FR2875140A1 - Training and rehabilitation method for improving sports gesture of athlete, involves loading personalized knee kinematics model and parameters relative to type of physical exercise in order to force knee to follow preset movement - Google Patents

Abstract

The method involves generating a personalized knee kinematics model (70) from parameters representing degree of freedom of articulation of the knee. The model and parameters relative to type of physical exercise are loaded during utilization of a physical exercise apparatus (2) for generating a personalized control protocol (P2) to control primary and secondary units of the apparatus to force the knee to follow a predetermined movement. An independent claim is also included for a personalisable training and rehabilitation system for improving sports gesture.

Description

Method and training system and customizable rehabilitation for

  The present invention relates to the field of exercise apparatus offering a counter-response to a given movement. The invention more particularly relates to a customizable training and rehabilitation method for improving sports gestures using a kinematic model of the knee as well as a training and rehabilitation system by implementing such a method.

  The most recent studies show that the knee joint is subject to an increasing number of injuries. This is a major concern for physicians who wish to minimize the repetitive injuries of this joint. The pathologies surrounding the knee joint have repercussions on the career of athletes. High-level athletes are sometimes forced to interrupt their training and thus their competitions, with significant economic and sporting consequences. These athletes train several times a day and repeat the same gestures intensively. The knee joint undergoes the same repeated constraints (support on the ground, contact with the opponent, imbalance ...) that can lead to often serious pathologies.

  It is known in the prior art, from the document FR 2 834 220, a medical-sports rehabilitation device allowing sensors to record the efforts provided by the user with respect to the back of the device, and establish characteristics of the effort provided that can be compared with those of the effort required. However, it is not allowed to adapt the efforts to provide according to the trauma / pathologies of a patient. This type of device does not allow to play a really active role to a user wishing to optimize his training or rehabilitation (efficiency and duration).

  In general, this type of known apparatus comprises two distinct elements: a seat and a motorized system provided with an arm on which will be attached the user's leg which must be manually aligned with the axis of rotation knee. The knee is thus considered as a mechanical system with a single degree of freedom, which does not allow to consider personalized training modes, taking into account the particularity of the user. These machines can sometimes be used to diagnose knee anomalies, for example, by noting a sharp drop in force at certain joint angles. Nevertheless, they are mainly used for the "isokinetic" training mode during which the patient's force is analyzed as a function of the knee angle with constant movement speeds.

  It was found by the inventors that athletes of the highest level, the most skilful and trained in their discipline, adopt a more natural and precise gesture. The gesture performed at the level of the knee joint is better controlled, and is characterized in particular by a specific type of trajectory. Existing exercise machines do not allow to correct in the best possible way the sports gestures.

  The present invention therefore aims to remove one or more disadvantages of the prior art by defining a training and rehabilitation method specifically adapted to solicit the knee based on a personalized model and allowing the user to improve the movements of the knee joint in a way adapted to his needs.

  For this purpose, the invention relates to a customizable method of training and rehabilitation for the improvement of sports movements, allowing the personalization of a physical exercise device of the type comprising at least one articulated main movable member connected to a means motor or braking device for producing a feedback against a determined movement of the knee and a plurality of secondary members to constrain the knee to adopt a movement resulting in information measured along a narrowly defined path, the apparatus using computer equipment with storage means, interactive input and display means for entering adaptation parameters to a user of the exercise machine, and a control software module for controlling the apparatus of physical exercises, characterized in that it comprises: - a preliminary step of memorizing a model g of the complete kinematics of the human knee, said generic model taking into account a first series of parameters representative of degrees of freedom of the knee joint, during a first use of the exercise machine by a user, a first step of control by the software module servo means of a motorization assembly of the main and secondary organs lo to solicit the bones forming the knee joint, associated with a second step performed by sensor means to collect measurements enabling the parameters of said first set of parameters to be calculated, - a step of generating a model of the kinematics of the knee is personalized from the first set of calculated parameters, - during subsequent uses of the device of exercise by the user, a step of loading the customized model and a second set of parameters relating to the type of physical exercise followed by a step of generating a personalized exercise device control protocol, the control software module using the personalized control protocol to control the main and secondary organs so to force the knee to follow a movement ensuring that the different parameters each correspond to a well-defined trajectory.

  Advantageously, the invention therefore offers the possibility of actually adapting to the morphology of the knee and resulting in a truly personalized approach to rehabilitation, prevention and help to improve the sporting gesture. It is within this framework that the scientific contribution of the work carried out by the inventors is inscribed. This machine takes into account all degrees of freedom of the knee and adequate sizing.

  According to another particularity of the invention, the measurement collection step comprises a plurality of measurements made by magnetic sensors for measuring the kinematics of the bones of the knee joint, these sensors being integral with a device of attachment in contact with areas of the knee for which the relative movement of the skin and muscle masses relative to the bones is minimum.

  According to another feature, the method according to the invention comprises a selection step using said interactive means for selecting a force curve model applied by the motor or braking member as a function of an articular angle of said movable member among a plurality of models previously stored in the storage means, the articular angle of the movable member corresponding to an articulation angle of at least one knee of the user.

  According to another feature, the method according to the invention comprises a parameterization step using the selected force curve model to set a desired force or speed curve according to said articular angle taking into account the user of the device exercise, the desired force or velocity curve being stored in a file available to the control software module.

  According to another particular feature, the personalized control protocol includes, during subsequent uses of the exercise machine, a function for controlling the servocontrol means of said motorization assembly so as to impose a feedback of the movable member. sufficient for the determined movement to be performed with the desired force or speed corresponding to the desired force or velocity curve.

  According to another particularity, the custom control protocol provides parameters representative of six degrees of freedom for parameterizing via said primary and secondary organs the path allowed for the knee.

  According to another particularity, the software module controls, according to the personalized control protocol, a set of motorization of the main and secondary organs comprising six axes, the step of collecting the measurements being carried out by the sensor means to obtain respectively representative measurements of information on the strength, speed and acceleration of the bones required.

  According to another particularity, the generic model is obtained by using a biomechanical modeling of the knee reproducing the geometry of all the articular components of the knee and the interaction between these components, and exploiting the results of a functional evaluation step knee including non-invasive acquisition of 3D kinematics of joint components.

  The invention thus makes it possible, by using a personalized biomechanical model of the knee, to acquire and analyze sports gestures as well as to take constraints into account and to quantify them from experimental data, so that the model Customized knee kinematics obtained is realistic.

  According to another particularity, a step of recording characteristics of the force supplied by the user is carried out by the sensor means to enable the recording of a force curve as a function of the articular angle of the movable member. .

  According to another particularity, the parameterization step is completed by a step of selecting an interval of articular angles so as to limit the trajectory in a range excluding undesirable articular positions.

  According to another particularity, the force curve models as a function of the articular angle of the movable member are each obtained during a step of recording characteristics of the effort provided by a model sportsman associated with a given type. of sports discipline, the parametering step comprising the interactive means of a reduction coefficient taking into account the user of the exercise machine to lower the force intensity of the force curve model and obtain the desired force curve.

  According to another particularity, the first step of control by the software module of the control means of the motorization assembly comprises the real-time control of a motorization assembly of the main and secondary organs with six degrees of freedom so as to apply the bones of the knee joint according to each of the degrees of freedom, the first set of parameters taken into account by the generic model being representative of the behavior of the bones of the knee joint according to the six degrees of freedom.

  According to another particularity, the step of collecting measurements is performed by means of magnetic sensors and at least one force sensor.

  According to another particularity, a calibration step, comprising the actuation of the motor means for biasing the main movable member in the absence of user effort, is performed by a sensor means for measuring the weight of the or members of the user used to perform the determined movement of the knee, a so-called gravity compensation step being performed to reduce the weight of these members of the force measured by the sensor means, to display by said interactive means a force representative of the actual effort of the user.

  Another object of the present invention is to eliminate one or more of the disadvantages of the prior art by defining a customizable training and rehabilitation system making it possible to adapt the efforts to be provided according to the articulation of the user and of his needs.

  To this end, the invention proposes a customizable training and rehabilitation system for improving sports movements, comprising a physical exercise apparatus of the type including at least one articulated main movable member connected to a motor or braking means for counter-reaction to a determined movement, computer equipment with a control software module for controlling the exercise machine and interactive input and display means for inputting adaptation parameters to a computer. user of the exercise machine, characterized in that the exercise machine further comprises a plurality of secondary members for constraining the knee to adopt a closely delimited path and that the control software module comprises : calculating means arranged to use on the one hand a generic model of the complete kinematics of the human knee taking into account mpte a first series of parameters representative of degrees of freedom of the knee joint, and calculate on the other hand a first series of parameters from measurements of sensor means, - means for controlling servo means of a motor assembly of the main and secondary organs for biasing the bones forming the knee joint according to each of the degrees of freedom taken into account by the generic model, - generation means using the first set of parameters obtained by the calculation means for generate a personalized model io of the kinematics of the knee, the interactive means being arranged to trigger a personalization data acquisition phase by the calculation means and the control means of the control software module or to trigger the selection and then the loading the custom model and a second set of parameters related to the type of physical exercise at e ffectuer, the control module of the control software module being provided to use a control protocol of the physical exercise device adapted according to the selection of the personalized model and the second set of parameters to control the main and secondary organs so as to force the knee to follow a well-defined path.

  According to another particularity, the sensors comprise sensors for measuring the kinematics of the bones of the knee joint secured to an attachment device in contact with areas of the knee for which the relative movement of the skin and muscle masses compared to bones is minimum.

  According to another particularity, the control module of the control software module is arranged to control a motorization assembly of the main and secondary organs comprising six axes, the sensor means comprising sensors for force, speed and acceleration of the stressed bones.

  According to another feature, the motorization assembly of the main and secondary members is of the type with six degrees of freedom for soliciting via the control means of control of the control software module the bones of the knee joint according to each of the degrees of freedom, means for generating personalized models of the kinematics of the knee of the module taking into account, through said first set of parameters, the behavior of the bones of the knee joint according to the six degrees of freedom.

  According to another feature, the sensor means comprise at least one force sensor, the control software module being arranged to initiate the actuation of the motor means for biasing the movable member and triggering a measurement, by means of recording means. measurements of the force sensor, the weight of the user's member (s), gravity compensation software means being provided to reduce the weight of these members of the force measured by the force sensor and to enable interactive means of displaying a force representative of the actual effort of the user.

  Advantageously, the invention therefore makes it possible to take account of the weight of the members so as to obtain reliable models and follow-ups, whatever the type of morphology of the user.

  The invention, with its features and advantages, will emerge more clearly on reading the description given with reference to the accompanying drawings given by way of non-limiting examples in which: FIG. 1 represents a diagram of steps that can be carried out according to FIG. process of personalization of the invention; Fig. 2A is a schematic view of a physical exercise apparatus used in the invention; Figure 2B shows a schematic view of a system according to the invention; FIG. 3 shows force curves where the load is controlled as a function of the articular angle; FIG. 4 represents a diagram of steps that can be performed according to the personalization process of the invention; FIG. 5 represents a selection window for setting up a training session; FIG. 6 shows a window displayed by the interactive means of the system during a training session.

  Referring to Figure 2B, the exercise machine (2) comprises a seat for immobilizing the end of the member to work, for example the dowels, via footrest or holding means like. The limb portion preceding the joint, for example the thigh, may be blocked by a strap device (not shown). An axis of rotation (B1) is provided for example in the seat to form an arm or articulated movable member (21). The strap device or functionally equivalent device makes it possible to maintain the axis of rotation of the articulation, constituted for example by the knee, in the vicinity of the axis of rotation of the articulated member (21) of the apparatus (2). ). Other adjustable holding members can of course be considered to adjust the position of the knee. In addition, a position sensor (24) is disposed near the axis of rotation (B1) of the articulated member (21) to determine the articular angle (6) defined in the example of Figure 2B , as the angle between the horizontal and the position of the articulated member (21) supporting the members (4). More generally, this joint angle (0) of the movable member (21) substantially corresponds to the hinge angle of at least one member (4) of the user. This is in the example of Figure 2B of the rotation angle of the knee of the user.

  The training and rehabilitation system comprises, with reference to FIG. 2B, a physical exercise apparatus (2) of the type including at least one articulated main movable member (21) connected to a motor means (600) or braking device for producing feedback against a determined movement and computer equipment (1) having a control software module (10) for controlling the exercise machine (2). Interactive means (11) for inputting and displaying are provided to enable the input of adaptation parameters to a user of the exercise machine (2), the system according to the invention being customizable. In addition, the training and rehabilitation system offers the user the possibility of improving certain sporting actions performed with the lower limbs.

  In one embodiment of the invention, the exercise machine (2) has a fully automated seat that adapts to the morphology of the user. For this, there is provided means for reclining the backrest and forward (200) of the backrest as well as adjustments of the position of the lower limbs when the user is sitting on the seat. The settings are automatic and for example memorized from one session to another. During training with the exercise machine (2), in addition to the main rotational movement, a transverse movement and a longitudinal movement around the knee are also provided, which allows for more adjustment. specific.

  With reference to FIG. 2B, the physical exercise apparatus (2) comprises in addition to the main movable member (21) a plurality of secondary members (22) for constraining the knee to adopt a movement resulting in information measured along a narrowly defined path. These secondary members (22) comprise, for example, adjusting means (221, 222, 223) for the position of the thighs, calves, ankles and the height level of the knee. These secondary members (22) may also include fastening and holding means (2210, 2220, 2230) at a predetermined position of the knee. In addition, in one embodiment of the invention, these secondary members (22) may comprise means for modifying the trajectory of the main movable member (21). These path modification means form with the main movable member (21) a polyarticulate assembly that corresponds to the biomechanical model representative of the kinematics of a human knee.

  With reference to FIG. 2A, there is provided, by way of example, a motorization assembly (6) of the main and secondary members (21, 22) permitting movements of the knee along six axes (Al, A2, A3, BI, B2, B3). This assembly (6) includes, in addition to the articulation of the movable member (21), a double articulation of the chair of the apparatus (2) allowing rotations along a vertical axis (B3) and along a horizontal axis ( B2) orthogonal to the axis (BI) flexion 2875140 It of the knee joint. In addition, adjustments in translation of the position of the knee are allowed thanks to adjustment means (221, 222, 223) illustrated in Figure 2A. A lateral adjustment of the position of the knee may be performed along an axis (Al) parallel to the axis (BI) of flexion of the knee joint by means (223) for maintaining the thighs. In one embodiment of the invention, these same means can also be used to adjust the position of the knee along the horizontal axis (A2) orthogonal to the flexion axis (BI). The position of the chair backrest can also be adjusted along the same horizontal axis (A2) by means of advance (200) of the back of the chair to io adjust the knee. With reference to FIG. 2A, means (222) for maintaining and adjusting the position of the calves and ankles, as well as means (221) for positioning the foot, also make it possible to move the knee along a parallel axis (A3). to the main movable member (21) of the apparatus (2). In one embodiment of the invention, the adjustment means (200, 221, 222, 223) of the chair can be controlled by the motor assembly (6).

  In the example of FIG. 2B, a motor means (600) of the motor assembly (6) such as a geared motor or the like is connected by means of a link / drive mechanism to the articulated movable member (21) of the exercise machine (2). An assembly consisting of a lever arm (61) and a push arm (62) can be used as a connecting means, in particular to produce a feedback to a determined movement of the user. This type of motor means (600) makes it possible to achieve a permanent force greater than 2000 N with an angular velocity of up to 400 / s.

  The computer equipment (1) used in the invention comprises a man-machine interface with interactive means (11) for inputting and displaying. A touch screen may be provided to access modes of use of the exercise machine (2), previously defined and authorized by a specialist (doctor, physiotherapist). This computer equipment (1) is provided with memory means (12) and a software module (10) for controlling the exercise machine (2). In order to allow a personalization of the modes of use of the apparatus (2) of physical exercises (2), the interactive means (11) are arranged to allow the input of adaptation parameters to the user and the selection of one of a plurality of models (3) stored in the storage means (12).

  The working model may comprise a force curve as a function of the articular angle (0) of the articulated movable member (21). The force to be attained can thus be adjusted with a force curve model applied by the driving member (600) or braking device (2). In one embodiment of the invention, a selection window (100) is displayed on the touch screen to provide a choice of models (3) listed by sport.

  With reference to FIG. 1, the invention proposes an improvement of the sports gestures by using a generic model (7) of the complete kinematics of the human knee, this generic model being previously memorized during a prior memory step in the means of memorizing (12).

  This generic model (7) takes into account a first series of parameters representative of degrees of freedom of the knee joint.

  In the field of evaluation of knee kinematics and calculation of ligament deformities, the 3D geometry of the bones can be obtained from CT scans using adapted reconstruction software. This type of geometric modeling requires a large number of tomographic images and corresponds to a static model.

  The generic model (7) used in the invention corresponds to a biomechanical and realistic computer model of the knee joint, which makes it possible to study the constraints and to analyze the movements of the bones and ligaments required. Such a model (7) can result from the acquisition and analysis of sports gestures and the taking into account of constraints and their quantification from experimental data. Such a generic model (7) is obtained, for example, firstly by biomechanical modeling of the knee reproducing the geometry of all the articular components of the knee and the interaction between these components, and secondly by exploiting the results of a functional knee evaluation step including the non-invasive acquisition of the 3D kinematics of the joint components.

  A work session can typically be divided into two main phases with the system according to the invention. With reference to FIG. 1, the first phase consists, for example, in instrumented personalization of the knee model for the case to be treated. The second phase corresponds to the application of a personalized exercise derived from the models (3) stored in the memory means (12), this exercise also being parameterized according to the personalized knee physiology and the modalities envisaged by the therapist. or the sports trainer at the controls of the system. The human machine interface serves as a control panel for the training and rehabilitation system. This interface makes it possible to launch, visualize and control the main tasks of the system.

  During a first use of the exercise machine (2) by a user, a first control step (400) is performed by the software module (10) to control servo means (60) of a motor assembly of the main and secondary organs (21, 22) for soliciting the bones forming the knee joint. This first control step (400) is associated with a second step (42) performed by sensor means (23, 24, 25) for collecting measurements allowing the calculation (43) of the parameters of the first series representative of degrees of freedom. of the knee joint.

  The first step (400) for controlling the servocontrol means (60) of the motorization assembly comprises the real-time control of a motorization assembly of the main and secondary members (21, 22) with six degrees of freedom of movement. the first set of parameters taken into account by the generic model (7) being representative of the behavior of the bones forming the knee joint according to the six degrees of freedom. freedom. The control software module (10) has at least one personalization protocol (P1) for controlling the exercise machine (2) in a progressive measurement acquisition mode, which makes it possible to identify the characteristic parameters of the user's knee behavior.

  The control software module (10) includes, for example, calculation means (15) using the generic model (7) which make it possible to calculate the first series of parameters from measurements of the sensor means (23, 24, 25). These sensors (23, 24, 25) notably make it possible to measure information characteristic of the kinematics of the bones of the knee joint. The sensors (23, 24) used for the observation of the knee are for example integral with an attachment device in contact with areas of the knee for which the relative movement of the skin and muscle masses relative to the bones is minimum . In one embodiment of the invention, the step (42) of collecting measurements is performed by means of magnetic sensors and at least one force sensor (25). It can be provided among the sensor means (23, 24, 25) sensors force, speed and acceleration of the bones requested. The interactive means (11) can be arranged to trigger the personalization data acquisition phase.

  In the example of FIG. 2B, servocontrol means (60) of a motorization assembly of the main and secondary members (21, 2) are controlled by control means (13) of the software module (10). command to solicit the bones forming the knee joint according to each of the degrees of freedom taken into account by the generic model (7). The control software module (10) is furthermore provided with generating means (14) using the first set of parameters obtained by the calculation means (15) for generating a personalized model (70) of the kinematics of the knee.

  With reference to FIG. 4, a step (44) of generating a model (70) of the personalized knee kinematics from the first set of calculated parameters can therefore be performed, the personalized model (70) being stored in the storage means (12), for example in a personalization file. During subsequent uses of the exercise machine (2) by the user, the customized model (70) can be loaded during a loading step (51). In a preferred embodiment of the invention, this last step also includes the loading of a second series of parameters relating to the type of physical exercise. Depending on the type of exercise chosen, a determined movement will have to be made, the amplitude of which can be measured by means of the position sensor (24). The force sensor (25), for example of the strain gauge type, is also provided (at the end of the articulated member) to allow obtaining information on the muscle effort developed by the user. Logic sensors can also be provided to ensure the safety of the user (limit switches, emergency stops and proximity sensors).

  After the loading step (51) of the customized model (70) and the second set of parameters, a personal driving protocol (P2) of the exercise machine (2) is generated to enable control of adapted the main and secondary organs (21, 22) according to the needs of the user. In one embodiment of the invention, the interactive means (11) are arranged to trigger the selection and then the loading of the personalized model (70) and the second set of parameters relating to the type of physical exercise to be performed. The customized control protocol (P2) adapted according to the selection by the interactive means (11) of the personalized model (70) and the second set of parameters is for example stored during the generation step (52) in a specific memory (121) gathering a plurality of custom control protocols. The control means (13) of the control software module (10) are designed to use the personalized control protocol (P2) and to perform a series of commands for controlling the main and secondary organs (21, 22) in order to force the knee to follow a movement ensuring that the different parameters each correspond to a well-defined trajectory.

  For this, the custom control protocol (P2) provides parameters representative of six degrees of freedom to set via said primary and secondary organs the path allowed for the knee during a step (53) of personalized control. In one embodiment of the invention, the motorization assembly (6) of the main and secondary members (21, 22) is of the six-degree of freedom type for soliciting, via the controls, control means (13) for the module. software (10) controls the bones forming the knee joint according to each of the degrees of freedom, the means (14) for generating customized models of the kinematics of the knee of the software module (10) taking into account via said first set of parameters behavior of bones of a knee joint according to six degrees of freedom.

  With reference to FIG. 3, a parameter of the second series can specify for a working model a force curve as a function of the articular angle (0). A selected force curve model (30) may correspond to a particular muscle strength curve resulting from a particular training carried out by a model athlete, for example a champion of a sporting discipline. In general, sport training in the field makes it possible to develop specific qualities, a specific curve of a sport or a type of discipline that results in a specific force curve for the sport concerned. With reference to FIG. 4, the force curve models (3) as a function of the joint angle (0) can each be obtained during a step (80) of recording characteristics of the force. Each recorded curve can be modeled for later use as a parameterizable model (3) and then recorded with the plurality of models (3) in the storage means (12). In one embodiment, the modeling of the recorded curves intended to serve as a model can be of the polynomial type with a degree of polynomial ranging from 2 to 4 for example. In the third degree, a curve of force recorded as a function of the joint angle (0) can thus be modeled according to the formula F = K + ae + b02 + c03, where F represents the force, K a constant which can be zero, a, b and c are parameterizable coefficients to obtain a desired curve (31, 32).

  Models (3) can also be divided into a male and a female category. Only one of these categories can for example be accessible after a step of selecting the sex of the user by the interactive means (11) on the menu displayed on the screen by the control software module (10).

  The use of such models (3) can advantageously be applied in a new mode of training or rehabilitation, which is called physiokinematics, during which the muscle reinforcement is performed according to an imposed force curve, where the load is controlled according to the joint angle (0). The angular velocity of the main movable member (21) may depend on the force applied, thanks to the use of servo means of the motor means (600). For example, a variable speed drive can be used to control the power of the motor means (600). The parameters of angular velocity, force and angular position can be controlled so that the effort required from the user is personalized according to his needs.

  In a preferred embodiment of the invention, the control software module (10) comprises data transformation means (not shown) taking into account the adaptation parameters entered by the user or the practitioner to set up a curve. desired force (31, 32) from a selected force curve model (30). The interactive means (11) allow the input of a reduction coefficient depending on the user. The data transformation means are, for example, arranged to take into account this reduction coefficient in order to lower the intensity of the force (30) of the force curve model and to parameterize the desired force curve (31, 32), as illustrated. In FIG. 3, the data transformation means make it possible to select an interval (5) of articular angles so as to prohibit undesirable articular positions (0), as illustrated in FIG. 3. Maximum angle and angle minimum can be set by default.

  With reference to FIG. 3, the storage means (12) are able to store the desired force curve (31, 32) in a utilization file (120) available to the control software module (10). The servo-control means (60) provided between the control software module (10) and the drive unit (6) comprise a variable speed drive and are connected to the control means (13) of the control software module (10). . The control software module (10) can use data from the utilization file (120) representative of the desired force curve (31, 32) to control the servo means (60) so as to impose a counterbalance. reaction of the movable member (21) whose intensity corresponds to the data of the desired force curve (31, 32).

  In the embodiment of Figure 2B, one or more force sensors (25) are disposed on an intermediate portion of the movable arm (21), for example between the footrest and the movable arm (21). Means for recording the measurements of the force sensor (25) are provided for displaying on a screen interactive means (11) force data representative of the actual effort of the user. For this, the software module (10) control must initiate the actuation of the motor means (600) to solicit the movable member (21) and trigger a measurement and storage of the weight or limbs (4) of the user who has just settled on the device (2). Software gravity compensation means (not shown) are provided to subtract the weight of these members (4) from the force measured by the force sensor (22) during exercise. This makes it possible to display on the screen interactive means (11) a force representative of the actual effort of the user.

  Said recording means advantageously use the measurements of the sensor means (23, 24, 25) to store characteristics of the force supplied by a user and thus allow the recording of a force curve as a function of the joint angle (A) the movable member (21). The computer system of the invention thus makes it possible to obtain the models (3) that can be used by a lambda user. Means are provided to enable a selection window (100) to be displayed by sporting discipline classification on the interactive means (11) touch screen and to propose a choice of models (3) adapted to the user's sport profile.

  FIG. 4 summarizes a succession of steps that can be carried out thanks to the system according to the invention.

  First of all each of the parameterizable models (3) is obtained during a recording step (80), a consecutive modeling phase of the recorded curve can be performed automatically or manually. The user of the exercise machine (2) proceeds, before starting a training session, to a selection step (81) using said interactive means (11) to select in the selection window (100) the curve model (30) appropriate for its sports discipline. The selected curve (30) of the starting model is then displayed on a following window (100 '). As shown in FIG. 3, the user can set, using interactive means (11), a reduction coefficient during a parameterizing step (82) on the window (100 ') displayed on the screen. This reduction coefficient takes into account, for example, the abilities or pathologies of the user of the exercise machine (1) for lowering the intensity of the force of the selected modeled curve (30) and obtaining the force curve desired (31, 32). The latter is stored in the file (120) to be able to be called again by the user at a later session. Naturally the curve thus recorded can be modified again. In alternative embodiments, the peak shape of the selected curve (30) can also be modified. A deformation module of the curve activated by a movable cursor in the window (100 ') can be provided for this.

  As illustrated in FIG. 4, the parameterizing step (82) may be completed by a step (83) for selecting an interval (8) of joint angles so as to prohibit undesirable articular positions (A). It will be understood that the method of personalization of the apparatus according to the invention makes it possible to correct an abnormal muscle strength curve (due to a legacy of old trauma) and to bring it to a normal level (corresponding to the curve obtained with the limb (4) before or without sequelae).

  Before beginning the physical exercises, the user is subjected to a calibration step (800) performed using the force sensor (25) to measure the weight of the member or members (4) used to perform the determined movement exercises. A step (85) of gravity compensation is performed to subtract the weight of these members (4) from the force measured by the force sensor (25), the interactive means (11) then displaying a force representative of the actual effort of the user. In one embodiment of the invention, this calibration (800) and the gravity compensation (84) are performed systematically before any measurement of the sensors (23, 24, 25).

  During the physical exercise session, a control step (85) carried out by the control software module (10) makes it possible to control the servocontrol means (60) of the motor means (600), so as to impose a counter -action of the articulated movable member (21) sufficient for the determined movement is achieved with the desired force and speed. The speed of movement can be determined by a rotation sensor. In one embodiment, the position sensor (24) is accompanied by a rotation sensor. Thus, it can be certain that the effort actually provided will correspond to the desired force (31, 32) or speed curve. A step (80 ') for recording the characteristics of the effort provided by the user can be performed by means of the sensor means (24, 25) to enable the recording of a force curve as a function of the joint angle (9) of the movable member (21). Thus, the recording curves collected during the training sessions can be used to visualize the evolution of a user. The storage means (12) are able to automatically store such curves in a file associated with the user.

  The requested movement, whose force or speed characteristics are measured, is defined by a determined amplitude of the angle of rotation and the direction of movement. For example, an upward muscular force will work the quadriceps, while a downward force will work the hamstrings. In addition, one can consider different modes of training (M) by changing the nature of the movement. In the embodiment of FIG. 5, the mode and the type of specialized movement (40) to be worked can be selected in the window (100) by interactive means (11) for inputting and displaying. For this, access means (105) to a selection list are for example provided in the interactive means (11).

  By selection from the list proposed for the training modes (M), an isokinetic mode may for example be chosen, such a mode being obtained in practice for a constant speed movement with conditions on the muscular force to be exerted. The list may propose a plurality of other modes (M) among which: the driven mode, obtained for a constant speed movement without condition on the muscular force to be exerted; the isotonic mode that is obtained when a constant heavy load is simulated; the physiokinetic mode, in which the simulation of a constant heavy load is a function of the angular position; - the assisted mode, in which the speed is a function of the patient's stress responses, an engine being provided to assist the upward movement against the gravity and the weight of the legs; - the stretching mode, in which a heavy load is simulated to create a low-speed motion until it reaches equilibrium with muscle tension; the isometric mode that is obtained for a force exerted in a position kept constant.

  The nature of the muscular effort can be of "concentric" type when the muscle is motor or "eccentric" when the muscle is resistant. The training configuration can be carried out accurately using the selection window (100) illustrated in FIG. 5. The user or the practitioner can set a definition or a title (9) of the training and choose a elementary training effort (90). The parameterization furthermore comprises the selection of the desired training mode (isokinetic, physiokinetic, etc.), the nature (K) of the effort (concentric or eccentric) and the member or limbs (41) to be solicited (right limbs). + left for example).

  Using the selection of the elementary workouts (90), the practitioner can create one or more typical workouts that can be stored in a database of the storage means (12). For example, for a training defined by a title (90) as muscle strength, several elementary training can be provided in the database. An elementary training may then consist of a first determined number (NI) parameterized to correspond to the number of series of movements to be performed, each series comprising repetitions of movements specified for the knee, a second determined number (N2) being parameterized for set the number of repetitions in a series. The interactive means (1) of input and display allow the practitioner to create a new drive by assembling basic training or resume an existing workout and modify it by removing or adding elementary training. The personalization system according to the invention therefore makes it easy to modify the characteristics of the drive to adapt to the needs of the user.

  The training configuration may also include entering a rest period (T) to space the series (NI) over time. In addition, the extreme angular positions (emin, emax) can be defined during the parameterization step (82). In isokinetic or duct mode, the speed can be set to a constant value (w). A constant minimum load or force (Fm) can also be defined as a parameter. In one embodiment of the invention, the execution of a training session begins with the display of a specific window (101), as shown in FIG. 6. An interface button (S) or analogous way allows the start of the session. During a session, the parameters are displayed as well as the numbering (N) of the current series.

  One of the advantages of the invention is to provide a mode of use allowing the realization of a perfectly physiological movement, which is the natural movement optimized to achieve the desired result. The invention makes use of the use of images or series of images for obtaining accurate 3D geometric information representative of model sportsmen's gestures and allows a customization of training or rehabilitation by adaptation of a biomechanical model of the realistic knee. The invention takes into account all the degrees of freedom of the knee and adequate sizing.

  It should be obvious to those skilled in the art that the present invention allows embodiments in many other specific forms without departing from the scope of the invention as claimed.

Claims (19)

  1. A customizable training and rehabilitation method for improving sports movements, allowing the personalization of a physical exercise apparatus (2) of the type comprising at least one articulated main movable member (21) connected to a motor means (600) or braking device for producing a counter-reaction to a determined movement of the knee and a plurality of secondary members (22) to constrain the knee to adopt a movement resulting in information measured along a narrowly delimited path, apparatus (2) using computer equipment (1) lo provided with storage means (12), interactive input and display means (11) for inputting adaptation parameters to a user of the apparatus physical exercises (2), and a software module (10) control to control the exercise machine (2), characterized in that it comprises: is a preliminary step of memori a generic model (7) of the complete kinematics of the human knee, said generic model (7) taking into account a first series of parameters representative of degrees of freedom of the knee joint, - during a first use of the exercise machine (2) by a user, a first step (400) of control by the software module (10) servo means (60) of a motorization assembly of the main and secondary organs ( 21, 22) for biasing the bones forming the knee joint, associated with a second step (42) performed by sensor means (23, 24, 25) for collecting measurements allowing the calculation (43) of the parameters of said first set of parameters, - a step (44) of generating a model (70) of the personalized knee kinematics from the first set of calculated parameters, during subsequent uses of the exercise machine (2 ) by the user , a step (51) for loading the personalized model (70) and a second series of parameters relating to the type of physical exercise followed by a step (52) for generating a personalized device control protocol for the device of physical exercises (2), the control software module (10) using the personalized control protocol for controlling the main and secondary members (21, 22) so as to force the knee to follow a movement ensuring that the different parameters correspond each with a well-defined trajectory.   2. Method according to claim 1, wherein the step (42) for collecting measurements comprises a plurality of measurements made by sensors for measuring the kinematics of the bones of the knee joint, these sensors being integral with a attachment device in contact with areas of the knee for which the relative movement of the skin and muscle masses relative to the bones is minimum.   3. Method according to claim 1 or 2, comprising a step (81) of selection using said interactive means (11) to select a force curve model (30) applied by the motor or braking member according to an angle articular (8) of said movable member (21) among a plurality of models (3) previously stored in the storage means (12), the articular angle of the movable member (21) corresponding to an articulation angle of at least one knee (4) of the user.   The method of claim 3, including a parameterization step (82) using the force curve model (30) selected to parameterize a desired force (31, 32) or speed curve as a function of said articular angle (A). taking into account the user of the exercise machine (2), the force curve (31, 32) or desired speed being stored in a file (120) available to the software module (10) of ordered.   A method according to claim 4, wherein the custom control protocol includes in subsequent uses of the exercise machine (2) a control function of the servo control means (60) of said motor assembly ( 6) so as to impose a counter-reaction of the main movable member (21) sufficient for the determined movement to be effected with the desired force or speed corresponding to the desired force or velocity curve (31, 32).   6. Method according to one of claims 1 to 5, wherein the custom control protocol (P2) provides parameters representative of six degrees of freedom to set via said main and secondary organs (21, 22) the path allowed for the knee.   7. Method according to one of claims 1 to 6, wherein the software zo module (10) controls according to the custom control protocol (P2) a motorization assembly of the main and secondary members (21, 22) comprising six axes ( A1, A2, A3, B1, B2, B3), the step of collecting the measurements being carried out by the sensor means (23, 24, 25) to obtain representative measurements respectively of information on the force, the speed and is the acceleration of the solicited bones.   8. Method according to one of claims 1 to 7, wherein the generic model (7) is obtained by using a biomechanical modeling of the knee reproducing the geometry of all the articular components of the knee and the interaction between these components, and exploitation of results of a functional knee evaluation step including non-invasive acquisition of 3D kinematics of joint components.   9. Method according to one of claims 1 to 8, wherein a step (80 ') of recording characteristics of the effort provided by the user is performed by the sensor means (24, 25) to enable the recording a force curve as a function of the joint angle (6) of the movable member (21).   10. Method according to one of claims 4 to 9, wherein the step (82) of parameterization is completed by a step (83) for selecting an interval (5) of joint angles so as to limit the trajectory in an interval excluding undesirable joint positions (6).   11. Method according to one of claims 4 to 10, wherein the models (3) of the force curve as a function of the joint angle (0) of the movable member are each obtained during a step (80) for recording the characteristics of the effort provided by a model athlete associated with a specific type of sport, the parameterizing step (82) comprising the interactive input (11) of a reduction coefficient taking into account the the user of the exercise machine (1) for lowering the force intensity (30) of the force curve model and obtaining the desired force curve (31, 32).   io 12. Method according to one of claims 1 to 11, wherein the first step (400) of the control by the software module (10) servo means (60) of the motor assembly (6) comprises driving in real time a set of motorization of the main and secondary organs (21, 22) to six degrees of freedom so as to solicit the bones of is the knee joint according to each of the degrees of freedom, the first set of parameters taken in account by the generic model (7) being representative of the behavior of the bones of the knee joint according to the six degrees of freedom.   13. Method according to one of claims 2 to 12, wherein the step (42) for collecting measurements is performed by means of magnetic sensors and at least one force sensor.   14. Method according to one of claims 1 to 13, wherein a calibration step (500) comprising actuating the motor means (600) for biasing the main movable member (21) in the absence of user effort, is performed by a sensor means (25) for measuring the weight of the member (s) (4) of the user used to perform the determined movement of the knee, a step (55) said gravity compensation being performed to subtract the weight of these members (4) from the force measured by the sensor means, to display by said interactive means (11) a representative force of the actual effort of the user.   15. A customizable training and rehabilitation system for improving sports movements, comprising a physical exercise apparatus (2) of the type including at least one articulated main movable member (21) connected to a motor means (600) or braking device for producing feedback against a determined movement, computer equipment (1) provided with a software module (10) for controlling the exercise machine (2) and interactive means (11) for gripping and display for entering adaptation parameters to a user of the exercise machine (2), characterized in that the exercise machine (2) further comprises a plurality of members secondary devices (22) for constraining the knee to adopt a narrowly defined trajectory and in that the control software module (10) comprises: calculating means (15) arranged to use on the one hand a generic model (7) of the complete kinematics of the human knee taking into account a first series of parameters representative of degrees of freedom of the knee joint, and secondly calculating a first series of parameters from measurements of sensor means (23, 24, 25), control means (13) servo means (60) of a motorization assembly of the main and secondary organs (21, 22) for biasing the bones forming the knee joint according to each of the degrees of freedom taken into account by the generic model (7), generation means (14) using the first set of parameters obtained by the calculation means (15) to generate a personalized model (70) of the kinematics of the knee, the interactive means (11) being arranged to trigger a personalization data acquisition phase by the calculation means (15) and the control means (13) of the control software module (10) or to trigger the selection and loading of the personal model nnalisé (70) and a second set of parameters relating to the type of physical exercise to be performed, the control means (13) of the software module (10) control being provided to use a control protocol (P2) of the exercise apparatus (2) adapted according to the selection of the personalized model (70) and the second set of parameters for controlling the primary and secondary organs (21, 22) so as to force the knee to follow a trajectory well defined.   16. System according to claim 15, wherein the sensor means (23, 24, 25) comprise measurement sensors (23) of the kinematics of the bones of the knee joint secured to an attachment device in contact with the knee joint. areas of the knee for which the relative movement of the skin and muscle masses relative to the bones is minimum.   17. System according to claim 15 or 16, wherein the control means (13) of the control software module (10) are arranged to control a motorization assembly of the main and secondary members (21, 22) comprising six axes (Al , A2, A3, B1, B2, B3), the sensor means (23, 24, 25) comprising force, velocity and acceleration sensors of the stressed bones.   18. System according to one of claims 15 to 17, wherein the motor assembly (6) of the main and secondary members (21, 22) is of the type with six degrees of freedom for soliciting via the controls control means (13). ) of the software module (10) for controlling the bones of the knee joint according to each of the degrees of freedom, the means (14) for generating customized models of the kinematics of the knee of the software module (10) taking into account the intermediate of said first set of parameters the behavior of the bones of the knee joint according to the six degrees of freedom.   19. System according to one of claims 15 to 18, wherein the sensor means (23, 24, 25) comprise at least one force sensor (25), the software module (10) control being arranged to initiate the actuating the motor means (600) for biasing the movable member (21) and initiating a measurement, by means of recording the measurements of the force sensor (25), the weight of the user's limb (s) (4) , gravity compensation software means being provided for subtracting the weight of these members (4) from the force measured by the force sensor (25) and enabling said interactive means (11) to display a force representative of the force the actual user.