Device for gait and rolling motion analysis

Abstract

Treadmill arrangement comprising a treadmill frame with two rollers held in the frame and an endless belt running over the rollers and driven by an electric motor, the surface of which serves as a walking surface, wherein four lifting actuators are mechanically connected to the treadmill frame and are arranged in pairs on the left and right in the direction of travel, and wherein the lifting actuators are assigned a control unit which controls the lifting actuators in pairs on either the left or right side, and wherein the control unit is controlled by a time control module which limits the duration of the activation of the two lifting actuators on the left and right sides, and wherein the control unit first activates the lifting actuators on one side in pairs in the direction of travel and, after a time interval, the lifting actuators on the other side in pairs, and wherein a measuring matrix is ​​located in the treadmill frame below the endless belt.which consists of a large number of pressure sensors and that a pressure distribution evaluation and comparison unit is assigned to the pressure sensors, in which the results of pairwise active and inactive stroke sensors are compared with each other.

Description

[0001] The invention relates to a treadmill arrangement comprising a treadmill frame and two rollers held in the frame, and an endless belt running over the rollers and driven by an electric motor, the surface of which serves as a walking surface.

[0002] Treadmill setups for training purposes have been known for a long time. Their frames are usually equipped at the front with a display and control panel for showing and adjusting the functions of the setup and often also for displaying the user's bodily function parameters.

[0003] Devices and methods for gait analysis that enable the recording and analysis of gait and utilize a treadmill are also known. DE 40 27 317 C1 is an example in this regard.

[0004] Devices for gait analysis, which utilize a treadmill, are also used in rehabilitation. Examples include DE 40 27 317 C1 and US 6,010,465 A.

[0005] The applicant's international patent application PCT / EP2006 / 01 04 71 deals with improvements to known solutions for deriving medical or sports physiological statements. In particular, it teaches means and procedures for recording the actual speed of a treadmill by utilizing the time and location dependence of pressure distribution images recorded on the treadmill while a subject is walking or running.

[0006] From EP 1 145 1682 A2 a rehabilitation device based on treadmill technology is known, in which an adjustment of the function of the treadmill to the current state of the walking or running ability of a patient to be restored is provided. A further patent application by applicant EP 2 060 229 B1 aims to use a treadmill with integrated pressure distribution measurement sensors not only as a pure analysis device for gait analysis, but to further develop the system into a training device.

[0007] Conventional treadmill setups typically allow adjustment of the incline uphill and, if applicable, downhill. However, lateral inclination is not possible because the lateral horizontal forces generated during walking cause a displacement of the continuous belt, disrupting its function. This results in the loss of valuable information for assessing gait and foot strike patterns, particularly regarding leg length discrepancies. Walking on a laterally inclined surface eliminates compensatory mechanisms and reveals gait abnormalities that are not apparent on a level surface.

[0008] Furthermore, the step-up heights of conventional treadmills, especially those with adjustable incline in the direction of walking, are very high, which poses a significant risk of falling.

[0009] The invention is based on the objective of providing a treadmill arrangement that is improved with regard to its possible applications and the information that can be obtained about the user's gait and rolling behavior.

[0010] This problem is solved by a treadmill arrangement with the features of claim 1. Advantageous further developments of the inventive concept are the subject of the dependent claims.

[0011] The invention encompasses the concept of providing the user of the treadmill with a running surface that can be tilted laterally in the direction of walking, both without any incline and laterally in both directions. To analyze gait and rolling characteristics, a matrix-shaped pressure distribution sensor array is integrated beneath the continuous belt. The measurement results are compared in a pressure distribution comparison unit. To achieve the aforementioned lateral tilt adjustment of the treadmill, the invention provides two lifting actuators, which are positioned appropriately in or on the treadmill frame. Preferably, two lifting actuators are positioned near the front and rear ends of the frame, on the left and right side edges, respectively, in the direction of walking. A control unit is assigned to each lifting actuator, which activates them in pairs in the direction of walking.According to the invention, the control unit is assigned a time control module which, in order to prevent a lateral movement of the endless belt, limits the duration of the pairwise activation of each side, wherein the duration of the inclination to the left and right side should be essentially identical.

[0012] In one embodiment of the invention, the control unit can be activated via a manual input unit or via a fixed sequence using a control programming memory. This enables the therapist or user to evaluate and document the state of movement in precise temporal relation to the inclination.

[0013] In further preferred embodiments of the invention, distance sensors are integrated into the lifting actuators, so that the ground clearance of the treadmill frame and thus the lateral inclination can be detected. The distance sensors are connected to the input of the control unit for individual control depending on the sensor signals. In this way, a precise adjustment of a desired incline can be achieved regardless of the initial position.

[0014] In a further preferred embodiment of the invention, the lifting actuators are connected to the treadmill frame via inverted L-shaped brackets. Alternatively, the opposing inverted L-shaped brackets on the underside, located on the left and right, are connected to each other by a flat body, with the treadmill frame resting on or being connected to the rear and front flat bodies along the direction of travel. Both solutions have the advantage that the step-up height onto the walking surface can be kept very low and therefore safe.

[0015] The latter option has the particular advantage that the hub actuators can be easily installed on the treadmill frame as needed or retrofitted.

[0016] In another version, the lifting actuators are integrated into frame sections of the treadmill frame.

[0017] The device is suitable for analyzing the gait and rolling behavior of humans and, in particular, for creating individual therapeutic insoles or custom-designed shoes or sports shoes. The setup can also be used in veterinary medicine to analyze the gait of animals such as dogs.

[0018] The advantages and expediencies of the invention will become apparent from the dependent claims and the following description of exemplary embodiments with reference to the figures. These show: Fig. 1 A schematic representation of the treadmill arrangement according to the invention in the form of a functional block diagram Fig. 2 a three-dimensional representation of an embodiment of the treadmill arrangement according to the invention Fig. 3 A three-dimensional representation of a version of the inverted L-shaped brackets connected to a flat body with lifting actuators

[0019] Fig. Figure 1 schematically illustrates the concept of the present invention in a symbolic representation in the form of a functional block diagram. The sketched treadmill arrangement comprises as its essential components an endless belt 1, which runs over two rollers 2a with axles and is driven by a motor, and whose surface 1a serves as a walking surface for a user. The axles of the rollers 2a are rotatably mounted in a treadmill frame 2 and are driven by a motor (not shown).

[0020] The treadmill arrangement includes a control unit 3 for controlling the lifting actuators 3a and 3b or 4a and 4b in pairs.

[0021] The control unit 3 is connected to a timer module 5 that limits the activation time of the hub actuators 3a and 3b, as well as 4a and 4b. The timer module 5 receives a signal from the control unit 3 when the activation of the hub actuators has begun and sends a signal back to the control unit 3 when the activation must be stopped. The activation time of the hub actuators on both sides should preferably be essentially identical for each activation, but at least on average across several activations, in order to prevent the endless belt 1 from slipping sideways.

[0022] The start time of the paired activation of the hub actuators 3 or 4 can be automated via a manual input unit 6 or via a control program memory 7.

[0023] The schematic diagram does not show the connections of the distance sensors that may be located in the lifting actuators 3a and 3b as well as 4a and 4b. These are connected to the control unit 3 and can therefore be adjusted to any desired height.

[0024] Alternatively or additionally, the lifting actuators can be equipped with a limit switch that defines the start and end positions. This allows lifting actuators 3a and 3b, and 4a and 4b, to be operated with a fixed lifting height and thus a fixed incline of the treadmill frame.

[0025] Beneath the continuous belt 1 are a multitude of matrix-arranged pressure sensors 8, which are operated via a control and evaluation unit 9. The generated measurement data are read out when the lifting actuators 3a and 3b are activated, as well as when the lifting actuators 4a and 4b are activated, and possibly even without activation of the lifting actuators. The data are then compared and output in the comparison unit 10.

[0026] Fig. Figure 2 shows a three-dimensional representation of the arrangement according to the invention with the treadmill frame 2 and the endless belt 1 drawn over rollers. The lifting actuators are shown by way of example as electric linear drives. To achieve a low step onto the running surface, inverted L-shaped brackets 11 are connected to the treadmill frame 2, to which the lifting actuators 3a and 3b as well as 4a and 4b are attached.

[0027] Fig. Figure 3 shows a three-dimensional representation of a preferred arrangement in which two inverted L-shaped supports 11 are connected to a flat body 11a on their underside. This makes it possible, when using two of these devices, to place the treadmill frame 2 onto a flat body 11a located at the front and rear in the direction of travel, or to detachably connect it to this body. This allows treadmills to be retrofitted with the arrangement according to the invention at any time.

[0028] The representation in Fig. 2 and Fig.Figure 3 shows preferred arrangements, wherein the lifting actuators 3a and 3b, as well as 4a and 4b, are implemented by electric linear drives. These consist of a base housing 3c, a linear thrust element 3d, and a mounting foot 3e. Preferably, the base housing 3c is attached to the underside of the horizontal portion of the inverted L-shaped bracket 11. The linear thrust element 3d is connected to a preferably flat mounting foot 3e, which provides support to the floor. The mounting foot 3e is preferably connected to the linear thrust element 3d by a movable joint, e.g., a ball joint. Alternatively, the lifting actuator can be rotated, in which case the mounting foot 3e is attached to the base housing 3c and the linear thrust element 3d is attached to the underside of the horizontal portion of the inverted L-shaped bracket 11.

[0029] It is understood that the depicted electric lifting actuators and the shape of the support feet are merely examples and that numerous modifications are possible within the scope of professional practice. In addition to being used in pairs laterally to the direction of travel, the lifting actuators can also be activated in pairs at the front and rear to simulate walking uphill or downhill.

[0030] It is evident to those skilled in the art that the invention is not limited to the examples described above, but can rather be varied in many different ways. In particular, the features of the individually illustrated examples can also be combined or exchanged for one another. 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] DE 40 27 317 C1 [0003, 0004] US 6,010,465 A

[0004] PCT / EP2006 / 010471

[0005] EP 1 145 1682 A2

[0006] EP 2 060 229 B1

[0006]

Claims

[1] Treadmill assembly comprising a treadmill frame and two rollers held in the frame and an endless belt running over the rollers and driven by an electric motor, the surface of which serves as a walking surface, wherein four lifting actuators are mechanically connected to the treadmill frame and are arranged in pairs on the left and right in the direction of walking, and wherein the lifting actuators are assigned a control unit which controls the lifting actuators in pairs either on the left or right side, and wherein the control unit is controlled by a time control module which limits the duration of the activation of the two lifting actuators on the left and right side, and wherein the control unit first activates the lifting actuators on one side in pairs in the direction of walking and after a time interval the lifting actuators on the other side in pairs, and wherein a measuring matrix is ​​located in the treadmill frame below the endless belt.which consists of a large number of pressure sensors and that a pressure distribution evaluation and comparison unit is assigned to the pressure sensors, in which the results of pairwise active and inactive stroke sensors are compared with each other. [2] Treadmill arrangement according to claim 1, wherein the duration of the pairwise controlled lifting actuators of the left and right sides in the direction of walking is essentially identical or that this duration is essentially identical on average over several measurement sequences. [3] Treadmill arrangement according to claims 1 and 2, wherein the control unit and thus the time control module for limiting the activation time of the lifting actuators arranged on the left and right sides in the direction of walking is started automatically via a manual input unit or via a control program memory with a predetermined time sequence. [4] Treadmill arrangement according to claim 2, wherein a third period without activation is provided between the activation of the lifting actuators of the left and right sides. [5] Treadmill arrangement according to one of the preceding claims, wherein the arrangement of the lifting actuators of the treadmill frame is provided in the direction of walking at each side edge near the front or rear end. [6] Treadmill arrangement according to one of the preceding claims, wherein the lifting actuators each include a distance sensor, so that the lifting height and the ground distance and thus the lateral inclination of the treadmill frame in the direction of walking can be detected, and that each distance sensor is connected to an input of the control unit for individual pairwise control of the lifting actuators depending on the measurement signals. [7] Treadmill arrangement according to one of the preceding claims, wherein inverted L-shaped brackets are provided on the outside left and right sides of the treadmill frame, the lifting actuators are attached to the horizontal underside of which. [8] Treadmill arrangement according to one of the preceding claims, wherein the inverted L-shaped supports opposite each other in the direction of travel are connected to each other on the underside by a flat body and that the treadmill frame rests on or is connected to a rear and front flat body along the direction of travel. [9] Treadmill arrangement according to claims 7 and 8, wherein the lifting actuators are formed as electric linear drives with a linear thrust element, one side of which is provided with the underside of the horizontal portion of the inverted L-shaped bracket and the other side with a flat mounting foot for support on the floor. [10] Treadmill arrangement according to one of the preceding claims, wherein the lifting actuators are integrated into sections of the treadmill frame. [11] Treadmill arrangement according to claim 1, wherein the pressure sensors located under the endless belt consist of a plurality of matrix-arranged capacitive or resistive sensors.

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