WO2005077470A1

WO2005077470A1 - Device for exercising the musculature of an ankle and device for controlling the movement of an external element

Info

Publication number: WO2005077470A1
Application number: PCT/NL2004/000115
Authority: WO
Inventors: Michael Jeffery Amann
Original assignee: Michael Jeffery Amann
Priority date: 2004-02-16
Filing date: 2004-02-16
Publication date: 2005-08-25

Abstract

Multi axis exercise device for exercising the musculature of one or both ankle joints of a user, the device comprising a frame (1), a support element (35, 68) mounted on the frame, a bracket (40, 76) connected to the support element and a pedal (45, 70) on which the foot of the user can be placed and fastened, the pedal being connected to the bracket, wherein the support element is pivotable on a first pivot element (21), the bracket is pivotable on a second pivot element (27) extending essentially perpendicular to the first pivot element and the pedal is pivotable on a third pivot element (44) extending essentially perpendicular to the second pivot element.

Description

DEVICE FOR EXERCISING THE MUSCULATURE OF AN ANKLE AND DEVICE FOR CONTROLLING THE MOVEMENT OF AN EXTERNAL ELEMENT

The present invention relates to a device and a method for exercising the musculature of one or both ankle joints of a user. There are a large number of exercise devices available with which a variety of muscles in the human body can be exercised. However, only few devices are known which are specifically suitable for exercising the ankle muscles of the person. Furthermore, the known devices generally provide only limited options enabling proper exercising of the separate muscle groups around the ankle, for instance because the ankle has only a limited freedom of movement during exercising. In known devices the foot of the person moves for instance in only a single plane, whereby only a limited number of muscles are used per exercise. None of the known devices enables a movement of the foot or feet in practically any plane in space with an independent adjustment of resistance to each plane of motion. The known devices are moreover unsuitable for exercising both feet simultaneously and independently of each other by moving them simultaneously and independently of each other. It is an object of the present invention to provide an exercise device in which the above stated drawbacks are obviated and with which a maximum freedom of movement of the ankles of the person is obtained. According to a first aspect of the present invention, a device for exercising the musculature of one or both ankle joints of a user is provided, the device comprising: - a frame,- - a support element mounted on the frame; - a bracket connected to the support element; - a pedal on which the foot of the user can be placed, the pedal being connected to the bracket, wherein the support element is pivotable on a first pivot element, the bracket is pivotable on a second pivot element extending essentially perpendicular to the first pivot element and the pedal is pivotable on a third pivot element extending essentially perpendicular to the second pivot element . In a preferred embodiment the first and second pivot element extend respectively in an essentially vertical and horizontal direction, while the third pivot element can be pivoted by the first and second pivot element in an essentially vertical plane. This enables the ankle to be moved in almost any plane thereby providing exercise for any selected groups of muscles. The device also enables both ankles to be exercised by moving them simultaneously in almost any plane. According to a preferred embodiment the device comprises at least one^' resistance controller for controlling the resistance against a pivotal movement. In fact, in the most preferred embodiment each of the pivot elements is provided with a resistance controller for individually controlling the resistance to the respective pivotal elements. Thus selected groups of muscles of the left ankle^' and selected groups of muscles of the right ankle, not necessarily being the same as that of the left ankle, may be exercised independently. The resistance provided by the individual resistance controller may be adjusted independently in order to provide a wide range of resistances to movements selectively available to the user. In fact, the resistance to any of the pivotal movements can be set sufficiently high in order to effectively lock the support elements, the brackets and/or the pedals in any desired position. According to a further preferred embodiment the device comprises : - a first and second cylinder attached between the frame and the support element, the first cylinder extending essentially perpendicular to the second cylinder, so as to control the pivotal moment of the support element; - a third cylinder attached between the support element and the bracket so as to control the movement of the bracket; and - a fourth cylinder attached between the bracket and the pedal so as to control the movement of the pedal . The cylinders are preferably double acting cylinders, filled with a fluid (i.e. liquid or gas in case of a hydraulic or pneumatic cylinder respectively) and haying a plunger or piston extending therefrom. The plunger end or piston end can be displaced in and out of the cylinder, which displacement causes movement of the fluid from one end of the cylinder to another end, resulting in a resistance force to be exerted on the piston. In another embodiment the double- acting fluid containing cylinders are rotary cylinders in which the rotation of a rotating drive element, for example a pivot element, is converted, for example by a rack-and-pinion mechanism, in a linear displacement of the plunger or piston in the cylinder. According to a further preferred embodiment the frame comprises an upright part that is provided with one or more handles to be gripped by the user for stabilizing the user during exercise. According to a further preferred embodiment the frame comprises an upright frame part, to which are attached one or more knee rests. The knee rests help fixing the knees on a desired position, enabling the user to concentrate on exercising his/her ankles. According to another preferred embodiment a seat is mounted on the frame on which the user can take up position during exercise. According to a further preferred embodiment the device comprises : - at least one sensor for measuring the actual displacement of the pedal in relation to the frame and for providing displacement data representative of said displacement. The displacement data may be used for various purposes, as will be explained hereafter. According to a further preferred embodiment each of the resistance controllers is provided with a displacement sensor for providing respective displacement data representative of the relative displacement between the pedal and the bracket, the bracket and the support element and between the support element and the frame. The combination of the displacement data of the respective controllers provides sufficient information for determining during the exercise and in real-time the actual position of each of the ankles. According to a preferred embodiment the device comprises at least one pressure sensor for measuring the pressure exerted on the pedal and for providing pressure data representative of the measured pressure. In fact, in an even more preferred embodiment each of the resistance controllers is assigned a pressure sensor for providing respective pressure data representative of the pressure exerted on the respective resistance controllers. The pressure data is representative of the force or pressure that the ankle applies on the respective directions of rotation and as a consequence the force or pressure applied on the respective resistance controller, for example a linear or rotary cylinder. In a further preferred embodiment three or more pivot elements extend such that resulting three-dimensional pivotal movement of the pedal substantially corresponds to the natural pivotal movement of the human ankle. In other words, the point of intersection of the three (imaginary) rotation axes of the pivotal movement of the pedal is located inside the ankle at approximately the same position as the intersection point of the (imaginary) rotation axes of the pivotal movements that can be carried out by the ankle of the individual . Therefore during the exercise the individual will be able the move the ankle in all directions in a natural way. According to a further preferred embodiment the device comprises actuators arranged between the frame and the support element and between the support element and the pedal so as to pivot the pedal in any direction. The pedal can be forced to move in any desired direction, during which movement the user must exert an opposite force on the pedal. In a further preferred embodiment the device comprises a controller connected to the actuators for controlling the movement caused by the actuators based on pre-stored displacement data, thereby carrying out complex prestored patterns of movement . According to a further preferred embodiment at least one actuator and said resistance means are combined. For example electromotors can function as resistance means and actuator at the same time. According to a further aspect of the present invention a device is provided for controlling the movement of at least one external element, for example a graphical representation such as a pointer or cursor on a computer monitor, the flight controller of an airplane, etc. The device may be the exercise device as described earlier or a device designed specifically for this purpose. The device comprises : - a frame; - a support element mounted on the frame; - a bracket connected to the support element; - a pedal on which the foot of the user can be placed, the pedal being connected to the bracket, wherein the support element is pivotable on a first pivot element, the bracket is pivotable on a second pivot element extending essentially perpendicular to the first pivot element and the pedal is pivotable on a third pivot element extending essentially perpendicular to the second pivot element ; - at least one sensor for measuring the actual displacement of the pedal in relation to the frame and for providing displacement data representative of said displacement ; - a controller connected to said at least one sensor for controlling the movement of the external element based on said data representative of the displacement of the pedal. For example, by moving the ankle (s) the user can cause corresponding movements of the cursor (s) on a computer screen (the device has in this embodiment the functional character of a that of a "joystick"), leaving his/her hands, that usually are used for controlling the cursor movement, for performing different tasks. In another example wherein the device is used as training device for snowboarders or skiers, the device is provided with a monitor on which a graphical representation is displayed of the user while descending a ski run. The movement of the ankle (s) may cause the representation of the user on the computer screen to change its course down the ski run. This enables an extremely realistic simulation of an actual descent, without the risks normally involved. In a further embodiment the device is a flight controller for controlling the flight of an aircraft, for example controlling the control surfaces of an unmanned aircraft or an imaginary aircraft in a flight simulator. Further features and details of the invention will be elucidated in the following description of preferred embodiments thereof. In the description referral is made the annexed figures, in which: Figure 1 shows a view in perspective of a first embodiment of the present invention; Figure 2a shows a view in perspective of a second preferred embodiment; Figure 2b shows a detailed view of a double acting rotary cylinder with rack-and-pinion transmission; Figure 3 shows a detailed view in perspective of a common part of the first and second embodiments of figures 1 and 2a respectively; Figure 4 shows a view in perspective of a third embodiment of the present invention. Figure 1 shows a preferred embodiment of the exercise ^' device, wherein the individual does his/her ankle exercises while seated. These are therefore non-loaded ankle exercises. Figure 2a shows another embodiment of the invention in which the individual does his/her exercises while standing, wherein there are therefore loaded ankle exercises. The embodiment shown in figure 1 is described first of all. Figure 1 shows a frame 1, on which is arranged a seat support 2. Support 2 is displaceable forward and rearward using rails 3 (arrow P and an actuator (electric motor 75) so as to bring the individual to the correct position. A height-adjustable seat part 5 (arrow P₂) is placed on seat support 2. The seat part can be set to the height desired for a particular individual by actuating an electric motor 6 that can be controlled by the individual. Opposite the seat an upright 7 is fixed to frame 1. This upright 7 is provided with a horizontal part 8, on which is arranged a knee rest. A knee rest is built up in each case from plates 9 and 10 attached using hinges 11 to the horizontal parts 8. The plates are provided with a soft covering on their sides directed toward each other. The interspacing (a) between plates 9 and 10 roughly corresponds to the width of an average knee . The plates and the attachment of the plates to the part 8 may be embodied such that the interspacing (a) is adjustable to the width of the knee of the user. The horizontal part 8 is slidably attached to the upright 7 and can be attached at the required height roughly corresponding to the length of the human lower leg by inserting an extremity of the knob 13 into the right opening 12 provided in the upright 7, as is shown in figure 2A. At the higher end of the upright 7 is mounted an information display 14, for instance an LCD screen, that may be connected to a number of sensors, as will be explained hereafter. Between seat part 5 and upright 7 there are provided two pedals on which the individual can place his/her feet. In the manner set forth below, these pedals are rotatable in practically all directions to enable exercising of the ankle muscles of the individual in a functional manner. In the embodiment shown in figure 1, the individual takes up position on seat 5 and places his/her feet on the pedals 45, wherein the knees are placed between plates 9 and 10 and knee fixation is possible. In the embodiment shown in figure 2a there the plates 9 and 10 are left out and the individual performs his/her exercises in standing position. Although the embodiment shown in figure 2a also lacks a seat, in still another embodiment the seat is maintained. However, during the exercise the individual is in a standing position and will not use the seat. In order to provide a standing individual with sufficient stability, the horizontal part 8 of upright 7 is provided in this embodiment with handles 15. Handle 15 comprises a support 52 which is arranged in known manner for rotation (arrow P₈) on part 8. A yoke 16 is further arranged on support 52. As shown in figure 2a, yoke 16 is rotatably coupled by means of shafts 18 to an annular element or outer ring 17. Outer ring 17 is therefore rotatable in the direction of arrow P₇. An inner ring 19 is also provided. Between the inner ring 19 and the outer ring 17 a large number of bearings is arranged. Inner ring 19 is hereby rotatable relative to outer ring 17 (in a direction indicated by arrow P₉) . Finally, a bar 53 is arranged transversely of inner ring 19. Owing to the shown construction of the handle the individual can place his/her arms in the correct orientation and position so as to ensure a stable posture, with reduced risk of injuries to the ankle, hand or arm muscles . A preferred embodiment of the mounting of the pedals is described herein below. In respect of the embodiments shown in figures 1, 2a and 3 the mounting of the pedals is identical and will therefore only be described for one of the embodiments. The mounting for the left foot and for the right foot are furthermore the same, so that only the mounting for the right foot is described. Figure 2a shows that a housing 20 is arranged on frame 1. In the housing is provided a rotatable vertical shaft 21, the upper end of which can be seen in figures 1, 2a and 3. A support element 35 is arranged fixedly on shaft 21 in known manner. Shaft 21 is arranged rotatably in the housing, and this such that when shaft 21 is rotated, and therewith the support element 35, a resistance is generated by a double-action rotary cylinder 22. A double-action cylinder is here and in the following understood to mean a cylinder provided with a reciprocally movable piston, wherein work is performed during both the back and forth movement of the piston. The resistant force acting counter to displacement of the piston of the cylinder is moreover preferably manually or electronically controllable with a valve (not shown) . The double-action cylinder can be embodied with a piston rod protruding outside the cylinder housing. The piston rod can be moved up and downward, wherein resistance is exerted on the piston rod in both directions. This embodiment of the cylinder finds application for instance in the embodiments of the invention shown in figure 4. In other embodiments the double-action cylinder is a rotary cylinder, wherein, instead of an up and downward movement, the piston of the cylinder is driven by a rotation movement. The rotation movement is herein converted into a linear movement of the piston rod as set forth below. As shown in figure 2a, support element 35 consists of a lying part 36 and an upright part 37 arranged perpendicularly thereto. In similar manner as described above, a bracket 40 is arranged rotatably on the upright part 37 of support element 35. The bracket is rotatable around a horizontal shaft 27. Shaft 27 is connected in the manner shown in figure 2b to a double-action cylinder 39, whereby a desired degree of resistance to the rotation of bracket 40 can be generated. This double-action cylinder 39 is embodied such that the resistant force exerted thereby on shaft 27 is adjustable as required. Finally, a pedal 45 is arranged on bracket 40. For this purpose the bracket 40 takes a U-shaped form, consisting of a central element 41 and two legs 42. Provided on the outer end of legs 42 is a third rotation shaft 44 on which the pedal 45 is fixedly mounted. In similar manner as described and will be described with reference to shafts 27 and 21, rotation shaft 44 is provided with a double-action cylinder 43, with which an adjustable resistance can be exerted on the shaft rotation. Pedal 45 comprises a flat plate on which a heel piece

46 and a nose piece 47 are provided, between which the foot of the individual can be clamped. Pedal 45 is also provided with slots 50 in which can be inserted straps (not shown) with which the foot can be strapped to the plate . In the enlarged view of figure 2b the construction of the rotary cylinder 39 is shown in more detail. Shaft 27 is provided on its outer end with a pinion 28. This pinion 28 engages on a gear rack 29 on which are arranged a left-hand piston 30 and right-hand piston 31 slidable in a cylindrical tube 32. The rack-and-pinion drive ensures that the rotating movement of shaft 27 is converted into a linear movement wherein the respective pistons 30 and 31 are moved reciprocally. As a consequence of the fluid (liquid or gas) present in the cylinder tube of cylinder 32, resistance is generated via an adjustable valve (not shown) to the linear movement and thereby to the rotation movement of shaft 27. In a similar way the shaft 44 of the rotary cylinder

43 is provided on its outer end with a pinion, engaging on a gear rack on which are arranged a left-hand piston and a right-hand piston slidable in a cylindrical tube. The rack- and-pinion drive ensures that the rotating movement of shaft

44 is converted into a linear movement. As a consequence of fluid present in the cylinder tube, resistance is generated to the linear movement via the adjustable valve (not shown) and thereby the rotation movement of shaft 44. The rotary cylinder 22 may be embodied identical to the rotary cylinders 39 and 43. In the embodiment shown in figure 2a a slightly different construction is used, this construction being more compact in a vertical sense. Shaft 21 is provided on its outer end with a first pinion 38 (shown in figure 3) which can engage on a toothed wheel 33. Toothed wheel 33 is connected in turn to a further shaft 23, which is provided with a second pinion (not shown) . The second pinion engages in a way as described above on a gear rack. The present rack-and-pinion drive ensures that the rotating movement (P₆) of shaft 23 (caused by the rotating movement (P₃) of shaft 21) is converted into a linear movement wherein the respective pistons of the rack-and-pinion drive are moved reciprocally. As a consequence of fluid present in the cylinder, resistance is generated (via the adjustable valve (s) ) to the linear movement and thereby the rotation movement of shaft 21. Many alternatives are known to the described embodiments of the double-action rotary cylinders . Instead of the shown rack-and-pinion drive one can for instance use a crankshaft with which a rotating movement is converted into a translating movement. The degree of resistance caused by the pneumatic or hydraulic cylinders 22,39,43 can be adjusted in known manner with an operating knob (not shown) . The knob controls the position of a valve and thereby the flow rate of a connection between the cylinder ends. The opposing forces encountered by the piston inside the cylinder (for example pistons 30 and 31 in the embodiment shown in figure 2b) depend on the flow rate adjusted by the valve (not shown) . Figure 3 shows the different rotation directions of support element 35, bracket 40 and pedal 45. Due to the vertical arrangement of shaft 21 the support element 35 is rotatable in a direction P₃ in a horizontal plane. Due to the horizontal arrangement of shaft 27 the bracket 40 is further rotatable in a direction P₅ in a vertical plane. Because shaft 44 further extends almost perpendicularly of shaft 27, pedal 45 can be rotated in the direction of arrow P₄ relative to bracket 40. Due to the fact that shaft 27 extends perpendicularly of shaft 21 and shaft 44 extends perpendicularly of shaft 27 (which does not necessarily mean that shaft 44 also extends perpendicularly of shaft 21) , pedal 45 can be rotated in practically all possible directions. Because the three double-action cylinders 22, 39 and 43 can moreover be adjusted independently of each other, it is possible to have determined directions of movement of the foot encounter less resistance than other directions of movement. This is important for instance when particular muscle groups are susceptible to injury or have already suffered an injury and can therefore produce less force. When the device is applied for instance in rehabilitation therapy, the different resistances can be adjusted such that the resistance to determined movements is high, while the resistance to other movements, such as for instance the movements relevant to the injury, is low. In the embodiment shown in figure 3 the shaft 44, which mutually connects pedal 45 and bracket 40, is provided with a angular displacement sensor mounted inside the counterbalance 51. The sensor measures the displacement, more specifically the angular displacement, of the shaft relative to bracket 40 and generates a signal representative of the measured angular displacement. The other two shafts 21 and 27 can likewise be provided with such displacement sensors. The signals generated by the three sensors are representative of the three-dimensional movement of the foot in space and can be processed in various ways. The signals can for instance be stored for further use on an external storage means (not shown) , such as a hard- disk of a computer. The measuring signals can be displayed, in real time or with a certain time lag after optionally undergoing a number of processes or being stored, on an external screen, such as for instance the screen 14 or another screen (not shown) . The signals can be used by for instance a consulting physician to analyze the condition of the ankle in question. When the displacement sensors are connected to a central processor unit which is also connected to the three double-action cylinders, it is possible to adjust centrally from the processor unit the resistant forces exerted by the cylinders, for instance with reference to the measured values generated by the displacement sensors. In a particularly advantageous embodiment the measuring signals of the displacement sensors are fed back and directly processed by the central processor unit, wherein the processor unit determines the desired resistance values of each of the cylinders 22, 39 and 43 on the basis of the incoming measuring signals. After determining these resistance values, the processor unit actuates the separate cylinders. When this process is performed almost in realtime, it produces a range of possible training schedules which were heretofore not possible. In further embodiments (not shown) the shafts 21, 27 and 44 can be driven by means of a number of actuators, such as electric motors (not shown) . Pedal 45 can then be displaced in a random direction by the combined action of the actuators . The individual can herein be asked to counteract the displacement caused by the electric motors. When the electric motors are moreover controlled by the above mentioned central processor unit, pre-stored displacement patterns of pedal 45 can be followed in random sequences and at an adjustable speed. In the embodiments shown in figures 1-3 the displacement sensors are combined with the double-action cylinders 22,39 and 43. It will be apparent that embodiments can also be envisaged in which the sensors are embodied separately of the cylinders. Figure 4 shows another embodiment of the invention. Use is made herein of a number of double-action linear cylinders to provide resistance to the different rotation movements of the pedal. The diameter of rotation shaft 61 is moreover many times larger. The rotation shaft herein forms as it were a platform to which the support element 68 is fixed. Support element 68 is formed of a lower part 68a attached to shaft 61 and an upper part 68b mounted on the lower part 68a. Shaft 61 is arranged rotatably on the frame 1 using bearings 62. The resistance to the rotation of shaft 61 is produced by two linear cylinders 63,64 placed obliquely (preferably transversely) relative to each other. Cylinders 63,64 engage on connection points 65 and 81 respectively, that are provided on the underside of shaft 61. A bracket 76 is mounted using a shaft 71 to the upper part 68b of support element 68, while the pedal 70 is pivotably mounted to the bracket 76. The pivot includes a shaft (not shown) rotatably mounted inside the upper part 72 of the bracket and the lower part 77,77' of the pedal 70. Two double-action linear cylinders 66 and 67 are further arranged, wherein a first outer end is attached in each case to the lower part 68a of the support element 68 using elements 78 and 79 respectively and the second outer end is attached to bracket 76 and pedal 70 respectively using elements 80 and 69 respectively. There are a total of four double-action linear cylinders applied here to provide the necessary resistance to the three rotation movements. The present embodiment is otherwise the same and can for instance be provided with actuators and/or sensors, as already set forth above. In another embodiment of the present invention any of the linear cylinders 63,64,66,67 are replaced by rotary cylinders, the working of which has been described in connection with the first and second embodiment. The rights sought are not limited to the above described embodiments of the invention, but are defined by the claims, within the scope of which many modifications can be envisaged.

Claims

1. Device for exercising the musculature of one or both ankle joints of a user, comprising: - a frame; - a support element mounted on the frame; - a bracket connected to the support element; - a pedal on which the foot of the user can be placed, the pedal being connected to the bracket, wherein the support element is pivotable on a first pivot element, the bracket is pivotable on a second pivot element extending essentially perpendicular to the first pivot element and the pedal is pivotable on a third pivot element extending essentially perpendicular to the second pivot element .

2. Exercise device as claimed in claim 1, wherein the first and second pivot element extend respectively in an essentially vertical and horizontal direction, while the third pivot element can be pivoted by the first and second pivot element in an essentially vertical plane.

3. Device according to claim 1 or 2, comprising at least one resistance controller for controlling the resistance against a pivotal movement.

4. Device according to any of claims 1-3, wherein each of the pivot elements is provided with a resistance controller for individually controlling the resistance to the respective pivotal movements.

5. Device according to claim 4, wherein the resistance controllers are connected to a central processing unit for individually adjusting the resistances to the respective pivotal movements during exercising.

6. Device according to any of claims 3-5, wherein a resistance controller comprises a double-acting cylinder.

7. Device according to claim 6, wherein the cylinder is a fluid containing cylinder.

8. Device according to any of the preceding claims, comprising: - a first and second cylinder attached between the frame and the support element, the first cylinder extending essentially perpendicular to the second cylinder, so as to control the pivotal moment of the support element; - a third cylinder attached between the support element and the bracket so as to control the movement of the bracket; and - a fourth cylinder attached between the support element and the pedal so as to control the movement of the pedal .

9. Device according to any of the claims 1-7, wherein the first, second and third pivot elements are provided with respectively first, second and third rotary cylinders so as to control the rotation of the respective pivot element.

10. Device according to any of the claims 3-9, wherein the resistance controller is a double-acting cylinder with an adjustable resistance.

11. Device according to any of the preceding claims, wherein the frame comprises an upright part that is provided with one or more handles to be gripped by the user for stabilizing the user during exercise.

12. Device according to any of the preceding claims, wherein the frame comprises an upright frame part, to which are attached one or more adjustable knee rests.

13. Device according to claim 12 , wherein a knee rest comprises parallel support plates, to be arranged on both sides of a knee and spaced apart over a distance essentially corresponding to the width of the user's knee.

14. Device according to claim 12 or 13 , wherein the knee rests are slidably mounted on the upright.

15. Device according to any of the preceding claims, wherein a seat is mounted on the frame on which the user can take up position during exercise.

16. Device according to any of the preceding claims, comprising: - at least one sensor for measuring the actual displacement of the pedal in relation to the frame and for providing displacement data representative of said displacement .

17. Device according to claim 16, wherein each of the resistance controllers is provided with a displacement sensor for providing respective displacement data representative of the relative displacement between the pedal and the bracket, the bracket and the support element and between the support element and the frame.

18. Device according to any of the preceding claims, comprising: - at least one pressure sensor for measuring the pressure exerted on the pedal and for providing pressure data representative of the measured pressure.

19. Device according to claim 18, wherein each of the resistance controllers is assigned a pressure sensor for providing respective pressure data representative of the pressure exerted on the respective resistance controllers.

20. Device according to claim 1, wherein the three pivot elements extend such that resulting three-dimensional pivotal movement of the pedal substantially corresponds to the natural pivotal movement of the human ankle.

21. Device according to any of the preceding claims, comprising actuators arranged between the frame and the support element and between the support element and the pedal so as to pivot the pedal in any direction.

22. Device according to claim 21, wherein the actuators are electromotors .

23. Device according to claim 21, wherein at least one actuator and said resistance means are combined.

24. Device according to claim 21, 22 or 23, comprising a controller connected to the actuators for controlling the movement caused by the actuators based on pre-stored displacement data.

25. Device for controlling the movement of an external element, comprising: - a frame; - a support element mounted on the frame; - a bracket connected to the support element; - a pedal on which the foot of the user can be placed, the pedal being connected to the bracket, wherein the support element is pivotable on a first pivot element, the bracket is pivotable on a second pivot element extending essentially perpendicular to the first pivot element and the pedal is pivotable on a third pivot element extending essentially perpendicular to the second pivot element; - at least one sensor for measuring the actual displacement of the pedal in relation to the frame and/or for measuring the force exerted on the pedal for providing displacement and/or force data representative of said displacement and/or said force exerted; - a controller connected to at least one sensor for controlling the movement of the external element based on said data representative of the displacement of the pedal.

26. Device as claimed in claim 25, wherein the external element is a pointer or cursor to be rendered on a display.

27. Device according to any of the preceding claims, wherein the device is a joystick.

28. Device according to any of the preceding claims, wherein the device is a flight controller for controlling the flight of an aircraft.

29. Device according to any of claims claim 25-28 and any of claims 1-24. ₃₀- Use of the device according to any of the preceding claims .