SI25803A - Deceleration,stopping and acceleration of different human body sdegments by the threadmill walk device and method - Google Patents

Abstract

The subject of the invention is a device and a method for decelerating, stopping and accelerating the movement of various segments of the human body when walking on a conveyor belt. The method and device according to the invention enable an individual who has successfully completed the early phase of rehabilitation and the stepping function is re-established to continue walking with emphasis on some other aspects such as leg movement in swing, walking symmetry, movement coordination and balance training. The device for decelerating, stopping and accelerating the movement of various segments of the human body when walking on the conveyor belt according to the invention is a braking mechanism (A), which is attached to the considered human body segment on the one hand and has a weight on the other (5) or a spring with a constant force which provides for the prestressing of the connecting element. The brake mechanism (A), which is preferably an electromagnetic brake / clutch when switched on, either slows down or completely and almost instantly stops the movement of the connecting element - the cord (1). The brake mechanism (A) has a measuring element (7) for measuring the movement (position and speed) of the connecting element - the cord (1), which controls the brake mechanism (A) with an algorithm for identifying individual subphases of the walking cycle.

Description

APPARATUS AND METHOD FOR CONCEPTING, STOPPING AND ACCELERATING THE MOVEMENT OF DIFFERENT SEGMENTS OF THE HUMAN

BODIES WHEN WALKING ON THE CONVEYOR

The subject of the invention is a device and a method for decelerating, stopping and accelerating the movement of various segments of the human body when walking on a conveyor belt. The method and device according to the invention enable an individual who has successfully completed the early stage of rehabilitation and re-established the walking function to continue walking training with emphasis on some other aspects such as leg movement in swing, walking symmetry, movement coordination and balance training.

The technical problem that the proposed implementation device and method effectively solve is to enable the application of force or impulse of force to individual body segments (pelvis, femur, tibia and foot) while walking on the conveyor belt in the desired part of the walking cycle with negligible mechanical impact on walking device / mechanism (low mechanical impedance) when no forces or pulses of forces are applied.

Rehabilitation robots designed for walking typically have a limited number of mechanical degrees of freedom, making walking training limited to walking practice. This type of training in the early stages of rehabilitation benefits people with reduced walking functionality as a result of a neurological disease or injury (such as a stroke due to cerebrovascular disease). Such robots (e.g. LOCOMAT, G-EO, Lyra, Well-Walk 1000) are either in the form of exoskeletons or in the form of mechanisms that interact with the feet. These robots are complex and costly mechanisms, and in addition, the ability of these systems to interact haptically with the lower extremities is quite limited due to the limited number of mechanical degrees of freedom and considerable mechanical inertia.

After successfully completing the early phase of rehabilitation, when the walking function of the individual is re-established, it is necessary to continue walking training with emphasis on some other aspects such as leg movement in swing, walking symmetry, coordination of movement and balance training for the aforementioned devices. listed shortcomings are not appropriate. For example, cerebrovascular disease typically results in impaired leg movement during the swing phase, where it would be useful to modify the kinematics and kinetics of movement of individual body segments (pelvis, femur, tibia and foot) only where it is necessary while a man would walk on the conveyor belt. Such an intervention in therapeutic practice is performed manually by several physiotherapists simultaneously.

The proposed solution to the described problem refers to a device, ie a braking mechanism that allows the application of force or impulse of force to individual body segments (pelvis, femur, tibia and foot) while walking on a conveyor belt in the desired part of the walking cycle with negligible mechanical impact on walking by the device / mechanism (low mechanical impedance) when no forces or pulses of forces are applied and the corresponding method. The main innovative feature of the proposed mechanism and method is that the forces and impulses of the forces are not actively applied by e.g. electric actuator, but said forces are generated by inhibiting the movement of inelastic or elastic cords associated with a particular body segment, thereby achieving a short-term mechanical stop or deceleration of movement. Depending on the time of generating forces or pulses of forces within the walking cycle, different mechanical effects can be achieved. For example, when acting on the pelvis in the frontal plane, the support phase on the paretic leg can be prolonged, thereby promoting an even load on both legs and a symmetry of gait. In addition, by almost instantaneously stopping the movement of the pelvis, a disturbing shock can be created that elicits a human reaction by the person changing the location of the next step accordingly. Another example is the use of a short pulse of force on the foot in the phase of swinging the leg, which mimics a person's stumbling while walking, which requires the person to change the location of the next step, another example is the coordinated use of force on the femur and tibia to change the trajectory. leg movements in a swing.

An innovative aspect of the proposed device and method is the ability to track, measure, assist and disrupt (perturbate) the movement of various body segments while walking on the conveyor belt so that in tracking mode only minimally impedes movement, while also allowing appropriate change in the pattern of movement of these segments; performing interfering shocks such as tripping and disturbing shocks to the pelvis in the frontal plane when inelastic ropes are used.

The device for decelerating, stopping and accelerating the movement of various segments of the human body when walking on the conveyor belt according to the invention is a braking mechanism which is attached to the human body segment on the one hand and has a weight or spring with a constant force take care of the prestressing of the connecting element. The braking mechanism, which is preferably an electromagnetic brake / clutch, either slows down or stops the movement of the connecting element completely and almost instantly when switched on. The brake mechanism has a measuring element for measuring the movement (position and speed) of the connecting element, which controls the brake mechanism with an algorithm for the identification of individual sub-phases of the walking cycle.

The invention will be explained in more detail on the basis of an embodiment and the accompanying figures, of which Figure 1 shows a schematic representation of an embodiment of a device for efficient application of a method according to the invention;

Figure 2 shows a structural embodiment of the braking mechanism of the device according to the invention;

Figure 3 shows a method according to the invention which allows tripping when walking on a conveyor belt;

Figure 4 shows a method according to the invention, which allows lateral disturbances to be performed on the pelvis when walking on a conveyor belt;

Figure 5 shows a method according to the invention, which allows to change the kinematics of the movement of the leg in the swing phase;

Figure 6 shows a situation where two additional braking mechanisms of the device at the rear of the foot are used.

The device according to the invention is a brake mechanism A having a measuring element 7 with an algorithm for identifying individual subphases of the walking cycle used to control the brake mechanism A.

Figure 1 shows a schematic representation of an embodiment of a device for efficient application of a method according to the invention and use of a device according to the invention. A man walking on a conveyor belt has one end of a rope 1 attached to the lower end of the tibia. In brake mechanism A, the rope 1 is attached at the other end to a pulley 3 rigidly connected to a pulley 4 to which a weight is attached by a rope 2. 5 with a mass that ensures the appropriate tension of the cord 2 and consequently also the cord 1. The rotation of the pulleys 3,4 and thus also the movement of the cords 1,2 can be stopped or slowed down by the operation of the brake mechanism A. Information on the current position and speed of the ankle movement and thus also information about the current subphase of the walking cycle is provided by the measuring element 7, which monitors the rotation of the pulleys 3,4. The whole system is simple, light and minimally impedes the movement of the foot when the brake mechanism is not engaged.

Figure 2 shows an embodiment of the proposed brake mechanism A. Brake mechanism A consists of two pulleys 3,4, which can have different diameters and are rigidly connected to each other and firmly attached to the mechanical axis 5, which rests on a stationary platform 6. On one side of the mechanical axis 5 is properly attached a measuring element 7 that measures the angle of rotation and angular velocity, and on the other side of the mechanical axis 5 is attached a friction wheel 8 on which the brake pad 9 acts by means of an electromagnet 10. provides adequate braking torque on the mechanical axle 5. On the first pulley 3, the end of the first string 1 is fixed to the pulley 3, and the string 1 is wrapped on the pulley 3 with a sufficient number of loops to ensure a sufficient total length of string 1, while the second end cords 1 attached to a cuff mounted on a specific segment of the human body walking on a conveyor belt. On the second pulley 4, the end of the second cord 2 is fixed to the pulley 4, and the cord 2 is wrapped on the pulley 4 with a sufficient number of loops to ensure a sufficient total length of cord 2, while a weight 11 of suitable weight is attached to the other end of cord 2. or a spring with a constant force. Such an arrangement represents a low mechanical impedance to the motion of the body segment in question when the brake mechanism A is in the relaxed state. The force with which the weight 11 or the spring loads this body segment with a constant force when the brake mechanism A is released depends mainly on the mass of the weight 11, which can be very low (less than 5 N).

The connecting elements, the strings 1,2, can be rigid / inelastic or stretchable / elastic ropes, the weight 11 can be a weight with a mass that provides the appropriate tension of the strings 1,2 or it can be made as a spring with constant force, which provides prestressing of the strings 1,2, while the braking function in brake mechanism A can be successfully performed by an electromagnetic brake / clutch or something similar.

Figure 3 shows a proposed method that allows tripping when walking on a conveyor belt with a device according to the invention. The left column of Figure 3 shows the four subphases of the walking cycle, where the brake mechanism A is in the released state, while the second column shows the situation when the brake mechanism A is activated for a short time (typically 100-200 ms) at the beginning of the swing phase. With the braking mechanism activated, the movement of the foot in the swing is almost suddenly stopped in a similar way when a person strikes a curb or a tree root with his foot. As a result, the walking pattern changes, resulting in a loss of balance, to which it is necessary to respond appropriately after releasing the brake mechanism A. This usually causes the torso to be tilted forward, the arms to be extended forward, and the stride to be extended, as shown in Figure 3. Walking on a treadmill is a cyclic activity, meaning that the position and speed of movement of the ankle joint measured by measuring element 7 describe phase a portrait with which we can robustly determine and identify different subphases of the walking cycle, which offers the possibility of performing stumbling in different subphases of the walking cycle.

Figure 4 shows a proposed method which allows lateral disturbances to be made to the pelvis when walking on a conveyor belt with a device according to the invention. The left column of Figure 4 shows the five subphases of the walking cycle where the brake mechanism A is in the relaxed state, while the second column shows the situation where the brake mechanism A is briefly activated (typically 100-200 ms) in the middle part of the support phase. With the brake mechanism A activated, the movement of the pelvis is stopped almost suddenly. As a result, the gait pattern changes, resulting in a loss of balance to which it is necessary to respond appropriately after releasing brake mechanism A. A typical example of a human response in this case is a change in the location of the next step, as shown in Figure 4. Walking on a conveyor belt is a cyclic activity, meaning that the position and speed of pelvic movement measured by measuring element 7 describe a phase portrait, s which can robustly determine and identify different subphases of the walking cycle, which offers the possibility of performing a lateral disturbing shock at different subphases of the walking cycle.

Figure 5 shows a proposed method and system that allows to change the kinematics of the movement of the leg in the swing phase with the device according to the invention. Two brake mechanisms A, A 'shown in Figure 5a are used, where the first brake mechanism A is mounted on the femur and the second brake mechanism A' on the tibia, both from the front. The walking cycle begins with the access of the right foot, when both brake mechanisms A, A 'allow free movement of the foot. In the foot load phase, both brake mechanisms A, A 'are activated. In the following subphases of the right leg support, the elastic part B of the connecting element is extended due to the movement of the right leg on the motorized conveyor belt. When the right leg enters the swing phase, the potential energy stored in the elastic part B of the cord 1 begins to be released, which modifies the movement of the femur and tibia. In the second version, instead of placing one connecting element on the tibia, the connecting element would be placed on the shoe, which, in addition to helping to move into the extension of the knee joint, additionally helps to lift the foot. Both brake mechanisms A, A 'can be released either at the end of the swing phase or slightly earlier, thus controlling the release of accumulated potential energy from part B of the connecting element into a correspondingly modified movement of the leg in the swing.

Figure 5 shows a method according to the invention, which makes it possible to change the kinematics of the movement of the foot in the swing phase and the on / off time of the brake mechanism A, which is merely illustrative. According to the information from the two measuring elements 7, which record the kinematics of the leg in the swing, the time interval of on / off of the brake mechanism A can be changed accordingly in the following steps, thus achieving the desired movement of the leg. The use of two or more of the proposed brake mechanisms A, A 'on the front of the foot makes it possible to modify the movement of the foot in the forward direction.

Figure 6 shows a situation where two additional brake mechanisms A, A 'are used on the back of the leg, which help to move the femur and tibia or foot in the backward direction. For example, it is important that foot access begins with touching the heel and with the knee joint extended. This can be achieved by the appropriate time activity of both brake mechanisms A, A 'acting on the rear during the final phase of the swing. Thus, by combining information from all four measuring elements 7, we can determine the optimal operating time of all four brake mechanisms A, A ', A, A', thus achieving the desired leg movement in the swing phase and the desired stride length.

By using elastic connecting elements in the proposed device according to the invention and the appropriate operation (on / off) of the brake mechanism A, or brake mechanisms A, A ', A, A', we can achieve the changed kinematics of the leg in the swing, using the conveyor drive as a source energy, which is stored in part B of the connecting element during the leg support phase and is then released in a controlled manner during the leg swing phase by appropriate deactivation of the brake mechanism A.

In addition, movement measurements of different body segments can be used for real-time visual feedback that is provided to the walking user.

Claims (7)

PATENT APPLICATIONS Device for decelerating, stopping and accelerating the movement of different segments of the human body when walking on a conveyor belt, allowing modification of the kinematics of different body segments when walking on a conveyor belt, characterized in that it is represented by a braking mechanism (A) connected to an inelastic or elastic a connecting element with a cuff mounted on a specific body segment of a human walking on a conveyor belt and having a braking mechanism (A) fitted with a measuring element (7) with an algorithm for identifying individual sub-phases of the walking cycle to control the braking mechanism (A) and it either slows it down or stops the movement of the connecting element completely and almost instantly Device according to Claim 1, characterized in that the braking mechanism (A) consists of pulleys (3,4), which can have different diameters and are firmly attached to a mechanical axle (5) mounted on a stationary platform. 6) and on one side of the mechanical axis (5) the measuring element (7) is properly attached, and on the other side of the mechanical axis (5) a friction wheel (8) is attached to which the brake pad (9) acts by means of an electromagnet (10). , wherein the inelastic or elastic connecting element is a cord (1) wound on the first pulley (3) so that the end of the first cord (1) is fixed on the pulley (3) and the cord (1) is wrapped with a sufficient number of loops on the pulley (3), while the other end of the cord (1) is attached to a cuff mounted on a specific body segment of a person walking on a conveyor belt and the cord (2) is wound on the other pulley (4), the end of the other the cord (2) is fixed on the pulley (4), and the cord (2) is wrapped on the pulley (4) with a sufficient number of loops, while at the other end of the cord vice (2) attached weight (11). A method for decelerating, stopping and accelerating the movement of different segments of the human body when walking on a conveyor belt, which allows modifying the kinematics of different body segments when walking on a conveyor belt, used on a device according to claims 1 and 2, characterized in that it involves applying force a braking mechanism (A) which is transmitted to the human body segment in question via an inelastic or elastic connecting element and a light cuff, the connecting element following the movement of the body segment when the braking mechanism (A) is in a relaxed state and when the movement of the elastic of the connecting element obstructed by the application of the braking force, i.e. the activated braking mechanism (A), the braking force is transmitted to the body segment in question. The method according to claim 3, characterized in that the proposed method allows stumbling when walking on the conveyor belt so that when the braking mechanism (A) is activated, the movement of the foot in the swing is almost suddenly stopped in a similar way when a person strikes with his foot. curb or into a tree root and consequently changes the gait pattern, resulting in a loss of balance which must be adequately responded to after releasing the brake mechanism (A) and usually causing the torso to lean forward, extend arms forward and extend the stride. The method according to claim 3, characterized in that the proposed method allows lateral interfering shocks to the pelvis when walking on a conveyor belt with a device according to the invention, where the brake mechanism (A) is briefly activated in the middle part of the support phase. activated brake mechanism (A), the movement of the pelvis is stopped almost suddenly and consequently the gait pattern changes, resulting in a loss of balance to which it is necessary to respond appropriately after releasing the brake mechanism (A). The method according to claim 3, characterized in that the proposed method allows to change the kinematics of the movement of the leg in the swing phase using two braking mechanisms (A, A ') wherein the first braking mechanism (A) is mounted on the femur, the second braking mechanism (A ') on the tibia, both from the front and the walking cycle begins with the access of the right foot, when both brake mechanisms (A, A') allow free movement of the foot, while in the phase of loading the foot both brake mechanisms (A , A ') is activated and in the following subphases of the right leg support the elastic part (B) of the connecting element is extended due to the movement of the right leg on the motorized conveyor belt and when the right leg enters the swing phase, the potential energy stored in the elastic part B of the connecting element begins to release, which modifies the movement of the femur and tibia, and both brake mechanisms A, A 'can be released either at the end of the swing phase or slightly earlier, thus controlling the release of accumulated sweat cial energy from part B of the connecting element into a correspondingly modified movement of the leg in the swing. Method according to claim 3, characterized in that the proposed method allows a situation where two additional braking mechanisms (A, A ') are used on the back of the leg, which help to move the femur and tibia or foot in the backward direction, which is can be achieved by the appropriate time activity of both brake mechanisms (A, A '), which operate on the back during the final phase of the swing, and thus by combining information from all four measuring elements (7) we can determine the optimal operating time of all four brake mechanisms (A, A ', A, A') thus achieving the desired movement of the leg in the swing phase and the desired stride length.