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CN-115814330-B - Exoskeleton exercise device and method of using the same

CN115814330BCN 115814330 BCN115814330 BCN 115814330BCN-115814330-B

Abstract

The present invention provides exoskeleton exercise devices and methods of using the exoskeleton exercise devices, particularly for exercising a person. The exoskeleton exercise device comprises a wearable structure having at least one fastening member configured to fasten the wearable structure to a user's body, at least one mechanical joint having at least one axis of rotation and at least one degree of freedom, the at least one mechanical joint being fastened to the wearable structure, at least one unit for generating a rotational resistance that resists rotational movement of the at least one mechanical joint, and a controller for controlling the rotational resistance, wherein the controller is configured to control the rotational resistance according to a user setting.

Inventors

  • Gunter Propst

Assignees

  • NCTE股份公司

Dates

Publication Date
20260508
Application Date
20220914
Priority Date
20210916

Claims (13)

  1. 1. An exoskeleton exercise device for exercising a person, the exoskeleton exercise device comprising: a wearable structure (20), the wearable structure (20) having at least one fastening member (30), wherein the at least one fastening member (30) is configured to fasten the wearable structure (20) to a user's body; -at least one mechanical joint (10), the mechanical joint (10) having at least one rotation axis (11) and at least one degree of freedom, wherein at least one of the mechanical joints (10) is fastened to the wearable structure (20); -at least one unit (12), said at least one unit (12) being adapted to generate a rotational resistance that counteracts a rotational movement of at least one of said mechanical joints (10); A controller (50) for controlling the rotational resistance, wherein the controller (50) is configured to control the rotational resistance according to a user setting, Wherein the controller (50) is further configured to control at least one of the rotational resistances in accordance with an angular force applied by the user; at least one magnetostrictive torque sensor (40) for measuring the angular force applied by the user, and The magnetostrictive torque sensor (40) comprises a magnetic field sensor (41) and a magnetization axis (21A) or a magnetization disk (43), the magnetization axis (21A) being an angled region of a portion of the wearable structure (20) connected to the mechanical joint (10), the magnetization disk (43) being connected to a portion of the wearable structure (20) connected to the mechanical joint (10).
  2. 2. Exoskeleton exercise device according to claim 1, wherein the wearable structure (20) further comprises a first portion (21) and a second portion (22), the first portion (21) and the second portion (22) being rotatably connected to each other via the mechanical joint (10).
  3. 3. Exoskeleton exercise device according to claim 1 or 2, wherein at least one of the axes of rotation (11) of at least one of the mechanical joints (10) coincides with the axis of rotation of the user's body joints.
  4. 4. The exoskeleton exercise device of claim 1 or 2, wherein the wearable structure (20) is further configured to enable a sequence of motions performed by at least one body part of the user.
  5. 5. Exoskeleton exercise device as claimed in claim 4, wherein the body part is a left and/or right shoulder and/or torso and/or left and/or right and/or left upper and/or right upper and/or left lower and/or right lower and/or left and/or right hand and/or at least one finger and/or left hip and/or right hip and/or left leg and/or right leg and/or left knee and/or right knee and/or left foot and/or right foot.
  6. 6. Exoskeleton exercise device as claimed in claim 1 or 2, wherein the at least one unit (12) for generating the rotational resistance comprises an electrically controllable brake.
  7. 7. The exoskeleton exercise device of claim 4, further comprising at least one position sensor positioned at a joint of a body when the wearable structure is worn and adapted to detect position data of the sequence of movements.
  8. 8. Exoskeleton exercise device as claimed in claim 7, wherein the at least one position sensor is provided at least one of the mechanical joints (10) to detect the rotation angle about the rotation axis (11).
  9. 9. The exoskeleton exercise device of claim 1 or 2, wherein the exoskeleton exercise device further comprises at least one optical marker.
  10. 10. Exoskeleton exercise device as claimed in claim 9, wherein the at least one optical marker is provided on the wearable structure (20) and/or at least one of the mechanical joints (10).
  11. 11. Exoskeleton exercise device according to claim 1 or 2, wherein the exoskeleton exercise device comprises at least one pair of mechanical joints (10) with coincident axes of rotation (11).
  12. 12. Exoskeleton exercise device according to claim 11, wherein the two mechanical joints (10) of a pair are arranged opposite to each other on the wearable structure (20) in correspondence of the position of the user's body joints such that the body joints are positioned at the center of these two mechanical joints (10).
  13. 13. A method for exercising a human body using an exoskeleton exercise device, the method comprising the steps of: -fastening the wearable structure (20) of the exoskeleton exercise device to the body of the user by means of at least one fastening member (30); -generating a rotational resistance that counteracts a rotational movement of a mechanical joint (10), wherein the mechanical joint (10) comprises at least one rotational axis (11) and at least one degree of freedom, and wherein at least one of the mechanical joints (10) is fastened to the wearable structure (20); -controlling the rotational resistance by means of a controller (50) according to a user setting; -performing, by the user, an angular movement by means of the wearable structure (20), the centre of the angular movement being a body joint of the user; measuring the angular force applied by the user by means of a magnetostrictive torque sensor (40), and Wherein controlling further comprises controlling at least one of said rotational resistances in dependence of the measured angular force, and The magnetostrictive torque sensor (40) comprises a magnetic field sensor (41) and a magnetization axis (21A) or a magnetization disk (43), the magnetization axis (21A) being an angled region of a portion of the wearable structure (20) connected to the mechanical joint (10), the magnetization disk (43) being connected to a portion of the wearable structure (20) connected to the mechanical joint (10).

Description

Exoskeleton exercise device and method of using the same Technical Field The present invention relates to a wearable fitness and/or training device for multiple uses that is configured as an exoskeleton and can be worn on the body by a user. By employing a controller, the resistance to movement applied to each limb can be dynamically adjusted to simulate a "virtual weight". Background Artificial machine exoskeletons, for example in the form of support robots which can be worn on the body, are known from the prior art. In this regard, the exoskeleton does not form a direct part of the carrier, but rather supports and amplifies its movement by means of mechanical power. The active drive components of the exoskeleton facilitate force reduction and load reduction. Mechanical assistance is typically provided by a spring actuator. However, other actuators, such as electric motors, pneumatic or hydraulic drives, may also be used. For example, exoskeletons are used in industry for activities requiring physical effort to support workers. Another example of a field in which exoskeletons are used is orthopedics. In the field of orthopedics, exoskeletons are used as an orthopedic aid. In one aspect, the exoskeleton can be used as an aid to the limb. However, on the other hand, the exoskeleton may also assume the function of an active prosthesis. In the fitness industry, where the goal is to improve physical performance and/or strengthen muscles through targeted training, a wide variety of fitness devices exist. For example, exercise devices such as weights, treadmills, or load cells are known that require a fixed installation site and a corresponding amount of space associated therewith. Furthermore, training devices are known which can adjust and dynamically change the mechanical resistance to be overcome by the training device during training. For example, the terrain slope may be simulated on a treadmill or dynamometer. However, all these training devices have the disadvantage that they require a fixed installation site and must be operated fixedly. Although training devices that do not require a fixed installation site can be flexibly used, these training devices have the disadvantage that they are typically used without expert guidance and thus can cause injury and injury to the user if improperly used. It is therefore a primary object of the present invention to provide an exercise device that provides a user with a challenging exercise opportunity without requiring a fixed location for the exercise device and minimizes the risk of improper use. Disclosure of Invention The task is solved by an exoskeleton exercise device that facilitates directional restriction of a user's physical movement capabilities. More specifically, the task is solved by providing an exoskeleton exercise device, in particular for exercising a human body, comprising a wearable structure having at least one fastening member, wherein the at least one fastening member is adapted to fasten the wearable structure to the body of a user. Furthermore, the exoskeleton exercise device of the present invention comprises at least one mechanical joint having at least one axis of rotation and at least one degree of freedom, wherein the at least one mechanical joint is secured to the wearable structure. Furthermore, the exoskeleton exercise device according to the present invention comprises at least one unit for generating a rotational resistance that counteracts a rotational movement of the at least one mechanical joint and a controller for controlling the rotational resistance, wherein the controller is adapted to control the rotational resistance according to a user setting. An exoskeleton exercise device in accordance with the present invention comprises a mechanical structure that is worn on the body of a user. The exoskeleton exercise device can be an exoskeleton that is worn on the whole body or only on a specific part of the body such as the back, legs or arms. The exoskeleton exercise device can be a combination of two or more exoskeleton exercise devices. For example, an exoskeleton exercise device for a left arm can be combined with an exoskeleton exercise device for a right arm, or an exoskeleton exercise device for a left arm can be combined with an exoskeleton exercise device having a left leg. The exoskeleton exercise device can be shaped for the upper body or for the hips and legs. Any combination with a different number of exoskeleton exercise devices is contemplated. The exoskeleton exercise device comprises a wearable structure. The wearable structure may include one or more portions. At least a portion of the wearable structure may be disposed parallel to a limb of the user when the wearable structure is worn by the user. The wearable structure may comprise a variety of materials. The wearable structure is fastened to the body of the user with a fastening member. The fastening member may be removably or non-removably connected to the