TWI461232B - Pedal adjusting structure and thereof method and a stepping training device with pedal adjusting structure - Google Patents

Description

Pedal adjustment structure, adjustment method thereof and gait training device with pedal adjustment structure

The present invention relates to an exercise fitness device, and more particularly to a gait training device having an angle or/and a height that compensates for the pedal.

A general stepping training device, such as a stepper, a stepper, or an elliptical machine, allows the user to make a stepping motion and become a common exercise equipment. Among them, the elliptical machine (Elliptical) is named after the pedaling trajectory is similar to the elliptical motion. Gait training machine There is a pedal which can be fixed to a moving rod or the pedal is coupled to a substrate to have an adjustable angle function. Figure 1 shows a schematic view of a pedal applied to an adjustable angle function on a sports equipment. As shown in the first figure, one end of the pedal 1 is coupled to a base (or referred to as a substrate) 11 to be rotated. The other end of the pedal 1 has an adjustment portion 13 of three circular holes 14, and the adjustment pin 13 and the adjustment portion 13 allow the pedal 1 to change in angle with respect to the base 11. However, whether or not the pedal has an adjustable angle function, the angle of the pedal is fixed relative to the substrate during operation (motion).

However, when a person walks or runs normally, the ankle joint and the hip joint will have a specific angle change depending on the period in which they are exposed. These angle changes are similar in most people and are called "normal gait". It is an important goal for the user to be in a normal gait during exercise or rehabilitation. However, traditional gait training machines, such as steppers, steppers, or elliptical machines (Elliptical), etc., allow the user to make a step on the movement, but the difference between the ankle joint movement angle and the normal gait Very large, therefore, this gait is not a normal gait.

In addition, there is a vertical movement of the center of gravity of the body during walking. However, traditional gait training devices (such as elliptical machines and steppers) do not have any compensation for vertical height, resulting in a body center of gravity that has too much trajectory and a vertical motion that is different from normal gait. Another area to be improved.

There are some problems with the traditional gait training device. Therefore, the present invention provides a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure to overcome at least one of the above problems.

One of the objects of the present invention is to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure.

Accordingly, it is an object of the present invention to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure, the pedal adjustment structure, the adjustment method thereof, and the gait training device having the pedal adjustment structure can be overcome The gait training device solves the problem of abnormal gait.

Accordingly, it is an object of the present invention to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure, the pedal adjustment structure, the adjustment method thereof, and the gait training device having the pedal adjustment structure allow The user can be in a normal gait during exercise or rehabilitation.

An embodiment of the present invention discloses a pedal adjustment structure, which is disposed on a one-step training machine. The pedal adjustment structure includes: a body for fixing to the gait training machine; a pedal; and an adjustment module Between the body and the pedal, the adjustment module adjusts the angle of the pedal relative to the body, so that the gait of the gait training machine substantially presents a stepping motion closer to normal. (stepping exercise).

An embodiment of the present invention discloses an adjustment gait adjustment method, which is applied to a one-step training machine, wherein the gait training machine includes a pedal, and the adjustment method includes: obtaining an adjusted gait curve data, Wherein, the adjusted gait curve data system and one of the gait training machines Related to the line; and adjusting the gait curve data to adjust at least one of the angle and the height of the pedal.

In a preferred embodiment, an embodiment of the present invention discloses a gait training device that is disposed on a one-step training machine.

The embodiments of the present invention are intended to be illustrative of the preferred embodiments of the present invention. In other words, those skilled in the art can understand the details of the present invention by the description of the embodiments, and therefore will not be described herein.

When walking or running, the first heel touches the ground, the center of gravity shifts to the first foot, and the ankle joint performs the propelling action. The first foot leaves the ground, moves forward, and the heel strikes the ground, which is a gait cycle. Figure 2 is a comparison of the angle changes exhibited by the normal gait and the ankle joint in a conventional gait training machine during a gait cycle. As shown in Fig. 2, wherein the broken line in Fig. 2 is the change of the angle exhibited by the ankle joint in a gait cycle during walking or running (that is, normal gait); The solid line in Fig. 2 is the case where the angle of the ankle joint changes in a gait cycle in a conventional gait training machine. As shown in Fig. 2, during the normal gait cycle, the ankle joint will have two dorsiflexions and plantar flexions, respectively, depending on the gait period. This is shown by the dotted line in Figure 2.

However, conventional gait training machines (eg, elliptical machines, steppers), the pedals are fixed and immutable during operation (during exercise). Therefore, the traditional gait training machine can not effectively guide the ankle joint. The angle of motion is close to the normal gait, and the gait that exits will only have a dorsiflexion and plantar flexion. As shown by the solid line in Figure 2.

In other words, the gait training machine of the present invention can make the angular change of the ankle joint in a gait cycle closer to the normal gait than the conventional gait training machine. Please note that the gait training machine of the present invention is not required to be completely, or fairly close to, a normal gait. Instead, throughout the gait cycle, it is desirable to improve the abnormal gait of the traditional gait training machine through the control of the pedal angle.

Since the gait training machine of the present invention is intended to improve the abnormal gait of the conventional gait training machine. Further, the gait training machine of the present invention can cause the ankle joint to exhibit an angle change closer to a normal gait in a gait cycle. Thus, in at least one of the various embodiments of the present invention, the gait training machine of the present invention has a control mechanism for the ankle joint angle (i.e., the angle of the pedal).

The following describes how to derive an implementation strategy for how to control the angle change of the pedal in a gait cycle to improve the abnormal gait of the traditional gait training machine:

The first implementation strategy:

By subtracting the normal gait from the angle of the traditional gait trainer, the difference in angle between the two can be obtained, as shown in Figure 3A. Figure 3A is a schematic illustration of the desired pedal angle control of the ankle joint of the present invention in a gait cycle. Of course, there are many different control pedal implementation strategies that can improve the abnormal gait that the traditional gait trainer goes out of. Therefore, this specification also discloses other implementation strategies:

Second implementation strategy:

As can be seen from Fig. 3A, the larger difference is the angular change after 56% of the gait cycle. The difference between 10% of the gait cycle and 56% of the gait cycle is small, so the difference can be reduced to the 3B chart. Figure 3B is a schematic illustration of a second angular control of the ankle joint of the present invention. In other words, the angle adjustment is not performed between point B and point D in Fig. 3B, so that the entire gait training machine control mechanism can be simplified. Fig. 3C is a comparison diagram of the angle control (solid line) and the change of the ankle joint angle (dashed line) in the normal gait according to the second implementation strategy of the present invention. Please note that according to the implementation strategy of Figure 3B, the angular changes exhibited by the ankle in a gait cycle are still twice dorsiflexion and plantar flexion (see Figure 3C). Solid line). In other words, the problem of the traditional gait training machine can still be improved. According to the second implementation strategy, only the angular difference of a part of the gait cycle is adjusted throughout the gait cycle, but is not limited to the difference of the segment. In the second implementation strategy, the entire gait cycle can be simplified and divided into at least two different adjustment modes, one is the action interval (ie, the DEFAB interval), and the other is the inactive interval (ie, the BCD interval). ). Once simplified, the entire design can be completed using purely mechanical principles.

The third implementation strategy:

In addition, there is a case where the center of gravity has a fixed vertical motion during walking. However, commercially available elliptical machines and steppers have no function of correcting the vertical height of the center of gravity. In other words, in addition to the ankle joint gait and the normal gait, the traditional gait training machine also has a design in which the center of gravity does not perform height compensation during walking. Therefore, the third implementation strategy of the present invention adds the vertical height adjustment to any of the above implementation strategies. In addition, since the vertical movement of the center of gravity of walking and running is not the same, in other words, the height compensation should be different. Therefore, in this implementation strategy, the user can decide whether to start the vertical height adjustment or determine the vertical height adjustment according to the difference between the user's desire to walk (the first mode) or the running (the second mode). different. Another embodiment, or The appropriate height compensation is automatically given depending on the speed (walking or running). Fig. 4A is a comparison intention of the normal gait and the height change exhibited by the pedal in the conventional gait training machine in 1/2 gait cycle. As shown in Fig. 4A, wherein the broken line in Fig. 4A is the case of the height change exhibited in one gait cycle in the normal gait; the solid line in Fig. 4A is in the conventional In the gait training machine, the height of the pedal exhibited in 1/2 gait cycle. (Because the gait of the left and right feet is similar, only 1/2 gait cycle is displayed, while the gait of the left and right foot is 1/2 gait cycle). According to the normal gait in Fig. 4A and the gait of the gait training machine, the compensation of the pedal height in a gait cycle in Fig. 4B can be obtained.

Especially in the application of rehabilitation training, the traditional gait training machine also uses the suspension system, and during the rehabilitation training, the user is suspended to prevent the user from falling. However, past gait trainers were unable to adjust the level of gravity when walking, which would cause the suspension system to require a more complex height compensation design. Therefore, the third implementation strategy of the present invention can further improve the disadvantages of the previous gait training machine to be used with a more complicated and expensive suspension system.

There are many implementations of the pedal adjustment structure of the present invention, which can be easily accomplished by borrowing from books in the mechanical field. It can also be achieved with a common control kit, for example: angle control with a stepper motor and high degree of control with a telescopic rod (as shown in Figure 7).

According to the above implementation, an adjustment method of the adjustment gait of the present invention can be easily obtained. The adjusted gait method is applied to a one-step training machine. Wherein, the gait training machine comprises a pedal, and the adjusting method comprises:

Step 1: obtaining a predetermined gait curve and a gait curve relative to the gait training machine; Step 2: Depending on the predetermined gait curve and the gait curve relative to the gait training machine Line, to obtain an adjusted gait curve data; for example, the two gait curves are subtracted to obtain the adjusted gait curve data. Of course, the gait curve can be obtained by simplification.

Step 3: Adjust the gait curve data to adjust at least one of the angle and the height of the pedal.

As described in the foregoing embodiment, the content of each step of the entire adjustment method can be easily known, and therefore, details are not described herein again.

FIG. 5 is another embodiment of the pedal adjustment structure proposed by the present invention. The pedal adjustment structure 500 can adjust at least one of an angle and a height, and of course, the angle and the height can be simultaneously adjusted. The pedal adjustment structure 500 of FIG. 5 can be used to implement the at least one implementation strategy described above. The pedal adjustment structure 500 of FIG. 5 includes: a body 510 for fixing to the gait training machine; a pedal 520 for; and an adjustment module 530 disposed between the body and the pedal The adjustment module 530 adjusts the angle of the pedal 520 relative to the body 510 such that the gait of the gait training machine substantially exhibits a normal gait of a stepping exercise. In one embodiment, the adjustment module 530 includes a first telescopic rod (or front rod) 531 and a second telescopic rod (or rear rod) 532. The length and height of the pedal 520 relative to the body 510 can be adjusted by controlling the length of the telescopic rods 531, 532 by a control signal. For example, when the first telescopic rod 531 is elongated (shortened) and the second telescopic rod 532 is shortened (elongated), that is, the angle of the pedal 520 relative to the body 510 is adjusted; in addition, when the first telescopic rod 531 is elongated When the second telescopic rod 532 is stretched (shortened), the height of the pedal 520 relative to the body 510 is adjusted. Of course, the pedal adjustment structure 500 further includes a control module (not shown) for controlling the adjustment module. The control module includes a microprocessor (for example, 8051) and a related body (FIRMWARE), and the microprocessor can perform the above-described adjustment gait adjustment method. The control module controls the length of the telescopic rods 531, 532 in a gait cycle to achieve the present invention. The effect. The control module further includes a memory for storing the implementation strategy described above, and generating the control signal to control the change of the angle or/and height of the pedal according to the implementation strategy. The control module further includes a pedal position sensor for detecting the position of the pedal. For example, the pedal position sensor is an encoder that is mounted on the rotating shaft of the elliptical machine; for example, the The pedal position sensor is a tilter that is mounted on the linkage of the elliptical machine. Of course, the memory is used to store various implementation strategies (for example, the different implementation strategies described above, or the same implementation strategy applicable to different users), and the user can select an appropriate implementation strategy according to his needs. In one embodiment, the body 510 includes a fixing module (not shown) for fixing the body 510 to the gait training machine. The fixing module can be used for some commonly fixed components, such as screws or/and nuts. The fixing module is a device that can be easily known by those skilled in the art, and therefore will not be described herein.

Figure 6 is a diagram showing the variation of the angle exhibited in each of the asynchronous periods using the second or third implementation strategy for the embodiment of Figure 5. Therefore, the present invention utilizes an adjustable support device under the pedal to adjust the angle of the pedal during the unsynchronized state. As shown in FIG. 6, when the gait reaches different points such as A, B, C, D, E, etc., the height of the body 510 is adjusted to achieve a change in pedal angle and height. In order for the ankle joint to produce the correct gait at the appropriate cycle.

In another embodiment, the pedal adjustment structure 500 of the present invention can be a kit of conventional gait training machines. That is, the body 510 of the pedal adjustment structure 500 of the present invention includes a fixed module (not shown) for attachment to a pedal of a conventional gait training machine or other related position. Also, the pedals of the traditional gait training machine can be directly replaced. Of course, the fixing module of the present invention can be fixed by using a variety of common fixing mechanisms.

The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.

1‧‧‧ pedal

11‧‧‧Base

12‧‧‧ rods

13‧‧‧Regulatory Department

14‧‧‧ round hole

15‧‧‧ Positioning bolt

500‧‧‧ pedal adjustment structure

510‧‧‧ Ontology

520‧‧‧ pedal

530‧‧‧Adjustment module

531, 532‧‧‧ Telescopic rod

Figure 1 shows a schematic view of a pedal applied to an adjustable angle function on a sports equipment.

Figure 2 is a comparison of the angle changes exhibited by the normal gait and the ankle joint in a conventional gait training machine during a gait cycle.

Figure 3A is a schematic illustration of the (ideal) pedal angle control of the first implementation strategy of the present invention for ankle joint in a gait cycle.

Fig. 3B is a schematic view of the angle control of the second implementation strategy for the ankle joint of the present invention.

Fig. 3C is a comparison diagram of the angle control (solid line) and the change of the ankle joint angle (dashed line) in the normal gait according to the second implementation strategy of the present invention.

Figure 4A is a comparison of the normal gait and the height variation exhibited by the pedals in a conventional gait training machine in 1/2 gait cycle.

Figure 4B is a schematic diagram of pedal height control in a gait cycle.

Fig. 5 is an embodiment of the pedal adjusting structure of the present invention.

Fig. 6 is a diagram showing changes in the angle and height exhibited in the respective asynchronous state periods by the third embodiment of the embodiment of Fig. 5.

Figure 7 is a schematic view of a common telescopic rod.

500‧‧‧ pedal adjustment structure

510‧‧‧ Ontology

520‧‧‧ pedal

530‧‧‧Adjustment module

531, 532‧‧‧ Telescopic rod

Claims (14)

A pedal adjusting device is disposed on a one-step training machine, the adjusting device includes: a body for fixing to the gait training machine; a pedal; and an adjusting module disposed on the body and the pedal Between the adjustment module, the angle of the pedal relative to the body is adjusted, so that the gait of the gait training machine substantially presents a normal gait of a stepping exercise. A pedal adjusting device is disposed on a one-step training machine, the adjusting device includes: a body for fixing to the gait training machine; a pedal; and an adjusting module disposed on the body and the pedal Between the adjustment module, the angle of the pedal relative to the body is adjusted, so that the gait of the gait training machine substantially exhibits two dorsiflexions in a one-step period ( Dorsiflexion) and plantar flexion. The adjusting device of item 1 or 2, further comprising: a fixing module for fixing the body to the gait training machine. The adjusting device of item 1 or 2, wherein the adjusting module adjusts the height of the pedal relative to the body. The adjusting device according to Item 1 or 2, further comprising: Two retractors are respectively located at two ends of the pedal for receiving a telescopic control signal to adjust the length of the two retractors to change the angle of the pedal relative to the body. The adjusting device according to Item 1 or 2, wherein the adjusting module performs the angle adjustment of the pedal during a part of the whole gait cycle. The adjusting device according to the item 1 or 2, further comprising: a memory unit for storing an adjusted gait curve data, wherein the adjusting module adjusts according to the adjusted gait curve data. The adjusting device of item 1 or 2, wherein the adjusting module has a first mode and a second mode for determining different height adjustments. The adjusting device of item 8, wherein the first mode and the second mode are related to a speed of the gait training machine. An adjustment gait adjustment method is applied to a one-step training machine, wherein the gait training machine comprises a pedal, and the adjusting method comprises: obtaining an adjusted gait curve data, wherein the adjusting gait curve The data system is associated with a predetermined gait curve and a gait curve of the gait training machine; and adjusting the gait curve data to adjust at least one of an angle and a height of the pedal. The adjustment method of claim 10, wherein the gait of the gait training machine substantially exhibits a normal stepping exercise by adjusting an angle of the pedal gait. The adjustment method of claim 10, wherein the gait of the gait training machine substantially exhibits two dorsiflexions and dorsiflexions in a one-step period by adjusting an angle of the pedal ( Plantar flexion). The adjustment method of claim 10, wherein the predetermined gait curve is a normal gait curve, and at least a portion of the adjusted gait curve data corresponds to the predetermined gait curve and The difference from the gait curve of the gait training machine. The adjustment method according to Item 10, 11, 12, or 13, wherein the adjusted gait curve data is stored in a memory unit.