WO2022245218A1

WO2022245218A1 - System and method for training of a user

Info

Publication number: WO2022245218A1
Application number: PCT/NO2021/050123
Authority: WO
Inventors: Tom Arild Wike; Roger Nebell; Egil TRØMBORG
Original assignee: X-Tr As
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2022-11-24

Abstract

It is disclosed a system for use in eccentric training, including at least one movable part (4), at least one stationary part (1, 2), at least one motor (6), at least one sensor (7) on the at least one movable part (4), at least one processor or controller (8), wherein the processor or controller (8) receives signals from the sensor (7) and sends driving signals to the motor (6) controlling the motion of the at least one movable part (4).

Description

SYSTEM AND METHOD FOR TRAINING OF A USER

Field of the Invention

The present invention concerns a system to be used for training a user.

Background of the Invention Conventional training of muscles and corresponding muscle control such as strength, durance, coordination and nerve system, oxygen assimilation, heart capacity, lung capacity, etc. is performed with static objects such as weights, springs, cables, rubbers, etc. for increasing the performance of the muscles and organs, respectively. These devices have as a general function to prevent or resist the muscle force being performed thereon while the object simultaneously being moved. However, it has been found that the training effect may be improved by the performer attempting to hold back the active movement of an object rather than adding movement to the object. It will as an example provide a better training effect to attempt to hold back an object being in motion than putting the object in movement from a stationary condition.

It is previously known devices for e.g. training muscles in movement disabled persons. Thus it is known from WO2016151527 a device comprising a chair where the user sits, and a plate in front of the user where one foot is placed which subsequently is securely strapped. The foot plate is rotatable in two directions while the chair additionally is linearly movable in three directions. The movement is controlled by motors and sensors being arranged in servo circuits.

Summary of the Invention

It is an object of the invention to provide a training apparatus which is compact, provides a natural body posture for the user and provides a training adapting to the user's condition in true time.

This task is solved by a system as is apparent from the following patent claims. Brief Description of the Figures

The object of the present invention will be better understood under reference to the following detailed description and the attached figures, wherein:

Fig. 1 is a three dimensional sketch showing an apparatus according to the invention while being used,

Fig. 2 is a three dimensional sketch of the device according to the invention,

Fig. 3 is a bird's eye view showing a principal sketch of a first embodiment of the device according to the invention,

Fig. 4 is a bird's eye view showing a sketch of a second embodiment, and Fig. 5 is a bird's eye view of a sketch of a third embodiment.

Detailed Description of the Invention

The present invention is based on the use of so-called eccentric training. Eccentric training represents the muscles being gradually forced to elongate because they are being exposed to a stronger force than they are using themselves, in repetitive exercises. In principle such an elongation exercise of the muscles represents a risk for the machine to expose the user for more power than what is desirable and may in a worst case scenario force the user into painful movements. To ensure against this the device is dependent on precise measuring equipment making possible a continuous adjustment to the user's accomplishments. For example when the user no longer exercises any force, the machine will stop immediately.

The training principle is that the machine always is (a little) stronger than the user. When the machine has started an exercise, the user is challenged to counter-act this movement (up to a "specified" power level) - but is simultaneously forced to follow the movements of the machine. For any xy-position the machine will register the user's power level and thereby gradually map the user's muscular weaknesses within the entire allowed xy area. By regularly making updated xy charts the progress of the user may be charted, and the user may select new exercises focusing on the weaker areas. Notice that the user gradually uses different sections of his or her musculature when the position of the xy table is changed. In total this becomes a completely different form of training than the traditional concentric one (muscle contractions).

It has been constructed a training apparatus being a xy table wherein the user stands on two plates. For the time being only one of the plates is equipped with measuring equipment (because force = counter force). This plate is freely moveable within the entire square field, only limited by the user's own physical limitations. Dependent on the training program, the prototype will wish to move the moveable plate in agreement with some kind of path - and the user will want to resist this movement. Depending on the user's accomplishment the added force and direction from the prototype will be adjusted continuously so that this response the entire time is adjusted to the relevant user. In practice this will become some kind of "game" where the prototype determines a goal and challenges the user to achieve this - and adjusts the response to the user's capacity and movement control. If the user manages to exercise more, the machine will correspondingly increase its challenge. If the user becomes fatigued, the machine will use less force.

Because there is no contact between the user and the surroundings beyond the contact of the feet, it is possible to measure the user's continuous exercise completely specifically, i.e. in the form of force vs. position in different directions. This may also be done for different speed additions. This gives objective measurement data that the business previously has not had any access to. If the user should sit on a chair or rest on a handle, the measurement data will naturally become irrelevant.

All (anonymized) data may be stored on the cloud so that each user always may download his or her training program and compare this against previous efforts (and e.g. the mean data from the user group of the same age and gender and weight).

Fig. 1 illustrates a first embodiment of the invention. The user stands here with his or her one foot on a moveable part 4 in the form of a plate. The moveable part is here linearly moveable in two orthogonal directions and is also pivotable about a vertical axis. The device shown in Fig. 1 comprises only one moveable part so that the user stands with one foot on the part or plate and the other foot on a firm, solid point. All embodiments may comprise two moveable parts that the user stands on. Thus all the user's feet are moved relative to each other. Fig. 2 shows the internal construction of the device of Fig. 1. The device comprises a moveable part 4, a number of linear motors 3, 6, a stationary part 1, 2, at least one sensor and at least one processor or controller 8.

The moveable part 4 is connected to the motors 3, 6 creating a movement that the patient/performer in selected instances is to counter-act.

In detail the motors 6 create: at least one movement along the x- and y-directions, preferably along the x- , y- and z-directions; preferred a rotation about on of the x-, y- and z-axes, more preferred a rotation about two of the x-, y- and z-axes, most preferred one rotation about the x-, y- and z-axes.

Robot Arm vs. XYZ-board

A robotic arm consists normally of one or more consecutive and inter-connected parts that lead towards a "hand" or last section. Whereas the first part has a firm spatial anchor point, all of the subsequent parts will have their anchorage point changed if one or more previous joints move. This means that the movement of all the subsequent joints will in varying degree consist of both x-, y- and z- components. Correspondingly different joints may create partly opposite movements. In practice this means that the function of every joint must be described as a vector in both x-, y- and z-, i.e. 3 dimensions. Furthermore this means in practice that a precise positioning of the "hand" of the robotic arm demands precise knowledge about the position of all the previous joints - but simultaneously that this position as a rule may be obtained in several ways with intervening joints.

The sum of complexity and the cost picture has provoked a technical innovation by rearrangement from vectorial robot technology to a solution with a xyz-board.

The system is controlled by a processor or a controller 8 controlling the velocity and movement of the moveable part. The processor or controller 8 guarantees the movement quality as well. Freedom degrees of velocity, movement and pattern, resistance/weight, speed, movement pattern of the moveable part 4, etc. may be regulated, e.g. movement along or a rotation about the x-, y- and z-axes or any combination thereof.

Data from the sensor 7 may be stored and analyzed, allowing an analysis of the test or training session. The force and quality and quantity of the tests/trainings are reproducible and hence it is possible to survey the training effect or the condition of the performer by e.g. following the changes in the capacity/function/injuries, reduction of the biological and functional performances in relation to the performer's age, physical condition, muscular strength, training of an injury, muscular control, stamina, coordination and nervous system oxygen assimilation, heart capacity, lung capacity, etc. of the performer.

Sensor System

The system is equipped with at least one sensor 7, preferably at least two sensors, more preferred at least three sensors for measuring the resistance or the force that the training apparatus is being subjected to.

Most physiotherapeutic training exercises demands that the practitioner struggles against a form of resistance or force and thus exercises both muscles, joints and nervous system. Such forces are frequently constant or increasing with elastics/weight-arm etc. in standardized training apparatuses where the forces are generated by the practitioner to create a movement. As will be understood, in such training regimens it is advantageous to provide the training apparatus with devices for measuring and using the correct or optimal force or resistance against the movement throughout the entire movement being used by the practitioner against the training apparatus in the performed movements. Even if it is possible to operate the training apparatus in a passive fashion for completely controlling the movement of the limb of the practitioner, this does not provide a completely useable multi functional training apparatus.

The present training apparatus uses, oppositely to the standardized training equipment, measurements for controlling the movement of the training apparatus. In most training regimens the training apparatus will survey the force or resistance that here will be optimized in relation to the force that the practitioner works with by the sensor system giving return messages and guides for an optimal resistance in relation to function, capacity and possibly injury/dysfunction. The training apparatus according to the invention will be governed by a guiding system, e.g. by a computer, and exit data from the at least one sensor will be added to the governing system to control the successive movement (feed forward) of the training apparatus.

Optimized force (load) is essential when performing force/strength/speed and mobility during training and rehabilitation. Thus the interaction between the sensor and the force-progression becomes the key to the present training apparatus concept wherein estimate and calculation of the feed-forward movement and/or force level controls the information in test and exercise.

The expression "feed forward" is to be understood as a function wherein the power exercised by the user on the training apparatus is measured by the sensor 7. The measured values are supplied to the controller 8 governing the motor(s) 6 and thereby the movement of the moveable part 4. The user, sensor 7, controller 8, motor(s) 6 and the moveable part 4 in this way forms a feedback loop. The controller 8 is constructed to use the "feed forward" function for supplying a bit larger force to the moveable part 4 than the user supplies. The user will resist the movement and thus receives eccentric training.

By eccentric training the moveable part 4 is controlled so that it counter-acts the force being supplied by the user by a somewhat larger force, thus leading to the limb moving towards the force direction being given by the muscular elongation by the practitioner. The practitioner may e.g. attempt to move his or her legs sideways so that the feet are separated by 30 cm, and the moveable part may be controlled to act against this movement for actually move the feet together. If the training apparatus e.g. measures the maximum force being used by the performed as being 40 N, the moveable part may be controlled to provide a force at different levels, e.g. 105% of the maximum force, or any other definable force by the practitioner, for counter-acting the force being used by the practitioner and thus train the legs in an eccentric manner.

The user may e.g. counter-act the movement of the moveable part, and through the aid of the at least one sensor 7 the training apparatus may survey the size of the supplied force. The training apparatus may then give the moveable part instructions to move with a slightly larger force against the force of the user, and this will thus effect the opposite movement of what the user attempts to achieve. If the user supplies a lesser force against the moveable part 4, the at least one sensor will register this immediately, and the training apparatus will control the moveable part to move it against this force with a lesser counter-force, but still with a slightly larger force than the one being supplied by the practitioner.

As is apparent from the statements supra, the moveable part 4 may be guided to move along a pre-determined path. This has as a consequence that the moveable part may be moved from a start to an end positon in a precise and predictable trajectory through a three-dimensional space while simultaneously avoiding unwanted tilting and torque by the user against the moveable part. The tilt and torque may be controlled, liberated or locked.

The use of the training apparatus thus includes a process wherein there initially is determined which trajectory the moveable part is to follow. This is again dependent on which muscles the user has a wish to exercise. Then it is determined how much force the training apparatus is to supply to the user and the allowable and safe area of action the moveable part is to follow (range of motion, ROM). When this has been determined, the training proper is started by the user/practitioner being placed on the moveable part or parts of the apparatus. The moveable part follows the determined trajectory repeatedly and subjects the user to forces according to the "feed forward" function disclosed supra. In the event the user stands on the moveable part or parts, the user is in one embodiment to stand still without any form of support. Thus the balance of the user is also trained. Of safety reasons the apparatus may be equipped with handles on its sides that the user may grip if the user should lose his or her balance. The handles may also be equipped with a safety switch that the user may trigger for stopping the movement of the training apparatus.

Different locations and positions for the at least one sensor is possible. A first suggested location for the at least one sensor 7 is on a point directly between the user/practitioner and the training apparatus. If the at least one sensor 7 e.g. is located on the moveable part 4 of the training apparatus, the at least one sensor may immediately survey and measure the relative force and torque that is supplied by the user against the part 4. It is also possible to place the at least one sensor on the stationary part 1, 2. Such an at least one sensor 7 may be a position sensor being used to actually survey and register the position of the moveable part 4 against the signal being supplied by a computer 8 to drive the training apparatus and thus obtain a value for the force or torque being used by the user. Alternatively, such an at least one sensor 7 may be a sensor for measuring the resistance or force supplied by the user, and may be located on the stationary part 1, 2 e.g. in a X-Y table between axes and the motor 6, and thus register a value for the force being used by the user.

To ensure that an exercise is being done, the at least one sensor 7 may register that the moveable part 4 only travels along a trajectory in a three-dimensional space and that the moveable part 4 will resist any attempt of movement away from the wanted trajectory, ensured by the guidance system. By continuously surveying and back-feeding the force and torque signals from the at least one sensor 7, the training apparatus according to the invention is able to govern and survey the movement and the training of the user. Furthermore, by supplying such a limited movement, it is possible for the training apparatus to register repetitive measurements of the strength of the user. It is preferred that the user/practitioner during training has an idea about the improvements being performed. By suitable limitation of the movement be the patient/practitioner interaction with the devices 4 through the aid of the at least one sensor 7, the training apparatus according to the invention may perform the same test of the practitioner during the entire training regimen and through multiple training sessions. This not only gives the practitioner a clear picture of the improvements that is to be obtained, it also provides the physiotherapist/trainer with accurate and objective information about the improvements that may be decisive for changing the training regimen if the condition of the practitioner's condition is not to be improved suitably well or be changed in a wanted way.

The entire working area (ROM) for a patient/practitioner may be tested in different ways. The first method is that the moveable part 4 may be guided and mainly be moved by the practitioner. By using the at least one sensor 7 the practitioner may move his or her legs from a resting position to the maximum comfortable position to the side, while the computer controls the moveable part 4 to provide a low threshold force towards the starting position. When the practitioner no longer is able to push the moveable part 4 longer away from the starting position, this position is registered as a point on the working area curve. At the same time over stretching is avoided by the machine always having a small threshold force back to the starting position, so that the user/practitioner is assisted a bit not to move the limb too far. Embodiments

In a first embodiment, as shown in figure 1 and 2, the device according to the invention comprises a stationary frame 1 that may be made of girders 2, e.g. of wood or metal. Alternatively the frame 1 may be omitted if the girders 2 are bolted directly to the floor or in any other way are secured in their relative positions. This frame 1 may comprise pairs of girders said girders 2 running mainly parallel to each other. Between these pairs of girders 2 there run in a first embodiment of the device a number of moveable tracks 3. Along these moveable tracks 3 there run along the track 3 moveable parts 4 for bodily extremities such as feet or hands. Thus construction makes the moveable parts 4 individually and independently moveable in at least a two-dimensional maximal working area 5 comprised by the frame 1 comprising the girders 2 and the tracks 3.

Alternatively or additionally such a design or construction may have as a consequence that the moveable parts 4 may be moved within the points of a three- dimensional maximum working area 5. If so, the moveable parts 4 may be moved in a translatory fashion along their respective tracks 3.

The tracks 3 and the moveable parts 4 are connected to at least one motor (not shown) controlling the operation of these parts of the device according to the invention. The moveable parts 4, but the tracks 3 as well, may be connected to a sensor 7 that may measure the force being supplied to these parts for maintaining or forcing movement thereof. The reason for obtaining this registration is inter alia to adjust the force being provided by the motor(s) 6 to these respective parts. This is for quickly obtaining an adjusted and optimal training effect within a training session for the person using the training apparatus. The movements being performed by the moveable parts 4 may be random, this being suitable for training technique, motor skills, reflexes or reactions in the practitioner, but they may also be governed by (a) previously selected program(s) so that the moveable parts may perform previously determined movements, e.g. diagonal running, skating, one-leg jumping, balance training (stability and joint control), walking on an uneven surface or such opposite movements for the performer to be able to train all of the relevant muscles involved in the actual movement patterns.

In one embodiment the one or several moveable part(s) 4 and alternatively the tracks 3 are equipped with mechanical, magnetic or electrical gears controlling the movements of these parts. Such gears may be in the form of worm gears, wire operation, cog-wheel operation, magnetic operation, electromotor operation, etc.

In a second embodiment, as shown in Fig. 3, the device according to the invention comprises a stationary frame 1, tracks 3 and two moveable parts 4. In this embodiment the securing devices may move along at least x-and y-axis, and preferably along the x-, y- and x-axis (not shown). Figure 4 shows an alternative construction of the embodiment presented in figure 3.

Figure 5 shows an embodiment wherein the moveable parts 4 are moveable tiles. These moveable parts may move in the maximal working area 5.

Claims

1. A system to be used for exercise by a user, comprising at least one moveable part (4) a stationary part (1, 2) at least one motor (6) at least one sensor (7) on the at least one moveable part (4) a processor or controller (8), wherein the processor or controller (8) receives signals from the sensor (7) and sends driving signals to the motor (6) controlling the motion of the at least one moveable part (4), characterized in that the at least one moveable part (3, 4) is one of a XY-table or a XYZ-table that may move linearly along the X-, Y-, Z-axis or any combination thereof, and wherein the processor or controller (8) is arranged to control the working of the at least one moveable part (4) according to a "feed forward" function for achieving an eccentric training regimen.

2. A system according to claim 1, wherein the at least one moveable part (4) additionally may rotate around the X-, Y-, Z-axis or any combination thereof.

3. A system according to claim 2, wherein the at least one moveable part (4) is arranged in such a way that the user may stand freely without any kind of support.

4. A system according to claim 3, wherein the system comprises handles on each side of the at least one moveable part (4) for securing the user.

5. A system according to claim 4, further comprising safety switches mounted on said handles that the user may trigger to halt the system.

6. A method for training a user with the system according to claims 1 - 5, comprising: determining a path to be followed by the moveable part, determining the power the system should deliver to the user and the allowable and secure action for the pathway that the moveable part is to follow, and driving the moveable part along the determined pathway repeatedly, while the at least one sensor (7) measures the power supplied by the user onto the at least one moveable part (4) and the processor or controller (8) governing the movement of the at least one moveable part (4) according to a "feed forward" function.

7. A method according to claim 6, further comprising registering and storing information concerning the power provided by the user onto the at least one moveable part (4).