PL233018B1 - Device for automatic assistance at the time of movement exercises - Google Patents

Description

Description of the invention

The subject of the invention is a device for automatic assistance during movement exercises, used in supporting movement exercises and rehabilitation.

Physical exercises usually take place in dedicated exercise rooms, such as gyms or rehabilitation rooms. The traditional equipment of the exercise room consists of machines dedicated to exercising a specific muscle group and the so-called free weights, for example dumbbells or barbells. During exercises on a machine, the movement is performed in a limited plane, which causes the involvement of only isolated muscles, and the stabilizing and synergistic muscles are not engaged as in the case of exercises with free weights, which means that they develop significantly more slowly. In the case of free weights, proper exercise technique is essential for proper muscle development. Improper technique or too much load both when exercising with machines and with free weights pose a risk of injury. In order to minimize such risk and maximize the effectiveness of exercises, for example by performing forced movements, the exercising person may be supported by a trainer or assistant who, based on observation and his own experience, corrects the movement or relieves the exerciser. In the event of a sudden indisposition of the exerciser, i.e. in the event of a sudden decrease in his strength or an injury, the person assisting during the exercises may react too slowly, which in turn may result in serious damage to the body that threatens the health of the exerciser.

The prior art describes a number of machines equipped with systems that protect the exerciser in the event of a loss of strength or an injury.

A well-known example of a machine that reduces the risk of injury in the event of a decrease in strength while exercising with a barbell is the so-called Smith's crane shown in Fig. 1. It makes it possible to put down the lifted barbell in the absence of the force necessary to complete the movement. This device consists of a barbell rigidly mounted on a vertical gantry and handles placed at equal intervals allowing, after rotating the barbell, to safely hook the bar to the handle and put it away at any stage of the movement. The Smith's crane influences the movement performed by forcing a movement in a vertical line, which differs from the natural, correct trajectory of the barbell's movement during its lifting and lowering, and affects the lifted weight, making it impossible to actually assess the lifted weight.

There is known from the US patent application US20120058859A1 a device for automatic assistance in weightlifting, in which the load to be lifted, for example a barbell, is suspended on ropes. Movement parameters are monitored by non-contact and contact sensors connected to the control processor which selects the unloading force, so that the exerciser will complete the movement in the event of a lack of force. The ropes on which the barbell is suspended are connected to the servomotor. The device allows to relieve the exerciser by lifting the weight in the vertical axis Y, and has a limited possibility of assisting in the horizontal axis X, moreover, it is not possible to correct the position of the bar only in the horizontal axis, and thus the proper shaping of the trajectory of movement. In the event of damage to the rope, for example, breakage, the device endangers the trainee, despite the presence of an installed brake. The device enables limited definition of traffic profiles, which are stored in the local device memory. Performing the calibration exercise results in saving it as a pattern of the motion profile in the controller's memory, with the possibility of overwriting after selecting this option by the exercising person. Non-contact motion sensors are placed on the frame, at a significant distance from the observed object (e.g. a barbell), the appearance of an unexpected object in the sensor field causes the system to malfunction. Similar solutions using ropes are described in US patent applications US20040192519A1 and US20090312162A1.

There is known in the art a device described in US patent US5993356A that uses a servo motor to generate a constant or time-varying muscle load of the exerciser, replacing the traditional load. Similar solutions are also disclosed in the US patent US4934694 and in the US patent application US20130310230A1.

There are also methods known in the art to increase the effectiveness of exercises by monitoring the implementation of the training plan, i.e. the exercises performed, intervals between exercises, the amount of load during each exercise and visualization of progress over time. Known methods include manual notes or data logins in the application on a mobile device performed by the practitioner. Both solutions require manual data entry, disrupting the exercise cycle. For handwritten notes and app use, only the number of repetitions is recorded without recording motion parameters.

Other methods of monitoring the activity of the exerciser use sensors mounted in small devices worn by the exerciser that automatically record body parameters in the mobile device, such as the method disclosed in US patent application US20150364026A1.

Moreover, the US patent specification US20150251055A1 discloses a measuring device for recording the speed and number of movements performed. The device is mounted to the equipment used during the exercise.

Another solution known from the American patent US7666118B1 enables contactless data acquisition, registering the position of the bar during lifting only in the Y axis.

Moreover, US patents US6231481B1 and US6224512B1 disclose a contact measurement of the speed of lifting a barbell.

The use of mechanisms securing the optimal course of movement in time, space and the external resistance used, in relation to the current - traditional formula for overcoming loads, the so-called free (bars, dumbbells, dumbbells), with the simultaneous lack of interference, when the movement is technically correct, can fundamentally revolutionize both the training process and rehabilitation activities, it can also, which seems to be a leading factor, significantly reduce frequency and scope of micro and macro injuries in sport and physical recreation.

Therefore, it would be advisable to develop a solution for non-contact measurement of the trajectory and movement parameters of the monitored object that does not affect the comfort of the exerciser during correct movement and corrects the movement in both vertical and horizontal directions, and thus ensures the movement as close to the natural as possible while relieving the exercising person, if necessary during exercise. exercise to prevent injury or other health damage.

The subject of the invention is a device for automatic assistance during movement exercises performed with the use of free weights, consisting of a frame integrating all elements to which actuators with measuring and actuating heads are attached, in which force sensors are installed adapted to detect the start of the exercising movement, and to register a used load. The servo drives of the actuators are controlled with the use of a microcontroller, allowing the heads to move in the vertical axis and the correctors to move in the horizontal axis. The microcontroller has input systems for recording signals from sensors, analyzing signals and generating parameters that control servo drives. Non-contact sensors for measuring the position of the monitored object are installed on the heads.

Preferably, the non-contact sensors determine the position of the object in a two-dimensional coordinate system at one or more points.

Preferably, the device has a reader for identifying the exerciser to write and read the motion profile and other data related to the exerciser stored in the central database.

Advantageously, the device enables non-contact monitoring of movement parameters and automatic, physical correction of the movement trajectory in the event of exceeding the movement parameters defined by the trainer (20) or the therapist, loaded from the central database.

Preferably, when the maximum predetermined assist force is exceeded, the device stops the series of repetitions.

Preferably, the device has implemented algorithms for calculating the parameters of the sequential steps of the servo drives based on the latest sensor readings and comparing them with the collected data associated with the learner's profile.

The automatic assistance device according to the invention solves a number of problems related to the performance of strength exercises or rehabilitation activities.

The device introduces favorable changes, both in terms of biomechanical (maintaining the correct angular movement trajectory in the joints), physiological (optimal use of the body's buffer mechanisms while securing relatively constant homeostasis of the organism), and mental (increasing the sense of security during exercise and higher the level of motivation to undertake training work), diagnostic (increasing opportunities to optimize training or rehabilitation loads, as well as constant and objective monitoring

Of training progress), logistic (less involvement of the instructor-coaching and physiotherapeutic staff in corrective and technical activities during single exercises, which increases mobility in relation to a larger number of participants at the same time), health-preventive (limited trauma and accident rate during exercises), economic (reduced number of service personnel, with a simultaneous increase in people training or rehabilitating at the same time).

The device reduces the risk of injury by relieving or stopping the exercise in the event of a lack of strength, and also protects the exerciser in the event of unexpected events, such as the aforementioned decrease in strength or injury.

The device also allows you to improve the technique by correcting incorrect movement and increasing the effectiveness of exercises through the possibility of safe and controlled execution of forced movements.

Further, the assisting device allows for an effective and safe training without the need for other people's help and for the analysis of historical data by the trainer or physiotherapist, which in turn enables the modification of the training plan depending on the recorded movement parameters. Additionally, visualizing the progress of the practitioner is an additional motivation.

Moreover, the use of the assistive device allows to increase the number of rehabilitated persons by replacing the therapist or trainer with a device repeating exercises according to the parameters set during the first exercise with the therapist.

The assisting device enables the physiotherapist to be assisted during movement in the phase that requires additional effort and to ensure the correct range of movement.

In addition, it allows you to record movement parameters such as speed, strength, acceleration and range of motion in order to monitor progress and create the most effective exercise or rehabilitation program.

Moreover, it allows to increase the effectiveness of strength exercises through controlled, forced movements, as well as to protect the exerciser in the event of loss of strength or other factors that could result in damage to the body or a serious injury.

The assist device also enables the protection of strength athletes from injuries thanks to early detection of a dangerous movement and stopping the movement before a threat to the athlete's health occurs. Thanks to non-contact assistance, the device does not affect the way the task is performed.

The subject of the invention is shown in the drawing examples, in which:

Fig. 1 is a perspective view of a Smith Crane (prior art);

Fig. 2 shows a perspective view of the automatic assistance device for movement exercises;

Fig. 3 is a perspective view of the traffic monitoring and assistance system;

Fig. 4 shows a first embodiment of an exercise using a device according to the invention;

Fig. 5 shows a second embodiment of the exercise using a device according to the invention;

Fig. 6 shows a third embodiment of the exercise using a device according to the invention;

Fig. 7 shows a fourth embodiment of the exercise using the device according to the invention;

Fig. 8 shows a schematic view of a database system in communication with the assistant device according to the invention;

Fig. 9 is a schematic view of the operation of the assist mode device;

Fig. 10 shows a schematic view of the operation of the device for assisting in learning mode.

Fig. 2 shows a device for automatic assistance during movement exercises with free weights. The device consists of a frame that integrates all the elements, to which actuators 101, 102, 103, 104, for example linear actuators, with measuring and actuating heads 105, 106 are attached. Linear actuators 101, 103 with encoders are responsible for the movement of measuring and actuating heads 105, 106 in the vertical axis Y, while linear actuators 102,

PL 233 018 B1

104 with encoders are responsible for the movement of motion correctors 119, 120 of measuring and execution heads 105, 106 in the X horizontal axis.

As shown in Fig. 3, on one of the measuring and execution heads, for example the head 105, a pair of non-contact distance sensors 111, 112 is installed, which enable the measurement of the position of the monitored object 115, e.g. a barbell, with a load selected according to the possibilities and needs of the exercising person 10. Locating the sensors 111, 112 in close proximity to the monitored object 115 prevents erroneous readings from these sensors and, consequently, malfunction of the device. The non-contact distance sensors 111, 112 can be, for example, laser sensors that determine the position of said object 115 in a two-dimensional coordinate system at one or more points, where the sensor 112 measures the distance of the monitored object 115 from the measuring and execution head 105 in the vertical axis Y, and the sensor 111 measures the distance of the monitored object 115 from the measuring and execution head 105 along the X horizontal axis. Thus, the position in the space of the monitored object 115 in relation to the head 105 is the sum of the position read from the encoders of linear actuators 101, 102 and the coordinates of the object position 115 read from non-contact distance sensors 111 , 112. Such a solution ensures that when measuring the position of the monitored object 115, the automatic assistance device does not in any way affect the lifted weight or the movement of the exerciser 10.

In addition, at least one force sensor 107 is also installed in the measuring and actuating head 105, for example a strain gauge, which reads the load and thus detects the start of the trainee movement 10. The assistant is started after the force sensor 107 detects a reduction in pressure on the sensor. in the percentage determined by the trainer 20 or the trainee 10. After detecting the beginning of the assistance, the measuring-executive head 105 lowers to the position determined by the motion profile, transferring the entire weight to the trainee 10. The head 106 works in the same way with the sensor 108, both heads 105, 106 go down simultaneously.

The sensors 107, 108, 111, 112, 113, 114 and the servo drives 110 of the actuators 101, 102, 103, 104 are connected to the microcontroller 109, which has inputs for recording the signals from these sensors and servo drives 110 at a frequency above hundreds of hertz and calculates the difference. between the read distances and the correct loaded motion profile, and also calculates the correct position, speed and acceleration for each of the axes of movement of the measuring and actuating heads 105, 106 and generates control signals for each of the actuators 101, 102, 103, 104 causing the measurement heads to move - implementing parts 105, 106 to the correct position. Thus, the device for automatic assistance during exercises, both during non-contact monitoring and physical assistance, records all motion parameters, and during the correct phase of movement, each of the measuring and execution heads 105, 106 moves at a certain distance from the monitored object 115, thanks to which the assistance is not felt by the subject 10.

In addition, the device is equipped with a reader 117 for identifying the subject and reading the movement profile and other data related to the subject 10, e.g. information about the correct load, position of the subject 10, the number of repetitions planned in each series, the time interval between consecutive series, which data is are read from the central database 121 using the microcontroller 109, upon applying an identifier associated with the subject 10 to the reader 117, and displayed on the user interface 118, which may be a mobile device using a dedicated application, wirelessly connected to the central database 121. Further, the profile The movement is determined from the data collected during the learning mode of the device and the manual trainer correction 20 depending on the training goals set.

Additionally, the device assigns motion parameters to exerciser 10 and stores them in a central database 121. The central database 121 provides access to data, visualization, and analysis via a web browser or other application. Access to the system is available to the trainee 10 and the authorized trainer 20 or rehabilitator 30. The results of the data analysis are used to optimize training and monitor progress.

The microcontroller 109 has implemented algorithms to calculate the parameters of each successive step of movement for the servo drives 110 of linear actuators 101, 102, 103, 104, which are sent to the servo drives 110 of all linear actuators on the basis of the last readings from sensors 107, 108, 109 and their comparison with the read profile of the movement associated with the profile of a given user, i.e. exercising 10. If exercising 10 or trainer 20 uses a dedicated application to set the intensity of the exercises, i.e. define the maximum strength of support during exercise

PL 233 018 B1, the so-called forced movements, after exceeding the maximum force, the device will prevent the continuation of the exercise.

The device for automatic assistance during movement exercises allows you to modify the model trajectory of movement using a dedicated application. When the exerciser 10 or the trainer 20 uses the application to define the tolerance of the movement parameters, i.e. the trajectory, speed or acceleration, e.g. during deadlifts as in Fig. 4, squats with a barbell on the shoulders as in Fig. 5, in a podch, as in Fig. 6 or in pressing a barbell on a bench as in Fig. 7, which parameters are treated as boundary parameters during assisting, after exceeding them the device activates the mode of physical correction of the trajectory of movement. The series of exercises is interrupted when the critical parameters set by the trainer are exceeded, and the critical parameters can be adjusted even during the movement. On the other hand, when the motion parameters are not defined, the device activates the learning mode, i.e. the correct motion registration mode, which will serve as a reference motion during subsequent repetitions.

In addition, the assistant device allows you to configure various exercise modes, e.g. correcting the position in a given plane, slowing down when moving too quickly, dynamic assistance with strength training, etc.

The assist device is equipped with a battery power system 116, activated upon detection of an abnormality in the operation of the device or a power failure, which activates the mechanical stopping devices of the device. In the event of an anomaly in the movement phase of the device that prevents it from being freely exited, the battery power supply system supplies power to the controls of the assisting device so that the exerciser can safely leave the exercise station.

All automatic assistance devices included in one facility or organizational unit are connected to a central computer system with a central database 121, to which all devices record traffic parameters and store correct traffic profiles, device settings and historical data for each system user - exercising 10, recognized by the unique identifier. Each 10 practitioner has access to historical data, visualization and analysis using a dedicated application for mobile devices or a web browser.

Fig. 9 is a schematic diagram of how the assist device operates in the assist practitioner mode.

In a first step 201 the identifier is scanned using a reader 1 fitted with the assist device.

Then, in step 202, the exercise parameters are read from the database 121 and the device setup parameters 203 are displayed, e.g., seat back tilt angle, load on the user interface.

Further, in step 204, when the commencement of movement is detected using the force sensors 107, 108, monitoring 205 of the movement of the exerciser 10 during the selected exercises is started, and if the preset support boundary parameters of the exerciser 10 are exceeded, the recording 206 of data with the use of sensors 107, 108 begins. 111, 112, 113, 114 with which the assist device is equipped.

If the loaded number of movements is performed or the movement parameters specified by the trainer 20 or the therapist 30 are exceeded, 207 series of movements are completed, and moreover, 208 of the analysis of the performed exercise are sent to the mobile device of the exerciser 10 and to the user interface 118 of the assisting device and the 209 collected data are saved in the central database 121.

The exercise ends 210 after the loaded number of exercise series has been performed, if such a decision is made by the participant 10 or the critical parameters specified by the trainer or therapist are exceeded.

Fig. 10 shows a schematic view of the operation of the device for assisting in learning mode.

In a first step 301, the identifier is scanned using a reader 117 fitted with the assist device.

In the next step 302, the learning mode is set, which is performed by the trainer 20 or the therapist 30 in collaboration with the subject 10.

Then 303 the correct parameters of the device, such as position or load, are set so that in the next step the exerciser 10 can perform 304 series of movements as instructed by the trainer 20 or the therapist 30.

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After consulting 305 with trainer 20 or physiotherapist 30, the data 306 is analyzed, boundary and critical parameters of motion are determined 307, and then physical interference with the motion profile and exercise stopping parameters 308 is initiated.

In the next step 309 the exercise is saved as self-executing, and modification 310 of the movement parameters can be made at any time by the trainer 20 or the therapist 30.

Claims (6)

Patent claims 1. A device for automatic assistance during movement exercises performed with the use of free weights, consisting of a frame integrating all elements, to which actuators (101, 102, 103, 104) are attached with measuring and actuating heads (105, 106) in which are installed force sensors (107, 108) to detect the start of the exercising person's movement (10) and to record the used load, while the servo drives (110) of the actuators (101, 102, 103, 104) are controlled by a microcontroller (109) enabling the movement of the heads (105) , 106) in the vertical axis and motion correctors (119, 120) in the horizontal axis, the microcontroller (109) having input systems for recording signals at least from sensors (107, 108), analyzing the signals and generating parameters controlling servo drives (110) , characterized in that non-contact sensors (111, 112, 113, 114) for measuring the position of the monitored object (115) are installed on the heads (105, 106). Device according to claim 1, characterized in that the non-contact sensors (111, 112, 113, 114) determine the position of the object in a two-dimensional coordinate system at one or more points. An apparatus as claimed in any preceding claim, characterized by having a reader (117) to identify a trainee to write and read the motion profile and other exercise related data (10) stored in the central database (121). Device according to any of the preceding claims, characterized in that it enables non-contact monitoring of movement parameters and an automatic, physical correction of the movement trajectory in the event of exceeding the movement parameters determined by the trainer (20) or therapist (30), read from the central database (121) . Device according to any of the preceding claims, characterized in that the device stops the execution of the series of repetitions when the maximum set assist force is exceeded. Device according to any of the preceding claims, characterized in that it implements algorithms for computing the parameters of the sequential steps for the servo drives (110) based on the latest readings from the sensors (107, 108, 111, 112, 113, 114) and their comparison with the stored data associated with the trainee profile (10).