Mechanism and method for performing force pulses in tendon system

Abstract

The subject matter of the present invention is a mechanism and method for implementing an auxiliary force, resistance or force pulse in the tendon system during walking on a treadmill, which enables an existing method of training a dynamic balance during standing and walking. Said mechanism consists of a rotating mechanical energy source (1) which is mechanically connected to a mechanical shaft (3) by means of an axial coupler (2), whereby the mechanical shaft (3) is supported in two positions by means of a seat (4), on which mechanical shaft (3) a winding reel (5) is connected in a fixed manner by means of a central roller (5 '), and a tensioning roller (5' ') is mounted eccentrically and fixedly between the sides of the winding reel (5) with respect to the axis of rotation of the winding reel (5). The central roller (5 ') winding the reel (5) and the tensioning roller (5' ') are concentrically surrounded by cylinders (6, 7), each of which can rotate freely about its own roller. A rigid tendon (8) is freely passed and moved in a tangential direction relative to the central roller (5 ') through a gap between the central roller (5') and the tensioning roller (5 ''), the rigid tendon (8) being attached at one end thereof to a sleeve (14) surrounding a selected part of the human body and the other end thereof being connected by a connection joint (9) to a less rigid elastic element (10), the elastic element (10) provides tension to the tendon (8) and is attached directly or indirectly at the opposite ends by the pulley (11) to the fixing point (12), or the tensioning of the rigid tendon (8) can also be effected in such a way that, instead of the elastic element (10), the rigid tendon (8) is directly connected to an elastic element having a constant stiffness or hangs a weight thereon by the pulley.

Description

[0001] The subject of the invention is a mechanism and a method for applying auxiliary forces, resistance or force pulses in a tendon system during walking or standing, which enables the implementation of existing methods for training the maintenance of dynamic balance during standing and walking. The proposed mechanism and method improve the quality of interaction between the user and the tendon system for applying auxiliary forces, resistance or force pulses in the intervals between the individual force applications, while ensuring the proper tension of the tendon or preventing its relaxation in the moment before the application of the auxiliary forces, resistance or force pulses.

[0002] Perturbation-based training (PBT) is an established method for maintaining dynamic balance during standing and / or walking on a treadmill, in which an external perturbation, support force, or force pulse is applied to a body part. Of particular interest are systems that use a tendon system to transmit perturbation forces, support forces, or force pulses from an actuator (force source) to a selected body part (e.g., A-TPAD system, Apriliano F, Martelli D, Kang J, Kuo SH, Kang UJ, Monaco V, Micera S, Agrawal SK. Effects of repeated waist-pull perturbations on gaitstability in subjects with cerebellar ataxia. J Neuroeng Rehabil. 2019 Apr 11; 16(1): 50. doi: 10.1186 / s12984-019-0522-z. PMID: 30975168; PMCID: PMC6460671). With a tendon system, the person does not carry the entire system, but rather the actuators (sources of force) are placed on an external frame and only the tendons that connect to and transmit the force to the selected body parts are directed to the person. As a result, tendon systems are light and add less weight and inertia than, for example, systems that use rigid parts to transmit force to the user (e.g., the BART system, A., Zadravec, M. & Z. A novel robot for imposing perturbations during overground walking: mechanism, control and normative stepping responses. J NeuroEngineering Rehabil 13, 55 (2016). https: / / doi.org / 10.1186 / s12984-016-0160-7), or using an exoskeleton (e.g., the Lokomat system).

[0003] In general, a tendon system consists of an actuator (usually an electric motor) and a tendon (e.g., a rope, wire rope, etc.), wherein the actuator is usually the source of assisting force, resistance or force pulses, and the tendon is located at one distal end (as observed by the user) connected directly or via a pulley to the motor axis and at the other proximal end (as observed by the user) connected to a connection point on a selected part of the user's body. With the application of assistive force, resistance, or force pulses, the motor rotates to pull the tendon, which then transmits the pulling force to the selected body part (for example: 3DCaLT system, Wu M, Kim J, Wei F. Facilitating Weight Shifting During Treadmill Training Improves Walking Function in Humans With Spinal Cord Injury: A Randomized Controlled Pilot Study. Am J Phys Med Rehabil. 2018 Aug; 97(8): 585-592. doi: 10.1097 / PHM.0000000000000927. PMID: 29547448; PMCID: PMC6051897).

[0004] In order for such tendon systems to transmit auxiliary forces, resistance forces or force pulses from a force source (actuator) to a user's selected body part at selected intervals, they must ensure that the tendon is taut (i.e., prevent it from relaxing) when the auxiliary forces, resistance forces or force pulses are applied. Therefore, the tendon system must provide tension / prevent the tendon from relaxing in the intervals between applying auxiliary forces, resistance forces or force pulses. This is considered to be one of the main challenges of the tendon system, because the body parts and the attachment points of the tendons on the selected body parts move in three-dimensional space, which requires the proximal end of the tendon to track the movement of the body parts. This leads to a situation where the selected body part and the attachment point of the tendon (proximal end of the tendon) on the selected body part move away from the actuator in the direction of the tendon, which is reflected as the tension of the tendon. If the selected part is to move in the desired direction, the tendon must follow it (the length of the tendon must be extended accordingly). If this does not happen, an undesirable external force will be generated on the user. On the contrary, when the selected body part and the attachment point of the tendon (proximal end of the tendon) move in the direction of the tendon but towards the actuator, this will cause the tendon to relax (if there is no proper correction, the tendon will become loose). If the tendon is to remain taut, its length must be reduced accordingly. If this does not happen, then when assisting forces, resisting forces or force impulses are applied, the tendon will relax instead of tightening. Ideally, you want to adjust the tendon length so that tension is minimized and the tendon attachment point on the selected part follows the movement of the user's body part exactly, with no forces between the body part and the tendon. This is called the transparency of the interaction between the tendon and the selected part of the body, and it should be as small as possible, i.e. the force with which the tendon is stretched.

[0005] Adequately tracking the tendon attachment point on the selected part of the user's body and ensuring that the tendon has sufficient tension before applying the assist force, resistance or force pulse is usually solved by using a servo motor drive with appropriate force / torque and power ratings that appropriately winds or unwinds the tendon at the distal end of its shaft (as viewed from the user's side) or on a pulley on its shaft. In this way, it reduces or increases the effective length of the tendon based on the movement of the tendon attachment point on the selected body part. This type of control is usually used in conjunction with the following:

[0006] - a force sensor measuring the force of tensioning the tendon, the control of the tendon length being responsive to the force measurement,

[0007] - the position of the attachment point (location of the proximal end of the tendon) and / or body part is measured (e.g. using an optical system, a potentiometer, etc.), and the effective length of the tendon is controlled in response to the measurement of the position,

[0008] - an elastic element added in series with the rigid tendon, in this way the elastic element ensures that the tendon is always taut and at the same time the tension of the tendon can be estimated if the elongation of the elastic element is measured and the result is also used to control the servomotor drive,

[0009] (For example: A-TPAD system, Aprigliano F, Martelli D, Kang J, Kuo SH, Kang UJ, MonacoV, Micera S, Agrawal SK. Effects of repeated waist-pull perturbations on gaitstability in subjects with cerebellar ataxia. J Neuroeng Rehabil. 2019Apr 11;16(1):50.doi:10.1186 / s12984-019-0522-z.PMID:30975168;PMCID:PMC6460671, and 3DCaLT system: Wu M, Kim J, Wei F. Facilitating Weight Shifting During TreadmillTraining Improves Walking Function in Humans With Spinal Cord Injury:ARandomized Controlled Pilot Study.Am J Phys Med Rehabil. 2018 Aug; 97(8): 585-592. doi: 10.1097 / PHM.0000000000000927. PMID: 29547448; PMCID: PMC6051897). Implementing such control in the intervals between the application of individual assisting forces, resisting forces or force pulses is very demanding from a mechanical and control point of view and does not allow for full transparency of the interaction with the user. Moreover, undesirable dynamic properties of the servomotor drive, such as friction and inertia, are also transmitted to the body part via the tendon, which further deteriorates the transparency of the interaction between the user and the tendon.

[0010] The latter can be largely reduced if the force source (e.g., an electric motor) and the distal end of the tendon (the end close to the force source) are mechanically connected to the electromagnetic clutch only during the application of the assisting force, the resisting force, or the force pulse, and mechanically decoupled during the intermediate intervals (e.g., KEES system, patent application Zlatko, Andrej,Modularnanaprava za generiranje motilnih ali podpornih sunkov sile med hojo po traku: Patent SI 26153A, 2022-09-30, Ljubljana: Urad RS za intelektualno lastnino, 2022. 17str., 7str.pril., ilustr. https: / / worldwide.espacenet.com / patent / search / family / 083444923 / publication / SI26153A?q=pn%3DSI26153A, http: / / www3.uil-sipo.si / PublicationServer / documentpdf.jsp?iDocId=51499&iepatch=.pdf. [COBISS.SI-ID 125461251], patent family: P-202100048, 2021-03-19). In this case, in the intervals between the application of individual assisting forces, resisting forces or force pulses, tensioning of the tendon is provided by a counterweight or an elastic element at the distal end of the tendon, which pulls the tendon away from the attachment point, thereby applying tension. While the undesirable dynamic characteristics of the actuator are eliminated in this way and the transparency of the interaction with the user is improved, the dynamic characteristics (friction, moment of inertia) of the electromagnetic clutch and the passive mechanical components (shafts, pulleys, counterweights) are still transmitted to the selected body part of the user through the tendon. Undesirable forces acting on the selected body part have a particularly significant impact in cases involving manipulation of body parts that reach higher speeds during movement.

[0011] Based on the known prior art, a more effective solution is needed that will increase the transparency of the interaction between selected parts of the user's body and the tendons of the system to apply assistive forces, resistance or force pulses (in the intermediate intervals between the tendon system and the selected parts of the user where no assistive forces, resistance or force pulses are applied).

[0012] The proposed mechanism improves the quality of interaction between the user and the tendon system for applying auxiliary forces, resistance forces or force pulses in the intervals between each application, and at the same time, before applying the auxiliary forces, resistance forces or force pulses, it ensures proper tension of the tendon or prevents its relaxation, so that during the application of the force, the force is transmitted from the force source to the selected part of the user's body through the tendon. The main mechanical features of the proposed mechanism are i) a rigid tendon connected at its distal end to a fixed point directly or through a light pulley through an elastic element of weak stiffness, and ii) a mechanism for winding the tendon, which consists of a rotation source (e.g., a servo motor drive) and a reel, so as to first clamp and then wind the distal end of the tendon during the application of the auxiliary forces, resistance forces or force pulses, and to release the distal end of the tendon from the reel and mechanically separate it from the rotation source and the reel in the intervals between the application of the auxiliary forces, resistance forces or force pulses until the next application of force.

[0013] The main functional feature of the proposed mechanism is that, in the intervals between the individual applications of assisting forces, resisting forces or force pulses, due to the mechanical separation of the tendon from the force source, undesirable static and dynamic characteristics of the mechanical drive components (such as friction, mass, inertia and moments of inertia of motors, clutch devices, drive shafts, pulleys and belts, pulleys / pulleys, counterweights, etc.) are not transmitted to the selected part of the user's body. At the same time, the elastic element is connected at one end to the distal end of the rigid tendon and at the other end to a fixed point, with a weaker hardness, ensuring the tensioning of the tendon with the minimum necessary force. Since both the tendon and the elastic element have a small mass, the impact of their static and dynamic characteristics on the selected part of the user's body is small. Both functional characteristics significantly increase the transparency of the interaction between the selected part of the user's body and the tendon system to apply assisting forces, resisting forces or force pulses, thereby having a minimal impact on the user's movements.

[0014] In contrast to similar devices, the proposed mechanism does not require sensors or complex control schemes that allow the tendon's length to be properly adjusted so that the tendon is properly tightened with the smallest possible force during the intervals between the application of assisting forces, resisting forces or force pulses. To control the proposed mechanism, it is sufficient to alternately engage and disengage a source of rotational energy (e.g., a servomotor drive, a flywheel, etc.). During the application of assisting forces, resisting forces or force pulses, an electronic circuit acting as a switch ensures that rotational energy is transferred from the source of rotational energy (e.g., a servomotor drive, a flywheel, etc.) to the reel, causing the reel to rotate in order to clamp and wind the tendon. During the intervals between the successive application of assisting forces, resisting forces or force pulses, it is ensured that the tendon is released from the reel:

[0015] - Automatic: the electronic circuit acting as a switch shuts off the supply of rotational energy, and due to the tension generated by the combination of the tension of the tendon caused by the movement of the user's body part and the tension of the elastic element, the tendon automatically unwinds and mechanically separates from the reel,

[0016] - Automatically with the support of a rotary actuator: through an electronic circuit that acts as a switch, it briefly changes the direction of the rotary energy, causing the reel to rotate in the opposite direction to the unwinding starting position and mechanically separating the tendon from the reel.

[0017] The mechanism of implementing assisting force, resisting force or force impulse in the tendon system will be explained by means of examples and the related drawings, which show:

[0018] Figure 1 It is a schematic diagram of the structural design of the tendon length adjustment mechanism in actual use;

[0019] FIG2 is a schematic diagram of the operating principle of applying assisting force, resistance or force impulse by tendon coiling;

[0020] FIG3 is a schematic diagram of the operating principle of mechanically separating the tendon and the force source by applying assisting force, resisting force or intervals between force pulses;

[0021] FIG4 is a schematic diagram of a possible implementation of the device;

[0022] FIG5 is a possible embodiment of a winding reel;

[0023] Figure 6 is corresponding to Figure 1 A schematic diagram of another example of;

[0024] Figure 7 Pelvic movement during walking is shown, displayed as trajectories in space and as projections in all three planes of motion.

[0025] Figure 1 A schematic diagram showing the construction of the proposed mechanism and demonstrating a specific use for applying assistive force, resistance or force impulses on selected body parts while standing or walking on a treadmill for the tendon system.

[0026] The mechanism for applying an assisting force, a resisting force or a force impulse to the body is characterized in that the proximal end of the tension element is connectable to the body and the distal end thereof is connectable to the fixed point 12. A deflection element is provided which is adjustable between a position or orientation in which the tension element has no impact and a position or orientation in which the tension element is deflected to generate a force or force impulse to the body.

[0027] In the example shown in the figures, the deflection device forms a rotating body, namely as a winding reel 5 , whereby the tension element passes through the rotating axis 3 .

[0028] exist Figure 5b In the example shown, the tension element is radially guided through the hole of the winding reel 5, while Figure 5a and Figure 1 In the example concerned, the winding reel 5 consists of a central roller 5 ′ and at least one side plate 20 extending radially on the central roller 5 ′. Figure 5a The embodiment shown has two side plates 20. The tensioning roller 5'' is mounted eccentrically in a fixed manner on the side plate 20 relative to the rotation axis 3 of the winding reel 5, whereby, when the winding reel 5 is in a position or orientation where there is no impact on the tensioning element, the tensioning element can pass and move freely in a tangential direction relative to the central roller 5' through the gap between the central roller 5' and the tensioning roller 5''. Figure 1 The examples to FIG. 4 show embodiments in which the central roller 5 ′ and the tension roller 5 ″ of the winding reel 5 are concentrically surrounded by cylinders 6 , 7 , each of which can rotate freely around its own roller 5 ′, 5 ″.

[0029] The rotary mechanical energy source 1 (e.g., an electric rotary actuator) is mechanically connected to the mechanical shaft 3 through the axial coupling 2, and the rotary mechanical energy source 1 transmits rotary mechanical energy to it to rotate it when necessary. The rotary mechanical energy source 1 is any device capable of generating rotary mechanical energy on the mechanical shaft 3, such as with or without a transmission device 16 (e.g., Figure 4b ) of a motor or servo motor 15 (eg Figure 4a ), the electric motor or servo motor 15 is directly coupled mechanically or indirectly via a belt 19 (e.g. Figure 4d ) or electromagnetic coupling transfers mechanical rotational energy to the mechanical shaft 3. The mechanical shaft 3 is supported by a bearing 4 (preferably supported at two locations), and the winding reel 5 is fixed thereto in such a way that the mechanical shaft 3 passes through the central roller 5' of the winding reel 5. Between the sides of the winding reel 5, a tensioning roller 5' is arranged off-center relative to the rotation axis of the reel, and the tensioning roller 5' is offset from the common rotation axis of the winding reel 5 and the mechanical axis 3, so that when no auxiliary force, resistance or force pulse is applied, the tendon 8 passes between the central roller 5' and the tensioning roller 5' and moves freely in the tangential direction relative to the central roller 5'. The central roller 5' and the tensioning roller 5' of the winding reel 5 are concentrically arranged around cylinders 6 and 7 respectively, and each cylinder can rotate freely around its own roller.

[0030] A rigid tendon 8 (e.g., a rigid rope or braided wire) is attached at one end to a connection point on a sleeve 14, which surrounds a selected body part of the user when the user walks on the treadmill 13. Attachment of the tendon 8 to the sleeve 14 can also be achieved by an intermediate elastic coupling with suitable stiffness. The opposite end of the rigid tendon 8 passes through the gap between the center roller 5' and the tensioning roller 5" and is connected to a connecting joint 9 (e.g., a mechanical or chemical joint) via an elastic element 10 with weaker stiffness (e.g., an elastic rope that stretches the tendon). The elastic element 10 is directly or indirectly connected to a fixed point 12 at the opposite end via a pulley 11. The tensioning of the rigid tendon 8 can also be implemented in such a way that instead of the elastic element 10, the rigid tendon 8 is directly connected to an elastic element with constant stiffness, or a weight is hung thereon via a pulley.

[0031] FIG2 and FIG3 show the operating principle of the proposed mechanism. The proposed mechanism can demonstrate two operating principles, depending on whether the proposed mechanism operates in the stage of applying an auxiliary force, a resistance force, or a force pulse, or in the intermediate interval in which no force is applied. FIG2 shows the operating principle of the proposed mechanism in the stage of applying an auxiliary force, a resistance force, or a force pulse. At the beginning of applying an auxiliary force, a resistance force, or a force pulse ( Figure 2a), the assembly of the tendon 8 and the relatively weak elastic element 10 is stretched and passes through the gap between the center roller 5' and the tension roller 5", and the rotary mechanical energy source 1 begins to transfer rotary energy to the mechanical shaft 3, whereby the winding reel 5 begins to rotate. When the winding reel 5 rotates, the tendon 8 is clamped against the tension roller 5", and begins to be wound on the winding reel 5 ( Figure 2b and Figure 2c Due to the winding, both ends of the tendon 8 (the proximal end connected to the user and the distal end connected to the elastic element) move toward the winding reel 5, which reflects the user's pulling with force F1 toward the winding reel 5 in the direction of the tendon 8, and the pulling of the elastic element 10 with weak stiffness toward the winding reel 5 with force F2, which stretches due to this pulling. The further transmission of rotational energy to the mechanical shaft 3 increases the rotation of the winding reel 5 and the length of the tendon 8 wound on the winding reel 5 from both sides, with the result that the user's traction force F1 and the stretching force F2 of the elastic element increase ( Figure 2d and Figure 2e During the winding of the tendon onto the winding reel 5, the tendon 8 is always clamped against the tensioning roller 5" at the same position.

[0032] FIG3 shows the operating principle of the proposed mechanism in the middle interval when the application is not in operation. When the transmission of rotational energy to the mechanical shaft 3 is stopped, the tendon 8 is wound up to the maximum extent on the winding reel 5 ( Figure 3a ). Two forces act on it: i) when the user returns to a stationary walk, he pulls the tendon 8 on the proximal side away from the winding reel 5 by force F1, ii) since the tendon 8 is also wound on the winding reel 5 on the distal side, the elongation of the elastic element 10 is maximum; as a result, the elastic element 10 on the distal side of the tendon 8 generates a pulling force with force F2 ( Figure 3a Due to the torque of the two forces, the winding reel 5 automatically rotates in the opposite direction, so that the tendon 8 is completely unwound and mechanically separated from the winding reel 5, and the tendon 8 moves freely through the gap between the central roller 5' and the tensioning roller 5" of the winding reel 5 ( Figure 3b ). The tension of the assembly of the tendon 8 and the weakly stiff elastic element 10 is reduced to the level before the auxiliary force, resistance or force pulse is applied, and due to the weak stiffness, the tension is small but sufficient to keep the tendon 8 taut.

[0033] If the user moves away from the winding reel 5 in the direction of the tendon 8 ( Figure 3c ), the tendon 8 passes through the gap between the central roller 5' and the tensioning roller 5" of the winding reel 5 and moves freely in the direction away from the reel 5 by the user. The length of the elastic element 10 with weak stiffness is slightly increased, which slightly increases the force with which the tendon 8 and the elastic element 10 are tightened, to F1 and F2 respectively (F1 = F2). However, due to the weak stiffness of the elastic element 10, the tension is still very small.

[0034] If the user moves in the direction of the tendon 8 towards the winding reel 5 ( Figure 3d ), the tendon 8 passes through the gap between the central roller 5' and the tensioning roller 5" of the winding reel 5 and moves freely in the direction toward the reel 5. The length of the elastic element 10 with weak stiffness is slightly reduced, so that the force of tightening the tendon 8 and the elastic element 10 is slightly reduced, but it does not loosen the tendon 8.

[0035] Fig. 4 shows a possible embodiment of a rotational energy source 1. The rotational mechanical energy source 1 is any device capable of generating rotational mechanical energy on a mechanical shaft 3, such as an electric motor or servomotor with or without a transmission, which transmits the mechanical rotational energy to the mechanical shaft 3 directly by mechanical coupling or indirectly via a belt or electromagnetic clutch.

[0036] exist Figure 4a In the embodiment, an electric motor or servomotor 15 is used as a rotational energy source 1 which, when switched on, transfers the rotational energy to a mechanical shaft 3 via an axial coupling 2. This direct energy transfer from the engine to the mechanical shaft 3 requires the use of a high torque motor drive if sufficient efficiency is to be achieved.

[0037] To increase the torque on the mechanical shaft, an electric motor drive with a transmission 16 can be used as a rotary mechanical energy source 1 ( Figure 4b ).

[0038] exist Figure 4c and Figure 4d In the embodiment, a flywheel 17 (a body storing rotational energy) is used as a rotational mechanical energy source 1, which is connected to a mechanical shaft via an electromagnetic clutch device 18. When the clutch device is activated, the rotational energy from the flywheel 17 is transferred to the mechanical shaft 3. Here, an electric motor or servo motor 15 can be used to provide rotational energy to the flywheel 17, which directly ( Figure 4c ) or indirectly via belt / chain 19 ( Figure 4d ) increases the rotational energy of the flywheel 17.

[0039] FIG. 5 shows a possible embodiment of a winding reel 5 . Figure 5a The scheme is shown when the cylinders 6 and 7 are removed from the winding reel 5, in which case they concentrically surround the central roller 5' and the tensioning roller 5" of the winding reel 5. The omission of the cylinders 6 and 7 improves the adhesion of the tendon 8 clamped against the tensioning roller 5" during the application of an auxiliary force, a resistance force or a force pulse, while slightly increasing the friction between the tendon 8 and the winding reel 5 when no force is applied and the tendon 8 merely slides through the gap between the central roller 5' and the tensioning roller 5".

[0040] In the second embodiment ( Figure 5b), the tendon 8 is radially guided through the rotation axis of the winding reel 5. In this case, a tensioning roller 5" is unnecessary, because when the auxiliary force, resistance or force pulse is applied, the winding reel 5 rotates and the tendon 8 is clamped against the central roller 5' of the winding reel 5. In the intervals between the application of the auxiliary force, resistance or force pulse, the tendon 8 is free to move through the hole in the winding reel 5.

[0041] Figure 6 An example is provided in which the distal end of the tension element is fixed on a take-up reel 22 as a fixed point 12, and a spring 23 acts on the take-up reel 22 to provide a tension suitable for ensuring that the tension element is taut. The take-up reel 22 is supported on a take-up reel axis 24, and in an embodiment of a worm spring or a torsion spring, the spring 23 acts on the reel axis 24. Further, a decoder 21 is arranged on the take-up reel axis 24 to detect the direction of the take-up reel 22. The take-up reel axis 24 is supported by at least one seat 4.

[0042] It should be mentioned that in the example of the figures only one mechanism for performing a force pulse on a walking human body is shown, however, more than one mechanism may be used, in particular four mechanisms may also be used acting on the coupler for being connected to the body like a cuff in four directions (for example right and left and front and back). These directions may be tilted around the human body axis.

[0043] Furthermore, the use of the decoder 21 can also improve the force application to the body, because the decoder 21 monitors the rotation of the storage reel 22, which is directly related to the phase of each step of the walker. This gait detection analyzes the movement of the hip joint, for example.

[0044] A sensor is provided to monitor the periodic displacement of the tension element, thereby providing a control element to use the change in the direction of motion of the tension element to trigger the application of the force pulse. The sensor can be an optical encoder connected to the pulley 11. Multiple sensors can be used to improve the reliability and robustness of triggering the application of the force pulse.

[0045] During walking on a treadmill or on the ground, all body parts undergo cyclical motions. For example, the pelvis shifts and rotates in all directions. By monitoring the length of a tension element attached to the side of the pelvis (or any other point), Figure 7 The features and periodic signals shown. By detecting the changes in the direction of pelvic movement, different gait events can be extracted during the gait cycle. For example, the peak of lateral pelvic displacement occurs in the middle of the gait cycle. Determining the duration of the gait cycle from the successive peak displacements makes it straightforward to estimate other events, such as heel strike or toe off.

[0046] A similar situation is when the tension element is attached to the knee or ankle of the leg. Also in this case, a similar Figure 7 The periodic signal shown can detect a heel strike event (the direction of movement of the tension element changes from forward to backward) or a toe-off event (the direction of movement of the tension element changes from backward to forward) by detecting the change in the direction of the tension element (identification of the peak of movement).

[0047] When the tension element or tendon is attached to the left side of the body (left side of the pelvis or knee or ankle of the left leg), a left heel strike and a left toe off are determined. The opposite applies to the right side.

[0048] These different gait events can then be used to trigger and generate perturbation force pulses.

[0049] Reference numerals list

[0050] 1 Rotational energy

[0051] 2 Axial coupler

[0052] 3 Axis

[0053] 4 Seat

[0054] 5 Winding reel

[0055] 5' center roller

[0056] 5" tension roller

[0057] 6 Cylinder

[0058] 7 Cylinder

[0059] 8 tendons

[0060] 9 Connector

[0061] 10 Elastic elements

[0062] 11 Pulley

[0063] 12 fixed points

[0064] 13. Treadmill

[0065] 14 envelopes

[0066] 15 Servo motor

[0067] 16 Transmission

[0068] 17 Flywheel

[0069] 18 Clutch device

[0070] 19 belt / chain

[0071] 20 side plank

[0072] 21 Decoder

[0073] 22 Storage Scrolls

[0074] 23 (worm) spring

[0075] 24 Storage reel axis

Claims

1. A mechanism for applying an assisting force, a resisting force or a force pulse to a body, characterized in that The tension element is connected to the body via its proximal end and to a fixed point (12) via its distal end, and a deflection element is provided which can be adjusted between a position or direction in which the tension element has no impact and a position or direction in which the tension element is deflected to generate a force or force pulse on the body.

2. The mechanism according to claim 1, characterized in that: The deflection device is formed as a rotating body, and the tension element passes through the rotating shaft (3).

3. The mechanism according to claim 2, characterized in that: The rotating body is formed as a winding reel (5).

4. The mechanism according to claim 3, characterized in that: The tension element is radially guided through an opening of the winding reel (5).

5. The mechanism according to claim 3, characterized in that: The winding reel (5) is composed of a central roller (5') and at least one side plate (20) extending radially on the central roller (5'), and a tensioning roller (5") is eccentrically fixedly mounted on the side plate (20) relative to the rotation axis (3) of the winding reel (5), thereby, when the winding reel (5) is in a position or direction where the tension element has no impact, the tension element passes through the gap between the central roller (5') and the tensioning roller (5"), and freely passes and moves in a tangential direction relative to the central roller (5').

6. The mechanism according to claim 5, characterized in that: The central roller (5') and the tensioning roller (5") of the winding reel (5) are concentrically surrounded by cylinders (6, 7), each cylinder being able to rotate freely around its own roller (5', 5").

7. The mechanism according to claim 5, characterized in that A rotary mechanical energy source (1) is provided, which is mechanically connected to a mechanical shaft (3), wherein the mechanical shaft (3) is supported by at least one bearing (4), and to which the winding reel (5) is fixedly connected via the central roller (5').

8. The mechanism according to any one of claims 1 to 7, characterized in that: The tension element is formed by a rigid tendon (8), which is attached at the proximal end to a sleeve (14), which surrounds a selected part of the human body, and the rigid tendon (8) is connected at the distal end via a connecting joint (9) to an elastic element (10), which provides tension to the tendon (8) and is clamped directly to a fixed point (12) at the opposite end, or indirectly clamped to a fixed point (12) via a pulley (11).

9. The mechanism according to any one of claims 1 to 8, characterized in that: The tensioning of the tension element is performed in such a way that the tension element is directly connected to an elastic element with constant stiffness, or by hanging a weight on it via a pulley (11).

10. The mechanism according to any one of claims 1 to 9, characterized in that: The tension element fixes its distal end on a storage reel (22) as a fixed point (12), and a spring (23) acts on the storage reel (22) to provide tension.

11. The mechanism according to claim 10, characterized in that The take-up reel (22) is supported on a take-up reel axis (24) on which a spring (23) acts in the embodiment of a worm spring or a torsion spring.

12. The mechanism according to claim 11, characterized in that A decoder (21) is arranged on the storage reel axis (24) to detect the movement and / or direction of the storage reel (22).

13. The mechanism according to any one of claims 1 to 12, characterized in that A treadmill is used to support the body.

14. A device for implementing an assisting force, a resisting force or a force pulse according to any one of claims 8 to 13, characterized in that The tendon (8) is guided through the gap between the center roller (5') and the tensioning roller (5") of the winding reel (5), whereby the tendon (8) is clamped against the tensioning roller (5") when the winding reel (5) rotates, or the tendon (8) is radially guided through the rotation axis of the winding reel (5), whereby the tendon (8) is clamped against the center roller (5') when the winding reel (5) rotates, and during the interval of force application, the tendon (8) moves freely through the opening of the winding reel (5).

15. The mechanism according to any one of claims 5 to 14, characterized in that The rotational energy source (1) is a device capable of generating rotational mechanical energy on the mechanical shaft (3), namely an electric motor or a servomotor (15), wherein the electric motor or the servomotor (15) can be used for energy transmission together with a transmission device (16).

16. The mechanism according to claim 15, characterized in that The rotational energy source (1) comprises a flywheel (17), which is connected to the mechanical shaft (3) via an electromagnetic clutch device (18), and the electric motor or the servo motor (15) supplies rotational mechanical energy to the flywheel (17) directly or via a belt / chain (19). When the electromagnetic clutch device (18) is activated, the rotational mechanical energy is transmitted to the mechanical shaft (3).

17. A mechanism according to claims 1 to 16, characterised in that A sensor is arranged to monitor the periodic displacement of the tension element, whereby the control element is arranged to use the change in the direction of movement of the tension element to trigger the application of a force pulse.

18. The mechanism according to claim 17, characterized in that The sensor is an optical encoder attached to the pulley (11).

19. The mechanism according to claim 17 or 18, characterized in that: Multiple sensors are used to increase the reliability and robustness of triggering the force pulse application.

20. A method for training the maintenance of dynamic balance during standing or walking using assisted forces, resistance or force impulses, the method being performed on a mechanism according to any one of the preceding claims for performing assisted forces, resistance or force impulses in the tendon system during walking on a treadmill, characterized in that During the application of force, tension of the body part is generated by winding the tendon (8) on the winding reel (5), and in the intervals when no force is applied, the tendon (8) follows the movement of the body part according to the principle of transparent interaction.

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