Exoskeleton fitness device and method of using an exoskeleton fitness device

Abstract

The present invention provides an exoskeleton fitness device and a method of using the exoskeleton fitness device, particularly for exercising a human body. The exoskeleton fitness device comprises a wearable structure having at least one fastening member configured to fasten the wearable structure to a body of a user, at least one mechanical joint having at least one rotational axis and at least one degree of freedom, the at least one mechanical joint being fastened to the wearable structure, at least one unit for generating a rotational resistance, the rotational resistance impeding a rotational movement of the at least one mechanical joint, and a controller for controlling the rotational resistance, wherein the controller is configured to control the rotational resistance in accordance with a user setting.

Description

Technical Field

[0001] This invention relates to wearable fitness and / or training devices for various purposes, which are constructed as exoskeletons and can be worn by a user on the body. By employing a controller, the resistance to movement applied to each limb can be dynamically adjusted, thereby simulating "virtual weight". Background Technology

[0002] Existing technologies include, for example, artificial robotic exoskeletons that take the form of wearable body-supporting robots. In this respect, the exoskeleton does not form a direct part of the load-bearing structure, but rather supports and amplifies its movement through mechanical power. The active drive components of the exoskeleton contribute to force and load reduction. Mechanical assistance is typically provided by spring actuators. However, other actuators, such as electric motors, pneumatic or hydraulic actuators, can also be used. For example, exoskeletons are used in industry to support workers in physically demanding activities. Another example of the application of exoskeletons is in orthopedics. In orthopedics, exoskeletons are used as orthopedic assistive devices. On the one hand, exoskeletons can be used as limb aids. However, on the other hand, exoskeletons can also function as active prostheses.

[0003] In the fitness industry, where the goal is to improve physical fitness and / or build muscle through targeted training, a wide variety of fitness equipment exists. For example, training devices known to require a fixed installation location and corresponding space, such as weight machines, treadmills, or dynamometers, are also known. Furthermore, training devices are known to be able to adjust and dynamically change the mechanical resistance that the device must overcome during training. For example, a terrain incline can be simulated on a treadmill or dynamometer. However, all these training devices have the disadvantage that they require a fixed installation location and must be operated in a fixed manner. While training devices that do not require a fixed installation location can be used flexibly, these devices have the disadvantage that they are often used without expert guidance, and therefore, improper use can lead to injury or damage to the user.

[0004] Therefore, the basic objective of this invention is to provide a fitness device that provides users with challenging exercise opportunities without requiring a fixed position for the device, and minimizes the risk of misuse. Summary of the Invention

[0005] The task is addressed by an exoskeleton fitness device that facilitates targeted restriction of the user's physical movement capabilities. More specifically, the task is addressed by providing an exoskeleton fitness device specifically designed for exercising the human body, comprising a wearable structure with at least one fastening member adapted to secure the wearable structure to the user's body. Furthermore, the exoskeleton fitness device of the present invention includes at least one mechanical joint having at least one axis of rotation and at least one degree of freedom, wherein the at least one mechanical joint is fastened to the wearable structure. Additionally, the exoskeleton fitness device according to the present invention includes at least one unit and a controller, the at least one unit being used to generate rotational resistance that impedes rotational movement of the at least one mechanical joint, and the controller being used to control the rotational resistance, wherein the controller is adapted to control the rotational resistance according to user settings.

[0006] The exoskeleton fitness device according to the present invention comprises a mechanical structure worn on the user's body. The exoskeleton fitness device can be worn on the entire body or only on specific parts of the body, such as the back, legs, or arms. The exoskeleton fitness device can be a combination of two or more exoskeleton fitness devices. For example, an exoskeleton fitness device for the left arm can be combined with an exoskeleton fitness device for the right arm, or an exoskeleton fitness device for the left arm can be combined with an exoskeleton fitness device for the left leg. The exoskeleton fitness device can be shaped for the upper body or for the hips and legs. Any combination with a different number of exoskeleton fitness devices is conceivable.

[0007] Exoskeleton fitness devices include wearable structures. The wearable structure may include one or more parts. When worn by a user, at least a portion of the wearable structure may be positioned parallel to the user's limbs. The wearable structure may contain various materials.

[0008] The wearable structure is fastened to a user's body using fastening members. The fastening members can be attached to the wearable structure in a removable or non-removable manner. Each fastening member may comprise one or more components. The fastening members may include rigid and / or flexible components and / or strips and / or straps. The fastening members may comprise various materials, such as textiles, plastics, and metals. The fastening members can be configured to fasten the wearable structure to the user's body such that at least one mechanical joint is positioned on the user's body, such that the at least one mechanical joint is at the level of a body joint and aligned such that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint. At least a portion of the wearable structure may be arranged parallel to the body part including the body joint.

[0009] The exoskeleton fitness device also includes at least one mechanical joint fastened to a wearable structure. The mechanical joint rotatably connects two parts of the wearable structure. The mechanical joint has at least one axis of rotation and at least one degree of freedom. The number of degrees of freedom indicates how many planes in which rotational movement can be performed about the axis of rotation of the mechanical joint. A mechanical joint can have several degrees of freedom. For example, if a mechanical joint has only one degree of freedom, then the mechanical joint has only one axis of rotation. Rotational movement is only possible about this one axis of rotation. Rotational movement takes place in one plane. The number of planes in which rotational movement by the mechanical joint is permitted corresponds to the number of degrees of freedom of the mechanical joint and the number of axes of rotation that the mechanical joint has. For example, if the number of degrees of freedom is 3, then the mechanical joint has 3 axes of rotation and defines 3 planes in which rotational movement can be performed about the axes of rotation. The mechanical joint can be, for example, a rotary joint or a universal joint. A universal joint is a connection between two axes that can move at an angle. Angular movement provides a large number of degrees of freedom. Other types of mechanical joints can also be used with this invention.

[0010] The exoskeleton fitness device also includes at least one unit for generating rotational resistance. The rotational resistance impedes the rotational movement of the at least one mechanical joint. The rotational resistance brakes the rotational movement of the mechanical joint.

[0011] The exoskeleton fitness device also includes a controller for controlling rotational resistance according to user settings. User settings are settings that the user can use as default values ​​or adapt to changes in user needs. For example, the user can adjust the rotational resistance that the user must overcome when moving the exoskeleton fitness device about the rotational axis of a body joint, and therefore about the rotational axis of the mechanical joint. The controller can control the rotational resistance in any plane in which rotational movement about the rotational axis of the mechanical joint is possible. The controller can control the rotational resistance to keep it constant or dynamically change it. Here, control means an electronic controller including at least one processor and / or microprocessor. The controller may include electronic memory.

[0012] The at least one unit for generating rotational resistance may further include an electric motor, a pneumatic actuator, or a hydraulic actuator. The electric motor, pneumatic, or hydraulic actuator can power the rotational resistance to brake rotational motion. The exoskeleton fitness device according to the invention may include a radio module with an antenna for wirelessly transmitting data between a controller and a mobile terminal.

[0013] The advantages of the exoskeleton fitness device according to the present invention are that it is flexible in use and requires no fixed installation location. Due to the flexibility of the exoskeleton fitness device according to the present invention, the risk of improper use is minimized. In particular, the wearable structure and fastening components ensure that the position of the mechanical joints corresponds to the position of the body joints, and that the rotation axis of the mechanical joints corresponds to the rotation axis of the body joints. Furthermore, if lightweight yet strong materials are used, an exoskeleton fitness device that is much lighter than known exoskeletons can be manufactured.

[0014] According to the present invention, the wearable structure may further include a first part and a second part, wherein the first part and the second part are rotatably connected to each other via a mechanical joint. The first part and the second part may each extend along a portion of the body. For example, the first part and the second part may be shaped as a track, shell, pillar, or frame positioned along and parallel to the body part by fastening members. The first part and the second part may be formed from a combination of track and / or shell and / or pillar and / or frame. The track may be straight or have a slight curvature adapted to the curve of the body part. The shell may be formed according to the shape of the body part. The first part and the second part may be shaped to cover, partially enclose, or completely enclose the body part. The first part and the second part may each be formed as a single piece or as multiple pieces. When the first part and the second part are formed as pillars, each part may have at least one pillar. The first part and the second part may be formed from a rigid material. The first part and the second part may be formed from a combination of rigid and more elastic materials.

[0015] According to the present invention, the exoskeleton fitness device can be configured such that at least one axis of rotation of at least one mechanical joint coincides with the axis of rotation of the user's body joint.

[0016] According to another embodiment, the wearable structure can also be configured to enable a sequence of movements performed by at least one body part of the user, particularly from the left shoulder and / or right shoulder and / or torso and / or left arm and / or right arm and / or left upper arm and / or right upper arm and / or left lower arm and / or right lower arm and / or left hand and / or right hand and / or at least one finger and / or left hip and / or right hip and / or left leg and / or right leg and / or left knee and / or right knee and / or left foot and / or right foot.

[0017] In another improvement of the exoskeleton fitness device according to the invention, at least one unit for generating rotational resistance includes an electrically controllable brake.

[0018] According to another embodiment, the exoskeleton fitness device of the present invention may further include at least one position sensor, which is positioned at a joint of the body when the structure is worn and configured to detect position data of a motion sequence. The at least one position sensor may be disposed on the at least one mechanical joint to sense rotation angles about a rotation axis. The position data may be recorded, forwarded to a controller, and / or stored. The controller may compare the received position data with stored data of motion specifications. The exoskeleton fitness device according to the present invention may include a radio module having an antenna for wirelessly transmitting data between the position sensor, the controller, and a mobile terminal.

[0019] According to another embodiment, the exoskeleton fitness device may further include at least one optical marker. The at least one optical marker may be disposed on the wearable structure and / or the at least one mechanical joint. The optical marker can be detected by a camera. The camera can record the user's motion sequence while wearing the exoskeleton fitness device by position measurement using the optical marker. The motion sequence can be captured by the camera or a position sensor. The motion sequence can be captured by both the camera and the position sensor simultaneously. The obtained data can be stored and evaluated by a controller.

[0020] According to another embodiment, the exoskeleton fitness device may include at least one pair of mechanical joints having coincident axes of rotation. For example, the pair of mechanical joints may be arranged in pairs at the level of the body joints of the limb, such that one mechanical joint is positioned on the inside of the adjacent body joint of the limb, while the other mechanical joint is positioned on the outside of the adjacent body joint of the limb.

[0021] Referring to another embodiment of the exoskeleton fitness device according to the invention, a pair of mechanical joints are arranged opposite each other on the wearable structure, corresponding to the positions of the user's body joints, such that the body joints are positioned at the center of the two mechanical joints. In other words, the body joints can be located between the two mechanical joints, and the rotation axes of the two mechanical joints and the body joints can be aligned with each other.

[0022] In another embodiment of the exoskeleton fitness device according to the invention, the controller is further configured to control at least one rotational resistance based on the angular force applied by the user.

[0023] According to another embodiment, the exoskeleton fitness device may further include at least one torque sensor, particularly at least one magnetostrictive torque sensor, for measuring angular forces applied by a user. The torque sensor may be a magnetostrictive torque sensor comprising a shaft magnetized in a first axial portion along a first circumferential direction, to which the torque to be measured can be applied. Such a torque sensor may also include a first magnetic field sensor for sensing a magnetic field generated by the first portion of the shaft outside the shaft, the magnetic field depending on the applied torque. The first magnetic field sensor may include a first 3D AMR sensor. Such a torque sensor is described in detail in patent application EP3364163A1. The torque sensor may be a magnetostrictive torque sensor having a hollow shaft magnetized in a first axial portion along a first circumferential direction, to which the torque to be measured can be applied, and the first magnetic field sensor for detecting the magnetic field generated by the first portion of the hollow shaft outside the hollow shaft. Such a torque sensor is described in detail in European patent application EP3232172A1. A torque sensor can be a disc-type sensor, comprising a disc having a magnetostrictive, pre-magnetized, or magnetizable material, and a magnetic field sensor assembly. A torque acting about the disc's axis of rotation can be applied to the disc. The magnetostrictive material is designed to generate a magnetic field on the exterior of the disc that varies according to the applied torque. The magnetic field sensor assembly outputs a signal based on the magnetic field generated by the magnetostrictive material. The torque sensor determines the value of the applied torque based on the output signal. The disc, serving as a force-transmitting element, is used to measure the applied torque by pre-magnetizing the disc. In this way, the disc, rather than the shaft on which the disc can be placed, is used as the primary sensor (magnetized area). Such a disc-type sensor is described in detail in European patent application EP21183622.6.

[0024] The exoskeleton fitness device according to the present invention may include a radio module having an antenna for wirelessly transmitting data between a torque sensor, a controller and a mobile terminal.

[0025] Measurement data of the angular force applied by the user can be transmitted to the controller. The controller can then control the rotational resistance based on this angular force measurement data.

[0026] The present invention also provides a method for using an exoskeleton fitness device, specifically for exercising the human body. The method includes the following steps: securing a wearable structure of the exoskeleton fitness device to a user's body by means of at least one fastening member; generating rotational resistance that impedes rotational movement of a mechanical joint, wherein the mechanical joint includes at least one axis of rotation and at least one degree of freedom, and wherein at least one mechanical joint is secured to the wearable structure; and controlling the rotational resistance by means of a controller according to user settings.

[0027] According to another embodiment, the method further includes the steps of: a user performing an angular movement centered on a user's body joint by means of a wearable structure; measuring an angular force applied by the user by means of a torque sensor, wherein the control further includes controlling at least one rotational resistance in response to the measured angular force.

[0028] Other features, exemplary embodiments, and advantages of the invention will now be described in more detail with reference to the accompanying drawings. It should be understood that these embodiments do not exhaustively describe the scope of the invention. It should also be understood that some or all of the features described below may be combined in other ways. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of an exemplary exoskeleton fitness device according to the present invention, located on a user's body.

[0030] Figure 2 This is a schematic diagram of the wearable structure and mechanical joint according to the present invention.

[0031] Figure 3 This is a schematic diagram of the mechanical joint according to the present invention.

[0032] Figure 4 This is a schematic diagram of the mechanical joint according to the present invention.

[0033] Figure 5 A structural diagram of the process is shown. Detailed Implementation

[0034] In the accompanying drawings described below, the same reference numerals indicate the same elements. For clarity, the same elements are described only when they first appear. However, it should be understood that variations and embodiments of elements described with reference to one of the drawings can also be applied to corresponding elements in the remaining drawings.

[0035] Figure 1 The illustration schematically depicts an exemplary exoskeleton fitness device according to the present invention mounted on a user. Without limiting its generality, Figure 1 The diagram illustrates an exoskeleton fitness device for the arms and legs. An exoskeleton fitness device can be configured to replicate natural limb movement patterns when worn. This means, for example, that the arms and / or legs can move freely when wearing the exoskeleton fitness device. Furthermore, an exoskeleton fitness device can be configured to replicate only a portion of natural limb movement patterns when worn. This means, for example, that the arms and / or legs can be restricted to a certain degree of movement when wearing the exoskeleton fitness device.

[0036] In the human body, different types of joints are distinguished by their shape and the range of motion afforded by that shape. The corresponding shape of a body joint determines the number of degrees of freedom. The number of degrees of freedom indicates how many planes of motion a body joint can rotate in. The number of planes of motion corresponds to the number of degrees of freedom. For example, a ball joint includes a spherical joint head that slides in a ball-and-socket structure shaped like a hollow sphere. Ball joints practically have an infinite number of joint axes and therefore allow for omnidirectional mobility. For example, the shoulder and hip joints are ball-and-socket joints. Another example of a joint found in the human body is a hinge joint. A hinge joint includes a channel and mating rollers. A hinge joint has only one degree of freedom, allowing movement only about one axis, the hinge axis, within a single plane of motion. For example, the intermediate and distal interphalangeal joints of the fingers are hinge joints. However, human mobility is not solely caused by body joints alone. The interaction between muscles and joints is necessary for movement. According to the invention, muscle enhancement is achieved, for example, by using an exoskeleton fitness device according to the invention.

[0037] exist Figure 1 In one embodiment, the exoskeleton fitness device includes three mechanical joints 10 and a wearable structure 20 with multiple fastening components 30. Figure 1 In the exoskeleton fitness device shown, the wearable structure 20 is fastened to the user's body, such that the mechanical joint 10 is positioned at each of the user's knees, elbows, and shoulders. Figure 1 Each of the mechanical joints 10 shown is rotatably connected to the first and second portions of the wearable structure 20. "Rotatable" means that the mechanical joint 10 allows the first portion 21 and the second portion 22 of the wearable structure 20, which is fastened to the user's body, to perform angular movement about the axis of the mechanical joint. One end of each of the first portion 21 and / or the second portion 22 of the wearable structure 20 may be rotatably connected to the mechanical joint 10, and one end of each longitudinally opposite end may be connected to the other mechanical joint 10. Figure 1 A portion of the wearable structure 20 is shown connected to mechanical joints 10 located at the user's shoulder joint and elbow joint. For example, a portion of the wearable structure 20 extending along the thigh may connect to mechanical joints 10 located at the knee and hip. A portion of the wearable structure 20 extending along the calf may connect to mechanical joints 10 located at the knee and ankle. The examples provided are not intended to be exhaustive.

[0038] like Figure 1As shown, the wearable structure 20 and the mechanical joint 10 are positioned on the outer side of the limb, away from the center of the user's body. The mechanical joints are fastened to the wearable structure such that the position of each mechanical joint of the exoskeleton fitness device corresponds to the position of a body joint. The portions 21, 22 of the wearable structure 20 connected by the mechanical joints 10 are arranged such that portions 21, 22 are parallel to the user's body axis or limb. Figure 1 In this device, portions 21 and 22 of the wearable structure 20 are arranged to extend along and parallel to the outer sides of the arm and leg, respectively. Portions 21 and 22 of the wearable structure 20, as well as the mechanical joint 10, can be arranged on the inner side of the limb, i.e., the side of the limb facing the center of the body. Portions 21 and 22 of the wearable structure 20, as well as the mechanical joint 10, can be arranged on the outer and inner sides of the limb, respectively. The exoskeleton fitness device according to the invention may include at least one pair of mechanical joints 10 with coincident axes of rotation. The mechanical joints 10 and / or portions 21 and 22 of the wearable structure 20 can be arranged in pairs. That is, the mechanical joints 10 and portions 21 and 22 of the wearable structure 20 are arranged in pairs on the inner and outer sides of the limb. The exoskeleton fitness device according to the invention may have additional mechanical joints 10 at positions corresponding to the positions of body joints. For example, the corresponding mechanical joints 10 may be positioned at the ankle and / or wrist and / or finger joints and / or hip and / or scapula of the user's body. For example, when the mechanical joint 10 is positioned at one of the two scapulae on the user's back, a first portion 21 of the wearable structure 20 can extend from the mechanical joint 10 parallel to the back of the user's upper arm. The length of the first portion 21 can be determined to allow elbow flexion. However, the length of the first portion 21 can also be determined to make elbow flexion no longer possible. A second portion 22 of the wearable structure 20 can extend from the mechanical joint 10 along the user's back toward the ground.

[0039] The exoskeleton fitness device according to the present invention may include one or more position sensors. The position sensors are placed on the joints of the body when the structure is worn. The position sensors capture position data of motion sequences performed by the user using the corresponding body parts where the position sensors are located. The position sensors can detect the motion of an object and convert it into appropriate signals for processing, transmission, and control. For example, position measurement schemes include inductive, potentiometric, magnetoresistive, and capacitive measurements. In the exoskeleton fitness device of the present invention, the wearable structure may include optical markers detected by a camera. Motion sequences performed by the user using different body parts can be captured, analyzed, and controlled.

[0040] Figure 2 A mechanical joint 10, including a rotation axis 11, is shown. Figure 2In the upper right corner of the diagram, a plane defined by the x and y axes is shown, in which rotational motion about the rotation axis 11 of the mechanical joint 10 can occur. Figure 2 A schematic diagram along the rotation axis 11 of the mechanical joint 10 is also shown. Figure 2 The mechanical joint 10, schematically shown, is rotatably connected to the first portion 21 and the second portion 22 of the wearable structure 20 of the exoskeleton fitness device according to the invention. For clarity, [the text has been omitted]. Figure 2 Fastening component 30 is omitted. Figure 2 In the diagram, the rotational motion of the first part 21 about the rotation axis 11 is represented by dashed lines. Without rotational motion, the first part 21 and the second part 22 are in an extended form. "Extended shape" here means that the first part 21 and the second part 22, rotatably connected to each other via the mechanical joint 10, form a 180-degree angle. For example, the extended shape corresponds to an extended limb of the human body. For example, a user can move the exoskeleton fitness device about the rotation axis of a body joint. The rotation axis 11 of the mechanical joint 10 coincides with the rotation axis of the body joint. Rotational resistance impedes the rotational motion of the mechanical joint 10. Therefore, for example, the rotational motion experienced by the first part 21 of the wearable structure 20 performed by the user is slowed down.

[0041] Figure 3 A mechanical joint 10 according to the present invention is schematically shown. The mechanical joint 10 includes a rotation axis 11. Figure 3 A unit 12 for generating rotational resistance is also shown. For example, braking force is applied to an angled region 21A of the first portion 21 of the wearable structure 20 to generate rotational resistance. Hereinafter, the angled region 21A is referred to as axis 21A. Unit 12 generates rotational resistance controlled by controller 50 according to user settings. The generated rotational resistance impedes rotational movement of the mechanical joint 10. Therefore, rotational movement, for example, performed by a user and experienced by the first portion 21 of the wearable structure 20, is slowed down. Figure 3A torque sensor 40 for measuring the angular force applied by the user is also shown. The torque sensor 40 includes a magnetic field sensor 41 and a magnetized region 42 of the angled region (axis 21A) of the first portion 21. When the first portion 21 of the wearable structure undergoes rotational movement about the rotation axis 11 of the mechanical joint 10, the torque applied to the rotation axis causes a minimum torsion of the axis 21A, which alters the magnetic field generated outside the axis 21A by the magnetized region 42. The change in the magnetic field is detected by the magnetic field sensor 42. The magnetic field sensor 42 sends a signal containing information about the detected change in the magnetic field to the controller 50. The controller 50 processes the received information about the change in the magnetic field and determines the magnitude of the angular force. The determined value of the angular force is compared with a user setting. When the magnitude of the angular force deviates from the user setting, the controller 50 controls the rotational resistance generating unit 12 such that the generated rotational resistance braking the rotational movement increases or decreases according to the deviation. The controller 50 of the exoskeleton fitness device according to the invention can control the rotational resistance based on the angular force applied by the user. For example, the rotational resistance can be generated by an electrically controllable brake. The force applied by the user to rotate the exoskeleton fitness device about the rotational axis of the body joints can be adjusted and controlled. The controller 50 can process data from position sensors and control the variable rotational resistance accordingly. The controller 50 can also process image data captured by a camera and control the rotational resistance accordingly, or it can provide feedback using motion input.

[0042] Figure 4 The same was shown in Figure 3 The mechanical joint 10 is shown, but the torque sensor is a magnetostrictive disc sensor 40. A first portion 21 is connected to the inner region of the disc 43 (relative to the radial direction). A second portion 22 is connected to the outer region of the disc 43 (relative to the radial direction). The disc sensor 40 includes a disc 43 containing a magnetostrictive, pre-magnetized, or magnetizable material 42 and a magnetic field sensor assembly 41. The magnetostrictive material 42 is magnetized in the central region of the disc 43 (located between the inner and outer regions). A torque acting about the axis of rotation of the disc can be applied to the disc 43. The magnetostrictive material 42 generates a magnetic field on the outside of the disc 43 that varies according to the applied torque (angular force). The magnetic field sensor assembly 41 outputs a signal based on the magnetic field generated by the magnetostrictive material. The torque sensor 40 determines the value of the applied torque based on the output signal. The disc 43, used as a force transmission element, is used to measure the applied torque by pre-magnetizing the disc 43.

[0043] Figure 5A schematic structure is shown specifically for a method of exercising the human body using an exoskeleton fitness device according to the invention. The user secures the wearable structure 20 of the exoskeleton fitness device to their body using fastening members 30. The position of the mechanical joint 10 corresponds to the position of the body joint. The rotation axis 11 of the mechanical joint 10 coincides with the rotation axis of the body joint. The user makes settings by inputting appropriate data into a mobile terminal. The data input by the user into the mobile terminal is transmitted to the controller 50. Rotational resistance is generated, hindering the rotational movement of the mechanical joint. When the user moves the exoskeleton fitness device about the rotation axis of the body joint, the user must apply force to overcome the rotational resistance generated by unit 12, which opposes rotation about the rotation axis 11 of the mechanical joint 10. The rotational resistance is controlled by the controller 50 according to the user settings. The user can perform angular movements using the wearable structure, the center of which is the user's body joint. The angular force applied by the user can be detected by means of a torque sensor. Position data of the motion sequence plotted by the wearable structure can be detected by means of a position sensor. The rotational resistance can be controlled according to the angular force applied by the user.

[0044] The described invention allows for flexible use without a fixed installation location. Any risks of improper use are minimized, and maximum flexibility is provided. By using lightweight yet robust materials, the exoskeleton fitness device according to the invention can be significantly lighter than known exoskeletons.

Claims

1. An exoskeleton fitness device, said exoskeleton fitness device for exercising the human body, said exoskeleton fitness device comprising: A wearable structure (20) having at least one fastening member (30), wherein the at least one fastening member (30) is configured to fasten the wearable structure (20) to a user's body; At least one mechanical joint (10) having at least one axis of rotation (11) and at least one degree of freedom, wherein at least one of the mechanical joints (10) is fastened to the wearable structure (20). At least one unit (12) is used to generate rotational resistance that opposes the rotational movement of at least one of the mechanical joints (10); A controller (50) is configured to control the rotational resistance according to user settings. The controller (50) is further configured to control at least one of the rotational resistances based on the angular force applied by the user; At least one magnetostrictive torque sensor (40) is used to measure the angular force applied by the user; and The magnetostrictive torque sensor (40) includes a magnetic field sensor (41) and a magnetizing shaft (21A) or a magnetizing disk (43), wherein the magnetizing shaft (21A) is an angled region of a portion of the wearable structure (20) connected to the mechanical joint (10), and the magnetizing disk (43) is connected to the portion of the wearable structure (20) connected to the mechanical joint (10).

2. The exoskeleton fitness device according to claim 1, wherein, The wearable structure (20) also includes a first part (21) and a second part (22), which are rotatably connected to each other via the mechanical joint (10).

3. The exoskeleton fitness device according to claim 1 or 2, wherein, At least one of the rotation axes (11) of at least one of the mechanical joints (10) coincides with the rotation axis of the user's body joint.

4. The exoskeleton fitness device according to claim 1 or 2, wherein, The wearable structure (20) is also configured to enable a sequence of movements to be performed by at least one body part of the user.

5. The exoskeleton fitness device according to claim 4, wherein, The body parts are the left shoulder and / or right shoulder and / or torso and / or left arm and / or right arm and / or left upper arm and / or right upper arm and / or left lower arm and / or right lower arm and / or left hand and / or right hand and / or at least one finger and / or left hip and / or right hip and / or left leg and / or right leg and / or left knee and / or right knee and / or left foot and / or right foot.

6. The exoskeleton fitness device according to claim 1 or 2, wherein, The at least one unit (12) used to generate the rotational resistance includes an electrically controllable brake.

7. The exoskeleton fitness device according to claim 4 further includes at least one position sensor, the at least one position sensor being positioned at a joint of the body when the wearable structure is worn and adapted to detect position data of the motion sequence.

8. The exoskeleton fitness device according to claim 7, wherein, The at least one position sensor is disposed at at least one of the mechanical joints (10) to detect the rotation angle about the rotation axis (11).

9. The exoskeleton fitness device according to claim 1 or 2, wherein, The exoskeleton fitness device also includes at least one optical marker.

10. The exoskeleton fitness device according to claim 9, wherein, The at least one optical marker is disposed on the wearable structure (20) and / or at least one of the mechanical joints (10).

11. The exoskeleton fitness device according to claim 1 or 2, wherein, The exoskeleton fitness device includes at least one pair of mechanical joints (10) whose rotation axes (11) coincide.

12. The exoskeleton fitness device according to claim 11, wherein, Two pairs of mechanical joints (10) are arranged opposite each other on the wearable structure (20) corresponding to the positions of the user's body joints, such that the body joints are positioned at the center of the two mechanical joints (10).

13. A method using an exoskeleton fitness device for exercising the human body, the method comprising the following steps: The wearable structure (20) of the exoskeleton fitness device is fastened to the user's body by means of at least one fastening member (30); This generates rotational resistance that hinders the rotational movement of the mechanical joint (10), wherein, The mechanical joint (10) includes at least one axis of rotation (11) and at least one degree of freedom, and wherein at least one of the mechanical joints (10) is fastened to the wearable structure (20). The rotational resistance is controlled by a controller (50) according to user settings; The user performs angular movements using the wearable structure (20), with the center of the angular movements being the user's body joints; The angular force applied by the user is measured using a magnetostrictive torque sensor (40); and The control also includes controlling at least one of the rotational resistances based on the measured angular force, and The magnetostrictive torque sensor (40) includes a magnetic field sensor (41) and a magnetizing shaft (21A) or a magnetizing disk (43), wherein the magnetizing shaft (21A) is an angled region of a portion of the wearable structure (20) connected to the mechanical joint (10), and the magnetizing disk (43) is connected to the portion of the wearable structure (20) connected to the mechanical joint (10).

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