WO2016079389A1 - Exercise and/or rehabilitation apparatus - Google Patents

Abstract

The exercise and/or rehabilitation apparatus comprises at least one motor (1) combined with a central unit for controlling and managing a force, a speed and a position and controlled by a programmable processor capable of reading a value of a signal sent by at least one force sensor (2) subject to pulling means (4) that can be actuated by a user in order to control the rotation of the motor (1), said sensor (2) being positioned under a mechanical assembly (5) receiving the motor (1) and the peripherals of same, the motor (1) being equipped with a brake and an encoder capable of knowing the position of the pulling and/or pushing means, and controlled by a PID feedback loop in order to regulate the rotation of same so as to maintain a setpoint force, said pulling means being constituted by a strap (4) transmission member wound on a pulley (3) rotated by the motor (1), said apparatus constituting an independent unit without the use of a counterweight.

Description

 Bodybuilding and / or rehabilitation apparatus.

The invention relates to the technical field of bodybuilding and / or physical rehabilitation equipment as well as load balancing and regulation systems and also relates to the technical field of training and physical preparation apparatus.

In this field, most known devices use generally cast iron weights in combination or not with springs, cylinders and load balancing systems.

The weights required for exercises are usually placed next to the device which requires a large footprint. In addition, these devices do not measure accurately the energy produced by the user according to the effort applied. It is also observed that the results obtained during bodybuilding and / or reeducation are not always satisfactory.

 Indeed, the stressed muscles can be concentrically corresponding to a shortening of said muscles or eccentrically corresponding to an elongation of the muscle.

 With these devices equipped with weights, during the descent of the latter which corresponds to the eccentric phase, the effort applied to the stressed muscles is lower as the user relaxes his effort to allow the weight to go down. To verify this phenomenon, a force sensor can be put in place between the weights and the point of application of the force by the user.

However, to obtain better physical performances, the effort of the eccentric phase must be greater than during the concentric phase while it is exactly the opposite that occurs with the current equipment. In other words, according to the prior art, it is difficult to adjust an eccentric force more important than during the concentric effort. It is also noted that depending on the angular position of the stressed limbs, the potential strength of the user is different. The user can work the different muscles with varying loads depending on the angular position of the members concerned.

We can not, moreover, exclude the risk of accidents since the movement stops only when the weights have reached the end of the race.

It has also been observed that with conventional weight machines it is not possible to program a progressive application of the load according to different criteria.

The object of the invention is to remedy these disadvantages in a simple, safe, efficient and rational manner.

As will be indicated later, in one embodiment, one of the problems to be solved by the invention is to allow the user to adjust the force that he wants to exert independently of the load to lift and vary, if necessary, the weight carried without feeling the effect.

Another problem that the invention proposes to solve is to allow:

- an adjustment of the resistant force over the entire stroke of the exercise, a setting of a force in one direction of movement and the adjustment of another force in the other direction of movement;

 - Adjustment of a variable effort depending on the speed and / or position and / or external events.

Another objective is also to allow the user to follow a motion imposed by a mechanism and to resist movement within force limits and / or positions previously set.

To solve such a problem it has been designed and developed a weight training and / or rehabilitation device comprising at least one engine combined with a central control unit and management of effort, speed and speed. position and subject to a programmable processor adapted to read a value of a signal sent by at least one force sensor subject to traction means operable by a user to slave the rotation of the engine, said sensor is placed under a mechanical assembly receiving the engine and its peripherals, the engine being, on the one hand, equipped with a brake and an encoder able to know the position of the traction and / or thrust means, and, on the other hand, subject to a PID type servo-control loop to regulate its rotation in order to maintain a reference force, said traction means being constituted by a strap-type transmission member wound on a pulley driven in rotation by the said apparatus constituting an autonomous unit without the use of counterweights.

Advantageously, since the apparatus, according to the invention, constitutes a module or autonomous unit, it is possible to adapt it simply and quickly to any type of existing equipment, replacing weight cast iron or other . The fact of using a motor with a force control makes it possible to use the apparatus in traction and restraint, which can not be done with an electric and / or mechanical braking system.

Depending on the nature of the traction and / or thrust means, it is for example possible to obtain linear movements with tensile forces only or linear movements with tensile and compressive forces as well as angular movements. with efforts in traction and compression.

Thanks to the technique used, the device can be used as a programmable load balancer. Compared to other types of balancers according to the state of the art, the operator can adjust the force he wants to exercise regardless of the load to lift, and vary the weight carried without feeling the l 'effect.

Note that the travel of the strap is programmable so as to stop the rotation of the engine in the up position and in the low position.

According to other features, the strap is guided laterally between a grooved roller and a support roller so that under a force applied on said strap it is plate on the grooved roller and rotates under the effect of his displacement. The grooved roller is secured to an encoder mounted opposite a detector to stop the rotation of the motor if the grooved roller is not driven.

Still in the case of linear movements with tensile force, the apparatus is remarkable in that the traction means are constituted by a transmission member of the cable type wound on a driven pulley. in rotation by the motor, said cable cooperating with a system of return pulleys carried by a vertical support and by an arm mounted with height adjustment capability on said support, the end of the cable being equipped with a gripping means, to exert a thrust or traction force on said cable.

In another embodiment of the apparatus and in the case of linear movements with tensile and compressive force, said apparatus comprises at least one engine combined with a central unit for controlling and managing a force, a speed and a position and subject to a programmable processor adapted to read a value of a signal sent by at least one force sensor subject to traction and / or pushing means operable by a user to enslave the rotation of the engine, said motor being, on the one hand, equipped with a brake and an encoder able to know the position of the traction and / or thrust means, and, on the other hand, subject to a loop of PID type servo to regulate its rotation in order to maintain a setpoint force, said traction and / or thrust means being constituted by a movable carriage mounted with linear displacement capacity guided on a vertical support, said carriage being connected to the motor by means of coupling and transmission to transform the rotational movement of said motor in linear motion, on said carriage is fixed a beam equipped at its free end of the central support force sensor, whose characteristics are determined to measure the force applied, without being influenced by the distance separating said sensor from the place where the user applies a load, said sensor being fixed on a gripping assembly, quick change and equipped with a recognition system, so to adapt the programs according to the exercises to be carried out. In the case of angular movements with tensile and compressive force, a beam is fixed with angular orientation capability on the vertical support, said beam being equipped at its free end with the force sensor subjected to the traction means and / or thrust in the form of a gripping assembly.

In this embodiment, the gripping assembly is constituted by arms acting as a handle and adjustable in spacing. The gripping assembly is interchangeable according to the exercises to be performed. A coding device makes it possible to recognize which type of gripper is used in order to adapt the settings / parameters of the exercises made possible by the gripping device.

The invention is described below in more detail with reference to the figures of the accompanying drawings, in which:

FIG. 1 is a perspective view of an embodiment of the apparatus in the case of linear movements with tensile force only on the force sensor,

 FIG. 2 is a partial perspective view showing an embodiment for guiding the strap,

 FIGS. 3 and 4 are perspective views of another embodiment of the apparatus in the case of linear movements with tension and compression force,

 FIG. 5 is a partial sectional view of the mobile carriage that can equip the apparatus illustrated in FIGS. 3 and 4,

FIG. 6 is a perspective view of the adjustable gripping assembly capable of equipping the mobile carriage with the apparatus illustrated in FIGS. 3 and 4, or capable of directly fitting the support (FIGS. 7 and 8),

 - Figures 7 and 8 show the adjustable gripping assembly secured to the beam with force sensor mounted directly on the support, with the possibility of angular orientation,

 FIG. 9 is a variant of the apparatus illustrated in FIGS. 7 and 8.

- Figure 10 shows the device adapted to retain or tow a user.

 - Figure 1 1 shows another embodiment of the apparatus for exercises in the high / low pulley.

As will be apparent from the following description, the apparatus may have different embodiments depending on the movements sought by the user and the bodybuilding work and / or rehabilitation sought.

 In a common manner, the apparatus comprises at least one engine (1) combined with a control unit (UC) for a force, a speed and a position including a variable speed drive, possibly associated with a reducer. The motor (1) is subject to a programmable processor capable of reading a value of a signal to be sent by at least one force sensor (2) subject to traction and / or pushing means operable by the user to to enslave the rotation of the motor (1) in effort.

The apparatus illustrated in Figures 1, 2 and 1 1 is particularly well suited to exercise linear movements with a tensile force only. The motor (1) rotates a pulley (3) around which is wound a strap (4) without excluding other transmission means such as belts, chains, cables, ... Advantageously, the motor (1) is equipped with a brake and a multi-turn absolute encoder. The brake has the effect of keeping the pulley in position as soon as the engine is no longer powered. Advantageously, the motor is an electric motor. The encoder allows you to know the position of the strap as soon as you turn on the power. Note that the axis of the motor can be positioned in alignment coaxial with that of the pulley or be positioned at 90 ° relative to the latter as shown in Figure 1.

The sensor (2) is arranged under a mechanical assembly (5) receiving the motor (1) and its peripherals. The assembly (5) can be fixed on a sole supported on the ground (Figure 1) or on a vertical support (Figure 10). This force sensor (2) measures the traction applied on the strap and sends this information to the processor that will control the rotation of the motor (1). For this purpose, according to the load setpoint set by the processor, for example 20 kg, the motor will not rotate until this effort is reached.

On the other hand, as soon as the tensile forces are greater than the displayed target value (20 kg, in the example), the motor will be driven in the appropriate direction, so as to follow the effort.

 A servo-control loop of the PID type (Proportional, Integral, Derivative) makes it possible to regulate the rotation so as to maintain the reference force. If the applied force is less than the set point, the motor will be driven in the opposite direction and the strap will wrap around the pulley.

The travel stroke of the strap (4) is programmable so as to stop the rotation of the motor (1) in the high position or low position. As shown in Figure 2 the strap (4) is guided laterally between a support roller (6) and a grooved roller (7). When a force is applied, the strap (4) is pressed against the grooved roller (7) and rotates it under the effect of its displacement. The apparatus is also equipped with a detection system in order to make it possible to stop the rotation of the engine if, for example, the grooved roller (7) does not rotate while the motor (1) is rotating. For example, this detection system may be constituted by a disc (8) having, overflowing its periphery, teeth (8a), the disc being secured to the grooved roller (7). Opposite is arranged an optical inductive detector (9) to detect the rotation of the disk (8).

 Note that this safety is important in the case where the user maintains in a fixed position the end of the strap (4) while the motor (1) rotates so as to unroll the strap of the pulley. Otherwise, the strap can take place in the pulley and out of the guide flanges with risk of damage to said strap.

The apparatus thus defined can advantageously replace the spring, counterweight, pneumatic or hydraulic load balancers according to the prior art, by constituting an autonomous module.

 For example, it is sufficient to suspend the ceiling or other support this device, then to hang the load at the end of the strap. The user will be able to program the weight to balance and exercise a programmable pulling force in order to move the load in the desired direction.

Note that the tensile force can be exerted in a vertical plane (Figure 1) or horizontal (Figure 10), depending on the positioning of the assembly (5) relative to its attachment area (horizontal or vertical support) . Figure 11 shows another embodiment of the apparatus for high / low pulley exercises. In this case, the traction means of the apparatus are constituted by a cable-type transmission member (24) wound on the pulley (3) driven in rotation by the motor (1). The cable (24) cooperates with a system of return pulleys (25) and (26) carried by a vertical support (28) and by an arm (29) mounted with height adjustment capability on said support (28). The end of the cable (24) is equipped with a gripping means (30).

Depending on the exercises to be performed, the output pulley (26) can be positioned at different heights. Systems according to the state of the art, with weights, require adjustment of the length of the transmission cable of the force following the vertical position of the output pulley.

With this design, the user can program the working height, on a touch screen, for example, release an indexing finger (31) which holds the system in position, then control the raising or lowering of the arm (29) receiving the output pulley (26). The motor (1) will rotate in the appropriate direction until the handle (30) comes into contact with the output pulley (26) (in the case of the movable arm rise) which will cause the arm (29) movable to the programmed position. The user will only have to replace the indexing finger to immobilize the arm (29). For the descent of the movable arm (29), the cable (24) will run allowing said arm (29) to descend thanks to its own weight. The permanent measurement of the effort will indicate to the user that the indexing finger (31) has remained engaged while trying to raise the movable arm. The apparatus illustrated in FIGS. 3, 4, 5 and 6 finds an advantageous application for linear movements with tension and compression force.

In this respect, it will be recalled that, according to the prior art, such exercises are carried out essentially by means of bars weighted by weights placed at the ends, the bars being supported on the rear of the trapeziums or on the before the user's shoulders. In this case, the user must be assisted by a person on each side of the bar to intervene, if necessary, in case of failure. In addition to the effort required to mount the load, the user must control the imbalance of the bar which can cause serious injury.

In this embodiment of the apparatus, the traction and / or thrust means are constituted by a carriage (10) mounted with linear displacement capacity guided on a vertical support (1 1). For example, the guiding is carried out by a system of rails and ball or roller shoes as shown in FIG. 5. The guiding shoes (12) are mounted inside a casing (13) constituting the carriage so to cooperate with the lateral sides and at least the transverse side constituting the front face of the support (1 1). The carriage (10) is connected to the motor (1) by coupling and transmission means, for example a belt (c), or other means capable of transforming the rotational movement of said motor into linear motion. On the carriage (10) is fixed a beam (14) at the end of which is fixed the force sensor (2) center support of specific design for example of the type SSC (central support sensor). Generally, the characteristics of these sensors are determined in order to measure the applied force without being influenced by the distance between the sensors and the place where the user will apply the load. According to another characteristic, the force sensor (2) is fixed on a gripping assembly (15) quick change and equipped with a recognition system to adapt the programs according to the exercises to be performed. As shown in Figure 6, this gripping assembly (15) is constituted by parallel arms (16) acting as a handle and adjustable spacing. For example, each handle (16) is secured to support plates (17) mounted with displacement capacity in linear translation guided on guide rails (18) in combination with sliding pads. Note that after adjustment in the desired position of the spacers handles (16), the plates (17) are locked in position for example by means of fingers cooperating with perforated plates (20) integral with a support plate (21). ).

Of course, the apparatus defined in FIGS. 3 and 4 is equipped with any security system, the movement being possible only when the user actuates a man-dead type control. Similarly, end-of-travel sensors are placed at the upper and lower limits of the carriage stroke for example. When the truck comes in contact with one of the sensors, the power of the engine is cut off and the brake is applied.

 Likewise, depending on the type of exercise to be performed, the apparatus may have various accessories, for example a specially shaped tray equipped with sensors (for controlling the distribution of forces between the left side and the right side), equipped a bench to do, for example, a bench press.

In the embodiment illustrated in FIGS. 7, 8 and 9, the apparatus advantageously makes it possible to carry out angular movements with traction and compression force. In this embodiment, the beam (14) equipped with the free end of the force sensor (2), is subject to the gripping assembly (15) fixed with angular orientation capability not on the movable carriage (10), but directly on a vertical support (22). ).

It is recalled that the sensor (2), with a central support, directly measures the applied force, without being influenced by the place where the user applies the load, which is not the case of a torque meter used according to the state of the art.

The coupling of the beam (14) with adjustable angular displacement capacity, can be performed either by a motor (23) with encoder and brake, Figure 7, or by a jack (34), Figure 8.

 In Figure 9, the beam is secured to the strap (4) wound on the pulley (3) controlled by the motor (1).

 Whatever the embodiment, the effort will be generated, either by the motor, possibly with a gear according to the torque to be produced, or by the cylinder of the electric type, pneumatic or hydraulic.

 Note also that the point of articulation can be modified at will. With the apparatus previously illustrated, it is possible to perform exercises in both directions traction and compression.

Whatever the embodiment of the apparatus according to the features of the invention, the latter may be equipped with different peripherals, such as a touch screen allowing the user, different types of information such as performance, energy provided, speed, position ... Similarly each device can be equipped with a wireless transmission to convey information to any type of media such as PC, smart phones, tablets, ... Among the advantages and applications resulting from the features of the invention, mention may be made of:

 - Adjusting the resistance force on the entire stroke of the exercise.

 - Setting a force in one direction of travel and another effort in the other direction of movement.

 - Adjusting a variable effort depending on the speed and / or position and / or external events triggered by a physical trainer for example.

 - Possibility given to the user to follow a movement imposed by the mechanism and withstand movement within previously set limits (iso kinetic type). For example, during rehabilitation exercises where the increase in the range of motion of an arm is sought, the user can hold the handle and be carried away by the mechanism. If the resistant force is greater than the setting (the movement becomes painful), the unit stops.

 - Another type of possible exercises is to move the gripper assembly to different programmed positions and to set the effort that must reach the user for each position before moving to the next position.

 - Possibility to equip the handle of the gripper assembly of vibrating type devices indicating an event.

 - Gain of space in opposition to existing materials.

 - Weight gain. Considerable benefit in weightlessness. Staged equipment does not require reinforced slabs.

 - Possibility of programming exercises thanks to a PC or the man-machine interface (touch screen), the user or the sports trainer or others, can program the different exercises.

o Number of repetitions in a series with such effort, or variation of effort from one repetition to another. o Programmable idle time between each series

^■ Audible or light signal to warn of the resumption of exercises

 o Number of repetitions with variation of effort between each series

 - Ability for the user to see live, on a screen, the performance achieved and establish a history.

 - The energy / work produced by the user is calculated continuously taking into account the actual effort applied and the distance traveled.

 - Possibility for each user to identify himself with an access code, a bar code, a FID badge, or others. Thus the device parameters will be preset according to the capabilities and performance of the user. Each user will be able to establish a history of his performances and thus measure his progress.

 - Ability to accurately measure the energy produced by the user according to the effort and distance traveled.

 - Possibility to authorize the access of each device according to the rights (paid or not) delivered by the person in charge (physiotherapist, sports coach, head of gym, etc.).

 - Possibility to adjust an eccentric effort much more important than the concentric effort.

 - Possibility of varying the effort depending on the angular position of the limbs and the direction of application of effort (eccentric or concentric).

 - Safety in case of relaxation of the force or the gripping device.

o By setting a minimum force on the controller, the device stops all movement as soon as the force applied by the user is less than or equal to the set value. If the user suddenly releases the handles, the equipment remains stationary.

 o The application time of effort without movement is also controlled which allows to cancel the effort applied if the user fails to move the gripping system.

The following results and applications can be highlighted,

Force control system without using torque / motor current or torque meter which is a more expensive and less precise technique.

 Possibility of quick change of gripping systems with electrical / electronic coding of the handling accessory to automatically adapt the device parameters and exercises.

 For equipment with angular movements (figure 9), the use of a centrally supported SSC type force sensor allows the user to position himself or herself on the gripping system without distorting the measurement. .

 Applying forces in traction and compression on the same device

(eg biceps and triceps work).

 In case of relaxation of the effort, the device stops.

 The force sensor is fixed and placed under the mechanical assembly, avoiding any problem of electrical wiring.

A safety brake, said to be out of power, stops the device in the event of a power failure and an emergency stop triggered by the user. The apparatus as illustrated in FIG. 1 and FIG. 10 may be used for the following application:

 - Programmable retaining / pulling force

 o For running and swimming training (among others),

 o Programmable braking

 The user wears a harness that is hooked to the strap. A restraint effort is programmed. As soon as the user begins to run or swim, for example, the motor + gearbox unit retains it so that the effort to be provided is greater than that required during an exercise without load.

 o Programmable traction replacing a stretched elastic, as currently used to improve performance,

 o Benefits:

 Possibility of making very long courses (sprint of 100 m for example).

 Adjusting a constant or variable effort depending on the distance traveled and / or the position of the legs or other parts of the body.

 For the latter function, an accelerometer and / or inclinometer is added to determine the position of the member concerned and control the effort / speed / acceleration as a function of this position.

 Possibility to adjust the angle of application of effort, by varying the height of the device.

Setting the acceleration at startup. Depending on the embodiment of the device, besides the eccentric exercises and concentric indicated, it is possible to perform exercises:

isometrics

^■ The user applies a force without moving the mechanism.

 Kinetic Iso in closed chain

^■ The user applies a constant speed effort. It follows the movement imposed by the mechanism (already exposed)

Dynamic Stato

^■ Fast transition from a static phase to a dynamic phase

 plyometric

^■ Application of an eccentric effort immediately followed by a concentric effort

 Only the equipment benefiting from the invention allows the realization of all these types of exercises. Importantly, the claimed device can equip all the bodybuilding and / or rehabilitation equipment currently on the market, in particular of the type of using inter alia weights attached to a cable or other means of connection between the load and the moving parts.

Claims

 R E V E N D I C A T IO N S -1- weight training device and / or rehabilitation characterized in that it comprises at least one motor (1) combined with a central unit for controlling and managing a force, a speed and a position and subject to a programmable processor adapted to read a value of a signal sent by at least one force sensor (2) subject to traction means (4) operable by a user to control the rotation of the motor (1) , said sensor (2) is placed under a mechanical assembly (5) receiving the motor (1) and its peripherals, the motor (1) being, on the one hand, equipped with a brake and a coder able to know the position of the traction and / or thrust means, and, secondly, subject to a PID-type servo-control loop to regulate its rotation in order to maintain a setpoint force, said traction means being constituted by an element strap type transmission (4) wound on a pulley (3) driven in rotation by the word eur (1), said apparatus constituting an autonomous unit without the use of counterweights. -2- Apparatus according to claim 1, characterized in that the strap (4) is guided laterally between a grooved roller (7) and a support roller (6) so that under a force applied on said strap (4). ), it is plate on the grooved roller and drives it in rotation under the effect of its displacement. -3- Apparatus according to claim 2, characterized in that the grooved roller (7) is integral with an encoder mounted opposite a detector to stop the rotation of the motor (1) if the n grooved roller is not trained. -4- Apparatus according to claim 1, characterized in that the traction means are constituted by a cable-type transmission member (24) wound on the pulley (3) driven in rotation by the motor (1), said cable (24) cooperating with a system of return pulleys (25) - (26) carried by a vertical support (28) and by an arm (29) mounted with height adjustment capability on said support (28), the end the cable being equipped with a gripping means (30) for exerting a traction force on said cable. -5- Bodybuilding and / or rehabilitation apparatus characterized in that it comprises at least one motor (1) combined with a central unit for controlling and managing a force, a speed and a position and subject to a programmable processor adapted to read a value of a signal sent by at least one force sensor (2) subject to traction and / or pushing means (10) - (24) operable by a user in order to to control the rotation of the motor (1), said motor (1) being, on the one hand, equipped with a brake and an encoder able to know the position of the traction and / or thrust means, and, on the other hand, subjected to a servo-control loop of the PID type to regulate its rotation in order to maintain a setpoint force, said traction and / or thrust means being constituted by a movable carriage (10) mounted with linear displacement capacity guided on a vertical support (1 1), said carriage (10) being connected to the engine (1) by means coupling and transmission to transform the rotational movement of said motor in linear motion, on said carriage is fixed a beam (14) equipped at its free end of the force sensor (2), central support, whose characteristics are determined to measure the applied force, without being influenced by the distance separating said sensor from the place where the user applies a load, said sensor being fixed on a gripping assembly (15), quick-change and equipped with a recognition system, in order to adapt the programs according to the exercises to be performed. -6- Apparatus according to claim 5 characterized in that the beam (14) is fixed with angular orientation capability on the vertical support (1 1), said beam being equipped at its free end of the force sensor (2) subject to the traction means and / or push in the form of a gripping assembly. -7 Apparatus according to any one of claims 5 and 6, characterized in that the gripping assembly (15) is constituted by arms (16) acting as a handle and adjustable spacing.