SI24224A

SI24224A - Apparatus for measuring the dynamic equilibrium and turning maneuvers during walking

Info

Publication number: SI24224A
Application number: SI201200354A
Authority: SI
Inventors: Zlatko MatjaÄŤiÄŤ; Andrej OlenĹˇek
Original assignee: Univerzitetni rehabilitacijski inĹˇtitut Republike Slovenije - SoÄŤa
Priority date: 2012-11-21
Filing date: 2012-11-21
Publication date: 2014-05-30

Abstract

Predmet izuma je naprava za urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo, ki omogoča omenjeno delovanje med stojo na mestu, med hojo po ravnem ali med hojo po tekočem traku, ki se lahko vrti okoli navpične osi. V ta namen ima naprava po izumu v bazični platformi (1) nameščena univerzalna sklepa (2,2'), ki sta z vertikalnima palicama (3,3') preko standardnih sferičnih sklepov (4,4') povezana z medeničnim elementom (5) in imata univerzalna sklepa (2,2') dve prostostni stopnji, ki sta lahko opremljeni tudi s pogoni (6,7,8).Subject of the invention is a device for dynamic equilibrium training and maneuvers of turning while walking, which allows said operation between the stand at the site, while walking along the plane or while walking along a conveyor belt that can rotate about the vertical axis. For this purpose, the device according to the invention has universal joints (2,2 ') in the base platform (1), which are connected with the pelvic element (5,3) through standard spherical joints (4,4') with vertical pins (3,3 ') ) and having universal joints (2,2 ') have two degrees of freedom, which can also be equipped with actuators (6,7,8).

Description

Predmet izuma je naprava za urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo. Naprava po izumu omogoča urjenje dinamičnega ravnotežja in različnih manevrov zavijanja med stojo na mestu, med hojo po ravnem ali med hojo po tekočem traku, ki se lahko vrti okoli navpične osi. Izum sodi v razred A 63B 26/00 evropske patentne klasifikacije.The subject of the invention is a device for training the dynamic balance and maneuvers of turning while walking. The device according to the invention enables the training of dynamic equilibrium and various turning maneuvers while standing in place, while walking in a straight line or while walking on a conveyor belt that can rotate about a vertical axis. The invention belongs to class A 63B 26/00 of the European patent classification.

io Tehnični problem, ki ga predložena naprava po izumu uspešno rešuje, je zagotoviti takšen pripomoček, ki bo omogočal ustrezno in predvsem varno urjenje dinamičnega ravnotežja in s tem usklajenega gibanja celega telesa predvsem pri starejših oz. invalidnih osebah.io The technical problem that the present device according to the invention successfully solves is to provide such a device that will allow adequate and, above all, safe exercise of dynamic equilibrium and thus harmonious movement of the whole body, especially in the elderly or. disabled persons.

Različne nevrološke bolezni oz. poškodbe, kakor tudi staranje, imajo za is posledico zmanjšane sposobnosti za hojo, kar povečuje možnosti padcev pri invalidni kot tudi starejši populaciji. Poleg zmanjšane mišične moči glavno oviro funkcionalni hoji predstavljajo neustrezna senzo-motorična koordinacija gibanja ter zmanjšane sposobnosti zavijanja oz. manevriranja. Omenjene spretnosti je potrebno ohranjati oz. jih ponovno pridobiti skozi vadbo, kjer je pomembno, da vadba poteka na način, ki je varen in ki vključuje urjenje dinamičnega ravnotežja. Pomemben del funkcionalnih sposobnosti za hojo obsega manevre kot so iniciacija oz. pospeševanje, ustavljanje oz. zaviranje, spreminjanje smeri med hojo oz. zavijanje, obračanje na mestu ter hoja ritensko. Trenutno obstajajo številne elektro-mehanske naprave (npr. LOKOMAT, Gait Trainer), ki podpirajo korakanje pri hoji bodisi po tekočem traku ali po tleh ter hkrati nudijo delno razbremenitev teže, vendar pa je pri omenjenih napravah možno vaditi zgolj hojo v eni smeri, hkrati pa je gibljivost medenice in trupa močno omejena.Various neurological diseases injuries, as well as aging, result in impaired walking ability, which increases the chances of falls in the disabled and the elderly. In addition to the reduced muscle strength, the main obstacle to functional walking is inadequate senso-motor coordination of movement, as well as reduced ability to turn or exercise. maneuvering. These skills should be maintained or maintained. retrieve them through exercise, where it is important that the exercise is performed in a safe manner that involves exercising dynamic balance. An important part of functional walking skills is maneuvers such as initiation and / or exercise. accelerating, stopping, or braking, changing direction while walking or walking. turning, turning on the spot, and walking routine. There are currently a number of electro-mechanical devices (eg LOKOMAT, Gait Trainer) that support walking when walking either on a treadmill or on the ground, while providing partial weight relief, but for these devices it is only possible to practice walking in one direction at a time however, pelvis and torso motility are severely restricted.

Napravo, pri kateri je gibanje medenice v smereh levo/desno in naprej/nazaj mogoče med stojo osebe, opisuje patentni dokument US 7,086,996. Glavna konstrukcijska značilnost omenjene naprave je v dveh mehanskih sklopih, ki vsebujeta vertikalno vzmet, kateri je mogoče na io enostaven način spreminjati efektivno dolžino in s tem tudi nastavljati velikost mehanske podpore medeničnega pasu. Naprava ima dve stopnji prostosti in sicer omogoča nagib telesa med stojo na mestu naprej in nazaj ter levo in desno. Ne omogoča pa vrtenje telesa okoli vertikalne osi, kar je ključnega pomena za spreminjanje smeri hoje. is Glede na zgoraj opisano znano stanje ne obstaja naprava, ki bi omogočala urjenje dinamičnega ravnotežja v pogojih, ko bi bila medenica in trup na ustrezen način podprti, vendar pa bi kljub temu bilo možno vaditi usklajeno gibanje celotnega telesa, ki je potrebno pri izvajanju zgoraj naštetih manevrov. Trenutno je opisana vadba mogoča ob podpori vsaj dveh fizioterapevtov.A device in which the movement of the pelvis in the left / right and forward / backward directions is possible during a person's stand is described in U.S. Patent No. 7,086,996. The main structural feature of the said device is in two mechanical assemblies, which contain a vertical spring, which can be easily adjusted to the effective length and thus to adjust the size of the mechanical support of the pelvic girdle. The device has two degrees of freedom to allow the body to tilt between standing back and forth and left and right. However, it does not allow the body to rotate about a vertical axis, which is crucial for changing the direction of walking. is In view of the condition described above, there is no device capable of exercising dynamic equilibrium in conditions where the pelvis and torso are properly supported, but nevertheless it may be possible to practice the coordinated movement of the whole body which is necessary in performing the above of the maneuvers listed. Currently, the described exercise is supported by at least two physiotherapists.

Napravo po izumu predstavlja paralelni mehanizem, kjer sta v bazični platformi nameščena univerzalna sklepa, ki sta z vertikalnima palicama preko standardnih sferičnih sklepov povezana z medeničnim elementom in imata univerzalna sklepa dve prostostni stopnji, ki sta lahko opremljeni tudi s pogonom.The device according to the invention is a parallel mechanism where universal joints are mounted in the base platform, which are connected to the pelvic element by vertical bars via standard spherical joints, and the universal joints have two degrees of freedom, which can also be provided with a drive.

Izum bomo podrobneje obrazložili na osnovi izvedbenega primera in slik, od katerih kaže:The invention will be explained in more detail on the basis of an embodiment and figures, of which:

slika 1 shematski prikaz naprave po izumu;Figure 1 is a schematic view of a device according to the invention;

slika 2 shematski prikaz gibanja stoječega subjekta nazaj v napravi po izumu nazaj;Fig. 2 is a schematic illustration of the movement of a standing subject back in the device according to the invention backwards;

slika 3 shematski prikaz gibanja stoječega subjekta naprej v napravi po izumu;Figure 3 is a schematic illustration of the movement of a standing subject forward in the apparatus of the invention;

slika 4 shematski prikaz gibanja stoječega subjekta v levo v napravi po izumu;Fig. 4 is a schematic view of the movement of a standing subject to the left in an apparatus according to the invention;

slika 5 shematski prikaz gibanja stoječega subjekta v desno v napravi po izumu;5 is a schematic view of the movement of a standing subject to the right in an apparatus according to the invention;

slika 6 shematski prikaz sukanja v levo stoječega subjekta okoli vertikalne osi v transverzalni ravnini v napravi po izumu;6 is a schematic view of a left-facing subject rotation about a vertical axis in the transverse plane of the device according to the invention;

slika 7 shematski prikaz sukanja v desno stoječega subjekta okoli vertikalne osi v transverzalni ravnini v napravi po izumu;Fig. 7 is a schematic view of a rotation of a right-facing subject about a vertical axis in the transverse plane of the device according to the invention;

slika 8 shematski prikaz pasivnega nagiba medenice stoječega subjekta naprej v napravi po izumu;Fig. 8 is a schematic illustration of the passive tilt of the pelvis of the subject in the apparatus according to the invention;

slika 9 shematski prikaz pasivnega nagiba medenice stoječega subjekta nazaj v napravi po izumu;Fig. 9 is a schematic illustration of the passive tilt of the pelvis of the subject in the apparatus of the invention;

slika 10 shematski prikaz gibanja subjekta z napravo po izumu, kjer je bazična platforma motorizirana mobilna platforma;10 is a schematic view of the movement of a subject with the device of the invention, wherein the base platform is a motorized mobile platform;

slika 11 shematski prikaz gibanja subjekta z napravo po izumu, kjer je bazična platforma motorizirana platforma s tekočim trakom.11 is a schematic view of the movement of a subject according to the invention, wherein the base platform is a motorized conveyor belt platform.

Na sliki 1 je shematsko prikazan spodnji del telesa stoječega subjekta, ki je na nivoju medenice podprt z napravo po izumu in omogoča urjenje vzdrževanja dinamičnega ravnotežja in manevre zavijanja. Napravo po izumu predstavlja paralelni mehanizem, ki ga sestavljajo: bazična platforma 1, na kateri sta nameščena univerzalna sklepa 2, 2', ki sta z io vertikalnima palicama 3,3' preko standardnih sferičnih sklepov 4,4', povezana z medeničnim elementom 5.Figure 1 schematically shows the lower body of a standing subject, which is supported at the pelvic level by the device of the invention and provides training in maintaining steady-state and turning maneuvers. The device according to the invention is a parallel mechanism, consisting of: a base platform 1, on which are mounted universal joints 2, 2 ', which are connected to the pelvic element 5 by means of io vertical bars 3,3' via standard spherical joints 4,4 ' .

Vsak univerzalni sklep 2,2' ima dve prostostni stopnji, pri čemer je ena prostostna stopnja univerzalnega sklepa 2 opremljena s pogonom 6, medtem ko sta s pogonoma 7,8 opremljeni obe prostostni stopnji univerzalnega sklepa 2'.Each universal joint 2,2 'has two degrees of freedom, one of which is universal rate 2 of the universal joint 2 is actuated by the actuator 6, while the actuators 7,8 are equipped with both degrees of freedom of the universal joint 2'.

Pogoni 6,7,8 so aktivni servo-vodeni pogoni lahko pa jih nadomeščajo pasivni visko-elastični elementi s spremenljivimi impedančnimi karakteristikami.The 6,7,8 actuators are active servo-driven actuators, but they can be replaced by passive visco-elastic elements with variable impedance characteristics.

Bazična platforma 1 je lahko enostavna plošča, motorizirana mobilna 20 platforma ali pa motorizirana platforma z nameščenim tekočim trakom, pri čemer se lahko motorizirana platforma vrti okoli vertikalne osi, kakor bo opisano v nadaljevanju.The base platform 1 may be a simple plate, a motorized mobile 20 platform, or a motorized platform with a conveyor mounted, the motorized platform being able to rotate about a vertical axis, as described below.

Naprava za urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo po izumu ima tako glede na opisane sestavne dele skupaj štiri prostostne stopnje, od katerih so tri prostostne stopnje motorizirane (opremljene s pogonom), ena pa je pasivna kot je to prikazano na slikah do 9.Thus, according to the described components, the dynamic balance and maneuvering maneuvering device has four degrees of freedom, three of which are motorized (driven) and one of them is passive as shown in Figures 9.

Sliki 2 in 3 prikazujeta nagib stoječega subjekta naprej in nazaj v sagitalni ravnini. Nagibanje naprej in nazaj je lahko podprto oz. vodeno (v smislu bodisi pozicijskega servo-vodenja ali pa impedančnega vodenja) z motornima pogonoma 6 in 7. Sliki 4 in 5 prikazujeta nagib stoječega subjekta levo in desno v frontalni ravnini. Nagibanje levo in desno je lahko podprto oz. vodeno (v smislu bodisi pozicijskega servo-vodenja ali pa io impedančnega vodenja) s pogonom 8.Figures 2 and 3 show the inclination of the standing subject back and forth in the sagittal plane. Tilting back and forth can be supported or. guided (in terms of either positional servo or impedance control) with motor actuators 6 and 7. Figures 4 and 5 show the inclination of the standing subject left and right in the frontal plane. Tilting left and right can be supported or. driven (in terms of either positional servo or impedance control) with actuator 8.

Sliki 6 in 7 prikazujeta ključno prostostno stopnjo predlagane naprave po izumu in sicer gre za rotacijo medenice stoječega subjekta okoli vertikalne osi v transverzalni ravnini v smeri urinega kazalca, kakor tudi v nasprotni smeri urinega kazalca. Opisano vrtenje medenice stoječega subjekta je lahko podprto oz. vodeno (v smislu bodisi pozicijskega servovodenja ali pa impedančnega vodenja) z ustreznim delovanjem pogonov 6 in 7. Gibanje v vseh treh opisanih stopnjah prostosti (nagib naprej/nazaj, nagib levo/desno in vrtenje v transverzalni ravnini) je možno hkrati in je lahko ustrezno podprto z ustreznim delovanjem pogonov 6,7 in 8.Figures 6 and 7 show the key degree of freedom of the proposed device according to the invention, namely, the rotation of the pelvis of the standing subject around the vertical axis in a transverse plane clockwise, as well as counterclockwise. The described rotation of the pelvis of the standing subject may be supported or supported. guided (in terms of either position control or impedance control) with the proper operation of actuators 6 and 7. Movement in all three described degrees of freedom (forward / backward tilt, left / right tilt and transverse plane rotation) is possible at the same time and may be appropriate supported by proper operation of drives 6,7 and 8.

Sliki 8 in 9 prikazujeta še četrto prostostno stopnjo predlagane naprave, to je pasiven nagib medenice stoječega subjekta naprej in nazaj v sagitalni ravnini. To prostostno stopnjo kontrolira stoječ subjekt.Figures 8 and 9 show the fourth freedom level of the proposed device, that is, the passive tilt of the pelvis of the standing subject back and forth in the sagittal plane. This degree of freedom is controlled by the standing subject.

Vse predložene slike od 1do 9 skupaj ilustrirajo uporabo oz. delovanje naprave po izumu za namene urjenja vzdrževanja dinamičnega ravnotežja in vrtenja telesa okoli vertikalne osi med stojo.All the pictures from 1 to 9 together illustrate the use of or. the operation of the device according to the invention for the purpose of training to maintain dynamic balance and rotate the body about a vertical axis while standing.

V primeru, daje bazična platforma 1 motorizirana mobilna platforma, le5 ta omogoča urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo po tleh. Zaporedje grafik na sliki 10 prikazuje najprej hojo v eni smeri, kateri sledi krivina, ki je potrebna za ustrezno spremembo smeri med hojo, kar je mogoče doseči na dva načina. V prvem načinu hodeči subjekt injicira manever zavijanja v novo smer z ustrezno rotacijo medenice, io čemur sledi ustrezno vrtenje mobilne platforme ter ustrezno gibanje naprave. V drugem načinu pa naprava injicira vrtenje medenice, čemur sledi ustrezno vrtenje mobilne platforme. V obeh načinih ima hodeči subjekt možnost urjenja vzdrževanja dinamičnega ravnotežja in manevrov zavijanja ob podpori motoriziranih stopenj prostosti, ki je ustrezna is njegovim trenutnim zmožnostim.In the case where the base platform 1 is a motorized mobile platform, only the 5 platform enables the training of dynamic balance and turning maneuvers while walking on the ground. The sequence of graphs in Figure 10 first shows walking in one direction, followed by the curve required to change the direction of walking accordingly, which can be achieved in two ways. In the first mode, the walking subject injects a wrap-around maneuver in a new direction with proper pelvic rotation, followed by proper rotation of the mobile platform and proper movement of the device. In the second mode, the device injects pelvic rotation, followed by proper rotation of the mobile platform. In both modes, the walking subject has the ability to practice maintaining dynamic balance and cornering maneuvers with the support of motorized degrees of freedom appropriate to his or her current capabilities.

V primeru, da je bazična platforma 1 motorizirana platforma s tekočim trakom, ki se lahko vrti okoli vertikalne osi, le-ta omogoča urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo po tekočem traku. Zaporedje grafik na sliki 11 prikazuje manever zavijanja, ki je v principu enak kot manever zavijanja prikazan na sliki 10, s to razliko, da se v tem primeru mobilna platforma ne more prosto premikati po prostoru, pač pa je omejena na vrtenje okoli fiksne osi rotacije.In the case of the base platform 1 being a motorized treadmill platform that can rotate about a vertical axis, it allows for the training of dynamic equilibrium and turning maneuvers while walking on the treadmill. The sequence of graphs in Fig. 11 shows the turning maneuver, which is in principle the same as the turning maneuver shown in Fig. 10, except that in this case the mobile platform cannot move freely in space but is limited to rotation about a fixed axis of rotation .

Inovativni vidik predlagane naprave za urjenje dinamičnega ravnotežja in manevrov zavijanja med hojo po izumu, je predvsem v edinstveni kinematični strukturi, ki omogoča subjektu urjenje dinamičnega ravnotežja in vrtenja okoli vertikalne telesne osi ob hkratnem gibanju spodnjega dela telesa v sagitalni in frontalni ravnini tako med stojo, hojo po tleh ter hojo po tekočem traku, ki se lahko vrti okoli vertikalne osi na mestu. Gibanje predlagane naprave po izumu je z biomehanskega in fiziološkega vidika konsistentno z gibanjem človekovega lokomotornega aparata.The innovative aspect of the proposed device for training the steady-state and turning maneuvers while walking according to the invention is mainly in the unique kinematic structure, which enables the subject to practice the dynamic balance and rotation about the vertical body axis while simultaneously moving the lower body in sagittal and frontal plane, both while standing, walking on the ground and walking on a conveyor belt that can rotate about a vertical axis in place. The motion of the proposed device according to the invention is consistent with the motion of the human locomotor apparatus from a biomechanical and physiological point of view.

Claims

1. A device for training dynamic balance and maneuvering while walking,

5, characterized in that universal joints (1) are mounted on the base platform (1);

2, 2 '), which are connected to the pelvic element 5 by vertical bars (3,3') via standard spherical joints (4,4 ').

io 2. A device according to claim 1, characterized in that each universal joint (2,2 ') has two degrees of freedom, one of which is a degree of freedom of the universal joint (2) provided with a drive (6), while with drives (7,8) equipped with both degrees of freedom

15 universal joint (2 ').

Device according to claim 2, characterized in that the actuators (6,7,8) are active servo-guided actuators or passive visco-elastic elements with variable impedance characteristics.

Device according to claims 1 to 3, characterized in that the basic platform (1) can be a simple plate, a motorized mobile platform, or a motorized platform with a conveyor mounted which can rotate about a vertical axis.