EP0148671A1 - Exercise and rehabilitation apparatus - Google Patents

Exercise and rehabilitation apparatus Download PDF

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Publication number
EP0148671A1
EP0148671A1 EP84402520A EP84402520A EP0148671A1 EP 0148671 A1 EP0148671 A1 EP 0148671A1 EP 84402520 A EP84402520 A EP 84402520A EP 84402520 A EP84402520 A EP 84402520A EP 0148671 A1 EP0148671 A1 EP 0148671A1
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EP
European Patent Office
Prior art keywords
wire
guide rail
distributor
traction
force
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.)
Granted
Application number
EP84402520A
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German (de)
French (fr)
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EP0148671B1 (en
Inventor
Michel Roche
Jean-Pierre Didier
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Aremo A Responsabilite Ltee Ste
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Aremo A Responsabilite Ltee Ste
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Priority to AT84402520T priority Critical patent/ATE37795T1/en
Publication of EP0148671A1 publication Critical patent/EP0148671A1/en
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    • 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
    • A63B21/15—Arrangements for force transmissions
    • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
    • A63B21/153—Using flexible elements for reciprocating movements, e.g. ropes or chains wound-up and unwound during exercise, e.g. from a reel
    • 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
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/58—Measurement of force related parameters by electric or magnetic means

Definitions

  • the present invention relates to a gymnastic or muscular rehabilitation apparatus, in which an antagonistic force is applied, by means of a flexible wire, to any point of the orgasm of a patient, in particular on one of its members.
  • the force is controlled in intensity by the tension of the wire and in direction by the judicious choice of the position of the point by which the wire leaves the device, point called "point of application of the force".
  • point of application of the force point called "point of application of the force”.
  • Known devices of this kind are of several types. Some known devices or “tensors” are constituted by elastic or springs, one end of which is attached to an anchor point which constitutes the point of application of the force.
  • weights determine the tension of the wire (therefore the modulus of the force) and the pulley, by its property "of angular deflection", fixes the point of application of the force.
  • the present invention aims to remedy these drawbacks by providing a device of particularly simple design, making it very easy to modify the point of application of the force and to electronically control the tension of the thread.
  • this apparatus for gymnastics or muscular reeducation in which an antagonistic effort is applied, by means of a flexible wire, at any point of the orgariism of a patient, in particular on one of its members, is characterized in that it comprises a guide rail 1 on which a wire distributor is slidably mounted, means for immobilizing this wire distributor in any position along the rail, so as to allow to choose at will the point of application of the tensile force exerted by the wire, and means making it possible to exert an adjustable traction on the wire so as to be able to control at will the force applied to the patient by the wire at its exit from the wire distributor .
  • the apparatus according to the invention offers the advantage of allowing continuous adjustment of the point of application of the force: it suffices to immobilize the wire distributor in the appropriate position on the rail. Furthermore, control of the thread tension, that is to say the intensity of the force applied to the patient, is very easily obtained by electronic means.
  • This rail 1 which can be vertical as shown in FIG. 1 or horizontal or inclined at any angle relative to the horizontal, can be permanently fixed to any support such as wall, floor, ceiling etc. .. It can also be movable in a direction perpendicular to its longitudinal axis, for example on transverse rails 1a.
  • the surface supporting the guide rail 1 can be flat or even curved in which case the transverse rails 1a then have a curved shape matching that of the surface forming a support.
  • the wire distributor 2 On the rail 1 can slide vertically a wire distributor 2 which can be moved over the entire length of the guide rail 1.
  • the wire distributor 2 can be immobilized, in any desired position, by means of locking members suitable, such as screws 2a.
  • the wire distributor 2 Zaisse take out a flexible wire 3 in the direction of any point of the body of a patient, in particular of one of its members, in order to apply to this member an antagonistic traction effort illustrated by the wire F, the point A of application of this force F being that where the wire 3 leaves the distributor 2.
  • the wire 3 enters the wire distributor 2 passing between two tangent rollers 4, 4a located outside the guide line 1 and axes parallel to the longitudinal axis of the guide rail 1.
  • Inside the wire distributor 2 carries means making it possible to deflect the wire 3 downwards, in the longitudinal direction, in the direction d 'A device 5 for tensioning the wire 3 mounted on the lower end of the tubular rail 1. This device 5 could, however, also be mounted.
  • the latter can advantageously be provided with a pair of wheels with tangential grooves 6 and 7, mounted at rotation on the wire distributor 2, inside the tubular rail 1, and whose axes are perpendicular to the longitudinal axis of the guide rail 1 . Therefore the wire 3 from the tensioning device 5 is deflected first transversely passing between the grooved wheels 6, 7, towards the outside of the guide rail 1, then it is also deflected, passing between the rollers 4 and 4a, in the direction of the patient's member to be subjected to traction. It can be seen from the above that the means for guiding the wire make it possible to exert, by means of this wire, a traction F in all directions, and this without causing prohibitive friction.
  • a direct current electric motor 8 which generally produces a torque C proportional to the supply current of this motor. Consequently under these conditions the adjustment of the torque and consequently that of the force F is effected by regulation of the motor supply current. It is therefore possible, by correlatively adjusting the supply current, to make force F follow a law as complex as desired.
  • FIG. 4 illustrates an example of regulation by means of a power transistor 11 connected in series with the electric motor 8 and a rectified and filtered power supply 12.
  • the power transistor 10 is controlled by an operational amplifier 13 whose positive input receives a reference voltage v (t) which is proportional to the current I passing through the motor.
  • the emitter of the power transistor 11 is connected to ground via a resistor 14 and the feedback voltage RI which appears at the terminals of this resistor 14, that is to say to the emitter of transistor 11, is applied to the negative input of the operational amplifier 13.
  • the measurement of the elongation performed by the angular encoder 15 can also be used to calculate the work performed or the power developed instantly.
  • the device according to the invention can be used in hospitals or clinics, in physiotherapists, in gyms or in individuals.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Rehabilitation Tools (AREA)
  • Massaging Devices (AREA)

Abstract

1. Exercise or rehabilitation apparatus, in which an antagonistic effort is applied, by means of a supple wire, at any point of the organism of a patient, particularly on one of his/her limbs, comprising a guide rail (1) on which is slidably mounted a wire dispenser (2) comprising at least one grooved wheel mounted to rotate, whose axis is perpendicular to the longitudinal axis of the guide rail, the guide rail (1) being constituted by a hollow section presenting, on its lateral surface, a longitudinal slot through which the wire (3) emerges, means (2a) for immobilizing this wire dispenser (2) in any position along the rail (1), so as to make it possible to choose as desired the point (A) of application of the force of traction (F) exerted by the wire (3), and means (5) for exerting an adjustable traction on the wire (3) so as to be able to control as desired the force applied to the patient by the wire (3) on leaving the wire dispenser (2), characterized in that the wire dispenser (2) comprises, on the one hand, a pair of grooved wheels (6, 7) tangential to each other, mounted to rotate on the wire dispenser (2), inside the guide rail (1), with the axes of these two wheels perpendicular to the longitudinal axis of the guide rail (1), and, on the other hand, two tangential rollers (4, 4a) mounted to rotate, adjacent the guide slot and outside the guide rail (1) and whose axes are parallel to the longitudinal axis of the guide rail (1), the wire (3) coming from the traction means being deviated transversely towards the outside by passing between the two grooved wheels (6, 7), then through the two rollers (4, 4a), the adjustable traction means being mounted on an extreme part of the guide rail.

Description

La présente invention concerne un appareil de gymnastique ou de rééducation musculaire, dans lequel un effort antagoniste est appliqué , au moyen d'un fil souple, en un point quelconque de l' orgarzisme d'un patient notamment sur l'un de ses membres.The present invention relates to a gymnastic or muscular rehabilitation apparatus, in which an antagonistic force is applied, by means of a flexible wire, to any point of the orgasm of a patient, in particular on one of its members.

Dans ces appareils la force est contrôlée en intensité par la tension du fil et en direction par le choix judicieux de la position du point par lequel le fil sort de l'appareil, point appelé "point d'application de la force". Ainsi la direction de la force est obtenue par la droite qui relie le membre en exercice au point d'application de la force.In these devices the force is controlled in intensity by the tension of the wire and in direction by the judicious choice of the position of the point by which the wire leaves the device, point called "point of application of the force". Thus the direction of the force is obtained by the straight line which connects the member in exercise to the point of application of the force.

Les appareils connus de ce genre sont de plusieurs types. Certains appareils connus ou "tenseurs" sont constitués par des élastiques ou des ressorts, dont l'une des extrémités est attachée à un point d'ancrage qui constitue le point d'application de la force.Known devices of this kind are of several types. Some known devices or "tensors" are constituted by elastic or springs, one end of which is attached to an anchor point which constitutes the point of application of the force.

D'autres appareils connus sont du type à poids et à poulie. Dans ces appareils les poids déterminent la tension du fil (donc le module de la force) et la poulie, par sa propriété "de renvoi d'angte", fixe le point d'application de la force.Other known devices are of the weight and pulley type. In these devices the weights determine the tension of the wire (therefore the modulus of the force) and the pulley, by its property "of angular deflection", fixes the point of application of the force.

Tous ces appareils ont, entre autres inconvénients, celui de très mal contrôler l'irzterzsité de la force appliquée au musele. Dans le premier cas, c'est-à-dire celui des "terzseurs", cette intensité est proportionnelle à l'étorega- tion, c'est-à-dire au déplacement du membre, tandis que dans le second cas (poids et poulie), elle reste constante. Ces deux cas sont aussi éloignés l'un que Z'autre des conditions idéales qui nécessitent un contrôle très précis de la force afin de la moduler en fonction des problèmes de rééducation qui sont des cas d'espèce. Dans certains cas par exemple,on souhaite asservir la force de telle façon que le mouvement s'effectue à une vitesse déterminée, etc...All these devices have, among other disadvantages, that of very poorly controlling the irzterzsity of the force applied to the muzzle. In the first case, that is to say that of the "terzseurs", this intensity is proportional to the atration, that is to say to the movement of the limb, while in the second case (weight and pulley), it remains constant. These two cases are as far apart as the other from the ideal conditions which require very precise control of the force in order to modulate it according to the rehabilitation problems which are specific cases. In certain cases for example, one wishes to enslave the force in such a way that the movement is carried out at a determined speed, etc.

La présente invention vise à remédier à ces inconvénients en procurant un appareil de conception particulièrement simple, permettant de modifier très aisément le point d'application de la force et de contrôler électroniquement la tension du fil.The present invention aims to remedy these drawbacks by providing a device of particularly simple design, making it very easy to modify the point of application of the force and to electronically control the tension of the thread.

A cet effet cet appareil de gymnastique ou de rééducation musculaire, dans lequel un effort antagoniste est appliqué , au moyen d'un fil souple, en un point quelconque de l'orgariisme d'un patient, notamment sur l'un de ses membres, est caractérisé en ce qu'il comporte un rail de guidage 1 sur lequel est monté à coulissement un distributeur de fil , des moyens pour immobiliser ce distributeur de fil dans une position quelconque le long du rail, de manière à permettre de choisir à volonté le point d'application de la force de traction exercée par le fil, et des moyens permettant d'exercer une-traction réglable sur le fil de manière à pouvoir contrôler à volonté la force appliquée au patient par le fil à sa sortie du distributeur de fil.To this end, this apparatus for gymnastics or muscular reeducation, in which an antagonistic effort is applied, by means of a flexible wire, at any point of the orgariism of a patient, in particular on one of its members, is characterized in that it comprises a guide rail 1 on which a wire distributor is slidably mounted, means for immobilizing this wire distributor in any position along the rail, so as to allow to choose at will the point of application of the tensile force exerted by the wire, and means making it possible to exert an adjustable traction on the wire so as to be able to control at will the force applied to the patient by the wire at its exit from the wire distributor .

L'appareil suivant Z'invention offre Z'avantge de permettre un réglage continu du point d'application de la force: il suffit en effet d'immobiliser le distributeur de fil dans la position appropriée sur le rail. Par ailleurs le contrôle de la tension du fil, c'est-à-dire de l'intensité de la force appliquée au patient, est obtenu très aisément par des moyens électroniques.The apparatus according to the invention offers the advantage of allowing continuous adjustment of the point of application of the force: it suffices to immobilize the wire distributor in the appropriate position on the rail. Furthermore, control of the thread tension, that is to say the intensity of the force applied to the patient, is very easily obtained by electronic means.

On décrira ci-après,à titre d'exemple non limitatif, une forme d'exécution de la présente invention, en référence au dessin annexé sur lequel:

  • La figure est une vue en perspective d'un appareil de gymnastique ou de rééducation musculaire suivant l'invention.
  • La figure 2 est une vue en perspective schématique des éléments constitutifs essentiels de l'appareil suivant la figure 1.
  • La figure 3 est un schéma électrique d'une forme d'exécution du circuit d'alimentation du moteur entrainant le treuil sur lequel est enroulé le fil exerçant la traction. L'appareil représenté sur les figures 1 et 2 du dessin comporte un rail de guidage 1 constitué par un profilé creux quelconque, par exemple un tube carré, lequel présente, sur sa surface latérale, une fente longitudinale 1a.
An embodiment of the present invention will be described below, by way of non-limiting example, with reference to the appended drawing in which:
  • The figure is a perspective view of a gymnastic or muscular rehabilitation apparatus according to the invention.
  • FIG. 2 is a schematic perspective view of the essential constituent elements of the apparatus according to FIG. 1.
  • Figure 3 is an electrical diagram of an embodiment of the motor supply circuit driving the winch on which is wound the wire exerting traction. The apparatus shown in Figures 1 and 2 of drawing comprises a guide rail 1 constituted by any hollow profile, for example a square tube, which has, on its lateral surface, a longitudinal slot 1a.

Ce rail 1, qui peut être vertical comme il est représenté sur la figure 1 ou horizontal ou incliné d'un angle quelconque par rapport à l'horizontale, peut être fixé à demeure sur un support quelconque tel que mur, sol, plafond etc... Il peut aussi être mobile dans une direction perpendiculaire à son axe longitudinal par exemple sur des rails transversaux 1a.This rail 1, which can be vertical as shown in FIG. 1 or horizontal or inclined at any angle relative to the horizontal, can be permanently fixed to any support such as wall, floor, ceiling etc. .. It can also be movable in a direction perpendicular to its longitudinal axis, for example on transverse rails 1a.

La surface supportant le rail de guidage 1 peut être plane ou encore courbe auquel cas les rails transversaux la ont alors une forme courbe épousant celle de la surface formant support.The surface supporting the guide rail 1 can be flat or even curved in which case the transverse rails 1a then have a curved shape matching that of the surface forming a support.

Sur le rail 1 peut coulisser verticalement un distributeur de fil 2 qui peut être déplacé sur toute la longueur du rail de guidage 1. Le distributeur de fil 2 peut être immobilisé, dans n'importe quelle position désirée, au moyen d'organes de blocage appropriés, tels que des vis 2a. Le distributeur de fil 2 Zaisse sortir un fil souple 3 en direction d'un point quelconque de l'organisme d'un patient, notamment de l'un de ses membres, afin d'appliquer à ce membre un effort antagoniste de traction illustré par la fèlche F, le point A d'application de cette force F étant celui où le fil 3 sort du distributeur 2. Le fil 3 pénètre dans le distributeur de fil 2 en passant entre deux rouleaux tangents 4, 4a situés à l'extérieur du rait de guidage 1 et d'axes parallèles à l'axe longitudinal du rail de guidage 1. A l'intérieur le distributeur de fil 2 porte des moyens permettant de dévier le fil 3 vers le bas, dans la direction longitudinale, en direction d'un dispositif 5 de mise sous tension du fil 3 monté sur la partie extrême inférieure du rail tubulaire 1. Ce dispositif 5 pourrait, toutefois, être monté aussi.On the rail 1 can slide vertically a wire distributor 2 which can be moved over the entire length of the guide rail 1. The wire distributor 2 can be immobilized, in any desired position, by means of locking members suitable, such as screws 2a. The wire distributor 2 Zaisse take out a flexible wire 3 in the direction of any point of the body of a patient, in particular of one of its members, in order to apply to this member an antagonistic traction effort illustrated by the wire F, the point A of application of this force F being that where the wire 3 leaves the distributor 2. The wire 3 enters the wire distributor 2 passing between two tangent rollers 4, 4a located outside the guide line 1 and axes parallel to the longitudinal axis of the guide rail 1. Inside the wire distributor 2 carries means making it possible to deflect the wire 3 downwards, in the longitudinal direction, in the direction d 'A device 5 for tensioning the wire 3 mounted on the lower end of the tubular rail 1. This device 5 could, however, also be mounted.

Pour diminuer le frottement du fil 3 sur le distributeur de fil 2, ce dernier peut être avantageusement pourvu d'une paire de roues à gorge tangentes 6 et 7, montée à rotation sur le distributeur de fil 2, à l'intdérieur du rail tubulaire 1, et dont les axes sont perpendiculaires à l'axe longitudinal du rail de guidage 1. De ce fait le fil 3 provenant du dispositif 5 de mise sous tension est dévié tout d'abord transversalement en passant entre les roues à gorge 6, 7, vers l'extérieur du rail de guidage 1, puis il est également dévié, en passant entre les rouleaux 4 et 4a, en direction du membre du patient devant être soumis à une traction. On voit, d'après ce qui précéde, que les moyens de guidage du fil permettent d'exercer, au moyen de ce fil, une traction F dans toutes les directions, et ce sans entrainer des frottements prohibitifs.To reduce the friction of the wire 3 on the wire distributor 2, the latter can advantageously be provided with a pair of wheels with tangential grooves 6 and 7, mounted at rotation on the wire distributor 2, inside the tubular rail 1, and whose axes are perpendicular to the longitudinal axis of the guide rail 1 . Therefore the wire 3 from the tensioning device 5 is deflected first transversely passing between the grooved wheels 6, 7, towards the outside of the guide rail 1, then it is also deflected, passing between the rollers 4 and 4a, in the direction of the patient's member to be subjected to traction. It can be seen from the above that the means for guiding the wire make it possible to exert, by means of this wire, a traction F in all directions, and this without causing prohibitive friction.

En amont du distributeur de fil 2 on exerce sur le fil 3, au moyen du dispositif 5 de mise sous tension, une traction T dirigée vers le bas, parallèlement à l'axe longitudinal du rail de guidage 1. Avec des frottements faibles on peut considérer que Z'intensité de la force de, traction F s'exerçant sur le membre du patient est pratiquement égale à la traction T exercée vers le bas sur le fil 3.Upstream of the wire distributor 2 there is exerted on the wire 3, by means of the tensioning device 5 , a traction T directed downwards, parallel to the longitudinal axis of the guide rail 1. With low friction it is possible to consider that Z'intensity of the traction force F exerted on the patient's limb is practically equal to the traction T exerted downwards on the wire 3.

Suivant une forme d'exécution non limitative de l'invention le dispositif 5 de mise sous tension du fil 3 comporte un moteur électrique 8 entrainant, par l'intermédiaire d'un réducteur éventuel 9, un treuil 10 sur lequel est enroulé le fil 3. Si R est le rayon du treuil 10, il est nécessaire, pour obtenir une traction T sur le fil, d'appliquer au treuil 10 un couple C tel que C = T.R.According to a non-limiting embodiment of the invention, the device 5 for tensioning the wire 3 comprises an electric motor 8 driving, via a possible reduction gear 9, a winch 10 on which the wire 3 is wound. If R is the radius of the winch 10, it is necessary, to obtain a traction T on the wire, to apply to the winch 10 a torque C such that C = TR

Il est particulièrement avantageux d'utiliser, pour l'entrainement du treuil 10, un moteur électrique 8 à courant continu qui produit généralement un couple C proportionnel au courant d'alimentation de ce moteur. Par conséquent dans ces conditions le réglage du couple et par conséquent celui de la force F s'effectuent par une régulation du courant d'alimentation du moteur. Il est donc possible, en ajustant d'une manière corrélative le courant d'alimentation, de faire suivre à la force F une loi aussi complexe que souhaitée.It is particularly advantageous to use, for driving the winch 10, a direct current electric motor 8 which generally produces a torque C proportional to the supply current of this motor. Consequently under these conditions the adjustment of the torque and consequently that of the force F is effected by regulation of the motor supply current. It is therefore possible, by correlatively adjusting the supply current, to make force F follow a law as complex as desired.

La figure 4 illustre un exemple de régulation au moyen d'un transistor de puissance 11 branché en série avec le moteur électrique 8 et une alimentation redressée et filtrée 12. le transistor de puissance 10 est commandé par un amplificateur opérationnel 13 dont l'entrée positive reçoit une tension de consigne v(t) qui est proportionnelle au courant I traversant le moteur. L'émetteur du transistor de puissance 11 est relié à la masse par l'intermédiaire d'une résistance 14 et la tension de contre-réaction RI qui apparait aux bornes de cette résistance 14, c'est-à-dire à l'émetteur du transistor 11, est appliquée à l'entrée négative de l'amplificateur opérationnel 13. De cette façon on obtient la relation:FIG. 4 illustrates an example of regulation by means of a power transistor 11 connected in series with the electric motor 8 and a rectified and filtered power supply 12. the power transistor 10 is controlled by an operational amplifier 13 whose positive input receives a reference voltage v (t) which is proportional to the current I passing through the motor. The emitter of the power transistor 11 is connected to ground via a resistor 14 and the feedback voltage RI which appears at the terminals of this resistor 14, that is to say to the emitter of transistor 11, is applied to the negative input of the operational amplifier 13. In this way we obtain the relation:

V(t)=R I(t)V (t) = R I (t)

Cette possibilité de réglage de la force F peut être utilisée de diverses façons. En premier lieu on peut appliquer, à Z'entrée positive de l'amplificateur opérationnel 11, une tension de commande V(t) constante et dans ce cas la force de traction F obtenue reste constante quel que soit le déplacement. On peut également asservir cette force F au résultat d'une mesure d'élongation telle qu'elle peut être effectuée au moyen d'un codeur angulaire 15 calé sur l'axe du treuil 10. Cette mesure peut être convenablement traitée pour obtenir les résultats suivants :

  • a) asservissement de la force F de façon que la vitesse de déptacement du membre du patient soit constante, ce qui permet par exemple de compenser la fatigue du patient. Dans d'autres cas on pourra moduler la force F afin d'obtenir une vitesse variable en fonction de la position du membre ou en fonction de paramètres extérieurs (variation temporelle de l'effort, pouls, etc).
  • b) asservissement de la force F à une loi quelconque liée à la position du membre qui dépend elle-même de la mesure d'élongation repérée lors du premier mouvement et mise en mémoire.
  • c) asservissement de la force à des paramètres extérieurs tels que loi temporelle des montées en puissance de l'effort, vitesse du pouls, pression artérielle, etc..
This possibility of adjusting the force F can be used in various ways. First of all, it is possible to apply, to the positive input of the operational amplifier 11, a constant control voltage V (t) and in this case the tensile force F obtained remains constant whatever the displacement. This force F can also be controlled by the result of a measurement of elongation such that it can be carried out by means of an angular encoder 15 fixed on the axis of the winch 10. This measurement can be suitably processed to obtain the results. following:
  • a) slaving of the force F so that the speed of deptacement of the patient's limb is constant, which makes it possible for example to compensate for the fatigue of the patient. In other cases, the force F can be modulated in order to obtain a variable speed as a function of the position of the limb or as a function of external parameters (temporal variation of the effort, pulse, etc.).
  • b) enslavement of the force F to any law related to the position of the member which itself depends on the measure of elongation identified during the first movement and stored.
  • c) slaving of the force to external parameters such as the time law of the increases in effort, pulse speed, blood pressure, etc.

La mesure de l'élongation réalisée par le codeur angulaire 15 peut être utilisable par ailleurs pour calculer le travail effectué ou la puissance développée instantanément.The measurement of the elongation performed by the angular encoder 15 can also be used to calculate the work performed or the power developed instantly.

L'appareil suivant l'invention peut être utilisé dans les hôpitaux ou cliniques, chez les kynésithérapeutes, dans les salles de gymnastique ou chez les particuliers.The device according to the invention can be used in hospitals or clinics, in physiotherapists, in gyms or in individuals.

Claims (9)

1.- Appareil de gymnastique ou de rééducation mus- eulaire, dans lequel un effort antagoniste est appliqué , au moyen d'un fil souple, en un point quelconque de l'organisme d'un patient, notamment sur l'un de ses membres, caractérisé en ce qu'il comporte un rail de guidage (1) sur lequel est monté à coulissement un distributeur de fil (2) , des moyens (2a) pour immobiliser ce distributeur de fil (2) dans une position quelconque le long du rail (1), de manière à permettre de choisir à volonté le point (A) d'application de la force de traction (F) exercée par le fil (3), et des moyens (5) permettant d'exercer une traction réglable sur le fil (3) de manière à pouvoir contrôler à volonté la force appliquée au patient par le fil (3) à sa sortie du distributeur de fil (2).1.- Gymnastic or muscular rehabilitation apparatus, in which an antagonistic effort is applied, by means of a flexible wire, to any point of the body of a patient, in particular on one of its members , characterized in that it comprises a guide rail (1) on which a wire distributor (2) is slidably mounted, means (2a) for immobilizing this wire distributor (2) in any position along the rail (1), so as to allow to choose at will the point (A) of application of the traction force (F) exerted by the wire (3), and means (5) allowing to exert an adjustable traction on the wire (3) so as to be able to control at will the force applied to the patient by the wire (3) at its exit from the wire distributor (2). 2.- Dispositif suivant la revendication 1 caractérisé en ce que le rail de guidage (1) constitué par un profité creux quelconque, par exemple un tube carré, lequel présebten, sur sa surface latérale, une fente longitudinale (1a) et sur une partie extrême duquel sont montés les moyens (5) permettant d'exercer une traction réglable sur le fil (3).2.- Device according to claim 1 characterized in that the guide rail (1) constituted by any hollow profit, for example a square tube, which presebten, on its lateral surface, a longitudinal slot (1a) and on a part end of which are mounted the means (5) for exerting adjustable traction on the wire (3). 3.- Dispositif suivant l'une quelconque des revendications précédentes caractérisé en ce que le rail de guidage (1) est monté mobile dans une direction perpendicu-Zaire à son axe longitudinal par exemple sur des rails transversaux (1a).3.- Device according to any one of the preceding claims characterized in that the guide rail (1) is movably mounted in a direction perpendicular-Zaire to its longitudinal axis for example on transverse rails (1a). 4.- Dispositif suivant l'une quelconque des revendications précédentes caractérisé en ce que le distributeur de fil (2) comporte une paire de roues à gorge tangentes (6 et 7), montée à rotation sur le distributeur de fil (2), à l'intérieur du rail tubulaire (1), et dont les axes sont perpendiculaires à l'axe longitudinal du rail de guidage (1), le fil (3) étant dévié transversalement vers l'extérieur en passant entre les deux roues à gorge (6,7).4.- Device according to any one of the preceding claims, characterized in that the wire distributor (2) comprises a pair of wheels with tangential grooves (6 and 7), mounted for rotation on the wire distributor (2), inside the tubular rail (1), the axes of which are perpendicular to the longitudinal axis of the guide rail (1), the wire (3) being deflected transversely outward passing between the two grooved wheels ( 6.7). 5.- Dispositif suivant l'une quelconque des reven- lications précédentes caractérisé en ce que le distributeur de fil (2) comporte deux rouleaux tangents (4, 4a) situés à Z'extérieur du rail de guidage (1) et d'axes parallèles à l'axe longitudinal du rait de guidage (1), le fil (3) sortant du distributeur (2) entre ces deux rouleaux (4,4a).5.- Device according to any one of the preceding claims, characterized in that the wire distributor (2) comprises two tangent rollers (4, 4a) located at Z'exterior of the guide rail (1) and axes parallel to the longitudinal axis of the guide line (1), the wire (3) leaving the distributor (2) between these two rollers (4,4a). 6.- Dispositif suivant l'une quelconque des revendications précédentes caractérisé en ce que les moyens (5) permettent d'exercer une traction réglable sur le fil (3) comprennent un moteur électrique (8) entrainant, par l'intermédiaire d'un réducteur éventuel (9), un treuil (10) sur lequel est enroulé le fil (3).6.- Device according to any one of the preceding claims, characterized in that the means (5) make it possible to exert an adjustable traction on the wire (3) comprise an electric motor (8) driving, by means of a possible reducer (9), a winch (10) on which the wire (3) is wound. 7.- Dispositif suivant la ravendieation 6 caractérisé en ce que le moteur électrique (8) est un moteur à courant continu et des moyens sont prévus pour régler le courant d'alimentation du moteur (8).7.- Device according to ravendieation 6 characterized in that the electric motor (8) is a direct current motor and means are provided for adjusting the supply current of the motor (8). 8.- Dispositif suivant l'une quelconque des revendications 6 et 7 caractérisé en ce qu'il comporte des moyens (15) pour mesurer Z'élongation du fil (3) et des moyens pour asservir la traction exercée sur ce fil (3), c'est-à-dire la force (F) exercée par le fil, au résultat de la mesure d'élongation et/ou à d'autres paramètres.8.- Device according to any one of claims 6 and 7 characterized in that it comprises means (15) for measuring Z'elongation of the wire (3) and means for controlling the traction exerted on this wire (3) , i.e. the force (F) exerted by the wire, as a result of the elongation measurement and / or other parameters. 9.- Dispositif suivant la revendication 8 caractérisé en ce que les moyens (15) pour mesurer l'élongation du fil (3) sont constitués par un codcur angulaire calé sur l'axe du treuil (10) sur lesquel est enroulé le fil (3).9.- Device according to claim 8 characterized in that the means (15) for measuring the elongation of the wire (3) consist of an angular codcur wedged on the axis of the winch (10) on which the wire is wound ( 3).
EP84402520A 1984-01-05 1984-12-06 Exercise and rehabilitation apparatus Expired EP0148671B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT84402520T ATE37795T1 (en) 1984-01-05 1984-12-06 GYMNASTICS AND EXERCISE DEVICE.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8319877A FR2557802A1 (en) 1984-01-05 1984-01-05 TRACTIOMETER FOR GYMNASTICS OR MUSCLE REEDUCATION
FR8319877 1984-01-05

Publications (2)

Publication Number Publication Date
EP0148671A1 true EP0148671A1 (en) 1985-07-17
EP0148671B1 EP0148671B1 (en) 1988-10-12

Family

ID=9295089

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84402520A Expired EP0148671B1 (en) 1984-01-05 1984-12-06 Exercise and rehabilitation apparatus

Country Status (4)

Country Link
EP (1) EP0148671B1 (en)
AT (1) ATE37795T1 (en)
DE (1) DE3474516D1 (en)
FR (1) FR2557802A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2581552A1 (en) * 1985-05-13 1986-11-14 Bacoux Lucien Programming device for a muscle-development apparatus
EP0214986A1 (en) * 1984-06-14 1987-03-25 Albertus Daniel Oosthuizen An exercise apparatus.
EP0231631A2 (en) * 1985-12-23 1987-08-12 Bally Manufacturing Corporation Motor control circuit for a simulated weight stack
WO1988001185A1 (en) * 1986-08-19 1988-02-25 Horst Smeets Training apparatus
FR2616334A2 (en) * 1985-05-13 1988-12-16 Bacoux Lucien Method for control and memorisation of laws of effort for muscle-development apparatus
AU703435B2 (en) * 1994-06-22 1999-03-25 Terence Cecil Vardy Exercise apparatus
CN113305828A (en) * 2021-07-29 2021-08-27 法罗适(上海)医疗技术有限公司 Wire drive controller of soft robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR440765A (en) * 1912-02-29 1912-07-20 Sylvain Joseph Albert Mechanotherapy device
US3387493A (en) * 1965-05-12 1968-06-11 Wallace S. Strittmatter Motor-operated exercising device with load responsive indicating means
FR2126894A5 (en) * 1971-02-10 1972-10-06 Chillier Maurice
US3874659A (en) * 1973-04-30 1975-04-01 Benjamin M Aharoni Exercising machine
US3989240A (en) * 1975-05-06 1976-11-02 Victor Bernard J Electrically timed exercising device
US4261562A (en) * 1978-12-22 1981-04-14 Flavell Evan R Electromagnetically regulated exerciser

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR440765A (en) * 1912-02-29 1912-07-20 Sylvain Joseph Albert Mechanotherapy device
US3387493A (en) * 1965-05-12 1968-06-11 Wallace S. Strittmatter Motor-operated exercising device with load responsive indicating means
FR2126894A5 (en) * 1971-02-10 1972-10-06 Chillier Maurice
US3874659A (en) * 1973-04-30 1975-04-01 Benjamin M Aharoni Exercising machine
US3989240A (en) * 1975-05-06 1976-11-02 Victor Bernard J Electrically timed exercising device
US4261562A (en) * 1978-12-22 1981-04-14 Flavell Evan R Electromagnetically regulated exerciser

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0214986A1 (en) * 1984-06-14 1987-03-25 Albertus Daniel Oosthuizen An exercise apparatus.
EP0214986A4 (en) * 1984-06-14 1987-11-30 Albertus Daniel Oosthuizen An exercise apparatus.
FR2581552A1 (en) * 1985-05-13 1986-11-14 Bacoux Lucien Programming device for a muscle-development apparatus
FR2616334A2 (en) * 1985-05-13 1988-12-16 Bacoux Lucien Method for control and memorisation of laws of effort for muscle-development apparatus
EP0231631A2 (en) * 1985-12-23 1987-08-12 Bally Manufacturing Corporation Motor control circuit for a simulated weight stack
EP0231631A3 (en) * 1985-12-23 1988-09-21 Bally Manufacturing Corporation Motor control circuit for a simulated weight stack motor control circuit for a simulated weight stack
WO1988001185A1 (en) * 1986-08-19 1988-02-25 Horst Smeets Training apparatus
AU703435B2 (en) * 1994-06-22 1999-03-25 Terence Cecil Vardy Exercise apparatus
CN113305828A (en) * 2021-07-29 2021-08-27 法罗适(上海)医疗技术有限公司 Wire drive controller of soft robot

Also Published As

Publication number Publication date
ATE37795T1 (en) 1988-10-15
FR2557802A1 (en) 1985-07-12
DE3474516D1 (en) 1988-11-17
EP0148671B1 (en) 1988-10-12

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