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, comprising: a treadmill frame; an endless belt running over rollers supported in the treadmill frame and driven by a drive, one surface of the endless belt serving as a walking or running surface; at least one of a seat or a backrest attached to projecting side parts or a rear part of the treadmill frame; a processing and control unit, connected to the drive, configured to distinguish walking or running from sitting or standing and vice versa, and in response thereto, control the drive; a motion state detection device connected to the processing and control unit, the motion state detection device configured to (i) detect a motion state of a user on the endless belt, by detecting at least one time-dependent sensor signal and discriminating between a time-varying and a time-constant or disappearing sensor signal, and (ii) generate a detection signal for the processing and control unit; and a seat/backrest contact detection device provided in or on the seat and/or the backrest and connected to the processing and control unit, the seat/backrest contact detection device configured to (i) detect when the user is sitting on the seat or leaning against the backrest and (ii) generate a detection signal for the processing and control unit; wherein the processing and control unit is configured for combined processing of the detection signals from said motion state detection device and said seat/backrest contact detection device and control the drive such that: (a) upon detecting a change in the motion state from at least one of sitting or standing to walking or running, the endless belt starts running or a running speed of the endless belt is increased, and (b) upon detecting a change in motion state from walking or running to standing, the running speed of the endless belt is reduced, and upon additionally detecting that the user is sitting on the seat or leaning against the backrest, the endless belt is stopped.

2. The treadmill arrangement of claim 1, wherein the seat/backrest contact detection device is further configured to generate a synchronization signal for an image display device upon detecting that the user is sitting on the seat or leaning against the backrest.

3. A treadmill arrangement, comprising: a treadmill frame; an endless belt running over rollers supported in the treadmill frame and driven by a drive, one surface of the endless belt serving as a walking or running surface; at least one of a seat or a backrest attached to projecting side parts or a rear part of the treadmill frame; a processing and control unit, connected to the drive, configured to distinguish walking or running from sitting or standing and vice versa, and in response thereto, control the drive; a motion state detection device connected to the processing and control unit, the motion state detection device configured to (i) detect a motion state of a user on the endless belt, and (ii) generate a detection signal for the processing and control unit; a seat/backrest contact detection device provided in or on the seat and/or the backrest and connected to the processing and control unit, the seat/backrest contact detection device configured to (i) detect when the user is sitting on the seat or leaning against the backrest and (ii) generate a detection signal for the processing and control unit; wherein the processing and control unit is configured for combined processing of the detection signals from said motion state detection device and said seat/backrest contact detection device and control the drive such that: (a) upon detecting a change in the motion state from at least one of sitting or standing to walking or running, the endless belt starts running or a running speed of the endless belt is increased, and (b) upon detecting a change in motion state from walking or running to standing, the running speed of the endless belt is reduced, and upon additionally detecting that the user is sitting on the seat or leaning against the backrest, the endless belt is stopped.

4. The treadmill arrangement of claim 3, wherein the seat/backrest contact detection device is further configured to generate a synchronization signal for an image display device upon detecting that the user is sitting on the seat or leaning against the backrest.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) Advantages and expedients of the invention are incidentally apparent from the following description of preferred embodiments based on the figures.

(2) FIG. 1 is a schematic representation of a first embodiment of the invention,

(3) FIG. 2 is a schematic cutaway view of a second embodiment of the invention,

(4) FIG. 3 is a synoptic sketch-like representation of further embodiments of an instrumented running plate,

(5) FIG. 4 is a block diagram of a further embodiment,

(6) FIG. 5 is a schematic representation of an embodiment of the invention with image display device and

(7) FIG. 6 is a detailed view of the latter embodiment as a block diagram.

DETAILED DESCRIPTION

(8) 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 by a drive 2d and pulls the belt 2b at a predetermined speed set by a processing and control unit 4 of the arrangement.

(9) 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).

(10) The pressure sensors of running 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.

(11) 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.

(12) 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.

(13) 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.

(14) As mentioned further above, instead of a pressure or strain sensor system, an optical sensor system in the form of a photoelectric barrier or camera 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.

(15) Furthermore, the motion state detection device can continuously detect the motor characteristics such as power consumption, current or motor speed.

(16) 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.

(17) 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 system 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 of running plate 3 and the seat seat force sensor system 12 reach the processing and control unit 4.

(18) 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.

(19) Instead of the arrangement of the force sensor system 12, 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, the force sensor system 12 having 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)/force sensor system 12 can be accommodated in any area of the projecting side parts 10a, i.e. also in an upper area.

(20) 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.

(21) 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.

(22) On the output side, the foot contact sensor system of running plate 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.

(23) 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.

(24) As a result, at the output of the comparator unit 45, 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 motor measuring unit 5, having a speed controller. In the embodiment shown, a signal originating from the force sensor system 12 arranged on the backrest 13 (or the seat force 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.

(25) 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.

(26) 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.

(27) 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 16, which can also receive interference signals from the processing and control unit 4, or optionally only its front part can be raised somewhat.

(28) 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 of motor measuring unit 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.

(29) The visual representation is controlled here by way of example on the basis of the speed signals in such a way thatin particular in conjunction with a special embodiment described further belowthe 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.

(30) 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).

(31) 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.

(32) The sensors 9 can be embodied as acceleration sensors or multi-axis acceleration sensors and may be connected to the processing and control unit 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.

(33) 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.

(34) 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.

(35) In the processing and control unit 4, a display control section 50 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 of the motor measuring unit 5 of the treadmill (not shown in this figure) or another sensor of the motion state detection device explained further above.

(36) 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.

(37) 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 processedtogether instructions input via an input unit 4B of the therapistin 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.

(38) 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.

(39) 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.