RU2807305C2 - Walking simulator for training neuromuscular functions - Google Patents

Abstract

FIELD: training neuromuscular functions.

SUBSTANCE: gait simulator for training neuromuscular functions is proposed, containing a lifting system with a rotating cable drum, a cable configured to be wound onto the rotating cable drum, and with a cable tip on which a buckle is mounted for further attachment to nodes configured to interact with the patient. The lifting system is mounted on a ceiling rail and freely suspended on two weight sensors for measuring the weight applied to the rope from the patient side, located on the lifting system on the side in order to reduce the structural height of the gait simulator, wherein the weight sensors are configured to output a quantitative signal from the weight sensor. The simulator also contains an electric motor configured for axial engagement with a rotating cable drum and configured to drive said rotating cable drum in forward and reverse directions for unwinding the cable from the cable drum or winding the cable onto this drum, visible indicators for measurement actual length of unwinding and winding of the cable when used during training sessions. There is a control unit and a processor configured to receive a quantitative signal from the weight sensor. The specified processor is configured to calculate and output a motor control signal when setting a calculated driving direction of the motor based on the received quantitative signal of the weight sensor and based on the result of comparing the actual quantitative weight signal with the weight of the counterweight determined before the start of training. The motor is provided with a control device configured to receive a motor control signal from the processor and set a calculated driving direction for the motor so that the value of a certain counterweight applied to the cable on the motor side is maintained as constant. A method for using the gait simulator is also described.

EFFECT: acceleration of patient rehabilitation is achieved with the possibility of adjustment in accordance with the degree of recovery.

6 cl, 6 dwg

Description

Field of technology to which the invention relates

The present invention relates to a gait simulator for training neuromuscular functions, comprising:

- a lifting system with a rotating cable drum, a cable configured to be wound onto a rotating cable drum, and a cable tip configured to interact with the patient;

- an electric motor configured to engage axially with a rotating cable drum and to drive said rotating cable drum in the forward and reverse directions to unwind the cable from the cable drum or to wind the cable onto this drum;

- a weight sensor configured to output a quantitative weight sensor signal;

- Control block;

- a processor configured to receive a quantitative signal from a weight sensor, said processor configured to calculate and output a motor control signal,

- an engine control device configured to receive an engine control signal.

The invention also relates to a method for training neuromuscular functions using such a gait trainer comprising an electric motor, a weight sensor and a cable.

When using a gait trainer, this method may include the step of determining the weight of a counterweight that should act on the cable from the side of the electric motor, and the step of measuring with a weight sensor the actual weight acting on the cable from the side of the patient, and the direction of driving the motor is determined based on a comparison of the weight of the counterweight with measured actual weight acting on the cable from the patient.

The gait trainer may include a lifting system with a rotatable cable drum and a cable for winding the cable onto the rotating cable drum or for unwinding the cable from the drum in accordance with the direction of motion determined based on comparison of the weight of the counterweight with the measured actual weight acting on the cable from the side patient.

The gait trainer may also include an electric motor configured to axially engage the rotatable cable drum and to drive the rotatable cable drum in a driving direction. The gait trainer may also include a weight sensor, a control unit, a processor, and a motor control device.

The lifting system can be freely hung on the load cell.

State of the art

Rehabilitation usually takes the form of a training process over a set period of time, where the starting point is the level of functional skills of the individual patient. Rehabilitation exercises may include ambulation, positioning, strength training, stretching, active range of motion exercises, and activities of daily living. From a purely therapeutic point of view, the goal of rehabilitation is to maintain and increase functional skills as much as possible.

Rehabilitation processes often require great effort from a professional doctor, who is required to compensate for the patient’s lack of mobility and his inability to help himself.

Confidence and safety are essential for rapid rehabilitation.

Long periods of hospitalization with mandatory prolonged stays in bed can have serious consequences for the patient's health and well-being. Lying still increases the risk of blood clots in the lungs and skin complications such as bedsores.

Other complications commonly associated with long-term hospitalization are loss of muscle mass and strength, and these problems can actually affect both the length of hospitalization and the patient's ability to function after discharge.

For hospitalized patients, prolonged periods of immobility may increase the risk of the following:

• respiratory complications such as pneumonia, atelectasis and pulmonary embolism;

• constipation;

• incontinence;

• tissue damage and bedsores;

• blood clots in the legs (deep vein thrombosis);

• decrease in muscle mass and muscle strength;

• decreased physical fitness;

• imbalance, especially in elderly patients.

Therefore, it is extremely important to involve patients in rehabilitation processes (mobilize) as early as possible - ideally during the hospitalization period.

Early mobilization will allow patients to begin rehabilitation more quickly, which will improve recovery after surgery by increasing circulation and reducing the risk of infections and other complications.

Early mobilization and rehabilitation include exercises in certain positions/changes of positions and physical activity, as well as spending more time out of bed - walking or just getting up. Other activities may include simple daily routines such as brushing hair, wiping (washing) the face and hands with a damp flannel, exercising in and/or around the bed, balance training, and walking around the bed.

However, early mobilization is associated with a number of problems - an increased risk of falls, unintentional movements and a feeling of insecurity in the patient. Such problems can create a significant need for physical assistance and the risk of injury to staff and physicians.

Common lifting and moving tasks associated with hospitalization and early mobilization may include:

• helping patients take a sitting position to check their reactions, reflexes, and defensive reactions;

• support for sitting position;

• moving patients between bed, chair, examination couch, etc.;

• lifting the upper body to install supports, pillows, etc.;

• raising the hips when making the bed under the patient;

• lifting of limbs;

• going to the toilet (using a toilet chair if required);

• transition from one position to another;

• moving patients from a sitting position to a standing position, and vice versa;

• maintaining balance in a standing/sitting position;

• reactions, reflexes, defensive reactions in an upright position;

• weight shift;

• walking training;

• exercises in bed.

Disclosure of the invention

The purpose of the present invention is to provide a gait trainer for training neuromuscular functions for early mobilization that can be adjusted according to the patient's progress in recovery and strength gained.

The purpose of the invention can be achieved by means of the gait trainer mentioned in the introduction and defined in the preamble part of claim 1, characterized in that the processor is configured to set a calculated driving direction on the motor based on the received quantitative signal from the weight sensor and based on the comparison result this actual quantitative weight signal with the counterweight determined before the start of the workout,

wherein said motor control device is configured to set a calculated driving direction on the motor, maintaining a constant value for a certain counterweight weight acting on the cable from the electric motor, and

in this case, the lifting system is freely hung on the weight sensors, and the gait trainer contains two weight sensors, and the weight sensors are located on the side of the lifting system, which reduces the structural height of the gait trainer.

The gait trainer contains two weight sensors. The weight sensors are located on the side of the lifting system, which reduces the design height of the gait trainer.

Reducing the height dimensions may be important to improve the usability of the gait trainer, particularly in existing spaces and/or on existing equipment.

Since the gait trainer is suitable for performing standing exercises, which may include balance, walking and/or running exercises, the height of the lifting system and the height of the patient should be taken into account when installing and using the gait trainer.

In addition, these exercises allow the use of additional equipment that increases the height required for their execution, for example, treadmills, balance boards, steps, balance balls, etc.

When using a walking simulator, the method may comprise the operation of determining the weight of the counterweight, which should act on the cable from the side of the electric motor.

The method can be used to train neuromuscular functions.

The method may further comprise the step of measuring, by the weight sensor, the actual weight acting on the cable from the patient's side, the step of comparing the actual acting weight with the determined weight of the counterweight, and the step of issuing a driving direction command to the motor control device by providing a motor control signal based on the result of the comparison of the actual acting one. weights with a certain counterweight.

The operation of measuring the actual weight acting on the rope by the patient, the operation of comparing the actual effective weight with the determined weight of the counterweight, and the operation of issuing a driving direction command to the motor control device can be performed continuously, maintaining a constant value for the determined weight of the counterweight acting on the rope with side of the electric motor.

One effect of this embodiment of the invention may be that the gait trainer may be operated in a dynamic mode where the counterweight weight is continuously maintained during training. In this way, the training load applied to the patient can also be maintained at a constant level.

One effect of this embodiment of the invention may be to provide a training method in which the patient can perform natural movements, but with reduced body weight. In other conditions, this can be achieved through training in water. However, in many circumstances this may not be possible due to the lack of appropriate facilities and/or due to conditions for full body contact with water, for example due to complications in the patient.

Another effect of this embodiment of the invention may be to provide a training method that supports standing exercises such as balancing, walking and/or running.

This training method can be implemented by incorporating the method steps into existing patient lifting systems having an electric motor, a weight sensor and a cable configured as described above, since the patient lifting systems themselves are designed to wind and unwind the cable so that lift and lower the patient.

A buckle may be provided at the cable end for further attachment to a sling, belt, or similar assemblies configured to be held or worn by the patient. Such restraining or wearable units can be used in conjunction with existing patient lifting systems. Alternatively, new shapes or patterns of restraint or wearable assemblies may be added as retrofits to existing patient lift systems by means of connecting assemblies that fit into the buckles of existing patient lift systems.

In one aspect of the method, the user can determine the required weight load before starting the workout. The required weight load may be a counterweight or alternatively a training load to be applied by the patient. Once the required weight load has been determined, training can begin as soon as the patient is attached to the cable, for example by inserting a sling attached to the cable end. Another result may be that the required weight load can be easily and accurately set in subsequent training sessions. Subsequent training sessions may also depend on the progress and performance of individual exercises in previous training sessions.

In one aspect, the method can be adapted to incrementally change the training load to be applied by a patient during a training session. Alternatively, the training can be adapted to switch between a static mode and a dynamic mode, wherein the static mode does not adjust the weight of the counterweight depending on the force exerted by the patient. In dynamic mode, on the contrary, the weight of the counterweight can be adapted depending on the actual weight acting on the cable from the patient.

In one embodiment of the invention, the method may further comprise the steps of providing the weight of the patient and determining the weight of the counterweight as a percentage of the provided weight of the patient. The difference between the provided weight of the patient and the weight of the counterweight may be the training load to be applied by the patient.

In one aspect, the weight of the counterweight may be determined by specifying a training load to be applied by the patient, and then calculating the difference between the provided weight of the patient and the training load to be applied by the patient.

Training load can be expressed as a percentage of the patient's weight.

Such an embodiment of the invention may allow some of the patient's weight to be removed. However, this requires that the patient's weight be known in advance and can be recorded.

As an alternative to providing the patient's weight, in one embodiment of the method the patient's weight may be provided as the weight measured by a weight sensor.

One of the results of this method may be to confirm that the method is using the correct and current weight of the patient. This ensures that the training load to be applied by the patient can be set regardless of any increase or decrease in the patient's weight.

In one embodiment of the method, the electric motor is limited to the maximum speed of unwinding of the cable. This can be useful in the event of a fall caused by loss of support, tripping or loss of balance, preventing an accident by slowly lowering the patient onto the base. This may be further advantageous in preventing or minimizing the risk of injury to attendants and physicians by reducing unintentional movements caused by the desire to prevent a patient from falling.

The control unit may be configured to implement the steps used in the method for training neuromuscular functions.

One result of this embodiment of the invention may be that the gait trainer may operate in a dynamic mode and in a static mode.

In static mode, the weight of the counterweight may not be adjusted depending on the force applied by the patient. In the dynamic mode, on the contrary, the weight of the counterweight can be adapted depending on the effort applied by the patient.

One effect of this embodiment of the invention may be to provide a training system in which the patient can perform natural movements, but with reduced body weight. Previously, this could be achieved by exercising in water, which may not be optimal for hospitalized patients because, depending on the patient's complications, full body contact with the water may not be possible.

This gait trainer allows you to support standing exercises such as balancing, walking and/or running.

This gait trainer can be implemented by incorporating a processor and a motor control device for performing the method steps into existing patient lift systems having an electric motor, a weight sensor and a cable configured as described above, since the patient lift systems themselves are designed with the ability to wind and unwind the cable to lift and lower the patient.

A buckle may be provided at the cable end for further attachment to a sling, belt, or similar assemblies configured to be held or worn by the patient. Such restraining or wearable units can be used in conjunction with existing patient lifting systems. Alternatively, new shapes or patterns of restraint or wearable assemblies may be added as retrofits to existing patient lift systems by means of connecting assemblies that fit into the buckles of existing patient lift systems.

In one embodiment of the invention, the gait trainer may include a weight sensor and a fixed suspension. The fixed suspension may include force balancing means. The load cell and fixed suspension can be located on the side of the lifting system, which reduces the design height of the gait trainer.

A fixed suspension keeps the lifting system suspended. The fixed suspension may include through holes in the rail mounting and lifting system and a pin. The pin is installed in the through holes.

A load cell can be mounted on one side of the lifting system. A fixed suspension may be provided on the other side of the lifting system. In this case, the fixed suspension includes force balancing means so that the total weight carried by the fixed suspension and the load cell can be calculated based on the weight measured by the load cell. The force balancing means may be a pin around which the lifting system can rotate as the weight measured by the load cell increases.

This embodiment of the invention may provide the same results and benefits as a dual load cell gait trainer and may simply be considered an alternative embodiment of the invention.

One of the advantages of this embodiment of the invention compared to a gait trainer with two load cells may be a reduction in the cost of the system at the component level. Another benefit could be easier installation of the lifting mechanism and therefore lower maintenance costs.

In one embodiment of the gait trainer invention, the weight sensor(s) may comprise a load cell configured as a transducer of applied force into an electrical signal that is a quantitative load cell signal. The load cell may be a strain gauge load cell.

One of the results of using a load cell is the direct conversion of applied force into a quantitative electrical signal. The electrical signal can then be used as an input signal for further data exchange between devices included in the gait trainer.

In one aspect, the gait trainer uses digital load cells based on a strain gauge transducer. In a specific embodiment, digital weight sensors based on a strain gauge transducer of the type: HBM S40A/ 250 kg (Eilersen) can be used.

In one aspect, a gait trainer may utilize load cells based on a strain gauge transducer. In a specific embodiment, load cells based on a strain gauge transducer of the type: Zemic "H3G-C3-250kg-6B" can be used.

The load cell may be selected in accordance with the required load intended for a gait trainer with mechanical dimensions corresponding to the mechanical dimensions to be obtained for the gait trainer, and in particular in relation to a ceiling mounted gait trainer. Aspects such as industrial and medical equipment qualification can also be taken into account when selecting appropriate load cells.

Other aspects such as linearity and accuracy over the load cell span may also be parameters to consider.

Another aspect that may be important is the sampling frequency, where a frequency of 20-1000 samples per second may be preferable as the change in applied force/weight can be dynamic.

In one embodiment of the invention, the gait trainer may include a rail mount configured to interact with a ceiling rail and one or more load cells. The load cell(s) may be coupled to the rail mount at one end and to the lifting system at the other end, whereby the lifting system is freely suspended from the load cell(s).

One of the results of this embodiment of the invention may be the use of this gait trainer with pre-existing ceiling rails.

Using a ceiling lift in combination with rehabilitation exercises can improve the confidence and safety of both the user and the clinician.

The user can feel more confident and follow the doctor's instructions without the fear of falling. The physician can also assist and guide the process without fear of back injury due to the patient suddenly losing his balance and/or falling.

This may allow you to perform more complex exercises and in greater quantities. The patient's support, accompanied by a lifting mechanism, as part of rehabilitation programs can be used at all levels of mobility and opens the way for flexible, precisely targeted training adapted to the functional capabilities of the individual user.

A ceiling mounted lifting system can often be suspended on two rails on a rail, so that with 2 load cells, the lifting mechanism can each be suspended on its own rail. Alternatively, the lifting system may be suspended from a load cell which is connected to a communication device between the two guides.

In one aspect, the gait trainer may be used with a drive motor to provide lateral assistance, such as to move the trainer laterally during walking exercises. In this case, using two load cells to suspend the lifting system can detect the direction of movement of the patient, causing the lifting mechanism to track the patient through the drive motor. Although moving the lifting mechanism along the rail can be very easy, one result may be that the patient does not have to pull the lifting mechanism for training exercises.

The gait trainer may also have a braking device. The braking device is configured to perform braking with an adjustable braking force. Using the braking device, you can set an adjustable braking force.

The braking device allows you to fix the position of the lifting system in the ceiling rails. This occurs when the maximum braking force is set.

The braking device also allows the braking force to be set to such a level that the patient can move the lifting system along the ceiling rails and the system provides resistance in the form of braking force.

This allows for more complex training exercises that include a wider range of movements for the patient.

In one embodiment of the invention, the gait trainer may include first and second ceiling rails mounted parallel to each other, and a third ceiling rail connecting the first and second ceiling rails and slidably mounted on the first and second ceiling rails. The lifting system can be mounted with the possibility of sliding on a third ceiling rail.

These ceiling rails allow the lifting system to be moved freely in a plane parallel to the ceiling. This allows the patient to perform a wider range of exercises. Especially in connection with the aforementioned engine and/or braking device.

In one embodiment of the gait trainer, the cable may have visible cable stroke length indicators for use during training sessions.

These visible indicators can be used to describe the exercises that the patient should perform. The exercises may involve flexion or extension of the legs, feet and/or back, and therefore the exercises may be described by changes in height. By using visible indicators, the stroke length can be used to instruct the patient and to ensure that the patient repeats the exercises and performs them correctly while monitoring the movement of the cable. Indicators may include numbers, characters, colors, lines or comparable indicators used for such purpose.

In one embodiment of the invention, the gait trainer may include a manual control device for adjusting the length of the unwinding and/or reeling cable.

The manual control device may include buttons for unwinding and reeling in the cable and/or for adjusting the weight of the counterweight. In this embodiment, the patient and/or attendants or physicians can easily adjust the gait trainer to initiate a training session, as well as adjust the gait trainer during the session. In this way, the gait trainer can be adjusted according to the progress of the exercises. A manual control device may be used to allow the patient to control the gait trainer during exercise, for example by consulting with maintenance personnel or physicians, so that the exercise can be performed reliably and optimally.

In one embodiment of the invention, the gait trainer may include a graphical user interface configured to display and/or accept input of at least one value corresponding to values selected from the group consisting of counterweight weight, patient weight, training load, and actual effective weight.

A graphical user interface (GUI) can be used to set parameters for training sessions, individual exercises, or a combination of both. On the one hand, these input data can be received as input from the user or from the operator of the gait trainer. On the other hand, the input data may be received as input from a gait simulator. Inputs may be received through selected input on the graphical user interface, as data input, as electrical signals, or similar inputs. Like a handheld control and visible indicators, a graphical user interface can be used to achieve the same results and benefits:

• description of the exercises that the patient must perform,

• patient instruction,

• performing and repeating exercises,

• adjusting the gait trainer by unwinding and/or reeling in the cable and/or adjusting the weight of the counterweight,

• adjusting the gait trainer to initiate a training session and during training sessions,

• control of the gait simulator during training, for example through consultation with service personnel or doctors, so that the training takes place reliably and optimally

• etc.

If an existing patient lifting system is being retrofitted with a gait trainer, then the existing graphical user interface may also be suitably retrofitted to include displaying and/or accepting input of at least one value corresponding to values selected from the group consisting of counterweight, patient weight, training load, and actual effective weight.

In one aspect, control of the gait trainer may occur through drop-down menus. They can be built into existing graphical user interfaces or used as stand-alone graphical user interfaces. Menu navigation may occur through interaction via a touch screen, a handheld control device, or other adapted input means. The "mode" of the gait trainer can be shown in a drop-down menu so that the user is always informed of the current mode. If the gait trainer is installed on an existing patient lift system, then "mode" may indicate the gait training mode.

The graphical user interface can also be used to select between values and set the values within the group consisting of counterweight, patient weight, training load, and actual effective weight.

The object of the invention may be achieved by a computer software product containing commands that cause a gait trainer to perform the steps of a method for training neuromuscular functions using a gait trainer.

A gait trainer may be provided by incorporating method steps into existing patient lift systems having a motor and a weight sensor. This can be achieved by retrofitting existing software with a computer software product.

The object of the invention can be achieved by means of computer readable media storing this computer program product.

This embodiment of the invention may further support the results and benefits of a gait trainer and a method for training neuromuscular functions using a gait trainer.

Brief description of drawings

Embodiments of the invention will be disclosed in the drawings, in which:

Fig. 1 illustrates one embodiment of elements of a gait trainer.

Fig. 2 illustrates one embodiment of a cable with visible indicators.

Fig. 3 illustrates the forces applied to the cable when the gait trainer is operated in dynamic mode and static mode, respectively.

Fig. 4 illustrates one embodiment of a method for training neuromuscular functions using a gait trainer.

Fig. 5 illustrates one embodiment of elements of a gait trainer with brakes and a drive motor.

Fig. 6 illustrates one embodiment of elements of a gait trainer.

List of reference designations

1 gait trainer

10 lifting system

12 cable drum

14 cable

16 cable end

20 electric motor

22 motor control device

30 control unit

32 engine control signal

40 weight sensor

42 weight sensor signal

50 processor

60 fixed suspension

62 means of balancing forces

70 rail mount

72 ceiling rail

73 first ceiling rail

74 second ceiling rail

75 third ceiling rail

92 graphical user interface

94 computer software product

96 machine readable medium

100 way

102 definition

104 provision

106 dimension

108 comparison

110 command issuance

112 calculation

202 counterweight

204 patient weight

206 training load

208 actual effective weight

210 driving direction

250 brake device

Carrying out the invention

In fig. 1 shows one embodiment of elements of a gait trainer 1 for training neuromuscular functions. The gait trainer 1 includes a lifting system 10, which includes a rotatable cable drum 12 and a cable 14. The cable 14 may be configured to be wound around the rotatable cable drum 12. The cable has a cable tip 16, which may be configured to interact with a patient, wherein a buckle is shown mounted on a cable end 16 for further attachment to a sling, belt or similar assemblies configured to be held or worn by a patient.

The gait trainer 1 further comprises an electric motor 20. The electric motor may be configured to axially engage the rotating cable drum 12. The electric motor may be further configured to drive the rotating cable drum 12 in forward and reverse directions to unwind the cable 14 from the cable drum 12 or for winding the cable onto this drum.

The gait trainer 1 further includes a weight sensor 40, a processor 50, and a motor control device 22. The load cell 40 may be configured to provide a quantitative load cell signal to the processor 50. The load cell 40 may include a load cell configured as a transducer that converts the applied force into an electrical signal.

The processor 50 may be configured to receive the load cell quantity signal and be configured to calculate a motor control signal based on the received load cell quantity signal. The processor 50 may be configured to provide an engine control signal to the engine control device 22. The engine control device 22 may include a gear train and may be configured to receive an engine control signal to set a calculated driving direction on the engine. The lifting system can be freely hung on the weight sensor 40.

In fig. 2 shows one embodiment of a cable 14 with visible indicators 80. The cable 14 has a cable end 16 that can be configured to interact with a patient, here as in FIG. 1, a buckle is shown mounted on a cable end 16 for further attachment to a sling, belt, or similar assemblies configured to be held or worn by a patient.

Visible indicators can be used to measure the actual length of unwinding or reeling of the cable 14 and can be used to teach the patient the exercises and to achieve better repetition of the exercises, for example, the exercise can be described as bending or straightening the legs to achieve a displacement of the cable by a distance of 10 cm, index A-C, etc. Here, the visible indicators 80 are in the form of numbers and lines and may indicate displacement in centimeters, but other indicators may be used.

In fig. 3 shows the forces applied to the cable 14 when the gait trainer is operating in dynamic mode. In fig. 3A shows how two opposing forces are applied to the cable 14. A counterweight weight 202 is applied to the motor-side cable 14, and an actual effective weight 208 is applied to the patient-side cable 14. The weight sensor 40 measures the actual effective weight 208 applied to the cable 14 on the patient side.

Depending on the two values of the opposing forces 202, 208 applied to the cable 14 and how they balance each other, the driving direction 210 of the electric motor included in the gait trainer is determined. If the opposing forces balance each other, then the speed of movement can be set to zero.

Fig. 3B illustrates a case where the actual effective weight 208 applied to the patient-side cable 14 is less than the counterweight weight 202 applied to the motor-side cable 14. In this case, the driving direction 210 of the electric motor included in the gait trainer is set to reduce the length of the cable until the actual weight 208 acting on the cable 14 from the patient is equal to the predetermined counterweight weight 202. This may occur when the patient moves from a flexed to an extended position, such as for the back or legs, when moving from a flat foot position to a toe position, when climbing a step, or similar exercises.

Fig. 3C illustrates how the weight of the patient 204 can be transferred and how the training load 206 exerted by the patient results in an actual weight 208 acting on the cable 14 from the patient.

Fig. 4 illustrates two embodiments of a method 100 for training neuromuscular functions via a gait trainer.

One embodiment of the invention is shown, comprising operations shown in solid lines. This method includes the operation of determining 102 the weight 202 of the counterweight that should act on the cable from the side of the electric motor, and continuously performing the operations of measuring 106 by means of a weight sensor the actual weight 208 acting on the cable from the patient side, comparing 108 the actual effective weight 208 with the determined weight 202 of the counterweight and issuing 110 to the engine control device a driving direction command 210 by issuing an engine control signal 32 . The driving direction 210 is based on the result of comparing the actual effective weight 208 with the determined counterweight weight. These continuously performed operations may occur until the determined counterweight weight 202 acting on the cable from the electric motor and the actual effective weight 208 balance each other, but such that the counterweight weight 202 is maintained at a constant value.

Another embodiment of the invention, shown in FIG. 4, contains, in addition to the actions shown in solid lines and described above, additional actions shown in dotted lines. This embodiment of the invention comprises the further operation of providing 104 the weight of the patient 204 and the operation of determining 102 the training load 206 for the patient, wherein the training load 206 is set as the difference between the provided weight of the patient 204 and the determined weight 202 of the counterweight.

In fig. 5 shows a gait trainer including a braking device 250. An adjustable braking force may be set by the braking device 250.

The braking device 250 allows the position of the lifting system 10 to be fixed in the ceiling rails 72. This occurs when the maximum braking force is set.

The braking device 250 also allows the braking force to be set at a level such that the patient can move the lift system 10 along the ceiling rails 72 and the system provides resistance in the form of a braking force.

This allows for more complex training exercises that include a wider range of movements for the patient.

The gait trainer includes first 73 and second 74 ceiling rails mounted parallel to each other, and a third ceiling rail 75 connecting the first and second ceiling rails and slidably mounted on the first and second ceiling rails. The lifting system is mounted with the possibility of sliding on the third ceiling rail 75.

These ceiling rails allow the lifting system to be moved freely in a plane parallel to the ceiling. This allows the patient to perform a wider range of exercises. Especially in connection with the aforementioned engine and/or braking device.

In fig. 6 illustrates an embodiment of a gait trainer including a weight sensor 40 and a fixed suspension 60. The fixed suspension 60 includes force balancing means 62. The weight sensor 40 and the fixed suspension 60 are located on the side of the lifting system, which reduces the structural height of the gait trainer.

A fixed suspension keeps the lifting system suspended. The fixed suspension contains through holes in the rail mounting and lifting system and a pin. The pin is installed in the through holes.

A load cell is mounted on one side of the lifting system. On the other side of the lifting system there is a fixed suspension. The fixed suspension includes force balancing means such that the total weight carried by the fixed suspension and the load cell can be calculated based on the weight measured by the load cell. The force balancing means includes a pin around which the lifting system can rotate as the weight measured by the load cell increases.

Claims (16)

1. A gait simulator for training neuromuscular functions, containing: - a lifting system with a rotating cable drum, a cable configured to be wound onto a rotating cable drum, and with a cable tip on which a buckle is mounted for further fastening to units configured to interact with the patient, while the lifting system is mounted on a ceiling rail and freely suspended on two weight sensors for measuring the weight applied to the cable on the patient's side, located on the lifting system on the side to reduce the structural height of the gait trainer, and the weight sensors are configured to output a quantitative load sensor signal; - an electric motor configured to be axially coupled to a rotating cable drum and configured to drive said rotating cable drum in the forward and reverse direction for unwinding the cable from the cable drum or winding the cable onto this drum, visible indicators for measuring the actual length unwinding and rewinding the cable when used during training sessions; - Control block; - a processor configured to receive a quantitative signal from a weight sensor, wherein said processor is configured to calculate and output a motor control signal when setting a calculated driving direction on the engine based on the received quantitative signal from the weight sensor and based on a result of comparing the actual quantitative weight signal with counterweight determined before the start of training, - an engine control device configured to receive an engine control signal from the processor and set a calculated driving direction on the engine so that the value of a certain counterweight weight applied to the cable on the electric motor side is maintained constant. 2. The gait trainer according to claim 1, comprising said two load cells and a fixed suspension with force balancing means, wherein the weight sensors and the fixed suspension are located on the side of the lifting system to reduce the structural height of the gait trainer. 3. The gait trainer according to claim 1 or 2, wherein each of the two load cells includes a load cell configured as a converter of applied force into an electrical signal that is a quantitative signal from the load cell, wherein said load cell is a strain gauge load cell. 4. Walking trainer according to any one of paragraphs. 1-3, further comprising a rail mount configured to interact with a ceiling rail and two load cells, said load cells being coupled to the rail mount at one end and to a lifting system at the other end such that the lifting system is freely suspended from the two weight sensors. 5. Walking trainer according to any one of paragraphs. 1-4, further comprising a brake mechanism capable of braking with an adjustable braking force. 6. A method of using a gait trainer containing an electric motor, two weight sensors and a cable, the method comprising the following operations: - determination of the weight of the counterweight that must be applied to the cable from the electric motor side; - continuous execution of operations: - measurement by means of two weight sensors of the actual weight applied to the cable; - comparison of the actual effective weight with the determined counterweight, and - commanding the driving direction motor control device by issuing a motor control signal to the motor to set a calculated driving direction on the motor based on the result of comparing the actual applied weight with the determined counterweight weight determined before the start of training, so that the value of the determined weight ( 202) keep the counterweight attached to the cable on the side of the electric motor (20) constant.