cord (13) is wound and attached to a reel (9), which is at one side attached to a cuff (14) that encloses a selected segment of the human body, and a cord (15) is wound and attached to the reel (10) in the opposite direction to the cord (13), on the other side of which a weight (12) is attached. The modular device according to claim 1 , characterized in that the cord (13) may be an inelastic cord (13a) or an elastic cord (13b). he modular device according to claim 1 , characterized in the cord (15) may be an inelastic cord (15a) and is fixed via a pre-tensioned spring (19) to a fixed point, e.g. a base, or an inelastic cord (15a) that is attached to a fixed point via a transmission (20), e.g. a lever, where the transmission can be variably adjusted, and a spring (19), or the elastic cord (15b) may be fixed to a fixed point. he modular device according to any of the preceding claims, characterized in that the mechanical assembly (B), attached to the pelvis via a cord (13) and the cuff (14), is capable of exerting a support impulse during access, which prolongs the support time on that leg, contributing to greater gait symmetry. he modular device according to any of the preceding claims, characterized in that it allows delivering perturbation impulses to different parts of the body, wherein four devices (I, II, III, IV) attached in pairs to the front and rear of the walking person's pelvis are capable of delivering perturbation impulses in any direction of the transverse plane, wherein the device (I) attached to the ankle is capable of delivering a perturbation impulse in a swing, similar to a stumble during walking; the device (I) attached to the knee may exert a perturbation impulse in the support which is similar to the sudden bending of the knee; the device (I) attached to the knee may exert a perturbation impulse in the support which assists in the weight bearing of the approaching leg.