DE102014212472A1 - Training device for training a person and method for operating such a device - Google Patents

Abstract

The invention relates to a training device (1) for training a person (P), comprising at least one substructure (2), at least one holding element (4) for receiving and / or fixing the person (P) and one with the substructure (2) and the movement of the holding element (4) coupled to the holding element (4). In this case, the movement unit (5) is designed as a parallel kinematic movement unit. The invention also relates to alternative methods for operating such a training device (1).

Description

The invention relates to a training device for training a person and a method for operating such a device.

Various training devices for training a person are known from the prior art, by means of which the person can perform a certain movement or by means of which the person a certain movement can be forced.

For example, passive training devices such as rubber balls or so-called wobbly chairs are known. Furthermore, active training devices are known, by means of which joints of a person can be trained in only one axis of movement in one direction. Furthermore, exercise devices with massage functions are known by means of which although a defined pressure on certain body regions of the person are exercisable, but do not allow multi-axial movements of a joint of the person or joint groups of the person.

In addition, various methods for operating an aforementioned device are known from the prior art, by means of which the person can perform a certain sequence of movements or by means of which the person can be forced to perform a specific movement sequence.

Hexapods with parallel kinematics, which are used for various robots, are also known in the prior art. Hexapods with parallel kinematics are characterized by an arrangement of six legs or axes, which are attached to a freely movable in space platform. These legs allow positioning of the platform in the room. For this purpose, the legs are designed to be variable in their length or positions of the end of the legs facing away from the platform are changeable.

The invention is based on the object to provide a comparison with the prior art improved training device for training a person. The invention is also based on the object to provide a comparison with the prior art improved method for operating a training device for training a person.

The object is achieved with respect to the device according to the invention with the features specified in claim 1. With regard to the method, the object is achieved according to the invention with the features specified in claims 14, 15 and 16.

Advantageous embodiments of the invention are the subject of the dependent claims.

The training device according to the invention for training a person comprises a substructure, a holding element for receiving and / or fixing the person or at least a body part of the person and coupled to the substructure and the holding element movement unit for moving the holding element. The movement unit is designed as a parallel kinematic movement unit.

The terms substructure and ceiling construction used are not to be construed in the sense that the substructure in the direction of gravity must always be arranged below the ceiling construction. In particular, it is also possible that the substructure is arranged in the direction of gravity above or next to the ceiling construction.

The formation of the movement unit as a parallel kinematic movement unit allows in a particularly advantageous manner that the holding element and thus the person or a body part fixed therein can perform a spatially and temporally predetermined movement. Thus, according to the invention, all natural movement sequences are at least partially possible with more degrees of freedom than in the prior art.

The inventions enable training of a person in which joints and joint groups are multiaxially movable. Thus, a mobility of the person are maintained or promoted, improves a body perception and allows a build-up or strengthening of a musculature of the person. The inventions are particularly preferably used to support therapies or rehabilitations. This can be counteracted negative side effects of civilized life, which is often characterized by office work and sedentary work. Such negative side effects are in particular various back problems.

The inventions enable free movements in or around all spatial axes, ie displacements in the x-, y- and z-direction as well as rotations about x-, y- and z-direction and thus form a 6DOF movement unit.

A particular advantage of the device according to the invention is due to the use of the parallel kinematic movement unit in the very low masses to be moved, resulting in the possibility of high speeds of movement and thus the detectability and / or simulability and / or enforceability of very complex sequences of movements for training of the person.

Preferably actuators and / or sensors are provided which allow detection of forces and their directions of action. This makes it possible to carry out an interactive training.

An embodiment of the device according to the invention provides that the parallel kinematic movement unit is a tripod, four-legged, five-legged, six-legged or seven-legged leg with a first number of legs of variable length.

In the following, in particular rigid or variable-length connection elements between two related points, in particular articulation points, are to be understood as legs.

Preferably, it is provided that the first number of legs are ropes, so that the first number of legs is bendable. These trained as ropes legs are each attached to the substructure and to the support member. A second number of the legs are ropes, which are each attached to the holding element and to a stationary with respect to the substructure arranged ceiling construction. In this case, the length of the legs designed as ropes is variable such that the position of the holding element with respect to the substructure is spatially and time-dependent adjustable. As a result, very complex movements for training the person are particularly easy to detect and / or simulated and / or the person aufzwingbar. Such a rope kinematic device allows very large free movement sequences.

More preferably, six ropes are connected to the substructure and three ropes serving as the top ropes are connected to the ceiling construction. The six ropes connected to the substructure are movably connected there, thereby defining the position of the retaining element, the upper six ropes serve to brace the retaining element.

The upper, in particular three ropes are set to either bias, for example by means of pulleys and weights or by means of a spring mechanism. It is also possible to form the upper ropes controlled by a motor to roll up.

A first alternative development of the aforementioned embodiment of the device according to the invention provides that the trained as ropes legs are rolled up. As a result, the length of each leg and thus the position of the holding element are particularly easy to adjust. In addition, this development has a few visible moving parts, which this training has a particularly high level of security against injury and also a particularly aesthetic appearance.

A second alternative development of the aforementioned embodiment of the device according to the invention provides that attachment points of the first number of legs designed as ropes are slidably controlled relative to the substructure, in particular, all attachment points of the first number of trained as ropes legs either up and down or outward and movable inside. As a result, the effective length of each leg and thus the position of the holding element are also particularly easy to adjust. In addition, this development has a simple and therefore inexpensive construction. It is possible that attachment points of the second number of ropes formed as legs relative to the ceiling construction are displaced controlled, in particular either up and down or outwards and inwards. It is also possible that the attachment points of the second number of legs designed as cables can be rolled up in a controlled manner relative to the ceiling construction.

In the first embodiment of the invention, the retaining element is particularly preferably a fixing element for temporarily fixing a human body part, in particular a trunk, a wrist or a fetter. This makes it possible in a particularly simple manner, the fixation of a particular human body part, so that various complex movements of different body parts are feasible.

Preferably, the first number of legs comprises six and the second number of legs three ropes.

A second embodiment of the invention provides that the legs are rods, ie rigid elements, which are each attached by means of joints to the substructure and by means of joints on the holding element. The rods are attached either directly or indirectly to the substructure. The length of the legs is variable so that the position of the holding element with respect to the substructure is adjustable. The legs in the form of rods are preferably fastened directly to the retaining element by means of joints. This embodiment is particularly simple and has a small number of moving elements.

A first alternative development of the second embodiment of the invention provides that the formed as rods legs are controlled telescopically variable in length. Preferably, the telescopic length variability is effected hydraulically, pneumatically or by means of a spindle drive. This is advantageous because few moving parts allow a low risk of accident for the person; Moreover, this training is also very aesthetic.

A second alternative development of the second embodiment of the invention provides that attachment points of the legs formed as rods are slidably controlled relative to the substructure, in particular either up and down or outwards and inwards. This is advantageous because it allows a particularly simple and inexpensive to produce device that can perform very fast movements.

In the second embodiment of the invention, the retaining element is preferably a seat surface for receiving the person, in particular a seat surface of a chair. It is also possible that in the second embodiment of the invention, the holding element is a fixing element for temporarily fixing a human body part, in particular a trunk, a wrist or a fetter. This also succeeds in a particularly simple way, the fixation of a particular human body part, so that various complex movements of different body parts are feasible. Compared to the known devices such as sitting balls or so-called rubber-wobbler seat covers it requires when using the device no concentration of the person to vollführ movements, since the movement of the seat cushion is predetermined. In addition, the seat cushion, unlike previously known devices, allows a free movement with six degrees of freedom, so not just a pure tilting about different axes.

A further embodiment of the invention provides that the movement unit is automatically controllable by means of at least one control unit. As a result, different motion sequences are automated in a particularly simple manner.

A development of this embodiment of the invention provides that the at least one control unit is coupled to at least one input unit for specifying a respective movement sequence of the movement unit. This allows the person to initiate a specific training program in a simple manner.

In a first alternative of the method according to the invention for operating a device according to the invention, the length of at least a first number of legs is changed controlled such that the position of the holding element is adjusted with respect to the substructure, so that the person or a body part of the person is forced a sequence of movements. This setting, ie the control, is preferably time-dependent or based on other parameters such as force, speed or uniformity. As a result, a specifiable training program is carried out in such a way that a predetermined movement sequence is reliably maintained. Preferably, this method is used to operate the chair described above, wherein the person attempts to compensate for a predetermined movement of a seat surface, which consciously or unconsciously, especially with regular implementation of a strengthening of a musculature, in particular a back muscles.

This makes it possible to move a passive acting person by means of a predefined movement profile. This is particularly advantageous if the movement profile is designed so that a concentration of the person on the movement is not required. Particularly preferably, the implementation of the method takes place cyclically, in particular for a seat support for a seat for a VDU workstation.

In a second alternative of the method according to the invention for operating a device according to the invention by a movement of the person or a body part of the person imposed on the holding element, a sequence of movements, the length of at least a first number of legs is changed time-dependent, wherein the position of the holding element with respect the substructure is detected time-dependent, so that a completed motion sequence is stored reproducible. This results in a simple way of teaching a device. It is also possible to use the device for motion analysis, in particular to determine what force the person applies for which movement or for what speed of a particular movement. The method also makes it possible that a completed sequence of movements is not only reproducibly stored, but that also predefinable parameters are analyzed.

Preferably, the person is displayed a certain movement pattern, ie predetermined; Subsequently, the person performs this movement, while standing by means of the holding device with a device according to the invention in effect unit. Sensors detect the movement of the person, actuators control the movement unit.

In accordance with configured force parameters, a force required for a movement of a seat platform and its course can be defined.

In a third alternative of the method according to the invention for operating a device according to the invention is by a movement of the Person or a body part of the person imposed on the holding element a sequence of movements, as a result, the length of at least a first number of legs is changed time-dependent, wherein the position of the holding element with respect to the substructure is detected time-dependent and wherein the movement of the person or a body part of the person adjustable resistance is opposed. As a result, an effective training can be carried out in a simple manner, which allows the person to carry out a self-selected and non-predefined movement sequence.

It is possible to combine the methods of the invention.

Preferably actuators and / or sensors are provided which allow detection of forces and their directions of action. This makes it possible to carry out an interactive training.

Embodiments of the invention are explained in more detail below with reference to drawings.

Show:

1 FIG. 2 schematically a first perspective view of a first embodiment of the device according to the invention, FIG.

2 schematically an associated second perspective view,

3 schematically an associated third perspective view,

4 schematically a first perspective view of a second embodiment of the device according to the invention,

5 schematically an associated second perspective view,

6 schematically an associated third perspective view,

7 schematically an associated fourth perspective view,

8th schematically a perspective view of a third embodiment of the device according to the invention and

9 schematically a perspective view of a fourth embodiment of the device according to the invention.

1 to 3 schematically show perspective views of a first embodiment of the exercise device according to the invention 1 , which serves the training of a person P. The training device 1 includes a substructure 2 , one opposite this substructure 2 fixed ceiling construction 3 and a holding member provided therebetween 4 , The ceiling construction 3 is with three supporting spacers 5.1 . 5.2 . 5.3 with the substructure 2 connected. The holding element 4 is designed as a trunk strap for the person P and has a collar-shaped outer disc 4.1 on whose largest outer diameter is smaller than the diameter of the substructure 2 and as the diameter of the ceiling construction 3 ,

By means of a first number of legs designed as ropes 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 , which respectively on the substructure 2 and on the holding element 4 are fixed, is a spatial position of the holding element 4 analogous to a hexapod, which is controllable by means of a control unit, not shown, adjustable. A second number of legs designed as ropes 5.10 . 5.11 . 5.12 serves as a relaxation; this is the second number of legs 5.10 . 5.11 . 5.12 acted upon by means of a biasing means, not shown, with a tensile force. To adjust the spatial position of the retaining element 4 and thus to carry out a defined sequence of movements, the first number of legs formed as ropes 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 so controlled that the length of each of the legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 individually adjusted by means of a respective unrolling unit, not shown.

The lower ends of the ropes formed as ropes 5.4 . 5.5 and 5.6 . 5.7 and 5.8 . 5.9 are alternately equally spaced at the substructure 2 each near the foot of the spacers 5.1 and 5.2 and 5.3 rolled up. Alternatively it is possible to have the legs at irregular intervals on the substructure 2 to arrange. The upper ends of the ropes formed as ropes 5.10 and 5.11 and 5.12 are equidistant at the outer edge of the disc 4.1 attached. Alternatively, it is possible to have the legs at irregular intervals on the disc 4.1 to arrange

4 to 6 show schematically perspective views of a second embodiment of the exercise device according to the invention 1 which serves as a seat for a person P. The holding element 4 is a seat cushion whose position in the room is freely adjustable. This is the first number of legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 formed as a telescopically variable pressure rods, which in each case on the substructure 2 and on the holding element 4 are attached.

7 schematically shows a further perspective view of the previously described second embodiment of the exercise device according to the invention 1 in which the first number of legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 are designed as telescopically variable length pressure rods. In this illustration, the person P is shown. Every leg 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 is attached with each of its ends by means of a joint; at the bottom of the underframe 2 , which is designed as a roller frame of a chair, and at the top of the underside of the holding element 4 ,

8th schematically shows a perspective view of a third embodiment of the exercise device according to the invention 1 , which also serves as a seat for a person P shown here. Here is the first number of legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 designed as length-invariable pressure rods. In this illustration, the person P is shown. Every leg 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 is attached with each of its ends by means of a joint; and below each one at the base 2 horizontally arranged guide F and the top of the underside of the holding element 4 , Alternatively, it is possible to arrange the guides F with a particular low inclination to the horizontal.

The six with the six legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 Corresponding horizontal guides allow a controlled displacement of the lower joints of the legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 from the inside out and vice versa. As a result, the spatial position of the retaining element 4 analogous to a hexapod, which is controllable by means of a control unit, not shown, adjustable.

9 schematically shows a perspective view of a fourth embodiment of the exercise device according to the invention 1 , which also serves as a seat for a person P shown here. Here is the first number of legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 also designed as non-variable pressure rods. Every leg 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 is also attached to each of its ends by means of a joint; and below each one at the base 2 vertically arranged guide F and the top of the underside of the holding element 4 , Alternatively, it is possible to arrange the guides F with a particular low inclination to the horizontal The six with the six legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 Corresponding vertical guides allow a controlled vertical displacement of the lower joints of the legs 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 from bottom to top and vice versa. As a result, the spatial position of the retaining element 4 analogous to a hexapod, which is controllable by means of a control unit, not shown, adjustable.

By means of the training devices 1 according to the 4 to 9 it is possible to move a passive acting person P in a predefined movement profile. The movement profile is preferably designed so that a concentration of the person P on the movement is not required. The movement of the retaining element 4 is preferably at intervals, which are interrupted in particular by pauses of different lengths, whereby the training device 1 Particularly well suited as a seat for a VDU workstation. It is also possible, the movement of the retaining element 4 continuously or cyclically.

LIST OF REFERENCE NUMBERS

1

training device

2

substructure

3

ceiling construction

4

retaining element

4.1

disc

5

moving unit

5.1 to 5.3

spacers

5.4 to 5.9

legs

5.10 to 5.12

legs

P

person

F

guide

Claims (16)

Training device ( 1 ) for training a person (P) comprising - at least one substructure ( 2 ), - at least one retaining element ( 4 ) for receiving and / or fixing the person (P) and - one with the substructure ( 2 ) and the retaining element ( 4 ) coupled motion unit ( 5 ) for moving the retaining element ( 4 ), wherein the movement unit ( 5 ) is designed as a parallel kinematic movement unit. Contraption ( 1 ) according to claim 1, characterized in that the parallel kinematic movement unit comprises a tripod, four-leg, five-legged, six-legged or seven-legged leg with a first number of legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) is of variable length. Contraption ( 1 ) according to claim 2, characterized in that the first number of legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) Are ropes, which in each case on the substructure ( 2 ) and on the holding element ( 4 ) and that a second number of legs ( 5.10 . 5.11 . 5.12 ) Ropes are (soft bendable), which in each case on the holding element ( 4 ) as well as with respect to the substructure ( 2 ) fixed ceiling construction ( 3 ), the length of the ropes ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 . 5.10 . 5.11 . 5.12 ) is variable such that the position of the holding element ( 4 ) with regard to the substructure ( 2 ) is adjustable. Contraption ( 1 ) according to claim 3, characterized in that the legs formed as ropes ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 . 5.10 . 5.11 . 5.12 ) are rolled up controlled. Contraption ( 1 ) according to claim 3, characterized in that attachment points of the first number of ropes formed as ropes ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) opposite the substructure ( 2 ) are displaced controlled. Contraption ( 1 ) according to claim 5, characterized in that attachment points of the second number of ropes formed as ropes ( 5.10 . 5.11 . 5.12 ) compared to the ceiling construction ( 3 ) are displaced controlled. Contraption ( 1 ) according to one of the preceding claims, characterized in that the retaining element ( 4 ) is a fixing element for fixing a human body part. Contraption ( 1 ) according to claim 2, characterized in that the legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) Bars are, which in each case by means of joints on the substructure ( 2 ) and by means of joints on the holding element ( 4 ), the length of the legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) is variable such that the position of the holding element ( 4 ) with regard to the substructure ( 2 ) is adjustable. Contraption ( 1 ) according to claim 8, characterized in that the legs formed as rods ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) controlled telescopically variable in length. Contraption ( 1 ) according to claim 8 or 9, characterized in that attachment points of the legs formed as rods ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) opposite the substructure ( 2 ) are displaced controlled. Contraption ( 1 ) according to one of claims 8 to 10, characterized in that the retaining element ( 4 ) is a seat for receiving the person (P). Contraption ( 1 ) according to one of the preceding claims, characterized in that the movement unit ( 5 ) are automatically controlled by at least one control unit or is. Contraption ( 1 ) according to claim 9, characterized in that the at least one control unit with at least one input unit for specifying a respective movement sequence of the movement unit ( 5 ) is coupled (respective training program). Method for operating a device according to one of the preceding claims, characterized in that the length of at least a first number of legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) is controlled so controlled that the position of the holding element ( 4 ) with regard to the substructure ( 2 ) is set, so that the person (P) or a body part of the person (P) a sequence of movements is imposed. Method for operating a device according to one of claims 1 to 13, characterized in that by a movement of the person (P) or a body part of the person (P) the holding element ( 4 ) a sequence of movements is imposed, as a result of which the length of at least a first number of legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) is changed time-dependent, wherein the position of the holding element ( 4 ) with regard to the substructure ( 2 ) is detected time-dependent, so that a completed motion sequence is stored reproducible. Method for operating a device according to one of claims 1 to 13 or 15, characterized in that by a movement of the person (P) or a body part of the person (P) the holding element ( 4 ) a sequence of movements is imposed, as a result of which the length of at least a first number of legs ( 5.4 . 5.5 . 5.6 . 5.7 . 5.8 . 5.9 ) is changed time-dependent, wherein the position of the holding element ( 4 ) with regard to the substructure ( 2 ) is detected time-dependent and wherein the movement of the person (P) or a body part of the person (P) is opposed to an adjustable resistance.

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