EP0473484A1 - Machine for rehabilitation of a human joint particularly a knee - Google Patents

Machine for rehabilitation of a human joint particularly a knee Download PDF

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Publication number
EP0473484A1
EP0473484A1 EP91402194A EP91402194A EP0473484A1 EP 0473484 A1 EP0473484 A1 EP 0473484A1 EP 91402194 A EP91402194 A EP 91402194A EP 91402194 A EP91402194 A EP 91402194A EP 0473484 A1 EP0473484 A1 EP 0473484A1
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EP
European Patent Office
Prior art keywords
machine
rehabilitation
rod
member according
axis
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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EP91402194A
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German (de)
French (fr)
Inventor
Antoine Forcioli
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Individual
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Individual
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Publication date
Priority claimed from FR9010734A external-priority patent/FR2666223A1/en
Application filed by Individual filed Critical Individual
Publication of EP0473484A1 publication Critical patent/EP0473484A1/en
Withdrawn legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising

Definitions

  • the present invention relates to a machine intended for the rehabilitation of a joint of a human limb, in particular, but not exclusively, of the knee, for erasing the after-effects of a disease or an accident, having if necessary required surgery.
  • the necessary rehabilitation consists essentially of ensuring controlled movements of the limb around its joint, in the direction of flexion and natural extension, or folding thereof. .
  • the rhythm, duration and different parameters of the exercises are determined according to the particular conditions of each individual and the condition of the member and / or the joint to be rehabilitated.
  • the present invention relates to a machine of this kind which meets better than hitherto the requirements of construction and use of such devices, allowing rapid and safe adjustments, allowing immediate adaptation regardless of the patient's size and / or the treatment conditions to be applied.
  • the machine according to the present invention also makes it possible to respond to applications other than rehabilitation, and can in particular be effectively used for analytical bodybuilding.
  • the machine considered comprising a support frame for a control mechanism according to an alternating oscillation movement of an elongated stirrup against which the patient's leg is immobilized, himself seated on a seat with adjustable positioning, attached to the frame, is characterized in that the stirrup comprises a slide for relative immobilization of the ankle of the patient, mounted movably on the stirrup, the latter being integral, opposite the slide, with a rod-crank assembly driven by the control mechanism to cause the stirrup oscillations, the useful length of the connecting rod being adjustable in order to adjust the amplitude of the stirrup oscillations during its deflections.
  • the stirrup is constituted by a metal U-shaped rod, the ends of which are integral with a crank pin, carrying the crank at the end of which the connecting rod of the connecting rod assembly is articulated. crank.
  • the connecting rod of the connecting rod-crank assembly has its end opposite to that articulated on the crank, housed and immobilized in a determined position in a radial groove of a rotary disc, so varying the useful length of the connecting rod and consequently the amplitude of the stirrup oscillations.
  • the device comprises on the one hand an electric motor for driving the rotary disc by means of a speed variator, and on the other hand a torque limiter acting on the main axis, said torque limiter being able to cause the disengagement of the mechanism when the torque transmitted to the main axis becomes greater than a predetermined threshold.
  • the kinematic chain then successively consists of a variable speed drive motor, an eccentric, a torque limiter, one of the shafts of which corresponds to the main axis, is integral with the caliper.
  • the movable slide on the rod of the stirrup comprises a displaceable transverse bar, the orientation of which relative to the slide is adjustable by means of a locking nut.
  • the slide bar supports at its two opposite ends supports for axes perpendicular to its plane, on which are mounted idle rollers capable of moving on either side of the ankle of the patient, the spacing supports of these axes being adjustable according to the length of the bar.
  • control mechanism comprises a plate carried by the support frame by means of two parallel guides, passing through the plate and on which the latter can move under the effect of an adjustment screw, driven in rotation by a flywheel while being immobilized in translation, the screw cooperating with a threaded part forming a nut, provided on the plate.
  • the seat is secured to the frame by means of a guide means allowing longitudinal displacement on either side of the main axis, along a longitudinal axis perpendicular to the main axis. It can thus be indifferently disposed to the right or to the left of said main axis, the stirrup ensuring, as the case may be, the immobilization of the right ankle or the left ankle.
  • the guide means makes it possible to optimally adjust the position of the knee relative to the main axis with which the axis of rotation must preferably coincide.
  • the rod-crank assembly generating the oscillations transmitted to the joint to be re-educated comprises a sensor detecting the high point of the mechanism.
  • This sensor makes it possible to stop the gear motor in a safe position. In fact, restarting the gear motor after stopping at top dead center necessarily results in a rotation of the main axis from a position corresponding to one of the limit angles, corresponding to one of the top dead center of the assembly connecting rod-crank, towards a middle position. This avoids any risk of exceeding the predefined limit angles.
  • the machine settings corresponding to this preferred variant are made easier.
  • the transformation of the rotary movement into alternating movement is carried out by a device comprising a plate supporting the drive axis of the connecting rod.
  • This plate is capable of rotating around an axis parallel to the main axis and of being locked in a given position.
  • the axis of said plate is offset from the longitudinal axis of the main shaft. Therefore, the radial distance between the axis of the main shaft and the axis of the axis of connection with the connecting rod varies depending on the angular position of the plate relative to the main shaft.
  • the main shaft has a longitudinal bore in which is positioned the rod for controlling the rotation of the plate supporting the drive axis.
  • This control rod has at its end opposite the plate a button for adjusting its position when the plate is unlocked.
  • This embodiment optionally makes it possible to produce a sealed device, in the case where the main shaft passes through the wall of the device by an O-ring, and comprises a second O-ring ensuring the tightness of the control rod.
  • the main shaft has a bore for the passage of a longitudinally movable rod, the end of which is capable of locking in rotation the plate supporting the drive axis.
  • This rod ensures the locking in rotation of the plate supporting the connecting axis with the connecting rod when it is in a rest position.
  • the control rod is pulled back.
  • the plate can be rotated to adjust and modify the amplitude of the reciprocating movement.
  • the main shaft supports a main plate having a bore of shape complementary to the shape of the connecting plate.
  • the plate supporting the connecting pin is embedded in the main plate in normal operation. It thus improves the stability and reliability of the whole.
  • the section of the bore of the main plate and of the connecting plate is of polygonal shape.
  • the drive plate has on its rear face a plurality of bores with a diameter substantially identical to the diameter of the locking rod, said bores being arranged on a circular line, centered on the axis of the control rod.
  • the two bores of the main shaft are arranged symmetrically with respect to the axis of said main shaft.
  • control mechanism is arranged on a movable plate relative to a vertical support column.
  • This plate includes locking means. It is thus possible to adapt the device to the rehabilitation of different joints.
  • the main shaft of the device for transforming the rotary movement into a reciprocating movement includes drive means capable of cooperating with complementary means integral with the column. It is thus possible to use the motorization means to assist the movement of the plate supporting the mechanism relative to the vertical column.
  • the machine considered is designated as a whole under the reference 1. It mainly comprises a support frame (2), against which is attached the base (3) of a seat (4) on which a patient can be suitably seated by presenting his leg (5) whose knee is to be re-educated (schematically represented in broken lines in the figure) against the frame (2).
  • the base (3) of the seat is integral with a longitudinal guide slide (6). The seat can be moved along this slide (6), and can be locked in the chosen position, both to the right and to the left of the main axis (18).
  • the support frame (2) comprises two parallel crosspieces, respectively (7) and (8), arranged at the ends of the frame, perpendicular to the side thereof which the seat (4) is disposed against, these crosspieces being joined by guides (9) and (10) parallel to each other and extending in a direction parallel to this same side.
  • guides can slide a mechanism comprising in particular a lower plate capable of cooperating with the threaded part of a screw (12), driven by means of a flywheel (13) carried by the crosspiece (7), so that the screw rotation causes the translational movement of the control mechanism on the guides (9) and (10), bringing the mechanism (11) closer or further apart on request with respect to the main axis (18).
  • This displacement makes it possible to adjust the limiting angles of the oscillations, as will be explained in the following description.
  • the control mechanism (11) essentially consists of an electric motor (14) joined by a conventional transmission member to a variable speed drive, preferably irreversible, for example a speed reducer comprising a worm screw, mounted in a cover 15.
  • a variable speed drive preferably irreversible, for example a speed reducer comprising a worm screw
  • the various parts of the mechanism are by themselves conventional and do not require a detailed description.
  • the output shaft of the torque limiter drives a rotary disc 16 forming part of a connecting rod-crank assembly (17), the particular embodiment of which will be described in more detail below.
  • the rod-crank assembly (17) is integral with the primary axis of a torque limiter, for example of the electromagnetic type, the secondary axis of which in turn controls a crank pin (18) on which is mounted a stirrup (19 ) preferably in the form of a metal rod (20) folded in a U, and of which FIG. 2 more particularly illustrates the profile, as well as the various accessories of the machine associated with it.
  • the patient's leg (5) is arranged in such a way that it can be trapped substantially at the level of his ankle in an immobilization slide (21) whose adjustment according to the length of the rod (20) of the stirrup (19) can be adjusted according to the size of the patient and in particular the precise position of his leg and more particularly of his ankle once he is seated on the seat ( 4) of the machine.
  • a locking screw (22) allows, when the slide is brought at a suitable height, immobilize it on the stirrup.
  • the slide (21) also supports a claw (23), held against the slide by means of a stop nut (24), this claw allowing the support against the slide of a transverse bar (25), allowing a relative adjustment of the transverse position of this bar on one side or the other of the slide, as well as the limited pivoting of the latter around the axis of the nut (24) during the oscillations of the stirrup (19) as described below.
  • On the bar (25 are mounted on either side of the supports (not shown) for rollers, respectively (26) and (27), mounted idly on parallel axes (28) and (29), extending perpendicularly in the plane determined by the directions of the bar and the U-shaped rod (20) of the stirrup (19).
  • rollers are arranged to be disposed on each side of the patient's ankle while maintaining the latter while allowing movement relative thereof vis-à-vis the caliper (19) during the oscillations of the latter created by the crank-rod mechanism (17), the implementation of which is described below.
  • the mechanism (17) essentially consists of a crank (30) integral with the primary shaft of the torque limiter, the secondary shaft being connected to the crankpin (18) carrying a graduated indicator.
  • This graduated indicator is constituted by a dial carrying angularly spaced marks, and an index, one being fixed and the other secured to the crank pin (18).
  • This indicator controls the amplitude of the oscillations and the limiting angles.
  • the crank (30) is articulated about an axis (31) on a connecting rod (32). This is in turn joined to the rotating disc (16) by means of a lug (33) carried by the connecting rod and engaged in a radial groove (34) of the disc (16) so as to adjust on demand the useful length of the connecting rod (32) and consequently the oscillation movement communicated by the latter to the crankpin (18).
  • a sensor constituted by a permanent magnet (40) cooperating with a switch (41) activatable by a magnetic field, usually designated by "RED switch”, makes it possible to generate an electrical signal corresponding to the passage of one of the two top dead centers, that is to say when the two ends of the connecting rod (32) and the center of the disc (16) are aligned.
  • RED switch a switch
  • This signal is used to obligatorily stop the gear motor in the position corresponding to one of the top dead centers, and therefore to one of the positions of the stirrup corresponding to a limit angle of the oscillations.
  • the operation of the machine is easily deduced from the above description.
  • the machine is stopped at its top dead center.
  • the patient for whom a knee rehabilitation should be carried out by determining a succession of movement of his leg in flexion and extension, between two determined limiting angles, by gradually bending the knee joint, is seated on the seat (4) previously positioned against the frame (2).
  • the positioning is done by longitudinal displacement of the seat along its guide groove until the patient presents his left leg or his right leg, as the case may be, at the level of the stirrup (19), by engaging his ankle between the two rollers (26) and (27).
  • the positioning of the seat is optimal when the axis of the knee joint corresponds to the main axis materialized by the axis of the crankpin (18.
  • the patient's leg can thus be maintained while not interfering with its relative movements with respect to the stirrup, the bar (25) which can itself pivot around the axis of the nut (24) while the rollers (26) and (27) roll on the leg without risk of blocking or untimely immobilization of the latter.
  • the torque limiter in the disengaged position, i.e. a torque value temporarily set to zero, the stirrup now linked to the patient's leg is rotated until the joint forces .
  • the torque limiter is then adjusted so that disengagement occurs from a limit torque determined by the physiotherapist.
  • the gear motor can then be started.
  • the stirrup (19) is then controlled in an oscillating movement forward and backward by the rod-crank assembly (17), itself controlled by the motor (14).
  • the drive of the disc (16) causes the rotation of the connecting rod (32) in the direction indicated by the arrow F1 for example.
  • This rotational movement is then transformed, for the crank (30), due to the articulation of the latter at (31 on the connecting rod in a reciprocating movement according to the arrow (22).
  • the crank being linked in the crank pin (18), a corresponding oscillation is transmitted to the leg (5 via the stirrup (19).
  • the patient's leg (5) will therefore undergo, successively forwards then backwards, a series of flexion and extension making the knee work as shown diagrammatically by the arrow F3.
  • the limit angle in flexion and the limit angle in extension is gradually increased by an action on the steering wheel (13).
  • the machine considered allows, on demand, to adjust very precisely the relative positions of all moving parts and also to modify according to the modalities of the rehabilitation treatment, the speed and the angular limits of the movements imposed on the treated knee.
  • the position of the slide and of the bar carrying the rollers between which the ankle is disposed can be adapted and adjusted very simply according to the size of the patient and the length of his leg.
  • the distance between the control mechanism and the main axis (18) can be suitably determined by acting on the screw (12) driven by the flywheel (13), this in order to vary the angular limits of the oscillations of the stirrup and therefore of the leg. It is thus possible to increase the limits of flexion and extension in a controllable and progressive manner.
  • the amplitude of the oscillations imposed on the stirrup can be modified by varying the position of the lug (33) in the radial groove (34), thereby adjusting the relative position of the articulation axis (31 opposite the center of rotation of the drive disc (16).
  • an emergency stop system makes it possible to instantly stop the gear motor, and simultaneously, to put the torque limiter in the disengaged position.
  • a particularly robust and easy-to-use assembly is thus produced, which can be adapted whatever the morphology of the person to be cared for and the operations to be performed on the patient's knee, the treatment being able to be applied indifferently on one or the other of the two legs by a simple translation of the seat to a new position of the seat (4), symmetrically opposite to the previous one with respect to the main axis, without other interventions on the adjustments of the machine itself.
  • the machine considered also allows optimal adjustment of the maximum torque to exercise on the joint, according to the rehabilitation program determined by the physiotherapist. Indeed, when the torque applied to the knee exceeds a predefined value, in particular due to a too large amplitude of the oscillations, the torque limiter disengages the transmission of the movement.
  • the value of the maximum torque from which the torque limiter moves to the declutching position can be determined in the conventional way, for example by a graduated potentiometer if the torque limiter is of the electromagnetic type. The stirrup cannot thus exceed the position corresponding to the maximum authorized torque, as well as the limit angle in bending and / or in extension.
  • the machine considered can advantageously be used for analytical bodybuilding consisting in making a particular muscle work in a privileged manner.
  • the gear motor is blocked.
  • the patient exerts a torque on the main axis (18) via the stirrup (19).
  • the torque limiter creates an adjustable resistance torque, possibly variable depending on the angular position of the caliper. It is thus possible to precisely program the curve representing the opposite torque by the torque limiter as a function of the angular position of the stirrup, and to make one or more particular muscles work optimally.
  • FIG. 3 represents a perspective view of the member for transforming the relative movement into reciprocating movement according to a particular embodiment. It consists of a main shaft (101) capable of being driven by a motor in a known manner. One end of the main shaft (101) supports a coaxial main plate (102). This main plate (102) is constituted by a solid metal piece integral with the main shaft (101). The entire main shaft (101) and the main plate (1102) can also be produced by machining a single part.
  • the main shaft (101) and the main plate (102) have a first longitudinal bore (103), crossed by the control rod (104) of the connection plate (105) supporting the drive axis (106) d 'a connecting rod.
  • connection plate (105) The end of the control rod (104) opposite the connection plate (105) is provided with an operating button (107) making it possible to rotate said rod (104).
  • the rear surface (108) of the connection plate (105) has a series of bores which will be described in more detail with reference to FIG. 4. These bores ensure the locking in rotation of the connection plate (105) by means of a rod.
  • locking device (109) movable longitudinally in a second bore (110) disposed longitudinally in the main shaft (101). The locking is controlled by pulling on the rear end (111) of the locking rod (109).
  • FIG. 4 represents a detailed view of the assembly of the two plates.
  • the center of the main board (102) is symbolized by a cross (112).
  • This main plate (102) has a cylindrical cavity (113) coaxial with the axis of the control rod (114).
  • the rear surface (108) of the connecting plate (105) has a series of cylindrical bores (115 to 120) equidistant from the axis (114) of the control rod. One of these cylindrical orifices (119) cooperates with the locking rod (109).
  • the locking rod (109) and the control rod (104) are arranged symmetrically with respect to the axis of the main shaft (112).
  • FIG. 5 represents a schematic view of a rehabilitation device according to the invention.
  • FIG. 5 represents a machine for rehabilitating different joints constituted by a frame (121) provided with a vertical column (122).
  • the vertical column (122) supports a plate (123) to which the various components of the control and movement mechanism are fixed.
  • These mechanisms include in particular a gear motor and a torque limiter.
  • the mechanism is housed by a cover (124).
  • the output shaft of the torque limiter drives an arm (125) terminated by a stirrup (126) in which the end of a member, in the case shown in FIG. 5 by hand, can be immobilized.
  • the example described and illustrated in Figure 5 is shown in a position for rehabilitation of the elbow.
  • the patient (128) is installed on a chair (129) integral with the frame (121).
  • the height of the chair (129) is fixed or possibly adjustable to adapt to the morphology of the patient (128).
  • the output shaft of the gear motor comprises a toothed wheel (130) movable longitudinally relative to said shaft.
  • the toothed wheel In the rehabilitation position, the toothed wheel is moved away from the complementary rack (131) integral with the column (122).
  • the toothed wheel (130) In the engaged position, the toothed wheel (130) cooperates with the complementary rack (131) and insists the raising or lowering of the plate (123), thereby reducing the effort required to move the whole apparatus.
  • the frame (123) comprises a handle (132) comprising on its internal face a movable part controlling the passage in the clutch phase of the toothed wheel when a pressure is exerted on this handle.
  • a handle is similar to the system usually used on chainsaws.

Abstract

The present invention relates to a machine for rehabilitation of a human limb, particularly a knee, comprising a frame (2) supporting a reciprocating-movement drive mechanism (11). The machine according to the invention comprises a limb-immobilising means behind the joint to be rehabilitated, said immobilising means being joined to one of the shafts of a torque limiter, the other shaft of said torque limiter being coupled via a rod-and-crank system (17) to a disc (16) joined to a geared motor (14), which last is able to move perpendicularly to the main axis (18). The machine according to the invention can also be used for analytical muscular development exercises. <IMAGE>

Description

La présente invention est relative à une machine destinée à la rééducation d'une articulation d'un membre humain, en particulier, mais non exclusivement, du genou, pour effacer les séquelles d'une maladie ou d'un accident, ayant le cas échéant nécessité une intervention chirurgicale.The present invention relates to a machine intended for the rehabilitation of a joint of a human limb, in particular, but not exclusively, of the knee, for erasing the after-effects of a disease or an accident, having if necessary required surgery.

On conçoit que pour une articulation de ce genre, la rééducation nécessaire consiste pour l'essentiel à assurer des mouvements contrôlés du membre autour de son articulation, dans le sens de la flexion et de l'extension naturelle, ou du pliage de celle-ci. Ainsi, pour un genou, il convient de faire aller et venir la jambe du patient en maintenant la cuisse immobile et en faisant successivement plier vers l'avant, puis vers l'arrière la jambe, ceci autant de fois que nécessaire en fonction du traitement à appliquer et en augmentant progressivement les angles limites des oscillations de la jambe. Le rythme, la durée et les différents paramètres des exercices sont déterminés en fonction des conditions particulières de chaque individu et de l'état du membre et/ou de l'articulation à rééduquer.It is understood that for a joint of this kind, the necessary rehabilitation consists essentially of ensuring controlled movements of the limb around its joint, in the direction of flexion and natural extension, or folding thereof. . Thus, for a knee, it is advisable to make come and go the patient's leg while keeping the thigh immobile and making successively bend forwards, then backwards the leg, this as many times as necessary according to the treatment to apply and gradually increasing the limit angles of the leg oscillations. The rhythm, duration and different parameters of the exercises are determined according to the particular conditions of each individual and the condition of the member and / or the joint to be rehabilitated.

On comprend ainsi qu'il soit nécessaire de pouvoir faire varier à volonté l'amplitude et les angles limites du débattement ainsi que sa fréquence, aussi bien que de prévoir des moyens propres à adapter la machine à la morphologie de chaque patient selon sa taille, la longueur de son tibia et la position relative de son genou. Ces moyens doivent être réglables de façon simple et judicieuse.It is thus understood that it is necessary to be able to vary at will the amplitude and the limiting angles of the deflection as well as its frequency, as well as to provide means suitable for adapting the machine to the morphology of each patient according to his size, the length of his shin and the relative position of his knee. These means must be adjustable in a simple and judicious manner.

La présente invention concerne une machine de ce genre qui répond mieux que jusqu'à présent aux impératifs de construction et d'usages de tels appareils, en permettant des réglages rapides et sûrs, autorisant une adaptation immédiates quelle que soit la taille du patient et/ou les conditions du traitement à appliquer. La machine selon la présente invention permet en outre de répondre à des applications autres que la rééducation, et peut en particulier être efficacement utilisée pour la musculation analytique.The present invention relates to a machine of this kind which meets better than hitherto the requirements of construction and use of such devices, allowing rapid and safe adjustments, allowing immediate adaptation regardless of the patient's size and / or the treatment conditions to be applied. The machine according to the present invention also makes it possible to respond to applications other than rehabilitation, and can in particular be effectively used for analytical bodybuilding.

A cet effet, la machine considérée, comportant un bâti support pour un mécanisme de commande selon un mouvement d'oscillation alternatif d'un étrier allongé contre lequel est immobilisée la jambe du patient, lui-même assis sur un siège à positionnement réglable, accolé au bâti, se caractérise en ce que l'étrier comporte un coulisseau d'immobilisation relative de la cheville du patient, monté mobile sur l'étrier, celui-ci étant solidaire, à l'opposé du coulisseau, avec un ensemble bielle-manivelle entraîné par le mécanisme de commande pour provoquer les oscillations de l'étrier, la longueur utile de la bielle étant réglable afin d'ajuster l'amplitude des oscillations de l'étrier au cours de ses débattements.To this end, the machine considered, comprising a support frame for a control mechanism according to an alternating oscillation movement of an elongated stirrup against which the patient's leg is immobilized, himself seated on a seat with adjustable positioning, attached to the frame, is characterized in that the stirrup comprises a slide for relative immobilization of the ankle of the patient, mounted movably on the stirrup, the latter being integral, opposite the slide, with a rod-crank assembly driven by the control mechanism to cause the stirrup oscillations, the useful length of the connecting rod being adjustable in order to adjust the amplitude of the stirrup oscillations during its deflections.

Selon une caractéristique particulière de l'invention, l'étrier est constitué par une tige métallique en U, dont les extrémités sont solidaires d'un maneton, portant la manivelle à l'extrémité de laquelle est articulée la bielle de l'ensemble bielle-manivelle.According to a particular characteristic of the invention, the stirrup is constituted by a metal U-shaped rod, the ends of which are integral with a crank pin, carrying the crank at the end of which the connecting rod of the connecting rod assembly is articulated. crank.

Avantageusement, et selon une autre caractéristique de la machine considérée, la bielle de l'ensemble bielle-manivelle a son extrémité opposée à celle articulée sur la manivelle, logée et immobilisée en position déterminée dans une rainure radiale d'un disque rotatif, de manière à faire varier la longueur utile de la bielle et par suite l'amplitude des oscillations de l'étrier.Advantageously, and according to another characteristic of the machine considered, the connecting rod of the connecting rod-crank assembly has its end opposite to that articulated on the crank, housed and immobilized in a determined position in a radial groove of a rotary disc, so varying the useful length of the connecting rod and consequently the amplitude of the stirrup oscillations.

De préférence, le dispositif comporte d'une part un moteur électrique d'entraînement du disque rotatif par l'intermédiaire d'un variateur de vitesse, et d'autre part un limiteur de couple agissant sur l'axe principal, ledit limiteur de couple étant apte à provoquer le débrayage du mécanisme lorsque le couple transmis à l'axe principal devient supérieur à un seuil prédéterminé. La chaîne cinématique se compose alors successivement d'un moteur à variateur de vitesse, d'un excentrique, d'un limiteur de couple dont l'un des arbres, correspondant à l'axe principal, est solidaire de l'étrier.Preferably, the device comprises on the one hand an electric motor for driving the rotary disc by means of a speed variator, and on the other hand a torque limiter acting on the main axis, said torque limiter being able to cause the disengagement of the mechanism when the torque transmitted to the main axis becomes greater than a predetermined threshold. The kinematic chain then successively consists of a variable speed drive motor, an eccentric, a torque limiter, one of the shafts of which corresponds to the main axis, is integral with the caliper.

Selon une autre caractéristique de la machine considérée, le coulisseau mobile sur la tige de l'étrier comporte une barrette transversale déplaçable, dont l'orientation par rapport au coulisseau est réglable au moyen d'un écrou de blocage. De préférence également, la barrette du coulisseau supporte à ses deux extrémités opposées des supports pour des axes perpendiculaires à son plan, sur lesquels sont montés fous des rouleaux propres à se déplacer de part et d'autre de la cheville du patient, l'écartement des supports de ces axes étant réglable selon la longueur de la barrette.According to another characteristic of the machine considered, the movable slide on the rod of the stirrup comprises a displaceable transverse bar, the orientation of which relative to the slide is adjustable by means of a locking nut. Preferably also, the slide bar supports at its two opposite ends supports for axes perpendicular to its plane, on which are mounted idle rollers capable of moving on either side of the ankle of the patient, the spacing supports of these axes being adjustable according to the length of the bar.

Dans un mode de réalisation particulier de la machine selon l'invention, le mécanisme de commande comporte un plateau porté par le bâti support par l'intermédiaire de deux guides parallèles, traversant le plateau et sur lesquels celui-ci peut se déplacer sous l'effet d'une vis de réglage, entraînée en rotation par un volant tout en étant immobilisé en translation, la vis coopérant avec une partie filetée formant écrou, prévue sur le plateau.In a particular embodiment of the machine according to the invention, the control mechanism comprises a plate carried by the support frame by means of two parallel guides, passing through the plate and on which the latter can move under the effect of an adjustment screw, driven in rotation by a flywheel while being immobilized in translation, the screw cooperating with a threaded part forming a nut, provided on the plate.

Selon encore une autre caractéristique, le siège est solidaire du bâti par l'intermédiaire d'un moyen de guidage autorisant un déplacement longitudinal de part et d'autre de l'axe principal, selon un axe longitudinal perpendiculaire à l'axe principal. Il peut ainsi être indifféremment disposé à droite ou à gauche dudit axe principal, l'étrier assurant selon le cas l'immobilisation de la cheville droite ou de la cheville gauche. En outre, le moyen de guidage permet d'ajuster de façon optimale la position du genou par rapport à l'axe principal avec lequel l'axe de rotation doit préférablement coïncider.According to yet another characteristic, the seat is secured to the frame by means of a guide means allowing longitudinal displacement on either side of the main axis, along a longitudinal axis perpendicular to the main axis. It can thus be indifferently disposed to the right or to the left of said main axis, the stirrup ensuring, as the case may be, the immobilization of the right ankle or the left ankle. In addition, the guide means makes it possible to optimally adjust the position of the knee relative to the main axis with which the axis of rotation must preferably coincide.

Avantageusement, l'ensemble bielle-manivelle générant les oscillations transmises à l'articulation à rééduquer comporte un capteur détectant le point haut du mécanisme. Ce capteur permet d'arrêter le moto-réducteur dans une position de sécurité. En effet, le redémarrage du moto-réducteur après un arrêt au point mort haut entraîne obligatoirement une rotation de l'axe principal depuis une position correspondant à l'un des angles limites, correspondant à l'un des points mort haut de l'ensemble bielle-manivelle, vers une position médiane. On évite ainsi tout risque de dépassement des angles limites prédéfinis. En outre, les réglages de la machine correspondant à cette variante préférée sont rendus plus faciles.Advantageously, the rod-crank assembly generating the oscillations transmitted to the joint to be re-educated comprises a sensor detecting the high point of the mechanism. This sensor makes it possible to stop the gear motor in a safe position. In fact, restarting the gear motor after stopping at top dead center necessarily results in a rotation of the main axis from a position corresponding to one of the limit angles, corresponding to one of the top dead center of the assembly connecting rod-crank, towards a middle position. This avoids any risk of exceeding the predefined limit angles. In addition, the machine settings corresponding to this preferred variant are made easier.

Selon un mode de réalisation préféré, la transformation du mouvement rotatif en mouvement alternatif est effectué par un dispositif comportant un plateau supportant l'axe d'entraînement de la bielle. Ce plateau est susceptible de tourner autour d'un axe parallèle à l'axe principal et d'être verrouillé dans une position donnée. L'axe dudit plateau est décalé par rapport à l'axe longitudinal de l'arbre principal. De ce fait, la distance radiale entre l'axe de l'arbre principal et l'axe de l'axe de liaison avec la bielle varie en fonction de la position angulaire du plateau par rapport à l'arbre principal. En faisant tourner ce plateau, on modifie l'amplitude du mouvement alternatif engendré par la bielle coopérant avec l'axe de liaison. Le dispositif ainsi réalisé est particulièrement compact et présente une fiabilité importante.According to a preferred embodiment, the transformation of the rotary movement into alternating movement is carried out by a device comprising a plate supporting the drive axis of the connecting rod. This plate is capable of rotating around an axis parallel to the main axis and of being locked in a given position. The axis of said plate is offset from the longitudinal axis of the main shaft. Therefore, the radial distance between the axis of the main shaft and the axis of the axis of connection with the connecting rod varies depending on the angular position of the plate relative to the main shaft. By rotating this plate, we modify the amplitude of the reciprocating movement generated by the connecting rod cooperating with the connecting axis. The device thus produced is particularly compact and has significant reliability.

De préférence, l'arbre principal comporte un alésage longitudinal dans lequel est positionnée la tige de commande en rotation du plateau support l'axe d'entraînement. Cette tige de commande comporte à son extrémité opposée au plateau un bouton permettant d'ajuster sa position lorsque le plateau est déverrouillé. Ce mode de réalisation permet éventuellement de réaliser un dispositif étanche, dans le cas où l'arbre principal traverse la paroi du dispositif par un joint torique, et comporte un second joint torique assurant l'étanchéité de la tige de commande.Preferably, the main shaft has a longitudinal bore in which is positioned the rod for controlling the rotation of the plate supporting the drive axis. This control rod has at its end opposite the plate a button for adjusting its position when the plate is unlocked. This embodiment optionally makes it possible to produce a sealed device, in the case where the main shaft passes through the wall of the device by an O-ring, and comprises a second O-ring ensuring the tightness of the control rod.

Selon un mode de réalisation avantageux, l'arbre principal comporte un alésage pour le passage d'une tige mobile longitudinalement dont l'extrémité est apte à bloquer en rotation le plateau supportant l'axe d'entraînement. Cette tige assure le verrouillage en rotation du plateau supportant l'axe de liaison avec la bielle lorsque qu'il est dans une position de repos. Pour débrayer le plateau, la tige de commande est retirée en arrière. Dans ce cas, le plateau peut être entraîné en rotation pour ajuster et modifier l'amplitude du mouvement alternatif.According to an advantageous embodiment, the main shaft has a bore for the passage of a longitudinally movable rod, the end of which is capable of locking in rotation the plate supporting the drive axis. This rod ensures the locking in rotation of the plate supporting the connecting axis with the connecting rod when it is in a rest position. To disengage the chainring, the control rod is pulled back. In this case, the plate can be rotated to adjust and modify the amplitude of the reciprocating movement.

Selon une autre variante, l'arbre principal supporte un plateau principal présentant un alésage de forme complémentaire à la forme du plateau de liaison. Le plateau supportant l'axe de liaison s'encastre dans le plateau principal en fonctionnement normal. Il améliore ainsi la stabilité et la fiabilité de l'ensemble. Selon un mode de réalisation particulier, la section de l'alésage du plateau principal et du plateau de liaison est de forme polygonale.According to another variant, the main shaft supports a main plate having a bore of shape complementary to the shape of the connecting plate. The plate supporting the connecting pin is embedded in the main plate in normal operation. It thus improves the stability and reliability of the whole. According to a particular embodiment, the section of the bore of the main plate and of the connecting plate is of polygonal shape.

Lorsque le plateau secondaire est extrait de l'alésage du plateau principal, il est possible de le faire tourner. Le verrouillage s'effectue lorsque le plateau secondaire est remis en place dans son alésage. Le nombre de pas et donc de positions admises dépend du nombre de facettes de la section polygonale.When the secondary plate is extracted from the bore of the main plate, it is possible to rotate it. Locking takes place when the secondary plate is replaced in its bore. The number of steps and therefore of positions allowed depends on the number of facets of the polygonal section.

Selon un autre mode de réalisation, le plateau d'entraînement présente sur sa face arrière une pluralité d'alésage d'un diamètre sensiblement identique au diamètre de la tige de blocage, lesdits alésages étant disposés sur une ligne circulaire, centrée sur l'axe de la tige de commande.According to another embodiment, the drive plate has on its rear face a plurality of bores with a diameter substantially identical to the diameter of the locking rod, said bores being arranged on a circular line, centered on the axis of the control rod.

Selon un mode de réalisation avantageux, les deux alésages de l'arbre principal sont disposés symétriquement par rapport à l'axe dudit arbre principal.According to an advantageous embodiment, the two bores of the main shaft are arranged symmetrically with respect to the axis of said main shaft.

Selon un mode de réalisation particulier, le mécanisme de commande est disposé sur une platine mobile par rapport à une colonne support verticale. Cette platine comporte des moyens de verrouillage. Il est ainsi possible d'adapter l'appareil à la rééducation de différentes articulations.According to a particular embodiment, the control mechanism is arranged on a movable plate relative to a vertical support column. This plate includes locking means. It is thus possible to adapt the device to the rehabilitation of different joints.

De préférence, l'arbre principal du dispositif de transformation du mouvement rotatif en un mouvement alternatif, comporte des moyens d'entraînement aptes à coopérer avec des moyens complémentaires solidaires de la colonne. Il est ainsi possible d'utiliser les moyens de motorisation pour assister le déplacement de la platine supportant le mécanisme par rapport à la colonne verticale.Preferably, the main shaft of the device for transforming the rotary movement into a reciprocating movement includes drive means capable of cooperating with complementary means integral with the column. It is thus possible to use the motorization means to assist the movement of the plate supporting the mechanism relative to the vertical column.

D'autres caractéristiques d'une machine pour la rééducation d'une articulation d'un membre humain, en particulier d'un genou, apparaîtront encore à travers la description qui suit d'un exemple de réalisation, donné à titre indicatif et non limitatif, en référence aux dessins annexés sur lesquels:

  • la figure 1 est une vue en perspective d'une machine établie conformément à l'invention ;
  • la figure 2 est une vue en élévation et à plus grande échelle d'une partie de la machine selon la figure 1, illustrant notamment l'ensemble bielle-manivelle et l'étrier de support du coulisseau ;
  • la figure 3 représente une vue en perspective du dispositif ;
  • la figure 4 représente une vue schématique des deux plateaux ;
  • la figure 5 représente une machine de rééducation selon l'invention.
Other characteristics of a machine for the rehabilitation of a joint of a human limb, in particular of a knee, will become more apparent from the following description of an exemplary embodiment, given by way of non-limiting indication , with reference to the accompanying drawings in which:
  • Figure 1 is a perspective view of a machine established in accordance with the invention;
  • Figure 2 is an elevational view on a larger scale of a part of the machine according to Figure 1, illustrating in particular the rod-crank assembly and the slide support bracket;
  • Figure 3 shows a perspective view of the device;
  • Figure 4 shows a schematic view of the two plates;
  • FIG. 5 represents a rehabilitation machine according to the invention.

Sur la figure 1, la machine considérée est désignée dans son ensemble sous la référence 1. Elle comporte principalement un bâti support (2), contre lequel est accolé le piétement (3) d'un siège (4) sur lequel un patient peut être convenablement assis en présentant sa jambe (5) dont le genou est à rééduquer (schématiquement représenté en traits interrompus sur la figure) contre le bâti (2). Le piétement (3) du siège est solidaire d'une glissière de guidage longitudinale (6). Le siège peut être déplacé le long de cette glissière (6), et peut être verrouillé dans la position choisie, tant à droite qu'à gauche de l'axe principal (18).In Figure 1, the machine considered is designated as a whole under the reference 1. It mainly comprises a support frame (2), against which is attached the base (3) of a seat (4) on which a patient can be suitably seated by presenting his leg (5) whose knee is to be re-educated (schematically represented in broken lines in the figure) against the frame (2). The base (3) of the seat is integral with a longitudinal guide slide (6). The seat can be moved along this slide (6), and can be locked in the chosen position, both to the right and to the left of the main axis (18).

Le bâti support (2) comporte deux traverses parallèles, respectivement (7) et (8), disposées aux extrémités du bâti, perpendiculairement au côté de celui-ci contre lequel est disposé le siège (4), ces traverses étant réunies par des guides (9) et (10) parallèles entre eux et s'étendant selon une direction parallèle à ce même côté. Sur ces guides peut coulisser un mécanisme comportant notamment un plateau inférieur apte à coopérer avec la partie filetée d'un vis (12), entrainée au moyen d'un volant (13) porté par la traverse (7), de telle sorte que la rotation de la vis provoque le déplacement en translation du mécanisme de commande sur les guides (9) et (10), en rapprochant ou en écartant à la demande le mécanisme (11) par rapport à l'axe principal (18). Ce déplacement permet d'ajuster les angles limites des oscillations, comme cela sera explicité dans la suite de la description.The support frame (2) comprises two parallel crosspieces, respectively (7) and (8), arranged at the ends of the frame, perpendicular to the side thereof which the seat (4) is disposed against, these crosspieces being joined by guides (9) and (10) parallel to each other and extending in a direction parallel to this same side. On these guides can slide a mechanism comprising in particular a lower plate capable of cooperating with the threaded part of a screw (12), driven by means of a flywheel (13) carried by the crosspiece (7), so that the screw rotation causes the translational movement of the control mechanism on the guides (9) and (10), bringing the mechanism (11) closer or further apart on request with respect to the main axis (18). This displacement makes it possible to adjust the limiting angles of the oscillations, as will be explained in the following description.

Le mécanisme de commande (11) se compose essentiellement d'un moteur électrique (14) réuni par un organe de transmission classique à un variateur de vitesse, de préférence irréversible, par exemple un réducteur de vitesse comportant une vis sans fin, monté dans un capot 15. Les diverses parties du mécanisme sont par elles-mêmes classiques et ne nécessitent pas une description détaillée. L'arbre de sortie du limiteur de couple entraîne un disque rotatif 16 faisant partie d'un ensemble bielle-manivelle (17) dont la réalisation particulière sera décrite plus en détail ci-après. L'ensemble bielle-manivelle (17) est solidaire de l'axe primaire d'un limiteur de couple, par exemple de type électromagnétique dont l'axe secondaire commande à son tour un maneton (18) sur lequel est monté un étrier (19) se présentant de préférence sous la forme d'une tige métallique (20) repliée en U, et dont la figure 2 illustre plus particulièrement le profil, ainsi que les divers accessoires de la machine lui étant associée.The control mechanism (11) essentially consists of an electric motor (14) joined by a conventional transmission member to a variable speed drive, preferably irreversible, for example a speed reducer comprising a worm screw, mounted in a cover 15. The various parts of the mechanism are by themselves conventional and do not require a detailed description. The output shaft of the torque limiter drives a rotary disc 16 forming part of a connecting rod-crank assembly (17), the particular embodiment of which will be described in more detail below. The rod-crank assembly (17) is integral with the primary axis of a torque limiter, for example of the electromagnetic type, the secondary axis of which in turn controls a crank pin (18) on which is mounted a stirrup (19 ) preferably in the form of a metal rod (20) folded in a U, and of which FIG. 2 more particularly illustrates the profile, as well as the various accessories of the machine associated with it.

En se référent ainsi à la figure 2, on voit que la jambe (5) du patient est disposée de telle sorte qu'elle puisse être emprisonnée sensiblement au niveau de sa cheville dans un coulisseau d'immobilisation (21) dont le réglage selon la longueur de la tige (20) de l'étrier (19) peut être ajusté en fonction de la taille du patient et notamment de la position précise de sa jambe et plus particulièrement de sa cheville une fois qu'il est assis sur le siège (4) de la machine. Une vis de blocage (22) permet, lorsque le coulisseau est amené à la hauteur convenable, d'immobiliser celui-ci sur l'étrier.Referring thus to FIG. 2, it can be seen that the patient's leg (5) is arranged in such a way that it can be trapped substantially at the level of his ankle in an immobilization slide (21) whose adjustment according to the length of the rod (20) of the stirrup (19) can be adjusted according to the size of the patient and in particular the precise position of his leg and more particularly of his ankle once he is seated on the seat ( 4) of the machine. A locking screw (22) allows, when the slide is brought at a suitable height, immobilize it on the stirrup.

Le coulisseau (21) supporte par ailleurs une griffe (23), maintenue contre le coulisseau au moyen d'un écrou d'arrêt (24), cette griffe permettant le maintien contre le coulisseau d'une barrette transversale (25), en autorisant un ajustement relatif de la position transversale de cette barrette d'un coté ou de l'autre du coulisseau, ainsi que le pivotement limité de celle-ci autour de l'axe de l'écrou (24) lors des oscillations de l'étrier (19) comme décrit plus loin. Sur la barrette (25 sont montées de part et d'autres des supports (non représentés) pour des rouleaux, respectivement (26) et (27), montés fous sur des axes parallèles (28) et (29), s'étendant perpendiculairement au plan déterminé par les directions de la barrette et de la tige en U (20) de l'étrier (19). Ces rouleaux sont agencés pour se disposer de chaque côté de la cheville du patient en maintenant cette dernière tout en permettant un déplacement relatif de celle-ci vis-à-vis de l'étrier (19) lors des oscillations de cette dernière créées par le mécanisme à bielle-manivelle (17), dont la mise en oeuvre et décrite ci-après.The slide (21) also supports a claw (23), held against the slide by means of a stop nut (24), this claw allowing the support against the slide of a transverse bar (25), allowing a relative adjustment of the transverse position of this bar on one side or the other of the slide, as well as the limited pivoting of the latter around the axis of the nut (24) during the oscillations of the stirrup (19) as described below. On the bar (25 are mounted on either side of the supports (not shown) for rollers, respectively (26) and (27), mounted idly on parallel axes (28) and (29), extending perpendicularly in the plane determined by the directions of the bar and the U-shaped rod (20) of the stirrup (19). These rollers are arranged to be disposed on each side of the patient's ankle while maintaining the latter while allowing movement relative thereof vis-à-vis the caliper (19) during the oscillations of the latter created by the crank-rod mechanism (17), the implementation of which is described below.

Le mécanisme (17) se compose essentiellement d'une manivelle (30) solidaire de l'arbre primaire du limiteur de couple, l'arbre secondaire étant relié au maneton (18) portant un indicateur gradué. Cet indicateur gradué est constitué par un cadran portant des repères espacés angulairement, et d'un index, l'un étant fixe et l'autre solidaire du maneton (18). Cet indicateur permet de contrôler l'amplitude des oscillations et les angles limites. La manivelle (30) est articulée autour d'un axe (31) sur une bielle (32). Celle-ci est à son tour réunie au disque rotatif (16) au moyen d'un ergot (33) porté par la bielle et engagé dans une rainure radiale (34) du disque (16) de manière à ajuster à la demande la longueur utile de la bielle (32) et par suite le mouvement d'oscillation communiqué par celle-ci au maneton (18).The mechanism (17) essentially consists of a crank (30) integral with the primary shaft of the torque limiter, the secondary shaft being connected to the crankpin (18) carrying a graduated indicator. This graduated indicator is constituted by a dial carrying angularly spaced marks, and an index, one being fixed and the other secured to the crank pin (18). This indicator controls the amplitude of the oscillations and the limiting angles. The crank (30) is articulated about an axis (31) on a connecting rod (32). This is in turn joined to the rotating disc (16) by means of a lug (33) carried by the connecting rod and engaged in a radial groove (34) of the disc (16) so as to adjust on demand the useful length of the connecting rod (32) and consequently the oscillation movement communicated by the latter to the crankpin (18).

Un capteur constitué par un aimant permanent (40) coopérant avec un interrupteur (41) activable par un champs magnétique, usuellement désigné par "interrupteur RED", permet de générer un signal électrique correspondant au passage de l'un des deux points morts hauts, c'est à dire lorsque les deux extrémités de la bielle (32) et le centre du disque (16) sont alignés. Bien entendu, de nombreux autres moyens à la portée de l'Homme du métier, permettent de générer ce type de signal. Ce signal est exploité pour arrêter obligatoirement le moto-réducteur dans la position correspondant à l'un des points morts hauts, et donc à l'une des positions de l'étrier correspondant à un angle limite des oscillations.A sensor constituted by a permanent magnet (40) cooperating with a switch (41) activatable by a magnetic field, usually designated by "RED switch", makes it possible to generate an electrical signal corresponding to the passage of one of the two top dead centers, that is to say when the two ends of the connecting rod (32) and the center of the disc (16) are aligned. Of course, many other means within the reach of the skilled person, can generate this type of signal. This signal is used to obligatorily stop the gear motor in the position corresponding to one of the top dead centers, and therefore to one of the positions of the stirrup corresponding to a limit angle of the oscillations.

Le fonctionnement de la machine se déduit aisément de la description qui précède. La machine est arrêtée à son point mort haut. Le patient pour lequel il convient de procéder à une rééducation de son genou en déterminant une succession de mouvement de sa jambe en flexion et en extension, entre deux angles limites déterminés, en faisant plier progressivement l'articulation du genou, est assis sur le siège (4) préalablement positionné contre le bâti (2). Le positionnement se fait par déplacement longitudinal du siège le long de sa rainure de guidage jusqu'à ce que le patient présente sa jambe gauche ou sa jambe droite selon le cas au niveau de l'étrier (19), en engageant sa cheville entre les deux rouleaux (26) et (27). Le positionnement du siège est optimal lorsque l'axe de l'articulation du genou correspond à l'axe principal matérialisé par l'axe du maneton (18. Grâce au réglage de la position du coulisseau (21) le long de l'étrier, aussi bien qu'aux déplacements possibles des rouleaux selon la longueur de la barrette de support (25), la jambe du patient peut être ainsi maintenue tout en ne gênant pas ses mouvements relatifs vis-à-vis de de l'étrier, la barrette (25) pouvant elle-même pivoter autour de de l'axe de l'écrou (24) pendant que les rouleaux (26) et (27) roulent sur la jambe sans risque de blocage ou d'immobilisation intempestive de cette dernière. Après avoir mis le limiteur de couple en position débrayée, c'est à dire une valeur de couple réglée provisoirement à une valeur nulle, on fait pivoter l'étrier à présent lié à la jambe du patient jusqu'à ce que l'articulation force. Le limiteur de couple est alors réglé de façon à ce que le débrayage se produise à partir d'un couple limite déterminé par le kinésithérapeute. Le moto-réducteur peut alors être mis en marche. L'étrier (19) est alors commandé selon un mouvement d'oscillation vers l'avant et vers l'arrière par l'ensemble bielle-manivelle (17), lui-même commandé par le moteur (14). L'entraînement du disque (16) provoque la rotation de la bielle (32) selon le sens indiqué par la flèche F1 par exemple. Ce mouvement de rotation se transforme alors, pour la manivelle (30), du fait de l'articulation de cette dernière en (31 sur la bielle en un mouvement de va-et-vient selon la flèche (22). La manivelle étant liée au maneton (18), une oscillation correspondante est transmise à la jambe (5 par l'intermédiaire de l'étrier (19). La jambe (5) du patient va donc subir, successivement vers l'avant puis vers l'arrière, une suite de flexion et d'extension faisant travailler le genou comme schématisé par la flèche F3. L'angle limite en flexion et l'angle limite en extension est progressivement augmenté par un action sur le volant (13).The operation of the machine is easily deduced from the above description. The machine is stopped at its top dead center. The patient for whom a knee rehabilitation should be carried out by determining a succession of movement of his leg in flexion and extension, between two determined limiting angles, by gradually bending the knee joint, is seated on the seat (4) previously positioned against the frame (2). The positioning is done by longitudinal displacement of the seat along its guide groove until the patient presents his left leg or his right leg, as the case may be, at the level of the stirrup (19), by engaging his ankle between the two rollers (26) and (27). The positioning of the seat is optimal when the axis of the knee joint corresponds to the main axis materialized by the axis of the crankpin (18. Thanks to the adjustment of the position of the slide (21) along the stirrup, as well as the possible displacements of the rollers according to the length of the support bar (25), the patient's leg can thus be maintained while not interfering with its relative movements with respect to the stirrup, the bar (25) which can itself pivot around the axis of the nut (24) while the rollers (26) and (27) roll on the leg without risk of blocking or untimely immobilization of the latter. After putting the torque limiter in the disengaged position, i.e. a torque value temporarily set to zero, the stirrup now linked to the patient's leg is rotated until the joint forces . The torque limiter is then adjusted so that disengagement occurs from a limit torque determined by the physiotherapist. The gear motor can then be started. The stirrup (19) is then controlled in an oscillating movement forward and backward by the rod-crank assembly (17), itself controlled by the motor (14). The drive of the disc (16) causes the rotation of the connecting rod (32) in the direction indicated by the arrow F1 for example. This rotational movement is then transformed, for the crank (30), due to the articulation of the latter at (31 on the connecting rod in a reciprocating movement according to the arrow (22). The crank being linked in the crank pin (18), a corresponding oscillation is transmitted to the leg (5 via the stirrup (19). The patient's leg (5) will therefore undergo, successively forwards then backwards, a series of flexion and extension making the knee work as shown diagrammatically by the arrow F3. The limit angle in flexion and the limit angle in extension is gradually increased by an action on the steering wheel (13).

La machine considérée permet, à la demande, d'ajuster de façon très précise les positions relatives de toutes les pièces mobiles et également de modifier en fonction des modalités du traitement de rééducation, la vitesse et les limites angulaires des mouvements imposés au genou traité. Notamment et comme on l'a déjà précisé, la position du coulisseau et de la barrette portant les rouleaux entre lesquels est disposée la cheville peut être adaptée et réglée de façon très simple selon la taille du patient et la longueur de sa jambe. De même, la distance entre le mécanisme de commande et l'axe principal (18) peut être convenablement déterminé en agissant sur la vis (12) entraînée par le volant (13), ceci afin de faire varier les limites angulaires des oscillations de l'étrier et donc de la jambe. On peut ainsi augmenter les limites de flexion et d'extension de façon contrôlable et progressive. Enfin, l'amplitude des oscillations imposées à l'étrier peut être modifié en jouant sur la position de l'ergot (33) dans la rainure radiale (34), en ajustant ainsi la position relative de l'axe d'articulation (31 vis-à-vis du centre de rotation du disque d'entraînement (16).The machine considered allows, on demand, to adjust very precisely the relative positions of all moving parts and also to modify according to the modalities of the rehabilitation treatment, the speed and the angular limits of the movements imposed on the treated knee. In particular and as already specified, the position of the slide and of the bar carrying the rollers between which the ankle is disposed can be adapted and adjusted very simply according to the size of the patient and the length of his leg. Similarly, the distance between the control mechanism and the main axis (18) can be suitably determined by acting on the screw (12) driven by the flywheel (13), this in order to vary the angular limits of the oscillations of the stirrup and therefore of the leg. It is thus possible to increase the limits of flexion and extension in a controllable and progressive manner. Finally, the amplitude of the oscillations imposed on the stirrup can be modified by varying the position of the lug (33) in the radial groove (34), thereby adjusting the relative position of the articulation axis (31 opposite the center of rotation of the drive disc (16).

Par ailleurs, un système d'arrêt d'urgence permet d'arrêter instantanément le moto-réducteur, et simultanément, de mettre en position débrayée le limiteur de couple.In addition, an emergency stop system makes it possible to instantly stop the gear motor, and simultaneously, to put the torque limiter in the disengaged position.

On réalise ainsi un ensemble particulièrement robuste et d'un emploi facile, qui peut être adapté quel que soit la morphologie de la personne de la personne à soigner et les opérations à pratiquer sur le genou de celle-ci, le traitement pouvant être appliqué indifféremment sur l'une ou l'autre des deux jambes par une simple translation du siège jusqu'à une nouvelle position du siège (4), symétriquement opposée à la précédente par rapport à l'axe principal, sans autres interventions sur les réglages de la machine elle même.A particularly robust and easy-to-use assembly is thus produced, which can be adapted whatever the morphology of the person to be cared for and the operations to be performed on the patient's knee, the treatment being able to be applied indifferently on one or the other of the two legs by a simple translation of the seat to a new position of the seat (4), symmetrically opposite to the previous one with respect to the main axis, without other interventions on the adjustments of the machine itself.

Par ailleurs, la machine considérée permet par ailleurs un ajustage optimal du couple maximum à exercer sur l'articulation, en fonction du programme de rééducation déterminé par le kinésithérapeute. En effet, lorsque le couple appliqué au genou dépasse une valeur prédéfinie, en particulier du fait d'une amplitude des oscillations trop importante, le limiteur de couple débraye la transmission du mouvement. La valeur du couple maximum à partir duquel le limiteur de couple passe en position de débrayage est déterminable de façon classique, par exemple par un potentiomètre gradué si le limiteur de couple est de type électro-magnétique. L'étrier ne peut ainsi pas dépasser la position correspondant au couple maximum autorisé, ainsi qu'à l'angle limite en flexion et/ou en extension.Furthermore, the machine considered also allows optimal adjustment of the maximum torque to exercise on the joint, according to the rehabilitation program determined by the physiotherapist. Indeed, when the torque applied to the knee exceeds a predefined value, in particular due to a too large amplitude of the oscillations, the torque limiter disengages the transmission of the movement. The value of the maximum torque from which the torque limiter moves to the declutching position can be determined in the conventional way, for example by a graduated potentiometer if the torque limiter is of the electromagnetic type. The stirrup cannot thus exceed the position corresponding to the maximum authorized torque, as well as the limit angle in bending and / or in extension.

Par ailleurs, la machine considérée peut avantageusement être utilisée pour la musculation analytique consistant à faire travailler de façon privilégiée un muscle particulier. Pour réaliser une telle musculation analytique, le moto-réducteur est bloqué. Le patient exerce un couple sur l'axe principal (18) par l'intermédiaire de l'étrier (19). Le limiteur de couple crée un couple de résistance ajustable et éventuellement variable en fonction de la position angulaire de l'étrier. Il est ainsi possible de programmer avec précision la courbe représentant le couple opposé par le limiteur de couple en fonction de la position angulaire de l'étrier, et de faire travailler de façon optimale un ou plusieurs muscles particuliers.Furthermore, the machine considered can advantageously be used for analytical bodybuilding consisting in making a particular muscle work in a privileged manner. To achieve such analytical bodybuilding, the gear motor is blocked. The patient exerts a torque on the main axis (18) via the stirrup (19). The torque limiter creates an adjustable resistance torque, possibly variable depending on the angular position of the caliper. It is thus possible to precisely program the curve representing the opposite torque by the torque limiter as a function of the angular position of the stirrup, and to make one or more particular muscles work optimally.

Par ailleurs, il est tout à fait envisageable, sans sortir du cadre de la présente invention, de rendre certains réglages, notamment de l'amplitude des oscillations et des angles limites, accessibles au patient, éventuellement par des moyens motorisés et par un boîtier de commande, de façon à ce que celui-ci participe activement à la définition du rythme de la rééducation.Furthermore, it is entirely conceivable, without departing from the scope of the present invention, to make certain adjustments, in particular the amplitude of the oscillations and limit angles, accessible to the patient, possibly by motorized means and by a command, so that he actively participates in defining the pace of rehabilitation.

La figure 3 représente une vue en perspective de l'organe de transformation du mouvement relatif en mouvement alternatif selon un mode de réalisation particulier. Il est constitué par un arbre principal (101) susceptible d'être entraîné par un moteur de façon connue. L'une des extrémités de l'arbre principal (101) supporte un plateau principal (102) coaxial. Ce plateau principal (102) est constitué par une pièce métallique massive solidaire de l'arbre principal (101). L'ensemble de l'arbre principal (101) et du plateau principal (1102) peut également être réalisé par usinage d'une pièce unique. L'arbre principal (101) est le plateau principal (102) comportent un premier alésage (103) longitudinal, traversé par la tige de commande (104) du plateau de liaison (105) supportant l'axe (106) d'entraînement d'un bielle. L'extrémité de la tige de commande (104) opposée au plateau de liaison (105) est munie d'un bouton de manoeuvre (107) permettant d'entraîner en rotation ladite tige (104). La surface arrière (108) du plateau de liaison (105) présente une série d'alésages qui seront décrits plus en détails en référence avec la figure 4. Ces alésages assurent le verrouillage en rotation du plateau de liaison (105) grâce à une tige de blocage (109) mobile longitudinalement dans un second alésage (110) disposé longitudinalement dans l'arbre principal (101). La commande du verrouillage s'effectue en tirant sur l'extrémité arrière (111) de la tige de blocage (109).FIG. 3 represents a perspective view of the member for transforming the relative movement into reciprocating movement according to a particular embodiment. It consists of a main shaft (101) capable of being driven by a motor in a known manner. One end of the main shaft (101) supports a coaxial main plate (102). This main plate (102) is constituted by a solid metal piece integral with the main shaft (101). The entire main shaft (101) and the main plate (1102) can also be produced by machining a single part. The main shaft (101) and the main plate (102) have a first longitudinal bore (103), crossed by the control rod (104) of the connection plate (105) supporting the drive axis (106) d 'a connecting rod. The end of the control rod (104) opposite the connection plate (105) is provided with an operating button (107) making it possible to rotate said rod (104). The rear surface (108) of the connection plate (105) has a series of bores which will be described in more detail with reference to FIG. 4. These bores ensure the locking in rotation of the connection plate (105) by means of a rod. locking device (109) movable longitudinally in a second bore (110) disposed longitudinally in the main shaft (101). The locking is controlled by pulling on the rear end (111) of the locking rod (109).

La figure 4 représente une vue détaillé de l'ensemble des deux plateaux. Le centre du plateau principal (102) est symbolisé par une croix (112). Ce plateau principal (102) présente une cavité cylindrique (113) coaxiale avec l'axe de la tige de commande (114).FIG. 4 represents a detailed view of the assembly of the two plates. The center of the main board (102) is symbolized by a cross (112). This main plate (102) has a cylindrical cavity (113) coaxial with the axis of the control rod (114).

La surface arrière (108) du plateau de liaison (105) présente une série d'alésages cylindriques (115 à 120) équidistant de l'axe (114) de la tige de commande. L'un de ces orifices cylindriques ( 119 ) coopère avec la tige de blocage (109). La tige de blocage (109) et la tige de commande (104) sont disposées symétriquement par rapport à l'axe de l'arbre principal (112). Si l'on désigne par (a) la distance entre l'axe de liaison (106) et le centre du plateau de liaison (105) et par (b) la distance entre l'axe de l'arbre principal (101) et l'axe de la tige de commande (104), la distance entre l'axe (106) et l'axe longitudinal de l'arbre principal ( 101 ), et donc l'amplitude du mouvement de la tête de bielle, varie entre la verticale |b-a| et |b+a|.The rear surface (108) of the connecting plate (105) has a series of cylindrical bores (115 to 120) equidistant from the axis (114) of the control rod. One of these cylindrical orifices (119) cooperates with the locking rod (109). The locking rod (109) and the control rod (104) are arranged symmetrically with respect to the axis of the main shaft (112). If we designate by (a) the distance between the connection axis (106) and the center of the connection plate (105) and by (b) the distance between the axis of the main shaft (101) and the axis of the control rod (104), the distance between the axis (106) and the longitudinal axis of the main shaft (101), and therefore the amplitude of the movement of the connecting rod head, varies between the vertical | ba | and | b + a |.

La figure 5 représente une vue schématique d'un appareil de rééducation selon l'invention. La figure 5 représente une machine de rééducation de différentes articulations constituées par un bâti (121) muni d'une colonne verticale (122). La colonne verticale (122) supporte une platine (123) a laquelle sont fixées les différentes composantes du mécanisme contrôle et mouvement. Ces mécanismes incluent en particulier un moto-réducteur et un limiteur de couple. Le mécanisme est abrité par un capot (124). L'arbre de sortie du limiteur de couple entraîne un bras (125) terminé par un étrier (126) dans lequel l'extrémité d'un membre, dans le cas représenté en figure 5 la main, peut être immobilisé. L'exemple décrit et illustré par la figure 5 est représenté dans une position permettant la rééducation du coude. Le patient (128) est installé sur un fauteuil (129) solidaire du bâti (121). La hauteur du fauteuil (129) est fixe ou éventuellement réglable pour s'adapter à la morphologie du patient (128).FIG. 5 represents a schematic view of a rehabilitation device according to the invention. FIG. 5 represents a machine for rehabilitating different joints constituted by a frame (121) provided with a vertical column (122). The vertical column (122) supports a plate (123) to which the various components of the control and movement mechanism are fixed. These mechanisms include in particular a gear motor and a torque limiter. The mechanism is housed by a cover (124). The output shaft of the torque limiter drives an arm (125) terminated by a stirrup (126) in which the end of a member, in the case shown in FIG. 5 by hand, can be immobilized. The example described and illustrated in Figure 5 is shown in a position for rehabilitation of the elbow. The patient (128) is installed on a chair (129) integral with the frame (121). The height of the chair (129) is fixed or possibly adjustable to adapt to the morphology of the patient (128).

L'arbre de sortie du moto-réducteur comporte une roue dentée (130) mobile longitudinalement par rapport audit arbre. En position de rééducation, la roue dentée est écartée de la crémaillère complémentaire (131) solidaire de la colonne (122). En position embrayée, la roue dentée (130) coopère avec la crémaillère complémentaire (131) et insiste la monté ou la descente de la platine (123), diminuant par là l'effort nécessaire pour déplacer l'ensemble de l'appareil. A cet effet, le bâti (123) comporte une poignée (132) comportant sur sa face interne une pièce mobile commandant le passage en phase d'embrayage de la roue dentée lorsqu'on exerce une pression sur cette poignée. Une telle poignée s'apparente au système habituellement mis en oeuvre sur des tronçonneuse. L'utilisation est la suivante : lorsque l'utilisateur saisie la poignée, il exerce une pression sur la pièce mobile ce qui provoque l'embrayage de la roue dentée. En exerçant une pression vers le haut ou vers le bas, il commande le sens de rotation du moto-réducteur, qui contribue au déplacement en hauteur de la platine (123). Lorsque l'utilisateur relâche la poignée, la roue dentée (130) repasse en position débrayée. Par ailleurs, différents capteurs interdisent l'embrayage de la roue dentée (130) lorsque le patient (128) est en place ou lorsque l'un de ces membres est en phase de rééducation.The output shaft of the gear motor comprises a toothed wheel (130) movable longitudinally relative to said shaft. In the rehabilitation position, the toothed wheel is moved away from the complementary rack (131) integral with the column (122). In the engaged position, the toothed wheel (130) cooperates with the complementary rack (131) and insists the raising or lowering of the plate (123), thereby reducing the effort required to move the whole apparatus. For this purpose, the frame (123) comprises a handle (132) comprising on its internal face a movable part controlling the passage in the clutch phase of the toothed wheel when a pressure is exerted on this handle. Such a handle is similar to the system usually used on chainsaws. The use is as follows: when the user grasps the handle, he exerts pressure on the moving part which causes the gear wheel to engage. By exerting an upward or downward pressure, it controls the direction of rotation of the gear motor, which contributes to the height movement of the plate (123). When the user releases the handle, the toothed wheel (130) returns to the disengaged position. Furthermore, various sensors prohibit the clutching of the toothed wheel (130) when the patient (128) is in place or when one of these members is in the rehabilitation phase.

Bien entendu, il va de soit que l'invention ne se limite pas à l'exemple de réalisation plus spécialement décrit et représenté ci-dessus, mais qu'elle embrasse au contraire toutes les variantes. En particulier, dans la description qui précède, seul une machine destinée à la rééducation du genou a étée décrite. Mais il est bien évident que l'invention peut être adaptée par l'Homme du Métier à tout type de besoin en matière de rééducation d'articulation par des modifications évidentes.Of course, it goes without saying that the invention is not limited to the embodiment more specially described and shown above, but on the contrary embraces all variants. In particular, in the foregoing description, only a machine intended for knee rehabilitation has been described. But it is obvious that the invention can be adapted by those skilled in the art to any type of need for joint rehabilitation by obvious modifications.

Claims (14)

1 - Machine pour la rééducation d'un membre humain, en particulier d'un genou, comportant un bâti (2) supportant un mécanisme de commande (11) alternatif caractérisé en ce qu'elle comporte un moyen d'immobilisation du membre postérieur à l'articulation à rééduquer, ledit moyen d'immobilisation étant solidaire de l'un des arbres d'un limiteur de couple, l'autre arbre dudit limiteur de couple étant couplé par l'intermédiaire d'un ensemble bielle-manivelle (17) à un disque (16) solidaire d'un moto-réducteur (14). 1 - Machine for the rehabilitation of a human member, in particular of a knee, comprising a frame (2) supporting an alternative control mechanism (11) characterized in that it comprises a means of immobilization of the posterior member to the joint to be rehabilitated, said immobilization means being integral with one of the shafts of a torque limiter, the other shaft of said torque limiter being coupled by means of a connecting rod-crank assembly (17) to a disc (16) integral with a gear motor (14). 2 - Machine pour la rééducation d'un membre humain selon la revendication 1 caractérisé en ce que ledit moyen d'immobilisation est constitué par un étrier allongé (19) comportant un coulisseau (21) d'immobilisation relative de l'extrémité du membre du patient opposée à l'articulation à traiter. 2 - Machine for the rehabilitation of a human member according to claim 1 characterized in that said immobilization means is constituted by an elongated stirrup (19) comprising a slide (21) for relative immobilization of the end of the limb patient opposed to the joint to be treated. 3 - Machine pour la rééducation d'un membre humain selon la revendication 1 ou la revendication 2 caractérisé en ce que le mécanisme de commande (11) du mouvement alternatif est constitué par un ensemble bielle-manivelle (17), la longueur utile de la bielle étant réglable afin d'ajuster l'amplitude des oscillations de l'étrier (19). 3 - Machine for the rehabilitation of a human member according to claim 1 or claim 2 characterized in that the control mechanism (11) of the reciprocating movement is constituted by a rod-crank assembly (17), the useful length of the connecting rod being adjustable in order to adjust the amplitude of the oscillations of the stirrup (19). 4 - Machine pour la rééducation d'un membre humain selon la revendication 3 caractérisé en ce que l'extrémité de la bielle (32), opposée à celle articulée sur la manivelle, coopère de façon verrouillable avec une rainure radiale (34) d'un disque rotatif (16), de manière à faire varier la longueur utile de ladite bielle (32). 4 - Machine for the rehabilitation of a human member according to claim 3 characterized in that the end of the connecting rod (32), opposite to that articulated on the crank, cooperates in a lockable manner with a radial groove (34) of a rotary disc (16), so as to vary the useful length of said connecting rod (32). 5 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 1 à 4 caractérisé en ce que l'étrier (19) est constitué par une tige métallique en U (20) dont l'extrémité est solidaire d'un maneton (18) entraîné par l'un des arbres du limiteur de couple. 5 - Machine for the rehabilitation of a human member according to any one of claims 1 to 4 characterized in that the stirrup (19) consists of a U-shaped metal rod (20) whose end is secured to a crankpin (18) driven by one of the shafts of the torque limiter. 6 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 1 à 5 caractérisé en ce que le bâti (2) comporte une glissière de guidage (6) d'un siège (4) orientée longitudinalement. 6 - Machine for the rehabilitation of a human member according to any one of claims 1 to 5 characterized in that the frame (2) comprises a guide slide (6) of a seat (4) oriented longitudinally. 7 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 1 à 6 caractérisé en ce que le mécanisme de commande (11) comporte un plateau porté par le bâti (2) par l'intermédiaire de deux guides parallèles (9,10) traversant ledit plateau, celui-ci pouvant se déplacer de préférence perpendiculairement à l'axe principal sous l'effet d'une tige fileté de réglage (12) entraînée en rotation par un volant (13), la dite tige (12) coopérant avec une partie filetée complémentaire formant écrou. 7 - Machine for the rehabilitation of a human member according to any one of claims 1 to 6 characterized in that the control mechanism (11) comprises a plate carried by the frame (2) by means of two parallel guides (9,10) passing through said plate, the latter being able to move preferably perpendicular to the main axis under the effect of a threaded adjustment rod (12) driven in rotation by a flywheel (13), said rod (12) cooperating with a complementary threaded part forming a nut. 8 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 2 à 7 caractérisé en ce que l'ensemble bielle-manivelle (17) comporte au moins un capteur apte à détecter le point mort haut, ledit capteur coopérant avec un système d'arrêt du moto-réducteur dans une position correspondant obligatoirement audit point mort haut de l'ensemble bielle-manivelle (17). 8 - Machine for the rehabilitation of a human member according to any one of claims 2 to 7 characterized in that the rod-crank assembly (17) comprises at least one sensor capable of detecting top dead center, said cooperating sensor with a stop system of the gear motor in a position corresponding necessarily to said top dead center of the rod-crank assembly (17). 9 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 1 à 8 caractérisé en ce qu'elle comporte au moins un capteur angulaire solidaire du maneton (18), ledit capteur angulaire générant un signal asservissant les caractéristiques du limiteur de couple. 9 - Machine for the rehabilitation of a human member according to any one of claims 1 to 8 characterized in that it comprises at least one sensor angular integral with the crank pin (18), said angular sensor generating a signal controlling the characteristics of the torque limiter. 10 - Machine pour la rééducation d'un membre humain selon l'une quelconque des revendications 1 à 9 caractérisé en ce que les différents réglages de ladite machine sont positionnés de façon à être accessibles par le patient pendant la séance de rééducation. 10 - Machine for the rehabilitation of a human member according to any one of claims 1 to 9 characterized in that the different settings of said machine are positioned so as to be accessible by the patient during the rehabilitation session. 11 - Machine pour la rééducation d'un membre humain selon la revendication 1, caractérisée en ce que la transformation du mouvement rotatif en mouvement alternatif est réalisé par un dispositif comportant un arbre principal (101) coopérant à son extrémité avec un axe décentré (106) apte à entraîner une bielle, ledit axe (106) étant solidaire avec un plateau de liaison (105) susceptible de tourner autour d'un axe parallèle à l'axe de l'arbre principal (101) le dispositif comportant des moyens de verrouillage dudit plateau de liaison (105) avec l'arbre principal (101). 11 - Machine for the rehabilitation of a human member according to claim 1, characterized in that the transformation of the rotary movement into alternating movement is carried out by a device comprising a main shaft (101) cooperating at its end with an off-center axis (106 ) suitable for driving a connecting rod, said axis (106) being integral with a connecting plate (105) capable of rotating about an axis parallel to the axis of the main shaft (101), the device comprising locking means of said connecting plate (105) with the main shaft (101). 12- Machine pour la rééducation d'un membre humain, en particulier d'un genou, d'une cheville ou du coude, du type comportant un bâti supportant un mécanisme de commande alternatif coopérant avec un limiteur de coupe entraîné par l'intermédiaire d'un ensemble bielle-manivelle avec un moto-réducteur, caractérisé en ce que le moto-réducteur entraîne l'ensemble bielle-manivelle par l'intermédiaire d'un dispositif pour la transformation d'un mouvement rotatif en un mouvement alternatif d'amplitude ajustable, conforme à l'une quelconque des revendications précédentes. 12- Machine for the rehabilitation of a human limb, in particular of a knee, ankle or elbow, of the type comprising a frame supporting an alternative control mechanism cooperating with a cut limiter driven by means of '' a rod-crank assembly with a gear motor, characterized in that the gear motor drives the rod-crank assembly by means of a device for transforming a rotary movement into an alternating amplitude movement adjustable according to any one of the preceding claims. 13 - Machine pour la rééducation d'un membre humain selon la revendication 12, caractérisée en ce que le mécanisme de commande est disposé sur une platine (123) mobile en hauteur par rapport à une colonne support verticale (122), la platine (123) comportant des moyens de verrouillage. 13 - Machine for the rehabilitation of a human limb according to claim 12, characterized in that the control mechanism is arranged on a plate (123) movable in height relative to a vertical support column (122), the plate (123 ) comprising locking means. 14 - Machine pour la rééducation d'un membre humain selon la revendication 13, caractérisée en ce que l'extrémité de l'arbre principal du moto-réducteur comporte des moyens d'entraînement (130) aptes à coopérer avec des moyens complémentaires (131) solidaires de la colonne (122). 14 - Machine for the rehabilitation of a human member according to claim 13, characterized in that the end of the main shaft of the gear motor comprises drive means (130) capable of cooperating with complementary means (131 ) integral with the column (122).
EP91402194A 1990-08-28 1991-08-06 Machine for rehabilitation of a human joint particularly a knee Withdrawn EP0473484A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FR9010734A FR2666223A1 (en) 1990-08-28 1990-08-28 Machine for re-education of a joint of a limb, in particular of the knee
FR9010734 1990-08-28
FR9105878 1991-05-15
FR9105878 1991-05-15

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CN103349602A (en) * 2012-04-10 2013-10-16 芜湖天人智能机械有限公司 Upper and lower limb fitness training device adjustable in wide range of amplitude
CN106420271A (en) * 2016-09-06 2017-02-22 广州科安康复专用设备有限公司 Single-driven bionic gait rehabilitation training robot system
CN106691777A (en) * 2016-12-26 2017-05-24 湖北文理学院 Foldable leg part rehabilitation training mechanism and wheelchair fitted with mechanism thereof
CN113274255A (en) * 2021-06-21 2021-08-20 哈尔滨理工大学 High-precision lower limb gait rehabilitation robot

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GB898575A (en) * 1959-02-25 1962-06-14 Turner Brothers Birmingham Ltd Improvements relating to adjustable throw cranks
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CN103349602A (en) * 2012-04-10 2013-10-16 芜湖天人智能机械有限公司 Upper and lower limb fitness training device adjustable in wide range of amplitude
CN103349602B (en) * 2012-04-10 2014-12-03 芜湖天人智能机械有限公司 Upper and lower limb fitness training device adjustable in wide range of amplitude
CN106420271A (en) * 2016-09-06 2017-02-22 广州科安康复专用设备有限公司 Single-driven bionic gait rehabilitation training robot system
CN106420271B (en) * 2016-09-06 2018-11-30 广州科安康复专用设备有限公司 It is single to drive bionical gait rehabilitation training robot system
CN106691777A (en) * 2016-12-26 2017-05-24 湖北文理学院 Foldable leg part rehabilitation training mechanism and wheelchair fitted with mechanism thereof
CN106691777B (en) * 2016-12-26 2024-02-13 湖北文理学院 Foldable leg rehabilitation training mechanism and wheelchair with same
CN113274255A (en) * 2021-06-21 2021-08-20 哈尔滨理工大学 High-precision lower limb gait rehabilitation robot

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