TREADMILL ARRANGEMENT WITH MOVABLE SUPPORT ELEMENTS

Description

[0001] The invention relates to a gait training arrangement comprising a treadmill frame and an endless belt running over rollers held in the treadmill frame or slats running from the treadmill frame over a guide device, the surface of which serves as a walking or running surface. The treadmill frame is mounted in a base frame. It further relates to an alternative gait training arrangement in which a walking platform is mounted in the base frame by means of a substructure.

[0002] DE 20 2016 105235 U1 relates to a device for conducting vibration training, comprising a platform and actuators which are designed to set the platform in a vibrating movement.

[0003] RS 20 100 269 A discloses a treadmill with horizontal and vertical vibration generators.

[0004] The aim of this application is to make gait and running training on a treadmill or walking platform more varied and interesting, but also to enable effective training for the treatment of various illnesses. This applies particularly to conditions such as stroke and Parkinson's disease, where the goal is to regain postural control and balance to enable standing and walking with the lowest possible risk of falls. For older people, the aim is particularly to maintain the ability to walk into old age.

[0005] The invention is therefore based on the object of providing a gait training arrangement of the type characterized above which is improved with regard to its therapeutic application possibilities.

[0006] This object is achieved by a gait training arrangement having the features of claims 1 and 2. Appropriate developments of the inventive concept are the subject of the dependent claims.

[0007] The gait training system according to the invention offers the user—especially older users—a completely new level of exercise for the musculoskeletal system without the risk of accidents, with significantly greater activation of the stabilizing muscles (particularly in the pelvic region, the torso, and the joints) even with slow walking. Cardiovascular and sensorimotor abilities can be significantly improved in a very short time with the proposed system.

[0008] The invention includes the idea of ​​imparting a movement with a dominant horizontal component to the treadmill frame and thus to the treadmill itself, or to the substructure of the walking platform and thus to the walking platform itself, generated by the user's landing movements. The magnitude of this horizontal movement is thus dependent on the user's landing behavior and is therefore subject to their own control, which is highly beneficial for the desired training and therapy effects.

[0009] Furthermore, the invention includes the idea of ​​converting the landing movement into the largely horizontal movement of the treadmill frame or the substructure of the walking platform by means of support bodies that are specially configured and / or specifically connected to the treadmill frame or the substructure on the one hand and the base frame on the other. The support bodies are thus configured and / or mounted in such a way that they at least substantially block a vertical component of the movement of the treadmill frame or the substructure or redirect its direction. Exemplary designs of the support bodies that achieve this effect are described in the following paragraphs and in exemplary embodiments.

[0010] The belt or slats can be driven by the runner's leg movement and / or an electric drive. Switching between the two is also possible.

[0011] Preferably, four or more elastic or movable support elements are used. However, a bearing arrangement on three support bodies or two support bodies on one side and a rotatable or otherwise movable bearing arrangement (e.g., via an elastomer) on the other side is also conceivable.

[0012] In a first specific embodiment, it is provided that the treadmill frame or the walking platform has a rectangular shape in plan view and at least one support element is provided at or near each end of the rectangular treadmill frame, which elastically connects the treadmill frame to the base frame.

[0013] In another specific embodiment, the treadmill frame or the walking platform has a rectangular shape in plan view, and at or near the end points of the front edge or rear edge of the rectangular treadmill frame or the walking platform, at least one support element is provided which elastically connects the treadmill frame to a suspension point in the base frame, and at the other of the front edge or rear edge, the treadmill frame is mounted in the base frame in a substantially movable or rotatable manner.

[0014] In further expedient embodiments, it is provided that the support elements are designed as essentially rigid but movable bodies, in particular balls or rolling elements, or as elastically flexible bodies partially or along the entire support element. In one embodiment of this embodiment, it is further provided that the balls or rolling elements are each movably mounted in a recess in the base frame, which has a radius significantly larger than the radius of the ball or rolling element, at least in the longitudinal direction of the base frame, and are mounted in a ball or rolling bearing shell on the underside of the treadmill frame, or vice versa.

[0015] The support elements are either rigidly mounted and damped for movement, or they are inherently flexible and / or elastic or spring-elastic, preferably with pronounced recovery properties. The damping behavior of the support elements is achieved through the spring properties of the support bodies themselves and / or additionally incorporated elastomers and / or spring elements.

[0016] By varying the vibration and damping characteristics of the individual support bodies, the movement behavior of the entire treadmill frame can be individually adjusted in different directions of movement.

[0017] The support elements allow the range of the arrangement to be adjusted to the left and right, front and back, and diagonally, even asymmetrically. This allows for different gait training arrangements to accommodate the user's mobility limitations and / or enhance the training effect.

[0018] In a further embodiment, the damping of the support bodies and thus the oscillation frequency of the treadmill frame can be individually adjusted.

[0019] The device preferably includes a means for locking the treadmill frame to the chassis at least in two places so that walking or running training can be carried out under "normal" conditions without vibration of the frame.

[0020] The locking device can be designed so that, when locked with only one such device, essentially a rotational movement is maintained. This allows restricted movement patterns of the treadmill frame to be maintained.

[0021] In a special design, the locking device is not rigidly connected to the treadmill base frame, but allows for some residual mobility. This can be achieved by connecting the locking device to the base frame via an elastomer and / or tension or compression springs.

[0022] This locking device can, for example, be located centrally on the side or front part of the treadmill frame.

[0023] While walking, the frame of the treadmill or the walking surface is already set in motion by the walking and running motion, thus achieving a training effect. Special walking exercises can further increase the tendency to oscillate. A special effect can be achieved by using an electric drive for the treadmill or the slats, which does not operate consistently, but rather changes the speed at irregular intervals. This can occur very abruptly or with a less abrupt change in speed, which can change the oscillation behavior to a greater or lesser extent.

[0024] In another design, one or more electromagnets are attached to one or more outer or inner sides of the frame, possibly to the mounts for the oscillating elements. During the frame's natural movement while walking, the magnets can hold the frame in place and release it at a specific time. This can influence the oscillation behavior and enhance the training effect through unpredictable movements.

[0025] In a further embodiment, the frame can be actuated or guided by electric, pneumatic, or other types of actuators. These can advantageously be combined with a magnet.

[0026] In a special embodiment, at least one magnet or actuator is combined with an elastic element. This can consist of an elastomer and / or a construction with one or more springs. This allows for both the residual mobility of the walking surface and the smooth docking to the walking surface. An additional incline adjustment can also be useful. If the support bodies according to the invention have elastic properties in the vertical direction, the incline of the walking surface of the treadmill is automatically adjusted as the user shifts their weight while walking.

[0027] In one embodiment, additional light barriers, force sensors / strain gauges or pressure distribution sensors are arranged on / under / at the running surface to control and measure walking behavior.

[0028] Furthermore, elements from virtual reality coupled or synchronized with the movements of the running surface - displayed with a screen, projector, AR glasses - can be used.

[0029] Advantages and expediencies of the invention will become apparent from the following description of embodiments with reference to the figures.

[0030] Of these, show: Fig. 1a and 1b Cross-sectional views of an exemplary arrangement (seen from the rear), Fig. 2a to 2c Longitudinal sectional views of a further exemplary arrangement and a detailed view of a special embodiment, Fig. 3a to 3c Various variants of an arrangement with return spring elements, Fig. 4 A cross-sectional view (seen from the rear) of an arrangement with a locking device, Fig. 5 An exemplary configuration of a modified locking device, Fig. 6 A schematic representation of an arrangement for controlling the speed of the electrically operated drive roller, Fig. 7 An exemplary arrangement of actuators for influencing the oscillating movement of the treadmill frame.

[0031] For the following exemplary explanation of essential aspects of the invention, it is expressly pointed out that gait training arrangements have long been familiar to the person skilled in the art and have been described in numerous patent and technical publications - including those by the applicant.

[0032] This also applies to special designs such as the provision of an elastically suspended treadmill frame, actuators for adjusting the incline of the treadmill, or user-independent movements of the treadmill frame. The provision of means for controlling the speed of the treadmill (also depending on the user's movement behavior or training programs), or display means for displaying a virtual running environment and / or training instructions, is also known to those skilled in the art. This also applies to pressure detection sensors for detecting contact and, optionally, contact points and contact forces on the walking or running surface, as well as other useful features for specific purposes of the gait training system.

[0033] The examples and aspects of the arrangement according to the invention explained below offer particular advantages with regard to the design of a simple structure of the gait training arrangement and the diverse possibilities of designing the movements of the treadmill frame and thus of the walking surface in the various horizontal directions in a very individual manner.

[0034] Fig. 1a shows a gait training arrangement from behind, in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. The rollers 5 have axes of rotation or shafts 5a, which can rotate with low friction in bearing bores 3a of the treadmill frame 3. The treadmill frame 3 is attached to a base frame 11 via elastically flexible support elements 1 in such a way that, during use, the contact force exerted by the user causes the treadmill frame to oscillate in the base frame, with a dominant horizontal component of the oscillation.

[0035] This effect is achieved in particular by the fact that the support elements, configured as essentially cuboid-shaped support bodies, are firmly connected at or near their two ends to the treadmill frame on the one hand and the base frame on the other. They possess an inherent rigidity that allows them to function as compressible "support posts" of the treadmill frame. This inherent rigidity, combined with the flexural elasticity, ensures that contact forces with virtually any direction of force are essentially converted into horizontal movements of the treadmill frame.

[0036] In Fig. 1b It is shown by way of example how the preferably spring-elastic support elements 1 bend when walking on the treadmill and how the treadmill frame 3 moves sideways. By designing the length and cross-section of the support elements 1, both the deflection range and the movement characteristics can be changed. If the cross-section of the support elements 1 is not symmetrical, the deflection characteristics of the treadmill frame 3 can be adjusted forwards and backwards, left and right, and in diagonal directions as desired and even differently. Fig. 1 It is also shown that the support elements 1 can be attached both underneath the treadmill frame 3 and laterally to it. With the lateral attachment of the support elements 1a shown on the left, the access height of the running surface can advantageously be designed to be low.

[0037] Fig. 2a shows a gait training arrangement from the side, in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. The treadmill frame 3 is mounted on the treadmill base frame 11 via cylindrical or spherical, rigid support elements 1 that can rotate about a rotation axis. During use, the contact force exerted by the user causes the treadmill frame to oscillate with a dominant horizontal component.

[0038] In Fig. 2b It is shown by way of example that the preferably spherically shaped support elements 1 enable the movement of the treadmill frame 3 in a horizontal direction when walking. The spherical support bodies 1 move between the treadmill frame 3 and the base frame 11. The design and shape of the support bodies 1 can vary in length, cross-section, and diameter, thus allowing both the deflection range and the movement characteristics to be changed.

[0039] Fig. 2c shows in a detailed view that a spherical support element 1 rests in a ball bearing shell 1A in the treadmill frame 3 on the one hand and in a concave formation 11a in the base frame on the other. This centers and dampens the movement of the treadmill frame relative to the base frame. By appropriately designing the curvature of the formation 11a, the movement parameters of the movement can be adjusted as desired. By an additional (not shown) limiting element on both sides of the concave formation (such as a raised edge of the formation), the ball can be even better prevented from rolling out of the formation if necessary. This design allows the support body 1 to rotate easily under the treadmill frame 3 and can provide advantages such as low noise and reduced wear of the support body.

[0040] If the treadmill frame 3 is to move only in the longitudinal direction relative to the base frame 11, the support body can also be cylindrical (as already noted above), and the bearing can be designed as a needle bearing instead of a ball bearing.

[0041] In a particularly preferred embodiment, the support bodies 1 are embedded in an elastic body 2, so that the treadmill frame 3 returns to its original position after deflection. The elastic bodies 2a—preferably with good recovery properties—can also be arranged separately beneath the treadmill frame 3. As a particular advantage, the elastic bodies 2 create a mechanical connection between the treadmill frame 3 and the base frame 11, thus preventing it from shifting or lifting off.

[0042] It goes without saying that in this design, the support elements cannot be rigidly connected to the treadmill frame and the base frame. On the other hand, their mobility must be limited in some way. This can be achieved simply, for example, by enclosing them in a support element cage or by mounting their rotational axis in a support element mount on the base frame.

[0043] The number of support bodies 1 is fundamentally not limited, so that a plurality of support bodies 1 can be arranged under the treadmill frame 3 or a flat construction connected thereto under the running surface.

[0044] Fig. 3a shows a gait training arrangement from behind, in which two rollers 5 are held in a treadmill frame 3, over which a treadmill 7 runs and is driven. To convert contact forces into a substantially horizontal movement of the treadmill frame 3, support elements 1 are arranged between the treadmill frame 3 and the base frame 11. Their configuration can, for example, be similar to Fig. 1a und 1b be.

[0045] To improve the return properties to an initial position, elements with spring properties 9 are arranged laterally between the treadmill frame 3 and upright parts 11a of the base frame 11. Instead of tension and compression springs, elastomers can also be used in any number and surface area.

[0046] Fig. 3b und 3c show two different configurations for the arrangement of the spring / damping elements 9: one diagonally at the four corners of the treadmill frame, and the other in a mutually perpendicular arrangement of two such elements near the corners of the treadmill frame. Their primary function is to dampen the movement of the treadmill frame due to contact forces and to center the treadmill frame in the base frame. They can be interchangeable, allowing elements with different spring and damping properties to be used as needed, e.g., elastomer elements made of rubber compounds with different degrees of hardness.

[0047] In Fig. 4 On the left side, for example, an outrigger 3b is attached to the treadmill frame 3. Associated with this is a locking device 13 with a locking screw 13a, by means of which the treadmill frame 3 can be fixed to the outrigger 11a, at least locally preventing vibrations of the frame. It is understood that by providing several such locking devices at different locations on the treadmill frame, complete locking of the frame in the frame can be achieved.

[0048] Fig. 5 shows a modified version of the locking device 13, schematically in a top view and a side view, which allows a certain degree of residual mobility to be maintained within the base frame even when the treadmill frame is locked. For this purpose, a cup-shaped abutment 13b is provided below the end of the locking screw 13a, which is braced by four locking spring elements 13c in the corners of a square recess 11b at the end of the boom 11a. This design is only an example; the cup-shaped abutment 13b can also be embedded in an elastic material.

[0049] Regarding all the designs explained above, it should be noted that these can also be implemented using a walking platform with a corresponding frame as a substructure instead of a treadmill frame. Minor structural adjustments required to implement these modifications are within the scope of professional practice, so a detailed description of these designs can be omitted here.

[0050] Fig. 6 schematically shows an option for designing the gait training arrangement according to the invention, namely the design with a drive control device 15, with which, on the one hand, the current speed of the treadmill is recorded (for example by detecting the speed of the drive shaft) and, on the other hand (for example via an operating computer 17), the belt speed can be varied, preferably to generate perturbation movements of the treadmill frame 3 and thus of the running surface. For this purpose, for example, jerky changes in the speed of the drive roller 5 can be carried out. The control can be carried out via a computer located in the treadmill or an external computer. The treadmill frame is only shown in section here. A support element 1 is shown schematically.

[0051] Fig. 7 shows the arrangement Fig. 1 and 2in a top view, with additional elements that serve to effect user-induced movements of the treadmill frame within the treadmill chassis. These are electromagnets 19 or other types of actuators 21, optionally in conjunction with an elastic coupling element 23. The corresponding elements are each preferably connected to the treadmill base frame 11.

[0052] If the treadmill frame 3 and thus the running surface 7 are set in motion by the arrangement according to the invention, the electromagnet 19 located at a fixed position on the treadmill base frame 11 can be activated and fix the treadmill frame 3 and release it again at the given time.

[0053] The actuator 21 can specifically move the treadmill frame via a lifting cylinder 21 and thus exert disruptive impulses on the running surface 7. As shown, and to combine both properties, the actuator 21 can be connected to the lifting cylinder 21.

[0054] The addition of an elastic element 23 allows for smooth docking to the treadmill frame 3 and, if necessary, allows for residual mobility of the running surface. The elastic element 23 is shown as an example in front of the electromagnet 19, but can also be connected directly to the base frame 11 behind it and / or used in conjunction with the actuator 21 or a combination of both elements.

[0055] The implementation of the invention is not limited to the examples and aspects explained above, but is also possible in a variety of modifications within the scope of skilled mankind. In particular, it should be noted that any combination of the dependent claims is to be considered within the scope of the invention.

[0056] The invention is defined in the claims.

Claims

1. Gait training arrangement, comprising a treadmill frame (3) and an endless belt or lamella belt running over rollers (5) held in the treadmill frame (3) and driven, one surface of which serves as a walking or running surface, wherein the treadmill frame (3) is mounted elastically on a base frame (11) by means of support elements (1) in such a way that, during use, the contact force exerted by the user causes the treadmill frame (3) to oscillate in the base frame (11) with a dominant horizontal component of its movements.

2. Gait training arrangement, with a walking plate mounted in a base frame (11), which has a flat substructure, wherein the substructure is mounted on the base frame (11) by means of support elements (1) in such a way that, during use, the contact force exerted by the user causes the base frame to oscillate in the base frame (11) with a dominant horizontal component of its movements.

3. Gait training arrangement according to claim 1 or 2, wherein the support elements (1) are connected as support bodies with a first end to the base frame (11) and with a second end to the treadmill frame (3) or a flat substructure of the walking plate.

4. Gait training arrangement according to one of claims 1 to 3, wherein the support bodies are designed and / or connected in such a way that they substantially block a vertical component of the movement of the treadmill frame (3) or the substructure on the one hand and the base frame (11) on the other hand, thereby essentially blocking or deflecting in its direction a vertical component of the movement of the treadmill frame (3) or the substructure, which causes the transfer of the contact force exerted by the user into a swing with a dominant horizontal component.

5. Gait training arrangement according to one of claims 1 to 4, wherein the treadmill frame (3) or the walking plate has a rectangular shape in plan view and at least one support element (1) is provided at or near each end of the rectangular treadmill frame (3), which elastically connects the treadmill frame (3) to the base frame (11), or at least one support element (1) is provided at or near the end points of the front edge or rear edge of the rectangular treadmill frame (3) or the walking plate, which connects the treadmill frame (3) elastically to a suspension point in the base frame (11) and is mounted on the other of the front edge or rear edge of the treadmill frame (3) in a substantially movable or rotatable manner in the base frame (11).

6. Gait training arrangement according to one of claims 1 to 5, wherein the support elements (1) are designed as essentially rigid but movable bodies, in particular balls or rollers, or as bodies that are elastically flexible in part or along the entire support element (1).

7. Gait training device according to claim 6, wherein the balls or rollers are each mounted in a recess in the base frame, which has a radius substantially larger than the radius of the ball or rolling element, so as to be movable at least in the longitudinal direction of the base frame (11) and are mounted in a ball or roller bearing shell on the underside of the treadmill frame (3), or vice versa.

8. Gait training arrangement according to one of the preceding claims, wherein locking means are provided for the lateral or front area of the treadmill frame (3) or the walking plate, which in particular have an elastic element for forming residual mobility between the treadmill frame (3) and the base frame (11).

9. Gait training arrangement according to one of the preceding claims, wherein the treadmill frame (3) or the walking plate or each walking plate as a whole or each support element (1) are assigned damping means and / or return means for setting a predetermined damping of the vibration of the treadmill frame (3) or the walking plate caused by the contact forces and / or for returning the treadmill frame (3) to its initial position.

10. Gait training arrangement according to one of the preceding claims, wherein electrical, electromagnetic, pneumatic or hydraulic actuators are assigned to the treadmill frame (3) or the walking plate for imparting an adjustable front-rear inclination and / or lateral inclination of the treadmill frame (3) or the walking plate relative to the base frame (11) and / or for generating user-independent movements of the treadmill frame (3) or the walking plate in the base frame (11) are assigned.

11. Gait training arrangement according to claim 10, wherein at least one electromagnetic actuator is provided which responds to the oscillatory movement of the treadmill frame or the walking plate in the base frame (11) caused by the contact forces in such a way that predetermined deflection amounts of the treadmill frame (3) are detected by magnetic force and subjected to an additional movement component or are released again by the electromagnet, or by switching on or off, additional movement components of the treadmill frame (3) or the walking plate are caused with respect to the base frame (11).

12. Gait training arrangement according to one of the preceding claims, wherein control means are assigned to the drive of the treadmill for effecting speed changes of the treadmill, in particular on the basis of output signals from a random generator or a training program memory.

13. Gait training arrangement according to one of the preceding claims, wherein the endless belt or lamella belt or the walking plate is assigned a pressure / force detection sensor system for detecting the contact and, optionally, the contact points and contact forces on the walking or running surface, and the treadmill arrangement comprises a contact evaluation unit for evaluating the signals from the force sensor system, wherein the force sensor system comprises, in particular, strain gauges and / or a pressure sensor array for spatially resolved detection of the contact forces.

14. Gait training arrangement according to claim 13, wherein the contact evaluation unit is connected via a signal input to a sensor system for detecting the vibration state of the treadmill frame (3) or the walking plate in the base frame (11) and is designed such that the vibration state or vibration behavior of the treadmill frame (3) in the base frame (11) is taken into account when evaluating the contact forces.

15. Gait training arrangement according to claim 13 or 14, wherein the contact evaluation unit is connected to optical and / or acoustic display means and a display / output control is provided which comprises processing means for processing the evaluation results of the pressure sensor system in order to influence the representation of the virtual running environment or the output of training instructions.