WO2010057552A1 - Arrangement for gait training - Google Patents

Abstract

The invention relates to an arrangement for gait training, having an endless belt guided by at least two rollers and acting as a treadmill, one surface thereof acting as a running surface, and having a sensor for determining a pressure/force distribution on a force measurement plate present under the running surface, comprising a plurality of pressure/force sensors on the side facing the endless belt, an analysis unit connected to the pressure/force sensors on the input side and detecting pressure distributions generated on the running surface by a walking or running test subject, a processing unit connected on the input side to the analysis unit generating from the pressure distributions values or signals characterizing the gait of the test subject, optical display means for displaying images in the area of the running surface connected to image signal generating means and a display sequence controller for generating and positionally controlling in time and space images or image elements, and a synchronizing and adapting stage for synchronizing and adapting the processing of the pressure distribution images to the image display in the area of the running surface.

Description

 Arrangement for training the gear

description

The invention relates to an arrangement for training the aisle.

Devices for detecting pressure or force distributions are known per se, for example from DE 36 42 088 C2 and DE 25 29 475 C3.

Many of the known devices can be used as platforms for biomechanical gait analysis in which the gait of a vertebrate, in particular a human, but possibly also a horse or dog, etc., is examined and analyzed. However, there is the disadvantage that only a single step and a single rolling process can be recorded. In order to maintain a natural gait behavior, however, it is necessary to take up the gait over a longer period of time.

Therefore devices and methods for gait analysis using a treadmill have been proposed. For example, reference is made to DE 40 27 317 C1 or US Pat. No. 6,010,465 A.

Furthermore, in R. Kram and AJ. Powell: "Areadread-mounted force platform" Appl. Physiol., 67 (4): 1692-1698 (1989) describes a measuring device as known in which a treadmill is pulled over a measuring platform or measuring surface and thus a continuous detection of forces becomes possible. The former of these documents describes a treadmill, which is composed of a plurality of links, each of which comprises a matrix-shaped arrangement of pressure or force sensors, while the second a treadmill with located below the belt surface measuring plate with a matrix-shaped arrangement of printing or ., Describes force sensors. Both documents teach that an evaluation unit is connected to the respective sensor system, and US Pat. No. 6,010,465 describes the structure and mode of operation of the evaluation unit, for example for evaluating the position and an assigned force value when it occurs on the treadmill, for example for determining torques and loads on the treadmill Joints and certain gait parameters, relatively detailed.

With improvements of these known solutions with regard to the derivation of differentiated medical or sports physiological statements, the international patent application PCT / EP2006 / 01 04 71 concerns the applicant. In particular, this teaches means and procedures for accurately and differentially detecting the actual speed of the treadmill utilizing the time and location dependence of pressure distribution images taken thereon when walking or running a subject.

The use of display devices, such as display screens, in treadmill arrangements is also known.

EP 1 145 682 A2 discloses a rehabilitation apparatus and method based on the treadmill technique, in which an adaptation of the function of the treadmill to the current state of the walking or running ability of a patient to be restored is provided. In particular, the treadmill speed is adapted to a personal step cycle of the user, and the device is to give this at the same time a feedback. In a special embodiment, the detection of compressive forces exerted on the occurrence and their evaluation is provided within the framework of the overall program. The document also describes the use of a display screen in conjunction with an input keyboard for show the footprints generated on the treadmill and adjust treadmill parameters based on this display.

US Pat. No. 6,231,527 B1 likewise discloses the use of a display screen in a treadmill device for sports medicine or rehabilitation use, in which case the images of various cameras can be displayed which record the athlete / patient in his movements on the treadmill.

Applicant's unpublished European Patent Application No. 08001950.8 also describes a treadmill system for sports medicine or rehabilitation use with an image reproduction technique in which pressure distribution patterns generated by a person walking on the treadmill can also be detected and evaluated synchronously with the images displayed.

The invention is based on the object of providing a further improved device of the latter type, which is particularly suitable for sports medicine or rehabilitation purposes. One goal is to further develop the system into a flexible training / therapy device while further increasing user acceptance.

This object is achieved by an arrangement having the features of claim 1. Advantageous developments of the inventive concept are each the subject of the dependent claims.

The invention includes, in a further development of the above-mentioned unpublished EP application, the idea of representing a standing in rehabilitation or training-related image directly in the tread, ie on the upper surface of the treadmill or when using a transparent material for The treadmill also on a display surface below the upper section of the treadmill, a. It further includes the idea of presenting in particular pictures or picture elements which the trainee should hit with his feet or - on the contrary - should not touch and which are controlled by suitable picture signal generating means with adequate control of the display sequence. be provided. Finally, the invention includes the idea of synchronizing the evaluation of the pressure distribution pattern originating from the feet of the exerciser with the image display in the area of the treadmill or to make another adaptation to the effect that an evaluation of the gait or run is displayed on it as a direct reaction of the exerciser Pictures becomes possible.

The essential to the invention image display in the treadmill can be done in various ways and with known display devices. In a first embodiment, the display means on an image projector for the projection of images on the tread of the treadmill, in particular a laser beamer, which is connected to a small computer (PC, laptop, PDA ...) as an image or video source. Of course, the projected images must be equalized if necessary, since u.U. the projector should not be mounted directly from above but, for example, diagonally from the front, in order to avoid any obstruction of the projected image by the feet. Incidentally, in order to make the running environment as natural as possible, the projection surface at the front can be pulled slightly upwards so that the patient's head does not have to be tilted down too much.

An alternative embodiment provides that the image display surface is formed by at least one display screen of an electro-optical display device, in particular of LCD, plasma or OLED type. This of course requires an embodiment of the treadmill of transparent material, so that the image display surface can be arranged statically below its (in use position) upwardly extending portion. However, this embodiment of (at least partially) transparent material is not necessarily associated with the latter embodiment of the optical display means, but it may also be useful in some circumstances in combination with a projection technique.

With the display means, for example, steps in the form of circular areas or in the form of footprints are projected onto the running belt. The subject or exerciser is asked to put his feet on the projected surfaces. This allows patients to be stopped, certain increments or To comply with step widths. If footprints are projected on instead of circular surfaces, then the contact angle of the feet can also be specified. The pressure sensor matrix is spatially calibrated with the projected areas, so it can be checked directly whether the feet were actually placed correctly. Possibly. Through a feedback signal, the patient can be asked to adapt his steps to the specifications. Likewise, a therapy or performance control can be carried out.

Deviating from predetermined surfaces for placing the feet, of course, obstacles can be projected, which should not be entered, so that the patient must skip or exceed the prohibited areas and thus train his coordination. This can e.g. Objects or puddles, upon their entry also a feedback signal is triggered or a point deduction can take place.

In a further embodiment, the arrangement comprises additional optical display means for displaying images on a further image display area, outside the tread and in particular at eye level of the trainee, wherein the additional display means are also connected to the image signal generating means and the display sequencer and in particular to a additional visualization of the tread and / or running environment can be used. On this screen, the patterns projected on the treadmill are preferably displayed in addition. These are now superimposed with the virtual footprints of the sensor matrix. The patient thus has the choice of viewing his own feet on the tape or the virtual feet or footprints on the screen and placing them in the correct position.

In a further embodiment, it is provided to install in or under the tread either solid elevations or depressions or actuators with which can be realized on the tread increases or especially locally as resilient or elastic or particularly hard felt areas of the tread. This could be realized, for example, with a matrix of air- or liquid-filled chambers. These become, like the components for the evaluation the pressure distribution images and for synchronization with the display images of. controlled by a common control unit and can be used for provocation tests.

In the first variant, it is particularly expedient if the endless belt with gang-effectively structured surface has a position coding for position assignment of surface elements, the processing unit profile storage means for storing the profile of the gang-effectively structured surface and it is assigned a position signal receiver for addressing the profile memory and in the processing unit, a processing algorithm is implemented, with which the pressure distribution images are assigned to the surface elements of the tread.

An advantageous embodiment of the second variant is characterized in that the arrangement of actuators is associated with a profile control unit that outputs control signals for actuating the actuators to form a predetermined dynamic profile (conventional surface profile and / or elasticity or hardness profile) of the tread, the Processing unit has a control signal receiver for receiving the output by the profile control unit control signals as position attribution signals and in the processing unit, a processing algorithm is implemented, with which the pressure distribution images are assigned to the dynamic profile of the tread. It goes without saying that it makes sense to project image elements to local areas with differing elasticity or hardness, which also make this differentiation visually tangible for the trainee (subject).

In combination herewith or as an alternative to this, a design is provided in which the treadmill is mounted in total on actuators for generating a global flexibility or elasticity of the entire tread. Instead of a simulation of local defects of the subsoil, this model succeeds in simulating a large-scale elasticity or yield of the subsoil. Further useful embodiments of the invention relate to the provision of the image signals. Thus, in an embodiment, the image signal generating means comprises a pixel storage unit for storing a plurality of predefined pixels and optionally a pixel mixer for mixing pixels retrieved from the storage unit after a plurality of predetermined mixing programs. Particularly advantageous may additionally be provided that the image signal generating means comprises a video memory for storing image sequences and optionally a video pixel mixer for mixing read out of the video memory image sequences, optionally with read from the pixel memory unit pixels. With these means, a natural background can be simulated optically (and with the addition of corresponding actuators, as mentioned above) also in a very realistic manner tactile, and images or picture elements can be superimposed in this background which impose certain requirements on the exerciser and thus a particularly efficient one Enable training.

A user guidance provided by the arrangement, with optical and / or acoustic output of display-accompanying instructions, is used to implement training or rehabilitation programs. This can be as follows: The patient initially walks in his usual running style. With the aid of the pressure sensor matrix integrated in the treadmill, the characteristic gait parameters, in particular the step length,. Track width, foot rotation angle or applied force values recorded. These parameters can then be used as initial training values. Based on this setting, the patterns projected onto the treadmill are automatically changed to the therapist's desired target within a workout. The change of the values can be carried out linearly, exponentially or with any other mathematical function. Afterwards, an automatic analysis with a target-actual comparison can be carried out, ie it is checked how well the patient was able to comply with the specifications. If the patient is to change the applied force in partial areas of the foot or of the entire foot, then he is instructed by an acoustic signal or a voice output. Thus, for example, the instruction is to load a foot more or less heavily. In a particular embodiment, given increments or widths may be continually changed (eg, increased) in the course of a training session to slowly bring the patient to the training goals. This is an embodiment in which the display sequencer has a program memory for storing a plurality of predetermined display sequences and / or speed and / or relative position setting means for speed adjustment of a display process or for specifying relative positions between pixels of a display. It is also possible to permanently change the symbols for setting the steps by means of a random generator in order to train the coordination of the patient and to leave behind ground gait patterns and thus to improve the therapeutic success. Incidentally, the random number generator can present other picture elements (such as obstacles) in stochastically varied form in addition to step-Aufsetzmustern and thus further increase the coordination requirements for the trainees.

It is already apparent from the above explanations that the proposed arrangement is expediently equipped with a user guidance unit for the visual and / or acoustic output of instructions accompanying the instructions, in particular via earphones and / or text overlays in the region of the running surface.

Advantages and expediencies of the invention will become apparent from the following description of preferred embodiments with reference to FIGS. From these show:

1 is a schematic representation of a first embodiment of the invention,

2 is a schematic representation of a second embodiment of the invention,

3 is a detail view of a further embodiment,

Fig. 4 is a detail view of a further embodiment and Fig. 5 is a pictorial representation, as they can be given as part of a training program on the tread of the arrangement.

1 shows a treadmill training system 1 which comprises a treadmill 2 b running over two rollers 2 a, under the upper surface used by the user as tread 2 c, a spatially high-resolution pressure-sensing plate 3 with a multiplicity of (not individually designated) pressure sensors arranged in a matrix Detection of generated by the user when appearing on the treadmill pressure sensing images is provided. The one of the two rollers 2a is driven and pulls the tape 2b at a predetermined speed, which is set via a processing and control unit 4 of the arrangement and a speed regulator 5. Furthermore, (which is shown only symbolically in the figure) via a suitable tilt actuator 6, which can also receive interference signals from the processing and control unit 4, set an inclination of the entire treadmill needs or either just his front part erect something will be.

In the greatly simplified embodiment shown in FIG. 1, the speed signal of the treadmill receives signals from the speed controller 5 back to the processing and control unit 4, where they serve to synchronize a pictorial representation on the tread 2c by means of a projector (laser beamer) 7 is generated from pre-stored picture elements and / or image sequences (see below).

The pictorial representation is controlled on the basis of the speed signals such that - in particular in connection with a special embodiment described below - the user an overall harmonious simulation of a running environment, advantageously associated with the insertion of markings to be taken with the feet and / or with the simulation of obstacles to be overcome or avoided. Notwithstanding the representation in the figure, the actual speed of the treadmill can also be detected via a suitable sensor system (not shown) and the measured value of the processing unit can be detected. tion and control unit 4 for the purpose of (to some extent fed back) flow control of the image display and synchronized evaluation of the pressure distribution pattern supplied.

In the figure it is shown that the projector 7 is attached to a wall bracket 7a angle adjustable, so that the projection direction with the plane of the treadmill includes a variable angle. In order to avoid distortions of the images or picture elements provided by the processing and control unit 4 due to the acute projection angle, the projector 7 is preceded by an image signal equalizer 7b. This can work in dependence on the actual angular position of the projector 7 in the holder 7a, but this is not shown in the figure for reasons of clarity. Incidentally, to complete the user interface, an audio stage 8 (here symbolized as loudspeaker) is provided, via which the exerciser can receive additional acoustic training instructions. The audio stage 8 may, for example, also be bidirectional as a headset so that the exerciser may also provide acoustic feedback (such as confirmation of received instructions or answers to questions asked).

To perform training tasks on the treadmill system, it may be of interest to detect the height of the foot's lift off the band, e.g. when the subject is supposed to exceed a virtual obstacle. Therefore, in another embodiment, the test person has in each case attached a sensor 9 to the feet, the signals of which can be detected by means of a position detection sensor system known per se (not shown here) in order to draw conclusions about the position or the height of the feet. The sensors preferably operate synchronously with the sensors of the pressure distribution matrix. An exact time synchronization can be established if necessary via an infrared or radio signal or via a detection of the time of occurrence.

The sensors 9 may be embodied as acceleration sensors or multi-axis acceleration sensors and may be connected to the evaluation controller via radio. ner 4 connected. From the acceleration signals, the position of the feet can be calculated, especially if in addition the time and location dependence of the pressure distribution pattern can be included in the calculation. In extended arrangements, inertial sensor systems can be used which additionally use gyroscopes or sensors for detecting the earth's magnetic field. Of course, such sensors can also be attached to other parts of the body, so that the movement of the complete lower extremities or of the whole body can be measured and displayed. However, the sensors 9 can also work according to other measuring principles, for example based on active or passive light markers recorded by stationary cameras, magnetic field sensors or sensors which emit ultrasonic waves to stationary receivers or receive from there and from the duration of the sound, the position of the feet determine.

The pressure sensors of the pressure sensing plate can either have an analogue or - in a simplified and cheaper version - a digital response characteristic (off / on characteristic). Both variants are valid for certain applications, and the choice of one of the variants will be made by the system designer according to the primary application requirements.

Fig. 2 shows a modification of the arrangement shown in Fig. 1 and described above. Insofar as the same components are used as in that arrangement, they are denoted by the same reference numerals as in Fig. 1 and will not be explained again here.

The essential modification consists in the use of a large-area electro-optical touch screen 7 'instead of a projector as a display device. The surface of the touchscreen forms a display area 2c 'lying below the upper portion of the endless belt 2b in the position of use, and at the same time the touchscreen forms a novel pressure-sensing plate 3'. In a modification of the touch screen principle and with regard to the cost price of the arrangement, this combined display / pressure detection device can be realized by a matrix-like, alternating arrangement of a plurality of smaller electro-optical display elements (such as LCD displays) and each adjacent smaller pressure sensing plates may be replaced, or there may be a flexible and pressure-resistant display screen (for example, of the OLED type) placed over a normal pressure sensing plate.

In all cases, the endless belt 2b is to be formed, at least in the middle region of its lateral extension, of a transparent material in order to allow the trainee to perceive the images displayed on the display surface 2c '.

Fig. 3 shows essential components of the processing and control unit 4 of the arrangement shown in Fig. 1 or 2 in a detailed view. Excluded here is the image signal equalizer shown separately in Fig. 1, which is also used only in an embodiment of the arrangement with obliquely directed to the treadmill projector.

In a display control part 4A, the processing and control unit 4 comprises a picture element storage unit 41 and a video memory 42, which are followed by a picture element mixer 43 and finally a video picture element mixer 44 for generating picture sequences with predetermined picture element overlays. It is also shown symbolically that both mixers 43, 44 can furthermore be influenced by control signals of a random generator 45. The second mixer 44 is also followed by a display flow control 46, which a sequence program memory 47 and a speed controller 48 are assigned. A pixel position controller 49 is control coupled to the pixel mixer 43 and operates thereon to vary relative positions of pixels in the final representation. The speed regulator 48 can be influenced by signals from the treadmill speed regulator 5 (not shown in this figure).

At the same time, these signals are applied to a system controller 50 of the array which synchronizes the various control operations of the display and evaluation functions and necessary adjustments to the data streams and formats performs. This is symbolized in the figure by directed to the display control part 4A and the evaluation section 4B double arrows.

In addition to the evaluation section 4B, the final image signal provided at the output of the display sequence control and, on the other hand, the (spatially temporally resolved) output signal of the pressure distribution plate 3. The latter is freed from interfering signals and artifacts in a pressure signal preprocessing stage 51 in a pressure signal time adjustment stage 52 in temporal synchronism and brought into spatial synchronism with the image signals in a pressure signal position adjustment stage 53 and processed in a training evaluation stage (main processing stage) 53 using a predetermined training evaluation program, and the results are output on a separate display unit 10 of the therapist. In addition, they can be processed-together with instructions entered via an input unit 11 of the therapist-in a user guidance stage 54 for instructions to the exercisers which are output via the display unit 7 or 7 'associated therewith and optionally the audio stage 8.

Fig. 4 shows in a sketch-like perspective view (partially cut) a portion of the tread in an embodiment of the arrangement according to the invention, in a modified pressure sensing plate 3 "a regular array of actuators 12 is installed, which are individually controlled and by their appropriate control a harder or softer or locally a certain degree of elasticity can be simulated ground on the endless belt 2b, the contour of a heel of a foot f is shown, which is projected onto the tape and the trainee is to clarify the instruction, his foot on that spot The actuators are shown here only diagrammatically, in the practical embodiment they may be, for example, mechanical tappets or controllably fillable air or liquid chambers may also be arranged in smaller groups, in rows or in columns. In any case, it is important that a sufficient number of pressure sensors are arranged in the vicinity of the actuators, in order to produce an adequate number of pressure sensors. to gain a strong pressure distribution image of the subject placing his foot there.

Furthermore, it is understood that the control of the actuators via the processing and control unit of the arrangement takes place in such a way that it corresponds to a specific training program and possibly accompanied by a user guidance and on the other hand on an image representation on the tread (such as the representation of a pebble or a puddle etc .) and is reliably synchronized with this. Corresponding additions to the illustration of the processing and control unit 4 given in FIG. 3 and explained above are within the scope of expert action and will therefore not be explained in more detail here.

5 shows, as an example of a tread image to be provided to the trainee (simplified), a series of footprints f combined with background features A (puddle or "soft" spot) and B (stone or hard elevation). It follows from the above statements that the impression of these obstacles is not only caused by a visual, but in combination herewith also by a tactile perception, which is realized by means of an arrangement of actuators of the tread of the type shown in FIG.

The embodiment of the invention is not limited to these examples, but e- benso possible in a variety of modifications that are within the scope of professional action.

Claims

Arrangement for training the gear claims 1. Arrangement for training the aisle, with a run over at least two rollers and serving as a treadmill endless belt whose surface serves as a tread, a sensor for determining a pressure / force distribution on a force plate located below the tread, on the the endless belt facing side has a plurality of pressure / force sensors, an input side connected to the pressure / force sensors evaluation unit which detects pressure distributions generated by a walking or running subjects on the tread, an input side connected to the evaluation unit processing unit, which from the Pressure distributions generates values or signals characterizing the passage of the subject, optical display means for displaying images in the region of the tread, which are provided with image signal generating means and a display sequence control for generating and spatiotemporal position control v are connected to images or picture elements and a synchronization and adaptation stage for synchronization and adaptation of the processing of the pressure distribution images with or to the image representation in the region of the tread. 2. Arrangement according to claim 1, wherein the display means comprise an image projector for the projection of images and the tread of the treadmill. 3. Arrangement according to claim 2, wherein the projector in the position of use of the arrangement before or in the front region and / or laterally above it is arranged such that the projection direction with the plane of the tread encloses an acute angle. 4. Arrangement according to claim 3, wherein the projector is accommodated in an angle-adjustable holder for setting a projection direction and an image signal equalizer is connected upstream of it, which equalizes supplied by the image signal generating means images or pixels depending on the set angle between the projection direction and Tread causes. 5. Arrangement according to one of the preceding claims, wherein the endless belt formed at least in substantial portions of transparent material and an image display surface is provided below its upper position in use position. 6. Arrangement according to claim 5, wherein the image display surface is formed by at least one display screen of an electro-optical display device, in particular of the LCD, plasma or OLED type and optionally with touch screen properties. An arrangement according to any one of the preceding claims, wherein the image signal generating means comprises a pixel storage unit for storing a plurality of predefined pixels and optionally a pixel mixer for mixing pixels retrieved from the storage unit after a plurality of stored first mixing programs. 8. Arrangement according to one of the preceding claims, wherein the image signal generating means comprise a video memory for storing image sequences and optionally a video pixel mixer for mixing image sequences read out from the video memory, optionally with pixels from the pixel memory unit. having read pixels after a plurality of stored second mixing programs. 9. Arrangement according to one of the preceding claims, wherein the display sequence control a program memory for storing a plurality of predetermined display processes and / or speed and / or relative position setting means for setting the speed of a display process or for specifying relative positions between pixels of a Display has. 10. Arrangement according to one of the preceding claims, wherein the display sequencer comprises a random number generator for the random-controlled provision of image signals, in particular for the random-controlled compilation of pixels loaded from the pixel memory unit and / or of image sequences loaded from the video memory. 11. Arrangement according to one of the preceding claims, comprising a feedback unit for detecting contact of the tread by the subject at the location where predetermined pixels are displayed, or at locations where no predetermined pixel is displayed, and for outputting a warning or Sentinel in response thereto. 12. Arrangement according to one of the preceding claims, wherein provided under the tread an array of acting on the endless belt actuators for local deformation of the belt surface to produce unevenness and / or local compliance or elasticity of the tread or the treadmill total on actuators to produce a global compliance or elasticity of the entire tread is stored. 13. Arrangement according to claim 12, wherein the array of actuators is associated with a profile control unit that outputs control signals for actuating the actuators to form a predetermined dynamic profile of the tread, and the processing unit has a control signal receiver for receiving the output by the profile control unit control signals as position allocation signals, and in the processing unit, a processing algorithm is implemented, with which the pressure distribution images are assigned to the dynamic profile of the tread. 14. Arrangement according to one of the preceding claims, wherein a front portion of the tread, where the or a display surface is provided, is inclined in the position of use of the arrangement upwards. 15. Arrangement according to one of the preceding claims, with a user guidance unit for the optical and / or acoustic output of display-accompanying instructions, in particular via earphones and / or text overlays in the region of the tread. 16. Arrangement according to one of the preceding claims, with additional optical display means for displaying images on another image display area, outside the tread and in particular at eye level of the exerciser, wherein the additional display means are also connected to the image signal generating means and the display sequencer and be used in particular for an additional visualization of the tread and / or running environment.