SI23206A - Device for practicing the muscle-skeleton nervous system - Google Patents

Abstract

The device for practicing the muscle-skeleton nervous system of individuals (A) after rehabilitation or for practising amateur and professional sportsmen consists of a moving multidirectional machine arm (1) and assemblies (1, 10, 30, 71, to 75) for generating a virtual space (11) and virtual objects (12, 14a, 14b, 16) within it, while the individual (A) can detect the aforementioned virtual space, virtual objects (12, 14a, 14b, 16) as well as part (13) in the form of an image and keeps moving part (13) with the help of the machine arm (1), and a processing unit (20) generating information as follows: information on the training history, instructions for motorical training and motivation information (praise, comments, reprimands...) which the individual (A) detects with at least one of his senses and the information content is of emotional and intellectual character.

Description

University of Ljubljana

DEVICE FOR EXERCISE OF THE MUSCULAR SKELETAL NERVOUS SYSTEM

The object of the invention is a device for training the musculoskeletal nervous system of persons, especially in the state of recovery from injuries, can also athletes, the device automatically controls the individual condition of the person during exercise and changes the complexity of the task and also communicates to the person in a form, detected by at least one of its senses, preferably in an audible, visual and / or type form, depending on the success or failure of each phase of the exercise, the device including the psychological component of the person, both emotionally and intellectually, in the exercise process.

Technical Problem [002] The technical problem to be solved by the invention is how to design such a device that will provide the person with the exercise of the musculoskeletal and appropriate nervous system, using a mechanical robotic arm and / or exoskeleton, with which the device imparts value characteristics of all stages of exercise in terms of performance

PP-37724-XI-09 / Vr of a single exercise phase and, for the sake of greater efficiency, also includes the emotional and intellectual part of the trainee as a motivational component.

BACKGROUND OF THE INVENTION Many different devices are known to persons recovering from injuries and also to persons exercising with a view to improving their physical condition (recreational and competitive athletes) according to the type of body tissue they wish to strengthen. These are mainly different tissues of the skeleton, muscles and indirectly related nervous system. These devices contain assemblies, in particular mechanical ones, which the person must move in a straight line or in an arc planar or space with varying strength. Indirectly dependent psycho-physiological parameters of the body can be additionally measured, e.g. pulse, heart rate, amount of inhaled air, etc. If the person is left to exercise without the supervision of a professional, it may be that the exercise may go into exaggeration or activity that is too low. Exaggeration can be detrimental to the tissues, while too low an activity level also decreases the efficiency of exercise, so there are optimal exercise parameters to achieve the maximum goal of exercise in a functional sense. They are also the most enjoyable for exercise, but after that, the level achieved represents the greatest satisfaction for the individual. Therefore, it is often necessary to have the presence of an expert (trainer, physiotherapist) who supervises and corrects the practitioner. Measured and recorded values of different sizes, which describe the physical condition during exercise, allow them to be expertly compared during different workouts. Therefore, the expert can observe during the exercise, and after each exercise, evaluate the success rate and consequently arrange the next exercise. Similarly, when practicing athletes, recreational athletes are even more pronounced in competitive sports. The trainer constantly monitors the correctness of the exercise, while also observing the mental state of the trainee. This is followed by the trainer's instruction regarding the next phase of exercise of the musculoskeletal nervous system and, at the same time, a different measure that increases the participation of the emotionally intellectual component of the trainee.

PP-37724-XI-09 / Vr [004] As a rule, all known devices offer only exercise and its partial control in the area of the physical body. As a rule, they do not address a person's mental state. A person's mental state changes due to many external and internal factors and influences exercise. There is no direct and unique relationship between the state of tissue that we intend to exercise and the current mental state of the person.

[005] Examples of such devices are US 5,466,213 (Hogan, Krebs, Sharon,

Chamnarong), US 5,429,140 (Burdea, Langrana), US 2007/0060445 (Reinkensmeyer, Sanchez, Shah, Smith).

[006] Therefore, there is a need for a new device of this kind, which will, on the basis of the continuous measurement of different quantities that change during exercise, and record those quantities, uniquely conclude and decide for themselves the shape of each subsequent exercise phase, taking into account the different prior values of these quantities, in parallel with the aforementioned rehearsal of the training phases, it will also generate and communicate relevant information in a form that is naturally understandable to the person, relating to both the exercise phase in question and the current mental state, in a form that can be detected by at least one sensory practitioners, and should be promptly considered by the person in the course of each exercise phase, thus eliminating the need for a professional.

Solution to a Technical Problem [007] The technical problem described is solved by a device according to the invention, characterized in that it is part of the musculoskeletal-nervous system that we want to exercise, e.g. arms, legs or part thereof, clamped in a clamping element or a person holding an appropriate handle that is an integral part of a multidimensional machine arm and / or exoskeleton and / or other mechanism for this purpose which is meaningfully identical to the machine arm, except that Adapted to induce movement or to apply forces and / or torques to the part of the body to be practiced, each part of the arm allowing partial movement to be controlled and controlled via actuators with a process unit based on

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the values of the various sizes measured by the sensors in the moving arm itself and the body of the practicing person. At the same time, the psychic component of the practitioner involved in the exercise is such that the practitioner is connected to at least one of his senses during the workout with the virtual world, preferably looking at the image of the virtual space and in it virtual objects that directly dictate the exercise task, in the figure, the moving person is moving independently by his own muscular force or through actuators of the machine arm, which is controlled by the moving person by moving the part of the body he or she is training through a multidimensional machine arm. For a clearer idea of the exercise task, the machine arm can also be shown on the image and move on it in accordance with the actual movement of the machine arm. However, the operation of the machine arm may be related to any object or activity depending on the type of exercise task. Virtual space and objects in it also have physical properties or real-world actions, e.g. weight, elasticity, roughness, slipperyness, color, brightness, illumination, sound properties, temperature, odor, etc., which are sensed by the sensory person through at least one of the senses (for kinematics, static, vision, hearing, odor, tactile, temperature, etc.) .). The device thus transmits information to a person via a machine arm, a 2D or 3D screen, audio means for transmitting sound, or other means for communicating the physical properties or actions of objects just mentioned. The trailing person not only moves the machine arm and thus the virtual arm in the virtual space, but also grips virtual objects with virtual arm grips operated by the trailing person e.g. by clutching the grip on a real machine arm. As mentioned above, a person, through a multidimensional moving machine arm and / or exoskeleton and / or other mechanism for this purpose, which is meaningfully identical to the machine arm, can only be adapted to cause movement or application of forces and / or torques to a part of the body which we want to train, it works directly on at least one selected virtual object, thus increasing the set of training tasks. An essential feature of the device according to the invention is that various sensors on the machine arm or part meaningfully identical to the machine arm only make it adapted to cause motion or to apply forces and / or torques, and the device uses them continuously to evaluate a person's physical activity . A further essential feature of the device after

PP-37724-XI-09 / Vr of the invention is that various sensors (eg electrodes for ECG changes, skin conductivity, skin temperature, respiration, kinematics and static meters) on the subject person are continuously measuring and measuring their physiological states determine their respective mental and physiological states, on the basis of which the device selects from its set the relevant content and / or design information that it provides, and in fact detects with at least one sensory in order to respond to it through emotional and / or intellectual level to motor level. The stimuli (tactile, visual, sound, etc.) thus mediated and the physically and psychophysiologically responded person's actual changes are used to change the task, virtual space, objects, physical properties, their mutual activities on an ongoing basis, thereby giving the device, directly or indirectly, instructions on the following stages of exercise of the musculoskeletal-nervous system and at the same time optimally regulates the participation of the emotional-intellectual component of the trainee.

The device therefore includes elements for causing, modifying, stimulating and evaluating physical activity. The device further includes elements for assessing psychophysiological activity, as well as elements for changing and stimulating psychic activity. The device is therefore the one that provides instructions to keep the person highly motivated, to exercise more effectively and to achieve better exercise results. In doing so, the device should exceed the perceptual limits and approach the cognitive abilities of the professional as a natural person.

[009] This is combined into a single, constantly changing exercise process provided by the device of the invention, namely the musculoskeletal-nervous system at the physical level by incorporating the emotional-intellectual realm of the mentee's mental state without the presence of a professional person, e.g. physiotherapist or trainer. Both levels, physical and psychic, are interdependent, the primary purpose of the device under consideration is to use motivational elements from the psychic level for improved exercise at the physical level.

PP-37724-XI-09 / Vr [0010] In more detail, the essence of the invention will be explained by the description of an embodiment of the example or the accompanying drawings, in which Figs. 1 is a schematic view of the device according to the invention; 2 is an example of a virtual space image with objects and information in it.

[0011] The device for training the muscular skeletal nervous system of person A after recovery or for the training of recreational and competitive athletes, consists of a multi-moving machine arm 1, preferably a three-dimensional moving arm, which can have actuatoy 3 and sensors 4 for different sizes in its members , e.g. position or orientation, speed or angular velocity, force or torque. Sensors 4 for various sizes of kinematics and statics, which directly or indirectly direct the physical quantities, may also be mounted on the body of the retractor A. On the free end 5 of arm 1, a retainer 6 is held, which is held by retractor A with a part 7 of the body. a part 7 of body A of the body intended for the exercise, e.g. arm, leg or part thereof. The holder 6 can be especially adapted to the body part 7, especially when it comes to the injured. The body part is not necessarily only the one marked as 7 in FIG. 1, but it can also be any other part of the body in the exercise process. At least one sensor 8 may be located in or adjacent to the holder 6 for quantities that are important for describing the state of this part 7, e.g. for the strength of the compression of the fingers that may be damaged. The exoskeleton, which is located on part 7 of the body that is intended for exercise, is meaningfully the same part. An exoskeleton or other meaningfully identical component adapted to cause motion or to apply forces and / or torques may be used in place of or in collaboration with machine arm 1. In the following, we will discuss machine arm 1, with all of the indications being mutatis mutandis applicable to other modes of activation. Therefore, in FIG. 1 shows only the machine arm. The choice of using a machine arm 1 is subject to the rehabilitation or sports profession.

The apparatus further comprises a sensor assembly 61, 62, 63, 64, 65 for measuring a person's physiological responses. Sensors for measuring a person's physiological responses are known

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Ί and are not the subject of this patent. For the measurement of peripheral temperature, a temperature sensor 62 attached to the finger of a person A may be used. To change the heart rate, a heart rate monitor 63 may be used with electrodes attached to the chest of person A. For a breath change, a temperature sensor 61 may be used, which it is fastened under the nose of person A and measures differences in the temperature of the inhaled and exhaled air. To modify the conductivity of the skin, a sensor 64 may be used which attaches to the tip of two fingers of the same hand and which calculates the impedance of the skin based on an electrical current through the skin at a known supply voltage. Additional physiological sensors 65 can measure a person's heart pressure, oxygen consumption during breathing, and other physiological quantities needed to perform the task. These are just examples of different sensors, which may also be installed or executed differently from the indications in this text. The various signals of said sensors are received by the subassembly input subunit 21 with a set of quantities in the processing unit 20.

[0013] The apparatus further comprises an assembly 10 for generating virtual space and virtual objects therein, wherein person A can sense said virtual space via at least one sensor. Lot 10 preferentially generates a virtual visual space 11 in the form of an image (illustrating the virtual space 11 in a visible way) in any projection. In the space 11 there are housed objects 12, 14a, 14b, 16 and others with a gripping part 13 of the virtual machine arm, wherein person A moves the part 13 by means of the machine arm 1. The holder 6 on the actual machine arm 1 is on the part 13 replaced by gripper, e.g. in the form of pliers or otherwise to fit the task in each exercise task. In addition to the virtual visual space, objects 12,14a, 14b, 16 and others also generate information in sensory-sensed formats, transmitted through the appropriate interfaces, namely, the hearing interface 30, the type interface 71, the odor interface 72, the interface 25 73 for temperature, interface 74 for electrical stimulation, interface 75 for mechanical stimulation with vibration, and more (see physical properties of objects). Actuatoids for imparting modalities sensed by the senses

PP-37724-XI-09 / Vr • · up to 75 are not drawn in the illustration. The inclusion refers to the relevant generators 70 of these stimuli, as well as to the sense of transmission to the site of the application used e.g. wires or other and to convey to the body e.g. electrodes for electrical stimulation or other. The contents of the information are physical, emotional and intellectual in nature. The priority content of all the information given will be described later. The means of transmitting this information are known, e.g. speaker and are not the subject of the invention.

[0014] The apparatus further comprises a processing unit 20 with input-output assemblies 25, memory and power-supply assemblies, etc., which are known units for its operation, a set 21 of magnitude values that are altered on the exercise person A during each exercise phase, a set 22 values of the predefined training parameters of the exercise, a set of 23 pre-compiled messages received by the practitioner A with at least one of his senses, e.g. meshes, ears, etc., and a set of 24 values of sizes, elements, and relationships that are attributed to virtual objects 12, 14a, 14b, 16, and others in the corresponding virtual space 11. The sizes in set 24 are e.g. dimensions, weight of individual object 12, 14a, 14b, 16 and others, its elasticity, light of space 16, etc.

[0015] The apparatus further comprises a set of 26 models, namely, a process model 27, a decision model 28, and a task model 29 that receive data from sets 21 to 24 by which the process unit 20 executes the conclusions and commands that are received and executed by the assembly 25 with their means as described above, that person A with at least one of his senses can receive and respond to them at the motor (physical) level and the cognitive (psychic) level.

PP-37724-XI-09 / Vr [0016] The process model 27 may, but may not necessarily, have multiple inputs and outputs. A process model based on the value of physical and physiological signals from sensors 4 kinematics and static and physiological sensors 61, 62, 63, 64, 65, placed on a person, provides absolute or relative information about the physical and psychological state of the trainee. The process model can be written in the form of physical equations or other tabular and mathematical records that undergo the same transformation. Describes how a physiotherapist or trainer would determine the physiological and motor psycho-physical status and functioning of a person, and provide a concrete statement about the person's condition or about a change in their state with respect to previous steps.

[0017] Model 28 decision-making at the inlet receives absolute or relative information about the physical and psychological state of the trailing person A at the outlet and is served with the corresponding values of the virtual space and objects in it, as well as physical properties or actions, that is, the relationships between virtual objects in the virtual space 10 from the real world. Model 28 decision-making generally has, but does not necessarily have, multiple inputs and outputs. Model 28 decision-making performs the function of decision-making and selection with respect to the associated data of model 27 of the process, that is, with respect to information on the physical and / or psychophysiological course of exercise so far and forms:

- motor training instructions, the following being the following:

(i) direct: direct person A to perform a motor task; (ii) indirect: via a cognitive task whose solution is performed by the person

But through a motor response, the correctness of the solution is not a prerequisite,

- motivational information (praise, reprimand ...).

PP-37724-XI-09 / Vr • · [29] Model 29 of the task is preferentially defined over a set of 24 ejected quantities and receives input information about the desired values of the virtual space and objects in it, as well as physical properties or real-world actions. A task model 29 is one that defines virtual space 11 and objects 12, 14a, 14b, 16, and others, with physical properties or real-world actions, e.g. weight, elasticity, roughness, slipperyness, color, brightness, illumination, sound properties, temperature, odor, etc., which the sensing person senses via at least one of the senses 4, 61 to 65 for kinematics, static, vision, hearing, odor, tactile, temperature, etc.,. Model 29 of the assignment is mapped to the engaging person via machine arm 1, 2D, or 3D display 10, audio means 30 for transmitting audio, or other means for conveying the physical properties 71 to 75 just mentioned, or actions of model 29 for assignment. The task model chooses the form of presentation of information from model 28 decision making to person A as:

- words in visual or auditory form,

- information given in such a way (haptic, sight, hearing, etc.) that A can detect with any sense,

- information provided by an avatar in the form of speech, mimicry, gestures, or composite information, including using the forms mentioned above.

[0019] The device according to the invention operates in such a way that part 7 of the engaging person A, e.g. deadline. The processing unit 20 generates the exercise task with its above described composition of sets and models and presents it to the task person A in virtual space 11 with associated objects 12, 14a, 14b, 16 and other and information in the form that person A senses with at least one sensory . The task is composed in such a way that person A must first solve it at the cognitive level (e.g.

PP-37724-XI-09 / Vr

question 15) and consequently be performed at the motor level using the machine arm 1 in virtual space 11, illustrating the visible part of model 29 of the task in which it uses the virtual gripping part 13. Solving or responding to the task is not limited to the visible part 11 of virtual model 29 tasks, but may also include any other modality mediated through appropriate interfaces for e.g. hearing 30, type 71, smell 72, temperature 73, electrical stimulation 74, mechanical stimulation with vibration 75, and more. In other words, person A moves Part 13, using his musculoskeletal-nervous system as best he can to match his cognitive level solution. In doing so, actuators 3 may, in accordance with the task of the exercise, provide adequate physical resistance to the subject A, in order to give the objects 12, 14a, 14b, 16 and others in the virtual space those elements of the actual space and the objects therein (both descriptive above) which person A can feel with his or her senses and then process on an emotional and / or intellectual level.

[0020] As an example, describe the sample exercise shown in FIG. 2. In the figure showing the virtual space 11 of Task Model 29 with objects 12, 14a, 14b, 16, and others in it, which belong to each exercise or task, it is necessary to perform the task at the motor level by means of Part 13, when Person A operates with a machine arm 1. A virtual object 12 floating down river 17 is to be gripped by a gripping portion 13, which represents a motor task in the task model 26. Upon successful grasp of virtual object 12, the person is ahead of cognitive task 15, which is resolved in a motorized manner by disposing of object 12 at the correct response location (eg, boat) 14a or 14b. The actuators 3 in arm 1 can provide the affected person A with physical sensations in his arm (eg weight, roughness, etc.). Other means, such as loudspeaker 30, may also receive other features from virtual space 11 and information that person A receives with other senses. The whole process is monitored by the processing unit 20 via the sizes sensed by sensors 4 and sensors 61 to 65, and then continuously processed via a set of 25 models considering the data in the sets 22

PP-37724-XI-09 / Vr

- 24 Exercise at both the motor and emotional levels through purposefully generated information received by person A with at least one sensory.

[0021] Thus, the device according to the invention analyzes the condition and operation of a person based on the process model 27 and generates corresponding information each time based on the decision model 28, followed by the formation of a task within the task model 29. All models use the associated sets 21 - 24 to compile information received from person A from them.

[0022] It is understood that one skilled in the art of the foregoing description of the invention or its embodiment can also design new embodiments without circumventing the features of the invention as defined in the following claims.

Claims (2)

Patent claims A device for training the musculoskeletal nervous system of a person (A) after recovery or for training recreational and competitive athletes, consisting of a multi-moving machine arm (1), preferably a three-dimensional moving arm, which may have actuators (2) in its members (2) 3) and sensors (4) wherein a hand (1) is provided with a holder (6) held by the engaging person (A) with a portion (7) of the body intended for exercise and / or adjacent to the holder (6) at least one sensor (8) for quantities important for describing the state of work (7), a process unit (20) with input, memory, and power supply assemblies, etc., and from a virtual space generating assembly (10) ) and virtual objects (12,14a, 14b, 16 and others) and a gripping part (13) therein, wherein person (A) can detect said virtual space, characterized in that it contains the task model (29), i.e. the space (11) and the virtual objects (12, 14a, 14b, 16) and the gripping part (13) in the form of an image and the movement of the parts (13) with the power of the machine arm (1), wherein the sets (1, 10, 30, 71 to 75) provide information on the physical and / or psychophysiological progress of the exercise to date and generate - motor exercise instruction, in which these instructions are (i) direct: directing person A to perform a motor task, (ii) indirect: via a cognitive task, the solution of which is performed by the person But through a motor response, the correctness of the solution is not a prerequisite, - motivational information (praise, commentary, reprimand ...) perceived by person (A) with at least one of his or her senses and the content of the information is of an emotional and intellectual nature through a processing unit (20), wherein the device contains a set (21 ) values of magnitudes measured on the trailing person PP-37724-XI-09 / Vr (A) during the execution of each exercise phase, a set (22) of predefined values of the training parameters prepared by an expert, a set (23) of messages pre-compiled by the expert and accepted by the trainee ( A) with at least one of your senses, e.g. meshes, ears, and the like, and a set (24) of values of sizes, elements, and interrelations attributed to virtual objects (12, 14a, 14b, 16) in the corresponding virtual space 11, wherein the sizes in set (24) are e.g. dimensions, weight of each object (12, 14a, 14b, 16) and others, its elasticity, luminance of space (16), etc., set (26) of models namely: process model (27), decision model (28) and model (29) Tasks that receive data from the sets (21 to 24) by which the processing unit (20) executes the conclusions and commands that are received and executed by the assemblies (1, 10, 30, 71 to 75) so that the person (A) With at least one of his senses, he accepts and responds to them at the motor (physical) level and the cognitive (psychic) level. Device according to claim 1, characterized in that: - model (27) of the process describes how the physiotherapist or trainer would check the psychophysiological and motor specific state and functioning of the person; - the decision-making model (28) performs the decision-making function and uses the associated data of the process model (27), that is, information on the physical and / or psychophysiological progress of the exercise to date and generates: - motor training instructions, these being the instructions PP-37724-XI-09 / Vr (i) direct: refer person A to the executor of a motor task, (ii) indirect: via a cognitive task whose solution is performed by person (A) via a motor response, the correctness of which is not a condition, - motivational information (compliments, comets, reprimands ...), - task model (29) chooses the form of presentation of information from decision model (28) to person (A) as: - words in visual or auditory form, - information given in such a way (haptic, sight, hearing, etc.) that the person (A) can perceive with any sense, - information provided by an avatar in the form of speech, mimicry, gesture, or composite information, including using the two abovementioned forms.