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EP4052766B1 - Procédé et système pour déterminer un motif de stimulation musculaire électrique personnalisé pour un sujet à l'aide d'un ergomètre - Google Patents

Procédé et système pour déterminer un motif de stimulation musculaire électrique personnalisé pour un sujet à l'aide d'un ergomètre

Info

Publication number
EP4052766B1
EP4052766B1 EP21305243.4A EP21305243A EP4052766B1 EP 4052766 B1 EP4052766 B1 EP 4052766B1 EP 21305243 A EP21305243 A EP 21305243A EP 4052766 B1 EP4052766 B1 EP 4052766B1
Authority
EP
European Patent Office
Prior art keywords
muscle
user
ergometer
muscles
electrical stimulation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21305243.4A
Other languages
German (de)
English (en)
Other versions
EP4052766A1 (fr
Inventor
Lana POPOVIC-MANESKI
Amine METAHNI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Ecole Normale Superieure de Lyon
Universite Claude Bernard Lyon 1
Original Assignee
Centre National de la Recherche Scientifique CNRS
Ecole Normale Superieure de Lyon
Universite Claude Bernard Lyon 1
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Ecole Normale Superieure de Lyon, Universite Claude Bernard Lyon 1 filed Critical Centre National de la Recherche Scientifique CNRS
Priority to EP21305243.4A priority Critical patent/EP4052766B1/fr
Publication of EP4052766A1 publication Critical patent/EP4052766A1/fr
Application granted granted Critical
Publication of EP4052766B1 publication Critical patent/EP4052766B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
    • 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
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • 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
    • A63B22/0242—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 with speed variation
    • A63B22/025—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 with speed variation electrically, e.g. D.C. motors with variable speed control
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
    • A63B2022/0635—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers specially adapted for a particular use
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/065—Visualisation of specific exercise parameters
    • A63B2071/0652—Visualisation or indication relating to symmetrical exercise, e.g. right-left performance related to spinal column
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2213/00—Exercising combined with therapy
    • A63B2213/004—Exercising combined with therapy with electrotherapy
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A63B2220/52—Weight, e.g. weight distribution
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/54—Torque
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/02—Testing, calibrating or measuring of equipment
    • 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
    • A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
    • 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
    • A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user

Definitions

  • the present invention relates to the field of ergometers having a functional electrical stimulation (FES) system.
  • FES functional electrical stimulation
  • the present invention relates to the field of the calibration of FES systems, that is to say the determination of suitable parameters for providing an electrical stimulation of the muscle(s) of a subject, for the purpose of an exercising program on the ergometer.
  • the present invention also refers to the analysis of the usable power or force produced by a subject so as to determine at least one electrical stimulation pattern of a muscle, differentiated for the left and the right lateral parts of a subject's body.
  • FES Functional Electrical Stimulation
  • ergometers for example, stationary bikes or stationary/indoor rowers or elliptic trainers
  • FES system for the rehabilitation of paralyzed limbs or of limbs requiring rehabilitation.
  • Some of these devices integrate specific functions.
  • the application WO 2018/085770 describes a functional electrical stimulation ergometer incorporating an antispam control unit.
  • FES systems may have advantages for people with no medical conditions and no particular disabilities.
  • functional electrical stimulation could help improve muscle work when using the ergometer.
  • the present invention aims at providing a stimulation scheme for each muscle or muscle group of the user of the ergometer, differentiated for the right and left parts of the user's body, which makes it possible to minimize muscle fatigue during the implementation of the training phase.
  • Document US 2013/053734 A1 discloses a functional electrical stimulation step and stand system comprising two footplates connected to a primary drive motor that causes the footplates to move in a reciprocal motion, the footplates being connected to servos, the system further comprising an electrical stimulation control unit capable of delivering an electrical stimulation to a patient's muscles.
  • the present invention thus relates to a method for determining an electrical stimulation pattern of at least one muscle or group of muscles of a lateral part of a user's body, in a motorized cyclic ergometer equipped with a functional electrical stimulation (FES) system, said electrical pattern being personalized to the left and the right lateral parts of the user's body; said method performing, by a data processing unit of the motorized cyclic ergometer, the following steps:
  • the motorized cyclic ergometer is a cycle ergometer such as a stationary bike, said cycle ergometer comprising:
  • the at least one muscle or group of muscles of the lateral parts of the user's body in step (a) or (a') and step (b) or (b') are engaged in a periodic movement by at least one motor of the motorized cyclic ergometer, at a constant speed.
  • the constant speed of the motor ranges from 10 rpm to 90 rpm, preferably from 10 rpm to 60 rpm, more preferably is 30 rpm.
  • the electrical stimulation at steps (b) and (b') is an isometric electrical stimulation.
  • the electrical stimulation current (I) at steps (b) and (b') ranges from 1 mA to 170 mA.
  • the electrical stimulation pulse width (PW) at steps (b) and (b') ranges from 50 ⁇ s to 1000 ⁇ s.
  • the electrical stimulation frequency (f) at steps (b) and (b') ranges from 10 Hz to 100 Hz.
  • the invention further relates to a computer program in an ergometer, preferably in a cycling ergometer, equipped with a FES system, said computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method of the invention.
  • the invention further relates to an electric stimulation stationary bike comprising:
  • the stationary bike is configured for implementing the method of the invention, before implementation of an exercise regime by a user.
  • the muscle or group of muscles of the lateral part of the user's body is selected from: quadriceps (vastus lateralis), quadriceps (vastus medialis), quadriceps (rectus femoris), hamstrings, gluteus, gastrocnemius, tibialis anterior, abdominal and back muscles.
  • the FES system comprises a user interface for implementing the method according to the invention or for implementing an exercise regime after the method of the invention is implemented.
  • the FES system further comprises means for controlling that the electrical stimulation of at least one targeted muscle or group of muscles of the lateral part of the user's body engaged in a periodic movement by the electrical stimulation stationary bike, during an exercise regime, fits with the electrical stimulation pattern obtained by the method of the invention.
  • the present invention relates to a method for determining an electrical stimulation pattern of at least one muscle, in a FES system.
  • the method of the invention is a computer-implemented method, performed by said processing unit of the ergometer/FES system.
  • the method is for calibrating the electrical stimulation parameters of a FES system depending on the subject using the FES system and/or on the ergometer chosen for training.
  • the method is for determining at least one electrical stimulation pattern to be delivered to at least one muscle or group of muscles of a subject; preferably when said subject will train on an ergometer.
  • the method is a calibration method of a functional electrical stimulation (FES) system, said FES system being integrated or not, to an ergometer.
  • the method is for determining the variations of the electrical stimulation to be delivered to one or more muscles, on left and/or right lateral part of the body, of the user of the ergometer in order to reduce muscle fatigue and/or improve the mechanical performance of the user when training on the ergometer in an exercise regime.
  • the method of the invention is neither a method of diagnostic of a disease or a disability, nor a method of treatment of the subject.
  • the method of the invention allows determining the best conditions of using a FES system that have to be provided later to the user of an ergometer, during an exercise regime. Especially, the method of the invention allows determining separate electrical stimulation patterns for at least one muscle of the right and the left lateral parts of the body of the user of the ergometer.
  • the FES system comprises one or more stimulation channels (C).
  • the FES system comprises from 1 to 16 stimulation channels.
  • the FES system comprises 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 or 16 channels.
  • each stimulation channel comprises at least one cathode electrode to be applied on a muscle of a subject.
  • the anode electrode is shared for multiple channels. Applying an electrode on a muscle of a subject may be performed for instance by adhering the electrode to the surface of the skin above said muscle.
  • the method of the invention comprises or consists of the following steps:
  • the method of the invention comprises or consists of:
  • the angle, or angular position ranges from 0° to 360°.
  • the present section discloses embodiments relative to step (a). Said embodiments similarly and independently apply to step (a').
  • an initial step (step a) of the method consists in the reception of acquired first raw data ⁇ .
  • Said first raw data ⁇ is acquired when the FES system does not provide any stimulation to any muscle or group of muscles of the lateral part of the user's body.
  • the first raw data ⁇ may be selected from pedal position or crank arm angle, force exerted on the pedal, force exerted on the crank arm, velocity, motor current, torque transmitted in the spindle, counter-electromotive force and any other parameters characterizing the use of the ergometer by the subject.
  • the first raw data ⁇ of step (a) are acquired from one or more sensors located on the ergometer.
  • the first raw data ⁇ are acquired from one or more sensors located on the pedals, preferably on the pedal crank arms, of the cycle ergometer such as foot pedals and/or hand pedals.
  • the first raw data ⁇ are acquired from one sensor, preferably a force sensor, located on the left foot pedal and from another sensor, preferably a force sensor, located on the right foot pedal of the cycle ergometer.
  • the first raw data ⁇ are acquired from one sensor, preferably a force sensor, located on the left-hand pedal and from another sensor, preferably a force sensor, located on the right-hand pedal of the cycle ergometer.
  • the movement of the left and right pedals is independent of each other.
  • the term "pedal" means an element on which is placed either one foot or one hand, said element being connected to a cycle through a crank so that this element may be set in elliptic, for instance circular, motion.
  • the first raw data ⁇ are acquired for each user of the ergometer. According to one embodiment, the acquired first raw data ⁇ vary for each user of the ergometer.
  • the first raw data ⁇ are acquired when the motor, preferably the cycle motor, of the ergometer sets in motion the arms and/or the legs of the user, and when the FES system does not provide any electrical stimulation to the muscles of the user.
  • the motor preferably the cycle motor
  • the FES system does not provide any electrical stimulation to the muscles of the user.
  • the first raw data ⁇ provide information on the force, preferably the tangential force, and/or the power exerted on the ergometer by one muscle or group of muscles of a lateral part of the user's body and/or the weight of said lateral part; said lateral part not receiving any electrical stimulation by the FES system.
  • the first raw data ⁇ are acquired during a number of movement phases, preferably during a number of periodic movement phases, ranging from more than 0 to 10; preferably from 1 to 5. According to one embodiment, the first raw data ⁇ are acquired during a number of periodic movement phases equal to 1 or 2.
  • the first raw data ⁇ are acquired during a number of revolutions of the crank ranging from more than 0 to 10; preferably from 1 to 5. According to one embodiment, the first raw data ⁇ are acquired during a number of revolutions of the crank equal to 1 or 2.
  • the muscle or group of muscles of a lateral part of the user's body may be selected from: quadriceps (vastus lateralis), quadriceps (vastus medialis), quadriceps (rectus femoris), hamstrings, gluteus, gastrocnemius, tibialis anterior, soleus, abdominals and back muscles.
  • Step (a') is the iteration of step (a) for the other lateral part of the user's body, preferably simultaneously to step (a).
  • step (b) discloses embodiments relative to step (b). Said embodiments similarly and independently apply to step (b').
  • a second step (step b) of the method consists in the reception of acquired second raw data ⁇ '.
  • the second raw data ⁇ ' is acquired when the FES system provides a stimulation to the at least one muscle or group of muscles of the lateral part of the user's body.
  • the second raw data ⁇ ' may be, like the first raw data ⁇ , selected from pedal position, crank arm angle, force exerted on the pedal, force exerted on the crank arm, velocity, motor current, torque transmitted in the spindle, counter-electromotive force and any other parameters characterizing the use of the ergometer.
  • the second raw data ⁇ ' are acquired from one or more sensors located on the ergometer; preferably located on the pedals, preferably on the pedal crank arms, of the ergometer when the ergometer is a cycle ergometer, such as foot pedals and/or hand pedals.
  • the second raw data ⁇ ' are acquired from one or more sensors that are the same sensor(s) used at step (a).
  • the second raw data ⁇ ' are acquired from one sensor, preferably a force sensor, located on the left foot crank arm and from another sensor, preferably a force sensor, located on the right foot crank arm of the cycle ergometer.
  • the second raw data ⁇ ' are acquired from one sensor, preferably a force sensor, located on the left-hand crank arm and from another sensor, preferably a force sensor, located on the right-hand crank arm of the cycle ergometer.
  • the movement of the right and left pedals is independent of each other.
  • the second raw data ⁇ ' are acquired for each user of the ergometer. According to one embodiment, the acquired second raw data ⁇ ' vary for each user of the ergometer.
  • the second raw data ⁇ ' are acquired when the motor of the ergometer, preferably the cycle motor of the ergometer, sets in motion or engages in a periodic movement the arms and/or the legs of the user, and when the FES system provides electrical pulses to the muscles of the user during at least one cycle of motion.
  • the second raw data ⁇ ' provide information on the force, preferably tangential force, and/or the power exerted on the ergometer by one muscle or group of muscle of a lateral part of the user's body and/or the weight of said lateral part; when said muscle(s) received electrical pulses by the FES system.
  • the second raw data ⁇ ' provide information on the force, preferably the tangential force, and/or the power exerted on the ergometer by one muscle or group of muscles of a lateral part of the user's body; said information taking into account the distinct behavior of said muscle(s) depending on its position on the left or the right lateral part of the user's body; and said muscle(s) receiving an electrical stimulation by the FES system.
  • the FES system provides a stimulation during the entire revolution of the crank arm during the periodic cyclic movement.
  • the second raw data ⁇ ' are acquired during a number of movement phases, preferably during a number of periodic movement phases, ranging from more than 0 to 10; preferably from 1 to 5. According to one embodiment, the second raw data ⁇ ' are acquired during a number of periodic movement phases equal to 1 or 2. According to one embodiment, the second raw data ⁇ ' are acquired during a number of periodic movement phases equal or different, preferably equal, to the number of periodic movement phases used for the acquisition of first raw data ⁇ of step (a).
  • the second raw data ⁇ ' are acquired during a number of revolutions of the crank ranging from more than 0 to 10; preferably from 1 to 5. According to one embodiment, the second raw data ⁇ ' are acquired during a number of revolutions of the crank equals to 1 or 2.
  • the stimulated muscle or group of muscles of a lateral part of the user's body may be selected from: quadriceps (vastus lateralis), quadriceps (vastus medialis), quadriceps (rectus femoris), hamstrings, gluteus, gastrocnemius, tibialis anterior, soleus, gastrocnemius, abdominals and back muscles; preferably is quadriceps.
  • the expression "stimulated muscle” or "targeted muscle” means that said muscle received electrical pulses by the FES system of the ergometer during all number of movement phases while the second raw data ⁇ ' are acquired.
  • the FES system provides an electrical stimulation with a stimulation current (I stim ) ranging from 1 mA to 170 mA.
  • the FES system provides an electrical stimulation with a stimulation current (I stim ) ranging from more than 0% to 100% of a maximum stimulation current (I max ).
  • the stimulation current (I stim ) equals to 60% of the maximum stimulation current (I max ).
  • the maximum stimulation current (I max ) is determined in a preliminary step of the method of the invention. According to one embodiment, the maximum stimulation current (I max ) is determined before the implementation of step (a) and/or step (b) of the method of the invention.
  • the stimulation current for step (b) (I stim ) is determined in a preliminary step of the method of the invention. According to one embodiment, the stimulation current for step (b) (I stim ) is determined before the implementation of step (a) and/or step (b) of the method of the invention.
  • the maximum stimulation current (I max ) is determined according to the method presented in Figure 4 .
  • the first step consists to set cranks of the ergometer at the angle reference (preferably horizontal or more preferably vertical position if the user is in the recumbent position).
  • the brake is turned on to prevent turning the crank arm(s) and the FES stimulation is turned on in order to provide electrical pulses to the targeted muscle by at least one stimulation channel of the FES system.
  • the stimulation current I is increased in steps of, preferably 5mA for big muscles and 2 mA for small muscles.
  • the 90% of the stimulation current for which the plateau is reached is determined. The obtained value corresponds to the maximum stimulation current I max .
  • Step (b') is the iteration of step (b) for the other lateral part of the user's body, preferably simultaneously to step (b).
  • steps (a') and (b'), preferably both steps (a') and (b'), are missing from the method of the invention.
  • the senor(s) is(are) located on the ergometer; preferably when the ergometer is a cycle ergometer, the sensor(s) is(are) located on the crank arms and/or the pedals of the ergometer.
  • each sensor may independently be a position sensor, an angular encoder, a force sensor, a pressure sensor and/or a torque sensor.
  • the motor sets in motion or engages at least one muscle or group of muscles of a lateral part of the user's body in a periodic movement at a speed ranging from more than 0 rpm to 150 rpm, during the implementation of the method; preferably during the acquisition of the first and second raw data ⁇ and ⁇ '.
  • the motor preferably the cycle motor, sets in motion the arms and/or legs of the user at a speed ranging from more than 0 rpm to 150 rpm, during the implementation of the method; preferably during the acquisition of the first and second raw data ⁇ and ⁇ '.
  • the speed of the motor preferably of the cycle motor, ranges from more than 0 rpm to 180 rpm; preferably from 5 rpm to 100 rpm, more preferably from 10 rpm to 50 rpm.
  • the speed of the cycle motor is 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49 or 50 rpm; preferably during the acquisition of the raw first and second data ⁇ and ⁇ '.
  • the motor preferably the cycle motor, sets in motion or engages at least one lateral part of the user's body, preferably the arms and/or legs of the user, at a constant speed.
  • the FES system comprises a control unit able to determine from the acquired first raw data ⁇ obtained at step (a) or (a'), the power and/or force (Pws) of the muscle(s) of the user set in motion or engaged in a periodic movement by the ergometer without any electrical stimulation, in function of the angle in the periodic movement of the left and/or the right lateral parts of the user's body ( ⁇ , ⁇ ') (also called "passive muscle profile").
  • Pws power and/or force
  • the FES system comprises a control unit able to determine from the acquired first raw data ⁇ , the power and/or force (Pws) of the muscle(s) of the user set in motion or engaged in a periodic movement by the ergometer without any electrical stimulation, in function of the crank angle of the pedals (also called “passive muscle profile").
  • Pws power and/or force
  • the FES system comprises a control unit able to determine from the acquired second raw data ⁇ ' obtained at step (b) or (b'), the usable power and/or force (Ps) of the muscle(s) of the user set in motion or engaged in a periodic movement by the ergometer when the FES system provides an electrical stimulation to the muscles, in function of the respective angle in the periodic movement of the left and the right lateral parts of the user's body ( ⁇ , ⁇ ') (also called "active muscle profile").
  • Ps usable power and/or force
  • the FES system comprises a control unit able to determine from the acquired second raw data ⁇ ', the usable power and/or force (Ps) of the muscle(s) of the user set in motion or engaged in a periodic movement by the ergometer when the FES system provides an electrical stimulation to the muscles, in function of the crank angle of the pedals (also called "active muscle profile").
  • Ps usable power and/or force
  • the FES system comprises an algorithm able to provide the differential (usable) muscle force profile from the passive and the active muscle force profiles previously obtained by the method of the invention.
  • Figure 5 shows the active and passive profiles for the quadriceps left and right, and the hamstrings left and right of a user.
  • a differential muscle force profile has been calculated by the algorithm for each muscle.
  • the method of the invention provides the ranges of the crank angle for which the muscles of the user have to be stimulated by the FES system, taking into account the fact that for a same kind of muscle, the need to be stimulated varies between the left and the right lateral parts of the user's body.
  • the method comprises or consists of determining, for each muscle force profile, at least one electrical stimulation pattern that will be provided by the FES system to the user; said electrical stimulation pattern or sequence depending on the respective angle in the periodic movement of the left and the right lateral parts of the user's body.
  • the method comprises or consists of determining, for each muscle force profile, at least one electrical stimulation pattern that will be provided by the FES system to the user; said electrical stimulation pattern or sequence depending on the crank angle of the cycle ergometer.
  • the electrical stimulation pattern resulting from the implementation of the method comprises or consists of two sub-patterns: both sub-patterns refer to the same kind of muscle but one sub-pattern corresponds to the electrical stimulation sequence for the muscle located on the left part of the user and the other sub-pattern concerns the electrical stimulation for the muscle located on the right part of the user.
  • the FES system identifies from the differential muscle force profile obtained at the previous steps of the method, the ranges of the periodic movement for which the force exerted by the muscles is positive.
  • the algorithm of the FES system identifies from the differential muscle force profile obtained at the previous steps of the method, the ranges of the crank angles for which the tangential force exerted by the muscles is positive (called “calibrated crank angles").
  • the algorithm of the FES system subtracts the passive muscle profile from the active muscle profile in order to provide the differential muscle profile.
  • the algorithm of the FES system further identifies from the differential muscle force profile obtained at the previous steps of the method, the maximum force, preferably the maximum tangential force F Tmax of the stimulated muscle.
  • the FES system determines the angle range(s) where the differential muscle profile has a value over a positive threshold, and selects this (these) range(s) for stimulation during exercise.
  • the threshold may be selected between 5-50% of F Tmax .
  • the threshold may be for instance 5%, 10%, 15%, 20%, 25%, 30%, 35%, 40%, 45% or 50% of F Tmax , preferably 10% of F Tmax .
  • the FES system further shifts the obtained stimulation pattern to begin earlier for an angle value called angle_shift in order to account for the time delay between the beginning of the stimulation and the beginning of generation of the force in the stimulated muscle.
  • angle_shift may be comprised between 0° and 20°.
  • the angle_shift may be obtained according to formula
  • Angle_shift 60/velocity (RPM)*360(°)*0.1s.
  • the electrical stimulation pattern provides the expected force for the stimulated muscle in function of the angle in the periodic movement. According to one embodiment, the electrical stimulation pattern provides the expected tangential force F T for the stimulated muscle in function of the calibrated crank angles.
  • the electrical stimulation pattern provides the stimulation intensity to be provided by the FES to the user at each point of the movement or trajectory, during the exercise regime on the ergometer.
  • the method further comprises a step (e) consisting in implementing steps (a) to (d) for a different muscle or group of muscles.
  • the determined electrical stimulation pattern preferably comprises stimulation patterns for at least two different muscles of groups of muscles of the user's body.
  • the present invention also refers to a computer program comprising instructions to operate the method for determining an electrical stimulation pattern according to the present invention.
  • the present invention also refers to a FES system comprising instructions to operate the method for determining an electrical stimulation pattern according to the present invention.
  • the FES system of the invention comprises or consists of:
  • the FES system of the invention comprises a storage unit for storing the acquired raw data ⁇ and ⁇ '.
  • the FES system of the invention comprises a computer program as defined above.
  • the module or the computer-based module of the FES system of the invention may implement the method of the invention as defined above.
  • the FES system of the invention is able to provide distinct electrical stimulation depending on the kind of the muscle, its position on the left or right lateral parts of the user's body and/or the choice of the ergometer (stationary bike or elliptic trainer, for example).
  • the FES system of the invention is able to simultaneously provide at least two distinct electrical stimulations to at least two distinct muscles depending on the kind of the muscle, its position on the left or right lateral parts of the user's body and/or the choice of the ergometer (stationary bike or elliptic trainer, for example).
  • the present invention also refers to an ergometer, preferably a cycle ergometer, equipped with a FES system.
  • the ergometer is a cycle ergometer, preferably a stationary bike (also called an electrical stimulation stationary bike).
  • the ergometer of the invention comprises means for implementing the method of the invention as defined above.
  • the ergometer of the invention comprises a FES system comprising instructions for implementing the method of the invention as defined above.
  • the ergometer of the invention comprises a module able to:
  • the ergometer of the invention comprises a module able to implement any steps (a), (a'), (b), (b'), (c), (d) and/or (e) as defined above.
  • the ergometer of the invention comprises or consists of:
  • the ergometer of the invention further comprises one or more motors.
  • means for moving or training in a periodic movement at least one muscle or group of muscle of a lateral part of the user's body comprise or consist of: a pair of pedals consisting of a right pedal and a left pedal; each pedal being connected to the motor by a crank arm; the position of each left and right crank arm defining a crank angle ( ⁇ ; ⁇ ') to the horizontal position; the right pedal or right crank arm comprising at least one sensor configured for determining the position of the right pedal or right crank arm and/or the force applied on said right pedal or right crank arm as a function of the crank angle ( ⁇ ) of the right crank arm; and the left pedal or left crank arm comprising at least one sensor configured for determining the position of the left pedal or left crank arm and/or the force applied on said left pedal or left crank arm as a function of the crank angle ( ⁇ ') of the left crank arm.
  • the ergometer is a cycle erg
  • the present invention also refers to the use of the method of the invention as defined above.
  • the present invention also refers to the use of a computer program and/or a FES system as defined above.
  • the method, the computer program and/or the FES system of the invention is(are) useful for providing one or more electrical pulses to at least one muscle of the user of the ergometer.
  • the method, the computer program and/or the FES system of the invention is(are) useful for providing at least one electrical stimulation pattern to at least one muscle of the user of the ergometer; said electrical stimulation pattern being personalized to the left and right muscle force of the at least one muscle of a lateral part of the user's body; during an exercise regime.
  • the method, the computer program and/or the FES system of the invention is(are) useful for reducing the muscle fatigue when training on an ergometer.
  • the method, the computer program and/or the FES system of the invention is(are) useful for detecting the incorrect placement of the electrodes of the FES system when training on an ergometer.
  • the method, the computer program and/or the FES system of the invention is(are) useful for detecting the incorrect placement of the user when training on an ergometer.
  • the method, the computer program and/or the FES system of the invention is(are) useful for providing a maximum mechanical efficiency to the user of the ergometer.
  • the method, the computer program and/or the FES system of the invention is(are) useful for the increase of muscle mass and strength of a disabled or non-disabled person.
  • the method, the computer program and/or the FES system of the invention is(are) useful for the rehabilitation of movement of a disabled person.

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Claims (14)

  1. Procédé pour déterminer un schéma de stimulation électrique d'au moins un muscle ou groupe de muscles d'une partie latérale du corps d'un utilisateur, dans un ergomètre cyclique motorisé équipé d'un système de stimulation électrique fonctionnelle (FES), ledit schéma électrique étant personnalisé pour les parties latérales gauche et droite du corps de l'utilisateur ; ledit procédé effectuant, par une unité de traitement de données de l'ergomètre cyclique motorisé, les étapes suivantes :
    - Étape (a) : la réception de premières données brutes Δ résultant de l'activation d'au moins un muscle ou groupe de muscles d'au moins une partie latérale du corps de l'utilisateur, lesdites premières données brutes Δ étant acquises par au moins un capteur de l'ergomètre cyclique motorisé lorsque la partie latérale est engagée dans un mouvement périodique par l'ergomètre cyclique motorisé, et lorsque le système FES ne fournit aucune stimulation à aucun muscle ou groupe de muscles de la partie latérale du corps de l'utilisateur ;
    - Étape (a') : l'itération de l'étape (a) pour l'autre partie latérale du corps de l'utilisateur, de préférence simultanément à l'étape (a) ;
    - Étape (b) : la réception de secondes données brutes Δ' fournies par le même au moins un muscle ou groupe de muscles d'au moins une partie latérale du corps de l'utilisateur de l'étape (a), lesdites secondes données brutes Δ' étant acquises par le même au moins un capteur de l'étape (a), lorsque la partie latérale est engagée dans un mouvement périodique par l'ergomètre, et lorsque le système FES fournit une stimulation à l'au moins un muscle ou groupe de muscles de la partie latérale du corps de l'utilisateur ;
    - Étape (b') : l'itération de l'étape (b) pour l'autre partie latérale du corps de l'utilisateur, de préférence simultanément à l'étape (b) ;
    - Étape (c) : l'analyse desdites premières et secondes données brutes Δ et Δ' obtenues aux étapes (a) et/ou (a') et (b) et/ou (b') pour fournir, pour l'au moins un muscle ou groupe de muscles de la partie latérale du corps de l'utilisateur, son profil musculaire actif (Ps ), son profil musculaire passif (Pws ) et le profil musculaire différentiel correspondant ;
    - Étape (d) : la détermination d'un modèle de stimulation électrique pour l'au moins un muscle ou groupe de muscles des parties latérales gauche et droite du corps de l'utilisateur, à partir du profil musculaire différentiel de l'étape (c) ; ledit motif de stimulation électrique d'au moins un muscle ou groupe de muscles comprenant un motif de stimulation électrique pour ledit muscle ou groupe de muscles situé sur la partie latérale gauche du corps de l'utilisateur et un motif de stimulation électrique pour ledit muscle ou groupe de muscles situé sur la partie latérale droite du corps de l'utilisateur ; et
    - Étape (e) : la mise en œuvre facultative des étapes (a) à (d) pour un muscle ou un groupe de muscles différent.
  2. Procédé selon la revendication 1, dans lequel l'ergomètre cyclique motorisé est un ergomètre à vélo, tel qu'un vélo stationnaire, ledit ergomètre à vélo comprenant :
    - une paire de pédales composée d'une pédale droite et d'une pédale gauche ; chaque pédale étant reliée au moteur par un bras de manivelle ; la position de chaque bras de manivelle gauche et droit définissant un angle de manivelle (α ; α') par rapport à la position horizontale ; la pédale droite ou le bras de manivelle droit comprenant au moins un capteur configuré pour déterminer la position de la pédale droite ou du bras de manivelle droit et/ou la force appliquée sur ladite pédale droite ou ledit bras de manivelle droit en fonction de l'angle de manivelle (α) du bras de manivelle droit ; et la pédale gauche ou le bras de manivelle gauche comprenant au moins un capteur configuré pour déterminer la position de la pédale gauche ou du bras de manivelle gauche et la force appliquée sur ladite pédale gauche ou ledit bras de manivelle gauche en fonction de l'angle de manivelle (α') du bras de manivelle gauche ;
    et dans lequel le mouvement périodique est un mouvement elliptique ou circulaire périodique.
  3. Procédé selon la revendication 1 ou la revendication 2, dans lequel le au moins un muscle ou groupe de muscles des parties latérales du corps de l'utilisateur dans l'étape (a) ou (a') et l'étape (b) ou (b') sont engagés dans un mouvement périodique par au moins un moteur de l'ergomètre cyclique motorisé, à une vitesse constante.
  4. Procédé selon la revendication 3, dans lequel la vitesse constante du moteur est comprise entre 10 tr/min et 90 tr/min, de préférence entre 10 tr/min et 60 tr/min, et plus préférablement de 30 tr/min.
  5. Procédé selon l'une quelconque des revendications 1 à 4, dans lequel la stimulation électrique aux étapes (b) et (b') est une stimulation électrique isométrique.
  6. Procédé selon l'une quelconque des revendications 1 à 5, dans lequel le courant de stimulation électrique (I) aux étapes (b) et (b') est compris entre 1 mA et 170 mA.
  7. Procédé selon l'une quelconque des revendications 1 à 6, dans lequel la largeur d'impulsion de stimulation électrique (PW) aux étapes (b) et (b') est comprise entre 50 µs et 1000 µs.
  8. Procédé selon l'une quelconque des revendications 1 à 7, dans lequel la fréquence de stimulation électrique (f) aux étapes (b) et (b') est comprise entre 10 Hz et 100 Hz.
  9. Programme informatique dans un ergomètre, de préférence dans un ergomètre à vélo, équipé d'un système FES, ledit programme informatique comprenant des instructions qui, lorsque le programme est exécuté par un ordinateur, amènent l'ordinateur à exécuter les étapes du procédé selon l'une quelconque des revendications 1 à 8.
  10. Vélo stationnaire à stimulation électrique comprenant :
    - un moteur configuré pour effectuer un mouvement périodique ;
    - une paire de pédales composée d'une pédale droite et d'une pédale gauche ; chaque pédale étant reliée au moteur par un bras de manivelle ; la position de chaque bras de manivelle gauche et droit définissant un angle de manivelle (α ; α') par rapport à la position horizontale ;
    - un système de stimulation électrique fonctionnelle (FES) comprenant :
    - un module, de préférence un module informatique, comprenant un système d'acquisition de données et un contrôleur FES ; et
    - un stimulateur relié à deux ou plusieurs électrodes de stimulation électrique ; lesdites électrodes de stimulation électrique étant configurées pour adhérer à au moins un muscle ou groupe de muscles ciblé de la partie latérale du corps d'un utilisateur engagé dans un mouvement périodique par le vélo stationnaire, et pour fournir une interface permettant de transmettre des impulsions électriques du stimulateur au muscle ou groupe de muscles ciblé de la partie latérale du corps de l'utilisateur ;
    dans lequel :
    la pédale droite ou le bras de manivelle droit comprend au moins un capteur configuré pour déterminer la position de la pédale droite ou du bras de manivelle droit et/ou la force appliquée sur ladite pédale droite ou ledit bras de manivelle droit en fonction de la position angulaire (α) du bras de manivelle droit ;
    la pédale gauche ou le bras de manivelle gauche comprend au moins un capteur configuré pour déterminer la position de la pédale gauche ou du bras de manivelle gauche et/ou la force appliquée sur ladite pédale gauche ou ledit bras de manivelle gauche en fonction de la position angulaire (α') du bras de manivelle gauche ;
    ledit contrôleur FES comprenant des instructions pour mettre en œuvre le procédé de détermination d'un modèle de stimulation électrique personnalisé selon l'une quelconque des revendications 1 à 8.
  11. Vélo stationnaire à stimulation électrique selon la revendication 10, dans lequel ledit vélo stationnaire est configuré pour mettre en œuvre le procédé selon l'une quelconque des revendications 1 à 8, avant la mise en œuvre d'un programme d'exercice par un utilisateur.
  12. Vélo stationnaire à stimulation électrique selon la revendication 10 ou la revendication 11, dans lequel le muscle ou le groupe de muscles de la partie latérale du corps de l'utilisateur est choisi parmi le quadriceps (vastus lateralis), le quadriceps (vastus medialis), le quadriceps (rectus femoris), les ischio-jambiers, le fessier, le gastrocnémien, le tibial antérieur, les muscles abdominaux et les muscles dorsaux.
  13. Vélo stationnaire à stimulation électrique selon l'une quelconque des revendications 10 à 12, dans lequel le système FES comprend une interface utilisateur pour mettre en œuvre le procédé selon l'une quelconque des revendications 1 à 8 ou pour mettre en œuvre un programme d'exercices après la mise en œuvre du procédé selon l'une quelconque des revendications 1 à 8.
  14. Vélo stationnaire à stimulation électrique selon l'une quelconque des revendications 10 à 13, dans lequel le système FES comprend en outre des moyens pour contrôler que la stimulation électrique d'au moins un muscle ou groupe de muscles ciblé de la partie latérale du corps de l'utilisateur engagé dans un mouvement périodique par le vélo stationnaire à stimulation électrique, pendant un programme d'exercices, correspond au modèle de stimulation électrique obtenu par le procédé des revendications 1 à 8.
EP21305243.4A 2021-03-01 2021-03-01 Procédé et système pour déterminer un motif de stimulation musculaire électrique personnalisé pour un sujet à l'aide d'un ergomètre Active EP4052766B1 (fr)

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US20070208392A1 (en) * 2006-02-17 2007-09-06 Alfred E. Mann Foundation For Scientific Research System for functional electrical stimulation
US8905951B2 (en) * 2011-08-27 2014-12-09 Restorative Therapies, Inc. Motorized functional electrical stimulation step and stand trainer
AU2017354122B2 (en) 2016-11-04 2023-09-21 Restorative Therapies, Inc. Functional electrical stimulation ergometer including automatic spasm control
CL2018001900A1 (es) * 2018-07-12 2018-10-05 Biomedical Devices Spa Sistema y método de electro estimulación funcional que permite entregar movimientos coordinados y naturales para personas o animales con daño en el sistema motor

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