DE102020106623A1 - Motion simulator and method for simulating motion with this motion simulator - Google Patents

Abstract

The invention relates to a movement simulator for riding therapy with a seat (11) that simulates a horse's back with a riding direction (X) and a swivel axis (13) arranged centrally in the riding direction (X), the seat (11) being made up of individual, transverse to the swivel axis ( 13) extending ribs (12) is formed, which are moved by means of rotationally driven camshafts arranged below the seat surface (11), the camshafts being arranged on both sides parallel to the pivot axis (13) as a left and a right camshaft (21, 22), for each rib (12) on the camshafts (21, 22) seated cams (24) are provided, which support each rib and can pivot individually about the pivot axis (13), and that the flexible seat surface (11) with the two camshafts (21, 22) forms a rocker which is designed to be pivotable to and fro in the riding direction (X) about a rocker axis (31) arranged horizontally and transversely to the pivot axis (13). The invention also relates to a method for the movement simulation of a riding therapy for a patient on a seat (1) with a seat surface (11) simulating a horse's back with a riding direction (X), in particular with a movement simulator according to the invention.

Description

The invention relates to a movement simulator for riding therapy with a seat surface that simulates a horse's back with a riding direction and a pivot axis arranged centrally in the riding direction, the seat surface being formed from individual ribs extending transversely to the pivot axis, which are moved by means of rotationally driven camshafts arranged below the seat surface . Furthermore, the invention relates to a method for the movement simulation of a riding therapy for a patient on a seat with a seat surface simulating a horse's back with a riding direction, the movement of a horse's back being recorded by a horse running at a step and this movement being transmitted to the seat surface.

For people with neurological movement disorders (so-called cerebral palsy), physiotherapy on a therapy horse, so-called riding therapy, has proven itself. Riding therapy is a form of physiotherapeutic treatment based on a neurophysiological basis. The riding therapy aims to minimize neuromotor, sensorimotor and psychosomatic functional disorders and neurological movement disorders. The functional disorders also affect healthy areas of the body.

In riding therapy, the patient sits in a splayed seat on the horse while the horse is led at a step. The patient's whole body is exposed to the rhythmic movement of the horse. An improvement of the body functions is possible through the very similar movement patterns of the walking person to the step of a running horse. However, since riding therapy is hardly financed by health insurances and the activity can only be offered on special horse farms, there is a great need for a more cost-effective alternative that is available at all times.

In the prior art, complex riding simulators are known, on which seat training and body techniques for riders, for example for dressage riding, show jumping or racing, are carried out. However, these riding simulators are technically very complex and provided with a large number of movement options and controls in order to depict the actual riding situation as realistically as possible. Such riding simulators are used for intensive training for professional riders.

Such a riding simulator is from the US 2009/0005186 A1 known, in which a fixed seat shaped as a saddle is arranged pivotably and movably. A first drive is provided for a periodic back and forth movement in the riding direction. Another drive is used to be able to tilt the rigid riding seat forward and backward about a horizontal but perpendicular axis to the riding direction. This drive also drives an eccentric, which causes a pivoting movement to the left and right about the axis of the riding direction. These three movements then superimpose the riding movement, whereby the rigid riding seat moves back and forth in the riding direction, swaying to the left and right about the riding direction and tilting back and forth about a horizontal axis perpendicular to the riding direction.

the GB 2 317 350 A shows a riding training device in which a camshaft driven by an electric motor can tilt the fixed riding saddle about an axis oriented horizontally and perpendicular to the riding direction.

One of the possible sequence of movements for US 2009/0005186 A1 similar device is from the US 2007/0238579 A1 known, but in which the mechanical structure is constructed differently by means of partly eccentrically mounted pivot levers.

the US 6,616,456 B1 In contrast, shows a device for carrying out horse therapy, in which the horse's movement is simulated in three dimensions, in turn, with pivoting, tilting and twisting of a fixed seat.

In contrast, in the equine therapy device according to US 2016/0296027 A1 A flexible horse's back with flexibly interconnected ribs is modeled, with two wider ribs with narrower ribs in between and possibly in front of and behind them forming the back structure. The ribs are connected in the middle with a rigid rod that simulates the spine. On both outer sides of the ribs, rib holders are provided which movably connect the ribs to one another. Below the two broad ribs, a rotationally driven shaft with two cams is provided horizontally and perpendicular to the riding direction, with which a twisting of the horse's back can be generated via the four differently oriented cams. However, more complex movements of the horse's back cannot be simulated with this device.

Based on the US 2016/0296027 A1 It is the object of the invention to simulate the riding movement, in particular to represent the movements of the horse's back in a much more complex spatial-temporal simulation.

This object is achieved with a motion simulator according to claim 1 and a method for motion simulation according to claim 8.

The fact that the camshafts are arranged on both sides parallel to the pivot axis as a left and a right camshaft, with cams resting on the camshafts for each rib, which support each rib and can pivot individually about the pivot axis, and that the flexible seat with the Both camshafts form a rocker, which is designed to be swiveled back and forth in the riding direction about a rocker axis arranged horizontally and transversely to the swivel axis, a very complex, spatial / temporal movement of the horse's back can be simulated, so that the movement felt by the patient is very close to an actual one Horseback movement when riding comes. Accordingly, the neuro-sensory stimuli are practically identical to conventional, complex riding therapy. It is precisely the twisting, wave-like and / or arching movements on the seat, which simulates the horse's back, that give rise to the high physiotherapeutic effect of this therapy. The movement stimuli to be compensated are likely to be considerably more complex than those of the riding simulation devices known in the prior art.

If a third camshaft is provided parallel to the left and right camshafts, with at least two cam disks sitting on the third camshaft, which support the rocker on both sides of the horizontal rocker axis and pivot when it is rotationally driven, the pivoting back and forth in the riding direction around the rocker axis can be done by this third camshaft can be triggered and controlled. The rocker actuation of the seat surface generates an upward and downward movement in a technically simple design around the rocker axis, which corresponds to the real sequence of movements of a horse running at a step.

In order to be able to drive the two, left and right camshafts in a fixed phase relation to one another, a first servomotor is provided which drives the left and right camshafts synchronously with one another via a V-belt. This ensures that with a “valley” of the cam at the left end of a rib at the opposite end there is always a “mountain” of the other cam in question, so that the rib in question is only pivoted about the pivot axis and always rests against the cam.

In this embodiment, it is preferred that the rocker is designed to be drivable by the first servomotor via the V-belt in synchronism with the left and right camshafts. This means that all three camshafts lying next to one another can be driven by one motor and thus operated synchronously with one another with a fixed phase relationship.

It may be advantageous if the rocker movement about the rocker axis takes place with a separate drive, that is, not together with the first servomotor. In this case, the two movement components can be operated in different phase positions to one another or completely asynchronously. A second servomotor is provided for this, which drives the rocker.

Because the seat has eight to twelve ribs, each rib being supported on a cam at both ends, the horse's back is provided in a realistic replica with reasonable effort.

If a heater is provided for the seat surface, the body heat of a real horse's back can be simulated in addition to a preferably realistic shape of the seat surface that simulates a horse's back, possibly also with a fur-like surface. The therapeutic success can be supported accordingly.

According to the method, the above-mentioned object is achieved in that for the movement simulation the movement is resolved into a first movement component, which oscillates about a pivot axis in the riding direction, and a second movement component, which oscillates about a horizontal rocker axis transversely to the riding direction, that the first movement component of Camshafts equipped with cams rotating under the seat are periodically generated, that the flexible seat twists through a plurality of support points on the cams of the rotating camshafts, that the second movement component is generated periodically and that the first and second movement components are driven synchronously with one another will. A resolution of the motion simulation into two motion components that oscillate around two mutually perpendicular axes is from the US 2009/0005186 A1 as well as the US 2007/0238579 A1 known, but always with fixed saddles, i.e. without replicating the complex movements of a horse's back. In contrast, the US 2016/0296027 A1 A rib-like replica of a horse's back with simple twisting of the horse's back by means of camshafts, but by combining these two principles and multiplying the support points under the flexible seat on the cams of the rotating camshafts, a much more complex spatial and temporal simulation of the horse's back movement is possible. It is this very complex simulation of movement that creates the physiotherapeutic advances in treatment known from riding therapies with real horses.

Further training is the movement of a horse's back from a horse running at a step recorded at a large number of observation points and this recorded movement is reproduced in a complex spatial-temporal manner through the shape of the cams and their position on the camshafts. This makes it possible to simulate a real movement of a horse's back on a movement simulator in such a way that a complex, twisting and undulating seat surface is created and its movement sequence can be called up again and again.

If different movement patterns for riding therapies are simulated by regulating the speed, turning the cams on the camshaft and / or exchanging cams, variations in the simulation of movement can also be achieved by simple control means (for regulating the speed of the drive motors) and / or by turning the cams, that is, phase changes are provided for the respective periodic movement resulting therefrom. In addition or as an alternative, the cams themselves can also be exchanged in order to change the movement characteristics, for example the movement amplitudes and frequencies of harmonics.

An exemplary embodiment of the invention is described in detail below with reference to the accompanying drawings.

• 1 einen Bewegungssimulator in einer räumlichen Vorderansicht,
• 2 diesen Bewegungssimulator in räumlicher Seitenansicht und
• 3 diesen Bewegungssimulator in räumlicher Rückansicht.

It shows:

• 1 a motion simulator in a three-dimensional front view,
• 2 this motion simulator in three-dimensional side view and
• 3 this motion simulator in three-dimensional rear view.

1 shows a motion simulator for riding therapy with a seat 1 , with the seat 1 a seat 11 has, which in the embodiment shown here consists of eight individual, flexible ribs 12th is formed like this in particular 2 can be seen. The seat 11 is flat-rectangular in the illustrated embodiment, the ribs 12th perpendicular to the riding direction X aligned and below the seat 11 in the middle of the seat and parallel to the riding direction X a pivot axis 13th is provided. On this pivot axis 13th are the ribs 12th attached so that the ribs 12th independently of one another around the swivel axis 13th let pivot.

The seat 1 has a base plate in the illustrated embodiment 3 on, which rests on a pad, not shown here, for example a chair frame, so that one on the seat 1 person sitting in a splayed seat with their legs to the right and left of the seat 11 can hang down freely. Above the base plate 3 is a horizontal but perpendicular to the riding direction X arranged rocker axis 31 intended. Around the seesaw axis 31 is an intermediate level 2 pivotally arranged. The rocking around the rocker axis 31 simulates an up and down movement that occurs during step riding. At this intermediate level 2 are two camshafts, namely a right camshaft 21 and a left camshaft 22nd , parallel to the swivel axis 13th , so also parallel to the riding direction X arranged. The two camshafts 21 , 22nd each have a pulley at one end 44 on to the one common fan belt 43 running around. In the middle between the two pulleys 44 is a driving means 4th in the form of an electric servo motor 41 arranged, of a belt drive pulley 45 of which the V-belt 43 about the pulleys 44 is driven.

On the camshafts 21 , 22nd are cam disks 24 placed, in the illustrated embodiment, each under the end regions of the eight ribs 12th are arranged. Due to the shape of the on the camshaft 21 , 22nd lying cam 24 becomes a height change by pivoting the respective rib 12th around the pivot axis 13th achieved. At the point where the respective rib 12th the cam 24 touches, is preferably one role in each case 14th attached for low-friction support. These roles 14th thus follow the surface of the respective rotating cam 24 and adjust the rib above 12th . With this, the side bending that results from step riding is determined with the help of these cams 24 on the seat 11 replicated.

Since the ribs 12th in each case only around a specified swivel axis 13th can adjust are the two of one rib 12th to ordered cams 24 that are below the end regions of the rib under consideration 12th once on the right and once on the left, designed so that, for example, in the event of a downward movement on the left side, a corresponding upward movement is compensated for on the right side, so that the rib moves 12th around the pivot axis 13th pivoted and nevertheless at both end areas on the respective cam 24 rests and with the role arranged there 14th stay in touch. So that is the entire seat area 11 fully supported despite the variable adjustability.

The one around the seesaw axis 31 resulting upward and downward movement in riding direction X reproduces the second movement component of the riding step. Around the intermediate level 2 with the seat arranged on it 11 in riding direction X To be able to move up and down is a third camshaft 23 parallel and below the pivot axis 13th on the intermediate level or rocker 2 arranged, on this camshaft 23 two cams 24 each at a distance from the rocker axis 31 sit on that with the base plate 3 or roles arranged there 14th act together in a supportive manner. The two cams 24 the third camshaft 23 are arranged in relation to one another in such a way that a "mountain" is one cam 24 a "valley" on the other cam 24 facing so that the entire intermediate level (rocker) 2 around the rocker axis 31 with appropriate support of both cams 23 about the roles 14th on the base plate 3 can pivot. The third camshaft 23 has a pulley at one end 44 on. Through the common drive of the third camshaft 23 with the V-belt 43 the fixed phase assignment to the sideways movement (first movement component) to this up and down movement (second movement component) is ensured.

The required movements, namely the first movement component - corresponding to the lateral bend of the horse - and the second movement component - corresponding to the upward and downward movement in the riding direction X - be with the drive means 4th driven. The electric servo motor 41 drives over drive pulley 45 the V-belt 43 so that the rotating V-belt 43 the pulleys 44 of the three camshafts 21 , 22nd and 23 drives synchronously with each other. This drive creates a fixed phase relationship between the left and right camshafts 21 , 22nd as well as the third camshaft 23 guaranteed.

Alternatively, the up and down movement can be performed using the rocker axis 31 also from the first servomotor via a mechanical function 41 , for example via one on the drive pulley 45 of the first servo motor 41 appropriately hinged crank rod to be executed. There are also two servomotors as drive means 4th conceivable, with a second servomotor the
Intermediate level (rocker) 2 to the base plate 3 around the rocker axis 31 adjusted to allow the horse to move up and down in the riding direction X to recreate. Since this movement is also to be carried out synchronously with the lateral inclination (first movement component), the two servomotors are 41 , 42 thus electrically synchronized.

Another (not shown) version is the seat 11 Equipped with a flexible, padded surface that simulates the shape of a horse's back. Furthermore, a seat heating system can be inserted in this flexible upholstery to simulate the body heat of the horse. The heating can be done electrically, for example, similar to seat heating in a motor vehicle.

List of reference symbols

1

Seat

11

Seat

12th

rib

13th

Swivel axis

14th

role

2

Mezzanine level, seesaw

21

right camshaft

22nd

left camshaft

23

third camshaft

24

Cam

3rd

Base plate

31

Seesaw axis

4th

Drive means

41

Servo motor

43

V-belt

44

Pulley

45

Drive pulley

X

Riding direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2009/0005186 A1 [0005, 0007, 0019]
• GB 2317350 A [0006]
• US 2007/0238579 A1 [0007, 0019]
• US 6616456 B1 [0008]
• US 2016/0296027 A1 [0009, 0010, 0019]

Claims (10)

Movement simulator for riding therapy with a seat (11) simulating a horse's back with a riding direction (X) and a swivel axis (13) arranged centrally in the riding direction (X), the seat (11) being made up of individual ribs extending transversely to the swivel axis (13) (12), which are moved by means of rotationally driven camshafts arranged below the seat surface (11), characterized in that the camshafts are arranged on both sides parallel to the pivot axis (13) as a left and a right camshaft (21, 22), wherein for each rib (12) on the camshafts (21, 22) seated cams (24) are provided, which support each rib and can pivot individually about the pivot axis (13), and that the flexible seat surface (11) with the two camshafts ( 21, 22) forms a rocker which is designed to be pivotable to and fro in the riding direction (X) about a rocker axis (31) arranged horizontally and transversely to the pivot axis (13). Motion simulator after Claim 1 , characterized in that a third camshaft (23) is provided parallel to the left and right camshafts (21, 22), with at least two cam disks sitting on the third camshaft (23) which support the rocker on both sides of the horizontal rocker axis (31) and swivel with rotary drive. Motion simulator after Claim 1 or 2 , characterized in that a first servomotor (41) is provided which drives the left and right camshafts (21, 22) synchronously with one another via a V-belt (43). Motion simulator after Claim 3 , characterized in that the rocker is designed to be drivable by the first servomotor (41) via the V-belt (43) synchronously with the left and right camshafts (21, 22). Motion simulator after Claim 1 , 2 or 3 , characterized in that a second servomotor (42) is provided which drives the rocker. Motion simulator according to one of the preceding claims, characterized in that the seat surface (11) has eight to twelve ribs (12), each rib being supported at both ends on a cam (24). Movement simulator according to one of the preceding claims, characterized in that a heater is provided for the seat surface (11). Method for the movement simulation of a riding therapy for a patient on a seat (1) with a seat surface (11) simulating a horse's back with a riding direction (X), in particular with a movement simulator according to one of the preceding claims, - the movement being resolved into a first movement component, which oscillates about a pivot axis (13) in the riding direction (X), and a second movement component, which oscillates about a horizontal rocker axis (31) transversely to the riding direction (X), for movement simulation, - wherein the first movement component is periodically generated by camshafts (21, 22) which rotate under the seat surface (11) and are equipped with cams, - wherein the flexible seat (11) twists through a plurality of support points on the cams of the rotating camshafts, - The second movement component is generated periodically and - The first and second movement components are driven synchronously with one another. Procedure according to Claim 8 , characterized in that the movement of a horse's back of a horse running at a step is recorded at a multiplicity of observation points and this recorded movement is simulated in a complex spatial-temporal manner by the shape of the cams and their position on the camshafts. Procedure according to Claim 8 or 9 , characterized in that different movement patterns for riding therapies are simulated by regulating the speed, rotating the cams on the camshaft and / or exchanging cams.

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