FR2974731A1 - Physical exercise appliance e.g. exercise bar, for e.g. practicing postural exercises in gymnasium, has electromagnetic rams controlled independently by electrical signals received from control unit to oscillate and/or vibrate plate - Google Patents

Abstract

The appliance has linear electrical motors to vibrate/oscillate a vibrating and/or oscillating plate (12) on which a user is positioned. A computer (30) has a touch screen (32) and a keypad (34) to enter operating programs of the appliance. A control unit (36) transforms parameters defined by a program in the computer into signals for controlling the motors. The motors have three electromagnetic rams (20, 22, 24) fixed to a base to lift the plate. Each ram is controlled independently of the other rams by electrical signals received from the control unit to oscillate and/or vibrate the plate.

Description

The present invention relates to a physical exercise apparatus provided with a display, for example a screen, a three-dimensional display screen, a helmet or glasses having at least one display screen. The present invention relates, in particular, to devices used for functional rehabilitation, to devices used for proprioception and postural as well as to fitness devices used in gyms, among others. It relates, in particular, a vibration plate reeducation apparatus and / or oscillating equipped with electromagnetic cylinders, a treadmill, a training room bike, an exercise bar, a stair simulator, a rower, an elliptical bike ....

In gyms or fitness rooms, there are now devices with a screen displaying operating parameters (applied brake, slope, ...) and / or results obtained (distance traveled, pulse, calories consumed, speed ...). However, this information is of limited interest to the user of such a device. The present invention aims to remedy all or part of these disadvantages.

For this purpose, the present invention provides a physical exercise apparatus for a user, which comprises: - a moving mechanical part on which the user performs movements with its members; at least one sensor for measuring the movements of the user to provide a signal representative of the movements of the user; an electronic circuit for estimating successive virtual displacements of the user corresponding to the movements of the user, said electronic circuit receiving, as input, said signal representative of the muscular movements of the user and providing a signal representative of the estimate of displacement ; an image generation means adapted to represent a virtual world in which the successive displacements from the virtual point of view correspond to the successive estimated displacements of the user and at least one image display means adapted to display the images generated. Thanks to each of these provisions, the user can be immersed in a virtual environment, which motivates him to continue the physical exercise. According to particular features, the moving mechanical part is set in motion, at least partially, by the muscular efforts of the user.

Thanks to these provisions, the user can control the successive displacements represented by the displayed images, by making movements that correspond to these displacements. According to particular features, the displacement estimation circuit provides a signal representative of an estimated virtual position of the user. This virtual position is used to calculate the generated images. According to particular features, the mechanical part comprises a change of direction control means, the device further comprising: at least one sensor for measuring the movements of the user on the control means to provide a signal representative of movements change of direction; an electronic circuit for estimating the direction change of the user corresponding to said direction change movements receiving, at the input, the signals representative of the movements of change of direction and supplying a signal representative of a change of direction estimate ; the image generation means being adapted to represent a virtual world in which the successive directions from the virtual point of view correspond to the estimated changes of direction. The user can follow a path or visit a virtual landscape, or even play in this virtual landscape.

According to particular features, the user's electronic change of direction estimation circuit combines the signals representative of the movements of the user and the signals representative of changes of direction; the image generation means being adapted to represent a virtual world in which the successive directions and the successive displacements of the point of view correspond to the estimated successive displacements of the user and to the estimated changes of direction. According to particular features, the exercise apparatus forming the subject of the invention comprises at least one actuator adapted to put in motion at least one point of contact of the user with the apparatus and a control circuit for said actuator so that the movement of said contact point corresponds to a value depending on the current virtual position of the user. The sensation of reality is thus reinforced. According to particular features, the movement of the contact point comprises an angular movement, the value depending on the virtual position being an inclination.

The user can thus feel the effects of a coast, a side slope or a descent represented on the displayed images.

According to particular features, the movement of the contact point comprises a vibration movement, the value depending on the virtual position being a vibration. The user can thus feel the surface state of a virtual terrain on which he moves.

According to particular features, the apparatus comprises a camera adapted to take images of the user and the image generation means is adapted to generate an image comprising an avatar representative of the posture of the user picked up by said camera. With these provisions, the user or coach can correct posture or movement defects based on what he sees displayed. According to particular features, the apparatus comprises a camera adapted to take images of the user and the image generation means is adapted to generate an image comprising an avatar representative of the posture of the user picked up by said camera and an avatar representative of an ideal posture of the user, the two said avatars being jointly represented in the displayed images. According to particular features, the central unit is adapted to determine the position of the user's center of gravity, to compare it to a set of acceptable positions and to issue a fault message if the position of the center of gravity of the user is not in an acceptable position.

Thanks to these arrangements, the user's movement position faults can be detected and corrected and the progress of the user can be tracked. According to particular features, the central unit is adapted to determine an asymmetry of the user's movements, to compare it to a set of acceptable asymmetry levels and to issue an anomaly message if the asymmetry is outside the acceptable levels. Thanks to these provisions, the user's symmetry of movement defects can be detected and corrected. According to particular features, the central unit is adapted to display a virtual dummy on a screen, to determine whether the user's position corresponds to the position of the virtual dummy and to issue a fault message if the position of the dummy user does not match the position of the displayed virtual dummy. Thanks to these provisions, the initiation of physical exercise is secure. According to particular features, the position of the virtual dummy is a starting position of a physical exercise, the central unit being adapted to trigger the beginning of the physical exercise only after the position of the user corresponds to the position of the manikin.

With these provisions, the user or coach can correct the position of his body based on what he sees displayed and the triggering of physical exercise is secure. Other advantages, aims and features of the invention will emerge more clearly on reading the description which follows, for explanatory and non-limiting purposes, with reference to the drawings, in which: FIG. 1 represents, schematically, a first particular embodiment of the apparatus object of the invention; - Figure 2 shows schematically a vibrating plate and / or oscillating device illustrated in Figure 1, with two cylinders at different heights; FIG. 3 is a block diagram showing the arrangement of the elements of the rehabilitation apparatus according to a preferred embodiment of the invention; FIG. 4 is a diagram of displacements out of phase of the three jacks when they are subjected to an oscillation allowing a rotary oscillating movement of the plate; FIG. 5 is a diagram of the displacement of a jack subjected simultaneously to a sinusoidal vibration movement and to a sinusoidal oscillation movement; FIG. 6 represents, in the form of a logic diagram, steps implemented in a particular embodiment of a first method that is the subject of the invention; FIG. 7 represents, in the form of a logic diagram, steps implemented in a particular embodiment of a second method which is the subject of the invention; FIG. 8 is a diagrammatic and elevational representation of a drive train apparatus of the present invention; FIG. 9 represents, in the form of a logic diagram, steps implemented in a particular embodiment of FIG. a third method forming the subject of the invention; FIG. 10 schematically represents a treadmill object of the present invention; FIG. 11 schematically represents a training room bike object of FIG. 12 schematically represents a rower which is the subject of the present invention, and FIG. 13 schematically represents information exchanges between different systems used in embodiments of the apparatus object of the present invention. the present invention. Throughout the description, the terms "electric motor", "actuator" or "electromagnetic actuator" are used indifferently when the electric motor is linear. However, although each linear electric motor is preferably an electromagnetic cylinder, the invention extends to other brushless motors.

Throughout the description, the terms "central unit", "computer" or "microprocessor" are used indifferently, these various elements having the main function of executing the instructions of a program stored in memory. Referring to Figure 1, a rehabilitation device comprises a base 10 supporting a vibrating plate and / or oscillating 12, here in a horizontal position, on which the user rides, for example a patient. Although the plate 12 may have any dimensions, it is preferable that it has a minimum length of about one meter and a width of about 60 cm, so that a user of large body can easily place his back on, lying down.

The user who is standing on the plate 12 is held in this position by holding the handles 14 and 16 of a handwheel attached to the upright 18 which is itself fixed to the base 10. As illustrated in FIGS. 2 and 3, jacks 20, 22 and 24, underlying the plate 12 and therefore not visible in Figure 1, allow the lifting of the plate vertically by an amplitude preferably between 50 mm and 100 mm.

The cylinders 20, 22 and 24 are electromagnetic cylinders. These electromagnetic cylinders 20, 22 and 24 are linear motors in vertical position whose linear displacements are made without the use of mechanical reducers and therefore without wearing part. The engine is composed of two parts, the moving part (in English "slider") and the fixed part (or "stator"). The moving part comprises magnets mounted in a tube. The fixed part comprises the motor windings, the moving part guide and an integrated microprocessor providing position and switching functions. This type of jacks has the advantage of not having a mechanical part to accommodate the longitudinal forces that are solely due to magnetic fields. In addition, they provide significant accelerations (a few tens of g), which allows a very short response time when a command is received. Note that the plate 12 comprises mainly a steel plate with a thickness, for example between 1 cm and 1.5 cm, sufficient to prevent its deformation when subjected to significant accelerations as mentioned previously . The plate 12 preferably comprises a top layer of flexible plastic material intended to provide damping beneficial for the user, and a rigid lower layer also of plastic of the same type but having ribs to increase its rigidity. According to a preferred embodiment, three electromagnetic cylinders 20, 22 and 24 are used. In this case, they form a triangle, preferably isosceles. Preferably, one of the sides of this triangle connects two jacks 20 and 22 placed at the front of the plate 12, symmetrically with respect to the longitudinal axis of the plate 12. It goes without saying that a number of jacks greater than three could be used. It is thus possible to use four jacks arranged in a rectangle. The position of the two jacks 20 and 22 at the front of the plate 12 is diagrammatically illustrated in FIG. 2. The jack 20 has its moving part ("slider") plus its fixed part ("stator") than the jack 22 , which makes it possible to obtain an inclined position of the plate 12. The control of the displacement of the mobile part outside and then inside the fixed part of the jack 20, at a certain frequency, for example 30 hertz, allows to vibrate the plate 12 at this frequency. A general block diagram of the apparatus according to the invention is illustrated in FIG.

A computer 30 having a touch screen 32 and a keyboard 34 is available to the operator, for example a physiotherapist. Note that the operator can control the operation of the computer 30 with a remote control (not shown). The computer 30 is connected to a control unit 36 which transforms the signals it receives from the computer 30 into electrical signals which are transmitted to the three jacks 20, 22 and 24. These electrical signals, by controlling the moving the moving parts of the cylinders to specific frequencies, allow the lifting of the plate 12 so as to obtain non-oscillating movements, oscillations and / or vibrations of the plate 12. Note that the computer 30 allows multiple functions , in particular to select the different usable frequencies, the duration of each exercise, the pause time between two exercises. It also makes it possible to change the frequencies or the amplitudes during exercise. As mentioned earlier, a feature of the apparatus is the use of electromagnetic cylinders. This type of jacks makes it possible to obtain a lifting of the plate 12 of a determined amplitude and according to a determined frequency. In addition, each cylinder being controlled independently of the others, it is possible to obtain any vibration or oscillation movement of the plate 12. Each jack can be controlled so as to lift the plate in order to obtain a swinging motion of the plate. This movement is defined as a movement of lifting the plate followed by its lowering at a low frequency, less than 1 Hz. For example, with a frequency equal to one third of Hertz, each jack lifts and lowers in three seconds . In this case, if the movement of each jack is out of phase by 120 ° with respect to the movement of each of the other two, the plate follows a rotary oscillation movement of a period of three seconds. The corresponding movements of the jacks 20, 22 and 24 are illustrated in FIG. 4 by the three sinusoids A, B and C.

Note that the lifting amplitude of the cylinders is preferably between 50 mm and 100 mm, for example equal to 70 mm. Another possible movement of each cylinder is a vibration movement which consists of raising and lowering the cylinder of a very small amplitude at a frequency between 20 Hz and 40 Hz, so that the plate is subjected to this same vibration movement. This vibration movement can be combined with the previous oscillation motion. In this case, the movement of the jack for a vibration frequency of 30 Hz and an amplitude of five mm, superimposed on an oscillation frequency of one third of Hz and an amplitude of 70 mm, is illustrated by the curve D in FIG. 5.

A special feature of the electromagnetic actuator used is the fact that it has a position sensor enabling the control unit 36 not only to know at all times the position of the movable part of the jack, but also to determine the intensity of the current to be sent to the jack. Indeed, when a load is applied to a cylinder via the plate 12, for example when a patient climbs on the plate 12, the mobile part tends to lower under the action of the force of gravity applied to the plate 12. However, this lowering is infinitesimal thanks to the regulation involved because the momentarily the position sensor captures this infinitesimal variation of position and transmits it to the control unit 36 which increases the intensity of the current provided to the cylinder, so that the plate 12 does not lower. Note that the intensity of the current is proportional to the force applied to the cylinder. The operator, for example a physiotherapist, then adjusts the amplitude of movement and the vibration frequency of each jack independently depending on the work to be performed by the user. The amplitude of movement of each cylinder being thus adjusted, the cylinders are then raised and lowered under the control of the control unit 36 at a frequency determined by the operator according to the treatment to be applied, so that the Plate 12 performs a vibrating and / or oscillating movement. Thus, in the case of a patient having a diseased leg, two of the three jacks remain immobile and the third cylinder, above which the patient has placed his leg to be rehabilitated, is subjected to a vibration frequency greater than 25 Hz, and preferably, less than 40 Hz. In the case of a patient needing to reeducate his ankles, a jack remains stationary and the other two cylinders are subjected to an oscillation movement phase-shifted by 180 ° relative to the other.

Finally, in the case of proprioception work of a patient, the three jacks are subjected to the combination of an oscillation movement and a vibration movement so that the plate performs a rotary oscillating movement at the same time that she is subjected to a vibration. Note that the damping of the plate 12 is an important parameter. Insofar as the response time of the actuator movement following a command is very low as mentioned above, this damping is achieved simply. It is sufficient that the control signals, generated by the control unit 36 and transmitted to the cylinders 20, 22 and 24, are sinusoidal, which is easy to obtain for the skilled person. The device that has just been described allows the functional rehabilitation of patients with problems of the musculoskeletal system. For this purpose, the operator, usually a physiotherapist, then regulates the movement of each cylinder, that is to say the shape of its movement (generally sinusoidal), its amplitude and its frequency of movement, independently according to the work that the user must do to correct his problem. Thus, in the case of a patient with a diseased leg, it is important to control how the patient reports his weight on the valid leg. The means envisaged for observing this load transfer is to impose on the patient the position of the feet and to determine the position of the center of gravity of the "plate + patient" assembly. Indeed, if the patient carries his weight on one leg, he brings the center of gravity closer to it. It is therefore important to determine the position of the center of gravity. As the current required for a cylinder to maintain a load in position is proportional to the force that the cylinder deploys as mentioned above, each cylinder is able to perform a "weighing" through the measurement of the current required to maintain the load in position. Therefore, by measuring the intensity of the current required by each cylinder to balance the load that is directly applied to it through the plate, it is easy to determine the instantaneous position of the center of gravity and therefore the way the patient transfers his weight from one leg to the other. Optionally, a temporal filter eliminates temporary effects. The operator can see immediately, on the screen 32, that the center of gravity of the user is not in the center of the target. He can see the leg support force, and tell the user what leg to rehabilitate and on which he must make efforts to restore good support and bring the center of gravity to the center of the target. Note that when the plate 12 is actuated in a rotary oscillating movement, the user is unbalanced and must, by the pressure of his legs, work in muscle contractions to remain balanced in the center of the plate while his center of gravity is deported somewhat because of his problem. Therefore, the inclination of the vibrating plate and / or oscillating plate can be adjusted accurately. It is also the speed of the rotary movement of the plate. Thus, a user at the beginning of rehabilitation supports a very low inclination, with a low rotational speed. These data are increased as the user's re-education progresses. Normally, at the end of treatment, if it has been effective, the user will easily stand in equilibrium on the plate, and the sensors will indicate a center of gravity returned to the center of the plate. The computer 30 can analyze the capacity of the muscle to contract, for each user, to adjust exactly the vibration force required according to the muscle responsiveness of each individual ("biofeedback"). Thus, with a frequency of 35 hertz, the muscle of the thigh of a given individual contracts very strongly (it is then useless to increase the frequency under penalty of tetanization of the muscle), whereas for the same frequency, the muscle the thigh of another individual will shrink only slightly, hence the need to increase the frequency for him to obtain optimal work. The computer makes it possible to analyze the body mass of each user (bio-impedancemetry): fat mass, lean mass (muscles), body of water. This function allows the user to follow, as and when sessions, the progress it makes (loss of fat and muscle gain, etc.). Note that electromagnetic cylinders, for example two cylinders, such as those described above, could also be attached to the base 10 of the device, but offset from the cylinders intended to vibrate and / or oscillate the plate 12 so as to vibrate and / or oscillate the amount 18 of the device. The patient standing at the handles 14 and 16, it will be subjected to oscillations and / or vibrations through his hands, in order to rehabilitate the upper body. In the same way as before, each jack is then controlled independently of the others.

In the embodiments described above, it is proposed to replace: - electric cylinders, - vibrators and / or - sensors of detection of the center of gravity by linear motors and, more particularly, by electromagnetic cylinders.

An embodiment of a method for securing the apparatus is described below and with reference to FIG. During a step 105, the user, the trainer or the physiotherapist performs a selection of an exercise to be performed, among the accessible exercise programs, in local memory or remotely on the internet.

During a step 110, it retrieves and displays, on a screen visible to the user and / or by a third party, the starting position of the exercise, in the form of a virtual character, or manikin positioned on a schematic exercise machine.

During a step 115, it captures an image of the user, using the camera built into the device or positioned next to the device. During a step 120, the position of the user, including its members, is determined and a screen (used in step 110) is displayed showing an avatar (a schematic character representative of the user) having the same position as the user on the exercise machine, preferably facing (superimposed or juxtaposed) the dummy in the target start position. During a step 125, it is determined whether the positions of the avatar and the manikin correspond, with a tolerance.

If not, during a step 130, the device is kept at a standstill (that is, the jacks keep their position) and the position differences that are outside the tolerance are displayed. For example, the trunk and / or limbs of the user are shown in green when their position is in line with that of the manikin and, if not, in red. If the result of step 125 is positive, that is to say if the user is in the correct position, during a step 135, information is displayed indicating an imminent start of the device. For example, a five-second countdown is displayed. Then, during a step 140, the exercise is started by using the jacks and returns to step 115. During the following iterations of the step sequence 115 to 140, a tolerance is implemented. more important because the user reacts to the exercise. This tolerance is however chosen so that a destabilization of the user is detected. FIG. 9 is an embodiment of a method for determining the user's center of gravity (possibly associated with a part of the apparatus) which uses the control system of the linear motors.

It is recalled that the linear motor envisaged is a permanent magnet motor; the motors are controlled by electronics capable of controlling them, during a step 410 and during a previously selected physical exercise, in: - position, - speed and / or - acceleration. To perform this regulation, the physical quantities observed during a step 415 are: - the position, - the current and / or - the voltage. Theoretically, there are linear relationships between: - the current and the force exerted by the motor and - the voltage and the speed of movement of the motor. By measuring the current absorbed by each motor, the load it supports is estimated during a step 425. By comparing the currents absorbed by each of the three motors, the position of the center of gravity of the load supported by the three motors during a step 430. In embodiments, to refine the result, corrective factors established during calibrations during the normalization step 420 are implemented. calibration, step 405, the calculated results are compared with predetermined results. The apparatus is therefore able to compare its results to the expected results and to determine the numerical values of correction factors. To carry out this calibration, standard loads are placed on marks marked on the plate of the apparatus. Thus, the central computer of the machine, after having carried out predetermined cycles of: positioning, displacement and / or acceleration, can compare the result of the measurements and the expected theoretical results and thus determine correction factors implemented. during step 420. It is noted that, given the currently available computing power and the maximum travel frequency to be regulated during vibration (60hz), it is conceivable to use a dual core processor ARM-DSP ( Digital Signal Processing) (registered trademark) to control the entire device.

This processor is responsible for: - communicating with the external configuration means, - performing the measurements relating to the three motors and - driving the power electronics of the three engines. According to the method described here, the acquisition and the measurement of the current are carried out, during the step 415, using a high frequency sampling and processed by the processor (part DSP) which makes an estimate of the current medium (equivalent to a direct current). It should be noted that since the objective is to determine the center of gravity during step 430 and not the mass applied to each jack, it is not necessary to know precisely the applied force. to each of them. It is therefore sufficient for the measurements relating to each of the cylinders to be balanced. The parameters established during the calibration make it possible to correct the relative errors of each of the three systems during step 420. In order to be able to very accurately measure the current, which is the determining physical quantity, preferentially, implements, during step 415: a good bandwidth and a high sensitivity, so as not to overburden the cost of the system. Shunt measurement may be sufficient, combined with quality packaging. For example, during step 415, the acquisition of the signal and its analog / digital conversion are performed by a converter of at least 16 bits at a sampling frequency of at least one million samples per second. . Thus, it is possible to determine the static information of the current without neglecting the high frequency phenomena. The parasitic phenomena of high frequencies that may be due to the regulation of the system are taken into account. Given the bandwidth of the system, it is conceivable to extract the static information (equivalent) of the current but also dynamic information to know and control the energy transmitted to the patient by the vibrations of the system.

During a step 435, the position of the user's center of gravity is compared with the position expected for the current phase of the exercise and it is determined whether the user's position is correct, taking into account the position of the user. a tolerance. If the position is correct, we return to step 415 while the physical exercise continues. If the position is not correct, during a step 440, the position difference and recommendations for the user are displayed. Then, we return to step 415 while the physical exercise continues. The electromagnetic cylinders can be associated with a projection in two or three dimensions ("3D"), for example a screen, a three-dimensional display screen, a helmet or glasses with at least one display screen, to simulate , in virtual reality, the relief of the ground supposed to be traversed. This simulation is preferably coupled to the movements made by the plate 12. For example, it simulates the movement of a rolling vehicle on which the user would stand and feel the bumps and vibrations related to the terrain encountered. Hereinafter, improvements are described to achieve particular embodiments of the apparatus object of the invention.

In order to have a complete control of the kinematics of the apparatus, to control all the active parts of the machines, the computer 30 controls and controls the following parameters of each jack: - position, - speed, - force, - vibration, - acceleration, - energy and - power. In view of an integrated coaching adapted to the user, the apparatus is associated with a means for memorizing a user's identifier and exercises that he has already performed, as well as a summary of the measurements taken. during these exercises. On this basis, the computer 30 sets the recommended date and / or the recommended content of a next workout. The user can thus use the device optimally. The apparatus can also integrate audio and video means to transpose the user's movements into a realistic virtual environment. Electromagnetic cylinders, such as those described above, can also be adapted to a treadmill or running mat, a training room bike, a rower, a stair simulator, associated with a projection in three dimensions ( "3D") on a screen, to simulate, in virtual reality, the movement corresponding to the movements of the user, in position and in direction and the relief of the ground supposed to be traveled. Figures 10 to 12 describe such embodiments. Other aspects of the present invention are described below.

In the case of the running training mat, the present invention improves the following aspects: 1 / Position: inclination The part of the apparatus which unrolls the training mat is, in its entirety, placed on cylinders which can tilt it in any position up to a given inclination, for example 15 degrees. The movements realized comprise, as explained above, non oscillating movements, oscillations and vibrations. Thus, the user in a race situation is faced with the cases usually encountered during a race in the natural environment: climbs, descents and sideways. This relative position between the user and the carpet plan, which can evolve over time, can simulate a real journey, or even recreate an existing course. In addition to physical exercise, this approach allows you to prepare for a course or to compete with other athletes with the same machine.

It becomes possible to create: - competitions between athletes separated by important distances, - races for which participants are confronted in a deferred manner. Each participant can choose his competitors in a shared database. 2 / Rotation of the carpet In order to get as close as possible to the situation of a race for which the course is embellished with turns, in embodiments the mat is rotated about a vertical axis. The information of the radius of rotation is that which corresponds to the 3D visualization of the environment in which the runner moves. Two strategies of rotation can be adopted: - rotation while the runner is not in contact with the carpet (clean of the race); in this case, the analysis of the race using sensors or video allows the computer to move only when the runner does not touch the carpet or - slow rotation when the runner is still in contact with the carpet ( own to walk). 3 / Speed: During the course the speed of the carpet can evolve in order: - to take into account the new difficulties related to the profile of the ground (slopes and slopes), - to impose speed and acceleration objectives imposed by the "Integrated coach" and - to adapt the speed of the mat to the speed of the runner using sensors that identify the position of the runner on the mat. The speed of the mat adapts to the pace of the runner, who can really adopt running strategies. In this case, the mat adjusts its speed so that the runner is in the middle of the mat. This control makes it possible to reduce the size of the carpet to be able to envisage the rotation of it: o if the runner is further forward, the mat accelerates until the runner is in the middle and o if the runner is further back, the mat slowed down until the runner is in the middle. 4 / Realistic virtual environment: The realistic virtual environment is constituted by the implementation of: - a 3D camera, - a means of visualization of a 3D space and - an integrated 3D sound representation means the apparatus.

Thanks to the display, the runner visualizes, in a coordinated way with his steps, a real space resulting from: - either the real world (realized with real video and sound recordings), - or a virtual world conceived from the ground up using computer tools that open the door to evolution within creative scenarios. Thanks to this system, the rider can see himself evolve within the course and be registered (he or his avatar) on this course and compete with other participants. These competitions can take place: - in real time: the riders run at the same time but share a common virtual race space on which they evolve at the same time in competition. They can see each other when they are nearby, outdo themselves, play strategies to win. - in deferred time: the runners run against competitors who have already run the race and who throw challenges to who wants to raise them. The stereophonic sound, even in three dimensions, allows: - to evolve among the recorded natural noises, - to hear the race of the close competitors pursuing or preceding it and to take them into account in the race strategy even before the have seen on the screen. Below is described, with reference to FIG. 7, steps implemented so that the user is immersed in a realistic virtual environment, favorable to his attention and his motivation to continue the exercise. During a step 205, the user, the trainer or the physiotherapist performs a selection of an exercise to be performed, among the accessible exercise programs, in local memory or remotely on the internet. During a step 210, we retrieve and display, on a screen visible to the user and / or by a third party, a starting environment of the exercise, in the form of a virtual world. The position of the cylinders is adapted to this environment. During a step 215, an estimation is made of the distance traveled by the user relative to the training belt. For this purpose, in embodiments, it is considered that the user has moved at the unwinding speed of the carpet. In other embodiments, at least one user position sensor is implemented on the mat (for example at least one camera or at least one sensor for transmitting and receiving electromagnetic radiation, for example light). The difference in position since the last user position capture is then deduced from the distance traveled by the training mat.

During a step 220, the display of the virtual environment is updated. Preferably, between two user position captures, an extrapolation of the distance traveled by the user with respect to the carpet is carried out.

During a step 225, the position of the belt is updated, by controlling a movement of the jacks, according to the distance traveled by the user and the program of the exercise, in correspondence with the displayed image. During a step 230, the oscillations and vibrations of the carpet are updated by controlling oscillating movements or vibrations of the jacks, as a function of the distance traveled by the user and the program of the exercise, in correspondence with the displayed image. Then, we return to step 215. The entire description of the training mat applies to a training bike mounted on electromagnetic cylinders, with minimal adaptations. For example, the slope of the belt is replaced, simultaneously, by the inclination of the bike and the brake applied to the rotation of the pedal. It is noted that the pedal can comprise a brushless motor controlled by the central unit and / or a linear motor controlled by the central unit, the transformation of circular motion into linear motion being well known to those skilled in the art. Note that, in the case of the drive belt, the determination of the force exerted by the user, at each step, is used, in some embodiments, by the microprocessor to determine whether the support on both legs is balanced. Preferably, a sensor adapted to determine the leg of the user resting on the mat is associated with the measurement of force exerted by the user on the mat and, after averaging over a large number of strides, the microprocessor determines if one of the legs applies a weaker force than the other, with a tolerance, and displays a possible difference so that the user can correct this lack of symmetry. Before exposing the case of adaptation of the invention to a weight machine, we note that, in many of the machines of bodybuilding, the resistance opposed to the movement of the sportsman is the resultant: - masses (in cast iron) for which the opposition force is constant, - dampers (hydraulic) which oppose the movement and - springs for which the force is proportional to the displacement.

All movements are made with the aid of pulleys: - pull bars down and - rotate pallets around vertical axes. The present invention replaces at least one of these passive mechanical systems by active systems (linear or rotary "bruchless" motors or, preferably, electromagnetic jack). Such an actuator, controlled by a microcontroller, controls the effort to be provided by the athlete, at each moment and / or in each position. More than the load to be lifted, it is the effort to be provided that is thus controlled.

In addition to simulating a mass, damper and / or spring, the active system controls the speed and torque (or force) of the resulting motion. These parameters are controlled dynamically and in real time and can be linked to the instantaneous position of the system. It is possible, for example, during a single movement of the patient's arm, to reduce the effort in one area of the movement (corresponding to a pain zone, for example) and to increase the effort in another zone. (to work optimally). It thus becomes possible to modulate, dynamically, the value of each of the parameters during the effort and thus to work very finely each muscular group: - on the portion of the movement that one desires and - with the type of resistance best suited. Each component: - force, - torque and - speed is controlled at every moment. It is thus possible to control the muscular effort for each position during the limb race. The effort to be deployed is thus adapted to the ability to effort, itself related to the position of the member.

In addition, this active system makes it possible to control the resistance opposed to the patient at high frequencies (of several tens of hertz). This vibrating resistance is thus translated by a vibration of the movement, a vibration which increases the efficiency of the work. The energy supplied by the user is determined from the measurement of instantaneous current and voltage absorbed by the motor.

In order to increase the effectiveness of the vibrations, the mechanical transmission between the motor element (rotary or linear) and the patient does not comprise, preferably, damping element (a tensioned cable can be a good transmitter). The movements in translation are preferably carried out using linear motors, or even electromagnetic cylinders, and rotational movements by rotary motors. Preferably, a motor is associated with each member of the user. This approach makes it possible to adapt the exercise to each member and to make an individual assessment. With reference to FIG. 8, an adaptation of the present invention to an exercise bar is described which comprises: a rectangular frame 305, a fixed part ("stator") 310 of an electromagnetic jack in support on the upper part of the frame 305 and retained in position by lateral reinforcements 335 connected to the frame 305, a mobile part ("slider") 315 of the electromagnetic cylinder, which carries a bar 320 provided with handles 325, a floor mat on which the user presses his back and a control computer 330 having a screen, preferably touch screen and the control means of the electromagnetic actuator, as explained above. In variants, the screen of the computer makes the user.

The adaptation of the invention to a constant-torque shoulder rehabilitation machine is described below. Today, the constant torque shoulder rehabilitation machines provide the patient with efforts to rotate a handle integral with an axis. The resistance torque that opposes the patient's movement is regulated by "bungees" that guarantee a torque that is almost constant and independent of the angle of rotation. According to one aspect of the present invention, this function is carried out actively, using a brushless rotary motor controlled entirely by an electronic system. Thus, it becomes possible to independently control the torque, speed, and acceleration of the handle gripped by the patient for each angular position. Rehabilitation protocols proposed to the patient are available in innumerable variants from constant torque to isocynacy. Thanks to the real-time control of the motor, the device can: - oppose to the patient not only a constant torque but also a torque that can be linked to the angular position. Thus, the practitioner can very finely adapt the efforts that the patient must exercise according to the angular position of its articulation, - perform a speed control and propose to the patient to perform a rotary force for which the motor will be controlled in speed so that the speed of rotation is constant (isocynetism), - affect the control of the speed at the instantaneous angular position and / or - superimpose pairs or vibratory speeds at initial torques or speeds. The various sensors for controlling the system in position, torque, speed and acceleration can be used to quantify the instantaneous forces exerted by the patient throughout the movement.

Note that everything that is exposed in the description with respect to one of the apparatuses of the invention is intended to be implemented for the other apparatuses of the invention.

As illustrated in Figure 10, schematically, a particular embodiment of a treadmill or race 500 object of the present invention comprises: a mat 505 on which the user walks, surrounding two rollers 510 and 515, of which one is rotated by a motor 520, two cylinders 525 placed forward, relative to the direction of travel of the user, which support, with an axial rear stud 526, the entire apparatus 500, lateral ramps 530, a keyboard 535 for setting usage parameters, a camera 540 which observes the posture of the user, at least a virtual image display screen 545, a remote control 550, a secondary screen 555, a central unit 560 measurement and treatment. Apart from the cylinders 525, the mechanical part of the treadmill 500 is of a type known to those skilled in the art. The cylinders 525 can be hydraulic, pneumatic, electric or electromagnetic. As explained above, they allow to raise, lower or vibrate, independently, their support points under the device. The 535 keyboard and the 550 remote control enable the user and the trainer, respectively, to control the apparatus 500.

The use of the camera 540 has been explained above, with respect to viewing the user's position at the start of an exercise and the position of the user's center of gravity, on each screen 545 and 555. The camera 540 is also used to insert a ghost image in the images displayed on each screen 545 so that the user visualizes its current position, possibly superimposed with an avatar representing the ideal position recommended for the exercise. Classes. Thus, in this embodiment, the apparatus comprises a camera 540 adapted to take images of the user, the image generation performed by the central unit 560 being adapted to generate an image comprising an avatar representative of the posture 560 is also adapted to determine whether the user's position corresponds to the position of the ideal position avatar and to issue an error message if the position of the user is the user does not match the position of the displayed virtual manikin. At the beginning of the exercise, the position of the ideal position avatar is a starting position of the physical exercise, the central unit 560 being adapted to trigger the beginning of the physical exercise only after the User position is the position of the manikin. Preferably, the central unit 560 is also adapted to generate an image comprising an avatar representative of the posture of the user captured by said camera and an avatar representative of an ideal posture of the user, the two avatars being represented together, for example in transparency or by their profiles, in the displayed images. The central unit 560 is, for example, a computer, possibly equipped with multiple processors, in a known manner. The central unit 560 receives the signals from the keyboard 535, the remote control 550 and the camera 540 and controls the motor 520 and the cylinders 525 as well as the images displayed on each screen 545 and 555. The central unit 560 also constitutes the following means. A means for measuring the movements of the user, which provides a signal representative of the movements of the user. In this case, it is the speed of the carpet. An electronic circuit for estimating successive virtual displacements of the user corresponding to the movements of the user. This electronic circuit receives, as input, the signal representative of the muscular movements of the user and provides a signal representative of the displacement estimate. In this case, it is a distance traveled between two images, that is to say the product of the speed with the time elapsed between the display of two successive images. Since a treadmill has no directional change, this distance is used to follow a virtual path in a virtual world, this path may not be in a straight line. Alternatively, a change of direction control means is provided, for example, a two-position switch enabling the user to choose one of two paths, at each virtual branch in the virtual world. The virtual move then follows the chosen path. The central unit 560 also constitutes an image generation means which represents a virtual world in which the successive displacements from the virtual point of view correspond to the successive estimated displacements of the user. The motor 520 is an actuator adapted to set in motion at least one point of contact of the user with the device. The central unit 560 is adapted so that the movement of the contact point corresponds to a value depending on the current virtual position of the user. Through the cylinders 525, the movement of the contact point comprises an angular movement, the value depending on the virtual position thus being inclined. Thus, one can feel a hill, a descent or a side inclination to the user. Through the jacks 525, the movement of the contact point comprises a vibration movement, the value depending on the virtual position being also a vibration. Thus, if the soil shown is stony, vibrations can be felt by the user whereas if the ground is smooth, these vibrations are absent.

The CPU 560 is also adapted to determine the position of the user's center of gravity, to compare it to a set of acceptable positions, and to issue an error message if the user's center of gravity position does not occur. is not in an acceptable position.

The CPU 560 is also adapted to determine an asymmetry of the user's movements, to compare it to a set of acceptable asymmetry levels, and to issue an abnormality message if the asymmetry is outside acceptable levels. As illustrated in FIG. 11, schematically, a particular embodiment of a training room bike 600 which is the subject of the present invention comprises: a static bicycle 605 on which the user pedal is fitted, comprising a saddle 610 and a pedal 615 , a handlebar 620, two jacks 625 placed forward, relative to the direction of travel of the user, which support, with an axial rear stud 626, the entire device 600, a keyboard 635 for adjusting the parameters of use, a camera 640 which observes the posture of the user, - at least a screen 645 virtual image display, - a remote control 650, a secondary screen 655, a central unit 660 measurement and processing. The adaptation of the embodiment illustrated in FIG. 10 to the bicycle 600 poses no difficulty. The main different element is the presence of the handlebar 620 provided with an encoder (not shown) which provides the angular position of the handlebar to the central unit 660. In addition, the movable mechanical part, pedal 615 and handlebars 620, of the device 600 is set in motion by the muscular efforts of the user. The handlebar 620 is a change of direction control means. The encoder constitutes a sensor for measuring the movements of the user on the change of direction control means and provides a signal representative of changes of direction.

The central unit 660 constitutes an electronic circuit for estimating a change of direction of the user corresponding to said movements of change of direction receiving, as input, the signals representative of the movements of change of direction and providing a signal representative of a change of direction estimate. The image generation means incorporated in the central processing unit 660 is adapted to represent a virtual world in which the successive directions of the virtual point of view correspond to the estimated changes of direction.

Preferably, the user's electronic change of direction estimation circuit combines the signals representative of the movements of the user and the signals representative of changes of direction. In fact, in a bicycle, the angular rotation is equal to the product of the orientation of the handlebar, with respect to its central orientation and the speed of the bike, and therefore of its pedal. The image generation means is adapted to represent a virtual world in which the successive directions and the successive displacements of the point of view correspond to the estimated successive displacements of the user and the estimated changes of direction.

Adapting the bicycle embodiment illustrated in FIG. 11 to an elliptical trainer being easily within the reach of those skilled in the art, such an elliptical trainer is not shown here, for the sake of brevity. As illustrated in FIG. 12, schematically, a particular embodiment of an object rower 700 of the present invention comprises: a seat 705 movable axially along slides 725, two reams 720 movable about their axes of rotation 710, two supports 715 for the feet of the user, a keyboard 735 setting usage parameters, a camera 740 which observes the posture of the user, at least a screen 745 virtual image display, a central unit 760 measurement and treatment. The adaptation of the embodiment illustrated in FIG. 11 to the rower 700 poses no difficulty. The main different element is the presence of two encoders (not shown) in the supports 710 of the reams 720, which provide the angular position of each ream to the central unit 760. It is noted that the mobile mechanical part, seat 705 and oars 710, the device 700 is set in motion by the muscular efforts of the user. The reams 710 constitute a means of control of change of direction, as on a real boat. Indeed, when the movements of the user are asymmetrical, the boat changes direction. Each encoder constitutes a sensor for measuring the movements of the user on the control means of change of direction, the signal representative of movements of change of direction being proportional to the difference in the amounts of movement (product of the angle traveled by the force exerted) on both oars. The central unit 760 constitutes an electronic circuit for estimating the direction change of the user corresponding to said direction change movements receiving, at the input, the signals representative of the changes of direction and providing a signal representative of an estimate of change of direction. The image generation means incorporated in the central unit 760 is adapted to represent a virtual world in which the successive directions of the virtual point of view correspond to the estimated changes of direction. Preferably, the user's electronic change of direction estimation circuit combines the signals representative of the movements of the user and the signals representative of changes of direction. The image generation means is adapted to represent a virtual world in which the successive directions and the successive displacements of the point of view correspond to the estimated successive displacements of the user and the estimated changes of direction. FIG. 13 represents, schematically, information exchanges between different systems implemented in embodiments of the apparatus that is the subject of the present invention. Columns 805 to 835 represent, respectively: a secure server 805, DMZ hosting 810 (in computing, a demilitarized zone, or DMZ, is a subnet separate from the local network and isolated from it and from the Internet by a This subnet contains the machines that can be accessed from the Internet, Internet 815, a computer network of an operating center 820, Internet 825, an 830 remote control on a local network 830, wireless example and implementing the WiFi standard ("Wireless Fidelity" for wireless fidelity) and an exercise machine object of the present invention 835. Bearing a communication 840, a computer system operating center 820 transmits to the secure server 805 the information allowing account opening.

During an 845 call, the remote control 830 performs a request for account synchronization and protocol recovery. During a communication 850, the secure server 805 provides the account synchronization and protocol information. During an 855 call, the remote control 830 performs protocol selection and injection into an 835 device for exercise of a user.

During a call 860, the apparatus 835 requests the data from the virtual world from the server 805. During a call 865, the server 805 provides the graphic data and, in the case of a game, the others. For example, a serious game ("serious game") that involves the user's use of body positions or muscular efforts is transmitted by the 805 server. 870 communication, the 835 device informs the 830 remote control of its activity and the remote control 830 allows the control of the parameters of physical exercise.

During a call 875, the remote control periodically informs the server 805 of the activity of the apparatus 835. During a call 880, the operations center 820 periodically reads the activity of the devices 835. During a communication 885, the remote control 830 verifies the state of the practitioner's account with the server 805. During a communication 890, the scientific committee of the operations center publishes a new protocol and transmits it to the server 805 During a 895 call, the remote control 830 retrieves the recent protocols, periodically.

Throughout the foregoing description, cylinders have been described. However, the present invention is not limited to this type of lift system but extends, on the contrary, to other known types of systems, such as cylinders with air cushions to dampen vibrations, the cylinders surrounding a central air cushion, crossed cylinders, ...

Claims (11)

REVENDICATIONS1. Apparatus (500, 600, 700) for physical exercise for a user, characterized in that it comprises: - a moving mechanical part (505 to 520, 605, 615, 710, 720) on which the user performs movements with its members; at least one sensor (560, 660, 710, 760) for measuring the movements of the user to provide a signal representative of the movements of the user; an electronic circuit (560, 660, 760) for estimating successive virtual displacements of the user corresponding to the movements of the user, said electronic circuit receiving, as input, said signal representative of the muscular movements of the user and providing a signal representative of the displacement estimate; an image generation means (560, 660, 760) adapted to represent a virtual world in which the successive displacements from the virtual point of view correspond to the successive estimated displacements of the user and - at least one display means ( 545, 645, 745) adapted to display the generated images. 2. Apparatus according to claim 1, wherein the moving mechanical part (605, 615, 710, 720) is set in motion, at least partially, by the muscular efforts of the user. 3. Apparatus according to one of claims 1 or 2, wherein the mechanical portion 20 (605, 615, 710, 720) comprises a change of direction control means, the device further comprising: - at least one sensor measuring the movements of the user on the control means to provide a signal representative of changes of direction; an electronic circuit for estimating the direction change of the user corresponding to said change of direction movements receiving, as input, the signals representative of the movements of change of direction and supplying a signal representative of a change of direction estimation; direction ; the image generation means being adapted to represent a virtual world in which the successive directions from the virtual point of view correspond to the estimated changes in direction. An apparatus according to claim 3, wherein the user direction change estimation electronic circuit (560, 660, 760) combines the signals representative of the user's movements and signals representative of changes of direction; the image generation means (560, 660, 760) being adapted to represent a virtual world in which the successive directions and the successive displacements of the point of view correspond to the estimated successive displacements of the user and to the estimated changes of direction. 5. Apparatus according to one of claims 1 to 4, which comprises at least one actuator (525, 526, 625, 626) adapted to set in motion at least one point of contact of the user with the apparatus and a circuit controlling said actuator which controls said actuator so that the movement of said contact point corresponds to a value depending on the current virtual position of the user. 6. Apparatus according to claim 5, wherein at least one actuator is adapted to angularly move at least one contact point, the control circuit of said actuator controlling said actuator for the movement of said contact point has a tilt function of the current virtual position of the user. 7. Apparatus according to one of claims 5 or 6, wherein at least one actuator is adapted to move vibration at least one contact point, the control circuit of said actuator controlling said actuator for the movement of said point of contact. contact has a vibration function of the current virtual position of the user. 8. Apparatus according to one of claims 1 to 7, which comprises a camera (540, 640, 740) adapted to take images of the user, the image generation means being adapted to generate an image comprising an avatar representative of the posture of the user picked up by said camera. 9. Apparatus according to one of claims 1 to 8, which comprises a camera (540, 640, 740) adapted to take images of the user and the image generation means is adapted to generate an image comprising an avatar representative of the posture of the user sensed by said camera and an avatar representative of an ideal posture of the user, the two said avatars being jointly represented in the displayed images. 10. Apparatus according to one of claims 1 to 9, wherein a central unit (560, 660, 760) is adapted to determine the position of the user, to compare it to a set of acceptable positions and to issue a message anomaly if the user's position is not in an acceptable position. Apparatus according to claim 10, wherein the acceptable position is a starting position of a physical exercise, the central unit being adapted to initiate the beginning of the physical exercise only after the position of the user is an acceptable position.