US20050239613A1 - Device and process for adjusting the height of and the relief force acting on a weight - Google Patents
Device and process for adjusting the height of and the relief force acting on a weight Download PDFInfo
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- US20050239613A1 US20050239613A1 US11/107,641 US10764105A US2005239613A1 US 20050239613 A1 US20050239613 A1 US 20050239613A1 US 10764105 A US10764105 A US 10764105A US 2005239613 A1 US2005239613 A1 US 2005239613A1
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- Prior art keywords
- cable
- force
- weight
- length adjustment
- control unit
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- 238000000034 method Methods 0.000 title claims description 7
- 230000008569 process Effects 0.000 title claims description 5
- 238000002560 therapeutic procedure Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 230000003068 static effect Effects 0.000 description 10
- 230000037396 body weight Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010033892 Paraplegia Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005019 pattern of movement Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
-
- 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
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
-
- 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
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0064—Attachments on the trainee preventing falling
Definitions
- the present invention relates to a device and a process for adjusting the height of and the relief force acting on a weight, especially on the weight of a patient within a locomotion training means to be used for walking therapy of paraparetic or hemiparetic patients.
- the invention relates to an automatic unloading device that allows unloading an object attached to one end of a rope by a precise counter force.
- the invention relates to a device and a process, which can be used within a locomotion training of patients with walking impairments in any phase of rehabilitation.
- said type of unloading system can be used for different applications but is preferably intended for the use in body weight supported treadmill training.
- This type of training is for example being used to train neurologically impaired patients to walk again during rehabilitation. For such incomplete paraplegic patients the possibility exists of improving walking ability up to normality by means of adequate locomotion training.
- the required therapy at present takes place on a treadmill, where walking is first made possible for the patient by defined weight relief and partially by additional assisting guidance of the legs by physiotherapists (Wickelgren, I. Teaching the spinal cord to walk. Science, 1998, 279, 319-321). already in use, which actively move the legs of recumbent patients.
- body weight supported treadmill training a patient is walking on a treadmill, while he is partially suspended from part of his body weight.
- EP 1 137 378 discloses an automatic machine, which is used in treadmill therapy (walking therapy) of paraparetic and hemiparetic patients and which automatically guides the legs on the treadmill.
- Said machine consists of a driven and controlled orthotic device, which guides the legs in a physiological pattern of movement, a treadmill and a relief mechanism.
- the knee and hip joints of the orthotic device are each provided with a drive.
- Said orthotic device is stabilized on a treadmill with stabilizing means in such a manner that the patient does not have to keep his/her equilibrium.
- the orthotic device can be adjusted in height and can be adapted to different patients.
- the unloading is achieved by a counterweight that is attached to the other end of a rope, which is connected to the patient by a harness.
- This is by definition a simple method and the results are often acceptable for regular treadmill training.
- One disadvantage is occurring if the patient has to be suspended by a large amount of his body weight. If a large mass has to be attached on the other side of the rope the inertia of the mass is causing large forces during the up and down acceleration of the body. Also, it is not very easy to change the amount of unloading during the training with most of the conventional counterweight systems.
- Either the therapist has to lift weight to or from the system to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system. to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system.
- Prior art discloses devices to provide a reliable positioning of the device height, but are cumbersome to adapt to different patients. Another limitation of this approach is furthermore the limited liberty of changes to be made in the course of the application of the walking program for the patient.
- One object of the invention is therefore to describe a device allowing faster response times and more precise determination of the height of the patient's position and of the relief force.
- the present invention relates on the insight that the functions of the cable adjustment means have to be separated to be able to achieve an electronically controlled fast adjustment of the relief force.
- the set object is met in accordance with the invention by means of a device in accordance with the wording of claim 1 .
- the features according to claim 1 uses two different cable length adjustment means. One is provided to adjust the length of the cable to define the height of the suspended weight. The other is provided to adjust the length of the cable to define the relief force acting on the suspended weight.
- the invention enhances the control of height and relief force through the separation of the functions.
- the height of the weight depends on the patient, whether he is a tall or a small person. This is adjusted at the beginning of a training session.
- the corresponding device can act slowly, even manually.
- the relief force has to be controlled during the actual therapy.
- the second cable length adjustment means divides the necessary relief force in a first static part, providing an approximate force response, and a second dynamic part, providing the fast fluctuations of the relief force while the patient is walking.
- the different devices are motorized and connected to a computer means with memory, the memory comprising database entries for different patients (height of suspension and intended general relief force) and different walking therapies (fine tuned relief force programs). This allows a quick and reliable determination and adjustment of the height for different patients and of the relief force within the training program of every patient.
- a benefit of the device according to the invention is therefore that any patient can readily mount the apparatus to use the treadmill therapy, which is very easy to adjust for his needs. No special preparation of the treadmill, and no dedicated elastic means are required.
- FIG. 1 shows a perspective view of a device according to one embodiment of the invention
- FIG. 2 shows a schematic diagram of the controller in combination with the device according to FIG. 1 .
- FIG. 1 shows a perspective view of a device for adjusting the height of and relief force acting on a weight according to one embodiment of the invention.
- the device comprises two main components: one static part 1 and another dynamic part 2 .
- the static component 1 comprises a winch 10 controlling a primary cable 11 to which the patient is attached.
- the primary cable 11 fixed at the turning sleeve of the winch 10 is running preferably parallel to the longitudinal main axis 20 of the dynamic part 2 of the device. Said longitudinal main axis 20 is directed vertically to the ground.
- Cable 11 is redirected by a fixed roller 12 towards the dynamic part 2 of the device, engages the moving roller 21 being part of said dynamic part 2 and leaves the dynamic part 2 as adjusted cable portion 13 of the cable 11 .
- the cable 11 is then leaving the device redirected by one or more fixed rollers 14 ; the corresponding prolongation of the cable 11 has received the reference numeral 30 .
- a patient who intends to use a known apparatus for a treadmill therapy e.g. according to EP 1 137 378, is attached in said prolongation 30 of the cable 11 in a harness (not shown) oriented vertically.
- the winch 10 is statically suspending the patient so he cannot fall and therefore is also responsible for the safety of the patient per se.
- winch 10 is used to statically adjust the length of cable 11 provided to said harness, it is also possible to fix cable 11 at the location of the winch 10 and to provide a drive unit connected to the fixation of a roller upstream of the dynamic part 2 , e.g. roller 12 , so that said roller 12 can be moved in direction of longitudinal axis 20 .
- a roller or a combination of rollers downstream of the dynamic part 2 , e.g. roller 14 , being mounted with a drive unit so that said roller(s) 14 can be moved in direction of longitudinal axis 20 to adjust the length of the cable 11 provided to attach a patient.
- the static part 1 comprises a unit connected to the frame 32 .
- the static part 1 does not act directly on the cable.
- Said unit is provided to move frame 32 in the direction of longitudinal axis 20 . With a fixed end of cable 11 said movement of frame 32 moves roller 21 and therefore lengthens or shortens the free cable 13 .
- All these alternative units for winch 10 can constitute the static part 1 of the device to provide a static adjustment of the length of the cable 11 provided in said prolongation 30 which corresponds to the intended height of the harness for use in a walking therapy.
- the dynamic part 2 comprises an elastic means.
- the elastic means of the embodiment is a spring means 22 provided as two helicoidal springs provided on either side of a central spindle 23 . Beside the use of helicoidal springs 22 it is also possible to use different types of elastic means, being able to exert a force in the approximate range of the intended weight to be attached to the prolongation 30 of the cable 11 .
- Springs 22 are attached between a bottom plate 24 and a top plate 25 .
- the bottom plate 24 is attached to a spindle drive 31 connected with spindle 23 engaging a thread within bottom plate 24 .
- Spindle drive 31 shows a handle but can also be motorized and connected to a control unit.
- Top plate 25 is connected to a pulley 21 , pulling the cable 11 down. Through use of the redirection of cable portion 13 the rollers 12 , 14 and 21 have the function of a pulley block. It can be intended to use even more redirections to translate the adjustment of the cable length of the prolongation 30 into a much smaller movement of the pulley 21 .
- the linear drive 26 is controlled by said electronic control unit, e.g. provided as a computer system, through a closed loop controller in such a way, that the force acting on the force transducer 27 can be controlled precisely.
- the force acting on the force transducer 27 is mostly directly proportional to the force acting on cable 13 at the harness. Due to frictional effects the force can be considerably influenced, especially following the choice of the material of the rope 13 and/or the pulleys. These differences from direct proportionality can be controlled through a programmed controller and/or through introduction of a disturbance value.
- the force transducer 27 can also be mounted to measure the force acting on the pulley 14 , on the pulley 12 or near the patient at the other side 30 of the cable 11 , being the connecting link to a harness supporting the patient (weight 40 ).
- a treadmill training of a neurologically impaired patient can be performed as follows: First the patient, attached to the other side 30 of the cable 11 with a harness, would be suspended over the walking surface by the winch 10 (static unloading system 1 ) until standing.
- the amount of unloading is defined by the control unit.
- a small motor attached to the spindle drive 31 that determines the tension of the springs 22 would then extend the springs 22 up to a length that more or less corresponds to the desired unloading of the patient. Like this the dynamic system is already unloading the patient nearly with the desired force.
- This closed loop control of body weight support allows for perfect accommodation of partial weight bearing exercise.
- the up and down movement of the patient causes the force to be not constant during the training if only the springs 22 were attached. Therefore the linear drive 26 can adjust the position of the pulley 21 online, as controlled by the close loop controller, so the force acting on the rope 11 will be constant, or corresponding to a desired force trajectory, during the whole training.
- the dynamic drive adds a motor driven force to the spring force in a manner to compensate the influence of the position of the device on the spring force due to friction based effects due to the choice of the material of the rope and the pulleys.
- the device can only guarantee a precise, desired unloading, as long as the weight can be adjusted by the linear drive 26 . This is not possible anymore, if the patient moves up or down too much, meaning that the linear drive 26 is approaching the end of the range of motion. This is detected by the control unit, as the movement of the linear drive 26 is measured with a position sensor, e.g. a ultrasound transducer mounted beneath top plate 25 . The control unit can therefore readjust the position of the patient with the winch 10 in terms to bring the linear drives 26 back into the range of operation.
- a position sensor e.g. a ultrasound transducer mounted beneath top plate 25 .
- FIG. 2 shows a schematic diagram of the electronic controller unit in combination with the device according to FIG. 1 .
- the winch 10 , the actuator 26 , e.g. the linear drive, and the bias means 31 , e.g. the spindle drive, are shown receiving an controller signal I and outputting a signal proportional to a well-defined force F or position x.
- the boxes of FIG. 2 showing a actual device according to FIG. 1 have received the same reference numeral, although it is clear for someone skilled in the art that the boxes of FIG. 2 further comprise the electronic controller components to deliver the control signals mentioned.
- Numeral 40 is used to define the weight of e.g. a human subject to use the treadmill for which the device for adjusting the height of and the relief force acting on said weight 40 is provided.
- a position sensor 34 (not shown in FIG. 1 ) measures X real and outputs X measured .
- the force sensor 27 measures F real and outputs F measured .
- the (static) position of the cable x measured is input to the winch controller 35 , acting via a control signal I winch on the winch 10 to define the predetermined height, which can be input to the winch controller 35 via a key means or an electronic signal of said electronic control unit comprising the walking program for a patient.
- the key means or an electronic signal of said electronic control unit comprising the walking program for a patient generates the input F desired .
- a mixer 36 is provided to output the difference signal of F desired and F measured .
- Said difference signal F diff is input to a force controller 37 outputting the corresponding control signal I drive which is fed to the actuator 26 to dynamically change the length of the cable 13 to control the force relief.
- F desired is also the input to the spring load controller 38 , outputting a signal I springs to bias means 31 , which in turn moves bottom plate 24 to adjust the static weight compensation by springs 22 .
- the length of the springs 22 is controlled with the bias means 31 to move the bottom plate 24 into a position that the tension of the springs 22 is such that patient is unloaded approximately by the desired force F desired.
- the spring load controller 38 has therefore a far slower response than the force controller 37 .
- a position sensor 34 (not shown) is provided to directly measure the length of the springs 22 .
- This can be a position sensor mounted near top plate 25 measuring the distance of said sensor from bottom plate 24 or from the element holding pulley 12 or 14 .
- Said position sensor inputs a spring length signal to the controller as shown in FIG. 2 , especially into block 38 showing the spring load controller.
- the signal issued from position sensor 34 is fed to the force controller 37 to generate a disturbance value.
- frictional effects can hamper the usual proportionality between spring length and load.
- the additional feeding of the actual position value to the force controller 37 and/or the spring load controller 38 enables the controller to adapt the force F drive .
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Abstract
A device for adjusting the height of and relief force acting on a weight is especially provided to be used for walking therapy of paraparetic or hemiparetic patients within a locomotion training means. Said weight of the patient is supported by a cable. A first cable length adjustment means provides an adjustment of the length of the cable to define the height of said suspended weight. A second cable length adjustment means provides an adjustment of the length of the cable to define the relief force acting on the suspended weight. This allows a quick and reliable determination and adjustment of the height for different patients and of the relief force within the training program of every patient.
Description
- The present invention relates to a device and a process for adjusting the height of and the relief force acting on a weight, especially on the weight of a patient within a locomotion training means to be used for walking therapy of paraparetic or hemiparetic patients. In other words, the invention relates to an automatic unloading device that allows unloading an object attached to one end of a rope by a precise counter force. Especially, the invention relates to a device and a process, which can be used within a locomotion training of patients with walking impairments in any phase of rehabilitation.
- As mentioned above said type of unloading system can be used for different applications but is preferably intended for the use in body weight supported treadmill training. This type of training is for example being used to train neurologically impaired patients to walk again during rehabilitation. For such incomplete paraplegic patients the possibility exists of improving walking ability up to normality by means of adequate locomotion training. The required therapy at present takes place on a treadmill, where walking is first made possible for the patient by defined weight relief and partially by additional assisting guidance of the legs by physiotherapists (Wickelgren, I. Teaching the spinal cord to walk. Science, 1998, 279, 319-321). already in use, which actively move the legs of recumbent patients. During body weight supported treadmill training, a patient is walking on a treadmill, while he is partially suspended from part of his body weight.
-
EP 1 137 378 discloses an automatic machine, which is used in treadmill therapy (walking therapy) of paraparetic and hemiparetic patients and which automatically guides the legs on the treadmill. Said machine consists of a driven and controlled orthotic device, which guides the legs in a physiological pattern of movement, a treadmill and a relief mechanism. The knee and hip joints of the orthotic device are each provided with a drive. Said orthotic device is stabilized on a treadmill with stabilizing means in such a manner that the patient does not have to keep his/her equilibrium. The orthotic device can be adjusted in height and can be adapted to different patients. - The unloading is achieved by a counterweight that is attached to the other end of a rope, which is connected to the patient by a harness. This is by definition a simple method and the results are often acceptable for regular treadmill training. However, there are some disadvantages in using this method for this kind of therapy. One disadvantage is occurring if the patient has to be suspended by a large amount of his body weight. If a large mass has to be attached on the other side of the rope the inertia of the mass is causing large forces during the up and down acceleration of the body. Also, it is not very easy to change the amount of unloading during the training with most of the conventional counterweight systems. Either the therapist has to lift weight to or from the system to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system. to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system.
- Prior art discloses devices to provide a reliable positioning of the device height, but are cumbersome to adapt to different patients. Another limitation of this approach is furthermore the limited liberty of changes to be made in the course of the application of the walking program for the patient.
- One object of the invention is therefore to describe a device allowing faster response times and more precise determination of the height of the patient's position and of the relief force.
- The present invention relates on the insight that the functions of the cable adjustment means have to be separated to be able to achieve an electronically controlled fast adjustment of the relief force.
- The set object is met in accordance with the invention by means of a device in accordance with the wording of
claim 1. - The features according to
claim 1 uses two different cable length adjustment means. One is provided to adjust the length of the cable to define the height of the suspended weight. The other is provided to adjust the length of the cable to define the relief force acting on the suspended weight. - The invention enhances the control of height and relief force through the separation of the functions. The height of the weight depends on the patient, whether he is a tall or a small person. This is adjusted at the beginning of a training session. The corresponding device can act slowly, even manually. The relief force has to be controlled during the actual therapy. The second cable length adjustment means divides the necessary relief force in a first static part, providing an approximate force response, and a second dynamic part, providing the fast fluctuations of the relief force while the patient is walking.
- Further preferred embodiments of the apparatus according to the invention are characterized in the dependent claims.
- In order to adapt the principles of the invention to a larger range of instruments the different devices are motorized and connected to a computer means with memory, the memory comprising database entries for different patients (height of suspension and intended general relief force) and different walking therapies (fine tuned relief force programs). This allows a quick and reliable determination and adjustment of the height for different patients and of the relief force within the training program of every patient.
- A benefit of the device according to the invention is therefore that any patient can readily mount the apparatus to use the treadmill therapy, which is very easy to adjust for his needs. No special preparation of the treadmill, and no dedicated elastic means are required.
-
FIG. 1 shows a perspective view of a device according to one embodiment of the invention, and -
FIG. 2 shows a schematic diagram of the controller in combination with the device according toFIG. 1 . -
FIG. 1 shows a perspective view of a device for adjusting the height of and relief force acting on a weight according to one embodiment of the invention. - The device comprises two main components: one
static part 1 and anotherdynamic part 2. Thestatic component 1 comprises awinch 10 controlling aprimary cable 11 to which the patient is attached. In the embodiment shown theprimary cable 11 fixed at the turning sleeve of thewinch 10 is running preferably parallel to the longitudinalmain axis 20 of thedynamic part 2 of the device. Said longitudinalmain axis 20 is directed vertically to the ground. -
Cable 11 is redirected by a fixedroller 12 towards thedynamic part 2 of the device, engages the movingroller 21 being part of saiddynamic part 2 and leaves thedynamic part 2 as adjustedcable portion 13 of thecable 11. Thecable 11 is then leaving the device redirected by one or morefixed rollers 14; the corresponding prolongation of thecable 11 has received the reference numeral 30. - A patient who intends to use a known apparatus for a treadmill therapy, e.g. according to
EP 1 137 378, is attached in said prolongation 30 of thecable 11 in a harness (not shown) oriented vertically. Thewinch 10 is statically suspending the patient so he cannot fall and therefore is also responsible for the safety of the patient per se. - Although within the preferred shown embodiment of the
invention winch 10 is used to statically adjust the length ofcable 11 provided to said harness, it is also possible to fixcable 11 at the location of thewinch 10 and to provide a drive unit connected to the fixation of a roller upstream of thedynamic part 2,e.g. roller 12, so that saidroller 12 can be moved in direction oflongitudinal axis 20. In another embodiment not shown in the drawings it can be a roller (or a combination of rollers) downstream of thedynamic part 2,e.g. roller 14, being mounted with a drive unit so that said roller(s) 14 can be moved in direction oflongitudinal axis 20 to adjust the length of thecable 11 provided to attach a patient. Within a third embodiment thestatic part 1 comprises a unit connected to the frame 32. In said case thestatic part 1 does not act directly on the cable. Said unit is provided to move frame 32 in the direction oflongitudinal axis 20. With a fixed end ofcable 11 said movement of frame 32moves roller 21 and therefore lengthens or shortens thefree cable 13. - All these alternative units for
winch 10 can constitute thestatic part 1 of the device to provide a static adjustment of the length of thecable 11 provided in said prolongation 30 which corresponds to the intended height of the harness for use in a walking therapy. - The
dynamic part 2 comprises an elastic means. The elastic means of the embodiment is a spring means 22 provided as two helicoidal springs provided on either side of acentral spindle 23. Beside the use ofhelicoidal springs 22 it is also possible to use different types of elastic means, being able to exert a force in the approximate range of the intended weight to be attached to the prolongation 30 of thecable 11. -
Springs 22 are attached between abottom plate 24 and atop plate 25. Thebottom plate 24 is attached to aspindle drive 31 connected withspindle 23 engaging a thread withinbottom plate 24. Spindle drive 31 shows a handle but can also be motorized and connected to a control unit.Top plate 25 is connected to apulley 21, pulling thecable 11 down. Through use of the redirection ofcable portion 13 therollers pulley 21. - In parallel with the
springs 22, i.e. parallel to theaxis 20, there is alinear drive 26 attached to thepulley 21 via thetop plate 25. By thislinear drive 26 the force of thesprings 22 can be reduced or enhanced. Between thepulley 21 and the dynamic control component acting on thesprings 22 andlinear drive 26, there is aforce transducer 27 that measures exactly how much force is being applied to therope 13 by thepulley 21. Theforce transducer 27, connected in series toelastic means 22, is connected to a electronic control unit. The control unit is preferably forming a closed loop control unit. - The
linear drive 26 is controlled by said electronic control unit, e.g. provided as a computer system, through a closed loop controller in such a way, that the force acting on theforce transducer 27 can be controlled precisely. The force acting on theforce transducer 27 is mostly directly proportional to the force acting oncable 13 at the harness. Due to frictional effects the force can be considerably influenced, especially following the choice of the material of therope 13 and/or the pulleys. These differences from direct proportionality can be controlled through a programmed controller and/or through introduction of a disturbance value. - The
force transducer 27 can also be mounted to measure the force acting on thepulley 14, on thepulley 12 or near the patient at the other side 30 of thecable 11, being the connecting link to a harness supporting the patient (weight 40). - A treadmill training of a neurologically impaired patient can be performed as follows: First the patient, attached to the other side 30 of the
cable 11 with a harness, would be suspended over the walking surface by the winch 10 (static unloading system 1) until standing. - The amount of unloading is defined by the control unit. A small motor attached to the
spindle drive 31 that determines the tension of thesprings 22 would then extend thesprings 22 up to a length that more or less corresponds to the desired unloading of the patient. Like this the dynamic system is already unloading the patient nearly with the desired force. - This closed loop control of body weight support allows for perfect accommodation of partial weight bearing exercise.
- The up and down movement of the patient causes the force to be not constant during the training if only the
springs 22 were attached. Therefore thelinear drive 26 can adjust the position of thepulley 21 online, as controlled by the close loop controller, so the force acting on therope 11 will be constant, or corresponding to a desired force trajectory, during the whole training. Within other embodiments the dynamic drive adds a motor driven force to the spring force in a manner to compensate the influence of the position of the device on the spring force due to friction based effects due to the choice of the material of the rope and the pulleys. - The device can only guarantee a precise, desired unloading, as long as the weight can be adjusted by the
linear drive 26. This is not possible anymore, if the patient moves up or down too much, meaning that thelinear drive 26 is approaching the end of the range of motion. This is detected by the control unit, as the movement of thelinear drive 26 is measured with a position sensor, e.g. a ultrasound transducer mounted beneathtop plate 25. The control unit can therefore readjust the position of the patient with thewinch 10 in terms to bring thelinear drives 26 back into the range of operation. -
FIG. 2 shows a schematic diagram of the electronic controller unit in combination with the device according toFIG. 1 . Thewinch 10, theactuator 26, e.g. the linear drive, and the bias means 31, e.g. the spindle drive, are shown receiving an controller signal I and outputting a signal proportional to a well-defined force F or position x. The boxes ofFIG. 2 showing a actual device according toFIG. 1 have received the same reference numeral, although it is clear for someone skilled in the art that the boxes ofFIG. 2 further comprise the electronic controller components to deliver the control signals mentioned. -
Numeral 40 is used to define the weight of e.g. a human subject to use the treadmill for which the device for adjusting the height of and the relief force acting on saidweight 40 is provided. A position sensor 34 (not shown inFIG. 1 ) measures Xreal and outputs Xmeasured. Theforce sensor 27 measures Freal and outputs Fmeasured. The (static) position of the cable xmeasured is input to thewinch controller 35, acting via a control signal Iwinch on thewinch 10 to define the predetermined height, which can be input to thewinch controller 35 via a key means or an electronic signal of said electronic control unit comprising the walking program for a patient. - The key means or an electronic signal of said electronic control unit comprising the walking program for a patient generates the input Fdesired. A
mixer 36 is provided to output the difference signal of Fdesired and Fmeasured. Said difference signal Fdiff is input to aforce controller 37 outputting the corresponding control signal Idrive which is fed to theactuator 26 to dynamically change the length of thecable 13 to control the force relief. - Fdesired is also the input to the
spring load controller 38, outputting a signal Isprings to bias means 31, which in turn movesbottom plate 24 to adjust the static weight compensation bysprings 22. The length of thesprings 22 is controlled with the bias means 31 to move thebottom plate 24 into a position that the tension of thesprings 22 is such that patient is unloaded approximately by the desired force Fdesired. Thespring load controller 38 has therefore a far slower response than theforce controller 37. - In another embodiment of the device according to
FIG. 1 a position sensor 34 (not shown) is provided to directly measure the length of thesprings 22. This can be a position sensor mounted neartop plate 25 measuring the distance of said sensor frombottom plate 24 or from theelement holding pulley FIG. 2 , especially intoblock 38 showing the spring load controller. Additionally the signal issued fromposition sensor 34 is fed to theforce controller 37 to generate a disturbance value. As mentioned above frictional effects can hamper the usual proportionality between spring length and load. The additional feeding of the actual position value to theforce controller 37 and/or thespring load controller 38 enables the controller to adapt the force Fdrive. In this respect it is advantageous to feed Fdesired directly to theforce controller 37 in order to have a actual base for the generation of Idrive to generate a force Fdrive adapted to the friction within the whole device.
Claims (10)
1. A device for adjusting the height of and the relief force acting on a weight, especially on the weight of a patient within a locomotion training means to be used for walking therapy of paraparetic or hemiparetic patients, comprising
a cable supporting said weight,
a first cable length adjustment means to provide an adjustment of the length of the cable to define the height of said suspended weight,
a second cable length adjustment means to provide an adjustment of the length of the cable to define the relief force acting on the suspended weight,
the second cable length adjustment means comprising an elastic means to provide a counter force to the suspended weight with a value in the range of the intended relief force, wherein a bias means is connected in parallel to the elastic means to preadjust the value of the counter force.
2. The device according to claim 1 , characterized in that the first cable length adjustment means comprises a winch means provided at one free end of the cable
3. The device according to claim 1 , characterized in that the first cable length adjustment means comprises a movable roller means provided upstream or downstream to the engagement point of the second cable length adjustment means
4. The device according to claim 1 , characterized in that the first cable length adjustment means comprises a displacement means for the second cable length adjustment means.
5. The device according to claim 1 , characterized in that the device furthermore comprises an actuator providing a force parallel to the direction of the counter force provided by the elastic means, wherein the addition of the two forces determine the value of the intended relief force.
6. The device according to claim 5 , characterized in that it further comprises a force transducer connected to a control unit connected to said actuator to control the relief force.
7. The device according to claim 6 , characterized in that the control unit is a closed loop control unit.
8. The device according to claim 1 , characterized in that the bias means is mounted in parallel with the actuator.
9. A process to adjust the conditions of a weight relieved walking for a patient, wherein said patient is suspended with help of a cable supported means, wherein
data relating to the height of the patient and the intended relief force are entered in a control unit,
the control unit activates a first cable length adjustment means to provide an adjustment of the length of the cable to define the height of said suspended weight, and
the control unit activates a second cable length adjustment means to provide an adjustment of the length of the cable to define the relief force acting on the suspended weight.
10. The process according to claim 9 , wherein a force transducer mounted in series to elastic means of second cable length adjustment means generates force measurement value of the supported weight and transmits said values to the control unit being connected with an actuator of second cable length adjustment means, wherein the control unit controls the actuator to provide a force parallel to the direction of the counter force provided by the elastic means, wherein the addition of the two forces determine the value of the intended relief force at every moment.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04405236.3 | 2004-04-16 | ||
EP04405236A EP1586291B1 (en) | 2004-04-16 | 2004-04-16 | Device for adjusting the height of and the relief force acting on a weight |
Publications (1)
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US20050239613A1 true US20050239613A1 (en) | 2005-10-27 |
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Family Applications (1)
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US11/107,641 Abandoned US20050239613A1 (en) | 2004-04-16 | 2005-04-15 | Device and process for adjusting the height of and the relief force acting on a weight |
Country Status (4)
Country | Link |
---|---|
US (1) | US20050239613A1 (en) |
EP (1) | EP1586291B1 (en) |
AT (1) | ATE391482T1 (en) |
DE (1) | DE602004012959T2 (en) |
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US20080287268A1 (en) * | 2007-05-14 | 2008-11-20 | Joseph Hidler | Body Weight Support System and Method of Using the Same |
US20100312152A1 (en) * | 2009-06-03 | 2010-12-09 | Board Of Regents, The University Of Texas System | Smart gait rehabilitation system for automated diagnosis and therapy of neurologic impairment |
US20110120567A1 (en) * | 2009-05-15 | 2011-05-26 | Alterg, Inc. | Differential air pressure systems |
WO2015065303A1 (en) | 2013-11-01 | 2015-05-07 | Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Ve Ticaret Limited Sirketi | A weight balancing mechanism |
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US10406059B2 (en) | 2014-04-21 | 2019-09-10 | The Trustees Of Columbia University In The City Of New York | Human movement research, therapeutic, and diagnostic devices, methods, and systems |
TWI680780B (en) * | 2017-02-02 | 2020-01-01 | 大武源工業股份有限公司 | Low chassis treadmill |
US10639510B2 (en) | 2017-03-20 | 2020-05-05 | The Trustees Of Columbia University In The City Of New York | Human musculoskeletal support and training system methods and devices |
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US11452653B2 (en) | 2019-01-22 | 2022-09-27 | Joseph Hidler | Gait training via perturbations provided by body-weight support system |
US11654327B2 (en) | 2017-10-31 | 2023-05-23 | Alterg, Inc. | System for unweighting a user and related methods of exercise |
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Also Published As
Publication number | Publication date |
---|---|
DE602004012959D1 (en) | 2008-05-21 |
DE602004012959T2 (en) | 2008-10-23 |
EP1586291A1 (en) | 2005-10-19 |
EP1586291B1 (en) | 2008-04-09 |
ATE391482T1 (en) | 2008-04-15 |
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