Mechanism and method for performing force impulses in tendon systems

Abstract

A mechanism and method for the implementation of assistive or resistive forces or force impulses in tendon systems during walking on a treadmill, which enables the implementation of the established method of training the maintenance of dynamic balance during standing or walking. The mechanism includes a source of rotary mechanical energy, which is mechanically connected to the mechanical axis via an axial coupling. The mechanical axis is supported in two places by bearings, and on the mechanical axis, a winding reel is attached in a fixed manner through the central roller, and in which between the sides of the winding reel eccentrically with respect to the axis of rotation of the reel, a tensioning cylinder is installed in a fixed manner. The central roller and the tension roller of the winding reel are concentrically embraced by the cylinders, each of which can rotate freely around its own roller.

What is claimed is: 
     
         1 . A mechanism for applying assistive or resistive forces or force impulses to a body, the mechanism comprising:
 a tension element connectable with its proximal end to a body and with its distal end to a fixed point; and   a deflecting element adjustable between a location or orientation, in which the tension element is free of an impingement and a location or orientation, in which the tension element is deflected to cause a force or a force impulse to the body.   
     
     
         2 . The mechanism according to  claim 1 , wherein the deflecting device is formed as a rotating body and the tension element is crossing an axis of rotation. 
     
     
         3 . The mechanism according to  claim 2 , wherein the rotating body is formed as a winding reel. 
     
     
         4 . The mechanism according to  claim 3 , wherein the tension element is guided radially through an opening of the winding reel. 
     
     
         5 . The mechanism according to  claim 3 , wherein the winding reel comprises a central roller and at least one side plate extending radially over the central roller, wherein, eccentrically with respect to the axis of rotation of the winding reel, a tensioning roller is installed in a fixed manner on a side plate, and wherein through a gap between the central roller and the tensioning roller passes and moves freely in the tangential direction relative to the central roller the tension element, when the winding reel is in the location or orientation, in which the tension element is free of an impingement. 
     
     
         6 . The mechanism according to  claim 5 , wherein the central roller and the tensioning roller of the winding reel are concentrically embraced by cylinders, each of which being adapted to rotate freely around its own roller). 
     
     
         7 . The mechanism according to  claim 5 , wherein further comprising a source of rotary mechanical energy, which is mechanically connected to a mechanical axis, and wherein the mechanical axis is supported by at least one bearing, and on the mechanical axis the winding reel is attached in a fixed manner through the central roller. 
     
     
         8 . The mechanism according to  claim 1 , wherein the tension element is formed by a rigid tendon, which is attached at the proximal end to a cuff, which embraces the selected segment of the human body, and at the distal end is with a connecting joint connected to an elastic element that provides tension to the tendon and which is clamped at the opposite end to the fixed point directly or indirectly via a pulley. 
     
     
         9 . The mechanism according to  claim 1 , wherein a tensioning of the tension element is performed such that the tension element is directly connected either to an elastic element of constant stiffness or a weight is suspended over it via a pulley. 
     
     
         10 . The mechanism according to  claim 1 , wherein the tension element is fixed with its distal end on a storage reel as the fixed point, on which is acting a spring to provide a tensioning force. 
     
     
         11 . The mechanism according to  claim 10 , wherein the storage reel is supported on a storage reel-axis, on which the spring in the embodiment of a worm spring or torque spring acts. 
     
     
         12 . The mechanism according to  claim 11 , wherein on the storage reel-axis, a decoder is arranged to detect a movement and/or orientation of the storage reel. 
     
     
         13 . The mechanism according to  claim 1 , wherein a treadmill is assigned to carry the body. 
     
     
         14 . The mechanism according to  claim 8 , wherein the tendon is fed through the gap between the central roller and the tension roller of the winding reel, wherein, when the winding reel turns, the tendon is clamped against the tension roller or the tendon is fed radially through the axis of rotation of the winding reel, wherein the tendon is clamped against the central roller when the winding reel turns, and wherein, in intervals between, by applying force, the tendon moves freely through the opening in the winding reel. 
     
     
         15 . The mechanism according to  claim 5 , wherein the source of rotational energy is a device capable of generating rotational mechanical energy on the mechanical axis, via an electric motor or a servo motor, and wherein the electric motor or the servo motor is used together with a transmission for power transmission. 
     
     
         16 . The mechanism according to  claim 15 , wherein that the source of rotational energy comprises a flywheel, which is connected to the mechanical axis by an electromagnetic clutch, and to which the electric motor or the servomotor either directly or via a belt/chain supplies rotational mechanical energy, which is transferred to the mechanical axis when the electromagnetic clutch is activated. 
     
     
         17 . The mechanism according to  claim 1 , wherein a sensor is provided to monitor the periodic displacement of the tension element, and wherein a control element is provided to use the changes in the direction of the movement of the tension element for triggering the application of force impulse. 
     
     
         18 . The mechanism according to  claim 17 , wherein the sensor is an optical encoder attached to the pulley. 
     
     
         19 . The mechanism according to  claim 17 , wherein a plurality of sensors are used to improve reliability and robustness of triggering the application of force impulse. 
     
     
         20 . A method of training the maintenance of dynamic balance during standing or walking using assistive or resistive forces or force impulses, the method comprising:
 performing the training on the mechanism according to  claim 1  for performing assistive or resistive forces or force impulses in tendon systems during walking on a treadmill according; and   creating, during an application of force, a pull of the body segment by winding the tendon on the winding reel, and in the intervals when the force is not applied, the tendon follows the movement of the human segment according to the principle of transparent interaction.