EP2881008A1 - Appareil d'entraînement à la marche et son utilisation - Google Patents

Appareil d'entraînement à la marche et son utilisation Download PDF

Info

Publication number
EP2881008A1
EP2881008A1 EP13196260.7A EP13196260A EP2881008A1 EP 2881008 A1 EP2881008 A1 EP 2881008A1 EP 13196260 A EP13196260 A EP 13196260A EP 2881008 A1 EP2881008 A1 EP 2881008A1
Authority
EP
European Patent Office
Prior art keywords
person
main frame
walking
body weight
training apparatus
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP13196260.7A
Other languages
German (de)
English (en)
Inventor
Sebastiaan Maria BEHRENS
Hendrik Carsten Voort
Adrianus Hubertus Arno Stienen
Khalid Abdulrahman Aldakkan
Herman Van Der Kooij
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gable Systems Bv
King Abdulaziz City for Science and Technology KACST
Original Assignee
Twente Universiteit
King Abdulaziz City for Science and Technology KACST
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 Twente Universiteit, King Abdulaziz City for Science and Technology KACST filed Critical Twente Universiteit
Priority to EP13196260.7A priority Critical patent/EP2881008A1/fr
Publication of EP2881008A1 publication Critical patent/EP2881008A1/fr
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0087—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with a seat or torso support moving during the exercise, e.g. reformers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5035—Several programs selectable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0092—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for training agility or co-ordination of movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices

Definitions

  • the invention relates to a walk training apparatus, and to the use thereof.
  • the walk training apparatus according to the invention can be used for training walking and/or balance of persons. Such a training is useful in different cases.
  • a walk training apparatus relates to patients with gait abnormalities, e.g. stroke patients.
  • gait abnormalities e.g. stroke patients.
  • This kind of patients have significant benefit of gait training therapy.
  • Common gait training methods for gait rehabilitation are very demanding for therapists.
  • one or more therapists are needed to support and guide one patient during walking, whether or not the patient is additionally aided by some known supporting and/or training apparatus (such as a treadmill).
  • some known supporting and/or training apparatus such as a treadmill.
  • a therapist assisted gait training method to be effective, long-lasting gait training exercises have to be performed frequently over long time periods. Therefore, effective common gait training methods are very labour-intensive and expensive.
  • the character and quality of the therapist's training method may vary from day to day, and from therapist to therapist.
  • therapist assisted training methods have various and many drawbacks.
  • An example of another case of use of a walk training apparatus is the non-therapeutic use for training the walking of a toddler or baby at a natural learning-to-walk age (or, more generally, a person at the age between about 6 and about 30 months, or, yet more generally, a person at the age of less than 2.5 or 3 years old).
  • parents, attendants, or the like assist a young child by supporting and guiding the child during walking, similar drawbacks are experienced, as mentioned above for therapist assisted training of patients.
  • the drawbacks in general are even higher than in the therapist assisted case, since most of the parents, attendants, or the like, are missing the specialized educational background and experience that a professional therapist usually has.
  • An example of yet another case of use of a walk training apparatus according to the invention is the non-therapeutic use for training sportspeople, or the like, in performing predetermined leg movement patterns/step sequences, or the like.
  • Examples are step sequences to be trained by athletes in certain disciplines of athletics, or step sequences to be trained by dancers for performing a certain dance programme.
  • the invention provides a walk training apparatus, which can be brought in a reference condition in which the apparatus is resting on a horizontal reference floor, and wherein the apparatus, as considered in said reference condition, comprises:
  • this apparatus is elucidated as follows. Thanks to the rolling assembly, which is driven under calculated control based on detected actually present conditions of mutual orientation and/or of mutual force exertion between person and apparatus, said actually present conditions are automatically and reliably updated into conditions being more effective for the walk training and/or being more safe for the person. During all that, omnidirectional movements over the floor may be performed, not only by the main frame, but also by the person being trained. Since the apparatus according to the invention involves control feed-back between the apparatus and the person being trained, and vice versa, the invention in this respect is based on reciprocal interactions, which are similar to the natural reciprocal human interactions between an assisting human and an assisted human.
  • the apparatus comprises automatic means for sensing, calculating and controlling, the apparatus in fact is even more powerful (in terms of reaction speed, calculation power, memory, etc.) than an assisting human.
  • the apparatus according to the invention eliminates or at least reduces the need for human assistance in the training.
  • the apparatus according to the invention may be used without physical contact between the apparatus and the (assisted) person. That is, the person may for example walk loose from the apparatus, while distance sensors of the apparatus continuously measure distances/orientation of the person relative to the apparatus, based on which the main frame is controlled to move in such manner that the apparatus closely follows the walking person. In that case, should the person at any time need or wish to find support from the apparatus, the person can for example always hold himself or herself onto the apparatus.
  • the apparatus as considered in said reference condition, further comprises a moveable body support structure, which moveable body support structure has a body support condition in which the moveable body support structure is contactingly supporting said person, the moveable body support structure being attached to the main frame in a translationally and/or rotationally moveable manner relative to the main frame such that, during said walking of said person in said body support condition, the moveable body support structure at least partly follows said body reference part in said relative translational and/or rotational movement between said body reference part and said frame reference part.
  • the relative translational and/or rotational movement and/or relative force and/or torque exertion between the body reference part of the person and the frame reference part of the main frame can be reliably detected. Additionally, via such a moveable body support structure, supportive forces and/or torques can be transmitted from the apparatus to the person.
  • said moveable body support structure comprises a body weight carrier, which body weight carrier has a body weight support condition in which the body weight carrier is carrying body weight of said person, the body weight carrier being attached to the main frame in a moveable manner relative to the main frame such that, during said walking of said person in said body weight support condition, the body weight carrier at least partly follows said body reference part in said relative translational and/or rotational movement between said body reference part and said frame reference part.
  • a body weight carrier may for example be a trunk support device, e.g. in the form of a harness.
  • a body weight carrier may for example be a seat which is supporting the pelvis area of said person when said person is sitting on the seat.
  • a seat e.g.
  • said moveable body support structure further comprises a constant force mechanism
  • said moveable manner in which the body weight carrier is attached to the main frame comprises a vertical moveability component in that the body weight carrier is attached to the main frame in at least a vertically moveable manner relative to the main frame such that, during said walking of said person in said body weight support condition, the body weight carrier at least partly follows said body reference part in its relative vertical movement between said body reference part and said frame reference part, and said vertically moveable manner in which the body weight carrier is attached to the main frame is realized by means of said constant force mechanism which, during said walking of said person in said body weight support condition, provides an upwardly directed supporting force which is constant throughout a vertical movement range of the vertical movement component of the body weight carrier relative to the main frame.
  • said constant force mechanism Since walking of a person involves, to a moderate extent, reciprocating up and down movements of the trunk of a person, said constant force mechanism provides an upwardly directed supporting force for carrying body weight of the person, which upwardly directed supporting force is constant during said reciprocating up and down movements of the trunk of the person. This especially is advantageous for persons having insufficient capacity for carrying their own body weight all by themselves.
  • said application of the constant force mechanism is useful, or at least comfortable, for any person.
  • said moveable body support structure may also comprise a controlled active lift system and/or an oscillating spring-mass system, wherein the natural frequency of the spring-mass system may be tuned to match the walking frequency of the person.
  • said moveable body support structure comprises elastic structure for realizing, in an elastic manner, said translationally and/or rotationally moveable manner in which said moveable body support structure is attached to the main frame.
  • the at least one calculator is configured, arranged and effective to calculate said at least one drive control parameter based on a combination of (i) relative translational and/or rotational movement, detected by said at least one sensor, and (ii) elastic translational and/or torsional stiffness of said elastic structure.
  • said elastic translational and/or torsional stiffness of said elastic structure is a priori known, the relative forces and/or relative torques between the body reference part and the frame reference part can reliably be derived by combining (i) and (ii).
  • said combining of (i) and (ii) improves the reliability of the controlled driving of the rolling assembly, which enables the apparatus to reliably support the person's stability at all times.
  • the relative forces and/or relative torques between the body reference part and the frame reference part may also be derived by the application of one or more load cells.
  • the apparatus in another preferable embodiment of an apparatus according to the invention, which can be used in combination with any one of the abovementioned embodiments of the invention, further comprises at least one adjustor, which is communicatively connected to said at least one calculator and which is configured, arranged and effective (i) to receive an adjustment instruction, and (ii) to adjust said at least one calculator, based on said adjustment instruction, into different operation modes of the walk training apparatus, by adjusting the way in which said at least one drive control parameter is calculated based on said detection results obtained by said at least one sensor.
  • at least one adjustor which is communicatively connected to said at least one calculator and which is configured, arranged and effective (i) to receive an adjustment instruction, and (ii) to adjust said at least one calculator, based on said adjustment instruction, into different operation modes of the walk training apparatus, by adjusting the way in which said at least one drive control parameter is calculated based on said detection results obtained by said at least one sensor.
  • Said adjustor which enables adjustment into said different operation modes, provides the advantage that different training methods can be offered to different patients, while a training method for a given patient can be updated over time in view of the patient's changing walking abilities over time. It is noted that more in general, instead of the application of such an adjustor enabling adjustment into said different operation modes, an apparatus according to the invention may in principle be arranged for only a single specific operation mode, such as one of the specific operation modes described below (first operation mode, second operation mode, third operation mode).
  • said different operation modes of the walk training apparatus obtainable by said adjusting of said at least one calculator, comprise:
  • the apparatus imposes a predetermined walking trajectory to the person.
  • a predetermined walking trajectory may for example be imposed by selecting a predetermined rolling trajectory from several different such predetermined rolling trajectories stored on an electronic storage device.
  • a predetermined walking trajectory can be offered to the person, which is deemed suitable for a specific person at a specific time.
  • the person has to follow more or less the (omnidirectional) predetermined rolling trajectory of the main frame.
  • Such a first operation mode may be suitable for many different walking skill levels of persons, since a predetermined "high skill” rolling trajectory may be chosen for a person with high walking skills, while a predetermined "low skill” rolling trajectory may be chosen for a person with low walking skills.
  • the main frame more or less automatically follows the person, when the person voluntarily performs a walking trajectory, which is chosen voluntarily by said person. Since the main frame follows the person, it is always readily available for supporting the person. Just as for the first operation mode, such a second operation mode may also be suitable for many different walking skill levels of persons. The reason is that in the second operation mode the main frame automatically follows the person, which means that the main frame automatically follows for example a slow walking speed and/or easy walking trajectory of a person with low walking skills just as easy as a high walking speed and/or difficult walking trajectory of a person with high walking skills.
  • said different operation modes of the walk training apparatus obtainable by said adjusting of said at least one calculator, further comprise:
  • Such a third operation mode is more or less a combination of parts of the first operation mode and parts of the second operation mode.
  • Such a third operation mode can in general be said to offer the "the best of both worlds" advantages.
  • Such a third operation mode could for example be implemented so as to start a predetermined rolling trajectory of the main frame, which the person in principle has to follow. However, should the person at some point in time decide to deviate from the predetermined rolling trajectory of the main frame, for example by deciding to voluntarily perform a left or right turn walking traject, the main frame will follow the person in that left or right turn walking traject.
  • such a third operation mode may also be suitable for many different walking skill levels of persons.
  • the apparatus in another preferable embodiment of an apparatus according to the invention, which can be used in combination with any one of the abovementioned embodiments of the invention, further comprises a leg actuation mechanism, which leg actuation mechanism has a leg actuation condition in which the leg actuation mechanism is being controlled to supportingly guide the legs of said person in performing walking movements by said person.
  • said at least one calculator is configured, arranged and effective to calculate, based on detection results obtained by said at least one sensor, at least one leg actuation control parameter for controlling said leg actuation mechanism to realize said supportingly guiding the legs of said person, and wherein said at least one controller is configured, arranged and effective to control said leg actuation mechanism based on said at least one leg actuation control parameter.
  • This additional automated feed-back interaction this time by automatically controlling also the leg actuation mechanism based on the detection results, further improves the training results by further improving basis of trust and learning curve, as explained above.
  • the apparatus is dimensioned to be used when said person is a person at the age of less than two and a half years old, and/or, in other words, when said person is a toddler or baby at a natural learning-to-walk age.
  • the invention may also be embodied in a use of a walk training apparatus according to any one of the abovementioned embodiments of the invention, for training the walking and/or balance of a person.
  • a preferable embodiment of a use according to the invention is a non-therapeutic use of a walk training apparatus according to any one of the abovementioned embodiments of the invention, for training the walking of a person at the age of less than two and a half years old, and/or, in other words, for training the walking of a toddler or baby at a natural learning-to-walk age.
  • the apparatus according to the invention is indicated by reference numeral 1, while in Figs. 1 and 3 reference numeral 11 denotes the said person, which has been depicted in Fig. 3 extremely schematically by means of the shown body of mass, i.e. the ball 11.
  • the apparatus 1 is in the said reference condition, in which the apparatus 1 is resting on a horizontal floor.
  • like reference numerals denote like parts or aspects.
  • the main dimensions and equipment level of the example of the apparatus shown in Figs. 1 and 2 are suitable for use in environments such as, e.g., hospitals or other similarly large therapeutic or non-therapeutic environments.
  • an apparatus according to the invention may have smaller main dimensions and/or a more simple equipment level than the apparatus shown in Figs. 1 and 2 , e.g. for use in home-like environments or for outdoor use.
  • an apparatus according to the invention may be integrated into the design of products such as a wheel chair, rollator, walking bicycle, etc.
  • Figs. 1 and 3 the three orthogonal directions x, y, z have been indicated, of which x and y are horizontal directions and z is a vertical direction.
  • FIG. 3 The following main parts of apparatus 1 are shown in Fig. 3 : said main frame 10, consisting of vertical beam 2 and horizontal beam 3, beams 2 and 3 being interconnected; said rolling assembly 4; said (at least one) drive unit 5; said (at least one) sensor 6; said (at least one) calculator 7; and said (at least one) controller 8.
  • (part of) beam 2 or (part of) beam 3 may function as the abovementioned "frame reference part" of the main frame 10.
  • frame reference part 2 For simplicity, it has been chosen hereinafter to indicate this frame reference part as "frame reference part 2".
  • the rolling assembly 4 has been depicted in Fig. 3 extremely schematically by means of three rolling balls 44.
  • Various types of rolling assemblies allowing for the stated omnidirectional translations and/or rotations over a floor, as well as various types of corresponding drive units therefor, are usable in the present invention.
  • Various such omnidirectional rolling assemblies with drive units ranging from very simple to highly sophisticated/accurate types, are known and available in the trade.
  • the rolling assembly 4 comprises four individual rolling units, which are situated more or less near four corner points, respectively, of an imaginary horizontally oriented rectangle at the very bottom of the apparatus 1. Corresponding drive units are also covered by these housing parts 42, 43.
  • the rolling assembly 4 may for example be driven to rotate the apparatus 1 around an imaginary vertical rotation axis (z-direction), without the apparatus 1 performing any horizontal translation at all. Also, starting from a stand-still position the rolling assembly 4 may for example be driven to purely translate, e.g. purely translate sideways (y direction) or purely translate forward/backward (x direction), or purely translate in any possible inclined horizontal direction relative to the x and y directions. All these kind of translations and rotations may also be combined with one another so as to in fact obtain any possible rolling trajectory of the apparatus 1, said trajectory having time-dependently varying directions and/or speeds of said translations and/or rotations relative to the floor.
  • apparatus 1 The following further parts of apparatus 1 are shown in Fig. 3 : said moveable body support structure 14-22; said seat 14; said constant force mechanism 21; said elastic structure 19, 20; and said (at least one) adjustor 9.
  • the seat 14 is best seen in Fig. 2 , while its body weight support condition, which condition is shown in Figs. 1 and 3 , is best appreciated in Fig. 1 .
  • the seat 14 In the body weight support condition the seat 14 is supporting the pelvis area of person 11, which pelvis area is indicated by reference numeral 12 in Fig. 3 .
  • this pelvis area 12 also functions as the abovementioned "body reference part", while the body weight support condition of the seat 14 corresponds to the body support condition of the moveable body support structure 14-22.
  • the moveable body support structure 14-22 comprises horizontal beams 15, 16, 17, and a vertical beam 18.
  • the schematic units 22, shown in Fig. 3 indicate translative moveability of the shown parts relative to one another.
  • the elastic structure 19, 20 may for example be formed by two helical springs 19 and 20.
  • the spring stiffness of springs 19, 20 is adjustable (indicated by the shown crossing arrows of parts 19, 20).
  • the upwardly directed supporting force provided by the constant force mechanism 21 preferably is adjustable (indicated by the shown crossing arrow of part 21). Note that part 21 shown in Fig.
  • part 21 comprises (re)windable belt structure, allowing beams 15, 16, 17, 18 to vertically move relative to upper beam 3 (for this moveability see the schematic units 22 between beam 2 and beam 18).
  • the mentioned belt structure of part 21 will be better appreciated when looking at reference numeral 21 in Fig. 2 .
  • various types of constant force mechanisms known and available in the trade, are usable in the present invention for providing constant force in a movement range in the manner as stated.
  • the seat 14, relative to main frame 10, can move back and forth: in x-direction, in y-direction, and in z-direction.
  • this back and forth moveability in z-direction allows for the reciprocating up and down movements of the pelvis area 12 of the person 11 relative to the floor, while at the same time the constant force mechanism 21 provides the stated upwardly directed constant supporting force for carrying body weight of the person.
  • these back and forth moveabilities in x-direction and in y-direction allow for accurately detecting, by the sensor 6, various characteristics of these back and forth moveabilities.
  • the sensor 6 may for example detect relative translational displacements between beam 14 and beam 15, and/or between beam 16 and beam 17, and/or between beam 2 and beam 18.
  • the calculator 7 calculates drive control parameter(s), preferably based on a combination of the detected relative translational movement, and the a priori known spring stiffnesses of the helical springs 19 and 20. Based on the calculated drive control parameter(s), the controller 8 controls drive unit 5 to drive the rolling assembly 4.
  • Fig. 3 furthermore shows the adjustor 9.
  • Adjustor 9 can receive adjustment instructions, for example from an operator who enters these adjustment instructions via an interface, such as a keyboard 41 (see Fig. 1 ).
  • Adjustor 9 is communicatively connected to calculator 7 and is able to adjust calculator 7, based on the received adjustment instructions, into different operation modes of the walk training apparatus 1, such as the abovementioned "first operation mode", "second operation mode", and "third operation mode".
  • Fig. 1 furthermore shows a display unit 40, from which an operator can read various characteristics, for example of the (operational) status of the apparatus 1 and/or the person 11.
  • FIGs. 1 and 2 show some further (optional) supporting devices providing the person 11 with additional possibilities to receive support from the apparatus 1.
  • these further supporting devices include a trunk support 52 and a handlebar 53.
  • Figs. 1 and 2 also show the leg actuation mechanism 30.
  • the leg actuation mechanism 30 has two, mutually symmetrical parts, one being a left leg actuation mechanism, the other being a right leg actuation mechanism.
  • the left leg actuation mechanism comprises beam assemblies 31, 32, 33, 34 (see Fig. 2 ).
  • Beam assembly 31 at one end has a lower leg gripping means for gripping the lower leg of the left leg of the person 11.
  • Beam assembly 32 at one end has an upper leg gripping means for gripping the upper leg of the left leg of the person 11.
  • Beam assembly 33 at its two opposite ends has two pivoting joints, respectively, one of which interconnects beam assembly 33 with beam assembly 31 in a pivotable manner, the other interconnecting beam assembly 33 with beam assembly 32 in a pivotable manner.
  • the joint that interconnects beam assemblies 33 and 32 is furthermore pivotably connected to one end of beam assembly 34, while the other end of beam assembly 34 is connected to drive structure (located within housing 42) of the left leg actuation mechanism.
  • Each of beam assemblies 31, 32, 33, 34 has a multiplicity of internal beams (not shown in Figs. 1 and 2 ).
  • the multiplicities of internal beams of the respective beam assemblies 31, 32, 33, 34 form three-dimensional parallelogram constructions (note that three-dimensional parallelogram constructions are known in mechanics).
  • the beam assemblies 31, 32, 33, 34 can be driven by the drive structure of the left leg actuation mechanism to move in such manner that the lower leg gripping means and the upper leg gripping means perform mutual movements which correspond to the desired mutual movements of the upper leg and lower leg of the person 11 during walking.
  • the apparatus according to the invention may have different operation modes, including (but not limited to) the abovementioned "first operation mode”, “second operation mode”, and “at least one third operation mode”.
  • operation modes may be realized in which a therapist (or other operator) may perform real-time variable control of the rolling assembly and/or of the leg actuation mechanism (with the aid of various interface means, which may e.g. include wire-less control means), depending on the therapist's expertise and views and tailored to the person's actual responsive behaviour.
  • the invention allows therapists/operators to directly control the movements of the patient (or other person), while the apparatus provides options for guiding and physically supporting the patient.
  • the moveable body support structure is attached to the main frame in a translationally moveable manner relative to the main frame.
  • the moveable body support structure may also be attached to the main frame in a rotationally (elastically) moveable manner relative to the main frame.
  • Such rotational moveability may include rotational moveability around any possible direction in three-dimensional space, including rotational moveability around the shown x-direction, y-direction, or z-direction.
  • the saddle 14 (see Fig. 2 ) may be (elastically) rotationable around the z-axis.
  • the specifications and drawings are, accordingly, to be regarded in an illustrative rather than in a restrictive sense.
  • any reference signs placed between parentheses shall not be construed as limiting the claim.
  • the word 'comprising' does not exclude the presence of other features or steps than those listed in a claim.
  • the words 'a' and 'an' shall not be construed as limited to 'only one', but instead are used to mean 'at least one', and do not exclude a plurality.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biophysics (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)
EP13196260.7A 2013-12-09 2013-12-09 Appareil d'entraînement à la marche et son utilisation Withdrawn EP2881008A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13196260.7A EP2881008A1 (fr) 2013-12-09 2013-12-09 Appareil d'entraînement à la marche et son utilisation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13196260.7A EP2881008A1 (fr) 2013-12-09 2013-12-09 Appareil d'entraînement à la marche et son utilisation

Publications (1)

Publication Number Publication Date
EP2881008A1 true EP2881008A1 (fr) 2015-06-10

Family

ID=49759079

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13196260.7A Withdrawn EP2881008A1 (fr) 2013-12-09 2013-12-09 Appareil d'entraînement à la marche et son utilisation

Country Status (1)

Country Link
EP (1) EP2881008A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055798A1 (fr) * 2016-09-13 2018-03-16 Assistive Robotic Technologies Dispositif d'aide au deplacement d'un utilisateur
WO2021130331A1 (fr) 2019-12-23 2021-07-01 Hocoma Ag Appareil d'actionnement de jambe et appareil de rééducation à la marche
WO2021130321A1 (fr) 2019-12-23 2021-07-01 Hocoma Ag Accessoire d'utilisateur destiné à un appareil de rééducation à la marche et à l'équilibre
KR102959413B1 (ko) 2019-12-23 2026-04-29 호코마 아게 다리 작동 장치 및 보행 재활 장치

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050288157A1 (en) * 2004-06-29 2005-12-29 Chicago Pt, Llc Walking and balance exercise device
US20120018233A1 (en) * 2010-07-20 2012-01-26 Chang Yoon Young Walking-assistant device
WO2012107700A2 (fr) * 2011-02-10 2012-08-16 Rise Ba Dispositif de rééducation ambulatoire autonome
KR20120098050A (ko) * 2011-02-28 2012-09-05 엘지전자 주식회사 보행 보조 시스템

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050288157A1 (en) * 2004-06-29 2005-12-29 Chicago Pt, Llc Walking and balance exercise device
US20120018233A1 (en) * 2010-07-20 2012-01-26 Chang Yoon Young Walking-assistant device
WO2012107700A2 (fr) * 2011-02-10 2012-08-16 Rise Ba Dispositif de rééducation ambulatoire autonome
KR20120098050A (ko) * 2011-02-28 2012-09-05 엘지전자 주식회사 보행 보조 시스템

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055798A1 (fr) * 2016-09-13 2018-03-16 Assistive Robotic Technologies Dispositif d'aide au deplacement d'un utilisateur
WO2021130331A1 (fr) 2019-12-23 2021-07-01 Hocoma Ag Appareil d'actionnement de jambe et appareil de rééducation à la marche
WO2021130321A1 (fr) 2019-12-23 2021-07-01 Hocoma Ag Accessoire d'utilisateur destiné à un appareil de rééducation à la marche et à l'équilibre
KR102959413B1 (ko) 2019-12-23 2026-04-29 호코마 아게 다리 작동 장치 및 보행 재활 장치

Similar Documents

Publication Publication Date Title
CN110237501B (zh) 踝关节训练适配件及康复训练设备
US8888723B2 (en) Gait rehabilitation methods and apparatuses
US8915871B2 (en) Methods and apparatuses for rehabilitation exercise and training
US8771208B2 (en) Powered orthosis systems and methods
US10039682B2 (en) Methods and apparatus for rehabilitation and training
US8177732B2 (en) Methods and apparatuses for rehabilitation and training
CN108309698B (zh) 一种步态康复训练器
CN1972732A (zh) 康复锻炼和训练的方法和装置
KR101433284B1 (ko) 자세조절부를 포함하는 자세균형 훈련용 보행보조기
EP1850824B1 (fr) Methodes et appareils de readaptation et d'entrainement
EP2881008A1 (fr) Appareil d'entraînement à la marche et son utilisation
KR20140076122A (ko) 다용도 하체단련기구

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20131209

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: GABLE SYSTEMS B.V.

Owner name: KING ABDULAZIZ CITY FOR SCIENCE AND TECHNOLOGY

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20151211