WO1996019264A1

WO1996019264A1 - Computer controlled training system

Info

Publication number: WO1996019264A1
Application number: PCT/US1995/016353
Authority: WO
Inventors: Ilia Kochubievsky; David Zelter; Semyon Inberg; Victor Shtutman
Original assignee: Health Reliability Ltd.; Friedman, Mark, M.
Priority date: 1994-12-19
Filing date: 1995-12-18
Publication date: 1996-06-27
Also published as: AU4599796A; IL116448A0

Abstract

This invention is a computer controlled training system (100) including a user interface (102) by means of which a user applies a user applied torque, a combined reversible electric machine (120) and driver (122) coupled to the user interface, selection apparatus for selecting a simulated training environment, and an adaptive movement condition simulator for providing a command signal to the reversible electric machine (120) to develop a motor torque relative to the simulated training environment, such that the movement of the user interface is determined by a resultant torque related to the user applied torque and the motor torque.

Description

COMPUTER CONTROLLED TRAINING SYSTEM

FIELD AND BACKGROUND OF THE INVENTION

The present invention relates to computer controlled training systems in general and in particular to computer controlled training systems designed to simulate a variety of training environments for training, rehabilitation, and muscular functional testing. Furthermore, the present invention relates to computer controlled training systems for the separate and/or combined training and/or rehabilitation of the left and right limbs of a user. Computer controlled training systems for physical development and rehabilitation uses are well known in the art and can take on a variety of forms, including treadmills, bicycles, rowing machines, multi-trainer systems, as described in the following exemplary patents, US Patent No. 4,869,497 to Stewart et al., US Patent No. 4,822,037 to Makansi et al., US Patent No. 5,062,632 to Dalebout et al., and others.

However, conventional computer controlled training systems suffer from a number of disadvantages which include that there is no true-life simulation of movement conditions as a function of training environments, for example, an uphill gradient, a downhill gradient, the type of surface, and the like. Furthermore, the conventional computer controlled training systems are not capable of adaptively taking into consideration push strokes of a user, pull strokes of a user, and the deadtime between consecutive strokes. These disadvantages are partly due to the conventional computer controlled training systems including a devices, for example, electromagnetic brakes which can only decrease or increase a resistive force.

Still further, conventional computer controlled training devices tend to increase the parity between the performance capabilities of a user's left and right limbs because the training systems are designed such that both the left and right limbs of a user cooperate against a common load and the stronger of the left and right limbs has a tendency to compensate for the weaker limb.

Therefore, there is a need for a computer controlled training system which overcomes the above-mentioned disadvantages.

SUMMARY OF THE INVENTION

The present invention is for a computer controlled training system which provides true-to-life simulation of a user selected training environment. Hence, there is provided according to the teachings of the present invention, a computer controlled training system comprising: (a) a user interface by means of which a user applies a user applied torque; (b) a combined reversible electric machine and driver coupled to said user interface; (c) selection means for selecting a simulated training environment; and (d) an adaptive movement condition simulator for providing a command signal to said reversible electric machine to develop a motor torque relative to said simulated training environment, such that the movement of said user interface is determined by a resultant torque related to said user applied torque and said motor torque. According to a further feature of the present invention, the user interface includes a first actuating member for engagement by a left limb of the user and a second actuating member for engagement by a right limb of the user.

According to a still further feature of the present invention, the simulated training environment includes a parameter describing the hardness of the surface on which the user is training.

According to a yet still further feature of the present invention, the simulated training environment includes a parameter describing an uphill incline of the surface in which the user is training. According to a yet still further feature of the present invention, the simulated training environment includes a parameter describing a downhill incline of the surface on which the user is training.

According to a yet still further feature of the present invention, the simulated training environment includes a parameter describing the viscosity of the medium in which the user is training.

According to a yet still further feature of the present invention, the simulated training environment includes a parameter describing the inertia movement of said user interface. According to a yet still further feature of the present invention, the user interface is realized as a wheelchair.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is herein described, by way of example only, with reference to the accompanying drawings, wherein:

FIG. 1 shows a perspective view of a computer controlled training system, constructed and operative according to the teachings of the present invention, including a user interface realized as a platform for supporting a wheelchair; FIG. 2 shows a block diagram of the adaptive movement condition simulator of the computer controlled training system of Figure 1 ;

FIGS. 3a and 3b illustrate graphs indicative of the movement of a user interface realized as a wheelchair driven by a user travelling over simulated asphalt and sand surfaces, respectively; FIGS. 4a and 4b illustrate graphs indicative of the movement of a user interface realized as a wheelchair driven by a user travelling over simulated uphill and downhill inclines, respectively;

FIG. 5 shows a perspective view of a user interface of realized as a pair of treadmills; FIG. 6 shows a perspective view of a user interface realized as a bicycle;

FIG. 7 shows a perspective view of a user interface realized as a rowing machine; and FIG. 8 shows a perspective view of a user interface realized as a barbell.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention is of a computer controlled training system for providing true-to-life simulation of user selected training environments. The principles and operation of the computer controlled training system of the present invention may be better understood with reference to the drawings and the accompanying description.

Generally speaking, the computer control training system of the present invention enables a user or a physician to select a simulated training environment from a wide range of training environments relevant to a particular realization of a user interface. For example, selection of a training environment can include determining the hardness of a surface on which the user is training, the angle of uphill or downhill incline of a surface on which the user is training, and the like. The simulated training environments determine the movability profile of the user interface within the training environment for any given effort exerted by the user. For example, it is readily understood that a runner running on an asphalt track runs at a faster rate or, in other words, covers more distance for a given effort than a runner running on sand. With reference now to the drawings, Figure 1 illustrates a first embodiment of a computer controlled training system, generally designated 100, constructed and operative according to the teachings of the present invention for providing "true-to-life simulation" of a user selected simulated training environment. In other words, computer controlled training system 100 leads a user to feel as if he is in effect training in a real-life training environment rather than on a training device deployed in the home, gym, rehabilitation center, and the like.

For the sake of exposition only, computer controlled training system 5 100 is described for the training and/or rehabilitation of a wheelchair- bound user interfacing with system 100 through a user interface realized as a wheelchair 102. Hence, in this case, computer controlled training system 100 includes a platform 104 having left and right roller units 106 and 108 in a close spaced parallel arrangement for rotatably supporting left 0 and right wheels 110 and 112, respectively, of wheelchair 102.

Each of roller units 106 and 108 includes a rigid base 114 having a pair of spaced rollers 116 and 118 having a user adjustable distance therebetween to support wheels 110 and 112 in a non-slip fashion. Rollers 116 and 118 are preferably belt-coupled to the shaft of a reversible electric 5 machine 120 operating under the control of a driver 122. It should be noted that shafts of reversible electric machines 120 of roller units 116 and 118 can be deployed so as to rotate in either a clockwise or a counter clockwise direction to achieve a clockwise rotation of wheels 110 and 112. For the sake of example, reversible electric machines 120 are deployed in roller units 116 and 118 in such a manner that they rotate in a clockwise direction so as to achieve a clockwise rotation of wheels 110 and 112.

As will become apparent hereinbelow, reversible electric machine 120 can operate in all quarters of the phase plane. In other words, reversible electric machine 120 can act as a motor to drive rollers 116 and 5 118 or as a generator when driven by user interface 102 so as to absorb and dissipate energy. It should be noted that reversible electric machine 120 acts as a generator when a user applied torque in a direction opposing the intended direction of rotation the shaft of reversible electric machine 120 is greater than a motor torque developed by reversible electric 0 machine 120 itself. As is well known in the art, drivers 122 can drive reversible electric machines 120 in one of three operating modes: a torque operating mode, a velocity operating mode and a position operating mode. In the torque operating mode, driver 122 provides a command signal to reversible electrical machine 120 such that a particular torque is developed. Whereas in the velocity operating mode, driver 122 provides a command signal to reversible electrical machine 120 such that a particular angular velocity is developed. And whereas in the position operating mode, driver 122 provides a command signal such that a particular angular position of the shaft of reversible electrical machine 120 is arrived at.

Computer controlled training system 100 further includes a computer 124, a user control console 126, a user display 128, a physician control console 130, a physician display 132. Computer controlled training system 100 can still further include a battery of physiological sensors (not shown) for measuring pulmonary system functions, cardiovascular system functions, and the like as known in the art.

With reference now to Figure 2, it is a particular feature of computer controlled training system 100 that computer 124 includes an adaptive movement condition simulator 134 for providing command signals to drivers 122. Hence, all in all, the movement of user interface 102 within a selected simulated training environment is determined by a resultant torque from the summation of a user applied torque, a motor torque developed by a reversible electric machine 120 according to a command signal transmitted to its driver 122, and other torques as will be described in detail hereinbelow.

Generally speaking, adaptive movement condition simulator 134 takes into consideration seven factors summarized as follows: First, the current state of movement of wheelchair 102. Second, the forces applied by the user on wheels 110 and 112. Third, the total static friction of training system 100. Fourth, the total inertia of training system 100. Fifth, the movability profile of a user interface, in this case, wheelchair 102, within a user selected simulated training environment. Sixth, functional targets to be reached by a user as determined by a physician, coach, physiotherapist and the like. And seventh, physiological values as provided by physiological sensors.

Hence, adaptive movement condition simulator 134 includes data acquisition apparatus (DAA) 136, a system timer 138, a pre-calculation and pre-test (PCPT) unit 140, a user training environment selection (UTES) unit 142, a user target selection (UTS) unit 144, a user interface safety regime (UISR) unit 146, a user effort and user interface movement (UEUIM) processor 148, and a user interface status analyzer and command output (UISCO) device 150 so as to provide command signals to drivers 122 of roller units 106 and 108.

DAA 136 transmits three signals to UEUIM processor 148: a torque value denoted A developed on the shaft of reversible electrical machine 120, a shaft angular velocity or shaft angular position denoted B and the spatial position denoted C of the user interface where applicable. The torque value can be one of two torque values: either the resultant torque determined by the actual rotation of the shaft of reversible electrical machine 120 or the motor torque as developed by reversible electrical machine 120 as a function of the electrical energy supplied thereto. The shaft angular velocity can be measured, for example, by a suitable tachometer. The shaft angular position can be measured, for example, by a Hall effect or optic sensor. The spatial position can be provided by suitable optic sensors. Furthermore, DAA 136 transmits physiological signals denoted D from physiological sensors to UISCOD unit 150.

PCPT unit 140 transmits two signals to UEUIM unit 148: the value of total static friction of computer controlled training system 100 denoted E and the value of total inertia moment of computer controlled training system 100 denoted F. The total static friction is due to roller units 106 and 108 of platform 104, wheels 110 and 112 of wheelchair 102, and the like whereas the total inertia is due to all rotatable parts participating in actual movements, including shafts of reversible electric machines 120, rollers 116 and 118, wheels 110 and 112, and the like. Preferably, the total static friction of training system 100 is determined by a pre-test such that the total static friction is the actual value taking into consideration the weight of the user, the weight of wheelchair 102, state of the tires of wheels 110 and 112 and the like.

UTES unit 142 transmits information denoted G concerning the training environment selected either by the user through user control console 126 or the physician through physician control console 130 to UISCOD unit 150. As mentioned hereinabove, computer control training system 100 enables a user or a physician to select a simulated training environment from a wide range of training environments relevant to a particular realization of a user interface. For example, in the present case, selection of training environments can include determining the hardness of a surface, for example, asphalt, sand, etc. on which the user is training. In a similar fashion, selection of training environments can include determining the angle of an uphill or downhill incline of a surface on which the user is training.

Furthermore, it should be noted that UTES unit 142 enables a training environment to be defined as a number of discrete segments each having different characteristics. For example, a training environment can include a 1 km course in which the first 250 m is a 5 ° uphill incline of an asphalt surface, the second 250 m is a 10° downhill incline of an asphalt surface, the third 250 m is a 4° downhill incline of a sand surface and the last 250 m is a flat sand surface.

In a similar fashion to UTES unit 142, UTS unit 144 transmits information denoted H concerning the desired user targets selected either by the user through user control console 126 or by the physician through physician control console 130 to UISCOD unit 150. Typical user targets include a desired maximum force, a desired minimum response time, a desired maximum endurance, a desired total work or energy expenditure, and the like. It should be noted that different values can be set for each limb separately.

In a similar fashion to UTES unit 142, UISR unit 146 transmits information denoted I concerning the safe operating conditions of computer controlled training system 100 to UISCOD 150. Safe operating conditions typically include, but are not limited to, a maximum angle of uphill incline or downhill incline, a maximum velocity of the user interface, a maximum allowable heartbeat, a minimum turning angle, and the like. These safe operating conditions are preferably non-accessible to a user or a physician.

UEUIM processor 148 calculates a wide range of parameters denoted J from the signals received from DAA 136, system timer 138 and PCPT 140 and, in addition, historical motor torques as determined by command signals from UISCOD unit 150 denoted K. These parameters can be regarded as being of two types: dynamic parameters which are calculated according to known simple formulae and parameters indicative of the force and energy expended by the user. These parameters can be displayed as numerical values or graphs on user display 128 and/or physician display 132, can be stored in memory for processing, and the like.

The dynamic parameters include but are not limited to, for example, the equivalent linear velocity of the user interface, the equivalent linear acceleration of the user interface, the equivalent distance travelled by the user interface, the turning angle accomplished by the user interface, and the like. Furthermore, it should be noted that the dynamic parameters can be provided separately for left and right limbs of a user and/or combined for both limbs together. The parameters indicative of the force and the energy expended by the user include but are not limited to, for example, the force applied by each limb of the user, the work and/or energy expended by each limb of the user, the first derivation of the force applied by each limb of the user, 5 and the like. It should be noted that all these parameters are derivatives of the force applied by the user which is calculated from a torque balance equation as applied to the shaft of reversible electric machine 122.

In this case, the torque balance equation includes five terms: the torque needed to compensate the total static friction of training system

10 100, the torque needed to compensate the total inertia of training system 100, the motor torque denoted B developed by reversible electrical machine 120 as a function of the electrical energy supplied thereto, the resultant torque as observed in terms of the actual angular acceleration of the shaft of reversible electric machine 122 and the user applied torque

15 developed as a function of the force applied by the user. Hence, the force can be determined from the user applied torque by dividing the user applied torque by a known constant.

UISCOD 150 analyzes the output from UEUIM 148 together with the outputs from DAA 136, UTES unit 142, UST unit 144 and UISR unit

20 146 so as to determine the command signals denoted L to be transmitted to drivers 122. UISCOD 150 typically employs a three stage process as follows:

First, UISCOD 150 determines whether the movement parameters of the user interface lies within the operations conditions as defined by

25 UISR 146 and whether the user physiological parameters lie within medically acceptable ranges. If either of these parameters fall outside acceptable values, UISCOD 150 takes suitable physical corrective action including providing warning messages to the user and/or the physician.

Second, UISCOD 150 compares the performance and achievements

30 of the user training on computer controlled training system 100 to the targets as determined by means of UTS unit 144. In the case that the user has reached his pre-determined targets, then UISCOD 150 provides suitable messages to the user and/or the physician. Otherwise, UISCOD 150 continues to the third stage. And lastly, UISCOD 150 determines the command signal to be sent to driver 122 in order to achieve a pre-determined objective relative to the user selected training environment. It should be appreciated that the pre¬ determined objective can be provided in terms of a desired motor torque to be developed by reversible electrical machine 120, a desired velocity to be developed by reversible electrical machine 120 or a desired position to be arrived at by the shaft of reversible electrical machine 120. In each case, consideration has to be given to the total static friction of computer controlled training system 100, the total inertia of computer controlled training system 100 and the user selected simulated training environment as determined by UTES 142. It should be appreciated that a single training exercise within a particular user selected training environment can include pre-determined objectives of all types.

For the sake of better understanding the present invention, the operation of computer controlled training system 100 is now described with reference to Figures 3 and 4 which illustrate typical graphs displayed on user display 128 and/or physician display 132. In particular, Figures 3a and 3b illustrate force graphs of the applied user actions over time, velocity graphs of the user interface velocity over time and acceleration graphs of the user interface acceleration over time for wheelchair 102 travelling over a simulated asphalt surface and a simulated sand surface, respectively. In a similar fashion, Figure 4a and 4b illustrate force graphs of the applied user actions over time, velocity graphs of the user interface velocity over time and acceleration graphs of the user interface acceleration over time for wheelchair 102 travelling over a simulated uphill incline and a simulated downhill incline, respectively. It should be noted that the following notation is employed in the drawings. First, a positive force means that the user rotates wheels 110 and 112 in a clockwise direction. Second, a positive velocity means that wheels 110 and 112 rotate in a clockwise direction and that reversible electric machine 120 rotates in a clockwise direction. And third, a positive acceleration means that the velocity of wheelchair 102 increases.

Turning now to Figure 3a, the graphs depict that the push strokes of the user are sufficient to increase the velocity from zero to a substantially uniform velocity before decreasing to zero after the user stops applying push strokes. It should be noted that even relatively slight push strokes are sufficient to maintain the uniform velocity once established as is achievable on a true asphalt surface. On comparing Figure 3b to Figure 3a, it can be readily appreciated that travelling on the simulated sand surface is far more difficult than travelling on the simulated asphalt surface as evidenced by a number of factors. First, push strokes of similar force achieve a far smaller effective velocity than before. Second, the deceleration of the user interface is considerably higher than before and that the velocity of the user interface rapidly decreases after the termination of a push stroke. Third, that the proportion of time that the velocity of the user interface is zero is far greater than before. In both cases, reversible electric machine 120 acts as a motor throughout the training session.

Turning now to Figure 4a, the graphs depict the movement of the user interface travelling along a simulated uphill incline training environment. As can be seen, the user is required to apply strong positive strokes to climb the uphill incline and at the end of each positive push stroke, wheelchair 102 has a tendency to roll "downhill" depicted as a negative velocity by means of shafts of reversible electric machines 120, and therefore wheels 110 and 112, rotating in a counter-clockwise direction. Hence, the user has to apply a positive force to maintain wheelchair 102 at zero velocity and to drive wheelchair 102 in a positive direction. Thus, at all velocities greater than zero, reversible electric machine 120 is acting as a generator so as to dissipate some of the energy applied by the user as described hereinabove. Turning now to Figure 4b, the graphs depict the movement of the user interface travelling along a simulated downhill incline training environment. As can be readily seen, the simulated downhill incline induces a positive velocity with nearly no effort being expended by the user. Furthermore, the user is required to apply a negative force to wheels 110 and 112 to maintain the velocity of wheelchair 102 at a uniform velocity. Still further, the user is required to provide strong negative strokes to cause wheelchair 102 to travel up the downward slope. In a similar but opposite fashion as described with reference to Figure 4a, reversible electric machine 120 acts as a generator when the user succeeds in pushing wheelchair 102 up the downhill inclined slope as evidenced by the positive velocities.

With reference now to Figure 5, there is shown a computer controlled training system 200 in which the user interface is realized as a platform 202 having a left treadmill 204 for displaceably supporting the left leg of the user and a right treadmill 206 for displaceably supporting the right leg of the user. In other respects, computer controlled training system 200 is similar to computer controlled training system 100 and therefore similar elements are likewise numbered.

It is a particular feature of this embodiment that treadmills 204 and 206 are user activated within a user selected training environment and an electric motor 252 used for determining the uphill incline and the downhill incline of platform 202 by means of a belt-driven axle 254.

With reference now to Figure 6, there is shown a computer controlled training system 300 in which the user interface is realized as a bicycle 302. Thus, in this case, computer controlled training system 300 includes a platform 304 having a front roller unit 306 and a rear roller unit 308 for rotatably supporting a front wheel 310 and a rear wheel 312 of bicycle 302, respectively. In other respects, computer controlled training system 300 is similar to computer controlled training system 100 and therefore similar elements are likewise numbered.

It is a particular feature of computer controlled training system 300 that it includes just a single reversible electric machine 320 such that both limbs of the user act against a common load. It should be noted that a distinction can be made for the right and left legs of the user by knowledge of which leg provided the first push stroke.

With reference now to Figure 7, there is shown a computer controlled training system 400 in which the user interface is realized as a rowing machine 402. Thus, in this case, computer controlled training system 400 includes a platform 404 having a left oarlock 406 and a right oarlock 408 for rotatably supporting a left oar 410 and a right oar 410 of rowing machine 402, respectively. In other respects, computer controlled training system 400 is similar to computer controlled training system 100 and therefore similar elements are likewise numbered.

It is a particular feature of computer controlled training system 400 that it also includes spatial position sensors 456 and 458 preferably mounted on the tips of oars 410 and 412, respectively, so as to enable tracking of the three dimensional rowing movement. In this case, the user selected training environment includes determining the viscosity of the medium through which the user is travelling. With reference now to Figure 8, there is shown a computer controlled training system 500 in which the user interface is realized as a barbell 502. Thus, in this case, computer controlled training system 500 includes a platform 504 having a left cable 406 and a right cable 408 connected to a left end 510 and a right end 510 of barbell 502, respectively. In other respects, computer controlled training system 500 is similar to computer controlled training system 100 and therefore similar elements are likewise numbered.

It is a particular feature of computer controlled training system 500 that it also includes spatial position sensors 560 and 562 preferably mounted on the tips of ends 510 and 512, respectively, so as to enable tracking of the height of barbell 502 from the ground. In this case, the user selected training environment includes determining the weight of barbell 502 and the inertia of a barbell movement.

While the invention has been described with respect to a limited number of embodiments, it will be appreciated that many variations, modifications and other applications of the invention may be made.

Claims

WHAT IS CLAIMED IS:

1. A computer controlled training system comprising:

(a) a user interface by means of which a user applies a user applied torque;

(b) a combined reversible electric machine and driver coupled to said user interface;

(c) selection means for selecting a simulated training environment; and

(d) an adaptive movement condition simulator for providing a command signal to said reversible electric machine to develop a motor torque relative to said simulated training environment, such that the movement of said user interface is determined by a resultant torque related to said user applied torque and said motor torque.

2. The system as in claim 1 wherein said user interface includes a first actuating member for engagement by a left limb of the user and a second actuating member for engagement by a right limb of the user.

3. The system as in claim 1 wherein said simulated training environment includes a parameter describing the hardness of the surface on which the user is training.

4. The system as in claim 1 wherein said simulated training environment includes a parameter describing an uphill incline of the surface in which the user is training.

5. The system as in claim 1 wherein said simulated training environment includes a parameter describing a downhill incline of the surface on which the user is training.

6. The system as in claim 1 wherein said simulated training environment includes a parameter describing the viscosity of the medium in which the user is training.

7. The system as in claim 1 wherein said simulated training environment includes a parameter describing the inertia movement of said user interface.

8. The system as in claim 1 wherein said user interface is realized as a wheelchair.

9. The system as in claim 1 further comprising means for adjusting said user interface between an uphill incline and a downhill incline.