TREADMILL ARRANGEMENT WITH MOTION-ADAPTIVE VIRTUAL RUNNING ENVIRONMENT

Abstract

A treadmill arrangement, having a treadmill stand and an endless belt which runs over rollers mounted in the treadmill stand and is driven by a drive, with one surface of the endless belt serving as a walking or running surface. A motion state detection device is allocated to the treadmill to detect a motion state or a positional change of the legs and/or feet of the user relative to the treadmill stand and to obtain a control signal for the drive.

Claims

1. A treadmill arrangement, comprisingL a treadmill frame; an endless belt running over rollers supported in the treadmill frame and driven by a drive, one surface of the belt serving as a walking or running surface; at least one of a seat or a backrest is attached to projecting side parts or a rear part of the treadmill frame; a motion state detection device configured for obtaining a control signal for the drive, said motion state detection device being arranged near the seat or the backrest and is adapted in particular to distinguish running or walking from sitting or standing.

2. The treadmill arrangement according to claim 1, wherein the motion state detection device is configured for detecting a movement state or a change in position of at least one of a user's legs or feet relative to the treadmill frame.

3. The treadmill arrangement according to claim 2, further comprising a drive control device connected on an input side to the motion state detection device and the drive control device is configured such that, (a) when a change in the movement state or a change in the position of at least one of the user's legs or feet towards a rear of the treadmill frame is detected, a belt speed is reduced or the endless belt is stopped or, (b) when a change in the movement state of at least one of sitting or walking is detected, the belt speed is increased or the endless belt is started, or both (a) and (b).

4. The treadmill arrangement according to claim 1, further comprising an image display device for image display of a virtual running environment, wherein the image display device is connected to the motion state detection device via a synchronization input.

5. The treadmill arrangement according to claim 4, wherein the image display device comprises at least one text/digit display area for displaying at least one of exercise-related instructions, data, or a light signal generator.

6. The treadmill arrangement according to claim 4, wherein the image display device is connected to the drive via a control input in such a way that at least one of a speed or load signal output by the drive is incorporated in the synchronization of the image display.

7. The treadmill arrangement according to claim 1, wherein the motion state detection device is configured to detect at least one time-dependent sensor signal and to discriminate between a time-varying and a time-constant or disappearing sensor signal.

8. The treadmill arrangement according to claim 1, wherein the motion state detection device comprises at least one photoelectric barrier or camera device arranged above the walking or running surface for optical detection of movements of the user's legs.

9. The treadmill arrangement according to claim 1, wherein the motion state detection device comprises a foot contact sensor system configured for determining a foot pressure distribution on the endless belt or on a measuring plate located below the endless belt, a foot pressure evaluation unit which is connected to the foot contact sensor system on an input side that detects a position of pressure distribution images of a walking or running user on the belt and thus their time-dependent changes in location, and a processing unit connected on an output side to the foot pressure evaluation unit, which generates a detection signal from a time/place dependence of the pressure distribution images, such that walking or running can be distinguished from sitting or standing of the user.

10. The treadmill arrangement according to claim 1, wherein the motion state detection device comprises a force or vibration sensor system which is placed on or under a measuring plate below the endless belt and is configured to detect force effects or vibrations on the walking plate in a time-resolved manner in order to detect a movement state change from walking or running to sitting or standing or vice versa.

11. The treadmill arrangement according to claim 1, wherein the motion state detection device comprises a strain gauge sensor placed on or under a measuring plate below the endless belt that is configured to detect strains and bends on the measuring plate plate in a time-resolved manner and to detect therefrom a change in a motion state from walking or running to sitting or standing or vice versa

12. The treadmill arrangement according to claim 1, wherein the motion state detection device comprises a device which detects a power or current consumption or a rotational speed of the drive for the endless belt in a time-resolved manner and from this detects a change in a motion state from walking or running to sitting or standing or vice versa.

13. The treadmill arrangement according to claim 4, wherein, in addition to the motion state detection device, a seat/backrest force/contact detection device is provided in or on at least one of the seat or the backrest, which generates at least one of a further control signal for the drive or a synchronization signal for the image display device upon detection that the user is sitting on the seat or leaning against the backrest.

14. The treadmill assembly according to claim 13, wherein a controller for the drive is configured for combined processing of output signals from said motion state detection device and said seat/back contact detection device such that when a change in motion state from walking/running to standing is detected, a belt speed is reduced, and when it is additionally detected that the user is sitting or leaning, the endless belt stopped.

15. The treadmill arrangement according to claim 4, wherein, in addition to the image display device, at least one of an acoustic or haptic user guidance device is provided, which is connected to the movement state detection device to output signals or instructions for action accompanying an image display to the user.

16. The treadmill arrangement according to claim 15, wherein the at least one of an acoustic or haptic user guidance device is also connected to the drive.

17. The treadmill arrangement according to claim 9, wherein the foot contact sensor system comprises a plurality of pressure sensors arranged in rows or in a matrix.

Description

DETAILED DESCRIPTION

[0036] FIG. 1 shows a treadmill training system 1 comprising a treadmill 2b running over two rollers 2a, under the upper surface of which, used by the user as a running surface 2c, a running and measuring plate 3 is arranged, which is provided with a plurality of pressure sensors (not individually designated) arranged in a row or matrix for detecting local pressure value images generated by the user when stepping the treadmill belt. One of the two rollers 2a is driven and pulls the tape 2b at a predetermined speed set by a processing and control unit 4 of the arrangement.

[0037] To extend a user interface, an audio stage 8 (symbolized here as a loudspeaker) is provided, via which the trainee can receive additional acoustic training instructions. The audio stage 8 can also be designed bidirectionally as a headset, for example, so that the trainee can also provide acoustic feedback (such as confirmation of instructions received or answers to questions posed to him).

[0038] The pressure sensors of plate 3 can either have an analog response characteristic or, in a simplified and less expensive version, a digital response characteristic (off/on characteristic). Both variations have merit for certain applications, and selection of one will be made by the system designer based on primary application requirements. In a simplified embodiment of the arrangement, foot contact detection can be provided by a few spaced-apart force sensors under the belt, or by strain gauges or vibration sensors in the belt or under the belt. Based on the time-dependent signals obtained with such individual sensors, a distinction can be made between rhythmic movements of the feet (running or walking) and an unmoving state of the feet (standing) and thus the desired movement state detection can be realized. In the following as well as in the claims, the term “foot touchdown sensor system” is to be understood in particular as such a simplified configuration.

[0039] A frame 10 of the treadmill assembly 1, in which the rollers 2a of the treadmill are mounted, has vertically projecting side parts 10a, in which a height-adjustable seat 11 and/or a backrest 13 is attached on both sides of the belt, against which the user can support himself when using the treadmill arrangement.

[0040] A force sensor system 12 is assigned to one or more side part(s) 10a. Output signals of this force sensor system, with which forces introduced by the user when leaning on the seat can be detected depending on the spatial direction, reach the evaluation computer 4, as do the signals of the instrumented running plate 3 and/or the motor measuring unit 5, in order to be processed there in a manner which is not of further interest here. In the context of the present invention, it is important that the force sensor 12 makes it possible to detect whether the user is sitting down on the seat surface 11 or leaning against the backrest 13 or is walking or running on the treadmill without contact therewith. Together with the signals of the instrumented running plate 3 (“foot touchdown sensor system”), the exemplary arrangement thus enables differentiated and, if necessary, redundant detection of changes in the user's state of motion and correspondingly reliable and gentle control of the belt run.

[0041] The treadmill arrangement sketched in FIG. 1 represents a high-end configuration from which various components and functions can be omitted or modified without deviating from the inventive concept. Thus, the invention can also be advantageously used with a treadmill arrangement without acoustic user guidance and thus also without the corresponding evaluation and processing components.

[0042] As mentioned further above, instead of a pressure or strain sensor system, an optical sensor system in the form of a photoelectric barrier with a corresponding evaluation device can also serve as a motion state detection device. Such a photoelectric barrier device, e.g. a photoelectric barrier array, can for example be placed and configured in such a way that it simply detects a change in position of the user relative to the treadmill frame (i.e. the mentioned pulling backwards when standing still). In a more elaborate embodiment, a photoelectric array may be placed above the treadmill in the area of the user's feet or lower legs and discriminate the photoelectric signals that are rhythmically interrupted when running or walking from a constant signal generated when the user is standing.

[0043] Furthermore, the motion state detection device can continuously detect the motor characteristics such as power consumption, current or motor speed.

[0044] FIG. 2 shows a modification of the arrangement shown in FIG. 1 and described above. Insofar as the same components are used here as in that arrangement, they are designated with the same reference numbers as in FIG. 1 and are not explained again.

[0045] In a modification of the armrest configuration shown in FIG. 1 and described above, the seat 11′ and the backrest 13′ are supported only by a side part 10a′. Associated with the seat 11′ is a seat force sensor 12′ for controlling treadmill parameters or functions, specifically for braking or accelerating the belt, is assigned to the seat 11′. The output signals of both the foot contact sensor system 3 and the seat pressure sensor system 12′ reach the evaluation computer 4.

[0046] The seat force sensor system 12′, which in this case is integrated in the lower portion of the treadmill frame 10, detects force components acting on the seat, in particular sitting down or lifting up, and possibly also tilting forward or backward. Depending on the type of sensor used and the downstream evaluation, this detection is used in particular for effecting a speed change or emergency shutdown or also for a restart of the treadmill.

[0047] Instead of the arrangement of detection devices shown in FIGS. 1 and 2, for a user leaning against the backrest 13 or a user sitting on the seat 11 at the foot of a corresponding holder or side part in the treadmill frame, a pressure sensor or (better) an arrangement of several pressure sensors or a simple contact sensor mat can also be integrated in the backrest or the seat itself. In principle, optical detection of whether the user is touching the seat or backrest is also feasible. The force sensor(s) 12 can be accommodated in any area of the projecting side parts 10a, i.e. also in an upper area.

[0048] FIG. 3 shows a running or measuring plate 3 from below. In operation, the endless belt 2b is pulled over the top of the measuring plate 3. A particularly preferred arrangement of strain gauges 14 is provided here, which are firmly connected to the left and right sides of the measuring plate and can thus measure the strain of the running plate. The arrangement has the particular advantage that it can distinguish between the left and right foot and thus the state of movement can be detected more reliably. In a further embodiment, several strain gauges can be arranged along the running plate in pairs but also individually. As an alternative, FIG. 3 shows a possible arrangement of load detection cells 15.

[0049] FIG. 4 shows a schematic partial view in the form of a functional block diagram of essential components or aspects of the evaluation and control component of a further embodiment of the treadmill arrangement. Partially reference is made to components and functions shown in FIGS. 1 and 2 and explained in principle above.

[0050] On the output side, the foot contact sensor 3 is connected to a preprocessing stage 41, at the output of which interference-free, time-dependent signals F(t) are output. This preprocessed signal then passes via a synchronization stage 42 to a gait characteristic evaluation stage 43, which makes a gait characteristic of the user determined on the basis of the measurement signals or essential parameters of such a characteristic available to an evaluation computer 44 of the doctor or physiotherapist.

[0051] On the other hand, the preprocessing stage 41 is connected to a time dependency comparison unit 45, in which the foot force recorded in a time-resolved manner is continuously compared with comparison data or comparison patterns stored in a comparison pattern memory 46. The comparison data/patterns represent typical time dependencies corresponding to a running or walking of the user on the belt surface or, on the other hand, to an almost motionless standing, and allow an assignment of the currently recorded signals to one of the basic motion states “running/walking” or “standing/sitting”.

[0052] As a result, at the output of the comparator unit 43, a first input signal is provided to the processing and control unit 4 of the treadmill arrangement, the output signal of which here reaches the speed controller 5. In the embodiment shown, a signal originating from the sensor system 12 arranged on the backrest 11 (or the sensor system 12′ assigned to the seat 11′) also reaches the processing and control unit 4 and is processed there in addition to the foot touchdown signal, as a second input signal, to obtain a control signal for the treadmill operation.

[0053] Depending on the motion state detection, speed changes of the treadmill can thus be controlled, if necessary up to shutdown (standstill). The belt run can also be prevented from starting as long as it is not ensured that the user actually releases himself from the backrest. This control sequence is largely independent of the user's will and is based on the user's actual movement sequence.

[0054] The embodiment of the invention is not limited to these examples, but is equally possible in a variety of variations which are within the scope of skilled practice.

[0055] FIG. 5 shows a treadmill training system 1 which has the same basic components such as the treadmill training system of FIG. 1, and in this respect is not described further here. In addition to the system shown there, an inclination of the entire treadmill can be adjusted as required (which is only shown symbolically in the figure) via a suitable inclination actuator 6, which can also receive interference signals from the processing and control unit 4, or optionally only its front part can be raised somewhat.

[0056] In the very simplified version shown in FIG. 5, signals characterizing the set speed value of the belt are sent back from the speed controller 5 to the processing and control unit 4, where they are used to synchronize an image display on the running surface 2c by means of a projector (laser beamer) 17. The display content is generated from pre-stored image elements and/or image sequences (cf. further below) and advantageously offers the user a motivating virtual running environment in which training-related instructions and/or data can be superimposed.

[0057] The visual representation is controlled here by way of example on the basis of the speed signals in such a way that—in particular in conjunction with a special embodiment described further below—the user is presented with a overall coherent simulation of a running environment, advantageously linked to the simulation of obstacles to be overcome or avoided. Deviating from the representation in the figure, the actual speed of the belt can also be detected via a suitable sensor system (not shown) and the measured value can be fed to the processing and control unit 4 for the purpose of (to a certain extent feedback) sequence control of the image representation and synchronized evaluation of the pressure distribution patterns. It is expressly pointed out that the synchronization and thus sequence control of the image display by means of the projector 17 serving as an image display device can be carried out with signals of the other sensors mentioned above as well as combinations of such sensor signals.

[0058] In the figure, it is shown that the projector 17 is attached to a ceiling mount 17a in an angle-adjustable manner so that the projection direction can be modified to a flat or preferably curved projection surface 17b arranged in front of the user. Incidentally, an audio stage 8 is also provided here, via which the user can receive additional acoustic training instructions. The audio stage 8 can, for example, also be designed bidirectionally as a headset, so that the trainee can also provide acoustic feedback (such as confirmation of instructions received or answers to questions posed to him).

[0059] In order to perform training tasks on the treadmill system, it may be of interest to detect the height at which the feet are lifted off the belt, e.g. when the test person is to cross a virtual obstacle. Therefore, in a further embodiment, the trainee has a sensor 9 attached to each foot, the signals from which can be detected by means of a position detection sensor system known per se (not shown here) to provide conclusions about the position or height of the feet. The sensors preferably operate in time synchronization with the sensors of the pressure distribution matrix. Precise time synchronization can be established, if necessary, via an infrared or radio signal or via detection of the time of occurrence.

[0060] The sensors 9 can be embodied as acceleration sensors or multi-axis acceleration sensors and may be connected to the evaluation computer 4 via radio. The position of the feet can be calculated from the acceleration signals, particularly if the time and location dependence of the pressure distribution patterns can also be included in the calculation. In extended arrangements, inertial sensor systems can be used in which gyroscopes or sensors for detecting the earth's magnetic field are also employed. Such sensors can, of course, also be attached to other parts of the body so that the movement of the complete lower extremities or the entire body can be measured and displayed. However, the sensors 9 can also operate according to other measurement principles, for example on the basis of active or passive light markers picked up by stationary cameras, magnetic field sensors or ultrasonic sensors that emit or receive ultrasonic waves to or from stationary receivers and determine the position of the feet from the transit time of the sound.

[0061] The pressure sensors of the measuring plate can have either an analog characteristic or, in a simplified and less expensive version, a digital response characteristic (off/on characteristics). Both variants have their justification for certain applications, and the selection of one of the variants will be made by the system designer according to the primary application requirements.

[0062] FIG. 6 shows a detailed representation of the main components of the processing and control unit 4 of the arrangement shown in FIG. 5. Excluded here is the image signal equalizer shown separately in FIG. 5, which is also only used in a version of the arrangement with the projector directed obliquely at the treadmill.

[0063] In a display control section 50, the processing and control unit 4 comprises a picture element storage unit 51 and a video memory 52, downstream of which a picture element mixer 53 and finally a video picture element mixer 54 are connected for generating picture sequences with predetermined picture element insertions. It is also shown symbolically that both mixers 53, 54 can also be influenced by control signals from a random generator 55. The second mixer 54 is also followed by a display sequence controller 56, to which a sequence program memory 57 and a speed controller 58 are assigned. A picture element position controller 59 is connected to the picture element mixer 53 by control signals and acts on it to vary relative positions of picture elements in the final display. The speed controller 58 can be influenced by signals from the speed controller 5 of the treadmill (not shown in this figure) or another sensor of the motion state detection device explained further above.

[0064] At the same time, these signals are fed to a system control unit 70 of the arrangement, which synchronizes the various control operations of the display and evaluation functions and carries out any necessary adjustments to the data streams and formats. This is symbolized in the figure by double arrows directed at the display control section 50 and the evaluation section 60.

[0065] The evaluation section 60 also receives the final image signal provided at the output of the display sequence controller and, on the other hand, the (spatiotemporally resolved) output signal of the print distribution plate 3. The latter signal is made free of interference signals and artifacts in a pressure signal preprocessing stage 61, brought into temporal synchronism with the image signals in a pressure signal time adjustment stage 62 and into spatial synchronism with the image signals in a pressure signal position adjustment stage 63, and processed in a training evaluation stage (main processing stage) 64 on the basis of a predetermined training evaluation program, and the results are output to a separate display unit 4A of the therapist. They can also be processed—together instructions input via an input unit 4B of the therapist—in a user guidance stage 54 into instructions to the trainee, which are output via the display unit 7 or 7′ assigned to the latter and optionally the audio stage 8.

[0066] In the context of the present invention, the operation of these functional units of the treadmill arrangement is ultimately controlled by signals from the motion state detection device and thus adapted to the actual motion state of the user of the treadmill arrangement. In particular, this involves synchronizing the display of a virtual environment with the actual movements of the user. Furthermore, the output of training instructions or of information on the movement state or physical condition of the user can also be synchronized accordingly, thereby creating a more realistic training environment overall. This, in turn, on the one hand avoids possible irritation of the user by an “inappropriate” training environment, and on the other hand improves his motivation to complete the training or rehabilitation program.

[0067] Carrying out the invention is not limited to the aspects highlighted and examples explained above, but is equally possible in a variety of variations which are within the scope of skilled practice.