U.S. patent application number 11/385908 was filed with the patent office on 2007-06-21 for apparatus for multi-joint lower limb exercise.
This patent application is currently assigned to Industrial Technology Research Institute. Invention is credited to Meng-Chun Chen, Yang-Hua Lin, Kuo-Shih Tseng, Mao-Feng Tu, Syh-Shiuh Yeh.
Application Number | 20070142190 11/385908 |
Document ID | / |
Family ID | 38174392 |
Filed Date | 2007-06-21 |
United States Patent
Application |
20070142190 |
Kind Code |
A1 |
Yeh; Syh-Shiuh ; et
al. |
June 21, 2007 |
Apparatus for multi-joint lower limb exercise
Abstract
An apparatus for multi-joint lower limb exercise disclosed,
which comprises: a first supporting part; a second supporting part,
rotatably connected to the first supporting part; a driving device,
connected to the second supporting part, for providing a driving
force to push the second supporting part to rotate about the first
supporting part while simultaneously providing a resistance
exerting on the second supporting part for damping the rotation of
the same. As a user is fitted with the aforesaid apparatus to
perform a lower limb exercise, such as exercising its knee joint or
ankle joint, a comparatively better exercise effect can be achieved
as the driving force of the driving device is able to reinforce the
lower limb exercise performed by the user no matter it is actively
performed by the user or is passively driven by the driving
device.
Inventors: |
Yeh; Syh-Shiuh; (Taipei
City, TW) ; Chen; Meng-Chun; (Xuejia Town, TW)
; Tseng; Kuo-Shih; (Taiping City, TW) ; Tu;
Mao-Feng; (Zhudong Town, TW) ; Lin; Yang-Hua;
(Linkou Shiang, TW) |
Correspondence
Address: |
BRUCE H. TROXELL
SUITE 1404
5205 LEESBURG PIKE
FALLS CHURCH
VA
22041
US
|
Assignee: |
Industrial Technology Research
Institute
|
Family ID: |
38174392 |
Appl. No.: |
11/385908 |
Filed: |
March 22, 2006 |
Current U.S.
Class: |
482/112 |
Current CPC
Class: |
A63B 23/0494 20130101;
A63B 23/08 20130101; A63B 23/04 20130101; A63B 21/0083
20130101 |
Class at
Publication: |
482/112 |
International
Class: |
A63B 21/008 20060101
A63B021/008 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 20, 2005 |
TW |
094145195 |
Claims
1. An apparatus for multi-joint lower limb exercise, adapted for
supporting a lower limb of a user, comprising: a first supporting
part; a second supporting part, rotatably connected to the first
supporting part; and a driving device, connected to the second
supporting part, for providing a driving force to push the second
supporting part to rotate about the first supporting part.
2. The apparatus of claim 1, wherein the first supporting part,
further comprising: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
3. The apparatus of claim 1, wherein the second supporting part
includes a rotatable plate.
4. The apparatus of claim 1, wherein the driving device, further
comprising: at least a rotor wheel; a motor, for proving the
driving force; and a steering booster, connected to the motor and
each rotor wheel for controlling the rotation direction of each
rotor wheel.
5. The apparatus of claim 4, wherein the motor is a constant-speed
motor.
6. The apparatus of claim 4, wherein the motor is a variable-speed
motor.
7. The apparatus of claim 1, further comprising a third supporting
part, rotatably connected to the second supporting part.
8. The apparatus of claim 7, wherein the third supporting part,
further comprising: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
9. An apparatus for multi-joint lower limb exercise, adapted for
supporting a lower limb of a user, comprising: a first supporting
part; a second supporting part, rotatably connected to the first
supporting part; and a driving device, connected to the second
supporting part, for proving a resistance exerting on the second
supporting part for damping the rotation of the same.
10. The apparatus of claim 9, wherein the first supporting part,
further comprising: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
11. The apparatus of claim 9, wherein the second supporting part
includes a rotatable plate.
12. The apparatus of claim 9, wherein the driving device, further
comprising: at least a rotor wheel; a motor, for providing the
resistance; a steering booster, connected to the motor and each
rotor wheel for controlling the rotation direction of each rotor
wheel; and at least a force detector, each being arranged on a
corresponding rotor wheel, for detecting and measuring the
magnitude of a pushing force exerting on the second supporting part
by the lower limb.
13. The apparatus of claim 12, wherein the motor is used to provide
an adjustable torque resistance.;
14. The apparatus of claim 9, further comprising a third supporting
part, rotatably connected to the second supporting part.
15. The apparatus of claim 14, wherein the third supporting part
further comprises: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
16. The apparatus of claim 12, wherein each force detector, further
comprising: a rotation shaft, connected to the rotor wheel by a
bearing; an elastic member, arranged to ensheathe the rotation
shaft; a rotation angle sensor, enabled to detect and measure a
relative displacement angle between the rotor wheel and the
rotation shaft; a coupling, connected to the rotation shaft and the
rotation angle sensor; and a shaft sleeve, arranged to ensheathe
the rotation shaft, the elastic member, and the coupling.
17. An apparatus for multi-joint lower limb exercise, adapted for
supporting a lower limb of a user, comprising: a first supporting
part; a second supporting part, rotatably connected to the first
supporting part; and a driving device, connected to the second
supporting part, for proving a resistance exerting on the second
supporting part for damping the rotation of the same, the driving
device further comprising: at least a rotor wheel; a motor, for
providing the resistance; a steering booster, connected to the
motor and each rotor wheel for controlling the rotation direction
of each rotor wheel; and at least a force detector, each being
arranged on a corresponding rotor wheel, for detecting and
measuring the magnitude of a pushing force exerting on the second
supporting part by the lower limb.
18. The apparatus of claim 17, wherein the first supporting part,
further comprising: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
19. The apparatus of claim 17, wherein the second supporting part
includes a rotatable plate.
20. The apparatus of claim 17, wherein the motor is used to provide
an adjustable torque resistance.
21. The apparatus of claim 17, further comprising a third
supporting part, rotatably connected to the second supporting
part.
22. The apparatus of claim 21, wherein the third supporting part,
further comprising: a rotatable frame; and a supporting frame with
adjustable length, having an end thereof connected to the rotatable
frame.
23. The apparatus of claim 17, wherein each force detector, further
comprising: a rotation shaft, connected to the rotor wheel by a
bearing; an elastic member, arranged to ensheathe the rotation
shaft; a rotation angle sensor, enabled to detect and measure a
relative displacement angle between the rotor wheel and the
rotation shaft; a coupling, connected to the rotation shaft and the
rotation angle sensor; and a shaft sleeve, arranged to ensheathe
the rotation shaft, the elastic member, and the coupling.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to an apparatus for
multi-joint lower limb exercise, and more particularly, to an
exercise apparatus fitted to a lower limb of a user, capable of
enabling the joints of the moving lower limb to perform an active
or a passive exercise by controlling a specific driving device to
push the moving limb to exercise at a constant velocity or to exert
a torque resistance upon the moving limb.
BACKGROUND OF THE INVENTION
[0002] Generally, most of the movements of human upper limb are to
enable a person to complete a certain operation for controlling
one's ambient environment while the lower limb movements are to
enable the person to move around. That is, different limb movements
are structured specifically with respect to complete different
human activities. Therefore, the feature of most human upper limb
movements is that they are structured to complete an operation is
free space, and on the other hand, most lower limb movements are
structured with a stable connection to the ground. It is known that
intense and repetitive activities usually are the cause of physical
injuries involving damage to bones and/or muscle tissues. It is
also known that healing physical injuries such as fractures,
exposed to an active exercise with permissible weight bearing
stress while controlling the movement of the joints relating to the
exercise to move correctly and properly, often heal more
predictably and more rapidly than fractures which are not
exposed-to any limb exercise. This is probably also true for
preventing such physical injuries.
[0003] It is known that muscles are strengthened and their mass
increased by repetitive contraction of the muscles actively under
tension. When the muscle contracts, however, it shortens, thereby
causing joint motion via the connective tendons which can stress
the ligaments connecting the bony joint segments. However, a
passive exercise is contrary to the aforesaid active exercise, that
muscles are exercised without the contraction thereof and thus can
not train the relating joints to exercise by the contraction of
muscles. Conventionally, resistance training increases muscle
strength by putting the muscles against an external pressure while
contracting actively and repetitively, such as a weight training
using dumbbell, sand bag, elastic rope or other weighting
equipments. Although, the external pressure of such resistance
training can be adjusted by the instruction of a professional
coach, it lacks the ability of providing integrated trainings, such
as walking. Recently, there are equipment designed for providing
isokinetic training that allows the athlete to develop maximal
muscle contraction throughout a given range of the movement and
develops strength at variable speeds, i.e. it can detect when a
muscle is speeding up, and increases the load to slow it down
again. Nevertheless, those currently available equipments for
isokinetic training are all too bulky and can not simulate actual
human movements for training relating muscles and joints under such
actual human movement. It is noted that there is an idea of
employing robotic arms as intellectual training tools. However,
those specifically designed robotic arms are still under experiment
and are not available for progressive training or household
training. In addition, the training tools especially designed for
lower limb exercise, such as treadmill, exercise bicycle, or
stepper, are all to bulky and heavy to be carried around.
[0004] The conventional lower limb exercises are either focused on
excising knee joint or on ankle joint individually, which are not
capable of exercising multiple joints relating to a lower limb
movement, and are still employing traditional isotonic/isokinemic
training mode while lacking a feedback mechanism for better
controlling. Obviously, for the foregoing shortcomings, there is no
available solution.
[0005] Therefore, it is in need of an exercise apparatus fitted to
a lower limb of a user, capable of enabling the joints of the
moving lower limb to perform an active or a passive exercise by
controlling a specific driving device to push the moving lower limb
to exercise at a constant velocity, i.e. controlling the rotation
speed of a motor driving the lower limb to move accordingly, or to
exert a torque resistance upon the moving lower limb, and moreover,
the apparatus for multi-joint lower limb exercise, comparing to
those of prior art, is capable of providing a
multi-degree-of-freedom motion of active exercise that is portable,
light-weight, and ease to maintain.
SUMMARY OF THE INVENTION
[0006] It is the primary object of the present invention to provide
an apparatus for multi-joint lower limb exercise, capable of
enabling the ankle and knee of a user to be exercised at the same
time by a multi-degree-of-freedom motion of active exercise.
[0007] It is another object of the present invention to provide a
portable apparatus for multi-joint lower limb exercise, adapted for
exercising the hip, the ankle and knee of a user.
[0008] It is another object of the present invention to provide an
active exercise apparatus for joints, which can be adapted to
exercise a user's joints no matter the user is lying, sitting or
standing. Moreover, it can be adapted for matching the difficulties
of a progressive training as required.
[0009] It is yet another object of the present invention to provide
a motor with constant velocity control ability for pushing the
lower limb to move at a constant velocity controlled by the
adjustable rotation speed of the motor so as to enable the lower
limb to be exercised passively.
[0010] It is further another object of the present invention to
provide a motor capable of issuing an adjustable torque resistance
exerting upon the moving lower limb so as to enable the lower limb
to be exercised actively.
[0011] To achieve the above objects, the present invention provides
an apparatus for multi-joint lower limb exercise, which comprises:
a first supporting part; a second supporting part, rotatably
connected to the first supporting part; and a driving device,
connected to the second supporting part, for providing a driving
force to push the second supporting part to rotate about the first
supporting part.
[0012] Preferably, the first supporting part is further comprised
of a rotatable frame and a supporting frame with adjustable length,
having an end thereof connected to the rotatable frame. The second
supporting part is further comprised of a rotatable plate. The
driving device is further comprised of: at least a rotor wheel; a
motor, for providing a driving force; and a steering booster,
connect to the motor and each rotor wheel for controlling the
rotation direction of each rotor wheel. Moreover, the motor can be
constant-speed motor or a variable-speed motor.
[0013] Preferably, the apparatus for multi-joint lower limb
exercise further comprises a third supporting part, rotatably
connected to the second supporting part. The third supporting part
further is comprised of a rotatable frame and a supporting frame
with adjustable length, having an end thereof connected to the
rotatable frame.
[0014] In a preferred embodiment of the invention, another
apparatus for multi-joint lower limb exercise is provided, which
comprises: a first supporting part; a second supporting part,
rotatably connected to the first supporting part; and a driving
device, connected to the second supporting part, for proving a
resistance exerting on the second supporting part for damping the
rotation of the same.
[0015] Preferably, the first supporting part is further comprised
of a rotatable frame and a supporting frame with adjustable length,
having an end thereof connected to the rotatable frame. The second
supporting part is further comprised of a rotatable plate. The
driving device is further comprised of: at least a rotor wheel; a
motor, for providing an adjustable torque resistance; a steering
booster, connected to the motor and each rotor wheel for
controlling the rotation direction of each rotor wheel; and at
least a force detector, each being arranged on a corresponding
rotor wheel, for detecting and measuring the magnitude of a pushing
force exerting on the second supporting part by the lower limb.
[0016] Preferably, the apparatus for multi-joint lower limb
exercise further comprises a third supporting part, rotatably
connected to the second supporting part. The third supporting part
further is comprised of a rotatable frame and a supporting frame
with adjustable length, having an end thereof connected to the
rotatable frame.
[0017] Preferably, each force detector further comprises: a
rotation shaft, an elastic member, a rotation angle sensor, a
coupling, and a shaft sleeve; wherein the rotation shaft is
connected to the rotor wheel by a bearing; the elastic member is
arranged to ensheathe the rotation shaft; the rotation angle sensor
is enabled to detect and measure the relative displacement angle
between the rotor wheel and the rotation shaft; the coupling is
connected to the rotation shaft and the rotation angle sensor; and
the shaft sleeve is arranged to ensheathe the rotation shaft, the
elastic member, and the coupling.
[0018] Other aspects and advantages of the present invention will
become apparent from the following detailed description, taken in
conjunction with the accompanying drawings, illustrating by way of
example the principles of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] FIG. 1 is a schematic view of an apparatus for multi-joint
lower limb exercise according to a first preferred embodiment of
the invention.
[0020] FIG. 2 is a schematic view of a driving device arranged in
the exercise apparatus of the first preferred embodiment of the
invention.
[0021] FIG. 3 is a schematic view of an apparatus for multi-joint
lower limb exercise according to a second preferred embodiment of
the invention.
[0022] FIG. 4 is a schematic view of a driving device arranged in
the exercise apparatus of the second preferred embodiment of the
invention.
[0023] FIG. 5 is an exploded view of a force detector arranged in
the exercise apparatus of the second preferred embodiment of the
invention.
[0024] FIG. 6 is a schematic view of the force detector arranged in
the exercise apparatus of the second preferred embodiment of the
invention.
DESCRIPTION OF THE PREFERRED EMBODIMENT
[0025] For your esteemed members of reviewing committee to further
understand and recognize the fulfilled functions and structural
characteristics of the invention, several preferable embodiments
cooperating with detailed description are presented as the
follows.
[0026] Please refer to FIG. 1, which is a schematic view of an
apparatus for multi-joint lower limb exercise according to a first
preferred embodiment of the invention. The apparatus of FIG. 1 can
be adapted to fit on a lower limb of a user for proving a driving
force to the moving joints of the lower limb as the lower limb is
subjected to a passive exercise. The apparatus for multi-joint
lower limb exercise comprises a first support part 11, a second
support part 12, a third support part 13, and a driving device
14.
[0027] The first supporting part 11 is comprised of a supporting
frame 111 and a rotatable frame 112, that both are fitted to the
outside of the shank of the user and are fixed thereto by a strap.
The length of the first supporting part 11 can be adjusted to match
with the length of the shank, that is, the supporting frame 1.11 of
the first supporting part 11 is a device of retractable mechanism
composed of guiding chutes and sliding rod which is connected to
the rotatable frame 112 in a retractable manner for enabling the
length of the first supporting part 11 to match the length of the
shank.
[0028] The second supporting part 12 includes a rotatable plate
121, which has an upright panel 122 fixed thereon, whereas the
upright panel 122 is pivotally connected to the rotatable frame 111
by a rotation axis 15, such that the rotatable, frame, 1 11 and the
rotatable plate 121 will rotate about the rotation axis 15 as the
ankle of the user is rotated. It is noted that a foot of the user
can be placed on the rotatable plate 121 and is fixed thereto by a
strap.
[0029] Similarly, The third-supporting part 13 is comprised of a
supporting frame 131 and a rotatable frame 132, that both are
fitted to the outside of the thigh of the user and are fixed
thereto by a strap. Similarly, The length of the second supporting
part 13 can also be adjusted to match with the length of the thigh,
that is, the supporting frame 131 of the second supporting part 13
is a device of retractable mechanism composed of guiding chutes and
sliding rod which is connected to the rotatable frame 132 in a
retractable manner for enabling the length of the second supporting
part 13 to match the length of the thigh. As the knee of the user
is rotated, the rotatable frame 112 and the rotatable frame 132
will rotate about the rotation axis 16.
[0030] The driving device 14 is connected to the second supporting
part 12 for providing a driving force to push the second supporting
part 12 to rotate about the first supporting part 11. As seen in
FIG. 1, the driving device 14 comprises a motor 141, a steering
booster 142, and two rotor wheels 143, 144. Wherein, the motor 141
is acted as the power source of the driving device 14; the steering
booster 142 is connected to the motor 141 and the two rotor wheels
143, 144 and is used for controlling the rotation direction of the
two rotor wheels 143, 144. As the motor 141, placed underneath the
rotatable plate 121, is operating, both the two rotor wheels 143,
144 are driven to rotate that brings along the rotatable plate 121
to rotate about the rotation axis 15. Moreover, since the foot, the
shank, and the thigh of the lower limb are respectively fixed to
the second supporting part 12, the first supporting part 11 and the
third supporting part 13 by straps, the ankle, the knee and the hip
are all being brought along to rotate by the lower limb exercise
apparatus of FIG. 1, that is, the lower limb of the user is enabled
to perform a passive exercise. Furthermore, the motor 141 can be a
device selected from the group consisting of a constant-speed motor
and a variable-speed motor, with respect to actual requirement of
the user, such that the rotatable plate 121 can be controlled to
rotated at a constant velocity or at varying speeds, for subjecting
the user to various passive exercises of different strength.
[0031] Please refer to FIG. 2, which is a schematic view of a
driving device arranged in the exercise apparatus of the first
preferred embodiment of the invention. For facilitating a user to
carry the lower limb exercise of the invention easily, an
additional bottom panel 145 is arranged in the driving device 14
whereas the steering booster 142 is attached to the bottom of the
bottom panel 145. By attaching the bottom panel 145 to the
rotatable plate 121, the driving device 14 is fixedly connected to
the structure of the lower limb exercise apparatus of FIG. 1. It is
noted that the lower limb exercise apparatus can perform well by
itself without the driving device 14, that the driving device 14
can be detached from the lower limb exercise apparatus easily by
detaching the bottom panel 145 from the rotatable plate 121. The
driving force provided by the motor 141 is transmitted to the two
transmission shafts 146, 147 by the steering booster 142 which
bring along the two rotor wheels 143, 144 to rotate, and further
bring the bottom panel 145 and the rotatable plate 121 to rotate as
well. Therefore, by the operation of the driving device 14, the
joints of the lower limb of a user can be exercise effortlessly
since it is brought to move by the driving device 14.
[0032] Please refer to FIG. 3, which is a schematic view of an
apparatus for multi-joint lower limb exercise according to a second
preferred embodiment of the invention. The apparatus of the second
embodiment is adapted to fit on a lower limb of a user for proving
a resistance to the moving joints of the lower limb as the lower
limb is subjected to an active exercise. The apparatus for
multi-joint lower limb exercise comprises a first support part 31,
a second support part 32, a third support part 33, and a driving
device 34.
[0033] The first supporting part 31 is comprised of a supporting
frame 311 and a rotatable frame 312, that both are fitted to the
outside of the shank of the user and are fixed thereto by a strap.
The length of the first supporting part 31 can be adjusted to match
with the length of the shank, that is, the supporting frame 311 of
the first supporting part 31 is a device of retractable mechanism
composed of guiding chutes and sliding rod which is connected to
the rotatable frame 312 in a retractable manner for enabling the
length of the first supporting part 31 to match the length of the
shank.
[0034] The second supporting part 32 includes a rotatable plate
321, which has an upright panel 322 fixed thereon, whereas the
upright panel 322 is pivotally connected to the rotatable frame 311
by a rotation axis 35, such that the rotatable frame 311 and the
rotatable plate 321 will rotate about the rotation axis 35 as the
ankle of the user is rotated. It is noted that a foot of the user
can be placed on the rotatable plate 321 and is fixed thereto by a
strap.
[0035] Similarly, The third supporting part 33 is comprised of a
supporting frame 331 and a rotatable frame 332, that both are
fitted to the outside of the thigh of the user and are fixed
thereto by a strap. Similarly, The length of the second supporting
part 33 can also be adjusted to match with the length of the thigh,
that is, the supporting frame 331 of the second supporting part 33
is a device of retractable mechanism composed of guiding chutes and
sliding rod which is connected to the rotatable frame 332 in a
retractable manner for enabling the length of the second supporting
part 33 to match the length of the thigh. As the knee of the user
is rotated, the rotatable frame 312 and the rotatable frame 332
will rotate about the rotation axis 36.
[0036] The driving device 34 is connected to the second supporting
part 32 for providing a resistance exerting on the second
supporting part 32 for damping the rotation of the same. As seen in
FIG. 3, the driving device 34 comprises a motor 341, a steering
booster 342, two rotor wheels 343, 344, and two force detectors
345, 346. Wherein, the motor 341 is acted as the power source of
the driving device 34; the steering booster 342 is connected to the
motor 341 and the two rotor wheels 343, 344 and is used for
controlling the rotation direction of the two rotor wheels 343,
344; the two force detectors 345, 346 are respectively arranged at
the two rotor wheels 343, 344 for detecting and measuring the
magnitude of a pushing force exerting on the second supporting part
by the lower limb. As the motor 341 is capable of issuing a torque
resistance for resisting the rotation of the motor shaft, the user
must exercise his lower limb to exert a pushing force upon the
rotatable plate 321 that is large enough to overcome the torque
resistance so as to force the motor 241 to rotate and thus drive
the two rotor wheels 343, 344, such that the lower limb of the user
is enabled to perform an active exercise. Furthermore, the motor
141 can be a capable of issuing a torque resistance that is
adjustable with respect to actual requirement of the user, such
that the user must exercise his lower limb to exert a pushing force
corresponding to the adjustable torque resistance of the motor so
as to bring along the two rotor wheels 343, 344 to rotate as well.
That is, the user is subjected to various active exercises of
different strength.
[0037] Please refer to FIG. 4, which is a schematic view of a
driving device arranged in the exercise apparatus of the second
preferred embodiment of the invention. For facilitating a user to
carry the lower limb exercise of the invention easily, an
additional bottom panel 347 is arranged in the driving device 34
whereas the steering booster 342 is attached to the bottom of the
bottom panel 347. By attaching the bottom panel 347 to the
rotatable plate 321, the driving device 34 is fixedly connected to
the structure of the lower limb exercise apparatus of FIG. 3. It is
noted that the lower limb exercise apparatus can perform well by
itself without the driving device 34, that the driving device 34
can be detached from the lower limb exercise apparatus easily by
detaching the bottom panel 347 from the rotatable plate 321. As the
user is exercising his lower limb to exert a pushing force on the
bottom panel 347 and the rotatable plate 321, the two force
detectors 345, 346 are capable of detecting and measuring the
strength of the pushing force. As the detected strength reaches a
specific value, that is, the pushing force is equal to the torque
resistance defined by the motor 341, the motor 241 is forced to
rotate and thus drive the two rotor wheels 343, 344 to rotate as
well. Therefore, by enabling a user to exert force upon the
apparatus of multi-joint lower limb exercise of; the invention, the
lower limb exercise apparatus is forced to operate and thus the
joints of the lower limb of a user is exercised actively.
[0038] Please refer to FIG. 5, which is an exploded view of a force
detector arranged in the exercise apparatus of the second preferred
embodiment of the invention. The force detector 51 comprises: a
rotation shaft 511, an elastic member,512, a rotation angle sensor
515, a coupling 514, and a shaft sleeve 513. The assembling of the
force detector 51, the rotor wheel 52 and a bearing 53 forms a
rotor wheel with force detection ability. While assembling, the
rotation shaft 511 is connected to the rotor wheel 52 through the
bearing 53 for enabling the rotor wheel 52 to rotate freely with
respect to the rotation shaft 511. The elastic member 512 is
arranged between the rotation shaft 511 and the shaft sleeve 513
while fixing the shaft sleeve 513 onto the rotation shaft 511, such
that the two ends of the elastic member are respectively connected
to the rotation shaft 511 and the shaft sleeve 513 for enabling the
rotor wheel 52 to connect to the rotation shaft 511 flexibly, and
thus the relative displacement angle between the rotor wheel 52 and
the rotation shaft 511 can be detected by the rotation angle sensor
515 fixedly attached to the shaft sleeve 513. The coupling 514 is
used to connect the rotation angle sensor 515 to the rotation shaft
511. As the rotation shaft 511 is connected to the power source and
is driven to rotate thereby, the resistance acting on the rotating
rotor wheel 52 can be obtained from the relative displace angle
between the rotor wheel 52 and the rotation shaft 511 with respect
to the characteristics of the elastic member 512. As seen in FIG.
6, the assembling of the aforesaid rotor wheel, rotation shaft,
elastic member, rotation angle sensor, coupling, and shaft sleeve,
a rotor wheel with force detection ability 60 can be formed.
[0039] To sum up, the apparatus for multi-joint lower limb exercise
employs a driving device as, a power source thereof, which is
either used for providing an adjustable torque resistance to the
moving lower limb, or for providing a driving force to drive the
joints of the lower limb to move, such that a user fitted with the
aforesaid apparatus either has to exert a force to overcome the
torque resistance for performing the lower limb exercise actively
or can be driven to exercise passively.
[0040] While the preferred embodiment of the invention has been set
forth for the purpose of disclosure, modifications of the disclosed
embodiment of the invention as well as other embodiments thereof
may occur to those skilled in the art. Accordingly, the appended
claims are intended to cover all embodiments which do not depart
from the spirit and scope of the invention.
* * * * *