WO2011135274A1

WO2011135274A1 - Physical exercise appliance provided with an electric motor

Info

Publication number: WO2011135274A1
Application number: PCT/FR2011/050998
Authority: WO
Inventors: Philippe Laurent
Original assignee: Fithealth
Priority date: 2010-04-30
Filing date: 2011-05-02
Publication date: 2011-11-03
Also published as: WO2011135274A4; FR2959422A1

Abstract

The physical exercise appliance comprises a vibrating and/or oscillating plate (12) on which the user positions himself, vibration and/or oscillation means suitable for vibrating or oscillating the plate, a computer (30) having a touch screen (32) and a keypad (34) which are suitable for entering the operating programs of the appliance, and a control unit suitable for transforming the parameters defined by a program stored in the computer into signals for controlling the vibration and/or oscillation means. The vibration and/or oscillation means consist of at least three electromagnetic rams which are fixed to the base of the appliance and are suitable for lifting the plate, each of the rams being controlled independently of the others by electrical signals received from the control unit so as to oscillate and/or vibrate the plate.

Description

Exercise apparatus with an electric motor

The present invention relates to a physical exercise apparatus provided with electromagnetic cylinders. The present invention relates, in particular, to devices used for functional rehabilitation, to devices used for proprioception and postural as well as to fitness devices used in gyms, among others. In particular, it relates to a vibrating and / or oscillating plate reeducation apparatus provided with electromagnetic cylinders, a treadmill, a training room bike and an exercise bar.

In gyms or fitness rooms, there are now devices with a vibrating plate that generate vertical unidirectional vibrations. When an individual is positioned on the vibrating plate in operation, his body undergoes a slight imbalance. The brain receives information in return, it then sends a signal to the muscles to cause reflex muscle contractions in order to rebalance.

Some vibrating plate devices are damped by springs or plates of elastic material. But this type of damping does not allow to have an optimal adjustment and adapted to the weight of the user. The patent application WO 2005/0001888 describes an apparatus of this type in which it is possible to modify the thickness of the elastic material. However, on the one hand, it is not easy to make this modification for each user and, on the other hand, the limited possibilities offered does not allow to adjust the depreciation according to the exact weight of the user. .

There are also vibrating plate devices whose damping is achieved by means of air suspensions such as air cushions. This type of damping overcomes the disadvantages mentioned above but has a major disadvantage. Indeed, in addition to the fact that the cushions deflate over time, the increase in temperature causes dilation, during exercise, the air contained in the cushions, resulting in an undesirable pressure variation.

In addition, current vibrating plate devices with air cushions such as the vibrating plate apparatus described in PCT FR2008 / 000258 are suitable for users requiring muscle toning or recruitment. The major disadvantage of these air bag devices is the response time or significant response of the air bags when they receive a command to increase or decrease the air pressure. In addition, these devices do not have the possibility of adaptation to needs of the elderly or very young or with pathologies of the musculoskeletal system.

The present invention aims to remedy all or part of these disadvantages.

An object of the invention is to provide a vibration plate reeducation apparatus and / or oscillating equipped with electromagnetic cylinders having a short response time and therefore particularly suitable for functional rehabilitation.

For this purpose, the present invention is directed to a physical exercise apparatus, which comprises:

- a chassis,

at least one mobile part provided with support means for a part of the body of a user,

for at least one mobile part, at least one brushless electric motor adapted to put said moving part in motion and

a central unit provided with calculation means and a memory for controlling the operation of each said electric motor.

Thanks to these arrangements, the operation of the brushless motor is controlled according to a physical exercise program and the physical exercise can be adapted to the user at the time of the exercise and / or at the position of the part mobile relative to the chassis. In particular, the efforts required from the user may vary depending on the user to optimize the result of the physical exercise requested.

According to particular characteristics, at least one said brushless motor is a linear motor.

According to particular features, at least one said brushless motor is an electromagnetic actuator.

According to particular characteristics, at least one said brushless motor is associated with a position sensor, the central unit controlling the operation of said electric motor as a function of the position of said electric motor.

Thanks to these provisions, it is possible to modulate the force exerted by the electric motor as a function of the position of the mobile part on which the user acts.

According to particular characteristics, at least one said brushless motor is associated with a consumed voltage, current and / or power sensor, the central unit controlling the operation of said electric motor as a function of the value of each measured electrical quantity.

By virtue of each of these arrangements, it is possible to modulate the force exerted by the electric motor as a function of the force exerted by the user.

According to particular characteristics, the central unit is adapted to determine the position of the user's center of gravity, to compare it to a set of positions. acceptable and to issue an error message in the course of which the position of the user's center of gravity is not in an acceptable position.

With these provisions, the user's movement position defects can be detected and corrected.

According to particular features, the central unit is adapted to determine an asymmetry of the user's movements, to compare it to a set of acceptable asymmetry levels and to issue an anomaly message in the course of which the asymmetry is in effect. outside acceptable levels.

Thanks to these provisions, the user's symmetry of movement defects can be detected and corrected.

According to particular features, the central unit is adapted to display a virtual dummy on a screen, to determine whether the user's position corresponds to the position of the virtual dummy and to issue a fault message during the course of the position. the user does not match the position of the displayed virtual dummy.

Thanks to these provisions, the initiation of physical exercise is secure.

According to particular features, the position of the virtual dummy is a starting position of a physical exercise, the central unit being adapted to trigger the beginning of the physical exercise only after the position of the user corresponds to the position of the manikin.

With these provisions, the user or coach can correct the position of his body based on what he sees displayed and the triggering of physical exercise is secure.

According to particular features, the apparatus comprises a camera adapted to take an image of the apparatus and of its user and a display screen, the central unit being adapted to display a representation of the position of the user on said display screen.

With these provisions, the user or coach can correct the position of his body based on what he sees displayed.

According to particular characteristics, the apparatus comprises at least one display screen and an image generating means to be displayed on said display screen, the displayed images being a function of the physical activity of the user.

According to particular features, the central unit is adapted to control at least one brushless motor according to the physical activity of the user.

Thanks to each of these provisions, the user can be immersed in a virtual environment, which motivates him to continue the physical exercise.

According to particular features, the exercise machine comprises a vibrating plate and / or oscillating on which is placed the user, electric motors being adapted to vibrate and / or oscillate the plate, wherein the electric motors consist of at least three electromagnetic cylinders attached to the frame of the apparatus and adapted to lift the plate, each of the cylinders being controlled independently of the others by means of electrical signals received from the central unit so as to oscillate and / or vibrate the plate.

Other advantages, aims and features of the invention will appear more clearly on reading the description which follows, for explanatory and non-limiting purposes, with reference to the drawings in which:

- Figure 1 shows schematically a particular embodiment of embodiment of the rehabilitation apparatus object of the invention;

- Figure 2 shows schematically a vibrating plate and / or oscillating device shown in Figure & with two cylinders at different heights;

FIG. 3 is a block diagram showing the arrangement of the elements of the rehabilitation apparatus according to a preferred embodiment of the invention;

FIG. 4 is a diagram of displacements out of phase of the three jacks when they are subjected to an oscillation allowing a rotary oscillating movement of the plate;

FIG. 5 is a diagram of the displacement of a jack subjected simultaneously to a sinusoidal vibration movement and to a sinusoidal oscillation movement,

FIG. 6 represents, in the form of a logic diagram, steps implemented in a particular embodiment of a first method which is the subject of the invention,

FIG. 7 represents, in the form of a logic diagram, steps implemented in a particular embodiment of a second method which is the subject of the invention,

FIG. 8 represents, schematically and in elevation, a drive train apparatus object of the present invention and

FIG. 9 represents, in the form of a logic diagram, the steps implemented in a particular embodiment of a third method which is the subject of the invention.

Throughout the description, the terms "electric motor", "actuator" or "electromagnetic actuator" are used indifferently when the electric motor is linear. However, although each linear electric motor is preferably an electromagnetic cylinder, the invention extends to other brushless motors.

Throughout the description, the terms "central unit", "computer" or "microprocessor" are used indifferently, these various elements having the main function of executing the instructions of a program stored in memory.

Referring to Figure 1, a rehabilitation device comprises a base 10 supporting a vibrating plate and / or oscillating 12, here in a horizontal position, on which the user rides, for example a patient. Although the plate 12 may have any dimensions, it is preferable that it be at least about one meter and a width of about 60 cm, so that a user of large body can without difficulty, place his back on, lying down.

The user who is standing on the plate 12 is held in this position by holding the handles 14 and 16 of a steering wheel fixed to the upright 18 fixed itself to the base 10.

As illustrated in FIGS. 2 and 3, jacks 20, 22 and 24, underlying the plate 12 and therefore not visible in FIG. 1, allow the plate to be lifted vertically by an amplitude preferably comprised between 50 mm. and 100 mm.

The cylinders 20, 22 and 24 are electromagnetic cylinders. These electromagnetic cylinders 20, 22 and 24 are linear motors in vertical position whose linear displacements are made without the use of mechanical reducers and therefore without wearing part. The engine is composed of two parts, the moving part (in English "slider") and the fixed part (or "stator"). The moving part comprises magnets mounted in a tube. The fixed part comprises the motor windings, the moving part guide and an integrated microprocessor providing position and switching functions.

This type of jacks has the advantage of not having a mechanical part to accommodate the longitudinal forces that are solely due to magnetic fields. In addition, they provide significant accelerations (a few tens of g), which allows a very short response time when a command is received.

Note that the plate 12 comprises mainly a steel plate with a thickness, for example between 1 cm and 1.5 cm, sufficient to prevent its deformation when subjected to significant accelerations as mentioned previously . The plate 12 preferably comprises a top layer of flexible plastic material intended to provide damping beneficial for the user, and a rigid lower layer also of plastic of the same type but having ribs to increase its rigidity.

According to a preferred embodiment, three electromagnetic cylinders 20, 22 and 24 are used. In this case, they form a triangle, preferably isosceles. Preferably, one of the sides of this triangle connects two jacks 20 and 22 placed at the front of the plate 12, symmetrically with respect to the longitudinal axis of the plate 12. It goes without saying that a number of jacks greater than three could be used. It is thus possible to use four jacks arranged in a rectangle.

The position of the two jacks 20 and 22 at the front of the plate 12 is diagrammatically illustrated in FIG. 2. The jack 20 has its moving part ("slider") plus its fixed part ("stator") than the jack 22 , which makes it possible to obtain an inclined position of the plate 12. The control of the displacement of the movable part outside and then inside the fixed part of the cylinder 20, at a certain frequency, for example 30 hertz, makes it possible to vibrate the plate 12 at this frequency.

A block diagram of the apparatus according to the invention is illustrated in FIG. 3. A computer 30 comprising a touch screen 32 and a keyboard 34 is available to the operator, for example a physiotherapist. Note that the operator can control the operation of the computer 30 with a remote control (not shown).

The computer 30 is connected to a control unit 36 which transforms the signals it receives from the computer 30 into electrical signals which are transmitted to the three jacks 20, 22 and 24. These electrical signals, by controlling the moving the moving parts of the cylinders at predetermined frequencies, allow the lifting of the plate 12 so as to obtain non-oscillatory movements, oscillations and / or vibrations of the plate 12.

Note that the computer 30 allows multiple functions, in particular to select the different usable frequencies, the duration of each exercise, the break time between two exercises. It also makes it possible to change the frequencies or the amplitudes during exercise.

As mentioned earlier, a feature of the apparatus is the use of electromagnetic cylinders. This type of jacks makes it possible to obtain a lifting of the plate 12 of a determined amplitude and according to a determined frequency. In addition, each cylinder being controlled independently of the others, it is possible to obtain any vibration or oscillation movement of the plate 12.

Each jack can be controlled so as to lift the plate in order to obtain an oscillation movement of the plate. This movement is defined as a movement of lifting the plate followed by its lowering at a low frequency, less than 1 Hz. For example, with a frequency equal to one third of Hertz, each jack lifts and lowers in three seconds . In this case, if the movement of each jack is out of phase by 120 ° with respect to the movement of each of the other two, the plate follows a rotary oscillation movement of a period of three seconds. The corresponding movements of the jacks 20, 22 and 24 are illustrated in FIG. 4 by the three sinusoids A, B and C.

Note that the lifting amplitude of the cylinders is preferably between 50 mm and 100 mm, for example equal to 70 mm.

Another possible movement of each cylinder is a vibration movement which consists of raising and lowering the cylinder of a very small amplitude at a frequency between 20 Hz and 40 Hz, so that the plate is subjected to this same vibration movement. This vibration movement can be combined with the previous oscillation motion. In this case, the movement of the jack for a vibration frequency of 30 Hz and an amplitude of five mm, superimposed on an oscillation frequency of a third of Hz and an amplitude of 70 mm, is illustrated by the curve D in FIG.

A special feature of the electromagnetic actuator used is the fact that it has a position sensor enabling the control unit 36 not only to know at all times the position of the movable part of the jack, but also to determine the intensity of the current to be sent to the jack. Indeed, when a load is applied to a cylinder via the plate 12, for example when a patient climbs on the plate 12, the mobile part tends to lower under the action of the force of gravity applied to the plate 12. However, this lowering is infinitesimal thanks to the regulation involved because the momentarily the position sensor captures this infinitesimal variation of position and transmits it to the control unit 36 which increases the intensity of the current provided to the cylinder, so that the plate 12 does not lower. Note that the intensity of the current is proportional to the force applied to the cylinder.

The operator, for example a physiotherapist, then adjusts the amplitude of movement and the vibration frequency of each jack independently depending on the work to be performed by the user.

The amplitude of movement of each cylinder being thus adjusted, the cylinders are then raised and lowered under the control of the control unit 36 at a frequency determined by the operator according to the treatment to be applied, so that the Plate 12 performs a vibrating and / or oscillating movement.

Thus, in the case of a patient having a diseased leg, two of the three jacks remain immobile and the third cylinder, above which the patient has placed his leg to be rehabilitated, is subjected to a vibration frequency greater than 25 Hz, and preferably, less than 40 Hz.

In the case of a patient needing to reeducate his ankles, a jack remains stationary and the other two cylinders are subjected to an oscillation movement out of phase.

180 ⁰ with respect to each other.

Finally, in the case of proprioception work of a patient, the three jacks are subjected to the combination of an oscillation movement and a vibration movement so that the plate performs a rotary oscillating movement at the same time that she is subjected to a vibration.

Note that the damping of the plate 12 is an important parameter. Insofar as the response time of the actuator movement following a command is very low as mentioned above, this damping is achieved simply. It is sufficient that the control signals, generated by the control unit 36 and transmitted to the cylinders 20, 22 and 24, are sinusoidal, which is easy to obtain for the skilled person. The device that has just been described allows the functional rehabilitation of patients with problems of the musculoskeletal system. For this purpose, the operator, usually a physiotherapist, then regulates the movement of each cylinder, that is to say the shape of its movement (generally sinusoidal), its amplitude and its frequency of movement, independently according to the work that the user must do to correct his problem. Thus, in the case of a patient with a diseased leg, it is important to control how the patient reports his weight on the valid leg. The means envisaged for observing this load transfer is to impose on the patient the position of the feet and to determine the position of the center of gravity of the "plate + patient" assembly. Indeed, if the patient carries his weight on one leg, he brings the center of gravity closer to it. It is therefore important to determine the position of the center of gravity. As the current required for a cylinder to maintain a load in position is proportional to the force that the cylinder deploys as mentioned above, each cylinder is able to perform a "weighing" through the measurement of the current required to maintain the load in position. Therefore, by measuring the intensity of the current required by each cylinder to balance the load that is directly applied to it through the plate, it is easy to determine the instantaneous position of the center of gravity and therefore the way the patient transfers his weight from one leg to the other. Optionally, a temporal filter eliminates temporary effects.

The operator can see immediately, on the screen 32, that the center of gravity of the user is not in the center of the target. He can see the leg support force, and tell the user what leg to rehabilitate and on which he must make efforts to restore good support and bring the center of gravity to the center of the target. Note that when the plate 12 is actuated in a rotary oscillating movement, the user is unbalanced and must, by the pressure of his legs, work in muscle contractions to remain balanced in the center of the plate while his center of gravity is deported somewhat because of his problem.

Therefore, the inclination of the vibrating plate and / or oscillating plate can be adjusted accurately. It is also the speed of the rotary movement of the plate. Thus, a user at the beginning of rehabilitation supports a very low inclination, with a low rotational speed. These data are increased as the user's re-education progresses. Normally, at the end of treatment, if it has been effective, the user will easily stand in equilibrium on the plate, and the sensors will indicate a center of gravity returned to the center of the plate.

The computer 30 can analyze the capacity of the muscle to contract, for each user, to adjust exactly the vibration force required according to the muscle responsiveness of each individual ("biofeedback"). So with a frequency of 35 hertz, the muscle of the thigh of a given individual contracts very strongly (it is then useless to increase the frequency under penalty of tetanization of the muscle), whereas for the same frequency, the muscle of the thigh d another individual will shrink only slightly, hence the need to increase the frequency for him to obtain optimal work.

The computer makes it possible to analyze the body mass of each user (bio-impedancemetry): fat mass, lean mass (muscles), body of water. This function allows the user to follow, as and when sessions, the progress it makes (loss of fat and muscle gain, etc.).

Note that electromagnetic cylinders, for example two cylinders, such as those described above, could also be attached to the base 10 of the device, but offset from the cylinders intended to vibrate and / or oscillate the plate 12 so as to vibrate and / or oscillate the amount 18 of the device. The patient standing at the handles 14 and 16, it will be subjected to oscillations and / or vibrations through his hands, in order to rehabilitate the upper body. In the same way as before, each jack is then controlled independently of the others.

In the embodiments set out above, it is proposed to replace:

- electric cylinders,

- vibrators and / or

- sensors for the detection of the center of gravity

by linear motors and, more particularly, by electromagnetic cylinders.

An embodiment of a method for securing the apparatus is described below and with reference to FIG.

During a step 105, the user, the trainer or the physiotherapist performs a selection of an exercise to be performed, among the accessible exercise programs, in local memory or remotely on the internet.

During a step 1 10, it retrieves and displays, on a screen visible to the user and / or by a third party, the starting position of the exercise, in the form of a virtual character, or mannequin positioned on a schematized exercise machine.

During a step 1 15, it captures an image of the user, using the camera built into the device or positioned next to the device.

During a step 120, the position of the user, including its members, is determined and a display is displayed on the screen used in step 1 10, an avatar (a schematic character representative of the user) having the same position as the user on the exercise machine, preferably facing (superimposed or juxtaposed) of the manikin in the targeted starting position. During a step 125, it is determined whether the positions of the avatar and the manikin correspond, with a tolerance.

If not, during a step 130, the device is kept at a standstill (that is, the jacks keep their position) and the position differences that are outside the tolerance are displayed. For example, the trunk and / or limbs of the user are shown in green when their position is in line with that of the manikin and, if not, in red.

If the result of step 125 is positive, that is to say if the user is in the correct position, during a step 135, information is displayed indicating an imminent start of the device. For example, a five-second countdown is displayed. Then, during a step 140, the exercise is started by implementing the jacks and returns to step 1 15.

During the following iterations of the sequence of step 1 to 140, a greater tolerance is implemented because the user reacts to the exercise practiced. This tolerance is however chosen so that a destabilization of the user is detected.

FIG. 9 is an embodiment of a method for determining the user's center of gravity (possibly associated with a part of the apparatus) which uses the control system of the linear motors.

It is recalled that the linear motor envisaged is a permanent magnet motor; the motors are controlled by electronics capable of controlling them, during a step 410 and during a previously selected physical exercise, by:

- position,

- speed and / or

- acceleration.

To carry out this regulation, the physical quantities observed during a step 415 are:

- the position,

- the current and / or

- voltage.

Theoretically, there are linear relationships between:

- the current and the force exerted by the engine and

- the voltage and speed of movement of the motor.

By measuring the current absorbed by each motor, the load it supports is estimated during a step 425.

By comparing the currents absorbed by each of the three motors, the position of the center of gravity of the load supported by the three motors is calculated during a step 430. In embodiments, to refine the result, corrective factors established during calibrations are implemented during the normalization step 420.

During calibration, step 405, the calculated results are compared to predetermined results. The apparatus is therefore able to compare its results to the expected results and to determine the numerical values of correction factors. To carry out this calibration, standard loads are placed on marks marked on the plate of the apparatus.

Thus the central computer of the machine, after having carried out predetermined cycles:

- positioning,

- traveling and / or

- accelerations

can compare the result of the measurements and the expected theoretical results and thus determine correction factors implemented during the step 420.

It is noted that, given the computing power currently available and the maximum frequency of movement to be regulated during vibration (60hz), it is conceivable to use a dual core processor ARM-DSP (Digital Signal Processing) (registered trademark) unique to control the entire device.

This processor is loaded:

to communicate with the external configuration means,

- to carry out the measurements relating to the three engines and

- to control the power electronics of the three engines.

According to the method described here, the acquisition and the measurement of the current are carried out, during the step 415, using a high frequency sampling and processed by the processor (part DSP) which makes an estimate of the current medium (equivalent to a direct current).

It should be noted that since the objective is to determine the center of gravity during step 430 and not the mass applied to each jack, it is not necessary to know precisely the applied force. to each of them. It is therefore sufficient for the measurements relating to each of the cylinders to be balanced. The parameters established during the calibration make it possible to correct the relative errors of each of the three systems during step 420.

In order to be able to very accurately measure the current, which is the determining physical quantity, preferably, during step 415:

- good bandwidth and

- a great sensitivity, not to overburden the cost of the system. Shunt measurement may be sufficient, combined with quality packaging.

For example, during step 415, the acquisition of the signal and its analog / digital conversion are performed by a converter of at least 16 bits at a sampling frequency of at least one million samples per second. .

Thus, it is possible to determine the static information of the current without neglecting the high frequency phenomena.

The parasitic phenomena of high frequencies that may be due to the regulation of the system are taken into account.

Given the bandwidth of the system, it is conceivable to extract the static information (equivalent) of the current but also dynamic information to know and control the energy transmitted to the patient by the vibrations of the system.

During a step 435, the position of the user's center of gravity is compared with the position expected for the current phase of the exercise and it is determined whether the user's position is correct, taking into account the position of the user. a tolerance.

If the position is correct, we return to step 415 while the physical exercise continues. If the position is not correct, during a step 440, the position difference and recommendations for the user are displayed. Then, we return to step 415 while the physical exercise continues.

The electromagnetic cylinders can be associated with a projection in three dimensions ("3D") on a screen, to simulate, in virtual reality, the relief of the ground supposed to be traveled. This simulation is preferably coupled to the movements made by the plate 12. For example, it simulates the movement of a rolling vehicle on which the user would stand and feel the bumps and vibrations related to the terrain encountered.

Hereinafter, improvements are described to achieve particular embodiments of the apparatus object of the invention.

In order to fully control the kinematics of the apparatus, to control all the active parts of the machines, the computer 30 controls and controls the following parameters of each jack:

- position,

- speed,

- strength,

- vibration,

- acceleration,

- energy and

- power. In view of an integrated coaching adapted to the user, the apparatus is associated with a means for memorizing a user's identifier and exercises that he has already performed, as well as a summary of the measurements taken. during these exercises. On this basis, the computer 30 sets the recommended date and / or the recommended content of a next workout. The user can thus use the device optimally.

The apparatus can also integrate audio and video means to transpose the user's movements into a realistic virtual environment.

Electromagnetic cylinders, such as those described above, can also be adapted on a treadmill or a room bike, associated with a three-dimensional projection ("3D") on a screen, to simulate, in virtual reality, the relief of the ground supposed to be traveled. These various aspects of the present invention are described below.

In the case of the running training mat, the present invention improves the following aspects:

1 / Position: inclination

The part of the apparatus which unrolls the drive belt is, in its entirety, placed on jacks which can incline it in all positions up to a given inclination, for example 15 degrees. The movements performed comprise, as explained above, non oscillating movements, oscillations and vibrations.

Thus, the user in a race situation is faced with the cases usually encountered during a race in the natural environment: climbs, descents and sideways. This relative position between the user and the carpet plan, which can evolve over time, can simulate a real journey, or even recreate an existing course. In addition to physical exercise, this approach allows you to prepare for a course or to compete with other athletes with the same machine.

It becomes possible to create:

- competitions between athletes separated by significant distances,

- races for which participants are confronted in a deferred manner. Each participant can choose his competitors in a shared database.

21 Rotating the carpet

In order to get as close as possible to the situation of a race for which the course is embellished with turns, in embodiments the mat is rotated about a vertical axis. The information of the radius of rotation is that which corresponds to the 3D visualization of the environment in which the runner moves. Two rotation strategies can be adopted:

- rotation while the runner is not in contact with the mat (clean of the race); in this case, the analysis of the race using sensors or video allows the computer to move only when the runner does not touch the carpet or - slow rotation when the runner is still in contact with the mat (clean for walking).

3 / Speed:

During the course the speed of the carpet can evolve to:

- to take into account the new difficulties related to the terrain profile (slopes and slopes),

- impose speed and acceleration goals imposed by the "integrated coach" and

- to adapt the speed of unwinding of the carpet to the speed of the runner using sensors that identify the position of the runner on the carpet. The speed of the mat adapts to the pace of the runner, who can really adopt running strategies. In this case, the mat adjusts its speed so that the runner is in the middle of the mat. This control makes it possible to reduce the size of the carpet to be able to envisage the rotation of it:

o If the runner is ahead, the mat accelerates until the runner is in the middle and

o If the rider is further back, the car will slow down until the rider is in the middle.

4 / Realistic virtual environment:

The realistic virtual environment is constituted by the implementation of:

- a 3D camera,

a means for viewing a 3D space and

- a means of 3D sound representation

integrated into the device.

Thanks to the display, the runner visualizes, in a coordinated manner with his steps, a real space resulting from:

- the real world (made with real video and sound recordings),

- a virtual world conceived from scratch using computer tools that open the door to evolution within creative scenarios.

Thanks to this system, the rider can see himself evolve within the course and be registered (he or his avatar) on this course and compete with other participants. These competitions can take place:

- in real time: runners run at the same time but share a common virtual race space on which they compete at the same time. They can see each other when they are nearby, outdo themselves, play strategies to win.

- in deferred time: the runners run against competitors who have already run the race and who throw challenges to who wants to raise them.

Stereophonic sound, even in three dimensions, allows: - to evolve among the recorded natural sounds,

- to hear the race of close competitors pursuing or preceding him and to take it into account in the race strategy even before having seen them on the screen.

Below is described, with reference to FIG. 7, steps implemented so that the user is immersed in a realistic virtual environment, favorable to his attention and his motivation to continue the exercise.

During a step 205, the user, the trainer or the physiotherapist performs a selection of an exercise to be performed, among the accessible exercise programs, in local memory or remotely on the internet.

During a step 210, we retrieve and display, on a screen visible to the user and / or by a third party, a starting environment of the exercise, in the form of a virtual world. The position of the cylinders is adapted to this environment.

During a step 215, an estimation is made of the distance traveled by the user relative to the training belt. For this purpose, in embodiments, it is considered that the user has moved at the unwinding speed of the carpet. In other embodiments, at least one user position sensor is implemented on the mat (for example at least one camera or at least one sensor for transmitting and receiving electromagnetic radiation, for example light). The difference in position since the last user position capture is then deduced from the distance traveled by the training mat.

During a step 220, the display of the virtual environment is updated. Preferably, between two user position captures, an extrapolation of the distance traveled by the user with respect to the carpet is carried out.

During a step 225, the position of the belt is updated, by controlling a movement of the jacks, according to the distance traveled by the user and the program of the exercise, in correspondence with the displayed image.

During a step 230, the oscillations and vibrations of the carpet are updated by controlling oscillating movements or vibrations of the jacks, as a function of the distance traveled by the user and the program of the exercise, in correspondence with the displayed image.

Then, we return to step 215.

The entire description of the training mat applies to a training bike mounted on electromagnetic cylinders, with minimal adaptations. For example, the slope of the belt is replaced, simultaneously, by the inclination of the bike and the brake applied to the rotation of the pedal. It is noted that the pedal can comprise a brushless motor controlled by the central unit and / or a linear motor controlled by the central unit, the transformation of circular motion into linear motion being well known to those skilled in the art.

Note that, in the case of the drive belt, the determination of the force exerted by the user, at each step, is used, in some embodiments, by the microprocessor to determine whether the support on both legs is balanced. Preferably, a sensor adapted to determine the leg of the user resting on the mat is associated with the measurement of force exerted by the user on the mat and, after averaging over a large number of strides, the microprocessor determines if one of the legs applies a weaker force than the other, with a tolerance, and displays a possible difference so that the user can correct this lack of symmetry.

Before exposing the case of adaptation of the invention to a weight machine, it is noted that in many of the machines of bodybuilding, the resistance opposed to the movement of the sportsman is the resultant:

- masses (cast iron) for which the opposing force is constant,

- shock absorbers (hydraulic) that oppose the movement and

springs for which the force is proportional to the displacement.

All movements are made using pulleys:

- pulling bars down and

- rotation of pallets around vertical axes.

The present invention replaces at least one of these passive mechanical systems by active systems (linear or rotary "bruchless" motors or, preferably, electromagnetic jack). Such an actuator, controlled by a microcontroller, controls the effort to be provided by the athlete, at each moment and / or in each position. More than the load to be lifted, it is the effort to be provided that is thus controlled.

In addition to simulating a mass, damper and / or spring, the active system controls the speed and torque (or force) of the resulting motion. These parameters are controlled dynamically and in real time and can be linked to the instantaneous position of the system. It is possible, for example, during a single movement of the patient's arm, to reduce the effort in one area of the movement (corresponding to a pain zone, for example) and to increase the effort in another zone. (to work optimally).

It thus becomes possible to modulate, dynamically, the value of each of the parameters during the effort and thus to work very finely each muscle group:

- on the portion of the movement that we want and

- with the type of resistance best suited.

Each component: - strength,

- couple and

- speed

is controlled at every moment. It is thus possible to control the muscular effort for each position during the limb race. The effort to be deployed is thus adapted to the ability to effort, itself related to the position of the member.

In addition, this active system makes it possible to control the resistance opposed to the patient at high frequencies (of several tens of hertz). This vibrating resistance is thus translated by a vibration of the movement, a vibration which increases the efficiency of the work.

The energy supplied by the user is determined from the measurement of instantaneous current and voltage absorbed by the motor.

In order to increase the effectiveness of the vibrations, the mechanical transmission between the motor element (rotary or linear) and the patient does not comprise, preferably, damping element (a tensioned cable can be a good transmitter).

The movements in translation are preferably carried out using linear motors, or even electromagnetic cylinders, and rotational movements by rotary motors. Preferably, a motor is associated with each member of the user. This approach makes it possible to adapt the exercise to each member and to make an individual assessment.

With reference to FIG. 8, an adaptation of the present invention to an exercise bar comprising:

a rectangular frame 305,

a fixed part ("stator") 310 of an electromagnetic cylinder bearing on the upper part of the frame 305 and retained in position by lateral reinforcements 335 connected to the frame 305,

a moving part ("slider") 315 of the electromagnetic cylinder, which carries a bar 320 provided with handles 325,

- a floor mat on which the user presses his back and

a control computer 330 comprising a screen, preferably tactile, and the control means of the electromagnetic actuator, as explained above.

In variants, the screen of the computer makes the user.

The adaptation of the invention to a constant-torque shoulder rehabilitation machine is described below. Today, the constant torque shoulder rehabilitation machines provide the patient with efforts to rotate a handle integral with an axis. The resistance torque that opposes the patient's movement is regulated by "bungees" that guarantee a torque that is almost constant and independent of the angle of rotation.

According to one aspect of the present invention, this function is carried out actively, using a brushless rotary motor controlled entirely by an electronic system. Thus, it becomes possible to independently control the torque, speed, and acceleration of the handle gripped by the patient for each angular position.

Rehabilitation protocols proposed to the patient are available in innumerable variants from constant torque to isocynacy.

Thanks to the real-time control of the motor, the device can:

- to oppose to the patient, not only a constant torque but also a couple that can be linked to the angular position. Thus, the practitioner can very finely adapt the efforts that the patient must exert according to the angular position of his articulation,

- to carry out a speed control and to propose to the patient to carry out a rotary effort for which the motor will be controlled in speed so that the speed of rotation is constant (isocynetism),

- assign the speed control to the instantaneous angular position and / or

- superimpose pairs or vibratory speeds at initial torques or speeds. The various sensors for controlling the system in position, torque, speed and acceleration can be used to quantify the instantaneous forces exerted by the patient throughout the movement.

Note that everything that is exposed in the description with respect to one of the apparatuses of the invention is intended to be implemented for the other apparatuses of the invention.

Claims

claims

1. Exercise apparatus, characterized in that it comprises:

- a chassis,

for at least one mobile part, at least one brushiess electric motor adapted to put said moving part in motion and

2. Apparatus according to claim 1, wherein at least one said brushiess motor is a linear motor.

3. Apparatus according to claim 2, wherein at least one said brushiess motor is an electromagnetic cylinder.

4. Apparatus according to one of claims 1 to 3, wherein at least one said brushiess motor is associated with a position sensor, the central unit controlling the operation of said electric motor according to the position of said electric motor.

5. Apparatus according to one of claims 1 to 4, wherein at least one said brushiess motor is associated with a voltage sensor, current and / or electric power consumed, the central unit controlling the operation of said electric motor in function of the value of each measured electrical quantity.

6. Apparatus according to one of claims 1 to 5, wherein the central unit is adapted to determine the position of the center of gravity of the user, to compare it to a set of acceptable positions and to issue a message of anomaly during which the position of the user's center of gravity is not in an acceptable position.

7. Apparatus according to one of claims 1 to 6, wherein the central unit is adapted to determine an asymmetry of the user's movements, to compare it to a set of acceptable asymmetry levels and to issue a message of anomaly in the course of which asymmetry is outside acceptable levels.

8. Apparatus according to one of claims 1 to 7, wherein the central unit is adapted to display a virtual dummy on a screen, to determine whether the user's position corresponds to the position of the virtual mannequin and to issue an error message in the course where the user's position does not match the position of the displayed virtual manikin.

9. Apparatus according to claim 8, wherein the position of the virtual dummy is a starting position of a physical exercise, the central unit being adapted to trigger the beginning of the physical exercise once the position of the user corresponds to the position of the manikin.

10. Apparatus according to one of claims 1 to 9, wherein the apparatus comprises a camera adapted to take an image of the device and its user and a display screen, the central unit being adapted to display. a representation of the position of the user on said display screen.

1 1. Apparatus according to one of claims 1 to 10, wherein the apparatus comprises at least one display screen and an image generating means to be displayed on said display screen, displayed images being a function of the activity physical of the user.

12. Apparatus according to one of claims 1 to 1 1, wherein the central unit is adapted to control at least one brushless motor based on the physical activity of the user.

13. Apparatus according to one of claims 1 to 12, wherein the exercise machine comprises a vibrating plate and / or oscillating on which is placed the user, electric motors being adapted to vibrate and / or oscillate the plate, wherein the electric motors consist of at least three electromagnetic cylinders attached to the frame of the apparatus and adapted to lift the plate, each of the cylinders being controlled independently of the others by electrical signals received from the central unit of to oscillate and / or vibrate the plate.

Apparatus according to claim 13, wherein the intensity of the current supplied to each of said electromagnetic cylinders (20, 22, 24) is instantaneously increased by said CPU (36) when the load applied to said cylinder via said vibrating plate (12) increases due to a greater load due to the patient on said plate.

Apparatus according to claim 14, wherein the intensity of the current supplied to each of said electromagnetic cylinders (20, 22, 24) is proportional to the force applied to it to balance the load to which it is subjected via of said vibrating and / or oscillating plate (12) so that the intensities of the currents supplied to each of said electromagnetic cylinders makes it possible to determine the center of gravity of the charges applied to said plate by the patient so as to be able to determine the reeducation followed by the patient in order to return the center of gravity to the center of said plate.

An apparatus according to claim 15, wherein a target is displayed on the screen (32) of said computer (30), the center of said target representing the center of gravity of the charges applied to said vibrating and / or oscillating plate (12). ) by the patient for visualize the leg support force and indicate to the patient which leg he should use to restore good support and bring the center of gravity back to the center of the target.

17. Drive mat, which comprises an apparatus according to any one of claims 1 to 16, the orientation of the moving mat on which runs or runs the user being controlled by at least one brushless electric motor.

18. Training bicycle, which comprises an apparatus according to any one of claims 1 to 16, the orientation of the bicycle being controlled by at least one brushless electric motor.

19. Training bicycle, which comprises an apparatus according to any one of claims 1 to 16, the movement of the crankset being subjected to a resistance force of at least one brushless electric motor.

20. Exercise bar, which comprises an apparatus according to any one of claims 1 to 16, the movement of a bar provided with a handle for receiving the hands of the user being subjected to the resistance force of less a brushless electric motor.