Treadmill with virtually split-belt treadmill and treadmill control for perturbation in gait training, running training, rehabilitation, therapy, diagnostics, biomechanics and robotics.

Abstract

Treadmill device (032) with only one running belt (019), comprising at least one measuring technology for gait cycle detection for a person on the treadmill, characterized in that the device according to the invention can detect the individual phases of the gait cycle such as contact phase (usually by heel in the case of the so-called heel striker) in the front area of ​​the running surface, swing phase and push-off phase in the rear area of ​​the running surface separately of left leg and right leg.

Description

[0001] The present invention presents improved treadmill devices with treadmill control systems and methods.

[0002] Such a treadmill comprises a treadmill device with only one running belt, which, however, through measurement technology in conjunction with methodology for step phase detection and a procedure for special control of the running belt speed, can simulate either the same or different speeds for a person for the left and right leg.

[0003] The method comprises generating a series of treadmill control settings for the treadmill corresponding to each phase of the subject's gait pattern, along with a series of treadmill control settings for a motor controller of the treadmill. The invention also includes providing a combination with force measurement, torque measurement, and pressure profile measurement on the treadmill, as well as other systems and methods. 1) Background

[0004] So-called "single-belt treadmills," with only one running belt, are used in rehabilitation, for example, for fall prevention training, to improve gait and balance after an injury or illness. They are found in almost every clinic and rehabilitation center, as well as in physiotherapy centers. These treadmill devices and systems are also used in research for occupational medicine, sports medicine, and cosmetic medicine, as well as in biomechanics laboratories. With the increasing popularity of humanoid robots and gait orthoses (exoskeletons), these treadmills are also being used in the development of such robots to develop and improve balance and stability characteristics.

[0005] For some years now, treadmills have also been used with two running belts, which are called "Dual-Belt Treadmill" or "Split-Belt Treadmill" in English.

[0006] These two running belts, combined in one treadmill machine, can be set to the same speed for both legs or optionally to different speeds for the left and right leg.

[0007] This creates an improved and adaptable training environment that allows people with asymmetrical gait patterns (e.g., in hemiplegia after stroke or other asymmetrical neurological disorders and diseases, prosthesis adjustments after amputations, orthopedic diseases, etc.) to mimic an asymmetrical and pathological gait pattern and, if possible, to achieve a symmetrical and physiological gait pattern again via an adjustable adaptation phase.

[0008] Furthermore, under safe and controlled conditions in the laboratory and therapy center, situations such as slipping or tripping can be simulated on such a special treadmill device using a fall arrest device (e.g. chest harness or weight relief vest or weight relief belt).

[0009] This enables stability exercises in fall prevention training, as well as research and studies with analyses of fall risks and possible fall prophylaxis. 2) Problem statement

[0010] Treadmills with two running belts (so-called "dual-belt treadmills" or "split-belt treadmills") are not only very expensive due to the two motors and drive systems required, but also have a significant disadvantage. This is because treadmills with two running belts have a small gap of approximately 0.5 cm to 4.0 cm between the left and right running belts.

[0011] But even if this gap could theoretically and technically be reduced to 1 mm or less, the test subject or patient would still be forced to hit the left running belt exclusively with their left foot and the right running belt exclusively with their right foot.

[0012] In contrast, with a natural gait, many people develop a tendency to walk "as if on a line" rather than "wide-legged", especially at higher walking speeds.

[0013] For some people, and especially for models on the catwalk, an overcrossing gait is very natural, so that the left foot is placed to the right of the body's center of gravity and the right foot is placed to the left of the body's center of gravity.

[0014] This natural phenomenon of overcrossing gait is not possible on a running belt with two running belts if the left and right running belts are operated at different speeds, or if vertical ground reaction forces (Fz) and horizontal thrust forces as well as shear forces (Fx, Fy) and moments (Mz, Mx, My) or pressure profiles are to be measured in biomechanics using three-component force sensors.

[0015] Several scientific studies have shown that walking and running on such a treadmill (running surface / running deck) with 2 split running belts significantly increases the stride length of the subject / patient, thus unintentionally distorting the gait and running pattern. 3) State of the art

[0016] Common examples include treadmill machines and systems, or split-belt treadmills with a divided running surface, such as... a) Treadmill ergometer having adapted pulling and measuring units for therapeutic applications and for gait training and running training, Patent number: 9737760, Publication number: 20130225371 (Franz Harrer, Günther Beutel) b) Body weight relief device with trunk stabilization in combination with fall protection and automatic belt shut-off as well as patient lifting in case of a fall for treadmill ergometer application in ergometry, therapy, rehabilitation, cardiopulmonary diagnostics, balance training, orthopedics, neurology, running training, movement analysis, gait training, functional training, performance diagnostics, sprint training, athletics, sports and fitness: DE102014004997A1 (Franz Harrer, Joschka Zimmer, Norbert Fabritius, Alexander Böck, Martin Überegger, Simon Ziegltrum) c) SIMULATING A SPLIT - BELT WITH A SINGLE - BELT TREADMILL: US20220111249A1 Appl. No.: 17 / 498,986 (David A. Brown, Galveston, TX (US); Chih - Ying Li, Galveston, TX (US); Mansoo Ko, Galveston, TX (US); Shengting Cao, Tuscaloosa, AL (US); Xuefeng Wang, Tuscaloosa, AL (US); Fei Hu , Tuscaloosa, AL (US); Yu Gan, Tuscaloosa, AL (US); Liang Zhang, Tuscaloosa, AL (US) d) Variable stiffness treadmill system with split belt treadmill: US20160243397A1 / PCT / US2014 / 062534 (Panagiotis Artemiadis, Andrew Barkan) e) TREADMILLS WITH OBSTACLES AND METHODS OF USE: Appl. No.: 16 / 822,335 Pub. No .: US 2021 / 0291014 A1 US20210291014A1 (Nazeeh ALOTHMANY, Ehab Hafiz WALI, Abdulhameed ALKHATEEB, Umar ALABASI, Mirza PASOVIC) f) TRAINING SYSTEMAND METHOD USINGA DYNAMIC PERTURBATON PLATFORM: US 2011 FO312473 A1 Dec. 22, 2011 Continuation-in-part of application No. 1 1 / 294,942, filed on Dec. 6, 2005, now Pat. No. 7,980,856. Provisional application No. 60 / 675,768, filed on Apr. 28, 2005. (Jeffrey J. Chu, Norwich, VT (US); Richard M. Greenwald, Norwich, VT (US); David D. Johnson, Lebanon, NH (US)

[0017] The disadvantage of the known devices, systems and methods is that they do not, for example, have separate left / right control of a running belt, or that the methodology does not provide the desired results and / or precision and dynamics as well as ergonomics required by users. 4) Description and novelty of the invention / Inventive step

[0018] In the present disclosure of the invention, an improved treadmill device and treadmill control system and method are presented.

[0019] Using a special process and software, the control system of the treadmill is modified, even in a treadmill with only one running belt, so that the speeds for the left leg and the right leg can be adjusted so that these speeds are either the same or different.

[0020] In this process, including the software, the individual phases of the gait cycles can be measured and calculated with utmost accuracy using force measurement sensors and pressure profile measuring plates in or under the running surface or under the treadmill device in combination with the methodology and software.

[0021] The procedure, including the software, allows perturbations to be started and stopped at any phase of the gait cycle.

[0022] The procedure, including the software, allows for the adjustment of speed differences over an adjustable time period. For example, a speed of 3 km / h is simulated during the contact phase of the left leg, and a speed of 4 km / h is initially simulated during the contact phase of the right leg. The test subject / patient "limps" because the speeds, and therefore often the stride lengths, differ between the left and right legs.

[0023] In the present invention, the speed differences can then be gradually equalized, for example over an adjustable time period (e.g. within 10 minutes of gait training), thus creating a symmetrical gait pattern.

[0024] As a further methodology of this invention, so-called perturbation stimuli can be applied to arbitrarily change the running belt speed for either the left or right leg, depending on the gait cycle. This can be done either programmably or randomly, adjusting the running belt speed, acceleration, and time as desired, for example, to simulate slipping and / or stumbling. Short start / stop sequences or even reversals of the running belt's direction can also be programmed and simulated using this invention.

[0025] In the literature, this is also called a "perturbation treadmill" or "perturbation treadmill". 5) Explanation of the drawings

[0026] In the Fig. 1 to Fig. Figure 2 shows the treadmills with a single running belt. The positions of the individual components are described below.

[0027] In the Fig. Figure 3 schematically depicts a treadmill with a split running belt and two drive motors. The positions of the individual components are described below. 7) Illustrations / Drawings

[0028] Explanation with a list of reference symbols for the illustrations and drawings Fig. 1: Treadmill with only 1 running belt, measuring technology, fall protection, and weight relief system 019 Running belt (only 1 running belt = “single belt”) with integrated measuring technology under the running belt 031 Treadmill frame 001 Base plate / stand plate and treadmill supports with measuring technology 002 Stand / Base unit for fall protection and weight relief system 003 and 004 Metal arches for fall arrest safety and weight relief system 006 Safety rope / safety cable / relief rope for fall arrest system and weight relief system 009 Chest harness / weight relief vest for fall arrest and weight relief system 025 UserTerminal Control Unit for Treadmill and Weight Relief Device Fig. 2: Treadmill with only 1 running belt, measuring technology, fall protection, weight relief system, connected computer system, and display with biofeedback 019 Running belt (only 1 running belt = “single belt”) with integrated measuring technology under the running belt 031 Treadmill frame 001 Base plate / stand plate and treadmill supports with measuring technology 002 Stand / Base unit for fall protection and weight relief system 003 and 004 Metal arches for fall arrest safety and weight relief system 006 Safety rope / safety cable / relief rope for fall arrest system and weight relief system 009 Chest harness / weight relief vest for fall arrest and weight relief system 025 UserTerminal Control Unit for Treadmill and Weight Relief Device 027 PC personal computer for additional software controls 028 Display with biofeedback for additional software and displays 029 Biofeedback displays, e.g., bar charts for additional software and displays of gait symmetry Fig. 3: Schematic representation of a treadmill with a split running surface “Dual Belt Treadmill” or “Split Belt Treadmill” 1 left running belt 2 right running belt 3. Front drive shaft for driving the right running belt 4 rear deflection shaft for deflecting the right running belt 5 gap between left and right running belt 6. Left drive motor with drive belt for left running belt 7 Right drive motor with drive belt for right running belt QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 9737760

[0016] DE 102014004997A1

[0016] US 20220111249A1

[0016] US 20160243397A1

[0016] US 2014 / 062534

[0016] WO 16 / 822,335

[0016] US 2021 / 0291014 A1

[0016] US 7,980,856

[0016] WO 60 / 675,768

[0016] Cited non-patent literature

[0000] TRAINING SYSTEMAND METHOD USINGA DYNAMIC PERTURBATON PLATFORM: US 2011 FO312473 A1 Dec. 22, 2011 Continuation-in-part of application No. 1 1 / 294.942, filed on Dec. 6, 2005

[0016]

Claims

[1] Treadmill device (032) with only one running belt (019), comprising at least one measurement technology for step cycle detection for a person on the treadmill, characterized by that the device according to the invention can detect the individual phases of the gait cycle, such as the contact phase (usually through the heel in the so-called heel striker) in the front area of ​​the running surface, the swing phase and the push-off phase in the rear area of ​​the running surface, separately for the left leg and the right leg. [2] Device according to claim 1, characterized by that the individual phases of the gait cycle are recorded by force measuring sensors in the running surface or under the treadmill. [3] Device according to claim 1, characterized by that the individual phases of the gait cycle are recorded by pressure sensors in the running surface or under the treadmill. [4] Device according to claim 1, characterized by, that the recording of the individual phases of the gait cycle is carried out by pressure measuring sensors in the insole of the subject's / patient's shoe. [5] Device according to claim 1, characterized by that the individual phases of the gait cycle are recorded by acceleration sensors in the running surface or under the treadmill. [6] Software for at least partially implementing the controls, displays and methods according to one or more of the preceding claims, comprising program code which, when the software is running, at least partially or completely implements the controls, displays and methods according to one or more of the preceding claims. [7] Computer program product comprising executable program code of software according to any of the aforementioned claims. [8] Computer program product according to any of the aforementioned claims, downloadable from a server via the Internet. [9] Computer program product according to one of the preceding claims, carried and electronically readable from a preferably portable data carrier. [10] Method according to any of the aforementioned claims, characterized by that a person is disturbed (“perturbed”) in their gait or / and running by using the aforementioned device according to one of the aforementioned claims or a combination of the aforementioned claims with adjustable speed, duration, intensity and acceleration of the running belt. [11] Method according to any of the aforementioned claims, characterized by , that a person is guided from an asymmetrical gait pattern to a symmetrical gait pattern by applying the aforementioned device according to one of the aforementioned claims or from a combination of the aforementioned claims with adjustable speed, duration, intensity and acceleration of the running belt in the gait pattern or / and running. [12] Method according to any of the aforementioned claims, characterized by that the risk of a person falling is detected by applying the aforementioned device according to the invention in accordance with one of the aforementioned claims or from a combination of the aforementioned claims. [13] Method according to any of the aforementioned claims, characterized by , that the asymmetries in the gait pattern of a person are measured, displayed and analyzed by applying the aforementioned device according to one of the aforementioned claims or from a combination of the aforementioned claims.

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