WO2013182483A1 - Système et procédé destinés à des exercices de marche - Google Patents

Système et procédé destinés à des exercices de marche Download PDF

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Publication number
WO2013182483A1
WO2013182483A1 PCT/EP2013/061246 EP2013061246W WO2013182483A1 WO 2013182483 A1 WO2013182483 A1 WO 2013182483A1 EP 2013061246 W EP2013061246 W EP 2013061246W WO 2013182483 A1 WO2013182483 A1 WO 2013182483A1
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WO
WIPO (PCT)
Prior art keywords
locations
actual
walking surface
feet
subject
Prior art date
Application number
PCT/EP2013/061246
Other languages
German (de)
English (en)
Inventor
Wolfgang Brunner
Original Assignee
Zebris Medical Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zebris Medical Gmbh filed Critical Zebris Medical Gmbh
Priority to US14/405,406 priority Critical patent/US20150140534A1/en
Priority to CN201380029567.5A priority patent/CN104540560B/zh
Publication of WO2013182483A1 publication Critical patent/WO2013182483A1/fr

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    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
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    • F16C2226/36—Material joints by welding
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts

Definitions

  • the invention relates to an arrangement and a method for training the aisle.
  • Known devices for detecting pressure or force distributions can be used as platforms for biomechanical gait analysis in which the gait of a vertebrate, in particular of a human, is examined and analyzed.
  • biomechanical gait analysis in which the gait of a vertebrate, in particular of a human, is examined and analyzed.
  • only one single step or a single rolling process can be recorded.
  • EP 1 145 682 A2 discloses a rehabilitation apparatus and method based on the treadmill technique, in which an adaptation of the function of the treadmill to the current state of the walking or running ability of a patient to be restored is provided.
  • the treadmill speed is adapted to a personal step cycle of the user, and the device is to give this at the same time a feedback.
  • the detection of compressive forces exerted on the occurrence and their evaluation is provided within the framework of the overall program.
  • the document also describes the use of a
  • Display screen in conjunction with an input keyboard for displaying the footprints generated on the treadmill and for setting
  • US Pat. No. 6,231,527 B1 likewise discloses the use of a display screen in a treadmill device for sports medicine or rehabilitation use, in which case the images of various cameras can be shown which record the athlete / patient in his movements on the treadmill.
  • Applicants' EP 2 352 426 and WO 2010/057552 also describe treadmill systems for sports medicine or rehabilitation use with an image reproduction technique in which pressure distribution patterns which are generated by a person walking on the treadmill are also recorded and evaluated synchronously with displayed images can.
  • the invention is based on the object of providing a further improved device of the latter type, which is particularly suitable for sports medicine or rehabilitation purposes.
  • One goal is that System to develop a flexible training / therapy device and thereby further increase the user acceptance and physiotherapeutic effect.
  • the invention includes the idea of not rigidly prescribing to a subject or patient to be trained a sequence of steps as a training program, but to the training level and the current
  • actual place of preparation a pictorial representation of prescribed steps or, more specifically, prescribed placement locations of the subject's feet (hereafter referred to as target placement locations) to the detected actual steps (actual placement locations).
  • An arrangement is thus proposed under device aspects which, in addition to a predetermined walking area (which may be present independently of the measuring arrangement), includes a positioning location sensor system for detecting actual placement locations at which a test subject places his feet on the walking area, a training program memory for storing a gait training program including data for specifying a sequence of target feet for the subject's feet on the walking surface, an image display for displaying images indicating the target touch locations, and an input with the training program memory and the setter Having sensor.
  • a disadvantage of the known arrangements is that the patient (usually very seriously handicapped) first has to "synchronize" himself during the measurement, that is to say he has to first set foot with the projection at all Since he starts from any position, it is very difficult, as he has to match one foot to the projection, he has to keep checking on every error (ie the target was not hit correctly)
  • this correction step does not correspond to the step he should actually learn, but is shorter or longer or, if necessary, with greater or smaller increment or foot rotation. This is even more difficult when the projection is not on the belt but on a screen.
  • measuring systems based on refection or transmitted light barrier arrays, 2D or 3D, can also be used
  • Cameras u. a. be used.
  • the arrangement is operated on the treadmill.
  • the technique can also be used on a fixed, possibly also provided with interchangeable coverings and / or certain obstacles, walking distance.
  • a sequence of actual Aufsetzorten is sequentially detected time-resolved, and the synchronization of the
  • Image display is made to indicate the adjusted target location to match the sequence of the actual location.
  • device aspects thus includes the
  • execution may also include the storage of one or more gait parameters of the test person determined on the basis of the previously recorded placement locations, and an operation of the display synchronization device with evaluation of this parameter or of these parameters.
  • the arrangement comprises a feedback unit for detecting contact of the walking area by the subject at locations where predetermined picture elements, in particular target touch points, are displayed or at locations where no predetermined picture element is displayed, and for output a warning or warning signal in
  • a user guidance unit can be provided for optically and / or acoustically outputting instruction-accompanying instructions, in particular via earphones and / or as text overlays by the image display device.
  • instruction-accompanying instructions in particular via earphones and / or as text overlays by the image display device.
  • Training program to the actual step sequence of the subject can hereby be given additional training support.
  • characteristic gait parameters in particular the stride length ,. Track width, foot rotation angle or applied force values recorded. These parameters can then be used as initial training values. Based on this setting, the patterns projected onto the treadmill are automatically changed to the therapist's desired target within a workout. The change of the values can be carried out linearly, exponentially or with any other mathematical function. Thereafter, an automatic analysis may be performed with a target-actual comparison, i. it is checked how well the patient was able to comply with the guidelines. If the patient is to change the applied force in partial areas of the foot or of the entire foot, then he is instructed by an acoustic signal or a voice output. This is done e.g. the instruction to load a foot more or less strongly.
  • predetermined pitches or track widths may be continually varied during a training pass (e.g.
  • a display process control unit a program memory for storing a plurality of predetermined display processes and / or speed and / or
  • Relative position setting means for speed adjustment of a display sequence or for specifying relative positions between pixels of a display.
  • Fig. 1 is a schematic representation of a first embodiment of
  • FIG. 2 is a schematic representation of a second embodiment of the
  • Fig. 4 is a detail view of a further embodiment
  • Fig. 5 is a pictorial representation, as they can be given as part of a training program on the tread of the arrangement.
  • Fig. 1 shows a treadmill training system 1, which comprises a running over two rollers 2a treadmill 2b, below the upper, by the user as
  • Tread 2c used a spatially high-resolution surface
  • Pressure sensing plate 3 is provided with a plurality of (not individually designated) arrayed pressure sensors for detecting pressure sensing images generated by the user when appearing on the treadmill.
  • the one of the two rollers 2a is driven and pulls the tape 2b at a predetermined speed, the over
  • Speed controller 5 is set. Furthermore, (which is shown only symbolically in the figure) via a suitable tilt actuator 6, which can also receive interference signals from the processing and control unit 4, set an inclination of the entire treadmill needs or either just his front part erect something will be.
  • signals which are set by the speed controller 5 return to the processing and control unit 4 and serve to synchronize a pictorial representation on the running surface 2c by means of a projector (laser beamer) 7 out
  • the actual speed of the treadmill can also be detected by a suitable sensor system (not shown) and the measured value of the processing and control unit 4 for the purpose of (to a certain extent fed back) control
  • the projector 7 is attached to a wall bracket 7a angle adjustable, so that the projection direction with the plane of the treadmill includes a variable angle.
  • the projector 7 is preceded by an image signal equalizer 7b. This one can be in
  • an audio stage 8 (symbolized here as a loudspeaker) is provided for completing the user interface, via which the exerciser receives additional acoustic sound
  • Training instructions can be obtained.
  • the audio stage 8 can also be bidirectional as a headset, so that the trainee also receives acoustic feedback (such as a confirmation received
  • the test person has in each case attached a sensor 9 to the feet, the signals of which are known per se (not here) shown) position detection sensors can be detected to
  • the sensors preferably operate synchronously with the sensors of the
  • Infrared or radio signal or a detection of the time of occurrence are produced.
  • the sensors 9 can be designed as acceleration sensors or multiaxial acceleration sensors and are optionally connected via radio to the evaluation computer 4. From the acceleration signals, the position of the feet can be calculated, especially if in addition the time and location dependence of the pressure distribution pattern can be included in the calculation. In extended arrangements, inertial sensor systems can be used which additionally use gyroscopes or sensors for detecting the earth's magnetic field. Of course, such sensors can also be attached to other parts of the body, so that the movement of the complete lower extremities or of the whole body can be measured and displayed. However, the sensors 9 can also work according to other measuring principles, for example on the basis of active or passive light markers recorded by stationary cameras, magnetic field sensors or sensors for the ultrasonic waves
  • the pressure sensors of the pressure sensing plate can either have an analogue or - in a simplified and cheaper version - a digital response characteristic (off / on characteristic). Both variants have their authorization for certain applications, and the selection of one of the variants becomes the system designer on the primary
  • FIG. 2 shows a modification of the embodiment shown in FIG. 1 and described above arrangement.
  • the same components as in those arrangement are used, these are denoted by the same reference numerals as in Fig. 1 and will not be explained again here.
  • the essential modification is the use of a large area
  • electro-optical touch screen 7 instead of a projector as
  • the surface of the touch screen forms a lying below the upper portion of the endless belt 2b in the use position
  • Display / pressure sensing device may be replaced by a matrix-like, alternating arrangement of a plurality of smaller electro-optical display elements (such as LCD displays) and each adjacent smaller pressure sensing plates, or it may be a more flexible and pressure-insensitive
  • the endless belt 2b is to be formed, at least in the middle region of its lateral extension, of a transparent material in order to allow the trainee to perceive the images displayed on the display surface 2c '.
  • Fig. 3 shows essential components of the processing and control unit 4 of FIG. 1 or 2 shown arrangement in a detailed view.
  • the processing and control unit 4 comprises a picture element storage unit 41 and a video memory 42, which are followed by a picture element mixer 43 and finally a video picture element mixer 44 for generating picture sequences with predetermined picture element overlays. Symbolically, it is also shown that both mixers 43, 44 can furthermore be influenced by control signals of a random generator 45 are.
  • the second mixer 44 is also followed by a display flow control 46, which a training program 47 and a program
  • Synchronization 48 are assigned.
  • a pixel position controller 49 is control coupled to the pixel mixer 43 and operates thereon to vary relative positions of pixels in the final representation.
  • the synchronization unit 48 can be influenced by signals from the speed controller 5 (not shown in this figure) of the treadmill. Above all, however, the input side of the coordinates of actual Aufsetzorten the feet of the user are supplied, which (as mentioned above) are derived from the generated on the pressure sensing plate 3 shown in FIG. 1 by the feet of the user Druck ventescou. In addition, in addition (which is not shown in the figure), the signals of the sensors 9 of FIG.
  • the synchronization unit 48 are supplied as further input signals to ultimately the pictorial representation, especially with the specification of target Aufsetzorten for the feet of the user, both with the actual speed of the treadmill and the actual Aufsetzorten the feet of the user and, if necessary Further synchronization parameters of the user's feet are synchronized.
  • Further synchronization parameters of the user's feet are synchronized.
  • the display sequencer 46 and synchronization unit 48 can be summarized as a display synchronization device of the arrangement.
  • the evaluation section 4B also receives the final image signal provided at the output of the display sequence control and, on the other hand, the (spatially-temporally resolved) output signal of the pressure distribution plate 3.
  • a pressure signal preprocessing stage 51 The latter is freed from interfering signals and artifacts in a pressure signal preprocessing stage 51, brought into spatial synchronism with the image signals in a pressure signal time adjustment stage 52 in temporal synchrony and in a pressure variable adaption stage 53, and in a training evaluation stage (main processing stage). 53 is processed on the basis of a predetermined training evaluation program, and the results are output on a separate display unit 10 of the therapist. You can also - together with via an input unit 11 of the therapist entered instructions - in a user guidance level 54 to
  • Instructions are processed to the trainees, which are output via the associated display unit 7 or T and optionally the audio stage 8.
  • Fig. Fig. 4 shows in a detailed view parts of a further arrangement according to the invention, which are essential for the execution of the present invention.
  • This is a stationary, delimited walking surface 2 ', which - directly above the surface - is associated with a laser light barrier device 12 as the core of a positioning sensor, which work with a laterally spread laser beam or according to the principle of multiple reflection can and is designed as a relatively large-scale light barrier. If a user (test person) places one of his feet on the walking area in the area of this light barrier, this is detected by means of the light barrier.
  • a user test person
  • a training program memory 14 is for storing
  • Training programs for training the gear provided, which in particular by a predetermined step frequency and length and possibly. Other parameters, such as the track width of the aisle, distinguished.
  • Both the on-set memory 13 (as part of the Aufsetzort-sensor) and the training program memory 14 are connected to inputs of a display synchronization device 15 for synchronizing a visual guidance presented to the subject on his actual movements.
  • the display synchronization device 15 comprises a calculation stage 15a for calculating relevant gait parameters from a time series of actual setup locations loaded from the place of execution memory 13, and a
  • Adjustment stage 15b for adapting one of the
  • Trainingsprogram m Grandeed Generation Partnership Project m, a program for training a sequence, synchronized to the actual movements of the subject, of the target placement locations for its further walking on walking area 2 ', to a display control unit 16 of a large screen 17 which the subject looks at during his gait training.
  • Fig. 5 shows, as an example of a pictorial representation to be provided to the trainee (simplified), a series of footprints f combined with background features A (puddle or "soft” spot) and B (stone or hard elevation) Obstacles can be aroused not only by a visual, but in combination with a tactile perception that can be placed on the walking surface or "simulated” by suitable actuators integrated into the walking surface.
  • the embodiment of the invention is not limited to these examples, but also in a variety of Abwandl ments possible in the frame

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Abstract

L'invention concerne un système (1) lequel est destiné des exercices de marche et lequel est pourvu d'une surface de marche (2b) prédéfinie, d'un capteur de lieu de pose (3) qui est associé à ladite surface de marche et qui permet de détecter des lieux de pose réels auxquels un sujet à analyser pose ses pieds sur la surface de pose, d'une mémoire de programme d'exercice (47) destinée à stocker un programme d'exercice contenant des données permettant de prédéfinir une suite de lieux de pose idéaux pour les pieds du sujet à analyser, d'un dispositif d'affichage d'images (7) destiné à afficher des images indiquant les lieux de pose idéaux, et d'un dispositif de synchronisation d'affichage (46, 48) dont l'entrée est reliée à la mémoire de programme d'exercice et au capteur de lieu de pose et dont la sortie est reliée au dispositif d'affichage d'images, ledit dispositif étant destiné à synchroniser le dispositif d'affichage d'images par rapport aux données de sortie du capteur de lieu de pose, pour ainsi adapter l'indication des lieux de pose idéaux continuellement aux lieux de pose réels qui viennent d'être détectés.
PCT/EP2013/061246 2012-06-04 2013-05-31 Système et procédé destinés à des exercices de marche WO2013182483A1 (fr)

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US14/405,406 US20150140534A1 (en) 2012-06-04 2013-05-31 Apparatus and method for gait training
CN201380029567.5A CN104540560B (zh) 2012-06-04 2013-05-31 用于步态训练的构造及方法

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DE102012209359A DE102012209359A1 (de) 2012-06-04 2012-06-04 Anordnung und Verfahren zum Training des Ganges
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CN117898704A (zh) * 2024-03-20 2024-04-19 浙江值的医疗科技有限责任公司 一种脊椎侧弯监测方法与装置

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