WO1989007964A1 - Device for training and/or determining motor capabilities - Google Patents

Abstract

A device for training and/or determining motor capabilities comprises a frame (1) on which are mounted, for example, four actuators (2, 3, 4, 5), provided with linear drives for the extrimities of a test subject. Each linear drive is connected to a separate electronic control unit which controls the translational speed of the linear drive in function of a given angular speed w of the fore-arm or the thigh and of the length (A, B) of the limbs of the test subject.

Description

 Device for training and / or recording motor performance

The invention relates to a device for training and / or detecting motor performance, with at least one linear drive attached to a frame for one of the extremities of a subject and with an electronic control unit connected to the linear drive and connected to a position sensor assigned to the linear drive.

An exercise device with a hydraulic linear drive in the form of a hydraulic cylinder with electronic control of the type specified above is known from US-A-4 063 726. In this known exercise device, the resistance opposed to movement by the piston of the hydraulic cylinder is automatically regulated, whereby not only an automatic reversal is accomplished at the stroke ends with the aid of a position sensor, but also the pressure of the hydraulic medium can be regulated depending on the piston position. A speed control with the specification of certain translation speeds for the piston movement is not possible with this known exercise device. An increase in speed can only be achieved by increasing the force exerted by the test person. As a result, exercises for muscle training can only be carried out to a limited extent.

Another, also hydraulically driven, exercise device is known from WO-A-80/00124. Two swivel arms are connected to one another in an articulated manner, one of which is articulated on a frame and the other carries handles for the test person at its free end. Each swivel arm can be swiveled around its respective articulation axis on the frame or on the other swivel arm with the aid of a hydraulic cylinder, and an electronic control is provided for these two hydraulic cylinders, with the aid of which the subject's point of action (i.e. the handles mentioned along a desired path depends on) the forces exerted by the test subject is moved, while at the same time varying resistance depending on the position, speed, time and the force exerted by the test subject Permanent forces can be applied. This exercise device is therefore relatively complex and complicated, and in particular the coordinated control of the two hydraulic cylinders to achieve certain movements or moments of resistance is problematic.

Another device for muscle training is known from DE-B-1478056 or the corresponding US-A-3465592. However, this is a purely passive hydraulic system, by means of which a resistance to a swiveling or translational movement carried out by the test person is opposed. The specification of certain movement and strength patterns is not possible, so that muscle training is only possible in a very limited form.

The same applies to the exercise device according to US-A-3 998 100, in which a frame with a handle bar is controlled with the aid of two hydraulic cylinders with regard to the speed and the counterforce during the exercise movements. Here, in the hydraulic system with the aid of adjustable flow controllers, upper limit values for the speed of the upward or Downward movement of the handlebar set, whereby the set limit values can be changed during the exercise, as well as the force values set with the help of pressure regulators. US Pat. No. 3,869,121 also describes a proportional resistance exercise device in which a handle bar is connected via cable to a type of cable winch which is driven by an electric motor which either winds the cables against the resistance of a test subject, or provides a braking torque when the test person unwinds the cables. Even with these known exercise devices, muscle exercises (lifting exercises) are therefore only possible to a limited extent.

Finally, WO-A-87/01601 describes a device with a total of four gear units attached to a frame with a movement guide for the arms or legs of a subject, each gear unit consisting of a hydraulic cylinder pivotable about a fixed gear wheel, the piston rod of which has a has the fixed gear in meshing tooth segment, and consists of a rocker arm, which rotates with a rotatably mounted gear on the cylinder housing is connected, which meshes with another toothed segment on the piston rod of the hydraulic cylinder. This special gear design mechanically simulates the respective extremities - arms or legs - in order to enable movement control at a constant angular velocity (in the shoulder or hip joint). However, the total of four gear units require a relatively large amount of space, and accordingly this known device is relatively voluminous, moreover it is not possible to take into account individual data from test subjects, ie different lengths of upper arm and forearm or thigh and lower leg, since the bring fixed lever lengths with them.

The invention has for its object to provide a device of the type mentioned, in which a consideration of the personal data of the subjects is made possible with as little mechanical effort as possible, furthermore, despite the provision of a simple linear drive, a specification of the angular velocity of the respective upper arm or Thigh around the associated shoulder joint or hip joint should also be possible; in particular, such a control should be possible that this angular velocity is kept constant (so-called isokinematic operation).

The inventive device of the type mentioned is characterized in that the at least one linear drive from the control unit with one of the desired, e.g. constant angular velocity of the extremity and the extremity longitudinal dimensions can be controlled in the manner of a thrust crank or straight steering guidance dependent translation speed.

The principle of a computational modeling of movement parameters for the extremities in the control unit is thus used in the present device, that is to say the respective extremity is compared with a crank mechanism or more precisely with a push crank or straight steering, and the speed of the linear movement of the hand or foot is accordingly the function of the control unit on the one hand the angular velocity ω of the thrust crank, ie the upper arm or the thigh around the shoulder or hip joint, and on the other hand, controlled by the lengths of the upper and lower arm or upper and lower leg. The angular velocity mentioned can be varied during the translational movement, it can also be specified to be constant for isokinematic operation, ie the translational velocity of the hand or foot is controlled by the control unit depending on the path or position in such a way that the upper arm or thigh with the desired angular velocity is pivoted. As a result, the outlay on equipment in the present device is extremely low, although individual parameters or length dimensions of the limbs of the test subjects can be taken into account without problems for the first time.

A major advantage of the device according to the invention compared to the known devices is that with. the type of control described above enables a more controllable angular velocity of the upper arm or thigh and thus a more controllable muscle contraction velocity of the extremities.

For a correct exercise sequence, the subject is also positioned relative to the frame in such a way that his or her shoulder and / or hip joint (the fulcrum of the imaginary crank drive) corresponds to the reference point on the frame of the device, from which the stroke movements of the linear drive are controlled. the distance between the point of application of the test person's hand or foot being continuously recorded from this reference point and transmitted to the control unit. These actual travel data are closely related to the respective instantaneous angle between the upper arm or thigh on the one hand and the axis of the linear drive on the other hand, since the lengths of the limbs are known, so that the translation speed can be regulated as required depending on the travel during the execution of the stroke movements.

There is an advantageous possibility that simply the linear drive from the control unit with a translation speed v according to the relationship

v = A.ω. [sin α + (A / 2B) sin 2 α]

is controllable, whereby ω the target angular velocity of the upper arm or

Thigh is, A is the length of the upper arm or thigh, B is the length of the forearm or lower leg and oc is the instantaneous angle between the upper arm or thigh and the longitudinal axis of the linear actuator. On the other hand, it is often also practical to specify the size of the strokes or the maximum stroke and minimum stroke, measured in relation to the aforementioned reference point, and accordingly it is advantageous if the linear drive from the control unit has a tranelating speed v in accordance with the relationship

steuerbar ist, wobei

is controllable, whereby

A is the length of the upper arm or upper leg, B is the length of the forearm or lower leg, α is the current angle between the upper arm or thigh and the longitudinal axis of the linear drive, n is the specified number of double strokes of the extremity per minute, a is an approximate value A = B assuming that A ~ B, H _{max is} the distance of the point of attack of the

Limb on the linear drive from the shoulder or hip joint with the limb extended, and H _{min is} the distance of the point of application of the limb on the linear drive from the shoulder or hip joint with the limb flexed. In addition to the stroke length, the number of double strokes per minute must also be specified, with this variable indirectly specifying the angular velocity.

With regard to the drive control provided according to the invention, it has proven to be advantageous if the linear drive is designed with a servo-controlled electric motor, preferably a brushless DC motor.

It is also advantageous if the linear drive contains a toothed belt driven by the electric motor, which is connected to a toothed belt linearly guided slide is firmly connected, which carries a handle or pedal element for the extremity. Apart from the advantage of a simple design with good dynamic behavior, this embodiment is also characterized by an extremely low noise level. Of course, it would also be conceivable in itself to design the linear drive differently, for example with a ball screw spindle, along which a spindle nut can be displaced, to which the handle or pedal element is attached.

Ee is further advantageous if the handle or pedal element is adjustably attached to the slide to adapt to the body size of the subject. In this way, the desired grip or pedal distance can be achieved. This is particularly important when linear drives are provided in two pairs (for arms and legs).

For a force-dependent control of the linear drives, it can also be provided that force measuring elements, for example strain gauges, are attached to a connecting arm connecting the handle or pedal element to the slide, to which the control unit is connected.

A type of control would be conceivable, for example, in which the translation speed is set higher, the more force is applied by the test subject, a maximum value being expediently specified for this purpose. On the other hand, provision can also be made for a movement of the linear drive to be triggered when a predetermined minimum force is applied by the subject. As a result of such a force measurement and feedback of the measured force values to the control unit, it is furthermore also possible to avoid sudden stresses in the reversal points.

If several linear drives or generally actuators are provided, somewhat similar to the device according to WO-A-87/01601, but where, as mentioned, however, four mechanical gear units are provided as actuators, a central control unit can be provided for all actuators controls the speed of the individual actuators. However, it has proven to be advantageous if each actuator has its own intelligent control, and accordingly is an advantageous embodiment of the device according to the invention characterized in that a plurality of linear drives, preferably two pairs of linear drives assigned to the arms or legs, are provided, and that each of the linear drives "is assigned a separate control unit for independent control of its translation speed.

Furthermore, it is advantageous if all control units are connected to a central processor unit, for example in a master-slave relationship, for their control and evaluation of measurement data.

With such a conception, the independent, individual control units, which carry out the control of the respective actuators independently, relieve the central processor unit, but the respective desired parameters can be entered or predefined via this central processor unit, as well as the start or the start point there the end of an exercise is determined and the output and evaluation of measurement data is carried out. With regard to the design of the central process unit, there are a wide variety of options available for the actuators whose own control units take over the actual control of the linear drives, or, conversely, the same hardware and software are also available for the most varied configurations or different numbers of actuators possible in the central processor unit. This achieves a high degree of flexibility and expandability in terms of both software and hardware.

Since simple linear drives are used in the present device, which are controlled in order to achieve the desired movement patterns with regard to their translation speed in correspondence with the mathematical modeling of the crank mechanism, the exercises according to the invention can be provided without particular apperative difficulties, the desired exercises in the most varied positions of the extremities relative exercise on the subject's torso. Accordingly, in a further development of the invention, it is particularly expedient if the or each linear drive is attached to a support arm pivotably mounted on the frame. It has proven to be particularly advantageous if the or each support arm for the linear drive assigned to an arm is continuously adjustable in a range of -45 ° to + 45 ° with respect to the horizontal is. On the other hand, it is expedient if the or each support arm for the linear drive assigned to a leg is continuously adjustable in a range from -90 ° to 0 ° with respect to the horizontal. In order to ensure a high level of reproducibility in the exercises, it is also advantageous if the or each support arm is assigned an angular position transmitter which is connected to the (respective) control unit. The positioning of the respective actuator can thus be recorded or carried out automatically for each subject and for the respective exercise. The means for positioning, such as electromechanical or hydraulic swivel drives, can be of a type known per se, and they are controlled accordingly, for example, by the respective control unit on the command of the central processor unit, which previously received the position data.

To adapt to different body sizes of the individual test subjects, it is furthermore advantageous if the or each support arm for the linear drive assigned to an arm is pivotably mounted on a support which is horizontally and vertically displaceably mounted on the frame. In this embodiment, the position of the shoulder joint relative to the hip joint is thus adjusted horizontally and / or vertically with the aid of the carrier mentioned.

Here, too, it is again expedient if the carrier is assigned position transmitters for the horizontal and vertical position, which are connected to the (respective) control unit. The control unit again receives the details from the central processor unit, for example, and this processor unit can then, in a later exercise with the same subject, issue a command to the respective control unit in order to actuate the actuators for the carrier in a conventional manner control to automatically re-position the carrier.

An advantageous embodiment of the invention is then characterized in that an optionally vertically adjustable support for the test subject, for example a seat, is attached to the frame and optical adjustment devices with light points for determining the shoulder and hip joints of the test subject relative to the frame are provided as reference points . For the inventive control of the linear drives depending on the position, ie for the travel-dependent speed setting, it has finally proven to be particularly advantageous if the position transmitter assigned to the (respective) linear drive and connected to the (respective) control unit is an analog displacement sensor.

The invention is explained in more detail below with reference to an especially preferred exemplary embodiment illustrated in the drawing, to which, however, it should not be limited. In detail show in the drawing;

Fig. 1 is a schematic side view of an inventive device;

Fig. 2 is an associated front view of this device; 3 and 4 are schematic representations of the "crank mechanism" given by an arm or a leg, in the manner of a push crank or straight steering, with the assumption that the axis of the linear movement of the hand or foot through the center of the shoulder joint or hip joint runs; 5 shows a corresponding diagram of a push crank; 6 schematically shows a view of a linear drive or actuator provided in the device according to FIGS. 1 and 2, with a cover being omitted;

FIG. 7 shows an associated top view of this actuator according to FIG. 6;

Fig. 8 is an associated cross-sectional view along the line VIII-VIII in Fig. 6;

9 is a general control scheme for the device of FIG. 1 and 2;

10 shows a diagram to illustrate the control of an actuator with the aid of an individual control unit, essentially corresponding to the detail X in FIG. 9; 11 to 16 show diagrammatic side views of different settings of the device and thus different exercise options, with one half of the device being omitted for better illustration of the position of the subject; and

Fig. 17 is a flowchart showing an example of an exercise flow. 1 and 2, the present device for training and / or detecting the human motor system has a frame 1 on which four actuators 2, 3, 4, 5 - two actuators each for the arms and legs of a test subject - are pivotably attached are. Handles 6 and 7 are fastened to the actuators 2, 3 of the upper pair, and pedals 8 and 9 are attached to the lower actuators 4, 5 in a corresponding manner. As will be explained in more detail below with reference to FIGS. 6 to 8, each actuator 2 to 5 contains a linear drive with which the respective handle 6 or 7 or the respective pedal 8 or 9 is connected. As a result, these handle or pedal elements 6 to 9 are driven back and forth.

There is also a support on frame 1, e.g. a seat 10 attached. This edition can be replaced, i.e. Instead of the seat 10, a lying surface 11 can also be attached, cf. the representation in FIGS. 15 and 16.

More specifically, the actuators 2 to 5 consist of housing-like support arms, e.g. made of cast aluminum, as illustrated, for example, in FIGS. 7 and 8 at 12, and on or in these housing-like support arms 12, the respective linear drives indicated in FIGS. 6 and 7 are attached as 13.

1 and 2, the two upper support arms or generally actuators 2, 3 are attached to an elongated, approximately horizontal support 14 or 15, which on the one hand is attached to the frame 1 by means known per se, such as electromechanical adjusting mechanisms or hydraulic cylinders, vertically and horizontally adjustable is attached. This horizontal and vertical displaceability is indicated in FIG. 1 by double arrows. The associated actuator 2 or 3 is pivotably mounted on the respective carrier 14 or 15, any angular position between a position inclined downwards by 45 ° and a position inclined upwards by 45 ° can be set in steps.

The lower actuators 4, 5 or linear drive support arms are continuously adjustable between a vertical position and a horizontal position.

These adjustment options are illustrated schematically in FIG. 1 with dashed lines and, moreover, also result from the various representations in FIGS. 11 to 16. As already mentioned above, the present device works according to the principle of mathematical modeling of movement parameters, the respective extremity being compared with a crank mechanism; The translation speed v to be regulated of the respective linear drive 13 therefore results on the basis of the conditions applicable to such a crank mechanism or more precisely a push crank.

3 to 5, the relationship for the translation speed v of the hand or foot as a function of the angular speed ω (t) in the shoulder (Fig. 3) or hip joint (Fig. 4) and the. Lengths A, B of the upper arm and forearm (Fig. 3) or the thigh and lower leg (Fig. 4) explained. The same conditions apply to both cases, arm (Fig. 3) and leg (Fig. 4), so that it is sufficient to derive the relationship for the translation speed once, cf. in particular also FIG. 5.

As shown in FIGS. 3 to 5, an arm or leg can be mechanically regarded as a thrust crank when the hand or foot is moved in a straight line, as shown in FIG. 5, and the general relationship known per se applies to this

v = A ω [sin α + (A / 2B) sin 2 α] (1).

Where α is the angle (in °) of one crank arm, i.e. of the upper arm or thigh, relative to the axis X-X of movement, i.e. to the direction of the movement of the hand or foot or generally to the axis of the linear drive, which runs through the reference point 0 - the shoulder joint or the hip joint.

It is now assumed that n double strokes per minute are to be carried out, from which the time T (in s) for a single stroke, e.g. from Hm £ n to Hιnax in Fig. 5, as follows:

T = 60 / 2n

(H _max - maximum stroke; H _min - minimum stroke).

The constant or averaged angular velocity ω during such a stroke can be written as follows: ω = (α _max - α _min ) / τ,

where α _max or α _{min are} the values for the angle α at the attractive ones (at ümιn or Hmax in. Since the respective extremity should normally be moved to the extension (H _max ), where α _min = 0 iet, α _max = α ₀ (angle with arm or leg bent, with H _min according to FIG. 5) the angular velocity ω can be given as follows:

ω = α ₀ / T

After converting the angle α ₀ into rad and inserting T = 60 / 2n, the following results:

ω = 0.0175 α ₀ . (n / 30) = 5.83.10 ^-4 . n. α ₀ (2)

The stroke length H results from FIG. 5 with

H = H _max - H _min - (A + B) - (A cosα ₀ + B cosα ₁ ) (3),

where αt is the angle between the forearm or lower leg and the direction of movement X-X with the limb bent.

In general, it can now be assumed that the lengths of the upper and lower arm or of the upper and lower leg are approximately the same, so that the following applies:

A = B = a;

furthermore we get: α0 = α1} so that from the relation (3) we get:

H = 2a - 2a cosα ₀

respectively.

cosα ₀ - (2a - H) / 2a

By inserting in (2) we now get: ω = 5, 83.10 ^-4 . n. arccos [(2a-H) / 2a] (4).

If equation (4) is now used in equation (1), the following relationship is obtained for the rate of tranlation:

According to this equation (5), the stroke reversal points CH _max . Are therefore used to control the linear drive or actuator. H _min ) and on the other hand the stroke frequency, ie the number of strokes per min (n), apart from taking into account the lengths of the limbs (A for the length of the upper arm or thigh and B for the length of the forearm or lower leg). According to these specifications, the control unit specifies the translation speed v as a function of the path, that is, according to the respective value of α. The control will be explained in more detail below with reference to FIGS. 9 and 10.

6 to 8 illustrate a preferred embodiment of an actuator, for example actuator 2, with a linear drive 13. It should be mentioned that all actuators 2, 3, 4, 5 are basically constructed the same, so that it is sufficient to explain the structure of a single actuator in more detail.

As already mentioned, each actuator, for example actuator 2, has a pivotable support arm 12 which forms an elongated housing element made of cast aluminum with a C-shaped cross section. Two guide axes 15, 16 are fixedly attached to this support arm 12, and a carriage 17 can be moved back and forth along these guide axes 15, 16. This carriage 17 is his the reciprocating drive is firmly coupled to a toothed belt 18, which in the present case is designed as an endless toothed belt and rotates over a Yordere, idler pulley 19. The toothed belt 18 is driven by a brushless, electro-controlled direct current motor 20 via a reduction gear 21 serving for speed reduction with an output-side drive roller 22 for the toothed belt 18. On the shaft of the drive roller 22 there is also a pinion 23, which has a pinion 24 on the shaft of a Rotary potentiometer 25 combs. This rotary potentiometer 25 is designed as a conductive plastic potentiometer and serves as an analog displacement sensor or position transmitter: depending on the position of the potentiometer 25, depending on the position of the linear drive 13 or the position of the slide 17, an analog voltage signal is emitted which is used for the Translation speed control and, if necessary, for the evaluation of the measurement results is used, as will be explained in more detail below with reference to FIG. 10.

As such, it would certainly also be possible to use other displacement transducers or general position encoders, such as an incremental encoder, but which would require an additional counting process. With the conductive plastic potentiometer described, however, good results could be achieved in practical tests.

From Fig. 8 it can be seen how the carriage 17 is guided on the guide axes 15, 16, wherein ball bushings 26 not shown in detail are provided for storage. The slide 17 carries, for example, the stylus element 6 (or else a pedal element or other fastening elements which enable the respective extremity to be gripped) via a connecting arm 27, on which strain gauges 28 in serve to measure the force exerted by the test subject (or more precisely the applied torque) are attached in a conventional manner. The handle 6 or generally the respective fastening element can be attached to the slide 17 in an adjustable manner both in the longitudinal direction and in the transverse direction, as indicated in FIGS. 7 and 8 by double arrows. For this adjustment of the handles 6 (and 7) and also pedal elements 8, 9 (FIG. 2), a corresponding scale, not shown in the drawing, can also be provided, by hand To be able to make the adjustment as precisely and reproducibly as possible.

Finally, FIGS. 7 and 8 also show a cover 29 belonging to the support arm 12, in which a longitudinal slot is provided, through which the connecting arm 27 protrudes, and in which this connecting arm 27 can be moved back and forth during the lifting movements of the linear drive 13.

FIG. 9 illustrates a very general control scheme for the present device, the four actuators and associated control units described being illustrated schematically with blocks 2 to 5. As already mentioned several times, the actuators 2 to 5 are each intelligently designed, i.e. they have their own control units, which carry out the speed control or the necessary engine control independently. In this context, reference is also made to the diagram according to FIG. 10, in which such an individual control unit 30, for example for the actuator 2, is illustrated echematically. Each such control unit 30 can be formed by a conventional microprocessor, for example, and it is a so-called “slave” via a bit bus 34 (with an RS485 interface) with a central process unit 35 (FIG. 9), for example a personal computer (PC ) connected, which acts as a so-called "master" in the present tax scheme.

According to FIG. 9, additional operating elements 36 and display elements 37 can then be provided on the PC 35 and, in a corresponding manner, additional operating and display elements 40, 41 can be connected as "slaves" for the actuators.

According to FIG. 10, each control unit 30 controls the associated DC motor 20 via a control circuit 31, which is conventional per se and therefore not to be explained in more detail, depending on the default values for the actuator position and actuator movement or on the actual actuator values from the displacement sensor 25 are transmitted to the control unit 30 via an analog / digital converter and amplifier circuit 32. Furthermore, the values detected by the strain gauges 28 are also sent to the control unit 30 via a corresponding converter and amplifier circuit 33. Finally, the control unit 30 also receives the data from Angular position transmitters 42, which are assigned to the support arms 12 of the actuators 2 to 5 for detecting their angular position, and optionally supplied by position transmitters 43 which support the arms 14, 15 for the armature support arms (actuators 2, 3) for detecting their horizontal and vertical position are assigned. Control lines to actuators for these support arms 12 and supports 14 and the actuators themselves have been omitted for the sake of simplicity; these circles can be formed in a conventional manner, see. eg also the already mentioned WO-A-87/01601. These actuators can preferably also be controlled via the respective control unit 30 - at the command of the central processor unit 35 - but it would also be grateful in itself to control the actuators directly by the central processor unit 35.

In operation, the central processor unit 35 (Maeter) sends data for specifying the actuator position, data for specifying the actuator movement (form of movement, period, etc.) to the respective actuators via the bit bus 34 (whereby, for example, only two actuators can also be present or else activated). Stroke length and reference point setting) as well as general control parameters such as start / stop of the actuator movement and, if necessary, actuator synchronization.

Conversely, data relating to the actual travel value, force actual value and actuator status information are transmitted from the respective control unit 30 (slave) via the bit bus 34 to the central processor unit 35 (master). Information runs in both directions via bitbue 34 during a test of the network components and the transmission link.

It is also important that the information transmission from the slave to the meter, aleo from the respective control unit 30 to the PC 35, does not take place automatically, but only on request by the PC 35 (so-called "polling").

System inputs / outputs in the present control scheme can firstly be via the PC 35, secondly via the input / output elements or devices 38, 39 connected to the PC 35 and thirdly via the input / output devices connected to the Bitbus 34 (with Bitbue interface) 40, 41 take place.

The central processor unit 35 gives the or each actuator, ie the respective control unit 30, separately Commands and default values as mentioned above, each actuator 2 to 5 being controllable independently of the others. The actuators 2 to 5 independently execute the commands received with the aid of their separate control units 30, cf. also the control diagram of FIG. 10, whereby the central processor unit 35 is substantially relieved. The recorded measured values (position, force) are transmitted in packaged form from the control unit 30 via the bit bus 34 to the central processor unit 35 in a compressed and filtered form.

This configuration achieves a high degree of flexibility and expandability in terms of both hardware training and programming options. This makes it possible, on the one hand, to control different actuator configurations or different numbers of actuators with the same hardware and software in the PC 35, and conversely, with given actuators with control units, different processors can also be used as central processor units with different programming. The intelligent design of the actuators also enables a faster function, and the number of options for the exercises is further increased. For example, it would also be theoretically conceivable to control the speed of another actuator for certain coordination exercises by means of the force exerted by a subject on one actuator. As can be seen, the present device therefore not only conceives a wide variety of exercises for muscle training par excellence, but above all also a wide variety of exercises for coordination training, i.e. practice to coordinate the movements of the different extremities.

When carrying out the various exercises, for example, the parameters: path (stroke), translation speed or angular speed, force or power per extremity and the overall performance can be recorded, shown and documented. The positions of the respective subject are recorded (cf. the angular position and position sensors 42, 43 mentioned; a corresponding position sensor, which is not shown in detail, can also be assigned to the vertically adjustable seat 10), recorded by the PC 35, and these positions are by controlling the corresponding, not shown in the drawing Actuators can also be reproduced automatically using the PC 35. The only exception here is the adjustment of the handle and pedal elements, ie the distance between the handle and pedal elements, which is done manually.

For safety reasons, the test subject may also have emergency stop switches on each handle, and the DC motors 20 of the individual actuators 2 to 5 are provided with mesh brakes. The individual settings when positioning a subject are expediently carried out at a low speed and, for example, are effected by pressing a trigger button by a trained operator.

On the pedals 8, 9, for example, mounting brackets or the like. Fixing elements, as are known from racing bicycles, or fixations similar to ski bindings, etc. can be used.

Brushless DC motors 20 equipped with rare earth magnets can be used to achieve good dynamic behavior.

The base frame 1 made of sheet metal carries the entire poioning system as described above, including the displaceable and adjustable seat 10. This allows a test person to be automatically positioned as soon as he gets on the device, and this positioning can also be carried out by means of an optical adjustment - Or adjustment device with light points 44, 45 (cf. FIGS. 11 and 12) which correspond to the aforementioned reference points 0 or the shoulder joint and hip joint of the test subject.

11 to 16 finally show some examples of possible exercises on the device described, it being evident that the upper actuators, for example the actuator 3, have a horizontal position (FIGS. 11, 12 and 14), one around 45 ° down position (Fig. 13) and 45 ° up position (Fig. 16). Of course, all angular settings for the upper actuators between the mentioned leg positions according to FIGS. 13 and 16 are also possible.

In a similar way, the lower actuators, for example the actuator 5, can step down between a vertical downward extending position (Fig. 11, Fig. 13) and a horizontally forwardly extending position (Fig. 14, 15) can be set steplessly, an intermediate pivot position, for example in Fig. 12 is illustrated. In the exercise according to FIG. 15 only the lower actuators are in operation, and in the exercise according to FIG. 16 only the upper actuators are used - here for exercising the legs in the test subject's lying position.

Of course, it is possible with the various exercises not only to set different stroke lengths and stroke frequencies on the respective actuators, or to control the actuators completely independently of one another in general, but, as already indicated, a mutual function dependency can also be provided and accordingly dependent Depending on certain measurement parameters, dependent control of individual actuators can be provided in individual cases. What is particularly important is the described mathematical modeling of the movement parameters in the extremities, taking into account the personal data of the respective subject, so that an extremely individual, specifically coordinated practice is made possible.

From the flowchart according to FIG. 17, an example exercise sequence on the device described above with the individual control functions is shown, in more detail; It is assumed that four actuators 2-5 are present and are activated, whereby a synchronized movement sequence of the associated four linear drives is brought about, but other exercise parameters, such as stroke H, zero point 0, form of movement (e.g. constant angular velocity and different ones) changing angular velocities) can be specified separately and differently for each actuator.

17, after an initialization step (at 46) at block 47, the subject is positioned at block 47, the master (PC 35) via the individual control units 30, to which the corresponding data are transmitted via bitbue 34 Activation of the actuators (not shown) (eg linear motors) for the support arm 12 and carrier 14, 15 causes. Then (in step 48) the desired exercise parameters are entered on the PC 35, and at 49 the PC 35 then sends the data relating to the desired movements (form of movement, stroke H or Hmax, H _min , zero point 0; period duration or stroke frequency n). to the individual actuators, ie their control units 30; As mentioned, the period duration is given globally for all actuators, whereas the other parameters can be individually different.

The PC 35 then waits (at block 50) for the start input by the system operator, after which it sends a synchronization pulse to all actuators (step 51). With this, the linear drives of the individual actuators begin to move under the control of their respective control units 30 (slaves), and the PC 35 retrieves data from the slaves 30 (step 52), which are then displayed on the PC 35 (step 53).

Thereafter, a question is asked at 54 whether the exercise should be ended, and if not ("N"), a return is made to step 51. However, in the event of an abort ("Y"), a final evaluation and display of the recorded data takes place at 55. It is also possible to save the following data on a lake:

- Subject data (personal data, comments)

- Actuator positions (for later automatic positioning of the supports 14, 15 and support arms 12 by the actuator drives)

- Measurement data (date; parameters of actuator movements, such as stroke,

Frequency, form of movement etc; Power)

A graphic evaluation and representation of the recorded data is also conceivable, for example as follows:

- Force / angle (contractive and distractive for each

- force / time} one stroke)

- Rental through one hub each (total output at all

Actuators)

- Total power at all actuators globally over the entire measurement period.

Finally, at 56 in FIG. 17, the exercise performed is ended.

Claims

Claims: 1. Apparatus for training and / or experiencing motor performance, with at least one on a frame (1) attached linear drive (13) for one of the extremities of a subject and with an electronic control unit (30) connected to the linear drive, which with a de Position transmitter (25) associated with the linear drive is connected, characterized in that the at least one linear drive (13) from the control unit (30) is connected to one of the desired, eg constant angular velocity (ω) of the extremity and the extremities - longitudinal dimensions (A, B) in the manner of a thrust crank or straight steering-dependent translation speed (v) can be controlled. 2. Device according to claim 1, characterized in that the linear drive (13) from the control unit (30) with a translation speed v according to the relationship v = A.ω. [sin α + (A / 2B) sin 2 α] is controllable, where ω is the desired angular velocity of the upper arm or Thigh is, A is the length of the upper arm or thigh, B is the length of the forearm or lower leg and tx is the instantaneous angle between the upper arm or thigh and the longitudinal axis (X-X) of the linear drive (13). 3. Apparatus according to claim 1, characterized in that the linear drive (13) from the control unit (30) with a translation speed v according to the relationship H

is controllable, whereby A is the length of the upper arm or thigh, B is the length of the forearm or lower leg, α is the instantaneous angle between the upper arm or Thigh and the longitudinal axis (XX) of the Linear drive (13), n is the predetermined number of double strokes of the extremity per minute, a is an approximate value A = B assuming that A = B, H _{max is} the distance from the point of attack Extremity on the linear drive (13) from the shoulder or Hip joint (0) with the limb extended, and H _min the distance from the point of attack of the extremity at Linear drive (13) from the shoulder or hip joint (0) with the limb bent. 4. Device according to one of claims 1 to 3, characterized in that the linear drive (13) with a servo-controlled electric motor (20), e.g. a brushless DC motor. 5. The device according to claim 4, characterized in that the linear drive (13) contains a toothed belt (18) driven by the electric motor (20), which is fixedly connected to a linearly guided slide (17) which has a handle or pedal element (6 ; 7; 8; 9) for the extremity. 6. The device according to claim 5, characterized in that the handle or pedal element (6, 7, 8, 9) for adaptation to the body size of the subject is adjustably attached to the carriage (17). 7. The device according to claim 4 or 6, characterized in that on one of the handle or pedal element (6, 7, 8, 9). with the connecting arm (27) connecting the carriage (17), force measuring elements, e.g. strain gauges (28), are attached, to which the control unit is connected. 8. Device according to one of claims 1 to 7, characterized in that a plurality of linear drives, e.g. two pairs of linear drives assigned to the arms or legs are provided, and that each of the linear drives is assigned its own control unit (30) for independently controlling its translation speed. 9. The device according to claim 8, characterized in that all control units (30) for their control and evaluation of measurement data with a central processor unit (35), for example in a master-slave relationship. 10. Device according to one of claims 1 to 9, characterized in that the or each linear drive (13) on a frame (1) pivotally mounted support arm (12; 2, 3, 4, 5) is attached. 11. The device according to claim 10, characterized in that the or each support arm (12; 2, 3) for the arm associated linear drive (13) is continuously adjustable in a range of -45 ° to + 45 ° with respect to the horizontal. 12. The apparatus of claim 10 or 11, characterized in that the or each support arm (12; 4, 5) for the linear drive associated with a leg is continuously adjustable in a range from -90 ° to 0 ° with respect to the horizontal. 13. Device according to one of claims 10 to 12, characterized in that the or each support arm (12; 2, 3, 4, 5) is assigned an angular position transmitter (42) which is connected to the (respective) control unit (30) is. 14. Device according to one of claims 10 to 13, characterized in that the or each support arm (12; 2, 3) for the linear drive assigned to an arm (13) on a on the frame (1) horizontally and vertically displaceably mounted carrier ( 14, 15) is pivotally mounted. 15. The apparatus according to claim 14, characterized in that the carrier (14, 15) position transmitter (43) for the horizontal and vertical position are assigned, which are connected to the (respective) control unit (30). 16. The apparatus according to claim 14 or 15, characterized in that on the frame (1), for example, a vertically adjustable support for the test subject, for example a seat (10), is attached and optical adjustment devices with light points (44, 45) for the setting of The subject's shoulder and hip joints are provided as reference points (0) relative to the frame (1). 17. Device according to one of claims 1 to 16, characterized in that the (respective) linear drive (13) associated with the (respective) control unit connected position transmitter (25) is an analog displacement sensor.