NO346145B1 - Exercise machine - Google Patents

Description

Field of the invention.

The present invention relates to a system for training muscles, nervous system, bone structure, joints, fitness, endurance, anaerobic and aerobic muscle training as well as training reflexes and coordination.

Background for the invention.

Conventional training of muscles and associated muscle control such as strength, endurance, coordination, as well as the nervous system, oxygen uptake, heart capacity, lung capacity, etc. is carried out with static objects such as weights, springs, cable, rubber bands and the like to increase the respective performance of the muscles and organs . The general function of these devices is to prevent or provide resistance to the muscle force exerted on them at the same time as the objects are moved. However, it has been found that the training effect can be improved by the practitioner attempting to restrain an object's active movement rather than adding movement to the object. For example, it will give a better training effect to try to hold back an object that is in motion than to set the object in corresponding motion from a stationary state.

There are previously known devices for, for example, exercising muscles in people with reduced mobility. It is thus known from US patent 20100298102 or CN 201235053 devices which can lead the movement of the legs of a mobility-impaired person by connecting the person's feet to shoes which are connected to a motor for moving the shoes. However, the purpose of such a device is to help the person move their legs and not for the person to actively prevent movement.

EP 1850824 and WO 2011/076240 both describe different versions of robotic arms used for physiotherapy. Unfortunately, robotic arm technology is not really a satisfactory technology for training. This is due to the barbell principle, which for this type of application entails the need for very high levels of force (the training device must be able to withstand, for example, approx. 200kg of weight in all directions multiplied by the length of the robot arm to withstand the relevant moment of force), which in turn entails the need for both size and heavy (or must be bolted to the floor) to achieve anchoring and stability. In addition, the robot arm is complex to program (based on vectorial coordinates where the various parts of the arm can have opposite movements). The arm itself has a spatially-limited movement which can make it difficult to program movements without risking that the arm could damage the body of the athlete. In addition, robotic arms are poorly suited for leg training in terms of safety (e.g. risk of falling or crushing). There is therefore a need for a technical solution that works in a simpler way and with increased safety for the user.

Other devices in the form of bicycles for moving the legs of a person with reduced mobility are known from KR 100841177. But again, the mode of operation of the devices is such that the athlete must work physically against forced movement from the machine in the device.

From WO 2016151527, a rehabilitation machine is known with a chair seat on which the user must sit and a movable part in front of the user, on which the user must put his leg. The moving part can rotate around three axes. In addition, the chair can move linearly along the same three axes.

US 6878102 describes a training unit for ankle, foot, leg, knee or similar parts of the user's body comprising a platform and a drive unit consisting of three drive motors. The drive motors are collectively responsible for controlling the rotation of the platform around the various oriented rotation axes x, y, z. Furthermore, the training unit includes three sensors that record the movement of the platform and send them to a processor for storage.

KR 20160050100 describes a treadmill where the speed of the belt is controlled adaptively. Input is from a sensor that measures the force impact from the user's steps and controls the propulsion motor with positive feedback. The purpose is to prevent the user from being lifted off the belt if the user slows down or stops.

Summary of the Invention

One purpose of the invention is to find a better technical solution to be able to carry out better training without the above-mentioned problems.

This task is solved with a system as shown in the subsequent patent claims.

The object of the present invention can be used for functional training where the individual is a weight bearer, for example isometric (development of force without movement of joints), concentric (shortening of muscles with movement of joints) and eccentric (lengthening of muscles and slowing down the force with movement of joints) ) training. The purpose is to train the athlete's muscles and associated muscle control such as strength, endurance, coordination, as well as the nervous system, oxygen uptake, heart capacity, lung capacity. It is a great advantage that the starting position is weight-bearing on the joints, in that all actions within the training are in a standing weight-bearing position with a functional position that reproduces daily/sporting requirements.

Brief description of the drawings

The object of the present invention will be better understood with reference to the following detailed description and the accompanying figures where:

Fig. 1 is a three-dimensional sketch of the inventive device

Fig. 2 is a section seen from above for a first embodiment

Fig. 3 is a section seen from above for a second embodiment

Fig. 4 is a section seen from above for a third embodiment

Fig. 5 is a section seen from above for a fourth embodiment

Fig. 6 is a flowchart describing a way of using the object of the invention

Detailed description of the invention

Detailed description of the invention as shown in the figure(s), the system according to the invention comprises a movable part 3,4, at least one motor, a stationary part 1,2, at least one sensor and at least one processor or controller 8.

The moving part 3,4 is connected to the motor(s) 6, which creates a movement which the patient/practitioner must counteract in selected cases.

In detail, the engine(s)6 create:

- at least one movement along X and Y directions, preferably along X, Y and Z directions;

- preferably a rotation around one of the X, Y and Z axes, more preferably a rotation around two of the X, Y and Z axes, most preferably a rotation around the X, Y and Z axes.

The at least one movable part 3,4 can be, for example, an XY table, an XYZ table, an omnidirectional treadmill, a movable tile, a movable tablet, a multi-roller table, etc., or any combination thereof.

Robot arm .vs. XYZ table

A robotic arm usually consists of several successive and interconnected parts leading up to a "hand" or last joint. While the first part has a fixed spatial anchoring point, all subsequent parts will have their anchoring point changed if one or more previous parts move. This means that the movement of all subsequent joints will, to varying degrees, consist of both x-, y- and z-components. Correspondingly, different joints can create partly opposite movements. In practice, this means that the function of each term must be described as a vector in both x-, y- and z-, i.e. 3 dimensions. Furthermore, this means that precise positioning of the robot arm's "hand" requires precise knowledge of the position of all preceding joints - but at the same time that this position can usually be achieved in several ways with intermediate joints.

The sum of complexity and costs has forced a technical innovation when converting from vectorial robotics to a solution with xyz table

An XYZ table has 3 possible directions of movement x, y and z in a fixed coordinate system locked with mechanical rails to the table's frame. These directions of movement will remain fixed as long as the table's frame is not moved. The table's axes x, y and z are perpendicular to each other so that movement along one axis is independent of the other axes and so that the position along one axis cannot be affected by movement along one of the other axes. The 3 mechanical rails build on each other and interact so that a physical "plate" placed after the third rail can be positioned arbitrarily in the xyz space within the frame's limitations. First the desired x-position will be achieved by movement along the x-rail, then the desired y-position will be achieved by movement along the y-rail and finally the desired z-position will be achieved by movement along the z-rail.

The system is controlled by a processor or controller 8, which controls the speed and movement of the moving part. The processor or controller 8 also guarantees movement quality. Degrees of freedom in speed, movement and pattern, resistance/weight, speed, movement pattern of the moving part 3,4 etc. can be regulated. For example, a movement along or a rotation around the X, Y or Z axes or any combination thereof.

Data from the sensor 7 can be stored and analyzed, which would allow an analysis of the test or training session. The storage medium can be a memory card, a USB stick, or separate from the device, as for example a device that allows to communicate with a PC, telephone, etc. that allows to store data in the cloud, for example a Bluetooth transmitter/receiver, a wifi transmitter/receiver, etc.

The tests/training performance in terms of power and quality and quantity are reproducible, and therefore it becomes possible to monitor the training effect or the condition of the athlete, for example to monitor changes in the athlete's capacity/function/injury, reduction of biological and functional performances in relation to the athlete's age, physical condition, fitness, muscle strength, training for an injury, muscle control such as strength, endurance, coordination, as well as the nervous system, oxygen uptake, heart capacity, lung capacity, etc.

Sensor System

The system is equipped with at least one sensor 7, preferably at least two sensors, preferably at least three sensors to measure the resistance or force applied by the athlete against the training device.

Most physiotherapeutic training exercises require the athlete to act against some form of resistance or force, thus training both muscles, joints and the nervous system. Such forces are often constant or increasing with rubber band/weight arm etc. in standardized exercise equipment where forces are generated by the athlete to create a movement. As will be appreciated, in such exercise regimens it is advantageous to provide the exercise apparatus with a means of measuring and applying the correct or optimal force or resistance to movement throughout the movement applied by the exerciser to the exercise apparatus in the movements performed. Although it is possible to operate the exerciser in a passive manner to fully control the movement of the limb of the exerciser, this does not provide a fully usable multi-functional exerciser.

The present training device, in contrast to standardized training devices, uses measurements to control the movement of the training device. In most training regimes, the training device will monitor the force or resistance, which here will be optimized in relation to the force the athlete is working with, with the sensor system providing feedback and guiding optimal resistance in relation to function, capacity and any damage/dysfunction. It is assumed that the training device according to the invention will generally be controlled by some form of computer system, and output data from at least one sensor will be supplied to the computer or another control system to control the further movement (feed forward) of the training device. Optimized force (load) is essential in performing power/strength/speed and mobility during training and rehabilitation. Therefore, the interaction between sensor and force transmission becomes the key in the present training concept where calculation of feed-forward movement and/or force level controls information in test and training.

Different locations and positions for the at least one sensor are possible. A first suggested location for the at least one sensor 7 is at a point directly between the athlete and the training device. For example, if the at least one sensor 7 is arranged on the movable part 3,4 of the training device, the at least one sensor will immediately be able to monitor and measure the relative force and torque applied by the athlete towards the patient/athlete interaction device 4 and the recording devices in the training device.

It is also possible to locate the at least one sensor on the stationary part 1,2. Thus at least one sensor 7 can be position sensors that are used to actually monitor the position of the moving part 3,4 against the signal that is applied from a computer 8 to drive the training device, thus obtaining a value for the force or torque used by the athlete . Alternatively, such at least one sensor 7 can be a sensor for measuring the resistance or force applied by the athlete and be placed on the stationary part 1,2, for example in an X-Y table between axes and the motor 6 and thus obtain a value for the force which used by the athlete.

It will be understood that the physiotherapy apparatus and the computer therein are constantly aware of the exact position of the moving part 3,4. In fact, the movable part 3,4 can be located in any orientation and position within the frame 1, and the computer can control the movable part 3,4 to move with respect to the starting point in a known manner. As such, the physical therapy training for different people may be the same movement pattern of the moving part 3,4, but may necessarily have a different starting and ending position, as the height and working area of each practitioner will be different, thus enabling a different starting position for the movement of the moving part 3,4. This will be discussed further, with an explanation of the operation of the physiotherapy apparatus according to the invention.

By providing the moving part with the at least one sensor 7, the person skilled in the art will understand that the moving part 3,4 can be controlled in a suitable way to perform or allow the athlete to perform a certain number of movements. In addition, the at least one sensor 7 is able to constantly measure force or torque provided by the athlete, and thus control the movement of the movable part 3,4 to counteract this force and/or torque to a certain extent. As we will see below, certain physiotherapy training regimes require different responses from the moving part 3,4 to the movement of the athlete's limb, and by continuously and instantaneously measuring the force and torque delivered by the athlete in the moving part 3,4 of the training apparatus, these training regimes and patterns can suitably adapted.

As has been mentioned above, the at least one sensor 7 will also ensure that the practitioner moves the patient/practitioner interaction device in a predetermined and desired manner/cf. force/speed and possible working area (Range Of Motion, ROM). To ensure that appropriate training is carried out, the at least one sensor 7 can measure that the movable part 3,4 only moves along a specified path in three-dimensional space, and that the movable part 3,4 will counteract any attempt to move the patient /the performer-interaction devices away from the desired path, secured by computer equipment. By continuously monitoring and feeding back the force and moment signals from the at least one sensor 7, the training device according to the invention is able to control and monitor the movement and training of the athlete. Furthermore, by providing such limited movement, it is possible for the training apparatus to make repeatable measurements of the strength of the athlete. It is desirable during training for the athlete to have an idea of the improvement being made. By appropriately limiting the movement of the patient/exerciser interaction devices 4 using the at least one sensor 7, the exercise apparatus according to the invention can perform the same test on the exerciser during the entire exercise regimen and over several exercise sessions. Not only does this give the athlete a clear picture of the improvements being made, it also gives the physiotherapist/trainer accurate and objective information about the improvements which may be decisive for changing the training regime, if the athlete's condition should not improve adequately or change in the desired way.

Application of the at least one sensor 7 to provide a diagnostic test for the athlete is extremely powerful and useful. To date, it has been very difficult to ensure that a completely objective diagnostic measurement could be made. Not only is it possible to use the at least one sensor 7 to measure the strength and resistance applied by the athlete to the movement of the movable part 3,4, it is also possible to use the movable part 3,4 to map the working area of the athlete .

As can be understood, the training device according to the invention is continuously aware of the position of the moving part 3,4, and thus the athlete's interaction devices are also provided in a precise and known place. For each athlete, an initial survey and clarification of the individual athlete's possible work area/ROM must be carried out first. This is done by the practitioner seeking to move the movable patient/practitioner interaction device 4 in a controlled manner and without applying force along all side edges, and if the practitioner has to leave one or more side edges to complete the movement, then the area closer to the edge will be removed from the work area. However, the practitioner may at any time request re-mapping of the work area/ROM.

For example, the legs of an athlete may only be moved in a maximum range, before the legs are in full extension (maximum ROM). The movable part 3,4 can monitor the maximum working area of the athlete over a number of sessions. By knowing the exact starting position of the movement, the entire working range of the limbs/legs from the resting position to each side can be measured and checked against previous data. For example, before training, the athlete is able to move the limbs/legs from the starting position to more than 20 cm to the side. While the hip of the athlete is trained, the athlete gradually becomes able to move the limbs/legs from the starting position to 25, 30, 40 and finally 50 cm to the side after a certain number of training sessions.

The entire range of motion (ROM) for a patient/practitioner can be tested in different ways. The first method is for the movable part 3,4 to be controlled and essentially moved by the athlete. By means of the at least one sensor 7, the athlete could move the legs from the rest position to the maximum comfortable position to the side, while the computer controls the movable part 3,4 to provide a low threshold force towards the starting position. When the athlete is no longer able to push the movable part 3,4 further away from the starting position, the position is recorded as a point on the working range curve. At the same time, overstretching is prevented by the fact that the machine always has a small threshold force back towards the starting point, so the user gets some help not to move the limb too far.

An independent way of monitoring the movement of the athlete's limb can be that the training device moves the movable part 3,4 and takes the limb of the athlete with it to move it from a specified position along a desired path. Again, as an example, we would suggest moving the limbs/legs of the patient or athlete from a starting or resting position to the side of the athlete. The at least one sensor 7 will monitor the force applied against the movement of the movable part 3,4 during this movement. It is assumed that when the athlete's limb, in this case leg, has reached its maximum working area, the force applied to the moving part 3,4, as measured by the at least one sensor, will increase. Above a certain value, the training device determines that the entire working area is fulfilled, and immediately stops moving the moving part 3,4. This is not a preferred solution because it can lead to overstretching of the muscle, which is not desirable. Again, the difference between the start and end position can be monitored and saved as the working area of the athlete's limb.

A further option would be to have a safety switch held by the athlete, so that if the moving part 3,4 moves the limb of the athlete too far and induces too much pain in the limb, the athlete can press a button or release a button and thus stop the movement of the moving part 3,4. Again, the difference between the start and end position is considered the working area of the athlete's limb. Naturally, movement of the movable part 3,4 in the guided diagnostic path will be rather slow, to ensure that the limb of the athlete is not moved too far, to ensure that the force is measured by the at least one sensor 7 to stop the movement of the moving part 3,4, or before the athlete has used the safety stop.

Training regimes

As has been discussed above, the training apparatus or system according to the invention is desired to perform a variety of training regimens with the athlete. The passive training in which the movable part 3,4 is programmed to move the limb of the athlete is useful for reprogramming movement in one of the athlete's limbs, especially after a stroke or other accident where nerve damage has occurred. The controlled movement and training of a series of movements can be performed over a full three-dimensional space centered around the athlete, and thus any desired pattern can be encoded into the movement of the moving part 3,4. This repetitive movement can be performed as many times as necessary, thus in principle pre-programming the patient's or athlete's nerves to rebuild movement. In addition, this passive training can be useful for training muscles that may have been injured, without straining additional muscles of the athlete. However, the passive training is only one particular aspect of the training device or system according to the invention in the present description.

The training device and system are both relevant for performing isometric, eccentric and concentric training. Isometric training (development of force without joint movement) is a training regime in which the athlete performs a movement of the limb against an immovable object. For example, if one were to push against a wall in a certain way with one's legs, it is most unlikely to move the wall, but the legs are trained in an isometric manner. Since the wall does not move against the movement of the legs pushing against it, the legs are trained isometrically as the muscle strains and applies a force against the wall.

The movable part 3,4 can be controlled to perform isometric exercise by monitoring the force applied to the patient/exercise interaction device, preferably by means of the at least one sensor 7. Continuing with the leg example, the athlete can be connected to the patient/exercise interaction device 4 and can then providing an appropriate force in a known direction against the moving part 3,4. The at least one sensor 7 will monitor the force applied by the athlete, and can thus control the operation of the moving part 3,4 to counteract this movement completely. While this isometric training is performed, the training apparatus can appropriately monitor the magnitude of force and torque applied by the athlete against the moving part 3,4, thereby performing appropriate diagnostics with respect to the strength of the athlete. This diagnostic is useful for scaling and control with regard to concentric and eccentric training as discussed below, as in both of these exercises it is the athlete's maximum power and strength that is important to ensure that the resistance to a movement that the moving part 3,4 imposes limb of the athlete, is at the correct level. As will be clear to those skilled in the art, if the athlete is able to push with a force of 50 N, then it may be inappropriate for the moving part to counteract this with a force of 100 N, as this could injure the athlete's leg instead to provide (rehabilitative) physiotherapy/training.

Another advantage of the training device according to the invention is that the at least one sensor 7 can also monitor that isometric training (as well as concentric and eccentric) is given in the correct way. As the isometric exercise should be provided in a certain direction or direction of torque, the exercise apparatus/system may be equipped with a display to show the exerciser that he is applying force and torque appropriately. For example, if the athlete were to push directly forward against the moving part 3,4, but the at least one sensor 7 noted that the athlete was applying a twisting motion in addition to the forward motion, then the computer screen would be able to provide a clear reading showing the athlete that the motion was not appropriate. The reading from the at least one sensor 7 can be used to control the screen to ensure that the athlete's attempted movement is counteracted by the moving part 3,4 in a suitable way, and in that way ensure that the isometric exercise is correctly performed. As will be understood from the above, in isometric exercise, the moving part 3.4 impulses were made to monitor the force and torque applied to the patient interaction devices and exactly oppose this so that the limb of the athlete exerts itself against the moving part, but not is moved. Furthermore, the force generated by the athlete during isometric exercise is monitored, and this force is used to control concentric and eccentric exercise as discussed below, as well as recorded for diagnostics.

In concentric training, the exerciser moves patient/exercise interaction devices against an appropriate resistance provided by the moving part 3,4 and reduces the muscle lengthening. When the training device has measured the maximum force exerted by the athlete during isometric training, it is possible to set the movement of the moving part 3,4 and patient/athlete interaction devices accordingly. For example, if the athlete is able to apply a force of 40 N in a certain direction, the moving part 3,4 can be controlled by the computer to allow movement in this direction, but oppose the movement by applying a force in the opposite direction of 35 N. This concentric training will thus allow the athlete to contract the muscle group and will be equipped with a resistance force of a predetermined value against the movement given by the athlete. The value of resistance applied by the moving part 3,4 can be set by the training device/system or can be selected by the athlete and/or his therapist/trainer. For example, the athlete can say "I want the exercise machine to resist my movement with 35 N", so the athlete will only be able to move the moving part in the desired way if he exerts a force greater than 35 N.

It is also possible to continuously train the athlete in an active way by continuously measuring the force applied by the athlete through the at least one sensor 7. For example, the training device/system could be programmed to control the moving part 3,4 so that it provides a constantly varying force that is 95%, or any other value, of the applied force from the athlete. The athlete must again, for example, exert a force of 40 N against the moving part 3,4, and then the at least one sensor 7 would monitor this applied force, and control the moving part 3,4 to provide a resistance to this movement of 95% , which against 40 N would mean a resistance force of 38 N. As is clear, the athlete may not be able to apply the full amount of force against the movement of the moving part over the entire working range of the limb, and thus an active concentric training regimen will allow the athlete to have the movement of the limb constantly resisted by a certain value, depending entirely on how much force the athlete gives at any moment and/or at a specific position of the concentric training.

In eccentric training, the movable part 3,4 is controlled so that it counteracts the force applied by the athlete with a somewhat larger amount, and thus causes the limb to move against the direction of force given by the athlete's muscle extension. For example, the athlete could try to move the legs sideways so that the feet are separated by 30cm, and the moving part could be controlled to act against this movement to actually bring the feet together. If the training device is aware that the maximum force applied by the athlete, as determined during isometric exercise, was 40 N, the moving part could be controlled to provide a force at different levels, for example 105% of the maximum force, or a any other athlete-definable amount, to counteract the force applied by the athlete and thus train the legs in an eccentric manner.

As with concentric training, it is also possible to provide active eccentric training. For example, the athlete could act against the patient/athlete interaction device, and with the help of the at least one sensor 7, the training device could monitor the amount of applied force. The training device could then give the moving part instructions to move with a slightly higher force against the force from the athlete, and will thus lead to the opposite movement of what the athlete is trying to achieve. If the athlete provides a lower force against the movement of the moving part 3,4, the at least one sensor would immediately register this and the training device would control the moving part to move them against this force with a lower counter force, but still a slightly higher force than the one used by the athlete.

As can be seen from the above, in both the concentric and eccentric training regimes, the movable part 3,4 can be controlled to move on a predetermined path. That is, patient/practitioner interaction devices can be moved from a start to end position on a precise and predetermined path through three-dimensional space, while avoiding unwanted tilting and twisting of the patient/practitioner interaction devices towards the moving part. Tilting and turning can be controlled, freed or locked. It is also possible for the moving part 3,4 to be controlled so that it allows some deviation from the specified path. In some exercises, a slight deviation or twisting of the athlete is not harmful to the training, but is much more comfortable for the athlete. Such deviations can easily be allowed by suitable control of the moving part 3,4.

A further training regime is that the moving part must be controlled to move in a certain way. The practitioner then reacts to the movement of the moving part and attempts to return the patient/practitioner interaction devices to their original orientation and location. For example, the practitioner could hold onto his patient/practitioner interaction device with his foot and the movable part 3,4 could move the practitioner's leg to the left. The exerciser will then be asked to pull against the movement of the moving part 3,4 to bring the foot back to the starting position or the resting position. Again by means of the at least one sensor 7, the magnitude of the force can be monitored between the practitioner and the patient/practitioner interaction device, and thus the movement of the movable part 3,4 can be controlled to bring it back to rest when a certain force has been applied.

It may also be desirable to provide orthoses, or bandages or the like, to be placed on the patient. For example, it may be necessary to lock the exact orientation of the athlete's leg at the knee and/or ankle, thereby causing the movement of the movable part to move only the hip joint. Such devices (orthoses) can be incorporated into the patient/practitioner interaction device, in particular a shoe-like device may be provided which will prevent the ankle from moving, and a separate device could be provided above the knee to stop this movement. In this way, the precise movement of the joint being trained can be controlled by moving the movable part in the correct way, as the precise movement of the movable part leads to a known movement of the joint in question, which is not affected by other joints between the movable part , and especially patient/practitioner interaction devices and the joint being trained.

Embodiments

In a first embodiment, as shown in Figures 1 and 2, the device according to the invention comprises a stationary frame 1 which can be made of beams 2, for example made of wood or metal. Alternatively, the frame 1 can be omitted if the beams 2 are bolted directly to the floor or otherwise held firmly in their relative positions. This frame 1 can comprise pairs of beams whose beams 2 run essentially parallel to each other. Examples of such constructions are a cube, a rhombus, a hexahedron, an octahedron, a dodecahedron, etc. Between these parallel pairs of beams 2, a number of movable rails 3 run in a first embodiment of the device. Along these movable rails 3, the rail 3 movable attachment devices 4 for bodily extremities such as feet and/or hands. This design means that the fastening devices 4 can be moved independently in at least a two-dimensional maximum working area 5 which is formed by the frame 1, including the beams 2 and the rails 3. The maximum working area 5 does not necessarily correspond to the athlete's/user's working area (ROM).

Alternatively or in addition, such a design or construction would enable the fastening devices 4 to be moved within the points of a three-dimensional maximum working area 5. In that case, the fastening devices 4 are translationally movable along their respective rail 3.

The rails 3 and the fastening devices 4 are connected to at least one motor (not shown) which controls the operation of these parts of the device according to the invention. At the very least, the fastening devices 4, but also the rails 3, can be connected to a sensor 7 which can measure the force of the resistance exerted on these parts to retain or force their movement. The reason for performing this registration is, among other things, to adapt the power that the motor(s) 6 exerts on the respective parts. This is too fast to achieve an adapted and optimal training effect within a training session for the person using the training device. The movements performed by the fastening devices 4 can be random, which can be suitable for training technique, motor skills, reflexes or reactions in the athlete, but they can also be controlled by preselected programs so that the fastening devices can perform predetermined movements, for example, diagonal walking, skating, limping, balance training (stability and joint feeling), walking on uneven ground or such opposite movements so that the athlete can train all affected muscles that control the actual movement patterns.

In one embodiment, the fastening device(s) 4 and alternatively the rails 3 are equipped with mechanical, magnetic or electric gears which carry out the movements of these parts. Such gears can be in the form of gears with worm drive, wire drive, gear drive, magnetic drive, electric motor drive, etc.

In one embodiment, the device according to the invention can include support devices (not shown) in the form of hoops and/or handles that the exerciser can use to more easily maintain balance during the exercise of the various training programs or training sessions that have been selected. The support devices can also include seating devices such as a chair, a support for the lower back, a support for the abdominal region in the form of a belt, etc. The form of exercise practiced in the device/system according to the present invention prefers that the athlete does not touch the fastening devices unless this is absolutely necessary as this reduces the examiners' ability to accurately measure the athlete's performance in terms of objective comparison with previous and/or later performances. However, if necessary, the practitioner should keep the attachment devices 4 as stationary as possible as the motor(s) drive the attachment devices 4 in different directions and possibly at different speeds in the device. The operation of the various parts of the device is usually controlled by a processor or controller. The task for the practitioner will be to keep the fastening devices 4 as stationary as possible under the influence and operation of these from the processor or controller.

The position and speed of the fastening device(s) 4 in the device according to the invention are controlled by a processor or controller. Such a processor or controller may in one embodiment be able to receive information regarding the force exerted on each individual fastening device 4, during a training session, the speed of the fastening devices 4 during each training session, other athlete-generated data and data describing the setup of the device. Such data can be used to create a training program that is individually adapted to each athlete or can be used to generate a standard program that can be performed by athletes who use the device/system according to the invention.

In one embodiment, the device/system according to the invention can be combined with visual aids such as VR, TV, games, etc., so that the athlete can get the illusion of training, for example, in nature. Such visual aids can be in the form of a screen or be in the form of a 3D helmet or similar device. Auditory aids can also be used if necessary, for example music, sounds from nature (birdsong, crashing waves, wind, etc.) or other auditory influences that can possibly be adapted to the visual aids.

In a second embodiment as shown in Figure 3, the device according to the invention comprises a stationary frame 1, rails 3 and two fastening devices 4. In this embodiment, the fastening devices can move at least along the x and y axes, and preferably along the x, y and z axes (not shown). Figure 4 shows an alternative construction to the embodiment presented in Figure 3.

Figure 5 shows an embodiment where the movable parts are movable tiles on which fastening devices 4 are placed. These fasteners can move in the maximum working range 5.

As can be understood from the above, either the user/exerciser can interact with the training device but one limb (as shown in Figs. 1-2), or several limbs (as shown in Figs. 3-5). The other stationary limbs will in one embodiment either be able to stand on the frame 1, the floor or a stationary device such as a plate, a handle, etc.

Actual use of the exercise equipment

Figure 6 shows a conceptual flow chart of the steps that can be performed when an athlete is to use the training device. In a first step, the athlete goes into the physiotherapist's office, training center etc. to apply for treatment/training/testing. Another step will be for the physiotherapist/trainer to carry out an appropriate examination and/or diagnosis of the athlete. At this point, the physiotherapist/trainer will examine whether training using the training device will be appropriate or not. If the athlete can benefit from the exercise equipment, the operation of the equipment will be explained by the physiotherapist/trainer.

In the third step, the athlete will receive an account held e.g. in the training device, a central server or in the Cloud. As previously described, a computer will most likely be included in the training device/system to control the moving part. The computer will be equipped with a computer memory, which can be used to store a number of user accounts as well as any diagnostic and training data appropriate for each athlete. If necessary, the athlete will then be asked to fill in a questionnaire in which a series of key questions are asked relating to the disorder or training goals and the athlete's general lifestyle. This questionnaire can also be repeated during the duration of the training performed by the athlete and can be used as an additional diagnostic tool to monitor the progress of the athlete.

Within questionnaire 1, a number of questions are asked regarding the disorder and the lifestyle of the athlete. Such questions may include, but are not limited to:

a. Age, sport type of injury and the duration of pain or suffering before the treatment, and for the course of it.

b. The general activity level of the athlete, and especially with regard to the part of the body that is exercising.

c. What medication, if any, is taken by the athlete in relation to the disorder and further the actual dose.

d. The general level of the athlete's activity in daily life, which is useful as an indication of the athlete's general health.

e. A self-evaluation of pain and suffering and how much this affects the athlete's daily activities.

Such a questionnaire will give a general indication of quality of life or score. This score can be used to compare throughout the training program the perceived and actual improvements the training has on the athlete. This can be particularly useful for motivating the athlete and improving the psychological approach to training. This is particularly useful if it becomes apparent that improvements are occurring that may have been noticed by the practitioner without such direct and regular feedback. If the score does not improve appropriately, this provides another diagnostic tool for the physical therapist to correct or adjust the exercise program to maximize its effectiveness.

In the fourth step, the patient will position himself in relation to the moving part in the appropriate place. As discussed above, this can be by standing on appropriate sensors on the moving part or in a predetermined part of the exercise equipment. When the athlete is in the correct place in relation to the moving part 3,4, the athlete performs a series of movement tests with the moving part 3,4.

As discussed above, the athlete can perform the range of motion tests in a number of ways, either by being guided by the moving part 3,4 until resistance is measured by the at least one sensor 7 that stops the movement of the moving part 3,4 or by actively pull the movable part 3,4 to the maximum stretch of the limb. When the athlete has driven through the entire working area, so that the training device/system knows the maximum movement that can be performed on/by the athlete, this working area is stored in the training device and will be used to ensure that the moving part 3,4 does not move outside the athlete's maximum working area. Primarily, this is a safety function that ensures that no further damage is done to the athlete by using the training device/system. As part of the development of a training program, it may be necessary to update the athlete's maximum working area regularly.

In step 5, the actual training can begin. This has been discussed above and any of the passive, isometric, eccentric, concentric or reaction tests described above can be performed on the athlete. With the help of the at least one sensor 7 which is located on/off the moving part 3,4, the training device/system can perform optimized training and load on the patient or athlete.

In a final step, the training device/system is capable of storing the complete data collected throughout the training program. This data can relate to the working area, the amount of force supplied by the athlete, the amount of torque delivered by the athlete, reaction speed, number of repetitions and so on so that a complete and accurate picture of the training can be built up and stored in the data memory of the training device or on another appropriate way, for example in the cloud via a transmitter receiver (wifi, bluetooth, etc.). If the training session was not the first session performed by the athlete, this step can also compare the current training session with that of the previous training session or sessions, to build a clear picture of the athlete's progression or lack of progression through the training.

It will also be possible to run the comparison between the current training session and the previous sessions during the current training session, so that the athlete can see on the computer screen throughout the session how the current session compares to previous sessions. For example, the athlete can be shown the range of motion and maximum force applied in the current training regime, and this can be directly compared to the last two or the desired number of sessions, so the athlete can see if he is training at the same level, better or worse than the previous sessions. Such immediate feedback can be useful for the patient or the athlete, as this will instantly show the athlete's progress, and can psychologically improve the training which will also improve the final results.

For diagnostic purposes performed by the moving part 3,4, the training device can monitor a number of different parameters. These have been discussed in general above, but must be collected here to provide a clear description. As a first issue for monitoring the working area, the movable part 3,4 can be controlled so that it is essentially weightless and corresponds to the movement of the athlete's limb. It will also be possible to drive the movable part 3,4 to move the limb from a starting point to a maximum physiological stop point which is essentially the entire work area that the limb can perform. Furthermore, the working area can be stopped before this maximum physiological movement if the patient/practitioner registers too much pain and acts against the movement with too much force as measured by the at least one sensor, or triggered by a safety button. Furthermore, the strength of the patient/exercise can be measured in an isometric way by having the patient/exercise try to move the moving part and consequently be able to perform a maximum force in the desired direction of movement in a safe way without any movement, so that this force can be used in optimized load during dynamic training. A further important aspect is the possibility of incorporating a pain factor into diagnostic tests. For example, if the strength test is actually limited by pain in the athlete, rather than the actual strength of the athlete's limb, this can be incorporated into the data stored so that the athlete can also monitor and check the reduction in pain during the training sessions.

A particular advantage of the training device is that monitoring and diagnostics are completely objective. As there is no human interaction with the athlete during either training or explicit diagnostic measurements, the physiotherapist does not influence the results of the tests. Furthermore, the training device is able to accurately monitor the changes from one session to the next, making identical measurements and tests in each subsequent session, which makes it possible to take objective diagnostic data. Furthermore, the data is constantly measured, which means that a complete overview of the training is immediately available. This complete data recording is particularly useful, as it provides clear and systematic knowledge of the training progression, enabling the physiotherapist to quickly identify problems with the program and correct these to maximize the effectiveness of the training.

Generally

The above discussion has provided a series of options for the construction of the training apparatus and its method of application. As is clear, this training apparatus can be equipped with a computer for appropriate operation and control of a moving part and continuously use the measurements taken from the at least one sensor. The present description obviously also relates to a computer program that can be used to monitor all of this data, and appropriately control the moving part. The computer program will be adapted to provide all movements of the moving part, including range of motion measurements as well as concentric and eccentric exercise regimens. Furthermore, the program can be used to control the isometric training and diagnostics of the athlete.

In addition, the present description relates to a method for carrying out training in an athlete or patient. With appropriate monitoring of the athlete and problems arising therefrom, the physiotherapist can use the correct programs and training regimes coded in the training device, to carry out and/or facilitate training and physiotherapy on the athlete. This method involves the use of the movable part 3,4 as described above to perform appropriate physiotherapy on an athlete.

It is also possible to use the training device/system as a strength or bodybuilding device. In fact, the person skilled in the art will realize that the use of isometric, concentric and eccentric training can also be used outside the field of physical therapy for muscle toning and the like.

As can be seen from the above, the use of a moving part, especially an XY or XYZ table in a training apparatus has a number of special advantages. First, as has been discussed in detail, the exercise equipment's measurement of the user's performance is completely objective in both diagnostics and training. The monitoring of the actual training performed by the athlete is done without emotion and can be instantly compared with previous performance stored in the training device.

Second, the operation of a moving part, especially an XY or XYZ table, is extremely precise, in fact the movements of the moving part can be controlled at the millimeter level and below. This level of control is unattainable in normal physiotherapy equipment, and cannot be achieved by a trained physiotherapist. Obviously, in training delicate/sensitive regions of the body, such as the neck, such control is extremely useful and beneficial to the training program. Furthermore, using such control can speed up training, and lead to improved and faster results.

A third advantage of the moving part in the training device relates to the above advantages, and the improvement they both bring to exercise. In particular, the accuracy and constant feedback lead to great improvements in convalescence time and possibly the outcome of such. With precise control and immediate diagnostics, the physiotherapist can objectively monitor the athlete's training, and ensure that this continues correctly and perfectly in each training session. This not only reduces the chances of incorrect training, but also improves the speed of recovery for the athlete.

Although the above description is presented as a series of different aspects related to the movable part and application thereof, no specific combination of functions should be considered as specifically described or required. In fact, the system is intended to be provided by the controllable moving part that can have an appropriate interaction with a performer. The person skilled in the art will understand that a number of the above-mentioned functions will be combined depending on the necessary training to be carried out on the athlete with provided data from at least one sensor or the like.

Claims (2)

Patent claims 1. System for training a user, comprising: at least one moving part (4), at least one stationary part (1, 2), a number of motors (6) for moving the at least one moving part (4), at least one sensor (7) on the at least one moving part (4), a controller (8), where the controller (8) is arranged to receive signals from the sensor(s) (7) and send drive signals to the motors (6) which control the movement of the at least one moving part (4), characterized in that the at least one movable part (4) comprises an XY table or XYZ table arranged to move along orthogonal X, Y and possibly Z axes, the controller (8) being arranged to send drive signals to the motors (6) and control the moving part by "feed forward" movement to achieve concentric or eccentric training. 2. System according to claim 1, where the at least one movable part (4) can additionally rotate around the X-, Y-, Z-axis or any combination thereof.