Exercise device and system

• US 9,095,492 B2
• Filed: 11/19/2009
• Issued: 08/04/2015
• Est. Priority Date: 11/19/2008
• Status: Active Grant

• Current Assignee: Exsurgo Rehab Limited
• Original Assignee: Industrial Research Limited
• Inventors: Verkaaik, Julian Kyle, Nicholls, Jason Murray, King, Marcus James, Olson, Joseph John
• Primary Examiner(s): Ginsberg, Oren
• Assistant Examiner(s): LEE, JOSHUA S
• Application Number:
  US13/129,930
• Publication Number:
  US 20110300994A1
• Time in Patent Office: 2,084 Days
• Field of Search: 482 44- 46, 482 49- 52, 482/62, 482 70- 72, 482/92, 482/123, 482/126, 482133-139, 482/148, 601/5, 601/23, 601 27- 35, 601/40, 434/166, 434247-261, 248118-1185, 297 75- 76, 297 83- 91, 2974112-42346
• US Class Current: 1/1
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 1/0285 Hand
• CPC Class Codes: A61H 2001/0203 Rotation of a body part around its longitudinal axis
• CPC Class Codes: A61H 2201/1261 combined with active exercising of the patient
• CPC Class Codes: A61H 2201/1276 by the other leg or arm
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/1659 Free spatial automatic movement of interface within a working area, e.g. Robot
• CPC Class Codes: A61H 2201/169 Physical characteristics of the surface, e.g. material, relief, texture or indicia
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A63B 2022/0028 the movement path being non-parallel to the body-symmetrical-plane, e.g. support elements moving at an angle to the body-symmetrical-plane
• CPC Class Codes: A63B 2022/003 the movement path being perpendicular to the body-symmetrical-plane
• CPC Class Codes: A63B 2022/0035 Upper limbs performing together the same movement, e.g. on a single support element
• CPC Class Codes: A63B 2022/0053 each support element being cantilevered by a parallelogram system
• CPC Class Codes: A63B 2022/0074 the axis being located in front of the user, e.g. for steppers with twist movement
• CPC Class Codes: A63B 2022/0092 for training agility or co-ordination of movements
• CPC Class Codes: A63B 2022/0094 for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2024/0096 using performance related parameters for controlling electronic or video games or avatars
• CPC Class Codes: A63B 2071/0647 Visualisation of executed movements
• CPC Class Codes: A63B 2071/0652 : Visualisation or indication relating to symmetrical exercise, e.g. right-left performance related to spinal column
• CPC Class Codes: A63B 21/00178 : for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/012 : using frictional force-resisters electromagnetically-controlled brakes A63B21/0056
• CPC Class Codes: A63B 21/159 : Using levers for transmitting forces
• CPC Class Codes: A63B 21/4017 : to the upper limbs
• CPC Class Codes: A63B 21/4033 : Handles, pedals, bars or platforms
• CPC Class Codes: A63B 21/4035 : for operation by hand
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 22/0002 : involving an exercising of arms for strengthening the upper limbs A63B23/12
• CPC Class Codes: A63B 22/0005 : with particular movement of the arms provided by handles moving otherwise than pivoting about a horizontal axis parallel to the body-symmetrical-plane
• CPC Class Codes: A63B 22/0061 : the pivoting movement being in a horizontal plane, e.g. skating movement platforms for reciprocating rotating motion about a vertical axis A63B22/14
• CPC Class Codes: A63B 2220/05 : Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/13 : Relative positions
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/58 : Measurement of force related parameters by electric or magnetic means
• CPC Class Codes: A63B 2220/806 : Video cameras
• CPC Class Codes: A63B 23/03525 : Supports for both feet or both hands performing simultaneously the same movement, e.g. single pedal or single handle A63B21/0724 takes precedence
• CPC Class Codes: A63B 23/03533 : With separate means driven by each limb, i.e. performing different movements
• CPC Class Codes: A63B 23/12 : for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles bench press exercises A63B21/078; for teaching music G09B15/06
• CPC Class Codes: A63B 23/1209 : Involving a bending of elbow and shoulder joints simultaneously
• CPC Class Codes: A63B 23/1254 : Rotation about an axis parallel to the longitudinal axis of the body, e.g. butterfly-type exercises
• CPC Class Codes: A63B 23/14 : for wrist joints
• CPC Class Codes: A63B 24/0003 : Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63F 13/218 : using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
• CPC Class Codes: A63F 13/24 : Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/65 : automatically by game devices or servers from real world data, e.g. measurement in live racing competition
• CPC Class Codes: G06F 3/017 : Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/03 : Arrangements for converting the position or the displacement of a member into a coded form

Abstract

A bilateral upper limb exercise device (10) for exercising a user'"'"'s arms comprising a central mounting structure (12) that is mountable to a fixed surface or structure (15), left and right limb supports (14a, 14b) for supporting the forearm and/or hand of a respective arm of the user, and a pair of articulated linkage arms (22a, 22b) that are pivotably coupled to opposite sides of the central mounting structure (12) and which are arranged to support a respective limb support (14a, 14b) for movement in at least two degrees of freedom in a two-dimensional (2D) movement plane. A mirroring mechanism is also operatively coupled to the articulated linkage arms (22a, 22b) such that movement of the opposing limb support relative to a central line of symmetry of the device.

Claims

1. A bilateral upper limb exercise device for exercising a user'"'"'s arms, comprising:

a central mounting structure that is mountable to a fixed surface or structure;

left and right limb supports for supporting a forearm and/or hand of a respective arm of the user;

a pair of articulated linkage arms that are pivotably coupled to opposite sides of the central mounting structure and which are arranged to support a respective limb support for translational movements in at least two degrees of freedom, including back-and-forth and side-to-side movements, within two-dimensional (2D) movement plane that is common to both limb supports; and

a mirroring mechanism that is operatively coupled to the articulated linkage arms such that movement of one limb support by a user causes a corresponding mirrored movement of the opposing limb support relative to a central line of symmetry of the device.

2. A bilateral upper limb exercise device according to claim 1 wherein each articulated linkage arm comprises an inner arm and an outer arm that are coupled together at one end by a pivot joint, and wherein the inner arm is pivotally coupled to the central mounting structure at its other end and the outer arm being arranged to support its respective limb support at or toward its other end.

3. A bilateral upper limb exercise device according to claim 2 wherein each limb support is pivotally mounted at or toward an outer end of the outer arm of its respective articulated linkage arm.

4. A bilateral upper limb exercise device according to claim 3 wherein each limb support is pivotally mounted to the outer arm of its respective articulated linkage arm such that the limb support can freely rotate at or toward the end of the outer arm with respect to an axis that is substantially perpendicular to the 2D movement plane.

5. A bilateral upper limb exercise device according to claim 3 wherein each limb support is pivotally mounted to the outer arm of its respective articulated linkage arm such that the limb support can freely tilt into or out of alignment with the 2D movement plane.

6. A bilateral upper limb exercise device according to claim 1 wherein the limb supports are fixedly mounted in position and orientation on their respective articulated linkage arms.

7. A bilateral upper limb exercise device according to claim 1 wherein each limb support comprises a forearm rest that is arranged to support a user'"'"'s forearm and a hand rest that is arranged to support a user'"'"'s hand.

8. A bilateral upper limb exercise device according claim 1 wherein the limb supports are provided with one or more removable hand grip or hand support devices that are arranged to be gripped by a user and which are releasably mountable to the limb support.

9. A bilateral upper limb exercise device according to claim 8 wherein the one or more hand grip devices is in the form of a joystick component that is securable to the limb support at a desired position and orientation.

10. A bilateral upper limb exercise device according to claim 8 wherein the one or more hand support devices is in the form of a hemispherical shaped support component over which the palm of the user'"'"'s hand may rest.

11. A bilateral upper limb exercise device according to claim 1 wherein at least one of the limb supports comprises one or more securing straps that may be fastened around the user'"'"'s forearm and/or hand to secure it into the limb support.

12. A bilateral upper limb exercise device according to claim 1 wherein the mirroring mechanism comprises a gearing system that is operatively coupled to the articulated linkage arms such that movement of either linkage arm in the 2D movement plane causes a corresponding mirrored movement of the other linkage arm about the line of symmetry.

13. A bilateral upper limb exercise device according to claim 12 wherein the mirroring mechanism comprises a first pair of gears, each gear extending from an end of a respective inner arm of the articulated linkage arms at the central mounting structure and which mesh together at the line of symmetry of the central mounting structure;

and a second pair of gears at the central mounting structure, each gear being operatively coupled by a connecting rod to a respective outer arm of the articulated linkage arms and which mesh together at the line of symmetry of the central mounting structure, the first and second set of gears rotating in response to pivotal movement of either of their respective inner and outer arms so as to cause a corresponding mirrored pivotal movement of the other inner and outer arms.

14. A bilateral upper limb exercise device according to claim 13 wherein the exercise device further comprises an adjustable resistance system that is operable to apply a level of resistive force to movement of the limb supports in the 2D movement plane.

15. A bilateral upper limb exercise device according to claim 14 wherein the adjustable resistance system comprises first and second adjustable friction brakes associated with the respective first and second pairs of gears, each adjustable friction brake comprising a brake pad that is arranged to contact a surface of one of the gears of its respective pair of gears and an operable brake tensioner that is operable by a user to increase or reduce the pressure applied to the gear by the brake pad as desired to alter the resistance applied to movement of the limb supports.

16. A bilateral upper limb exercise device according to claim 1 wherein the mirroring mechanism comprises a slider track that extends along the line of symmetry;

and first and second sliders that are arranged for slidable movement along the slider track, the first slider being operatively coupled to inner arms of the articulated linkage arms and the second slider being operatively coupled to outer arms of the articulated linkage arms such that movement of either linkage arm in the 2D movement plane causes a corresponding mirrored movement of the other linkage arm about the line of symmetry.

17. A bilateral upper limb exercise device according to claim 16 wherein the exercise device further comprises an adjustable resistance system that is operable to apply a level of resistive force to movement of the limb supports in the 2D movement plane.

18. A bilateral upper limb exercise device according to claim 17 wherein the adjustable resistance system comprises a braking clamp or braking caliper that is mounted to each slider and which is operable to clamp to the slider track with varying degrees of force to thereby resist movement of the sliders along the slider track and therefore resist movement of the limb supports in their 2D movement plane as desired.

19. A bilateral upper limb exercise device according to claim 17 wherein the adjustable resistance system comprises two non-rotating pulleys, one mounted to each slider, and a tensioning cable or rope that is wrapped around the pulleys such that a tension of the rope can be adjusted to increase resistance on movement of the pulleys and thereby their respective sliders along the slider track.

20. A bilateral upper limb exercise device according to claim 1 wherein the mirroring mechanism comprises an elongate slider track that defines the line of symmetry;

a first slider that is arranged for slidable movement along the slider track and which is operatively coupled to inner arms of the articulated linkage arms by respective connecting rods such that pivotal movement of one inner arm causes a corresponding mirrored movement of the other inner arm about the line of symmetry; and

a second slider that is arranged for slidable movement along the slider track and which is operatively coupled to outer arms of the articulated linkage arms by respective connecting rods such that pivotal movement of one outer arm causes a corresponding mirrored movement of the other outer arm.

21. A bilateral upper limb exercise device according to claim 20 wherein the exercise device further comprises an adjustable resistance system that is operable to apply a level of resistive force to movement of the limb supports in the 2D movement plane.

22. A bilateral upper limb exercise device according to claim 21 wherein the adjustable resistance system comprises a braking clamp or braking caliper that is mounted to each slider and which is operable to clamp to the slider track with varying degrees of force to thereby resist movement of the sliders along the slider track and therefore resist movement of the limb supports in their 2D movement plane as desired.

23. A bilateral upper limb exercise device according to claim 21 wherein the adjustable resistance system comprises two non-rotating pulleys, one mounted to each slider, and a tensioning cable or rope that is wrapped around the pulleys such that a tension of the rope can be adjusted to increase resistance on movement of the pulleys and thereby their respective sliders along the slider track.

24. A bilateral upper limb exercise device according to any claim 1 wherein the central mounting structure comprises an adjustable tilting mechanism that is operable to adjust the tilt of the 2D movement plane relative to a horizontal.

25. A bilateral upper limb exercise device according to claim 1 wherein the central mounting structure comprises a slidable support clamp that is securable to an upright member extending vertically from a fixed structure or surface, the support clamp being releasable to allow a height of the exercise device to be adjusted by slidable movement of the support clamp up or down the upright member.

26. A bilateral upper limb exercise device according to claim 1 wherein the central mounting structure comprises a rotatable support clamp that is securable to an upright member extending vertically from a fixed structure or surface, the support clamp being releasable to allow a position of the exercise device to be adjusted by rotatable movement of the support clamp about the upright member.

27. A bilateral upper limb exercise device according to claim 1 wherein the central mounting structure is arranged to allow free vertical movement of the exercise device to thereby provide a third degree of freedom of movement for the limb supports.

28. A bilateral upper limb exercise device according to claim 1 further comprising a balance sensing and feedback system that is arranged to continuously sense a load applied to each of the articulated linkage arms during movement of the limb supports and output data representing a balance of work done between the user'"'"'s left and right arms.

29. A bilateral upper limb exercise device according to claim 28 wherein a balance sensing and feedback system comprises two loadcell sensors, each being operatively coupled to a respective articulated linkage arm and being configured to sense load applied through the arm during movement of the limb support by the user and generating representative output load signals for processing.

30. An exercise system comprising:

a bilateral upper limb exercise device according to claim 1;

a position tracking system that is arranged to sense and track movement of the limb supports of the exercise device and generate representative position data for tracking movement of the limb supports in the 2D movement plane; and

an interface for sending the position data to an associated interactive gaming system to enable a user of the exercise device to interact with the gaming system via movement of the limb supports.

31. An exercise system according to claim 30 wherein the interactive gaming system is in a form of a personal computer having a display screen upon which a game is present and the personal computer being programmed to receive and process the position data as user input to interact with the game.

32. An exercise system according to claim 30 wherein the position tracking system comprises a camera that is arranged to capture continuous images of a portion of the 2D movement plane and an image processing system that is arranged to process the images to sense and track movement of one or both limb supports that are visible in the portion of the 2D movement plane to generate representative position data.

33. An exercise system according to claim 30 wherein the position tracking system comprises one or more movement sensors integrated into the articulated linkage arms of the exercise device and which are arranged to sense pivotal movement of the arms and generate representative position data.

34. An exercise system according to claim 30 further comprising a balance sensing and feedback system that is arranged to continuously sense a load applied to each of the articulated linkage arms during movement of the limb supports and output data representing a balance of work done between the user'"'"'s left and right arms.

35. An exercise system according to claim 30 further comprising a line-tracing game that displays a target line for the user to trace with a cursor that is controlled via movement of one of the limb supports.

36. An exercise system comprising:

a bilateral upper limb exercise device according to claim 1;

a position tracking system that is arranged to sense and track movement of the limb supports of the exercise device and generate representative position data for tracking movement of the limb supports in the 2D movement plane; and

an interactive gaming system that is arranged to receive the position data as input to enable a user to interact with a game presented on a display screen.

37. A method of bilateral upper limb exercise training, comprising:

providing an exercise system according to claim 36; and

initiating a user interactive game on the gaming system to motivate the user to carry out exercise on the bilateral upper limb exercise device of the exercise system.

38. An exercise system according to claim 36 wherein the interactive gaming system is in a form of a personal computer having a display screen upon which the game is present and the personal computer being programmed to receive and process the position data as user input to interact with the game.

39. An exercise system according to claim 36 wherein the position tracking system comprises a camera that is arranged to capture continuous images of a portion of the 2D movement plane and an image processing system that is arranged to process the images to sense and track movement of one or both limb supports that are visible in the portion of the 2D movement plane to generate representative position data.

40. An exercise system according to claim 36 wherein the position tracking system comprises one or more movement sensors integrated into the articulated linkage arms of the exercise device and which are arranged to sense pivotal movement of the arms and generate representative position data.

41. An exercise system according to claim 36 further comprising a balance sensing and feedback system that is arranged to continuously sense a load applied to each of the articulated linkage arms during movement of the limb supports and output data representing a balance of work done between the user'"'"'s left and right arms.

42. An exercise system according to claim 36 wherein the game is a line-tracing game that displays a target line for the user to trace with a cursor that is controlled via movement of one of the limb supports.

43. A bilateral upper limb exercise device for exercising a user'"'"'s arms, comprising:

a base support that is mountable to a fixed surface or structure;

left and right limb supports provided in a symmetrical arrangement on opposite sides relative to the base support for supporting a forearm and/or hand of a respective arm of the user;

a support system arranged to support each limb support for translational movements in at least two degrees of freedom, including back-and-forth and side-to-side movements, within a movement plane that is common to both limb supports; and

a mirroring mechanism that is operatively coupled to the limb supports and/or support system such that movement of one limb support by a user causes a corresponding mirrored movement of the opposing limb support relative to a central line of symmetry of the base support.