EXOSKELETAL FITNESS DEVICE FOR TRAINING THE HUMAN BODY

Description

Field of the invention

[0001] The present invention relates to a versatile fitness and / or training device designed as an exoskeleton that can be worn on the body by the user. With the aid of a controller, the resistance applied to the individual limbs can be dynamically adjusted, thus simulating "virtual weights." State of the art

[0002] For example, artificial, mechanical exoskeletons are known from the state of the art. These take the form of wearable support robots. The exoskeleton is not a direct component of the supporting body, but rather supports and amplifies its movements using mechanical power. Active drive components of the exoskeleton contribute to force reduction and load reduction. Mechanical support is often provided via spring drives. However, other actuators such as electric motors, pneumatic, or hydraulic drives can also be used. Exoskeletons are used, for example, in industry for physically demanding tasks to support workers. Another example of an area in which exoskeletons are used is orthopedics. In the orthopedic field, exoskeletons are used as orthopedic aids.On the one hand, exoskeletons can be used to relieve pressure on the limbs. On the other hand, exoskeletons can also function as active prostheses.

[0003] In the fitness sector, where the goal is to increase physical performance and / or build muscle through targeted training, there is a wide variety of fitness equipment. For example, there are training devices that require a fixed location and therefore corresponding space, such as multi-gyms, treadmills, or ergometers. Furthermore, there are training devices that can adjust and dynamically change the mechanical resistance to be overcome during training. For example, it is possible to simulate a slope on treadmills or ergometers. However, all of these training devices have the disadvantage that they require a fixed location and must be operated stationary.Training equipment that does not require a fixed location can be used flexibly, but has the disadvantage that it is usually used without instruction from a specialist and can therefore lead to damage and injuries to the user if used improperly.

[0004] The document US 2013 / 260968 A1 describes an exoskeleton fitness device.

[0005] The object of the present invention is therefore to provide a fitness device that offers a user a challenging training opportunity without requiring a fixed location for the fitness device and that minimizes the risk of improper use. Description of the invention

[0006] The above-mentioned object is achieved by an exoskeleton fitness device according to claim 1, which enables a targeted restriction of a user's physical mobility. Specifically, the above-mentioned object is achieved by providing an exoskeleton fitness device, in particular for training the human body, which comprises a wearable structure with at least one fastening element, wherein the at least one fastening element is designed to fasten the wearable structure to the body of a user. Furthermore, the exoskeleton fitness device according to the invention comprises at least one mechanical joint with 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.Furthermore, the exoskeleton fitness device according to the invention comprises at least one unit for generating a rotational resistance, which counteracts a rotational movement of the at least one mechanical joint, and a controller for controlling the rotational resistance, wherein the controller is designed to control the rotational resistance according to a user setting.

[0007] The exoskeleton fitness device according to the invention comprises a mechanical structure that is worn on the body of a user. The exoskeleton fitness device can be an exoskeleton that is worn on the entire body or only on a specific body part, 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 a left arm can be combined with an exoskeleton fitness device for a right arm, or an exoskeleton fitness device for a left arm can be combined with an exoskeleton fitness device for a left leg. An exoskeleton fitness device can be shaped for an upper body or for the hips and legs. Any combinations with a different number of exoskeleton fitness devices are conceivable.

[0008] The exoskeleton fitness device comprises a wearable structure. The wearable structure may comprise one or more parts. When the wearable structure is worn by a user, at least a part of the wearable structure may be arranged parallel to a limb of the user. The wearable structure may be made of various materials.

[0009] The wearable structure is attached to the user's body with fastening elements. The fastening elements can be removably or non-removably connected to the wearable structure. The fastening elements can each consist of one or more components. The fastening elements can include rigid components and / or flexible components and / or straps and / or belts. The fastening elements can include various materials such as textiles, plastics and metals. The fastening elements can be designed to attach the wearable structure to the user's body such that the 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 is aligned such that the axis of rotation of the mechanical joint coincides with the axis of rotation of the body joint.At least a part of the wearable structure may be arranged parallel to the body part containing the body joint.

[0010] The exoskeleton fitness device further comprises at least one mechanical joint attached to the 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 the number of planes in which rotational movement around a rotational axis of the mechanical joint is possible. The mechanical joint can have multiple degrees of freedom. For example, if the mechanical joint has only a single degree of freedom, the mechanical joint has only one axis of rotation. Rotational movement is only possible around this one axis of rotation. The rotational movement is performed in one plane. The number of planes in which rotational movement is permitted by the mechanical joint corresponds to the number of degrees of freedom of the mechanical joint and the number of axes of rotation the mechanical joint has.For example, if the number of degrees of freedom is 3, the mechanical joint has 3 axes of rotation and 3 planes are defined in which rotational movement around a rotational axis is possible. The mechanical joint can be, for example, a rotary joint or a universal joint. A universal joint is an angularly movable connection between two shafts. This angular mobility allows for a multitude of degrees of freedom. Other types of mechanical joints can also be used with the invention.

[0011] The exoskeleton fitness device further comprises at least one unit for generating a rotational resistance. The rotational resistance counteracts a rotational movement of the at least one mechanical joint. The rotational resistance brakes the rotational movement of the mechanical joint.

[0012] The exoskeleton fitness device also includes a controller for controlling the rotational resistance according to a user setting. The user setting is a setting that the user can accept as a default or change according to their needs. For example, the user can set the rotational resistance that the user must overcome when moving the exoskeleton fitness device around a rotational axis of a body joint, and thus around the rotational axis of the mechanical joint. The controller can control the rotational resistance in any plane in which a rotational movement around a rotational axis of the mechanical joint is possible. The controller can control the rotational resistance such that the rotational resistance remains constant or is dynamically changed. The term "controller" here refers to an electronic controller that contains at least one processor and / or microprocessor. The controller can include an electronic memory.

[0013] The at least one unit for generating rotational resistance can further comprise an electric motor, a pneumatic, or a hydraulic drive. The electric motor, the pneumatic, or the hydraulic drive can provide the force for the rotational resistance to brake the rotational movement. The exoskeleton fitness device according to the invention can comprise a radio module with an antenna for wirelessly transmitting data between the controller and a mobile terminal.

[0014] The advantage of the exoskeleton fitness device according to the invention lies in its flexibility. A fixed installation location is not required. Despite the flexibility of the exoskeleton fitness device according to the invention, the risk of improper use is minimized. In particular, the portable structure and the fastening elements ensure that the position of the mechanical joint corresponds to the position of the body joint and that the rotation axis of the mechanical joint coincides with the rotation axis of the body joint. Furthermore, by using lightweight yet stable materials, an exoskeleton fitness device can be manufactured that is significantly lighter than existing exoskeletons.

[0015] According to the invention, the wearable structure can further comprise a first part and a second part, wherein the first part and the second part are rotatably connected to one another via the mechanical joint. The first part and the second part can each extend along a body part. For example, the first part and the second part can be shaped as rails, shells, struts or grids that are positioned along the body part and parallel to the body part by the fastening elements. The first part and the second part can be formed from a combination of rails and / or shells and / or struts and / or grids. The rails can be straight in shape or have a slight curvature that is adapted to a curve of the body part. The shells can be designed according to an external shape of the body part.The first part and the second part can be shaped to cover, partially enclose, or completely enclose the body part. The first part and the second part can each be formed in one piece or from multiple pieces. If the first part and the second part are shaped as struts, each part can have at least one strut. The first part and the second part can be formed from a rigid material. The first part and the second part can be formed from a combination of rigid and more elastic materials.

[0016] According to the invention, the exoskeleton fitness device can be designed such that the at least one axis of rotation of the at least one mechanical joint coincides with an axis of rotation of a body joint of the user.

[0017] According to a further development, the wearable structure can further be designed to enable a movement sequence that is carried out by at least one part of the user's body, in particular by a left shoulder and / or a right shoulder and / or a torso and / or a left arm and / or a right arm and / or a left upper arm and / or a right upper arm and / or a left forearm and / or a right forearm and / or a left hand and / or a right hand and / or at least one finger and / or a left hip and / or a right hip and / or a left leg and / or a right leg and / or a left knee and / or a right knee and / or a left foot and / or a right foot.

[0018] According to a further development of the exoskeleton fitness device according to the invention, the at least one unit for generating the rotational resistance comprises an electrically controllable brake.

[0019] According to a further development, the exoskeleton fitness device according to the invention can further comprise at least one position sensor, which is positioned on a joint of the body when the structure is worn and is designed to detect position data of the movement sequence. The at least one position sensor can be provided on the at least one mechanical joint in order to detect an angle of rotation about the axis of rotation. The position data can be recorded, forwarded to the controller, and / or stored. The controller can compare the received position data with stored data of a movement specification. The exoskeleton fitness device according to the invention can comprise a radio module with an antenna for wirelessly transmitting data between the position sensor, the controller, and a mobile terminal.

[0020] According to a further development, the exoskeleton fitness device can further comprise at least one optical marker. The at least one optical marker can be provided on the wearable structure and / or on the at least one mechanical joint. The optical marker can be captured by a camera. Using the optical marker, the camera can record a movement sequence of the user while wearing the exoskeleton fitness device with position measurement. The movement sequence can be captured either by the camera or by the position sensor. The movement sequence can be captured simultaneously by the camera and the position sensor. The resulting data can be stored and evaluated by the controller.

[0021] According to a further development, the exoskeleton fitness device can comprise at least one pair of mechanical joints whose rotational axes coincide. For example, the pair of mechanical joints can be arranged in pairs at the level of a body joint of a limb, so that one mechanical joint is positioned on an inner side of the limb next to the body joint, and the other mechanical joint is positioned on an outer side of the limb next to the body joint.

[0022] According to a further development of the exoskeleton fitness device according to the invention, the two mechanical joints of the pair are arranged opposite each other on the wearable structure, corresponding to the position of a user's body joint, so that the body joint is positioned at the center. In other words, the body joint can be arranged between the two mechanical joints, whereby the rotation axes of the two mechanical joints and the body joint can be aligned with each other.

[0023] According to a further development of the exoskeleton fitness device according to the invention, the control is further designed to control the at least one rotational resistance as a function of an angular force applied by the user.

[0024] The exoskeleton fitness device includes a torque sensor for measuring the angular force applied by the user. The torque sensor is a magnetostrictive torque sensor comprising a shaft magnetized in a first axial section in a first circumferential direction, to which a torque to be measured can be applied. Such a torque sensor may further comprise a first magnetic field sensor for detecting a magnetic field generated by the first section of the shaft outside the shaft and dependent on the applied torque. The first magnetic field sensor may comprise a first 3D AMR sensor. Such a torque sensor is described in detail in patent application EP3364163A1.The torque sensor can be a magnetostrictive torque sensor with a hollow shaft that is magnetized in a first axial section in a first circumferential direction and to which a torque to be measured can be applied, and a first magnetic field sensor for detecting a magnetic field generated by the first section of the hollow shaft outside the hollow shaft. Such a torque sensor is described in detail in European patent application EP3232172A1. The torque sensor can be a disk sensor comprising a disk that comprises a magnetostrictive, pre-magnetized, or magnetizable material, and a magnetic field sensor arrangement. A torque acting about a rotational axis of the disk can be applied to the disk. The magnetostrictive material is designed to generate a magnetic field outside the disk that can be varied depending on the acting torque.The magnetic field sensor assembly outputs a signal based on the magnetic field generated by the magnetostrictive material. The torque sensor determines a value of the applied torque based on the output signal. A disk, which acts as a force-transmitting element, is used to measure the applied torque by pre-magnetizing the disk. In this way, the disk, rather than a shaft on which the disk can be mounted, is used as the primary sensor (magnetized area). Such a disk sensor is described in detail in European patent application EP21183622.6.

[0025] The exoskeleton fitness device according to the invention may comprise a radio module with an antenna for wirelessly transmitting data between the torque sensor, the controller and a mobile terminal.

[0026] The measured data of the angular force applied by the user can be transmitted to the controller. The controller can adjust the rotational resistance based on the measured angular force data.

[0027] The present invention also provides a method according to claim 11 for training the human body with an exoskeleton fitness device. The method comprises the following

[0028] Steps: Attaching a wearable structure of the exoskeleton fitness device to the body of a user by means of at least one fastening element, generating a rotational resistance which counteracts a rotational movement of a mechanical joint, wherein the mechanical joint comprises at least one axis of rotation and at least one degree of freedom, and wherein the at least one mechanical joint is attached to the wearable structure, and controlling the rotational resistance by means of a controller according to a user setting.

[0029] According to a further development, the method further comprises the following steps: carrying out, by means of the portable structure, an angular movement by the user, the center of which forms a body joint of the user, measuring an angular force applied by the user by means of a torque sensor, and wherein the controlling further comprises controlling the at least one rotational resistance as a function of the measured angular force.

[0030] Further features and exemplary embodiments, as well as advantages of the present invention, are explained in more detail below with reference to the drawings. It is understood that the embodiments do not exhaust the scope of the present invention. It is further understood that some or all of the features described below can also be combined with one another in other ways. Brief description of the drawings

[0031] Figure 1 schematically shows an exemplary exoskeleton fitness device according to the present invention on a user. Figure 2 shows a schematic view of a wearable structure and a mechanical joint according to the present invention. Figure 3 shows a schematic view of a mechanical joint according to the present invention. Figure 4 shows a schematic view of a mechanical joint according to the present invention. Figure 5 shows a schematic of a method. Embodiments

[0032] In the figures described below, like reference numerals designate like elements. For clarity, like elements are described only when they first appear. However, it is understood that the variants and embodiments of an element described with reference to one of the figures can also be applied to the corresponding elements in the other figures.

[0033] In the Figure 1An exemplary exoskeleton fitness device according to the present invention is schematically shown on a user. Without limiting the generality, Figure 1 An exoskeleton fitness device for one arm and one leg is clearly shown. The exoskeleton fitness device can be designed to replicate the natural movement patterns of the limbs when worn. This means, for example, that the arms and / or legs can be moved freely when the exoskeleton fitness device is worn. Furthermore, the exoskeleton fitness device can be designed to replicate only part of the natural movement patterns of the limbs when the exoskeleton fitness device is worn. This means, for example, that the arms and / or legs can be moved to a limited extent within certain planes of movement when the exoskeleton fitness device is worn.

[0034] In the human body, different types of joints are distinguished according to their shape and the range of motion this shape allows. The shape of the body joint determines the number of degrees of freedom. The number of degrees of freedom indicates how many planes of motion a rotational movement is possible through the body joint. The number of planes of motion corresponds to the number of degrees of freedom. For example, a ball and socket joint consists of a spherical joint head that slides in a joint socket shaped like a hollow sphere. Ball and socket joints have a practically infinite number of joint axes and therefore allow mobility in all directions. For example, the shoulder joint and the hip joint are ball and socket joints. Another example of a joint that occurs in the human body is a hinge joint. The hinge joint consists of a groove and a matching roller.A hinge joint has only one degree of freedom, allowing movement around a single axis, namely the hinge axis, in a single plane of motion. For example, the middle and end joints of the fingers are hinge joints. However, the mobility of the human body is not determined solely by the body joints. For a person to move, the interaction of muscles and joints is necessary. According to the present invention, for example, muscle strengthening is achieved through the use of the exoskeleton fitness device according to the invention.

[0035] In the presentation of the Figure 1 The exoskeleton fitness device has three mechanical joints 10 and a wearable structure 20 with several fastening elements 30. In the Figure 1In the exoskeleton fitness device shown, the wearable structure 20 is attached to the user's body in such a way that a mechanical joint 10 is positioned at the user's knee, elbow, and shoulder. Each of the Figure 1 The mechanical joints 10 shown rotatably connect a first part and a second part of the wearable structure 20. "Rotatable" means that the mechanical joint 10 allows the first part 21 and the second part 22 of the wearable structure 20 attached to the user's body to perform an angular movement about the axis of the mechanical joint. One end of each of the first part 21 and / or the second part 22 of the wearable structure 20 can be rotatably connected to a mechanical joint 10, and a longitudinally opposite end can be connected to another mechanical joint 10. The Figure 1shows that a portion of the wearable structure 20 is connected to both the mechanical joint 10 positioned at the user's shoulder joint and the mechanical joint 10 positioned at the elbow joint. For example, a portion of the wearable structure 20 that runs along a thigh can be connected to a mechanical joint 10 positioned at the knee and to a mechanical joint 10 positioned at the hip. A portion of the wearable structure 20 that runs along a lower leg can be connected to a mechanical joint 10 positioned at the knee and to a mechanical joint 10 positioned at the ankle. This list of examples is not exhaustive.

[0036] As from the Figure 1As can be seen, the wearable structure 20 and the mechanical joints 10 are arranged on an outer side of the limbs, which faces away from the center of the user's body. The mechanical joints are attached 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 parts 21, 22 of the wearable structure 20, which are connected by a mechanical joint 10, are arranged such that the parts 21, 22 run parallel to a body axis or a limb of the user. Figure 1The parts 21, 22 of the wearable structure 20 are arranged such that they each run along the outside of an arm and leg and parallel to the arm and leg. The parts 21, 22 of the wearable structure 20 and the mechanical joints 10 can be arranged on an inside of the limbs, i.e., on a side of the limbs that is located towards the center of the body. The parts 21, 22 of the wearable structure 20 and the mechanical joints 10 can be arranged on an outside and an inside of the limbs. The exoskeleton fitness device according to the invention can comprise at least one pair of mechanical joints 10 whose axes of rotation coincide. The mechanical joints 10 and / or the parts 21, 22 of the wearable structure 20 can be arranged in pairs. This means that mechanical joints 10 and parts 21, 22 of the wearable structure 20 are arranged in pairs on the inside and outside of the limbs.An exoskeleton fitness device according to the invention can have additional mechanical joints 10 at positions that each correspond to the position of a body joint. For example, a mechanical joint 10 can be positioned at the ankle and / or the wrist and / or the finger joints and / or the hip and / or the shoulder blade of the user's body. For example, if a mechanical joint 10 is positioned at one of the two shoulder blades on the user's back, a first part 21 of the wearable structure 20 can extend from the mechanical joint 10 along the back of an upper arm of the user, parallel to the upper arm. The length of the first part 21 can be determined such that bending of the elbow is possible. However, the length of the first part 21 can also be determined such that bending of the elbow is no longer possible.A second part 22 of the portable structure 20 can extend from the mechanical joint 10 along the user's back towards the ground.

[0037] The exoskeleton fitness device according to the invention can comprise one or more position sensors. A position sensor is arranged at a joint of the body when the structure is worn. The position sensor records position data of the movement sequence performed by the user with the corresponding body part where the position sensor is located. With a position sensor, the movement of an object can be detected and converted into suitable signals for processing, transmission, and control. For example, position measurement solutions include inductive, potentiometric, magnetoresistive, and capacitive measurements. In the exoskeleton fitness device according to the invention, the wearable structure can comprise an optical marker that is captured by a camera. A movement sequence performed by the user with various body parts can be filmed, analyzed, and controlled.

[0038] In the Figure 2a mechanical joint 10 is shown, which includes a rotation axis 11. In the Figure 2 The diagram at the top right illustrates a plane defined by the xy-axes in which a rotational movement around the rotation axis 11 of the mechanical joint 10 can take place. Figure 2 also shows a schematic view in the direction of the rotation axis 11 of the mechanical joint 10. The Figure 2 The schematically illustrated mechanical joint 10 connects a first part 21 and a second part 22 of the portable structure 20 of the exoskeleton fitness device according to the invention in a rotatable manner. The fastening elements 30 were Figure 2 omitted for reasons of clarity. In the Figure 2A rotational movement of the first part 21 about the rotation axis 11 is indicated by dashed lines. Without rotational movement, the first part 21 and the second part 22 are in an extended form. "Extended form" here means that the first part 21 and the second part 22, which are rotatably connected to each other via the mechanical joint 10, form an angle of 180 degrees. The extended form corresponds, for example, to extended limbs 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. A rotational resistance counteracts a rotational movement of the mechanical joint 10. Therefore, the rotational movement to which, for example, the first part 21 of the wearable structure 20 is subjected by the user is decelerated.

[0039] The Figure 3shows schematically the mechanical joint 10 according to the present invention. The mechanical joint 10 comprises the rotation axis 11. The Figure 3 further shows a unit 12 for generating rotational resistance. For example, a braking force acts on the angled portion 21A of the first part 21 of the portable structure 20, causing rotational resistance. Hereinafter, the angled portion 21A is referred to as shaft 21A. The unit 12 generates the rotational resistance, which is controlled by a controller 50 according to a user setting. The generated rotational resistance counteracts a rotational movement of the mechanical joint 10. Therefore, the rotational movement to which, for example, the first part 21 of the portable structure 20 is subjected by the user is braked. Figure 3further shows a torque sensor 40 that measures the angular force applied by the user. The torque sensor 40 includes a magnetic field sensor 41 and a magnetized region 42 of the angled portion of the first part 21 (shaft 21A). When the first part 21 of the wearable structure undergoes a rotational movement about the rotation axis 11 of the mechanical joint 10, the torque acting on the rotation axis causes a minimal torsion of the shaft 21A, thereby changing a magnetic field generated outside the shaft 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 magnetic field change to the controller 50. The controller 50 processes the received information about the magnetic field change and determines a magnitude of the angular force.The determined magnitude of the angular force is compared with a user setting. If the magnitude of the angular force deviates from the user setting, the controller 50 controls the unit 12 for generating the rotational resistance such that the generated rotational resistance, which brakes the rotational movement, is either increased or decreased depending on the deviation. The controller 50 of the exoskeleton fitness device according to the invention can control the rotational resistance depending on an angular force applied by the user. The rotational resistance can be generated, for example, by an electrically controllable brake. The force that must be applied by the user to rotate the exoskeleton fitness device about the rotational axis of the body joint can be set and controlled. The controller 50 can process data from a position sensor and control the rotational resistance accordingly.The controller 50 can process image data captured by a camera and control the rotational resistance accordingly, or feedback can be provided with a movement specification.

[0040] The Figure 4 shows the mechanical joint 10, which is also used in the Figure 3is shown, with the difference that the torque sensor is a magnetostrictive disk sensor 40. The first part 21 is connected to an inner region (with respect to the radial direction) of the disk 43. The second part 22 is connected to an outer region (with respect to the radial direction) of the disk 43. The disk sensor 40 comprises a disk 43 containing a magnetostrictive, pre-magnetized, or magnetizable material 42, and a magnetic field sensor arrangement 41. The magnetostrictive material 42 is magnetized in a central region (between the inner and outer regions) of the disk 43. A torque acting about a rotational axis of the disk can be applied to the disk 43. The magnetostrictive material 42 generates a magnetic field outside the disk 43 that can be changed depending on the acting torque (angular force). The magnetic field sensor arrangement 41 outputs a signal based on the magnetic field generated by the magnetostrictive material.The torque sensor 40 determines a value of the applied torque based on the output signal. The disk 43, which acts as a force-transmitting element, is used to measure the applied torque by pre-magnetizing the disk 43.

[0041] The Figure 5shows a diagram of a method, in particular for training a human body, using an exoskeleton fitness device according to the invention. The user attaches the portable structure 20 of the exoskeleton fitness device to their body using the fastening elements 30. The position of a mechanical joint 10 corresponds to the position of a body joint. The rotation axis 11 of the mechanical joint 10 corresponds to the rotation axis of the body joint. The user makes settings using a mobile terminal by entering corresponding data into the mobile terminal. The data entered by the user into the mobile terminal is transmitted to the controller 50. A rotational resistance is generated that counteracts the rotational movement of the mechanical joint.When the user moves the exoskeleton fitness device around the rotational axis of the body joint, they must exert force to overcome the rotational resistance generated by the unit 12, which counteracts the rotation around the rotational axis 11 of the mechanical joint 10. The rotational resistance is controlled by the controller 50 according to the user setting. Using the wearable structure, the user can perform an angular movement centered on a body joint of the user. The angular force applied by the user can be detected using a torque sensor. Using a position sensor, position data of a movement sequence represented by the wearable structure can be detected. The rotational resistance can be controlled depending on the angular force applied by the user.

[0042] The described invention allows for flexible use without a fixed installation location. Despite all the flexibility, the risk of improper use is minimized. By using lightweight yet stable materials, the weight of the exoskeleton fitness device according to the invention can be significantly lighter than that of previously known exoskeletons.

Claims

1. An exoskeleton fitness device, in particular for training a human body, comprising: a portable structure (20) including at least one fastening member (30), wherein the at least one fastening member (30) is configured to attach the portable structure (20) to the body of a user, at least one mechanical joint (10) having at least one axis of rotation (11) and at least one degree of freedom, wherein the at least one mechanical joint (10) is attached to the portable structure (20), at least one unit (12) for generating a rotational resistance moment counteracting a rotational movement of the at least one mechanical joint (10), a controller (50) for controlling the rotational resistance moment, wherein the controller (50) is configured to control the rotational resistance moment in accordance with a user setting, wherein the controller (50) is further configured to control the at least one rotational resistance moment as a function of an angular force applied by the user, and characterized in that the exoskeleton fitness device includes at least one magnetostrictive torque transducer (40) for sensing the angular force applied by the user.

2. The exoskeleton fitness device according to claim 1, wherein the portable structure (20) further comprises a first part (21) and a second part (22), wherein the first part (21) and the second part (22) are rotatably connected by means of the mechanical joint (10).

3. The exoskeleton fitness device according to claims 1 or 2, wherein the at least one axis of rotation (11) of the at least one mechanical joint (10) coincides with an axis of rotation of a joint of the body of the user.

4. The exoskeleton fitness device according to any one of the preceding claims, wherein the portable structure (20) is further configured to enable a sequence of movements executed by at least one portion of the body of the user, in particular by a left shoulder and / or a right shoulder and / or a torso and / or a left arm and / or a right arm and / or a left upper arm and / or a right upper arm and / or a left lower arm and / or a right lower arm and / or a left hand and / or a right hand and / or at least one finger and / or a left hip and / or a right hip and / or a left leg and / or a right leg and / or a left knee and / or a right knee and / or a left foot and / or a right foot.

5. The exoskeleton fitness device according to any one of the preceding claims, wherein the at least one unit (12) for generating a rotational resistance moment comprises an electrically controlled brake.

6. The exoskeleton fitness device according to any one of the preceding claims, further comprising a position sensor positioned and formed at a joint of the body when wearing the structure for detecting positional data of the sequence of movements, wherein the at least one position sensor is provided at the at least one mechanical joint (10) for detecting an angle of rotation about the axis of rotation (11).

7. The exoskeleton fitness device according to any one of the preceding claims, wherein the exoskeleton fitness device, in particular the portable structure (20) and / or the at least one mechanical joint (10), further comprises at least one visual marking.

8. The exoskeleton fitness device according to any one of the preceding claims, wherein the exoskeleton fitness device comprises at least a pair of mechanical joints (10) having coinciding axes of rotation (11).

9. The exoskeleton fitness device according to claim 8, wherein the pair of mechanical joints (10) is disposed at opposite positions corresponding to a location of the joint of the body of the user at the portable structure (20) so that the joint of the body is positioned midway between them.

10. The exoskeleton fitness device according to claim 1, wherein the magnetostrictive torque transducer (40) comprises a magnetic field sensor (41) and a magnetized shaft (21A) or a magnetized disc (43).

11. A method for training a human body using an exoskeleton fitness device, wherein the method comprises the following steps: attaching a portable structure (20) of an exoskeleton fitness device to a body of a user by means of at least one fastening member (30), generating a rotational resistance moment counteracting a rotational movement of a mechanical joint (10), wherein the mechanical joint (10) comprises at least one axis of rotation (11) and at least one degree of freedom, and wherein the at least one mechanical joint (10) is attached to the portable structure (20), and controlling the rotational resistance moment by means of a controller (50) according to a user setting, executing an angular movement by the user by means of the portable structure (20) the centre of which is formed by a joint of the body of the user, characterized in that it comprises the following steps: sensing an angular force applied by the user by means of a magnetostrictive torque transducer (40), and wherein controlling further comprises controlling the at least one rotational resistance moment as a function of the sensed angular force.