TWI461232B - Pedal adjusting structure and thereof method and a stepping training device with pedal adjusting structure - Google Patents

Pedal adjusting structure and thereof method and a stepping training device with pedal adjusting structure Download PDF

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TWI461232B
TWI461232B TW101127883A TW101127883A TWI461232B TW I461232 B TWI461232 B TW I461232B TW 101127883 A TW101127883 A TW 101127883A TW 101127883 A TW101127883 A TW 101127883A TW I461232 B TWI461232 B TW I461232B
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gait
pedal
training machine
angle
adjusting
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TW101127883A
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Chinese (zh)
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TW201406427A (en
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Ya Ju Chang
Hung Bin Chen
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Ya Ju Chang
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Priority to TW101127883A priority Critical patent/TWI461232B/en
Priority to US13/957,420 priority patent/US20140038787A1/en
Priority to CN201310336495.0A priority patent/CN103566534A/en
Publication of TW201406427A publication Critical patent/TW201406427A/en
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Publication of TWI461232B publication Critical patent/TWI461232B/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
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
    • A63B22/001—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms by simultaneously exercising arms and legs, e.g. diagonally in anti-phase
    • 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
    • A63B22/0015—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements
    • 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
    • A63B22/0046—Details of the support elements or their connection to the exercising apparatus, e.g. adjustment of size or orientation
    • 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
    • A63B22/0015—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements
    • A63B22/0017—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements the adjustment being controlled by movement of the user
    • A63B2022/002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements the adjustment being controlled by movement of the user electronically, e.g. by using a program
    • 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
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0664—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing an elliptic movement
    • 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
    • A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
    • A63B22/201—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising for moving a support element in reciprocating translation, i.e. for sliding back and forth on a guide track
    • A63B22/203—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising for moving a support element in reciprocating translation, i.e. for sliding back and forth on a guide track in a horizontal plane
    • 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
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions
    • 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
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions

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  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)

Description

踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置 Pedal adjustment structure, adjustment method thereof and gait training device with pedal adjustment structure

本發明是有關於一種運動健身器材，特別是指一種具有補償踏板的角度或/及高度的步態訓練裝置。 The present invention relates to an exercise fitness device, and more particularly to a gait training device having an angle or/and a height that compensates for the pedal.

一般的步態訓練裝置(stepping training device)，如踏步機，划步機，或橢圓機等，可讓使用者在上面做出踏步的運動，成為常見的健身運動器材。其中橢圓機(Elliptical)更因踩踏軌跡類似橢圓形運動而得名。步態訓練機具 有一踏板，該踏板可以是固定在一運動桿件上、或是該踏板連結在一基板上而具有可調角度功能。第1圖所顯示係為一種應用於運動器材上之可調角度功能的踏板的示意圖。如第一圖所示，該踏板1的一端連結在底座(或稱為基板)11可被轉動。該踏板1的另一端具有三圓孔14的調節部13，利用定位栓15與此調節部13可讓踏板1相對於底座11呈現角度產生變化。然而，無論是該踏板是否具有可調角度功能，在操作(運動)期間，該踏板的角度相對於基板是固定不變的。 A general stepping training device, such as a stepper, a stepper, or an elliptical machine, allows the user to make a stepping motion and become a common exercise equipment. Among them, the elliptical machine (Elliptical) is named after the pedaling trajectory is similar to the elliptical motion. Gait training machine There is a pedal which can be fixed to a moving rod or the pedal is coupled to a substrate to have an adjustable angle function. Figure 1 shows a schematic view of a pedal applied to an adjustable angle function on a sports equipment. As shown in the first figure, one end of the pedal 1 is coupled to a base (or referred to as a substrate) 11 to be rotated. The other end of the pedal 1 has an adjustment portion 13 of three circular holes 14, and the adjustment pin 13 and the adjustment portion 13 allow the pedal 1 to change in angle with respect to the base 11. However, whether or not the pedal has an adjustable angle function, the angle of the pedal is fixed relative to the substrate during operation (motion).

然而，人在正常走路或跑步時，踝關節膝關節與髖關節依照所處的時期不同，會有特定的角度變化，這些角度變化在多數人身上均類似，稱為「正常步態」。讓使用者在運動或復健時可以處於正常步態是一個重要的目標。然而，傳統的步態訓練機，如踏步機，划步機，或橢圓機(Elliptical)等，雖然可讓使用者在上面做出踏步的運動，但其踝關節之運動角度與正常步態差異甚大，因此，該步態非屬於正常步態。 However, when a person walks or runs normally, the ankle joint and the hip joint will have a specific angle change depending on the period in which they are exposed. These angle changes are similar in most people and are called "normal gait". It is an important goal for the user to be in a normal gait during exercise or rehabilitation. However, traditional gait training machines, such as steppers, steppers, or elliptical machines (Elliptical), etc., allow the user to make a step on the movement, but the difference between the ankle joint movement angle and the normal gait Very large, therefore, this gait is not a normal gait.

此外，在行走時身體重心大致上會有垂直運動。然而，傳統的步態訓練裝置(例如：橢圓機與踏步機)，對於垂直高度沒有任何補償的功能，導致身體重心在踏步運動時有過多且軌跡異於正常步態的垂直運動，此則為另外一項待改進之處。 In addition, there is a vertical movement of the center of gravity of the body during walking. However, traditional gait training devices (such as elliptical machines and steppers) do not have any compensation for vertical height, resulting in a body center of gravity that has too much trajectory and a vertical motion that is different from normal gait. Another area to be improved.

由於傳統步態訓練裝置存在著一些問題點。所以，本發明提出一種踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置，以克服上述的至少一個問題點。 There are some problems with the traditional gait training device. Therefore, the present invention provides a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure to overcome at least one of the above problems.

本發明的目的之一，在於提供一種踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置。 One of the objects of the present invention is to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure.

因此，本發明的目的之一，在於提供一種踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置，該踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置可克服步態訓練裝置作動出不正常步態的問題點。 Accordingly, it is an object of the present invention to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure, the pedal adjustment structure, the adjustment method thereof, and the gait training device having the pedal adjustment structure can be overcome The gait training device solves the problem of abnormal gait.

因此，本發明的目的之一，在於提供一種踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置，該踏板調整結構、其調整方法及具有踏板調整結構之步態訓練裝置可讓使用者在運動或復健時可以處於正常步態。 Accordingly, it is an object of the present invention to provide a pedal adjustment structure, an adjustment method thereof, and a gait training device having a pedal adjustment structure, the pedal adjustment structure, the adjustment method thereof, and the gait training device having the pedal adjustment structure allow The user can be in a normal gait during exercise or rehabilitation.

本發明之實施例揭露了一種踏板調整結構，係設置於一步態訓練機上，該踏板調整結構包括有：一本體，用以固定於該步態訓練機上；一踏板；以及一調整模組，設於該本體與該踏板之間，藉由該調整模組讓該踏板相對於該本體的角度進行調整，以使得該步態訓練機之步態實質上呈現出一較接近正常之踏步運動(stepping exercise)。 An embodiment of the present invention discloses a pedal adjustment structure, which is disposed on a one-step training machine. The pedal adjustment structure includes: a body for fixing to the gait training machine; a pedal; and an adjustment module Between the body and the pedal, the adjustment module adjusts the angle of the pedal relative to the body, so that the gait of the gait training machine substantially presents a stepping motion closer to normal. (stepping exercise).

本發明之實施例揭露了一種調整步態之調整方法，係應用於一步態訓練機上，其中，該步態訓練機包括一踏板，該調整方法包含有：得出一調整步態曲線資料，其中，該調整步態曲線資料係與該步態訓練機之一步態曲 線有關；以及依據該調整步態曲線資料，以調整該踏板的角度及高度的至少其中之一。 An embodiment of the present invention discloses an adjustment gait adjustment method, which is applied to a one-step training machine, wherein the gait training machine includes a pedal, and the adjustment method includes: obtaining an adjusted gait curve data, Wherein, the adjusted gait curve data system and one of the gait training machines Related to the line; and adjusting the gait curve data to adjust at least one of the angle and the height of the pedal.

一較佳實施例，本發明之實施例揭露了一種步態訓練裝置，係設置於一步態訓練機上。 In a preferred embodiment, an embodiment of the present invention discloses a gait training device that is disposed on a one-step training machine.

說明書中所例示本發明之多個實施例，皆為本發明之較佳實施例，其目的用於說明本發明可以許多方式來加以實施以及非用來限定本發明實施之範圍。換言之，熟知此項技藝者當可藉由此些實施例的描述而得知本發明之細節，故在此不再贅述。 The embodiments of the present invention are intended to be illustrative of the preferred embodiments of the present invention. In other words, those skilled in the art can understand the details of the present invention by the description of the embodiments, and therefore will not be described herein.

在行走或跑步時，由第一腳跟著地，重心位移至第一腳，踝關節做推進動作，第一腳離開地面，向前邁步，到腳跟著地，係為一個步態週期。第2圖係為在一個步態週期中，正常步態與傳統的步態訓練機中踝關節所呈現出的角度變化的比較意圖。如第2圖所示，其中，在第2圖中的虛線係為在行走或跑步(即為正常步態)中，踝關節在一個步態週期中所呈現出的角度變化的情形；在第2圖中的實線係為在傳統步態訓練機中，踝關節在一個步態週期中所呈現出的角度變化的情形。如第2圖所示，在正常步態周期時，踝關節會隨者所處的步態時期不同，分別做兩次的背屈(dorsiflexion)與蹠屈(plantar flexion)。如第2圖的虛線所示。 When walking or running, the first heel touches the ground, the center of gravity shifts to the first foot, and the ankle joint performs the propelling action. The first foot leaves the ground, moves forward, and the heel strikes the ground, which is a gait cycle. Figure 2 is a comparison of the angle changes exhibited by the normal gait and the ankle joint in a conventional gait training machine during a gait cycle. As shown in Fig. 2, wherein the broken line in Fig. 2 is the change of the angle exhibited by the ankle joint in a gait cycle during walking or running (that is, normal gait); The solid line in Fig. 2 is the case where the angle of the ankle joint changes in a gait cycle in a conventional gait training machine. As shown in Fig. 2, during the normal gait cycle, the ankle joint will have two dorsiflexions and plantar flexions, respectively, depending on the gait period. This is shown by the dotted line in Figure 2.

然而，傳統的步態訓練機(例如：橢圓機、划步機)，在操作期間(運動期間)該踏板是固定不可變的。因此傳統的步態訓練機無法有效引導踝關節之 運動角度接近正常步態，所走出的步態僅會出現一次的背屈(dorsiflexion)與蹠屈(plantar flexion)。如第2圖的實線所示。 However, conventional gait training machines (eg, elliptical machines, steppers), the pedals are fixed and immutable during operation (during exercise). Therefore, the traditional gait training machine can not effectively guide the ankle joint. The angle of motion is close to the normal gait, and the gait that exits will only have a dorsiflexion and plantar flexion. As shown by the solid line in Figure 2.

換言之，藉由本發明之步態訓練機相較於傳統步態訓練機，可使得踝關節在一個步態週期中所呈現出的角度變化較接近於正常步態。請注意，本發明之步態訓練機並不要求必須完全地、或相當接近於一個正常步態。而是在整個步態周期中，希望透過踏板角度的控制，以改善傳統步態訓練機所走出的不正常的步態。 In other words, the gait training machine of the present invention can make the angular change of the ankle joint in a gait cycle closer to the normal gait than the conventional gait training machine. Please note that the gait training machine of the present invention is not required to be completely, or fairly close to, a normal gait. Instead, throughout the gait cycle, it is desirable to improve the abnormal gait of the traditional gait training machine through the control of the pedal angle.

由於本發明之步態訓練機欲改善傳統步態訓練機所走出的不正常的步態。進一步而言，本發明之步態訓練機可使得踝關節在一個步態週期中所呈現出的角度變化較接近於正常步態。故，在本發明的眾多實施例中的至少其一實施例中，本發明之步態訓練機具有踝關節角度(即，踏板的角度)的控制機制。 Since the gait training machine of the present invention is intended to improve the abnormal gait of the conventional gait training machine. Further, the gait training machine of the present invention can cause the ankle joint to exhibit an angle change closer to a normal gait in a gait cycle. Thus, in at least one of the various embodiments of the present invention, the gait training machine of the present invention has a control mechanism for the ankle joint angle (i.e., the angle of the pedal).

以下說明如何得出一個步態週期中，如何控制踏板的角度變化以改善傳統步態訓練機所走出的不正常的步態的實施策略： The following describes how to derive an implementation strategy for how to control the angle change of the pedal in a gait cycle to improve the abnormal gait of the traditional gait training machine:

第一實施策略： The first implementation strategy:

透過正常步態與傳統步態訓練機的角度進行相減，可得兩者的角度差異，如第3A圖所示。第3A圖係為在一個步態週期中本發明欲對踝關節進行的理想的踏板角度控制的示意圖。當然，還存在許多不同的控制踏板的實施策略皆可改善傳統步態訓練機所走出的不正常的步態。故本說明書還揭露其他實施策略： By subtracting the normal gait from the angle of the traditional gait trainer, the difference in angle between the two can be obtained, as shown in Figure 3A. Figure 3A is a schematic illustration of the desired pedal angle control of the ankle joint of the present invention in a gait cycle. Of course, there are many different control pedal implementation strategies that can improve the abnormal gait that the traditional gait trainer goes out of. Therefore, this specification also discloses other implementation strategies:

第二實施策略： Second implementation strategy:

從第3A圖所示可知，其較大的差異為在步態週期56%以後的角度變化。而從步態週期10%至步態週期56%之間的差異較少，因此可將差異簡化為第3B圖。第3B圖係為本發明欲對踝關節進行的第二種角度控制的示意圖。換言之，在第3B圖中的B點到D點之間係不進行角度的調整，故可簡化整個步態訓練機控制機制。第3C圖係為本發明的第二種實施策略下角度控制(實線)與正常步態下踝關節角度變化情形(虛線)的比較圖。請注意，依據第3B圖的實施策略，依然會使得踝關節在一個步態週期中所呈現出的角度變化具有兩次的背屈(dorsiflexion)與蹠屈(plantar flexion)(請參閱第3C圖的實線)。換言之，仍然可改善傳統步態訓練機的問題。由第二個實施策略可知，在整個步態週期中，僅調整一部份的步態週期的角度差異，但並不限於此段的差異。由於在第二實施策略中，可將整個步態週期進行簡化，而區分成至少二段不同的調整模式，一為作用區間(即是D-E-F-A-B區間)，另一為不作用區間(即是B-C-D區間)。經過簡化後，便可利用純機械原理完成整個設計。 As can be seen from Fig. 3A, the larger difference is the angular change after 56% of the gait cycle. The difference between 10% of the gait cycle and 56% of the gait cycle is small, so the difference can be reduced to the 3B chart. Figure 3B is a schematic illustration of a second angular control of the ankle joint of the present invention. In other words, the angle adjustment is not performed between point B and point D in Fig. 3B, so that the entire gait training machine control mechanism can be simplified. Fig. 3C is a comparison diagram of the angle control (solid line) and the change of the ankle joint angle (dashed line) in the normal gait according to the second implementation strategy of the present invention. Please note that according to the implementation strategy of Figure 3B, the angular changes exhibited by the ankle in a gait cycle are still twice dorsiflexion and plantar flexion (see Figure 3C). Solid line). In other words, the problem of the traditional gait training machine can still be improved. According to the second implementation strategy, only the angular difference of a part of the gait cycle is adjusted throughout the gait cycle, but is not limited to the difference of the segment. In the second implementation strategy, the entire gait cycle can be simplified and divided into at least two different adjustment modes, one is the action interval (ie, the DEFAB interval), and the other is the inactive interval (ie, the BCD interval). ). Once simplified, the entire design can be completed using purely mechanical principles.

第三實施策略： The third implementation strategy:

此外，由於行走時重心有固定的垂直運動的情形。然而，市售的橢圓機與踏步機，對於重心垂直高度沒有校正的功能。換言之，傳統步態訓練機除了具有踝關節步態與正常步態不同外，還存在有行走時重心沒有進行高度補償的設計。所以，本發明之第三實施策略，係將上述任一個實施策略再加上垂直高度調整。此外，由於行走與跑步的重心的垂直運動並不相同，換言之，其高度補償應不相同。所以，在此實施策略中，使用者可自行決定是否要啟動垂直高度調整或是依據使用者欲進行行走(第一模式)或是跑步(第二模式)的不同，而決定出垂直高度調整的不同。另一實施例，或是依 據速度的不同(行走或是跑步)而自動地給與適當的高度補償。第4A圖係為在1/2個步態週期中，正常步態與傳統的步態訓練機中踏板所呈現出的高度變化的比較意圖。如第4A圖所示，其中，在第4A圖中的虛線係為正常步態中，在一個步態週期中所呈現出的高度變化的情形；在第4A圖中的實線係為在傳統步態訓練機中，踏板在1/2個步態週期中所呈現出的高度變化的情形。(由於左右腳的步態相似，所以僅顯示1/2個步態週期，而左腳與右腳的步態係差1/2步態週期)。依據第4A圖中的正常步態與步態訓練機的步態進行相減，可得出第4B圖中一個步態週期中踏板高度的補償情形。 In addition, there is a case where the center of gravity has a fixed vertical motion during walking. However, commercially available elliptical machines and steppers have no function of correcting the vertical height of the center of gravity. In other words, in addition to the ankle joint gait and the normal gait, the traditional gait training machine also has a design in which the center of gravity does not perform height compensation during walking. Therefore, the third implementation strategy of the present invention adds the vertical height adjustment to any of the above implementation strategies. In addition, since the vertical movement of the center of gravity of walking and running is not the same, in other words, the height compensation should be different. Therefore, in this implementation strategy, the user can decide whether to start the vertical height adjustment or determine the vertical height adjustment according to the difference between the user's desire to walk (the first mode) or the running (the second mode). different. Another embodiment, or The appropriate height compensation is automatically given depending on the speed (walking or running). Fig. 4A is a comparison intention of the normal gait and the height change exhibited by the pedal in the conventional gait training machine in 1/2 gait cycle. As shown in Fig. 4A, wherein the broken line in Fig. 4A is the case of the height change exhibited in one gait cycle in the normal gait; the solid line in Fig. 4A is in the conventional In the gait training machine, the height of the pedal exhibited in 1/2 gait cycle. (Because the gait of the left and right feet is similar, only 1/2 gait cycle is displayed, while the gait of the left and right foot is 1/2 gait cycle). According to the normal gait in Fig. 4A and the gait of the gait training machine, the compensation of the pedal height in a gait cycle in Fig. 4B can be obtained.

特別是在進行復健訓練的應用上，傳統步態訓練機亦同時使用懸吊系統，在復健訓練過程中，將使用者進行懸吊，以防止使用者跌倒。然而，過去的步態訓練機無法在步行時，調整重心的水平高度，會造成懸吊系統需要更複雜的高度補償設計。所以，本發明之第三實施策略，更可改進先前步態訓練機需搭配較複雜昂貴的懸吊系統來使用的缺點。 Especially in the application of rehabilitation training, the traditional gait training machine also uses the suspension system, and during the rehabilitation training, the user is suspended to prevent the user from falling. However, past gait trainers were unable to adjust the level of gravity when walking, which would cause the suspension system to require a more complex height compensation design. Therefore, the third implementation strategy of the present invention can further improve the disadvantages of the previous gait training machine to be used with a more complicated and expensive suspension system.

本發明之踏板調整結構尚存在有許多的實施態樣，可以從機械相關領域的書藉即可輕易完成。亦可利用常見的控制套件來實現，例如：利用步進馬達即可達到角度的控制，利用伸縮桿(如第7圖所示)即可達到高度的控制。 There are many implementations of the pedal adjustment structure of the present invention, which can be easily accomplished by borrowing from books in the mechanical field. It can also be achieved with a common control kit, for example: angle control with a stepper motor and high degree of control with a telescopic rod (as shown in Figure 7).

依據上述實施內容可輕易得出本發明之一種調整步態之調整方法。該調整步態方法係應用於一步態訓練機上。其中，該步態訓練機包括一踏板，該調整方法包含有： According to the above implementation, an adjustment method of the adjustment gait of the present invention can be easily obtained. The adjusted gait method is applied to a one-step training machine. Wherein, the gait training machine comprises a pedal, and the adjusting method comprises:

步驟一：得到一預先決定步態曲線以及相對於該步態訓練機之一步態曲線；步驟二：依據該預先決定步態曲線以及相對於該步態訓練機之該步態曲 線，以得出一調整步態曲線資料；例如：二者步態曲線相減即可得出該調整步態曲線資料。當然還可進行簡化後得出該調整步態曲線資料。 Step 1: obtaining a predetermined gait curve and a gait curve relative to the gait training machine; Step 2: Depending on the predetermined gait curve and the gait curve relative to the gait training machine Line, to obtain an adjusted gait curve data; for example, the two gait curves are subtracted to obtain the adjusted gait curve data. Of course, the gait curve can be obtained by simplification.

步驟三：依據該調整步態曲線資料，以調整該踏板的角度及高度的至少其中之一。 Step 3: Adjust the gait curve data to adjust at least one of the angle and the height of the pedal.

由上述實施例說明，已可輕易得知整個調整方法之各個步驟中的內容，故，在此不再赘述。 As described in the foregoing embodiment, the content of each step of the entire adjustment method can be easily known, and therefore, details are not described herein again.

第5圖係為本發明提出的踏板調整結構的另一種實施方式，該踏板調整結構500可調整角度與高度的至少之其一，當然也可同時調整角度與高度。第5圖的踏板調整結構500可用以實現上述至少一個的實施策略。第5圖的踏板調整結構500包括有：一本體510，用以固定於該步態訓練機上；一踏板520，用以；以及一調整模組530，設於該本本體與該踏板之間，藉由該調整模組530讓該踏板520相對於該本體510的角度進行調整，以使得該步態訓練機之步態實質上呈現出一踏步運動(stepping exercise)之正常步態。一實施例中，該調整模組530包括有第一伸縮桿(或稱前桿)531以及第二伸縮桿(或稱後桿)532。利用一控制信號控制該伸縮桿531、532的長度，即可調整該該踏板520相對於該本體510的角度、高度的變化。例如：當第一伸縮桿531進行伸長(縮短)且第二伸縮桿532進行縮短(伸長)時，即是調整該踏板520相對於該本體510的角度；又，當第一伸縮桿531進行伸長(縮短)且第二伸縮桿532進行伸長(縮短)時，即是調整該踏板520相對於該本體510的高度。當然，踏板調整結構500還包括有一控制模組(未繪示出)，用以控制該調整模組。該控制模組包括有一微處理器(例如是8051)以及相關軔體(FIRMWARE)，該微處理器可執行上述的調整步態調整方法。該控制模組係在步態週期中控制該伸縮桿531、532的長度，以達到本發明 之功效。該控制模組還包括有一記憶體用以儲存上述的實施策略，並依據該實施策略以產生該控制信號以控制該踏板的角度或/及高度的變化。該控制模組還包括有一踏板位置感測器用以偵測出該踏板所處的位置，例如：該踏板位置感測器係為一編碼器，係裝置該橢圓機之轉軸上；又例如，該該踏板位置感測器係為一傾斜器，係裝置於該橢圓機之連桿上。當然，該記憶體用以儲存多種實施策略(例如是：上述的不同的實施策略、或適用於不同使用者的相同實施策略)，使用者可依據其需求選出適合的實施策略。一實施例，該本體510包括有一固定模組(未繪示出)，該固定模組係用以用以將該本體510固定於該步態訓練機上。該固定模組可以一些常見可固定物品的元件，例如是：為螺絲或/及螺帽…等。該固定模組係為熟知此項技藝者當可輕易得知思及之裝置，故在此不再贅述。 FIG. 5 is another embodiment of the pedal adjustment structure proposed by the present invention. The pedal adjustment structure 500 can adjust at least one of an angle and a height, and of course, the angle and the height can be simultaneously adjusted. The pedal adjustment structure 500 of FIG. 5 can be used to implement the at least one implementation strategy described above. The pedal adjustment structure 500 of FIG. 5 includes: a body 510 for fixing to the gait training machine; a pedal 520 for; and an adjustment module 530 disposed between the body and the pedal The adjustment module 530 adjusts the angle of the pedal 520 relative to the body 510 such that the gait of the gait training machine substantially exhibits a normal gait of a stepping exercise. In one embodiment, the adjustment module 530 includes a first telescopic rod (or front rod) 531 and a second telescopic rod (or rear rod) 532. The length and height of the pedal 520 relative to the body 510 can be adjusted by controlling the length of the telescopic rods 531, 532 by a control signal. For example, when the first telescopic rod 531 is elongated (shortened) and the second telescopic rod 532 is shortened (elongated), that is, the angle of the pedal 520 relative to the body 510 is adjusted; in addition, when the first telescopic rod 531 is elongated When the second telescopic rod 532 is stretched (shortened), the height of the pedal 520 relative to the body 510 is adjusted. Of course, the pedal adjustment structure 500 further includes a control module (not shown) for controlling the adjustment module. The control module includes a microprocessor (for example, 8051) and a related body (FIRMWARE), and the microprocessor can perform the above-described adjustment gait adjustment method. The control module controls the length of the telescopic rods 531, 532 in a gait cycle to achieve the present invention. The effect. The control module further includes a memory for storing the implementation strategy described above, and generating the control signal to control the change of the angle or/and height of the pedal according to the implementation strategy. The control module further includes a pedal position sensor for detecting the position of the pedal. For example, the pedal position sensor is an encoder that is mounted on the rotating shaft of the elliptical machine; for example, the The pedal position sensor is a tilter that is mounted on the linkage of the elliptical machine. Of course, the memory is used to store various implementation strategies (for example, the different implementation strategies described above, or the same implementation strategy applicable to different users), and the user can select an appropriate implementation strategy according to his needs. In one embodiment, the body 510 includes a fixing module (not shown) for fixing the body 510 to the gait training machine. The fixing module can be used for some commonly fixed components, such as screws or/and nuts. The fixing module is a device that can be easily known by those skilled in the art, and therefore will not be described herein.

第6圖係為第5圖的實施例採用第二或第三種實施策略的在各個不同步態週期中所呈現出角度的變化情形。因此，本發明利用踏板下可調整的支撐裝置，在不同步態時期，調整踏板的角度。如第6圖所示，當步態到達A、B、C、D、E等不同點時，透過調整該本體510的高度以達到踏板角度與高度的變化。以讓踝關節在適當週期產生出正確的步態。 Figure 6 is a diagram showing the variation of the angle exhibited in each of the asynchronous periods using the second or third implementation strategy for the embodiment of Figure 5. Therefore, the present invention utilizes an adjustable support device under the pedal to adjust the angle of the pedal during the unsynchronized state. As shown in FIG. 6, when the gait reaches different points such as A, B, C, D, E, etc., the height of the body 510 is adjusted to achieve a change in pedal angle and height. In order for the ankle joint to produce the correct gait at the appropriate cycle.

另一實施方式，本發明之踏板調整結構500可以是傳統步態訓練機的套件。也就是說，本發明之踏板調整結構500之該本體510包括有一固定模組(未繪示出)，用以固定於傳統步態訓練機的踏板或是其他相關位置。又，或是直接將傳統步態訓練機的踏板進行置換。當然，本發明的固定模組可以採用多種常見的固定機制以進行固定。 In another embodiment, the pedal adjustment structure 500 of the present invention can be a kit of conventional gait training machines. That is, the body 510 of the pedal adjustment structure 500 of the present invention includes a fixed module (not shown) for attachment to a pedal of a conventional gait training machine or other related position. Also, the pedals of the traditional gait training machine can be directly replaced. Of course, the fixing module of the present invention can be fixed by using a variety of common fixing mechanisms.

以上所述僅為本發明之較佳實施例，凡依本發明申請專利範圍所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。 The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.

1‧‧‧踏板 1‧‧‧ pedal

11‧‧‧底座 11‧‧‧Base

12‧‧‧桿件 12‧‧‧ rods

13‧‧‧調節部 13‧‧‧Regulatory Department

14‧‧‧圓孔 14‧‧‧ round hole

15‧‧‧定位栓 15‧‧‧ Positioning bolt

500‧‧‧踏板調整結構 500‧‧‧ pedal adjustment structure

510‧‧‧本體 510‧‧‧ Ontology

520‧‧‧踏板 520‧‧‧ pedal

530‧‧‧調整模組 530‧‧‧Adjustment module

531、532‧‧‧伸縮桿 531, 532‧‧‧ Telescopic rod

第1圖所顯示係為一種應用於運動器材上之可調角度功能的踏板的示意圖。 Figure 1 shows a schematic view of a pedal applied to an adjustable angle function on a sports equipment.

第2圖係為在一個步態週期中，正常步態與傳統的步態訓練機中踝關節所呈現出的角度變化的比較意圖。 Figure 2 is a comparison of the angle changes exhibited by the normal gait and the ankle joint in a conventional gait training machine during a gait cycle.

第3A圖係為在一個步態週期中本發明欲對踝關節進行的第一種實施策略下(理想的)踏板角度控制的示意圖。 Figure 3A is a schematic illustration of the (ideal) pedal angle control of the first implementation strategy of the present invention for ankle joint in a gait cycle.

第3B圖係為本發明欲對踝關節進行的第二種實施策略下角度控制的示意圖。 Fig. 3B is a schematic view of the angle control of the second implementation strategy for the ankle joint of the present invention.

第3C圖係為本發明的第二種實施策略下角度控制(實線)與正常步態下踝關節角度變化情形(虛線)的比較圖。 Fig. 3C is a comparison diagram of the angle control (solid line) and the change of the ankle joint angle (dashed line) in the normal gait according to the second implementation strategy of the present invention.

第4A圖係為在1/2個步態週期中，正常步態與傳統步態訓練機中踏板所呈現出的高度變化的比較意圖。 Figure 4A is a comparison of the normal gait and the height variation exhibited by the pedals in a conventional gait training machine in 1/2 gait cycle.

第4B圖係為一個步態週期中踏板高度控制的示意圖。 Figure 4B is a schematic diagram of pedal height control in a gait cycle.

第5圖係為本發明之踏板調整結構的一實施例。 Fig. 5 is an embodiment of the pedal adjusting structure of the present invention.

第6圖係為第5圖的實施例採用第三種實施策略的在各個不同步態週期中所呈現出角度、高度的變化情形。 Fig. 6 is a diagram showing changes in the angle and height exhibited in the respective asynchronous state periods by the third embodiment of the embodiment of Fig. 5.

第7圖係為一種常見的伸縮桿的示意圖。 Figure 7 is a schematic view of a common telescopic rod.

500‧‧‧踏板調整結構 500‧‧‧ pedal adjustment structure

510‧‧‧本體 510‧‧‧ Ontology

520‧‧‧踏板 520‧‧‧ pedal

530‧‧‧調整模組 530‧‧‧Adjustment module

531、532‧‧‧伸縮桿 531, 532‧‧‧ Telescopic rod

Claims (14)

一種踏板調整裝置，係設置於一步態訓練機上，該調整裝置包含有：一本體，用以固定於該步態訓練機上；一踏板；以及一調整模組，設於該本體與該踏板之間，藉由該調整模組讓該踏板相對於該本體的角度進行調整，以使得該步態訓練機之步態實質上呈現出一踏步運動(stepping exercise)之正常步態。 A pedal adjusting device is disposed on a one-step training machine, the adjusting device includes: a body for fixing to the gait training machine; a pedal; and an adjusting module disposed on the body and the pedal Between the adjustment module, the angle of the pedal relative to the body is adjusted, so that the gait of the gait training machine substantially presents a normal gait of a stepping exercise. 一種踏板調整裝置，係設置於一步態訓練機上，該調整裝置包含有：一本體，用以固定於該步態訓練機上；一踏板；以及一調整模組，設於該本體與該踏板之間，藉由該調整模組讓該踏板相對於該本體的角度進行調整，以使得該步態訓練機之步態實質上呈現出在一步態週期中實質上呈現出兩次的背屈(dorsiflexion)與蹠屈(plantar flexion)。 A pedal adjusting device is disposed on a one-step training machine, the adjusting device includes: a body for fixing to the gait training machine; a pedal; and an adjusting module disposed on the body and the pedal Between the adjustment module, the angle of the pedal relative to the body is adjusted, so that the gait of the gait training machine substantially exhibits two dorsiflexions in a one-step period ( Dorsiflexion) and plantar flexion. 如第1或2項所述之調整裝置，該本體更包含有：一固定模組，用以該本體固定於該步態訓練機上。 The adjusting device of item 1 or 2, further comprising: a fixing module for fixing the body to the gait training machine. 如第1或2項所述之調整裝置，其中，藉由該調整模組讓該踏板相對於該本體的高度進行調整。 The adjusting device of item 1 or 2, wherein the adjusting module adjusts the height of the pedal relative to the body. 如第1或2項所述之調整裝置，該調整模組還包括有： 二伸縮器，係分別位於該踏板的二端，用以接受一伸縮控制信號以調整該二伸縮器的長度，以改變該踏板相對於該本體的角度。 The adjusting device according to Item 1 or 2, further comprising: Two retractors are respectively located at two ends of the pedal for receiving a telescopic control signal to adjust the length of the two retractors to change the angle of the pedal relative to the body. 如第1或2項所述之調整裝置，該調整模組在整個步態週期中的一部份週期進行該踏板的角度調整。 The adjusting device according to Item 1 or 2, wherein the adjusting module performs the angle adjustment of the pedal during a part of the whole gait cycle. 如第1或2項所述之調整裝置，該調整模組還包括有：一記憶單元，係儲存一調整步態曲線資料，該調整模組依據該調整步態曲線資料以進行調整。 The adjusting device according to the item 1 or 2, further comprising: a memory unit for storing an adjusted gait curve data, wherein the adjusting module adjusts according to the adjusted gait curve data. 如第1或2項所述之調整裝置，其中，該調整模組具有一第一模式與一第二模式，用以決定出不同的高度調整。 The adjusting device of item 1 or 2, wherein the adjusting module has a first mode and a second mode for determining different height adjustments. 如第8項所述之調整裝置，其中，該第一模式與該第二模式係與該步態訓練機的速度相關。 The adjusting device of item 8, wherein the first mode and the second mode are related to a speed of the gait training machine. 一種調整步態之調整方法，係應用於一步態訓練機上，其中，該步態訓練機包括一踏板，該調整方法包含有：得出一調整步態曲線資料，其中，該調整步態曲線資料係與一已預先決定步態曲線以及該步態訓練機之一步態曲線有關；以及依據該調整步態曲線資料，以調整該踏板的角度及高度的至少其中之一。 An adjustment gait adjustment method is applied to a one-step training machine, wherein the gait training machine comprises a pedal, and the adjusting method comprises: obtaining an adjusted gait curve data, wherein the adjusting gait curve The data system is associated with a predetermined gait curve and a gait curve of the gait training machine; and adjusting the gait curve data to adjust at least one of an angle and a height of the pedal. 如第10項所述之調整方法，其中，藉由調整該踏板的角度以使得該步態訓練機之步態實質上呈現出一踏步運動(stepping exercise)之正常 步態。 The adjustment method of claim 10, wherein the gait of the gait training machine substantially exhibits a normal stepping exercise by adjusting an angle of the pedal gait. 如第10項所述之調整方法，其中，藉由調整該踏板的角度以使得該步態訓練機之步態在一步態週期中實質上呈現出兩次的背屈(dorsiflexion)與蹠屈(plantar flexion)。 The adjustment method of claim 10, wherein the gait of the gait training machine substantially exhibits two dorsiflexions and dorsiflexions in a one-step period by adjusting an angle of the pedal ( Plantar flexion). 如第10項所述之調整方法，其中，該已預先決定步態曲線係為一正常步態曲線，該調整步態曲線資料之至少一部份係相對應於該已預先決定步態曲線以及相對於該步態訓練機之步態曲線的差值。 The adjustment method of claim 10, wherein the predetermined gait curve is a normal gait curve, and at least a portion of the adjusted gait curve data corresponds to the predetermined gait curve and The difference from the gait curve of the gait training machine. 如第10、11、12、或13項所述之調整方法，其中，該調整步態曲線資料係儲存於一記憶單元中。 The adjustment method according to Item 10, 11, 12, or 13, wherein the adjusted gait curve data is stored in a memory unit.
TW101127883A 2012-08-03 2012-08-03 Pedal adjusting structure and thereof method and a stepping training device with pedal adjusting structure TWI461232B (en)

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