TWI601556B - Two limbs fitness equipment with the function of automatically adjusting resistance against two limbs - Google Patents

Description

Automatically coordinate the limbs of the limbs

The invention relates to a two-limb exercise machine, in particular to a two-limb exercise machine that automatically coordinates the impedance of both limbs by using a myoelectric signal.

With the improvement of the standard of living of the people, people realize the importance of health, and various types of exercise machines are born. The exercise device uses the resistance element to apply force to the user to apply resistance to the reverse force to form resistance. The load of force, in turn, allows the muscles to be trained, such as: rowing machines, weightlifting machines, steppers, flywheels, etc., mostly using elastic restoring force, gravity, or other mechanical operating resistance to become a resistance to fitness exertion.

Most of these conventional exercise machines use fixed or manually adjusted resistance elements to load the user, so that the user's fitness exertion can be adjusted accordingly, so that the muscles are properly trained. However, the purely institutional-designed exercise machine can only adjust the resistance of multiple stages, and the volume of the mechanism will occupy more space. And by subjectively increasing resistance and reducing resistance, when the user is too active, excessively increasing resistance will cause muscle damage during exercise. When the user is not confident or lazy, too low resistance will reduce the effectiveness of training muscles. Therefore, Patent No. M481031 "A Fitness Apparatus with Impedance Adjustment and Power Generation Function" and Patent No. I481431 "Linked Electronic Fitness Apparatus" are born.

Both of the prior art techniques use a pressure detector to measure the user's fitness force to generate a pressure signal, and use the pressure signal to adjust the output of the motor to adjust the resistance, which can be almost continuously adjusted without a segment and is The effect of automated adjustments.

However, this stress signal comes from the size of the user's fitness, and sometimes because the user is stubborn or lazy, the resistance of the response is not only uncomfortable with the muscle state at the time, but will increase the injury or the training is invalid.

Therefore, if the feedback of the electromyography signal can be improved to control the output resistance of the exercise machine, this is an innovation and improvement in the field of fitness machines.

In the currently disclosed technology, there is rarely a technique in which the electromyography signal is utilized in the exercise machine. However, the technique of using the myoelectric signal in the rehabilitation device is the same as the state in which the myoelectric signal is used to remind the state of rehabilitation according to the patent No. I526234 "The sacral muscle pain rehabilitation device". For example, Patent No. M496510 "Electronic Kneepad Device" uses the myoelectric signal to control the electronic knee brace device for starting and stopping motion. In the commercial field, the fitness device is the industrial access chain for sports and fitness, and the rehabilitation device is in the medical industry's industrial access chain in the commercial field. All of the above technologies use the myoelectric signal as a peripheral use, and are not returned to the fitness device and directly to the fitness. Related drive.

Further reference to the prior art, such as Patent No. 286539 "Monitoring Myoelectric Signal Rewarding Rehabilitation Traction Therapy" in a passive rehabilitation device, for example, using a myoelectric signal feedback rehabilitation device to automatically adjust the safety traction pull and the retraction timing It belongs to a kind of all-passive rehabilitation device, which should be quite close to the technology of the present invention. However, the original purpose of the case comes from the rehabilitation of the patient's vertebral muscles, but the creativity is good, but the difference in the application field makes the technology people not easily associate with it, so it has not been able to give technology in the field of fitness equipment for many years. improvement.

In addition, Patent No. 201524485 "Inductive Power Feedback Mechanism" uses the myoelectric signal to adjust the appropriate auxiliary power to drive the motor and the elastic unit, so that the bearing can reliably move relative to each other and improve the healing effect. Prior art of the present technology. Because the case is more important than rehabilitation, its organization is designed to be a small-scale exercise for users to rehabilitate. Therefore, the differences in application fields make the technicians unable to easily associate with them, resulting in the development of the fitness equipment industry. Can have the ideal product to appear.

Further, for the fitness and rehabilitation of the human limbs, such as the hands or the fitness of the two feet, when the muscle strength of the original hands or feet is very different, corresponding to the two limbs If the resistance output of the group is not balanced for a long time, it will make the muscle groups of the two limbs different. This kind of exercise fitness or rehabilitation is uneven and imperfect. The reason for the large difference in muscle strength between the two limbs may be due to injury or uneven exercise. This situation is necessary for the coordinated movement and rehabilitation of the two limbs. Accordingly, it is a primary object of the present invention to provide a dual-limb exerciser that automatically coordinates the impedance of both limbs using a myoelectric signal to solve the above problems.

The object of the present invention is to provide a dual-limb exercise device that automatically coordinates the impedance of both limbs. The use of the myoelectric signal can be more closely related to the state of muscle fatigue, and a more appropriate resistance output is required for the exertion of the fitness. In addition, the coordination module is used for the unbalanced movement of the two limbs such as hands and feet, and adopts a gradual coordination to make the development of the limbs safer and more balanced.

The invention relates to a dual-limb exercise device for automatically coordinating two-limb impedance, which has two bearing members respectively for receiving the force applied by one user's limbs, and the power system respectively applies a resistance output to the two bearing members. The two-limb fitness machine includes: two sets of myoelectric signal sensors, a processing unit, and a coordination module.

The two sets of myoelectric signal sensors are used to respectively sense the first myoelectric signal and the second myoelectric signal of the user's limbs. The processing unit signal is connected to the two sets of myoelectric signal sensors for receiving the first myoelectric signal and the second myoelectric signal to respectively generate a corresponding first driving signal and a second driving signal, wherein the power is generated. The system applies a resistance output to the two carrier members according to the first driving signal and the second driving signal.

The coordination module receives the first myoelectric signal and the second myoelectric signal, and adjusts the first driving signal according to the differential step of the first myoelectric signal and the second myoelectric signal, and according to the pre-storage time step. The second driving signal is such that the power system directly outputs the resistance output to the two bearing members to be coordinated within a predetermined range.

The above-mentioned dual-limb exercise machine, wherein the power system further comprises two drivers, two motors and two linear screws, each of the driver signals is connected to the processing unit, and after receiving one of the driving signals from the processing unit, driving the motor To produce a corresponding output. The linear screw system further includes a screw and a slider. The screw is connected to the motor and is rotated by the output of the motor. The slider is sleeved on the screw and is rotated by the screw to move along the axial direction of the screw. Wherein, the bearing member is mounted on the slider and is driven by the movement of the slider to form a resistance output respectively applied to the two bearing members.

Further, the dual-limb exercise device further includes two joint angle devices for respectively measuring the joint angle of the two limbs. The processing unit further includes a storage module and an adjustment module. The storage module pre-stores a plurality of angles and corresponding information of the plurality of myoelectric signals, and the adjustment module is based on the myoelectric signal measured by the myoelectric signal sensor. The angle corresponding to the corresponding information in the storage module is compared with the angular difference between the joint angles measured by the joint angle device to generate a corresponding driving signal to eliminate the angular difference.

Therefore, the utility model provides a double-limb exercise device for automatically coordinating the impedance of the two limbs, and the use of the myoelectric signal can be more closely related to the state of muscle fatigue, and more appropriate resistance output is required for exerting force on the fitness. In addition, the coordination module is used for the unbalanced movement of the two limbs such as hands and feet, and adopts a gradual coordination to make the development of the limbs safer and more balanced.

The advantages and spirit of the present invention will be further understood from the following detailed description of the invention.

Please refer to FIG. 1. FIG. 1 is a schematic view showing the appearance of the dual-limb exercise machine 30 of the present invention. The present invention relates to a dual-limb exerciser 30 for automatically coordinating two-limb impedance, having two load-bearing members 32 that respectively receive the urging force of the user's limbs, and the power system 40 applies a resistance output to the two load-bearing members 32, respectively. The dual limb exercise machine 30 includes two sets of myoelectric signal sensors 34, a processing unit 36, and a coordination module 70.

In the illustrated embodiment, it is suitable for the movement and rehabilitation of both feet. The two bearing members 3202, 3204 are used to bear the fitness force applied by the user's feet. In the illustrated embodiment, the illustrated bearing member 32 is only a part of the visible appearance, and is a pedal for the foot to step on. The other parts of the component 32 will be shown in the following figure. The joint angle device 38 is used to measure the joint angle of the moving limb. In the figure, the two sets of joint anglers 38 respectively measure the joint angle of the knee joint on both feet at the time of exercise.

Referring further to FIG. 2, FIG. 2 is a schematic diagram of the coordination module 70 of the present invention coordinating the resistance outputs of the two groups. The two sets of myoelectric signal sensors 3402 and 3404 are respectively configured to sense the first myoelectric signal 60 and the second myoelectric signal 62 of the two limbs of the user. Each set of myoelectric signal sensors 34 is used to sense the myoelectric signals of one of the user's limbs, and a plurality of myoelectric sensors 34 can be used in the same group. In practice, the myoelectric signal sensor 34 can be a myoelectric signal patch for attaching to the surface of the user's skin to measure the myoelectric signal generated by the muscle movement under the skin of the user, expressed by the myoelectric signal. Changes in muscle potential can reflect the state of muscle fatigue.

The processing unit 36 is connected to the two sets of myoelectric signal sensors 3402 and 3404 for receiving the first myoelectric signal 60 and the second myoelectric signal 62 to respectively generate corresponding first driving signals. 64 and the second driving signal 66, wherein the power system 40 applies a resistance output to the two carrier members 3202 and 3204 according to the first driving signal 64 and the second driving signal 66, respectively. In other words, different EMG signals will have their corresponding drive signals. This different drive signal becomes the key to the appropriate impedance required to adjust the motion force.

The coordination module 70 receives the first myoelectric signal 60 and the second myoelectric signal 62, according to the difference step 72 of the first myoelectric signal 60 and the second myoelectric signal 62, and according to the pre-stored time step 74, The first drive signal 64 and the second drive signal 66 are gradually adjusted to cause the power system 40 to respectively output the resistance outputs to the two load bearing members 3202 and 3204 to be coordinated within the predetermined range 76. For example: the first myoelectric signal 60 and the second myoelectric signal 62 are respectively a smaller value and a larger value, so the difference step distance 72 is a larger value minus a smaller value difference; The distance of 74 can be preset to a continuous 60-day course of 1.5 hours per day, so there is a total of 90 hours of time interval 74, which can be recommended according to the prescription of the physician or rehabilitation doctor. Therefore, the difference representing the difference step 72 can be equally divided into 90 hours, and the increment of the first driving signal 64 per hour can be expressed in the same ratio, in other words, after 90 hours of rehabilitation training. The first driving signal 64 will gradually approach the predetermined range 76 of the second driving signal 66. Therefore, the weaker limbs of the two limbs can be rehabilitated, so that the stronger limbs of the two limbs continue to strengthen the muscles, and finally, in two After the month of treatment, the muscle strength of the two limbs also approached.

Referring further to Figure 3, Figure 3 is a schematic illustration of the power system 40 of the present invention. The powertrain 40 further includes the driver 42, motor 44, and the linear screw 46 seen in FIG. After receiving the driving signal, the power system 40 outputs power to the carrying member 32. By controlling the movement of the carrying member 32, the impedance is applied to the user's foot in contact with the foot, so that the dual-limb exercise machine 30 It can respond to the fatigue state of the user's muscles at the same time, and give appropriate impedance when the user exercises the force to reinforce or strengthen the user's muscles.

The dual-limb exercise machine 30, wherein the power system 40 further includes two drivers 42, two motors 44, and two sets of linear screws 46, each of which is coupled to the processing unit 36 for receiving signals from the processing unit 36. After one of the drive signals, the motor 44 is driven to produce a corresponding output, and the motor 44 can be a servo motor. The linear screw 46 can be a so-called ball screw, and the linear screw 46 further includes a screw 4602 and a slider 4604. The slider 4604 is a nut of the industry known as a ball screw. The screw 4602 is connected to the motor 44, and is rotated by the output of the motor 44. The slider 4604 is sleeved on the screw 4602, and is rotated by the screw 4602 to move along the axial direction of the screw 4602.

The other part of the bearing member 32 is fixedly mounted on the slider 4604, and is driven by the movement of the slider 4604. The carrier member 32 is a carrier fixed on the slider 4604, and can be connected to the rod through the connection of some rods. Figure 1 shows a pedal-like carrier member 32, which may be collectively referred to as carrier member 32. Therefore, by forming the resistance output respectively applied to the two carrier members 32, the impedance can be further applied to the limbs of the user.

Further, the impedance generated by the power system 40 of the present invention in response to the user's fitness exertion can have two modes, namely, a fitness mode and a rehabilitation mode. The so-called fitness mode is the resistance of the fitness force, and the rehabilitation Mode impedance is the power of fitness. When the muscles reacted by the myoelectric signal are fatigued, the steering of the motor 44 in the power system 40 and the appropriate output are controlled, and the resulting impedance is assisted, which is intended to assist muscle rehabilitation. When the muscle fatigue caused by the myoelectric signal is small, the motor 44 in the power system 40 is controlled to reverse the steering and the appropriate output, and the resulting impedance is resistance, which is intended to enhance the training of the muscle.

Please refer to FIG. 4, which is a schematic diagram of the relationship between the processing unit 36 of the present invention. A dual-limb exercise machine 30 as described above. The two sets of joint angles 38 are used to measure the joint angle of the two limbs respectively. The processing unit 36 further includes a storage module 50 and an adjustment module 52. The storage module 50 pre-stores a plurality of angles and a plurality of types of myoelectric signals. Corresponding information, the adjustment module 52 according to the myoelectric signal measured by the myoelectric signal sensor 34, and then according to the joint angle measured by the joint angle device 38, the corresponding information of the myoelectric signal in the storage module 50 The angle is compared with the joint angle measured by the joint angler 38, and according to the angular difference between the two angles, in order to eliminate the angle difference, a corresponding driving signal can be generated.

However, the initial driving signal generated is only the driving signal size converted according to the angle difference, and the correction necessary for the excessive difference of the limbs has not been considered. According to the spirit of the present invention, the embodiment of FIG. 2 must be performed again. The process performed by the coordination module 70 can be used to gradually correct the initial and greatly different driving signals, so that the muscles of the two limbs can balance the development of rehabilitation and training.

Therefore, the dual-limb exercise device 30 for automatically coordinating the two-limb impedance is provided by the present invention, and the myoelectric signal can be more closely related to the muscle fatigue state, and the resistance output required for more appropriate fitness exertion is given. In addition, the coordination module 70 adopts a gradual coordinated training for the imbalance of the two limbs such as the hands and feet, and the development of the limbs is safer and more balanced.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.

30‧‧‧Double limb exercise machine
32, 3202, 3204‧‧‧ bearing parts
34, 3402, 3404‧‧‧ EMG signal sensor
36‧‧‧Processing unit
38‧‧‧ joint angler
40‧‧‧Power System
42‧‧‧ drive
44‧‧‧Motor
46‧‧‧linear screw
4602‧‧‧ screw
4604‧‧‧ Slider
50‧‧‧ storage module
52‧‧‧Adjustment module
60‧‧‧First myoelectric signal
62‧‧‧Second myoelectric signal
64‧‧‧First drive signal
66‧‧‧Second drive signal
70‧‧‧Coordination module
72‧‧‧Differential distance
74‧‧‧Time interval
76‧‧‧Predetermined range

1 is a schematic view showing the appearance of the two-limb exercise machine of the present invention; FIG. 2 is a schematic diagram of the coordination output of the two groups of the coordination module of the present invention; FIG. 3 is a schematic diagram of the power system of the present invention; and FIG. . A two-limb exercise machine as described above.

30‧‧‧Double limb exercise machine

32 (3202, 3204) ‧‧‧ Carrying parts

34 (3402, 3404) ‧‧‧EMG signal sensor

36‧‧‧Processing unit

38‧‧‧ joint angler

40‧‧‧Power System

42‧‧‧ drive

44‧‧‧Motor

70‧‧‧Coordination module

Claims (1)

A dual-limb exercise device for automatically coordinating two-limb impedance has two load-bearing members respectively receiving the force applied by two users' limbs, and a power system respectively applies resistance output to the two load-bearing members, and the two-limb exercise machine is The method includes: a second muscle electrical signal sensor for sensing a first myoelectric signal and a second myoelectric signal for capturing the user's limbs; and a processing unit, wherein the signal is connected to the second muscle The first sensor signal and the second muscle signal are respectively generated to generate the corresponding first driving signal and the second driving signal, wherein the power system is based on the first driving The signal and the second driving signal respectively respectively apply a resistance output to the two bearing components; and a coordination module receives the first myoelectric signal and the second myoelectric signal according to the first myoelectric signal and the first a differential step of the second myoelectric signal, and gradually adjusting the first driving signal and the second driving signal according to the pre-storage time step, so that the power system respectively applies the resistance to the two bearing components Coordinating to a predetermined range; wherein the power system further comprises two drivers, two motors and two linear screws, each driver signal is connected to the processing unit, and after receiving one of the driving signals from the processing unit, driving the motor To generate a corresponding output, the linear screw system further includes a screw and a slider. The screw is coupled to the motor and is rotated by the output of the motor. The slider is sleeved on the screw and is rotated by the screw. Moving along the axial direction of the screw, wherein the bearing member is mounted on the slider and is driven by the movement of the slider to form a resistance output respectively applied to the two bearing members; the limb fitness The device further includes a two-joint angle device for respectively measuring the joint angle of the two limbs, the processing unit further comprising a storage module and an adjustment module, the storage module pre-storing a plurality of angles and a plurality of muscle telecommunication Corresponding information, the adjustment module is based on the myoelectric signal measured by the myoelectric signal sensor No., the angle corresponding to the corresponding information in the storage module is greater than the angle difference between the joint angles measured by the joint angle device to generate a corresponding driving signal to eliminate the angular difference.