EP0732127A2 - Device for measuring and training of strength and/or mobility in humans or animals - Google Patents

Abstract

The device has contact pads (40, 42, 44, 46) for detecting the force and/or movement and positioning elements (12, 20, 50, 80, 82, 90, 92), for reproducible relative positioning of different parts of the body and the contact pads. The positioning elements can be adjusted via respective positioning drives, with detection of the relative positions of the body parts and the contact pads to provide control signals for the positioning drives, via a data processor receiving the position data.

Description

The invention relates to a device for measuring and training forces and / or mobility of humans or animals.

Such devices are required, for example, to control the development of individual muscles or muscle parts or the mobility of the corresponding body parts as precisely as possible. This can be important in competitive sports, for example, to check training progress, but also in medical rehabilitation processes. Comparable applications are also conceivable for racing horses etc.

The uses mentioned relate to the development of muscles and the mobility of parts of the body. For this purpose, their performance or the forces that they can exert must be measured again and again over a longer period of time. It is of great importance to obtain comparable measured values, which was previously hardly possible in practice.

The present invention aims to provide a device for measuring and training the forces and / or mobility of humans or animals, which is more suitable especially for the mentioned applications.

It achieves this goal with the subject matter of claim 1, that is to say by a device for measuring and training the forces and / or mobility of humans or animals, which means for measuring strength and / or mobility with predetermined means of attack and positioning means for reproducible adjustment of the relative position of body parts and aggression.

In this way, the position of the affected parts of the body relative to the corresponding means of attack is basically reproducible during the individual measurements or exercises. As a result, it can be set again and again. As a result, the individual force measurements or exercises can be carried out under the same or at least under similar conditions. The measurement results are thus comparable and thus meet the requirements placed on them with the desired precision. After the coupling between man and machine has been set, forces on the "symmetry drives", for example on the right and left knees, and also in different directions of action, e.g. Extend or bend knees to be measured.

In a preferred embodiment, the engagement means and the means for force measurement are designed as force absorption plates or pressure load cells (claim 2). This is particularly advantageous if the position of the affected body parts should not be changed during the measurement, as is the case with isometric exercises. From the pressure which an affected body part exerts in a given position on a force absorption plate, it is possible to infer the underlying forces which the corresponding muscles or muscle parts exert. The use of load cells has also the advantage that standard elements can be used.

The means for positioning and / or force and / or mobility measurement are preferably equipped with magnetic brakes (claim 3). Magnetic brakes allow a more flexible positioning of the means for measuring force and / or mobility or the corresponding parts of the body. This is particularly advantageous if (also) measurements are to be made on moving parts of the body. The same applies to parts of the body with a large radius of action, such as the extremities, in particular the human arms or parts thereof. The forces that the test person exerts against the braking resistance by means of individual muscles or muscle groups are measured. For this purpose, the respective magnetic brake can transmit the forces to a measuring sensor. In addition, such means for measuring strength and / or mobility are advantageous if, for example, the range of mobility of the extremities or the rotational mobility of the spine are also to be determined.

The positioning means preferably comprise a spatially adjustable recliner chair for receiving a subject (claim 4). For many applications, this enables the test subject to be positioned in a particularly simple and precise manner.

In a further preferred embodiment, handles are provided as the means of attack. The handles are fixed or adjustable on a skeleton-like linkage. The skeleton-like linkages are designed for flexible spatial positioning of the handles (claim 5). Such an arrangement enables a particularly flexible and varied use of the device. For example, it can be designed in the same way for moving, isometric and forced exercises or movements be. In particular, measurements of the rotational mobility in the upper body area are possible. With the help of such skeletal or exo-skeletal elements, an optimal adaptation of the device to the anthropometry of the test subject is possible, which ensures highly reproducible measurement conditions.
At least one positioning means is preferably equipped with drive means (claim 6). In this way, the setting of desired relative positions of body parts and means for force measurement can be carried out in a particularly simple and time-saving manner. In addition, it becomes possible, for example, to perform mobility training for the affected body parts or to measure the resilience of the corresponding muscles under forced and precisely defined movements.

In a further preferred embodiment, the positioning means have position measuring means for measuring relative positions of at least one part of the body and an attack means (claim 7). This enables a particularly uncomplicated handling of the device according to the invention.

Another preferred embodiment is equipped with means for data processing, including means for inputting, storing and outputting measurement and training-relevant data (claim 8). In this way it becomes possible, for example, to directly process the measurement data obtained or to prepare it in the manner desired in each case. This in turn enables a particularly effective and time-saving use of the invention. For example, the required patient data can be easily entered or called up on site, corrected or expanded if necessary, and / or the associated measurement data can be further processed, processed or managed without any particular effort.

Common data transmission means are preferably provided between means for force and / or mobility measurement and / or position measuring means and means for data processing, which further simplify the administration and processing of the measurement data. In particular, there is no separate work step for recording the measurement data. In addition, for example, there is the possibility of using a biofeedback process (cf. EP-A-94 113 968.5). In this way, the test person can exactly understand a given load sequence.

In a further preferred embodiment, the data processing means and the drive means are designed for an exchange of control signals and measurement data (claim 9). This enables almost complete automation of the device according to the invention. For example, it could now be designed in such a way that the test subject only has to enter his name in a data processing system in order to call up the corresponding device setting — previously stored — to carry out the necessary measurements and to evaluate and further process or manage the measurement data. An immediate reaction of the device to the existing performance of the affected muscles would also be conceivable as part of mobility training.

Rotation positioning means are preferably used in a device according to the invention, in which rotatable parts can be fixed in desired positions by means of a permanent magnet brake, the permanent magnet brake is connected to means for force measurement, and means are provided for minimizing the friction during the transmission of forces to the force measurement means (claim 10 ). This enables particularly uncomplicated and reliable measurements, especially when measuring the extremities.

Fig. 1:

eine perspektivische Darstellung einer Meßvorrichtung mit einem Liegesessel in einer Einstellung für sitzende Probanden;

Fig. 2:

eine perspektivische Darstellung der Meßvorrichtung aus Fig. 1 in einer Einstellung für liegende Probanden;

Fig. 3:

ein Aufriß des Liegesessels;

Fig. 4:

eine Seitenansicht des Meßbereichs der Vorrichtung aus Fig.1;

Fig. 5:

eine Draufsicht auf den Meßbereich aus Fig.1;

Fig. 6:

eine teilweise Frontansicht des Meßbereichs aus Fig. 1 mit Kraftaufnahmeplatten;

Fig. 7:

eine perspektivische Darstellung einer Meßvorrichtung für stehende Probanden;

Fig. 8:

eine teilweise Seitenansicht der Meßvorrichtung aus Fig.7;

Fig. 9:

eine Draufsicht auf die Meßvorrichtung aus Fig.7;

Fig. 10:

ein Querschnitt durch eine Kraftaufnahmeplatte mit einer Kraftmeßdose und dazugehörigen Positionierungsmitteln;

Fig. 11:

ein Aufriß einer Meßvorrichtung für den Oberkörperbereich stehender Probanden;

Fig. 12:

eine teilweise Frontansicht der Meßvorrichtung aus Fig. 11;

Fig. 13:

eine Draufsicht auf die Meßvorrichtung aus Fig. 11;

Fig. 14:

eine Seitenansicht der Meßvorrichtung aus Fig.11;

Fig. 15:

ein Drehpositionierungsmittel mit Mitteln zur Kraft- und/oder Beweglichkeitsmessung mit einer Magnetbremse in einem teilweisen Längsschnitt; und

Fig. 16:

einen Querschnitt des Drehpositionierungsmittels aus Fig. 15.

The invention is explained in more detail below with the aid of exemplary embodiments and the attached schematic drawing. In the drawing is:

Fig. 1:

a perspective view of a measuring device with a recliner in a setting for seated subjects;

Fig. 2:

a perspective view of the measuring device of Figure 1 in a setting for lying subjects.

Fig. 3:

an elevation of the chaise longue;

Fig. 4:

a side view of the measuring range of the device of Figure 1;

Fig. 5:

a plan view of the measuring area of Figure 1;

Fig. 6:

a partial front view of the measuring range of Figure 1 with force plates.

Fig. 7:

a perspective view of a measuring device for standing subjects;

Fig. 8:

a partial side view of the measuring device of Figure 7;

Fig. 9:

a plan view of the measuring device of Figure 7;

Fig. 10:

a cross section through a force receiving plate with a load cell and associated positioning means;

Fig. 11:

an elevation of a measuring device for the torso of standing subjects;

Fig. 12:

a partial front view of the measuring device of Fig. 11;

Fig. 13:

a plan view of the measuring device of Fig. 11;

Fig. 14:

a side view of the measuring device of Figure 11;

Fig. 15:

a rotational positioning means with means for force and / or mobility measurement with a magnetic brake in a partial longitudinal section; and

Fig. 16:

15 shows a cross section of the rotational positioning means from FIG. 15.

In the following description of the figures, reference is made to spatial directions X, Y and Z, which are also shown in the individual figures. They correspond to the mutually perpendicular axes of a Cartesian coordinate system. In this coordinate system, the exemplary embodiments described always lie in the same way such that the X axis corresponds to the longitudinal direction, the Y axis corresponds to the transverse direction and the Z axis corresponds to the height direction of the devices.

Figures 1 to 6 show a device according to the invention for measuring and training forces, which a seated or a lying test subject applies with his legs (or at least parts thereof).

The test subject sits on a recliner chair 10 for a measurement process (see FIGS. 1-3). The desired position of a backrest 14 of the recliner chair 10 is set via first positioning means 12. For example, the measurements can be carried out sitting upright (see FIG. 1) or lying down (see FIG. 2). There is also the possibility of dividing the backrest 14 into individually adjustable sections (indicated in FIG. 2, reference number 15). The height of a seat surface 16 above a device base 18 is adapted to the size of the subject by means of second positioning means 20. Different front parts 22, 24, 26, 27 or 28 allow the front end of the seat surface 16 to be varied in accordance with the desired design. The front parts 22, 24, 26, 27 or 28 can be attached, for example, by means of plug-in bolts 30, 32 (cf. especially Fig. 3). In addition, armrests, buckles, etc. (not shown) can be provided. Finally, it is possible to move the entire recliner 10 in the X direction. For this purpose, the armchair 10 is mounted on rails 34 and 36 and equipped with corresponding third positioning means (not shown).

The knees of the test person are angled downwards, regardless of their rather lying or sitting overall posture, between two contact surfaces 40 and 42 or 44 and 46 (see especially Fig. 4 to 6). This is done by moving the chair in the X direction according to the length of the thigh of the test person. Then the attack surfaces 40 and 42 or 44 and 46 are brought into a desired position on both sides of the knees. For example, they can touch or crimp the knee from both sides at the same time. In the present exemplary embodiment, this positioning is carried out by fourth positioning means 50 or 56, by means of which the engagement surfaces 40 or 46 can be displaced in the Y direction. The attack surfaces 42 and 44, however, are rigidly attached to a central wall 52.

The subject's feet are placed on contact surfaces 60 and 62 respectively (cf. FIGS. 5 and 6, not shown in FIGS. 1 to 3). In addition or as an alternative, attack means 60 'or 62' (see FIG. 4) can be provided, which are arranged above the feet, so that forces exerted upwards can also be measured.

Furthermore, attack means 70 and 72 are placed on the top of the knees (see FIG. 6). These can be moved in the Y and Z directions by fifth positioning means 80 and 82, respectively, and thus adapted to the position and the dimensions of the knees.

The device can thus be precisely adapted to the external dimensions of the knees by means of the contact surfaces 40, 70, 42 and 44, 72, 46 and, in this respect, has exo-skeletal properties. This in turn ensures highly reproducible measurement conditions.

The entire arrangement of knee measuring means 40, 42, 44, 46, 70 and 72 can also be via sixth positioning means 90 in the height (Z direction) and can be moved in the X direction via seventh positioning means 92. It is described in more detail below with reference to FIG. 6.

The arrangement of knee measuring means (cf. especially Fig. 6) comprises six contact surfaces 40, 42, 44, 46, 70 and 72, which are designed as force-absorbing plates. For force measurement on the knees, three force absorption plates 40, 70 and 42 are arranged in a U-shape on wall sections 51, 54 and 52 and / or force absorption plates 44, 72 and 46 on wall sections 52, 55 and 53. In this formation, they allow forces to be measured when the knees are facing each other (inwards, force plates 42 and 44), away from each other (outwards, force plates 40 and 46), or in a further direction (force plates 70 and 72 ) are pressed. In the exemplary embodiment of FIGS. 1 to 5, the entire arrangement is placed in such a way that the force-absorbing plates 70 and 72 are located above the knees and, as a further direction, the upward direction (Z direction) comes into consideration. The arrangement of engagement surfaces or knee measuring means 40, 42, 44, 46, 70 and 72 shown can, however, also be placed differently in other exemplary embodiments or else be rotatably supported by means of positioning means (not shown).

All the positioning means listed can be adjustable by hand and / or via drive means (not shown). For example, electric motors or hydraulic systems can be used as drive means. These can each be controlled on site, ie, for example, via controllers on the individual devices. However, an overall control via a central data processing system, which is connected to the drive means via cable or radio, is also particularly advantageous. The latter variant is preferably designed such that the input of the name or a number for the test subject is sufficient to save the entire measuring device by means of stored Set data appropriately. Such a data processing system could also be designed for the immediate evaluation of the measurement data, for the conversion of measurement data into control signals or for other purposes, such as for a biofeedback process (cf. EP-A-94 113 968.5).

Trays 94 and 96 are also provided. A data processing system, a monitor and a keyboard (not shown) are positioned on them, for example. The data processing system is designed, for example, for the uses described above. It is also possible to provide the trays 94 and 96 with spatial positioning means. In the present exemplary embodiment, the height (Z direction) is adjusted in height together with the entire arrangement of knee measuring means 40, 42, 44, 46, 70 and 72 via the sixth positioning means 90. In addition, first rotational positioning means 98 are provided.

FIGS. 7 to 9 show a device according to the invention for the measurement of forces and the training of the corresponding feature parts, which a standing test subject applies with his legs (or with parts of his legs).

In this exemplary embodiment, a reproducible posture of the subject is ensured in particular by a semicircular armrest 100, a backrest 102 and a middle wall 104. The armrest 100 and the backrest 102 can be adjusted in height (Z direction) via a common eighth positioning means 110. The middle wall 104 is also adjustable in height. It can be adjusted to the subject's leg length by ninth positioning means 112.

So that a test person can enter the device for a measuring process, the backrest 102 is first pivoted outward (direction A). It is about one for this purpose Swivel arm 120 attached to a second rotational positioning means 122 which can be rotated about an axis 124. Then the middle wall 104 is adjusted appropriately in height (Z direction). As soon as the test subject enters the device and has positioned one leg on the right and one on the left of the middle wall 104, the backrest 102 is pivoted back against the direction A until it is approximately parallel to the Y direction. At the same time or at different times, the height (Z direction) of the armrest 100 and the backrest 102 is adapted to the size of the test person via the common eighth positioning means 110. A curved handle 126 is also provided to ensure a firm placement of the subject's arms on the armrest.

The measuring device provides four contact surfaces 130, 132, 134 and 136 for the knee area, namely two outer (130 and 136) and two for the front of the knees (132 and 134). These are designed as force plates.

The force absorption plates 132 and 134 are rigidly fixed, while the force absorption plates 130 and 136 can be moved in the Y direction via tenth positioning means 140 and 142. The relative position of the test person with respect to the force absorption plates 130, 132, 134 and 136 is set, for example, as follows: first, the backrest 102 (parallel to the Y axis) is displaced in the X direction via eleventh positioning means 144 such that the knees of the test person standing upright in in the immediate vicinity of the front force receiving plates 132 and 134. The subject's upper body is supported by the armrest 100. The subject's knees are then fixed in the Y direction against the middle wall 104 located between the knees by means of the tenth positioning means 140 and 142. In addition, buckles (not shown) can be provided in order to measure pulling forces exerted with the knees to the rear (in the X direction).

7 to 9, trays 160 and 162, as well as a holder 164 for a data processing system, a monitor and a keyboard are also provided. They can be adjusted in height or twisted using twelfth positioning means 146. The data processing system can in turn be designed for the above-mentioned applications. Furthermore, this device can also be designed for all the functions described above. In particular, the positioning means 110, 112, 122, 140, 142, 144 and / or 146 can be equipped with any drive means.

Finally, weight measuring plates 101, 103 can be provided as a base. With their help, a possibly different load on his feet and thus also on the plates 101, 103 resulting from an asymmetrical equilibrium distribution of the test person can be measured. A weakness in posture can, for example, be recognized from this and then trained away. Apart from its surface, the weight measuring plate can be constructed similarly to the load cell described below.

Fig. 10 shows a force plate with a load cell and associated positioning means. It is suitable for the measurement of forces which are exerted along the direction B.

The force absorption plate consists of a front, padded plate 170 and a rear fixed, for example wooden part 172, which can be fixedly or releasably connected to one another. Adhesives or a Velcro fastener, for example, are suitable as connecting means. In the center of the rear fixed part 172, a hexagon nut 174 is fixedly arranged, by means of which the entire force absorption plate can be detachably attached to a threaded pin 176. The threaded pin 176 passes through a first mounting plate 178 and a pressure plate 180 and is firmly connected to a force sensor 182. This in turn is firmly arranged on a second mounting plate 184 and is available as a finished component of the 8524.5 kN type from Burster in D-76587 Gernsbach.

Both the force sensor 182 and the second mounting plate 184 are located within a load cell. The side wall of the load cell is formed by an annular cover sleeve 186, which is connected, for example, to a device wall 190 via a flange plate 188. The front mounting of the load cell is formed by the first mounting plate 178 or the force absorption plate.

The positioning of the force receiving plate can be carried out parallel to the B direction as follows: a spindle 192 is rotated via a handwheel 191 (or via a correspondingly arranged drive means). As a result, a spindle nut 193 moves parallel to the B direction, which is firmly connected to the second mounting plate 184. A locking pin 194, which is also firmly connected to the second mounting plate 184 and is guided by a guide bore 195 in a hollow device wall 190, prevents the moving parts of the load cell from being rotated.

A telescope-like system is also provided in order to enable relatively wide adjustments of the force receiving plate against the B-direction and at the same time to keep an all-round closed box in a relatively flat load cell. For this purpose, there is a concentric protective ring 196 inside the round cover sleeve 186, which takes over the function of the cover sleeve 186 when the first mounting plate 178 is unscrewed from the cover sleeve 186. If extreme freedom of adjustment is desired, further concentric protective rings can be provided. An excessive unscrewing of the force absorption plate is finally prevented by a stop 197.

11 to 14 show a measuring device according to the invention for standing or sitting test subjects. It is used for the measurement and / or training of muscle parts in the arm-shoulder and trunk area, as well as the mobility or rotational mobility of the upper body, the spine and the arms, especially the upper arms. In addition, it is designed for measurements and / or training under forced movements. All measurements can be carried out in the same way while standing or sitting, as indicated in Fig. 11. For reasons of clarity, however, only the embodiment for standing subjects is described below. Finally, a similar device could also be designed for measurements of the mobility of the lower body.

During a measurement process, the subject stands on a base 200 (in the XY plane) with his back to a height-adjustable backrest 202 (cf., in particular, FIGS. 11, 12 and 14) and with his head below a crossbeam 216 Subjects are stabilized by a middle plate 220 between their legs. To prepare for the measurement process, for example, the middle plate 220 is first adjusted together with the backrest 202 to the leg length of the test person in height (Z direction). Thirteenth positioning means 222 are provided for this purpose. Then the backrest 202 and / or the center plate 220 are brought into a desired position in the X direction by fourteenth positioning means 224 and 226, respectively. For example, the subject's waist circumference can be taken into account. Subsequently or at the same time, the position of the crossbar 216 in the Z direction is adapted to the body size of the subject by fifteenth positioning means 231 such that he can stand upright under the crossbar 216 and maintain a desired space between the crossbar 216 and the subject's head becomes. Simultaneously or at different times the subject can move to the measuring position, ie stand up with his back to the backrest 202.

The measurements are made using a skeleton-like construction. This consists of a linkage for the right and left arm of the test subject, which are arranged symmetrically to a central axis 230 on the crossbeam 216 (cf. especially FIGS. 11 and 12). Each linkage consists of a handle 204 or 206, a boom 208 or 210 and a curved swivel arm 212 or 214. During a measurement process, the subject's head, as described above, is below the crossbar 216, his shoulders within the arch the pivot arms 212 or 214 and his hands on the handles 204 or 206.

The adaptation of the skeleton-like construction to the test person is carried out, for example, as follows: first, the curved swivel arms 212 and 214 are moved along the crossbar 216 in the Y direction in order to arrange them according to the shoulder width of the test person. For this purpose, sixteenth positioning means 232 and 234 are provided for a linear displacement. The bent swivel arms 212 and 214 are then rotated into a desired position. This takes place via third rotary positioning means 236 or 238, by means of which they are connected at their upper ends (in the Z direction) to the linear sixteenth positioning means 232 or 234. The swivel arms can thus be moved laterally in the Y direction and rotated about an axis perpendicular to the X-Y plane. For example, their lower ends can be positioned next to or behind the subject's shoulders.

The arms 208 and 210 are rotatably attached to the lower ends of the curved swivel arms 212 and 214 by means of fourth rotary positioning means 240 and 242, respectively. They each rotate around an axis that lies in the XY plane. These axes are therefore perpendicular to the axes of rotation of the third Rotary positioning means 236 and 238 are arranged at the upper ends of the curved pivot arms 212 and 214, respectively. In this way it is possible to position the arms 208 and 210 appropriately for any position of the (stretched) arms of the subject. The height of the crossbeam 216 should be such that the lower ends of the curved swivel arms 212 and 214 are at the level of the subject's shoulders.

From the settings made so far, the following situation arises: the subject stands on the base 200 with his back to the backrest 202 and the central plate 220 between his legs. The crossbar 216 is located above the subject's head. The lower ends of the curved swivel arms 212 and 214 are arranged at the level of the subject's shoulders, for example to the right and left of his shoulders. The brackets 208 and 210 are set, for example, parallel to the X direction, i.e. the subject stands with his arms straight out.

As a last adjustment, the handles 204 and 206 must now be placed so that the test person can grip them with their arms outstretched. For this purpose, they are connected to the brackets 208 and 210 via linear seventeenth positioning means 244 and 246, respectively. They can therefore be moved along the arms 208 or 210. In this exemplary embodiment, the handles 204 and 206 serve as the sole means of attack. In contrast to the force-absorbing plates described above, several force-measuring means per attack means can be provided here, for example on all joints of the linkages.

The flexibility of the described embodiment can be considerably increased if the crossbeam 216 is rotatably arranged via fifth rotary positioning means 248 is. In this way it is possible to rotate the entire skeleton about the central axis 230.

The construction described enables very flexible settings for measurements of all kinds in the area of the upper body. For example, it can be designed for isometric exercises. For this purpose, the third, fourth and / or fifth rotational positioning means 236, 238, 240, 242, 248 are equipped with continuously lockable magnetic brakes. In this case, the positioning means 236, 238, 240, 242 and / or 248 can simultaneously serve to measure forces. The forces that a test subject exerts against the magnetic resistances are measured. (In the following, rotational positioning means, which also serve to measure forces, are identified by an apostrophe.)

Instead or additionally, the positioning means 236, 238, 240, 242 and / or 248 mentioned can also be equipped with drive means in such a way that measurements under forced movements and / or mobility training are possible. In other words, the drive means can generally move the arms 208, 210, swivel arms 212, 214, handles 204, 206, generally the target surfaces, in a predetermined manner, for example periodically pivoting, with the body parts of the test subject lying against the moving target surfaces appropriate movements are forced.

Furthermore, the use of a data processing system with the applications described above is also possible without restrictions.

14 shows this measuring device in a side view. Trays 250 and 252 can be seen therein, on which a data processing system 254 with a monitor 256 or for a keyboard 258 is arranged. The trays are via a linkage 260 and sixth rotary positioning means 262 connected to the pad 200. They can be rotated about an axis perpendicular to the XY plane.

In FIG. 13, supports 264 are also shown, which stabilize the entire device, in particular during exercises for rotational mobility.

FIG. 15 shows, by way of example, a partial longitudinal section of the fourth rotational positioning means 242 (see, for example, FIG. 12) in an enlarged view. It contains means for rotational positioning as well as means for force measurement. Furthermore, the ends of the swivel arm 214 and the arm 210, which are connected to the rotary positioning means 242, can be seen in part. The rotary positioning means 242 is rigidly attached to the swivel arm 214 and enables the boom 210 to be rotated about an axis 270. It is designed for isometric exercises. For dynamic exercises, various of the components described below would have to be replaced by an electric motor.

The arm 210 is screwed onto the front side (on the left in the illustration) of a cylindrical armature hub 272, among other things by cylinder screws 274, 276. The anchor hub 272 is T-shaped in longitudinal section, i.e. it has a large outside diameter in its front area and a small outside diameter in its rear area. However, their inside diameter is essentially constant.

The inner wall of the armature hub 272 can be rotated via first deep groove ball bearings 278, 280 and is arranged concentrically around a cylindrical hollow shaft 282. It can thus be rotated about the central axis 270 of the hollow shaft 282. The deep groove ball bearings 278, 280 are fixed along the axis 270 by means of retaining rings and spacer sleeves (no reference symbols).

In the following, the term "concentric" is used without further reference for all circular or cylindrical components, the central axis of which coincides with the axis 270.

Furthermore, an annular driver 284 is arranged concentrically in a concentric recess in the front region of the armature hub 272 in such a way that its free surface is flush with the front surface of the armature hub 272. It is firmly connected to the anchor hub 272 via cylinder screws 286 (among others). Its outer diameter is smaller than the outer diameter of the front area of the armature hub 272 and larger than the inner diameter of the armature hub 272.

The driver 284 is also T-shaped in longitudinal section. Its rear end lies frictionless inside the hollow shaft 282. At this rear end, a concentric shaft 290 is rigidly fastened via screw, groove and spring means 288, which also lies in the interior of the hollow shaft 282. The radial fixation of the shaft 290 takes place in the front area by the first deep groove ball bearings 278, 280 via the detour from the armature hub 272 and driver 284. The latter form a gripping arm which grips around the front end of the hollow shaft 282 and from the outside via the first deep groove ball bearing 278, 280 concentrically surrounds the outer surface of the hollow shaft 282. The rear area of the shaft 290, on the other hand, is simply fixed radially by second deep groove ball bearings 292, which are arranged flush between the inner wall of the hollow shaft 282 and the shaft 290. The hollow shaft 282 is finally rigidly connected to a foundation plate 294, which in turn is rigidly connected to the swivel arm 214.

With the components shown so far, any rotation of the boom 210 about the axis 270 is possible. The anchor hub 272, the driver 284 and the Rotated shaft 290, while the hollow shaft 282, the foundation plate 294 and the swivel arm 214 remain stationary. The shaft 290 lies inside the hollow shaft 282, while the armature hub 272 surrounds it from the outside. The rigid hollow shaft 282 is thus surrounded by rotatable parts from the inside and outside. The rotatable parts are via first and second deep groove ball bearings 278, 280; 292 radially fixed against the hollow shaft 282. Further components, which are described below, are provided for fixing the rotatable parts in a desired position and thus for reproducibly positioning the arm 210.

First, an annular permanent magnet 296 is concentrically attached to the armature hub 272. Together with an annular, concentric electromagnet 298, this forms a permanent magnet brake, as is available, for example, as a prefabricated component of the type 14.118.14.2.0.3 from Lenze in D-31763 Hameln. Such a permanent magnet brake allows two settings.

On the one hand, there is the possibility that current is applied to the electromagnet 298. The result of this is that an air gap 300 is created between the electromagnet 298 and the permanent magnet 296, ie the two magnets repel each other. To make this possible, the permanent magnet 296 is fastened to the armature hub 272 via spring means 302. The spring means 302 can consist of a resilient concentric ring. This is riveted to the permanent magnet 296 at several, symmetrically distributed locations by means of rivets 304 etc. It is pierced at other points that are also symmetrical to each other. There are recesses in the permanent magnet 296 behind the drill holes, each of which receives a screw head 306. The diameter of the screw head 306 is larger than the bore, so that the screw head 306 is fixed in the recess in the permanent magnet 296. On the front side of the screw head 306, a threaded bolt 308 is formed, which is screwed to a threaded bore 310 in the anchor hub 272. In this way, the permanent magnet 296 can change its position along the axis 270 within the framework of the elasticity of the spring ring in such a way that the air gap 300 can be opened or closed.

15 shows the situation with the air gap 300 open. The spring ring 302 is relaxed. If the current on the electromagnet 298 is now switched off again, there are attractive forces between the permanent magnet 296 and the electromagnet 298. The air gap 300 is consequently closed. The spring ring 302 is under elastic tension. Due to the surface friction between the permanent magnet 296 and the electromagnet 298, the rotatable parts are essentially rigidly fixed in this situation.

The components of the rotary positioning means 242 shown so far enable any desired rotational positioning of the arm 210 when rotated about the axis 270. If the electromagnet 298 is energized, this positioning can be changed. Once the power is turned off, the positioning is fixed. Further components for force measurement are described below.

In this exemplary embodiment, force measurements are only carried out when the moving parts are firmly positioned. For force measurements under moving arms etc., the forces exerted against an electric motor would have to be measured.

In the case of a fixed positioning, in the present exemplary embodiment the permanent magnet 296 and the switched-off electromagnet 298 are firmly engaged with one another due to attractive forces and the resulting frictional forces. The electromagnet 298 is on the other hand permanently connected to a cylindrical and concentric magnetic hub 312. This magnetic hub 312 concentrically surrounds the rear region of the hollow shaft 282. Between the inner surface of the magnetic hub 312 and the hollow shaft 282, third deep groove ball bearings 314, 316 are arranged flush, so that almost no friction can occur between the inner surface of the magnetic hub 312 and the outer surface of the hollow shaft 282 . This is important for the actual force measuring system shown below.

The magnetic hub 312 is rigidly connected on its right and on its left side to an abutment 318, 320 (see FIG. 16, the connecting means are not shown). A support bearing 324, 322 is arranged below each abutment 318, 320, which is fixedly connected to the foundation plate 294. A force sensor 326 or 328 is arranged between an abutment 318 or 320 and the associated support bearing 324 or 322. Such force sensors are available as prefabricated components of type 8415, 5 kN from Burster in D-76587 Gernsbach.

The force measurement is now carried out as follows: a test subject exerts a force on the arm 210 in one of the two possible directions of rotation after the moving parts have been fixed by the permanent magnet brake. Since the permanent magnet 296 and the electromagnet 298 are in engagement, the torque is transmitted to the magnet hub 312. However, this is firmly connected to the abutments 320 and 318. As a result, the torque is transmitted as a compressive force to the first force sensor 326 or the second force sensor 328, depending on the direction of rotation. Together with the support bearings 322, 324, these each permit only one micro-movement of all components which are now connected and are movable per se. The third deep groove ball bearings 314, 316 prevent forces from being lost due to friction.

The rotary positioning device is also equipped with the following components:

FIG. 15 partially shows a counterweight 330 which is rigidly connected to the shaft 290 via a counterjib 332, a coupling flange 334 and fastening means 336. The counterweight is dimensioned and arranged so that it balances the weight of the boom 210. This ensures that the force measurements are not influenced by the weight of the boom 210.

Fixing means 338 are also attached to the counter jib 332. They serve to fix — and thus deactivate — the entire rotary positioning means 242 in certain positions. This can be advantageous for measurements for which only a rigidly bent point is required at this point on the skeletal linkage.

Furthermore, housing parts 340, 342, 344, 346, 348, 350, 352 can also be seen in FIG.

An incremental rotary or pulse generator 354 serves as position measuring means, which is connected to the coupling flange 334 via a friction wheel 358 and a round ring 356. The pulse generator is available as a finished component of the MOM 20 type from Megatron in D-85640 Putzbrunn and is connected to a 360 board.

In the individual figures, drive means for the positioning means, position measuring means, data transmission means, means for converting input or measured data into control signals for drive means or means for force measurement, cables etc. have not been shown or have not been designated for reasons of clarity. In addition, it should be pointed out that the means mentioned for converting data into control signals can be integrated in a general-purpose computer. Furthermore, the Position measuring means can be integrated in drive means, or, for manual handling, additionally or instead be designed as measuring devices or suitable integrated scales.

Claims (10)

Device for measuring and training forces and / or mobility of humans or animals, which a) means for measuring force and / or mobility with predetermined means of attack (40, 42, 44, 46, 60, 62, 60 ', 62', 70, 72; 130, 132, 134, 136; 204; 206); and b) Positioning means (12,20,50,56,80,82,90,92; 110,112,122,140,142,144,146; 222,224,226,231,232, 234,236,238,240,242,244,246,248) for reproducible adjustment of the relative position of parts of the body and means of attack (40.42.44.46, 60.62.60 ' , 62 ', 70.72; 130,132,134,136; 204; 206) having. Device according to Claim 1, in which the engagement means (40, 42, 44, 46, 60, 62, 60 ', 62', 70, 72; 130, 132, 134, 136) are designed as force absorption plates and the means for force measurement are designed as load cells. Device according to one of the preceding claims, in which the means for positioning and / or for force and / or mobility measurement have magnetic brakes. Device according to one of the preceding claims, wherein the positioning means comprise a spatially adjustable recliner (10) for receiving a subject. Device according to one of the preceding claims, in which a) handles (204, 206) are provided as the means of attack; b) the handles (204, 206) are each fixed or adjustable on a skeleton-like linkage (208, 212, 216; 210, 214, 216); and c) the skeleton-like linkages (208, 212, 216; 210, 214, 216) are designed for flexible spatial positioning of the handles (204, 206). Device according to one of the preceding claims, in which at least one positioning means (12, 20, 50, 56, 80, 82, 90, 92; 110, 112, 122, 140, 142, 144, 146; 222, 224, 262, 231, 232, 234, 236, 238, 240, 242, 244, 246, 248) is equipped with drive means. Device according to one of the preceding claims, in which the positioning means (12, 20, 50, 56, 80, 82, 90, 92; 110, 112, 122, 140, 142, 144, 146; 222, 224, 262, 231, 232, 234, 236, 238, 240, 422, 244, 244, 248) position measuring means for measuring relative positions of at least one part of the body and an attacking means (40 , 42,44,46,60,62, 60 ', 62', 70,72; 130,132,134,136; 204; 206). Device according to one of the preceding claims with means for data processing (254, 256, 258), including means for input (258), storage and output of measurement and training-relevant data (256). Apparatus according to claim 8, in which the data processing means (254, 256, 258), the drive means and / or the measuring means are designed for an exchange of control or measurement data. Rotary positioning means for a device according to any one of the preceding claims, in which a) rotatable parts (272, 284, 290, 330, 332, 334) can be fixed in desired positions via a permanent magnet brake (296, 298); b) the permanent magnet brake (296, 298) is connected to means for force measurement (318, 320, 322, 324, 326, 328); and c) means (314, 316) for minimizing the friction during the transmission of forces to the means for force measurement (318, 320, 322, 324, 326, 328) are provided.

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