US20070142189A1

US20070142189A1 - Apparatus for multi-joint lower limb exercise

Info

Publication number: US20070142189A1
Application number: US11/385,843
Authority: US
Inventors: Syh-Shiuh Yeh; Meng-Chun Chen; Kuo-Shih Tseng; Mao-Feng Tu; Yang-Hua Lin
Original assignee: Industrial Technology Research Institute ITRI
Current assignee: Industrial Technology Research Institute ITRI
Priority date: 2005-12-20
Filing date: 2006-03-22
Publication date: 2007-06-21
Also published as: TWI295183B; TW200724193A

Abstract

An apparatus for multi-joint lower limb exercise is disclosed, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; and a hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part. As a user is fitted with the aforesaid apparatus to perform a lower limb exercise, such as exercising its knee joint or ankle joint, a comparatively better exercise effect can be achieved as the magnitude of the hydraulic pressure provided by the hydraulic device is adjustable by the use of a throttle valve of the hydraulic device.

Description

FIELD OF THE INVENTION

The present invention relates to an apparatus for multi-joint lower limb exercise, and more particularly, to an exercise apparatus fitted to a lower limb of a user, capable of providing an adjustable hydraulic pressure to the joints of the moving lower limb by a specific hydraulic device, whereas the hydraulic pressure provided by the hydraulic device is adjustable by the use of a throttle valve of the hydraulic device.

BACKGROUND OF THE INVENTION

Generally, most of the movements of human upper limb are to enable a person to complete a certain operation for controlling one's ambient environment while the lower limb movements are to enable the person to move around. That is, different limb movements are structured specifically with respect to complete different human activities. Therefore, the feature of most human upper limb movements is that they are structured to complete an operation is free space, and on the other hand, most lower limb movements are structured with a stable connection to the ground. It is known that intense and repetitive activities usually are the cause of physical injuries involving damage to bones and/or muscle tissues. It is also known that healing physical injuries such as fractures, exposed to an active exercise with permissible weight bearing stress while controlling the movement of the joints relating to the exercise to move correctly and properly, often heal more predictably and more rapidly than fractures which are not exposed to any limb exercise. This is probably also true for preventing such physical injuries.
It is known that muscles are strengthened and their mass increased by repetitive contraction of the muscles actively under tension. When the muscle contracts, however, it shortens, thereby causing joint motion via the connective tendons which can stress the ligaments connecting the bony joint segments. However, a passive exercise is contrary to the aforesaid active exercise, that muscles are exercised without the contraction thereof and thus can not train the relating joints to exercise by the contraction of muscles. Conventionally, resistance training increases muscle strength by putting the muscles against an external pressure while contracting actively and repetitively, such as a weight training using dumbbell, sand bag, elastic rope or other weighting equipments. Although, the external pressure of such resistance training can be adjusted by the instruction of a professional coach, it lacks the ability of providing integrated trainings, such as walking. Recently, there are equipment designed for providing isokinetic training that allows the athlete to develop maximal muscle contraction throughout a given range of the movement and develops strength at variable speeds, i.e. it can detect when a muscle is speeding up, and increases the load to slow it down again. Nevertheless, those currently available equipments for isokinetic training are all too bulky and can not simulate actual human movements for training relating muscles and joints under such actual human movement. It is noted that there is an idea of employing robotic arms as intellectual training tools. However, those specifically designed robotic arms are still under experiment and are not available for progressive training or household training. In addition, the training tools especially designed for lower limb exercise, such as treadmill, exercise bicycle, or stepper, are all to bulky and heavy to be carried around.
The conventional lower limb exercises are either focused on excising knee joint or on ankle joint individually, which are not capable of exercising multiple joints relating to a lower limb movement, and are still employing traditional isotonic/isokinemic training mode while lacking a feedback mechanism for better controlling. Obviously, for the foregoing shortcomings, there is no available solution.
Therefore, it is in need of an exercise apparatus fitted to a lower limb of a user, capable of providing an adjustable hydraulic pressure to the joints of the moving lower limb by a specific hydraulic device, whereas the hydraulic pressure provided by the hydraulic device is adjustable by the use of a throttle valve of the hydraulic device, and moreover, the apparatus for multi-joint lower limb exercise, comparing to those of prior art, is capable of providing a multi-degree-of-freedom motion of active exercise that is portable, light-weight, and ease to maintain.

SUMMARY OF THE INVENTION

It is the primary object of the present invention to provide an apparatus for multi-joint lower limb exercise, capable of enabling the ankle and knee of a user to be exercised at the same time by a multi-degree-of-freedom motion of active exercise.
It is another object of the present invention to provide a portable apparatus for multi-joint lower limb exercise, adapted for exercising the ankle and knee of a user.
It is another object of the present invention to provide an active exercise apparatus for joints, which can be adapted to exercise a user's joints no matter the user is lying, sitting or standing. Moreover, it can be adapted for matching the difficulties of a progressive training as required.
It is yet another object of the present invention to provide an adjustable hydraulic device with controllable throttle valve for exerting a pressure to the joints of the moving lower limb of a user so as to enabling the lower limb of the user to be exercised actively.
It is further another object of the present invention to provide an apparatus for multi-joint lower limb exercise, capable of detecting and measuring the resistance exerting of a user's lower limb by the mechanical structure of the apparatus and then using the detection for adjusting the pressure of a hydraulic device by controlling the throttle valve of the hydraulic device automatically so as to exerting a fixed pressure upon the joints of the active moving lower limb.
To achieve the above objects, the present invention provides an apparatus for multi-joint lower limb exercise, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; and a hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part.
Preferably, the first supporting part is further comprised of a rotatable frame and a supporting frame with adjustable length, having an end thereof connected to the rotatable frame; and the second supporting part is further comprised of a rotatable frame and a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.
Preferably, the first supporting part is further comprised of a rotatable frame and a supporting frame with adjustable length, having an end thereof connected to the rotatable frame; and the second supporting part is further comprised of a rotatable plate and a set of rolling wheel, connected to the rotatable plate and including at least a fixing device and at least a rolling wheel.
Preferably, the hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the hydraulic pressure provided by the hydraulic device.
Preferably, a rotation angle detector is arranged between the first supporting part and the second support part for detecting an angle of rotation as the first supporting part is rotating about the second supporting part. Moreover, the hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the angle of rotation detected by the rotation angle detector so as to maintain the hydraulic pressure provided by the hydraulic device at a specific magnitude while the first supporting part is rotating about the second supporting part. Moreover, the throttle valve is a solenoid valve.
In a preferred embodiment of the invention, another apparatus for multi-joint lower limb exercise is provided, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; a third supporting part, rotatably connected to the second supporting part; a first hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a first hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part; and a second hydraulic device, connected to the second and the third supporting parts respectively by the two ends thereof, for providing a second hydraulic pressure to the second and the third supporting parts while the second supporting part is rotated about the third supporting part.
Preferably, the first supporting part is further comprised of a rotatable frame and a supporting frame with adjustable length, having an end thereof connected to the rotatable frame; the second supporting part is further comprised of a rotatable frame and a supporting frame with adjustable length, having an end thereof connected to the rotatable frame; and the third supporting part is further comprised of a rotatable plate and a set of rolling wheel, connected to the rotatable plate and including at least a fixing device and at least a rolling wheel.
Preferably, the first hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the first hydraulic pressure provided by the first hydraulic device.
Preferably, a first rotation angle detector is arranged between the first supporting part and the second support part for detecting a first angle of rotation as the first supporting part is rotating about the second supporting part. Moreover, the first hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the first angle of rotation detected by the rotation angle detector so as to maintain the first hydraulic pressure provided by the first hydraulic device at a specific magnitude while the first supporting part is rotating about the second supporting part. Moreover, the throttle valve is a solenoid valve.
Preferably, the second hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the second hydraulic pressure provided by the second hydraulic device.
Preferably, a second rotation angle detector is arranged between the second supporting part and the third support part for detecting a second angle of rotation as the second supporting part is rotating about the third supporting part. Moreover, the second hydraulic device further comprises: a hydraulic cylinder; a hydraulic tube; at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the second angle of rotation detected by the rotation angle detector so as to maintain the second hydraulic pressure provided by the second hydraulic device at a specific magnitude while the second supporting part is rotating about the third supporting part. Moreover, the throttle valve is a solenoid valve.
Other aspects and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of an apparatus for multi-joint lower limb exercise according to a preferred embodiment of the invention.
FIG. 2 is a schematic view of a hydraulic device according to a preferred embodiment of the invention.
FIG. 3 is a schematic view of a hydraulic device capable of maintaining a specific resistance according to a preferred embodiment of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

For your esteemed members of reviewing committee to further understand and recognize the fulfilled functions and structural characteristics of the invention, several preferable embodiments cooperating with detailed description are presented as the follows.
Please refer to FIG. 1, which is a schematic view of an apparatus for multi-joint lower limb exercise according to a preferred embodiment of the invention. The apparatus of FIG. 1 can be adapted to fit on a lower limb of a user for proving a resistance to the moving joints of the lower limb as the lower limb is subjected to an exercise. The apparatus for multi-joint lower limb exercise comprises a first support part 11, a second support part 12, a third support part 13, a first hydraulic device 14 and a second hydraulic device 15.
The first supporting part 11 is comprised of a supporting frame 111 and a rotatable frame 112, that both are fitted to the outside of the thigh of the user and are fixed thereto by a strap. Similarly, The second supporting part 12 is comprised of a supporting frame 121 and a rotatable frame 122, that both are fitted to the outside of the shank of the user and are fixed thereto by a strap. The length of the first supporting part 11 can be adjusted to match with the length of the thigh, that is, the supporting frame 111 of the first supporting part 11 is a device of retractable mechanism composed of guiding chutes and sliding rod which is connected to the rotatable frame 112 in a retractable manner for enabling the length of the first supporting part 11 to match the length of the thigh. Similarly, The length of the second supporting part 12 can also be adjusted to match with the length of the shank, that is, the supporting frame 121 of the second supporting part 12 is a device of retractable mechanism composed of guiding chutes and sliding rod which is connected to the rotatable frame 122 in a retractable manner for enabling the length of the second supporting part 12 to match the length of the shank. As the knee of the user is rotated, the rotatable frame 112 and the rotatable frame 122 will rotate about the rotation axis 16 while providing a pressure to resist the rotation of the knee since the two ends of the first hydraulic device 14 are respectively connected to the rotatable frame 112 and the rotatable frame 122.
The third supporting part 13 includes a rotatable plate 131 and a set of rolling wheel 132, that the set of rolling wheel 132 can be composed of a fixing device 1321 and two rolling wheels 1322, 1323, whereas the fixing device 1321 is connected to the rotatable plate 131. It is noted that a foot of the user can be placed on the rotatable plate 131 and is fixed thereto by a strap. As the ankle of the user is rotated, the supporting frame 121 and the rotatable plate 132 will rotate about the rotation axis 17 while providing a pressure to resist the rotation of the ankle since the two ends of the second hydraulic device 15 are respectively connected to the supporting frame 121 and the rotatable plate 132. In addition, the two rolling wheels 1322, 1323 are used to reduce the friction between the apparatus of FIG. 1 and the ground for facilitating the lower limb exercise.
Therefore, by the pressures provided respectively by the first hydraulic device 14 and the second hydraulic device 15 for resist the rotation of the knee and ankle, an active lower limb exercise can be achieved.
Please refer to FIG. 2, which is a schematic view of a hydraulic device according to a preferred embodiment of the invention. The hydraulic device 20 of FIG. 2 mainly is a hydraulic cylinder 201 having two rotation axes 202, 203 respectively for connecting two moving objects, whereas the two moving objects can be the rotatable frames 112 and 122, or the supporting frame 121 and the rotatable plate 131, shown in FIG. 1. The hydraulic device 20 is operating with the two rotation axes 202, 203 respectively sliding along the longitudinal axis of the hydraulic cylinder 201. The hydraulic device 20 further comprises two conversion valves 204, 205, whereas the conversion valve 204 is used to connect the hydraulic cylinder 201 and the hydraulic tube 206 while the conversion valve 205 is used to connect the hydraulic cylinder 201 and the hydraulic tube 207. Both conversion valves 204, 205 are used for controlling the flow direction of the hydraulic cylinder 201. The hydraulic device 20 further comprises a throttle valve 208, disposed between and connecting the hydraulic tube 206 to the hydraulic tube 207, which is capable of controlling the flux of the liquid flowing in the two hydraulic tubes 206, 207 so as to adjust the magnitude of the hydraulic pressure provided by the hydraulic device 20. The throttle valve 208 can be adjusted manually for controlling the flux of the liquid flowing in the hydraulic cylinder 201 and thus adjusting the resistance exerting upon the two moving objects respectively connected to the two rotation axes 202, 203. Moreover, the throttle valve can be an electronic valve, such as a solenoid valve, so that the resistance can be adjusted electronically.
While the apparatus of the invention is designed to exert a fixed resistance upon the lower limb, the throttle valve 208 of FIG. 2 must be an electronic valve and two additional rotation angle detectors must be respectively arranged at the two rotation axes 16, 17. Please refer to FIG. 3, which is a schematic view of a hydraulic device capable of maintaining a specific resistance according to a preferred embodiment of the invention. In FIG. 3, the two rotatable frames 112, 122 and the hydraulic device with specific resistance 30 are used as an illustration. Wherein, the rotatable frame 112 is pivotally connected to the rotatable frame 122 while enabling the two rotatable frames 112, 122 to rotated about the rotation axis 16; and the two ends of the hydraulic device 30 are respectively connected to the two rotatable frames 112, 122 by the two rotation axes 301, 302. Hence, the throttle valve, which is a solenoid valve, can control and adjust the resistance provided by the hydraulic device 30 according to the angle of rotation detected by the rotation angle detector 31 so as to maintain the hydraulic pressure provided by the hydraulic device 30 at a specific magnitude while the supporting frame 112 is rotating about the supporting frame 122.
To sum up, the apparatus for multi-joint lower limb exercise employs a hydraulic device, having two ends thereof connecting respectively to the two supporting parts, for providing a hydraulic resistance to the moving lower limb such that a user fitted with the aforesaid apparatus has to exert a force to overcome the resistance for performing the lower limb exercise. Furthermore, the hydraulic resistance of the hydraulic device can be adjusted manually by the throttle valve arranged on the hydraulic device, or can be adjusted according to a detected angle of rotation for maintaining the hydraulic pressure provided by the hydraulic device at a specific magnitude while the lower limb is exercising.
While the preferred embodiment of the invention has been set forth for the purpose of disclosure, modifications of the disclosed embodiment of the invention as well as other embodiments thereof may occur to those skilled in the art. Accordingly, the appended claims are intended to cover all embodiments which do not depart from the spirit and scope of the invention.

Claims

1. An apparatus for multi-joint lower limb exercise, adapted for supporting the lower limb of a user, comprising:

a first supporting part;

a second supporting part, rotatably connected to the first supporting part; and

a hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part.

2. The apparatus of claim 1, wherein the first supporting part, further comprising:

a rotatable frame; and

a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.

3. The apparatus of claim 1, wherein the second supporting part, further comprising:

a rotatable frame; and

4. The apparatus of claim 1, wherein the second supporting part, further comprising:

a rotatable plate; and

a set of rolling wheel, connected to the rotatable plate.

5. The apparatus of claim 4, wherein the set of rolling wheel includes at least a fixing device and at least a rolling wheel.

6. The apparatus of claim 1, wherein the hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

at least a conversion valve, each used for connecting the hydraulic cylinder to the hydraulic tube for controlling a liquid to flow therebetween; and

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the hydraulic pressure provided by the hydraulic device.

7. The apparatus of claim 1, wherein a rotation angle detector is arranged between the first supporting part and the second support part for detecting an angle of rotation as the first supporting part is rotating about the second supporting part.

8. The apparatus of claim 7, wherein the hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the angle of rotation detected by the rotation angle detector so as to maintain the hydraulic pressure provided by the hydraulic device at a specific magnitude while the first supporting part is rotating about the second supporting part.

9. The apparatus of claim 8, wherein the throttle valve is a solenoid valve.

10. An apparatus for multi-joint lower limb exercise, adapted for supporting the lower limb of a user, comprising:

a first supporting part;

a second supporting part, rotatably connected to the first supporting part;

a third supporting part, rotatably connected to the second supporting part;

a first hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a first hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part; and

a second hydraulic device, connected to the second and the third supporting parts respectively by the two ends thereof, for providing a second hydraulic pressure to the second and the third supporting parts while the second supporting part is rotated about the third supporting part.

11. The apparatus of claim 10, wherein the first supporting part, further comprising:

a rotatable frame; and

12. The apparatus of claim 10, wherein the second supporting part, further comprising:

a rotatable frame; and

13. The apparatus of claim 10, wherein the third supporting part, further comprising:

a rotatable plate; and

a set of rolling wheel, connected to the rotatable plate.

14. The apparatus of claim 13, wherein the set of rolling wheel includes at least a fixing device and at least a rolling wheel.

15. The apparatus of claim 10, wherein the first hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the first hydraulic pressure provided by the first hydraulic device.

16. The apparatus of claim 10, wherein a first rotation angle detector is arranged between the first supporting part and the second support part for detecting a first angle of rotation as the first supporting part is rotating about the second supporting part.

17. The apparatus of claim 16, wherein the first hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the first angle of rotation detected by the rotation angle detector so as to maintain the first hydraulic pressure provided by the first hydraulic device at a specific magnitude while the first supporting part is rotating about the second supporting part.

18. The apparatus of claim 10, wherein the second hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube so as to adjust the magnitude of the second hydraulic pressure provided by the second hydraulic device.

19. The apparatus of claim 10, wherein a second rotation angle detector is arranged between the second supporting part and the third support part for detecting a second angle of rotation as the second supporting part is rotating about the third supporting part.

20. The apparatus of claim 19, wherein the second hydraulic device, further comprising:

a hydraulic cylinder;

a hydraulic tube;

a throttle valve, for controlling the flux of the liquid flowing in the hydraulic tube according to the second angle of rotation detected by the rotation angle detector so as to maintain the second hydraulic pressure provided by the second hydraulic device at a specific magnitude while the second supporting part is rotating about the third supporting part.

21. The apparatus of claim 20, wherein the throttle valve is a solenoid valve.