Device and Method for an Automatic Treadmill Therapy

Abstract

A method to control the velocity of a treadmill according to the walking velocity of the person that is using the treadmill. A reaction force is measured, which occurs when a longitudinal repulsion force is created between the treadmill ( 2 ) and the person ( 1 ). A signal representation for said reaction force is transmitted to a control unit. The control unit is used to control the velocity of the treadmill.

1 - 13 . (canceled) 
   
   
       14 . A device for controlling a treadmill based upon a walking velocity of a person using the treadmill and wherein the treadmill has a running belt and an adjustable motor for driving the running belt, the device comprising:
 a mechanical system capable of fixing the person against movements in longitudinal direction above and/or on the running belt;   a force sensor arranged between the mechanical system and the treadmill, the force sensor capable of measuring a reaction force between the treadmill and the person; and   a control circuit for analyzing the signals provided by the force sensor and controlling a velocity of the treadmill and/or the movement of an orthotic device.   
   
   
       15 . The device according to  claim 14 , wherein the mechanical system comprises a harness and a rod system. 
   
   
       16 . The device according to  claim 14 , wherein the measured reaction force is a horizontal and a longitudinal force represented by an electrical signal used as a basic parameter to control the rotational speed of the motor of the treadmill and/or an actuator of the orthotic device. 
   
   
       17 . The device according to  claim 14 , wherein the control circuit comprises an impedance or an admittance control circuit. 
   
   
       18 . The device according to  claim 14 , wherein the device further comprises additional supporting elements for supporting the person. 
   
   
       19 . The device according to  claim 18 , wherein the additional supporting elements include a relief mechanism to relieve the person from its own weight or a driven orthotic device to provide guidance of the motion sequence. 
   
   
       20 . A method for controlling a treadmill according to the walking velocity of a person that is using the treadmill comprising measuring a reaction force when a longitudinal repulsion force is created between the treadmill and the person, and transmitting a signal representation for said reaction force to a control unit so as to control the velocity of the treadmill. 
   
   
       21 . The method for controlling the treadmill according to  claim 20 , further comprising harnessing the person in an orthotic device, measuring an orthotic reaction force of the person harnessed in the orthotic device, and transmitting a signal representation for the orthotic reaction force to the control unit, wherein the control unit controls the orthotic device. 
   
   
       22 . The method as claimed in  claim 20 , wherein the signal representative for the reaction force only comprises a component of the force parallel to the surface of the treadmill and in a running direction of the running belt. 
   
   
       23 . The method as claimed in  claim 20 , further comprising harnessing a body device, a hip device, or a leg orthotic device to the person;
 obtaining the signal representative for said reaction force from a force sensor or from force sensors positioned on a single rod, a double rod, rods arranged in a parallelogram, or on a diagonal rod of a linkage;   orienting the single rod, double rod, rods arranged in a parallelogram, the diagonal rod of linkage in the direction of the running belt attached to a harness of the person; and   positioning the person in view of the running belt, or on a door-like rod arrangement, or within a hip or leg orthesis.   
   
   
       24 . The method as claimed  claim 20 , further comprising adjusting the velocity of the treadmill to a natural motion when a foot executes a rolling motion on the running belt. 
   
   
       25 . The method as claimed in  claim 20 , wherein an offset force is added to the measured patient force to simulate a virtual slope. 
   
   
       26 . A method to control a treadmill according to the walking velocity of the person that is using the treadmill comprising measuring a reaction force when a person harnessed in an orthotic device walks with a different velocity than the running belt of the treadmill and transmitting a signal representation for the reaction force to a control unit for controlling the treadmill or an orthotic device. 
   
   
       27 . The method as claimed in  claim 26 , wherein the signal representative for said reaction force comprises the component of the force, the component of the force being parallel to the surface of the treadmill and in a running direction of the running belt. 
   
   
       28 . The method as claimed in  claim 26 , further comprising:
 harnessing a body device, a hip device, or a leg orthotic device to the person;   taking the signal representative for the reaction force from a force sensor or from force sensors positioned on a single rod, on two rods, rods which are arranged in a parallelogram, or on a diagonal rod of a linkage;   orienting the single rod, two rods, rods which are arranged in a parallelogram, or diagonal rod of linkage in the direction of the running belt attached to the harness of the person; and   positioning the person in view of the running belt, on a door-like rod arrangement, or within a hip or leg orthesis.   
   
   
       29 . The method as claimed in  claim 26 , wherein the velocity of the treadmill is adjusted to a natural motion, when a foot executes a rolling motion on the running belt. 
   
   
       30 . The method as claimed in  claim 26 , wherein an offset force is added to the measured patient force to simulate a virtual slope.