U.S. patent application number 13/150987 was filed with the patent office on 2012-06-07 for simulated recreational, training and exercise system.
Invention is credited to Frank E. Joutras.
Application Number | 20120142416 13/150987 |
Document ID | / |
Family ID | 46162717 |
Filed Date | 2012-06-07 |
United States Patent
Application |
20120142416 |
Kind Code |
A1 |
Joutras; Frank E. |
June 7, 2012 |
SIMULATED RECREATIONAL, TRAINING AND EXERCISE SYSTEM
Abstract
Controlled resistance to movement of body parts of a person is
provided based on the person's body position and related to an
activity depicted in a visual image provided to the person. The
resistance is controlled by a sensor input and a visual input
provided to a microprocessor and a software program based on the
sensing of the position of at least one part of the person's
body.
Inventors: |
Joutras; Frank E.; (Lincoln,
NE) |
Family ID: |
46162717 |
Appl. No.: |
13/150987 |
Filed: |
June 1, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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61350347 |
Jun 1, 2010 |
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Current U.S.
Class: |
463/36 |
Current CPC
Class: |
G06F 3/014 20130101;
A63F 13/428 20140902; A63F 13/212 20140902; A63F 13/211 20140902;
G06F 3/011 20130101; A63B 2024/0096 20130101; A63B 21/4017
20151001; A63F 13/54 20140902; A63F 13/812 20140902; A63B 21/015
20130101; A63F 2300/1037 20130101; A63F 13/285 20140902; A63B
2220/16 20130101; A63F 13/807 20140902; G09B 19/0038 20130101; A63B
21/4011 20151001; A63B 21/4047 20151001; A63B 24/0006 20130101;
A63F 2300/1012 20130101; A63B 21/4025 20151001; A63F 2300/1043
20130101; A63B 2220/836 20130101; A63F 2300/6045 20130101 |
Class at
Publication: |
463/36 |
International
Class: |
A63F 9/24 20060101
A63F009/24 |
Claims
1. A method of simulating characteristics of a physical activity,
comprising the steps of: making sensory stimuli available to at
least one person corresponding to the movement of the person in
performing the physical activity, whereby the at least one person
associates the physical activity with the stimuli; the step of
making sensory stimuli available to the at least one person
including the substep of making non-tactile stimuli available
representing at least one aspect of the activity and the substep of
making tactile stimuli available; and coordinating the position of
at least one body part of the at least one person with the
non-tactile stimuli to beginning the activity.
2. A method in accordance with claim 1 wherein the substep of
making non-tactile stimuli available representing at least one
aspect of the activity includes the substep of making at least one
of visual stimuli depicting at least one aspect of the activity
available to the at least one person and audible stimuli associated
with the aspect of the activity.
3. A method in accordance with claim 1 wherein the substep of
making tactile stimuli available to the at least one person
includes the substep of controlling the resistance to movement of
the at least one person.
4. A method in accordance with claim 3 wherein: the substep of
making tactile stimuli available to the at least one person
includes the substep of controlling the resistance to movement of
the at least one person either through a preset resistance to joint
movement or in synchronization with at least one aspect of the
non-tactile stimuli under at least part control of a program
recorded in a microprocessor representing the one aspect of the
activity; and altering the non-tactile stimuli in response to the
movement of a part of the body of the at least one person.
5. A method in accordance with claim 1 further including the step
of selecting a physical activity for at least one person to
perform.
6. A method in accordance with claim 1 further including the step
of selecting a resistance program.
7. A method in accordance with claim 1 further including the step
of programming a time delay in a depiction of an aspect of the
visual image based on the activity and a velocity measurement.
8. A method in accordance with claim 7 wherein at least one sensor
provides signals to the microprocessor wherein the image depicts
multiple actions caused by movement of limbs at multiple joints and
sets individual friction control with respect to a direction of
movement.
9. A method in accordance with claim 4 wherein the substep of
controlling the resistance to movement of the at least one person
includes the step of controlling the resistance by electrically
generated forces.
10. A method in accordance with claim 9 wherein the electrical
forces are applied by one of varying electromagnet resistance to
movement and electromagnets forcing frictional surfaces together
and by an electric motor turning a screw drive to force frictional
surfaces together.
11. A method in accordance with claim 1 further including the step
of generating an electrical code indicating the positions of two
exoskeleton members with respect to each other wherein the
exoskeleton members are connected to opposite sides of a joint of a
person whereby the code indicates the position of the exoskeleton
members with respect to each other about the joint.
12. A method in accordance with claim 11 wherein the code energizes
a program to control the resistance and provide interactive images
representing an activity to the person and being displayed on a
monitor.
13. A method in accordance with claim 12 in which the images are at
least one of terrain, athletic activities, and games.
14. A method in accordance with claim 12 wherein a therapist may
monitor the audio/visual devices while exercise is being
performed.
15. A method of providing controlled resistance to movement of body
parts of a person with respect to each other based on the person's
body position and related to an activity depicted in a visual image
provided to the person, comprising the steps of: attaching at least
a first exoskeleton member to a first body part on a first side of
at least one body joint of the person and a second exoskeleton
member to a second body part on a second side of at least one body
joint of the person; attaching at least one adjustable resistance
to at least one of said first and second exoskeleton members
wherein said at least one of said first and second exoskeleton
members provides a controlled resistance to movement of the first
and second body parts of the person with respect to each other;
sensing positions of at least the first body part with respect to
at least the second body part during performance of an activity and
providing a first signal in response thereto; generating a second
signal from a second signal source wherein the second signal source
is one of a second person or a microprocessor programmed to
generate signals; providing a video display, sound or touch
sensation relating to a relationship between the first and second
signals, whereby an activity of the person interacting with an
actual person or programmed person is simulated; and resisting
movement of the person with a resistance controlled by a sensor
input and a visual input provided to a microprocessor and a
software program based on said sensing of the position of at least
one part of said person's body.
16. A method in accordance with claim 15 wherein the step of
sensing a position of at least one part of said person's body
comprises the step of sensing a position of at least one part of
said person's body from a remote location and transmitting it to
the microprocessor.
17. A method in accordance with claim 16 wherein the step of
initiating a program includes the step of displaying the program
for a therapist wherein the therapist may change the program.
18. A method in accordance with claim 17 wherein the step of
initiating a program includes the step of: generating an electrical
code in response to at least one of a position of the body parts
with respect to each other and an EMG signal; and transmitting the
code to the microprocessor storing the program, wherein the program
is initiated.
19. A method in accordance with claim 16 wherein the at least one
part of said person's body is at least one of a foot, an arm, a
forearm, a leg or a shoulder.
20. A method of simulating characteristics of a physical activity,
comprising the steps of: selecting the physical activity; making
sensory stimuli available to at least one person corresponding to
the movement of the person in performing the physical activity,
whereby the at least one person associates the physical activity
with the stimuli; the step of making sensory stimuli available to
the at least one person including the substeps of making
non-tactile stimuli available representing at least one aspect of
the activity in accordance with a preset program; coordinating the
position of at least one body part of the at least one person with
the non-tactile stimuli to begin the physical activity. the step of
generating an electrical code indicating the positions of two
exoskeleton members with respect to each other wherein the
exoskeleton members are connected to opposite sides of a joint of a
person whereby the code indicates the position of the exoskeleton
members with respect to each other about the joint; and the step of
providing sensory stimuli including the step of varying the sensory
stimuli in accordance with the generated code whereby the activity
is varied partly by the person and partly by the recorded
program.
21. A method in accordance with claim 20 in which the program is
within a microprocessor.
22. A method in accordance with claim 20 further including the step
of generating an electrical code indicating the positions of two
exoskeleton members with respect to each other wherein the
exoskeleton members are connected to opposite sides of a joint of a
person whereby the code indicates the position of the exoskeleton
members with respect to each other about the joint.
23. A method in accordance with claim 20 wherein the joint is the
joint between the hand and the forearm and the exoskeleton
generates one code representing yaw of the hand with respect to the
forearm and a signal representing pitch of the hand with respect to
the forearm said yaw and pitch being about orthogonal axes.
24. A method in accordance with claim 20 wherein the joint is the
elbow and the exoskeleton generates a signal representing the
rotation of the forearm with respect to the arm.
25. A method of aiding a person in physical activity, wherein the
person has weakened or damaged muscle, comprising the steps of:
providing resistance to movement in a direction of natural forces,
wherein the natural forces are offset; the step of providing
resistance to movement comprising the step of applying a resistance
which varies in magnitude in accordance with a program in which
said resistance is independent of velocity of movement; providing
images depicting the physical activity to the person under the
control of the program; coordinating one position of the body with
a corresponding position in the image, wherein the program is
synchronized; said program varying the images and the resistance to
movement in accordance with the position of body parts of the
person.
26. A method in accordance with claim 25 in which the program is
within a microprocessor.
27. A method in accordance with claim 25 in which the resistance is
controlled by electrical forces.
28. A method in accordance with claim 26 further including the step
of generating an electrical code indicating the positions of two
levers with respect to each other wherein the levers are connected
to opposite sides of a joint of a person whereby the code indicates
the position of the levers with respect to each other about the
joint.
29. A method in accordance with claim 28 wherein the code energizes
a program to control the resistance and provide interactive images
representing an activity to the person.
30. A method in accordance with claim 29 in which an operator may
control the selection of the program being generated for a person
exercising.
31. A method in accordance with claim 30 wherein a therapist may
monitor the audio/visual devices while exercise is being
performed.
32. A method of simulating an activity requiring movement of body
parts of a person, comprising the steps of: generating signals
representing a position of at least two body parts with respect to
each other; generating resistance to movement in response to the
signals; generating at least one of visual presentations, audible
presentations, heat, cold, wind, ultrasonic vibrations and EMS
muscle stimulation in response to the signals, wherein the at least
one of visual presentations, audible presentations, heat, cold,
wind, ultrasonic vibrations and EMS muscle stimulation relate to
the activity and to the resistance to movement; synchronizing the
signals and the position of the body parts at the start of the
activity.
33. A method according to claim 32 in which a visual presentation
received by a person is varied by changes in body position of the
person and the visual presentation is provided by one of a video
monitor and a virtual reality headset.
34. A method according to claim 30 in which the person's body
position is determined by sensing the position of one side of a
body joint in relation to the opposite side of the same body
joint.
35. A method in accordance with claim 30 wherein the step of
generating signals comprises the step of generating an electrical
code indicating the positions of two levers with respect to each
other wherein the levers are connected to opposite sides of a joint
of a person whereby the code indicates the position of the levers
with respect to each other about the joint; and the step of
generating the at least one of visual presentations, audible
presentations, heat, cold, wind, vibrations and EMS muscle
stimulation comprises the step of sequencing the steps of a program
in response to the electrical code to provide at least one of the
visual presentation and the audible presentation representing an
activity to the person.
36. A method in accordance with claim 30 further including the step
of creating resistance to movement of the limb about the joint that
is independent in resisting force of the velocity of movement of
the limb and stops when force applied by the patient to cause
motion stops wherein the exercise device does not exert force
except when providing a resisting force to motion said step of
creating resistance including the steps of creating frictional
resistance during an activity corresponding to a sequence of steps
in a program stored in the microprocesser depicting the activity by
varying electromagnet resistance to movement or adjusting the
pressure between frictional members surfaces that move with the
limb about the joint by controlling one of an magnetic attraction
forcing the surfaces together and by controlling a motor driven
screw that tightens and loosens the surfaces under the control of
the microprocessor or by cam surfaces.
37. A method, comprising the steps of: generating an electrical
code indicating the positions of two levers with respect to each
other wherein the levers are connected to opposite sides of a joint
of a person whereby the code indicates the position of the levers
with respect to each other about the joint; energizing a program in
response to the code to provide at least one of interactive images
and sounds representing an activity to the person; said step of
energizing a program including the steps of selecting a position of
at least one body part and the similar depiction of an image of the
body part; synchronizing the program with the positions of the body
part based on the selection of the position of the at least one
body part and the similar depiction of an image of the body
part.
38. A method in accordance with claim 37 wherein the at least one
of interactive images and sounds includes images and the images are
displayed on a monitor.
39. A method in accordance with claim 37 wherein a therapist may
monitor the audio/visual devices while exercise is being
performed.
40. A method, comprising the steps of: attaching at least one lever
to each side of at least one body joint of the person; sensing a
position of at least one part of said person's body in relation to
at least one different body part; and providing a video display
relating the visual image to the sensing of the position of at
least one part of said person's body, whereby an activity of the
person is simulated.
41. A method in accordance with claim 40 wherein the step of
sensing a position of at least one part of said person's body
comprises the step of sensing a position of at least one part of
said person's body from a remote location and transmitting it to
the microprocessor.
42. A method in accordance with claim 40 further including a step
of generating at least one of visual and audible presentations in
response to signals wherein the at least one of visual and audible
presentations relate to the activity and includes a step of
generating images of a ski slope that change with the movement to
simulate snowboarding, skiing, or snowmobiling.
43. A method in accordance with claim 40 wherein the step of
generating at least one of visual and audible presentations in
response to the signals wherein the at least one of visual and
audible presentations relate to the activity includes a step of
initiating a program within the microprocessor in response to the
signals.
44. A method of training a person to adjust to changes in gravity,
comprising the steps of: simulating characteristics of a physical
activity in a gravity altered environment, comprising the steps of:
making sensory stimuli available to at least one person
corresponding to the movement of the person in performing the
physical activity in a gravity altered environment, whereby the at
least one person associates the physical activity in the gravity
altered environment with the stimuli; the step of making sensory
stimuli available to the at least one person including the substeps
of making non-tactile stimuli available representing at least one
aspect of the activity in the gravity altered environment and the
substep of making tactile stimuli available; and coordinating the
position of at least one body part of the at least one person with
the non-tactile stimuli to beginning the activity.
45. A method in accordance with claim 44 wherein the substep of
making non-tactile stimuli available representing at least one
aspect of the activity includes the substep of making at least one
of visual stimuli depicting at least one aspect of the activity
available to the at least one person and audible stimuli associated
with the aspect of the activity.
46. A method in accordance with claim 44 wherein the substep of
making tactile stimuli available to the at least one person
includes the substep of controlling the resistance to movement of
the at least one person.
47. A method of compensating for altered gravity environment during
a physical activity, comprising the steps of: making sensory
stimuli available to at least one person corresponding to the
movement of the person in performing the physical activity in a,
whereby the at least one person associates the physical activity
with the stimuli; the step of making sensory stimuli available to
the at least one person including the substeps of making
non-tactile stimuli available representing at least one aspect of
the activity and the substep of making tactile stimuli available;
and coordinating the position of at least one body part of the at
least one person with the non-tactile stimuli to beginning the
activity.
48. A method in accordance with claim 47 wherein the substep of
making non-tactile stimuli available representing at least one
aspect of the activity includes the substep of making at least one
of visual stimuli depicting at least one aspect of the activity
available to the at least one person and audible stimuli associated
with the aspect of the activity.
49. A method in accordance with claim 47 wherein the substep of
making tactile stimuli available to the at least one person
includes the substep of controlling the resistance to movement of
the at least one person.
50. A multiple plane action simulation apparatus, comprising: a
first exoskeleton member adapted to be attached to a first side of
a body joint; a second exoskeleton member adapted to be attached to
a second side of the body joint; an adjustable module moveably
connected to said first and second exoskeleton members for movement
in at least two planes; said first and second exoskeleton members
being connected for rotary movement and linear movement in at least
two planes said adjustable module including an encoder that
generates a code indicating the position of said first and second
exoskeleton members with respect to each other; wherein a position
of the first side of a person's body is sensed in relation to the
second side of said person's body; a microprocessor; a video
display; at least one program within said microprocessor providing
images to said video display and signals to said adjustable
resistance in response to a position of at least one part of said
person's body wherein said first and second exoskeleton members
provide a controlled resistance to movement of the body parts with
respect to each other and a visual image, whereby an activity of
the person is simulated.
51. A multiple plane action simulation apparatus in accordance with
claim 50 wherein the adjustable resistance serves as a universal
joint.
52. A multiple plane action simulation apparatus in accordance with
claim 52 wherein the first and second exoskeleton members are
portions of a boot.
53. A multiple plane action simulation apparatus in accordance with
claim 50 wherein the first and second exoskeleton members are
portion of either a weapon, golf club, tennis racket, bat, steering
wheel, stick control, snowboard or skies.
54. A multiple plane action simulation apparatus in accordance with
claim 52 wherein the boot is a ski boot or snowboard boot and a
video signal is an image of ski terrain.
55. A multiple plane action simulation apparatus in accordance with
claim 50 further including a modem, wherein a position of at least
one part of said person's body is transmitted from a remote
location to the microprocessor.
56. A multiple plane action simulation apparatus according to claim
50 in which a visual input is provided by one of a video monitor
and a virtual reality headset.
57. Apparatus for aiding a person in physical activity, comprising:
a microprocessor containing at least one program; at least a first
and second exoskeleton members; said first exoskeleton member being
adapted to be mounted to a limb on a first side of a joint of the
person; said second exoskeleton member being adapted to be mounted
to a limb on a second side of the joint of the person, whereas the
first exoskeleton member and the second exoskeleton member change
position with respect to each other as the limbs move with respect
to each other; a friction control module; said friction control
module being attached to said first and second exoskeleton members
and including friction members that change in position with respect
to each other to resist movement of said first and second
exoskeleton members, whereby motion of the limbs with respect to
each other is resisted by said exoskeleton members; at least one
position sensor that senses the position of the first and second
exoskeleton members with respect to each other and transmits
signals to the microprocessor representing the position, wherein
the microprocessor initiates a program to provide at least one of a
visual signal, an audio signal, temperature sensation or touch
sensation relating to the activity; at least a first input device
externally controlled by an entity other than the person and a
second input device control by the person whereby the activity is
varied partly by the person and partly by the externally controlled
entity.
58. Apparatus for aiding a person in physical activity, comprising:
a microprocessor containing at least one program; at least a first
and second levers; said first lever being adapted to be mounted to
a limb on a first side of a joint of the person; said second lever
being adapted to be mounted to a limb on a second side of the joint
of the person, whereas the first lever and the second lever change
position with respect to each other as the limbs move with respect
to each other; a friction control module; said friction control
module being attached to said first and second levers and including
friction members that change in position with respect to each other
to resist movement of said first and second levers, whereby motion
of the limbs with respect to each other is resisted by said levers;
at least one position sensor that senses the position of the first
and second levers with respect to each other and transmits signals
to the microprocessor representing the position, wherein the
microprocessor initiates a program to provide at least one of a
visual signal relating to an activity and an audio signal relating
to the activity.
59. Apparatus for providing controlled resistance to movement of
body parts of a person with respect to each other based on the
person's body position and a visual image provided to the person,
comprising: a first lever adapted to be attached to a first side of
a body joint of the person's body; a second lever adapted to be
attached to a second side of the body joint of the person's body;
wherein a position of the first side of said person's body is
sensed in relation to the second side of said person's body; an
adjustable resistance connected to said first and second levers
wherein said first and second levers provide a controlled
resistance to movement of the body parts with respect to each
other; a microprocessor; a video display relating the visual image
to a position of at least the first side of said person's body,
whereby an activity of the person is simulated; and a software
program within said microprocessor providing said video display in
response to the position of at least one part of said person's
body.
60. A method, comprising the steps of: simulating characteristics
of a physical activity, comprising the steps of: making sensory
stimuli available to at least one person corresponding to the
movement of the person in performing the physical activity, whereby
the at least one person associates the physical activity with the
stimuli; the step of making sensory stimuli available to the at
least one person including the substeps of making non-tactile
stimuli available representing at least one aspect of the activity
and the substep of making tactile stimuli available; and
coordinating the position of at least one body part of the at least
one person with the non-tactile stimuli to beginning the
activity.
61. A method in accordance with claim 60 wherein the substep of
making tactile stimuli available to the at least one person
includes the substep of controlling the resistance to movement of
the at least one person in a pattern representing the force against
movement in the actual activity.
62. A method in accordance with claim 61 wherein the pattern
representing the force against movement in the actual activity is
determined by generating a code representing the motion of the body
parts during the actual activity and recording the code and the
result, wherein a data base is generated correlating the actual
motion with the result.
63. A method in accordance with claim 2 wherein a data base is
compiled representing the average motion of multiple users and
provided as a default program.
64. A method in accordance with claim 63 wherein a first data
program is prepared in which the coordination between the users
motion and the result of the activity provides a first large margin
of error and a second program is prepared in which the coordination
between the users motion and the result of the activity provides a
second margin of error, said second margin of error being smaller
than the first margin of error.
Description
RELATED CASES
[0001] This application is a continuation-in-part patent
application of provisional patent application 61/350,347 filed Jun.
1, 2010. The benefit of the filing date of provisional patent
application 61/350,347 is claimed.
BACKGROUND OF THE INVENTION
[0002] This invention relates to apparatuses and methods for
providing simulated activities using visible images such as for
conditioning exercises or recreational activities or body part
repositioning exercises or training. The training may be for
activities in unusual environmental conditions such as in space or
under water. More particularly, the invention relates to the
application of forces in simulated activities using visible
images.
[0003] It is known from U.S. Pat. Nos. 5,954,621; 5,976,063 and
5,980,435 to Joutras et al to provide resistance to motion of body
parts independent of the velocity of motion with a correlation to
sensory stimulation such as visual and/or audio and/or temperature
and/or pressure type sensations including ultrasonic vibrations. In
this prior art a sensed event such as a visual display is presented
to the user and the user may react such as by moving body parts.
For example, the images on the visual may be correlated with skiing
and the visual display may show a change in terrain. In this
example, the user adjusts his or her position to the terrain in the
manner of a skier and the resistance to the motion of the user in
adjusting is determined by the position of the body parts of the
user.
[0004] While this prior art apparatus and method works well, it is
limited functionally in that the resistance to movement of the user
is determined by the position of the body parts with respect to
each other with no variation and cannot be changed by other forces
such as programs related to stimuli such as visual/audio stimuli,
or by another person such as an opponent in a game of tennis or by
the user in response to changes in the stimuli.
[0005] Exercise apparatus are also known from the above patents
that provide resistance to motion in multiple planes independent of
velocity of the motion. The resistance to motion is provided by
friction and response to pressure against surfaces that move with
respect to each other as the body parts of the user move. However,
the prior art mechanisms are not subject to external control nor is
there a range of motion desired for some applications. Moreover,
there is a lack of precision and easy feedback.
[0006] The prior art apparatuses and methods of this type lack
adequate repeatable coordination between the user's actions and the
images. Because of this lack of adequate repeatable coordination,
they are not easily adapted for training. For example they cannot
be adapted for different levels of skills.
[0007] It is also known to provide exercise and training for
weightlessness such as occurs under water or in space but the
methods and apparatuses for such exercises and training are on the
one hand extremely expensive and complicated or not coordinated
with visual images for effectiveness.
[0008] Games using audio/visual stimuli through consoles such as
those sold under the trademarks PlayStation or Wii are known.
However, the games do not provide realistic responses to the uses
movement such as resistance to movement or other stimuli.
SUMMARY OF THE INVENTION
[0009] Accordingly, it is an object of the invention to provide
novel apparatuses and methods for simulating activities.
[0010] It is a further object of the invention to provide a novel
exercise and training mechanism and technique.
[0011] It is a still further object of the invention to provide a
novel exercise and training device that is coupled to images or
other sensed programs so that the user can correlate muscle
activity with sensed events.
[0012] It is a still further object of the invention to provide a
novel apparatus and method for maintaining proper joint alignment
during movement.
[0013] It is a still further object of the invention to provide a
novel apparatus and method that is coordinated with images to
provide training for maintaining proper joint alignment during
activities.
[0014] It is a still further object of the invention to provide a
novel apparatus and method for reducing arthrokinetic joint
movement dysfunction during training using visual displays.
[0015] It is a still further object of the invention to provide a
novel exercise device and technique that provides resistance to
movement that is related in a pre-programmed manner to the position
of the part being exercised but is applied independently of
speed.
[0016] It is a still further object of the invention to provide a
novel exercise device and technique that permits tailored exercise
programs for a wide variety of purposes, such as to strengthen
principally the fast twitch muscle or the slow twitch muscle or to
strengthen only certain portions of an injured muscle.
[0017] It is a still further object of the invention to provide a
novel exercise technique and apparatus which does not provide a
force when the person doing the exercise stops attempting to move
but which is nonetheless independent of speed of motion by the
person doing the exercising.
[0018] It is a still further object of the invention to provide
novel equipment and methods that use virtual reality techniques to
provide recreational exercise and training.
[0019] It is a still further object of the invention to provide
novel equipment and methods that use virtual reality techniques to
develop physical skills
[0020] It is a still further object of the invention to provide
novel equipment and methods that use virtual reality techniques to
rehabilitate injured patients.
[0021] It is a still further object of the invention to provide
novel equipment and methods that use virtual reality for
occupational and physical therapy.
[0022] It is still further object of the invention to provide novel
equipment and methods that use virtual reality techniques to
rehabilitate patients from sports injuries.
[0023] It is a still further object of the invention to provide a
device and method that enables equipment such as ski boots or the
like to have useful amounts of motion with resistance to movement
in controlled directions so as to be less likely to cause
injury.
[0024] It is a still further object of the invention to provide a
novel exercise device and technique in which the resistance to
movement is related in a manner programmed by a therapist to
correspond to the position of the part being exercised but not
necessarily proportional to an average motor performance curve
throughout the range of motion but instead constructed for specific
purposes.
[0025] It is a still further object of the invention to provide a
versatile exercise device that can be conveniently applied to
either open kinetic chain exercise or closed kinetic chain
exercise.
[0026] It is a still further object of the invention to provide a
technique and equipment for combining resistance to movement that
is related in a precontrolled manner to the position of the part
being moved with electrical muscle stimulation to aid movement or
prevent undesired movement.
[0027] It is a still further object of the invention to provide an
exercise device and technique that provides resistance to movement
that is related in a pre-programmed manner to the position of the
part being moved and/or provides electrical muscle stimulation at
least partly controlled by electrical myography (EMG) and/or other
biofeedback measurement (e.g. force plate).
[0028] In accordance with the above and further objects of the
invention, one embodiment of exercise or training device simulates
characteristics of a physical activity by making sensory stimuli
available to at least one person. The sensory stimuli corresponds
to the movement of the person in performing the physical activity.
Thus, the person associates the physical activity with the stimuli.
Both non-tactile stimuli available representing at least one aspect
of the activity and tactile stimuli are made available. The
position of at least one body part of the person is coordinating
with the non-tactile stimuli to begin the activity. The most common
non-tactile stimuli are visual or sound stimuli and the most common
tactile stimuli is typically resistance to movement of the person
or persons.
[0029] The resistance to movement and the non-tactile stimulation
are synchronized under at least part control of a program recorded
in a microprocessor representing the one aspect of the activity.
The non-tactile stimuli is altered in response to the movement of a
part of the body of the at least one person. The process includes
the step of selecting a physical activity for at least one person
to perform and a corresponding resistance program, A time delay is
programmed to accommodate the depiction of an aspect of the visual
image based on the activity and a velocity of action. A sensor
provides signals to the microprocessor so that image depicts
multiple actions caused by movement of limbs at multiple joints and
sets individual friction control with respect to a direction of
movement. The movement of parts of the exoskeleton with respect to
each other are sensed and in the preferred embodiment represented
by a code. The code or an EMG signal may change the frictional
resistance between the parts or otherwise exert a force sensed by
the user when moving the parts. A therapist may monitor the
audio/visual devices while exercise is being performed and in one
embodiment may change the program.
[0030] More specifically, at least a first exoskeleton member is
attached to a first body part on a first side and a second
exoskeleton member to a second body part on a second side of at
least one body joint of the person. At least one adjustable
resistance is attached to at least one of said first and second
exoskeleton members. With this arrangement, the at least one of
said first and second exoskeleton members provides a controlled
resistance to movement of the first and second body parts of the
person with respect to each other.
[0031] During performance of an activity, positions of at least the
first body part with respect to at least the second body part are
sensed and a first signal is provided in response thereto. A second
signal is generated from a second signal source wherein the second
signal source is one of a second person or a microprocessor
programmed to generate signals. A video display, sound or touch
sensation relating to a relationship between the first and second
signals is provided, whereby an activity of the person interacting
with an actual person or programmed person is simulated. The
movement of the person is resisted with a resistance controlled by
a sensor input and a visual input provided to a microprocessor and
a software program based on the sensing of the position of at least
one part of said person's body. In one embodiment the sensing a
position of at least one part of said person's body is from a
remote location and it is transmitted to the microprocessor.
[0032] In one embodiment, the joint is the joint between the hand
and the forearm and the exoskeleton generates one code representing
yaw of the hand with respect to the forearm and a signal
representing pitch of the hand with respect to the forearm said yaw
and pitch being about orthogonal axes However, one of the joints
may be the elbow and the exoskeleton generates a signal
representing the rotation of the forearm with respect to the
arm.
[0033] A person with weakened or damaged muscle may be aided in
recovery by providing resistance to movement in a direction of
natural forces, wherein the natural forces are offset using a value
of resistance that varies in magnitude in accordance with a program
in which said resistance is independent of velocity of movement. In
this embodiment, images are provided depicting the physical
activity to the person under the control of the program and
coordinating one position of the body with a corresponding position
in the image to synchronize the program. The program varies the
images and the resistance to movement in accordance with the
position of body parts of the person.
[0034] A person may be trained for and aided in adjusting to
changes in gravity by simulating the characteristics of a physical
activity in a gravity altered environment. This may be done by
making sensory stimuli available to at least one person
corresponding to the movement of the person in performing the
physical activity in a gravity altered environment, whereby the at
least one person associates the physical activity in the gravity
altered environment with the stimuli. The sensory stimuli is made
available by making non-tactile stimuli available representing at
least one aspect of the activity in the gravity altered
environment, making tactile stimuli available; and coordinating the
position of at least one body part of the at least one person with
the non-tactile stimuli to begin the activity. The exoskeleton
joint may be a universal joint for multiple joint action simulation
and may be used with accelerometers or other motion or location
sensing apparatuses.
[0035] In one embodiment, the resistance to movement of the at
least one person is coordinated to a pattern representing the
motion against the result of the activity t in the actual activity.
The pattern representing the movement as related to the result in
the actual activity is determined by generating a code representing
the motion of the body parts during the actual activity and
recording the code and the result, wherein a data base is generated
correlating the actual motion with the result is obtained. From a
number of such data bases taken with a number of different user, a
data base is compiled representing the average motion of multiple
users and is provided as a default program. A first data program is
prepared in which the coordination between the users motion and the
result of the activity provides a first large margin of error and a
second program is prepared in which the coordination between the
users motion and the result of the activity provides a second
margin of error, said second margin of error being smaller than the
first margin of error.
[0036] From the above summary of the invention, it can be
understood that the simulated recreational, training and exercise
method and apparatus of this invention has several advantages, such
as: (1) it enables recreational, exercise and training programs to
be coupled to images or other sensed events so that the user can
correlate muscle activity with sensed events; (2) it provides a
program coordinated with images to for maintaining proper joint
alignment during activities. (3) it provides recreational, training
and exercise devices and techniques that permit tailored programs
for a wide variety of purposes, such as to strengthen principally
the fast twitch muscle or the slow twitch muscle or to strengthen
only certain portions of an injured muscle; (4) it provides
equipment and methods that use virtual reality techniques to
provide recreation. exercise and training using coordinated images
and resistance to movement; (5) it provides a technique and
equipment for combining resistance to movement that is related in a
precontrolled manner to the position of the part being moved with
electrical muscle stimulation to aid movement or prevent undesired
movement coordinated with images and sounds; (6) it provides an
apparatus and method for reducing arthrokinetic joint movement
dysfunction during training using visual displays; and (7) it
provides an exercise, training and recreational device and
technique that provides resistance to movement related in a
pre-programmed manner to the position of the part of the users body
performing the activity.
SUMMARY OF THE DRAWINGS
[0037] The above noted and other features of the invention will be
better understood from the following detailed description when
considered with reference to the accompanying drawings, in
which:
[0038] FIG. 1 is a perspective view of a single person using the
simulated recreational, training and exercise system in accordance
with an embodiment of the invention;
[0039] FIG. 2 is a fragmentary perspective view of a person wearing
a body part sensing and tactile stimulation apparatus in accordance
with an embodiment of the invention;
[0040] FIG. 3 is another perspective view of a person using another
embodiment of simulated recreational, training and exercise
system;
[0041] FIG. 4 is a flow diagram of the general operation of the
simulated recreational training and exercise system;
[0042] FIG. 5 is a fragmentary perspective view of a person using
another embodiment of simulated recreational, training and exercise
system;
[0043] FIG. 6 is another embodiment of a person using another
embodiment of simulated recreational, training and exercise system
in accordance with another embodiment of the invention;
[0044] FIG. 7 is a simplified perspective view of two persons
interacting with the same simulated recreational, training and
exercise system;
[0045] FIG. 8 is a block diagram illustrating a manner in which
different persons or groups of persons may use a simulated
recreational, training and exercise system while located remotely
from each other;
[0046] FIG. 9 is a perspective posterior view of a hand, forearm,
elbow and arm wearing a sensing and tactile stimulation apparatus
in accordance with an embodiment of the invention;
[0047] FIG. 10 is a perspective anterior view of a hand, forearm,
elbow and arm wearing the sensing and tactile stimulation apparatus
in accordance with an embodiment of the invention;
[0048] FIG. 11 is a perspective side view of a hand, forearm, elbow
and arm wearing from the right side wearing the sensing and tactile
stimulation apparatus in accordance with an embodiment of the
invention;
[0049] FIG. 12 is another perspective, anterior view of a hand,
forearm, elbow and arm wearing the sensing and tactile stimulation
apparatus with the forearm and hand raised;
[0050] FIG. 13 is a perspective side view of a hand and a posterior
view of a forearm, elbow and arm wearing the sensing and tactile
stimulation apparatus with the forearm raised;
[0051] FIG. 14 is a side view of a hand and an anterior view of a
forearm, elbow and arm wearing the sensing and tactile stimulation
apparatus;
[0052] FIG. 15 is an anterior view of a hand, forearm, elbow and
arm wearing the sensing and tactile stimulation apparatus;
[0053] FIG. 16 is a posterior perspective view of a hand and arm
wearing a decorative and protective glove and sleeve used with an
embodiment of the invention;
[0054] FIG. 17 is a perspective view of the sleeve and glove of
FIG. 16 shown separately;
[0055] FIG. 18 is a posterior perspective view of a hand, forearm,
elbow and arm wearing the glove and sleeve of FIG. 17 and the
sensing and tactile stimulation apparatus;
[0056] FIG. 19 is a perspective view of a hand and wrist wearing
the sensing and tactile stimulation apparatus in accordance with an
embodiment of the invention;
[0057] FIG. 20 is a perspective side view of a hand, forearm and
elbow wearing the sensing and tactile stimulation apparatus in
accordance with an embodiment of the invention;
[0058] FIG. 21 is a fragmentary enlarged side view of a hand and
anterior view of a wrist and forearm wearing the sensing and
tactile stimulation apparatus;
[0059] FIG. 22 is a perspective side view of a hand and anterior
view of a forearm wearing the sensing and tactile stimulation
apparatus;
[0060] FIG. 23 is a perspective view of the sensing and tactile
stimulation apparatus without a person wearing it;
[0061] FIG. 24 is another perspective view of the sensing and
tactile stimulation apparatus without the arm;
[0062] FIG. 25 is a simplified perspective view of the twist
sensing and resistance module;
[0063] FIG. 26 is a simplified perspective view of the twist
sensing and resistance module;
[0064] FIG. 27 is an exploded view of the twist sensing and
resistance module;
[0065] FIG. 28 is another perspective view of the twist sensing and
resistance module;
[0066] FIG. 29 is a fragmentary perspective view of the wrist band
and a portion of the forearm band.
[0067] FIG. 30 is a perspective exploded view of a body part
tactile stimulation apparatus with a yaw or pitch sensing and
resistance module;
[0068] FIG. 31 is a simplified fragmentary elevational view of two
body part tactile stimulation apparatuses.
[0069] FIG. 32 is a block diagram of a simulated recreational
training and exercise system providing for central billing and
control.
[0070] FIG. 33 is a block diagram of a position sensing
apparatus.
[0071] FIG. 34 is a block diagram of another embodiment of a
position sensing apparatus.
[0072] FIG. 35 is a flow diagram a subprocess of setting up the
body part sensing and tactile stimulation apparatus.
[0073] FIG. 36 is a flow diagram of a system for coordinating the
body part sensing and tactile stimulation apparatus with the
simulated recreational, training and exercise system software.
DETAILED DESCRIPTION
[0074] In FIG. 1, there is shown a perspective view of a person 12
using a simulated recreational training and exercise system
comprising a viewing screen 14 and a body part sensing and tactile
stimulation apparatus 18. Images on the viewing screen 14 are
considered non-tactile stimulation in this specification and
claims, the words "tactile stimulation" or "tactile sensing" or
equivalent words means stimulation or sensing when there is
physical contact such as resistance to force applied by the user or
electrical shock or vibrations applied to the person. The words
"non-tactile stimulation" or "non-tactile sensing" or the like
means stimulation or sensing without physical contact such as be a
visible display or by a sound.
[0075] The viewing screen 14 may be mounted a separate console or
may be a virtual reality mask or be the viewing screen of a
personal computer or a game console such as Play Station.
Similarly, sounds may be transmitted by ear phones in contact with
the ear or through a speaker but in both cases the stimulation or
sensing is considered non-tactile stimulation because the
stimulation may be transmitted through a virtual reality mask in
contact with the user or from a remote viewing screen and the sound
may be transmitted through remote speakers or earphones. Tactile
stimulation, in contrast, cannot be imparted to the user except
through intimate positioning such as directly against the skin or
more probably through an exoskeleton In such cases the In the
preferred embodiment it is the viewing screen of a personal
computer. In this specification and claims, the work "exoskeleton"
means a hard external supporting structure such as the members of a
leg brace.
[0076] In the embodiment of FIG. 1, the body part sensing and
tactile stimulation apparatus 18 is connected wirelessly to the
console containing the viewing screen 14. Other control apparatus
may be connected to a belt holder 16 which may also contain the
battery for powering the apparatus. In the alternative, these
circuits and power sources may be composed within the body part
sensing and tactile stimulation apparatus 18.
[0077] The person 12 may select any of several activities. In FIG.
1, the operator 12 has selected a basketball game simulation. When
this program has been selected, the person 12 will view a screen
showing the position of a player, on the screen. The person 12 will
position his hands in his same manner and push a button on the hand
document which will synchronize the program with the operator. The
program then proceeds with a basketball game with the person 12 as
a player. Thus the person 12 viewing the screen may perform
operations shown by his figure on the screen such as blocking
passes or shooting passes or the like and the software program
within the personal computer or elsewhere with different
apparatuses will show his operation and the progress of the game
with him as a player.
[0078] The person 12 may also set an amount of resistance at each
of the joints controlled by the body part sensing and tactile
stimulation apparatus. Modules control the resistance to motion in
accordance with a program so as to simulate not only visually but
with a tactile sensation the playing of the game. Thus the person
12 in throwing a basket feels resistance in his joints similar to
that that the weight of the basketball would provide. Laboratory
provision may be provided to impact the hand when the person 12
receives a pass so as to simulate the catching of the
basketball.
[0079] While a basketball game is the program illustrated in FIG.
1, any other sport or activity including exercise routines and
training exercises such as might be used to train a person to
compensate for weightlessness in water or in space and still
perform certain activities. The person 12 may also utilize an
accelerometer as will be described later for other functions and
may be connected by a wire instead of wirelessly to the personal
computer 14 and to the program circuits and power circuits 16 if
they are mounted on the belt of the person 12.
[0080] FIG. 2, there is shown a fragmentary perspective view of a
person 12 with the body part sensing and tactile stimulation
apparatus 18 mounted to the arm of the person. In this view, the
anterior and right side portion of the arm, forearm and hand are
shown illustrating the positioning of a hand band 20, a wrist band
22, a forearm band 24 and an arm band 26 of the body part sensing
and tactile stimulation apparatus. These bands mount the body part
sensing and tactile stimulation apparatus 18 to the person 12 in a
functional position. Three yaw or pitch sensing and resistant
modules 28A, 28B and 28C are respectively positioned to sense
rotation and supply resistance to rotation about a pitch axis and a
yaw axis of the wrist so as to sense and control resistance to
movement of the hand and to sense and apply resistance to bending
of the arm at the elbow. A twist sensing and resistance module 30
is mounted to sense twisting of the forearm with respect to the
elbow and arm. While four sensing and resisting devices are shown
in FIG. 2, other such devices may be used such as for example on
the other arm and between the shoulder and the arm or at the waist
or knee or any other place where motion occurs. An actuator is also
located at the hand of the person 12 so as to trigger action
manually when desired.
[0081] In FIG. 3, there is shown a person 12 using another
embodiment of simulated recreational training and exercise system
10A which has in a manner similar to the embodiment of FIG. 10 a
personal computer 14 with programming and viewing screen to
cooperate with a body part sensing and tactile stimulation
apparatus 18A differing in only minor respects with the embodiment
of FIG. 10. In this embodiment an accelerometer 32 is held by the
person 12 so that acceleration may be utilized as well as changes
in positions of the limbs about the joints. In the embodiment of
FIG. 3, the body part sensing and tactile stimulation apparatus is
shown on only one arm, which is suitable for some games, but for
basketball as shown in FIGS. 1 and 3, both arms would contain the
apparatus. In the embodiment of FIG. 3, the battery and programming
is within the body part sensing and tactile stimulation apparatus
18 and is electrically connected by a cord 34 to the personal
computer 14.
[0082] In FIG. 4, there is shown a flow diagram 36 of the general
operation of the simulated recreational training and exercise
system 10 having the step 38 of selecting a program, the step 40 of
synchronizing image body parts with person body parts, the step 42
of selecting tactile stimulation program, the step 44 of initiating
the program for the activity, the step 46 of generating signals
indicative of the angle of the body parts with respect to each
other at the joints and the step 48 of using the generated code to
select routines in the activity program and in the program to set
resistance to movement. In the step 38, there are a variety of
programs that may be selected. The programs can be of any type
including recreational program, training program and exercise
programs. The step 40 of synchronizing image body parts with person
body parts includes the movement to a navigation program or routine
for the particular selected program. In the navigation mode, an
image on the screen is used to synchronize the body parts of a
player. The player assumes the position of the image on the screen
and upon initiating a trigger, the program is synchronize so that
movements of the person playing the game will result in movements
of the image on the screen. The step of selecting the tactile
stimulation program sets the resistance to movement so as to be
suitable to the person for the purpose intended. For example, in
the case of therapy, it may compensate for gravity and enable
repositioning of a body part. In a basketball game it may simulate
the weight of the basketball and, with vibrations, simulate the
basketball being caught.
[0083] When the synchronization is complete the step 44 of
initiating the program for the activity starts. As the activity
progresses, signals are generated that are indicative of the angle
between body parts with respect to each other at the joints as
shown in the step 46. As indicated in the step 48, this code may
select routines that would guide the weight of the basketball in
accordance in the manner of which it is thrown by the person
playing the game in a game of basketball or set the resistance so
as to properly reflect the inertia of the basketball as it is being
thrown.
[0084] In FIG. 5, there is shown another embodiment 10C of a
simulated recreational training and exercise system having a person
12 running on a treadmill 50 while the body part sensing and
tactile stimulation apparatus 18 is mounted to one or both legs.
The program controls the resistance so as to compensate for gravity
on an injured leg and enable the person 12 to run normally. The
image on the personal computer or other viewing device 14 may be of
a race between a programmed person and the person 12 or may merely
show a race track or some other terrain as selected. In the
embodiment 10E of this invention the code generated by the body
part sensing and tactile simulation apparatuses also energizes
resistance programs described in greater detail hereinafter so as
to provide the correct resistance for the arms. Apparatuses for
generating resistance in response to a code are disclosed in U.S.
Pat. No. 5,980,435, the disclosure of which are incorporated by
reference.
[0085] In FIG. 6, there is shown still another embodiment 10D of
simulated recreational training and exercise system in which the
person 12 is practicing bowling. The PC or other viewing device 14
will show the ball and its action with the pins. The body part
sensing and tactile sensing apparatus 18 on the right arm of the
person 12 provides resistance to simulate the weight of the bowling
ball and the inertia to move it. These are synchronized in
accordance with a code generated by the body part sensing and
tactile stimulation apparatus in response to the movement of the
joints of the arm. Similarly, the foot action is simulated by the
apparatus 18A which also bears the load of the bowling ball and the
changed resistance simulates it by providing resistance to
straightening the knee while the ball is being carried, changing
the resistance in accordance the movement of the center of gravity
of the person and ball and releasing it when the ball is
released.
[0086] In FIG. 7, there is shown still another embodiment 10E of
simulated recreational training and exercise system adapted for two
players 12 and 12A. The player 12 is shown shooting the ball. The
code generated by the two body part sensing and tactile simulating
apparatuses 18 controls the computer program which may be in the PC
or other viewing device so that the ball will have a projectory
appropriate for the motion of the arms of the player 12. The other
player 12A is shown attempting to block the ball and the code
generated by the body part sensing and tactile communication
apparatus indicates the position of his arms. If appropriately
positioned the program will indicate the ball as being blocked and
move it to the side. Otherwise, it may go on and if the player 12
has properly moved his arms, a basket may be scored. Of course all
of this has to be preprogrammed and tested so that the codes
generated by the body sensing and tactile simulation apparatus
result in a reasonably accurate presentation on the PC. This may be
done in a manner known in the art and practiced in conjunction with
other games on the market.
[0087] In FIG. 8, there is shown a block diagram of a master
computer desktop station 52, a slave desktop computer station 54
and an internet connection shown at 56. The master desktop computer
station is of the type commercially available for interconnecting
conference callers which are able to view the computer desktop of
the initiator. Both of the computers have the necessary software
for simulated recreational training and exercise systems and there
are players equipped with the body part sensing and tactile
simulation apparatus shown in the prior figures. With this
arrangement, players at two remote locations may play the same game
or engage in the same exercises or the like.
[0088] In FIG. 9, there is shown a perspective view of the
posterior of a hand 58, wrist 60, forearm 62, elbow 64 and arm 66
with a body part sensing and tactile simulation apparatus 18
mounted to it. The body part sensing and tactile simulation
apparatus 18 includes a hand band 20, wrist band 22, forearm band
24 and arm band 26. The hand band also has mounted to it an
actuator 68 which the person may use to actuate program steps or
the like with his thumb while holding the hand band 20. In the
vicinity of the hand band and wrist band 22 are two yaw or pitch
sensing and resistance modules 28A and 28B. These modules may be
used to either manually or electronically or automatically set
resistance and sense the movement between the hand and wrist about
the respective yaw and the pitch axis. The yaw or pitch sensing and
resistance module 20B controls the pitch movement and the yaw or
pitch sensing and resistance module 28B controls the yaw movement
so as to completely define the movement of the hand with respect to
the forearm. They also provide programmed resistance to that
movement.
[0089] A third yaw or pitch sensing and resistance module 28C
senses and controls resistance to the bending of the arm. A twist
sensing and resistance module 30 senses the twisting motion of the
forearm with respect to the arm.
[0090] With this arrangement, the hand band 20, wrist band 22,
forearm band 24 and arm band 26 hold the body part sensing and
tactile stimulation apparatus respectfully to the hand, wrist,
forearm and arm. Similarly, the yaw or pitch and resistance modules
28A-28C and the twist sensing and resistance module 30 sense motion
of the hand, wrist, forearm, elbow and arm and provide resistance
to such motion so as to simulate activities that otherwise would be
load bearing or resisting force.
[0091] In the embodiment of FIG. 9, the yaw or pitch sensing and
resistance modules 28A-28C are manually adjustable and similar to
the friction modules disclosed in U.S. Pat. No. 5,980,435. However,
in other embodiments, the adjustable top that, in the embodiment of
FIG. 9, are manually turned have geared teeth on them that mesh
with the geared teeth of a motor. The motor may be remotely
controlled so as to adjust the resistance from a remote location
and to adjust the resistance from the personal computer or other
program storage facility 14.
[0092] The twist sensing and resistance module 30 may be a
conventional membrane potentiometer. Such potentiometer are
available under the trademark SENSOFOIL.RTM. membrane potentiometer
sold by Hoffmann and Krippner, Inc., 277 Highway 74N (Suite 306),
Peach Tree City, Ga. 30269. While a membrane potentiometer is used
in the preferred embodiment, other types of potentiometers are
readily available such as for example the outer sheath having lack
teeth on it to engage geared teeth on a twist potentiometer.
[0093] The twist sensing and resistance module 30 includes a
stationary portion 72 and rotary portion 74. The rotary portion 74
is mounted to the forearm to rotate with the forearm and the
stationary portion 72 is mounted to the forearm band 28 and remains
stationary. The potentiometer membrane moves with the rotary
portion 74 of the twist sensing and resistance module 30. In some
embodiments, the battery and mother boards may be also housed
within the stationary portion 72 of the twist sensing and
resistance module 30. Pressure from rotation is obtained by
adjustment of the distance between the stationary portion and twist
portion so as to change the friction between the two. Friction pads
are provided for that purpose.
[0094] The distance between the twist sensing and resistance module
30 and the arm band 26 is adjusted by two apertured arms 76 and 78
that fit within fixtures so that the distance apart is adjusted by
moving the apertured arms 76 and 78 and connecting different
apertures in them through the fixtures.
[0095] In FIG. 10, there is shown an anterior view of the arm and
forearm 66 and 62 together with an anterior view of the hand 58
holding the body part sensing and tactile stimulation apparatus 18.
As shown in this view, the arm band 26 is connected to the
stationary portion 72 of the twist sensing and resistance module 30
by the elongated apertured plate 76A fitting in between the
fixtures 78A and 80A. Similarly, not shown in FIG. 10 but shown in
FIG. 9 on the opposite side are corresponding elongated aperture
plate 76B fitting in with the fixtures 78B and 80B. Conductive
wires connecting the battery source and mother boards may be
fastened to the elongated aperture plates so as not to be pushed
together as the arm band and twist sensing and resistance module
move closer together or further apart with the adjustment of the
arm band and twist sensing and resistance module with respect to
each other to fit an individual.
[0096] In FIGS. 11-15, there is shown a side view of the person's
hand 58, wrist 60, foreman 62, elbow 64 and arm 66 with the body
part sensing and tactile stimulation apparatus 18 in place. As
shown in this view, electrical connection between the rotary
portion 74, a twist sensing and resistance module 30 and the
stationary portion 72. The fixtures 78A and 80A are pinned to the
elongated apertured plates 78A and 78B. The fixtures 80A and 80B
include corresponding spring loaded plungers 88A and 88B that fit
between selected apertures so as to adjust the resistance between
the arm band 26 and the twist sensing and resistance module 30. The
cable 82 is connected to the circuit board housing 88.
[0097] The forearm band 24 is connected to the elbow at the yaw or
pitch sensing and resistance module 28C by a slotted elbow-forearm
linkage 90. The elbow-forearm linkage 90 is a flat plate with a
slot 92 extending along a portion of the length of the
elbow-forearm linkage and with a threaded pressure member within
the slot whereby by threading the treaded pressure member inwardly
friction may be applied to the elbow-forearm linkage. Similarly, a
slotted arm-elbow linkage 96 connects the yaw or pitch sensing and
resistance module 28C to the arm band 26. It has an elongated slot
98 engaged with the threaded pressure member 100 to adjust tension
therein. These members permit adjustment in the positioning of the
arm band and forearm band and permit the two to move closer
together as the elbow is bent. It should be noted that there is
only one linkage connecting the arm and the forearm and that
linkage is located at an axis of rotation of the arm and forearm at
the elbow through the two slotted linkages.
[0098] In FIGS. 16 and 17 there are shown perspective views of a
sleeve 108 and a glove 110 with FIG. 16 illustrating the sleeve and
glove as positioned on the arm of a person who may use the
simulated recreational training and exercise system 10 and FIG. 17
showing the parts laid out on a table. The sleeve and glove may be
of any decorative design and besides improving the appearance of
the body part sensing and tactile stimulation apparatus 18 serve as
padding between the body part sensing and tactile stimulation
apparatus 18 and the skin of the person 12.
[0099] In FIG. 18 there is shown a perspective view of the sleeve
and glove on a person's hand, wrist, forearm, elbow and arm with
the body part sensing and tactile stimulation apparatus 18 on top
of it. Since considerable areas of sleeve are visible, any
particular design can be utilized including a costume design that
might be appealing to certain classes of uses such as particularly
children.
[0100] In FIG. 19, there is shown an enlarged view of a person's
hand and wrist with a portion of the body part sensing and tactile
stimulation apparatus 18 in place over it. As shown in this view,
the hand band 20 includes a metal frame 112 in the form of a clip
with inside padding and a fabric portion 114 looped through
openings on the two ends of the clip so as to provide a comfortable
grip firmly in the hand and to accommodate the actuator (not shown
in FIG. 18). The wrist band 22 includes a similar metal clip 116
hinged at 118 so the two sides may be opened or closed. The hinge
is connected to a metal connecting member 120 which is fastened to
the metal clip 112 by the yaw or pitch sensing and resistance
module 28B (yaw module) so as to permit adjustment of resistance in
the yaw direction between the hand and the forearm and to sense the
angle between the hand and the forearm at the wrist joint. A belt
122 provides padding between the hand and the hinged member 118.
The tube 84 and the compartment 86 are the input connection for
charging the battery and the compartment which includes the battery
and control circuitry in one embodiment of the invention. In
another embodiment of the invention, the control circuitry
including a transceiver and the circuit boards are mounted to the
belt as shown at 16 and the input port for charging the battery may
also be included thereon. Instead of a battery, power may be
generated on the body part sensing and tactile stimulation
apparatus 18 by including a generator on any of the moving parts.
Similarly, because the body part sensing and tactile stimulation
apparatus is low in power consumption, power may be transmitted to
it to power the circuitry and transceivers by radio or the like.
While radio transmission is preferred in the embodiment of FIGS.
9-24, infrared transmission or any other suitable transmission may
be used.
[0101] Panel 102 houses switches actuated by the button
104A-104F.
[0102] The buttons 104A-104F are illuminated and actuate switches
within the switch compartment 102 which in turn control the
circuitry in the compartment or circuit board housing 88.
[0103] In FIG. 23, there is shown a perspective view of the
posterior side of the forearm, part of the hand and part of the arm
with a corresponding portion of the body part sensing and tactile
stimulation apparatus 18 mounted thereon. As shown in this view, a
slotted hand-forearm pitch linkage 120 rotatably and slidably
connects the pitch yaw or pitch sensing and resistance module 28B
within a slot 124 so as to permit movement for adjustment during
motion and when fitting to an individual.
[0104] In FIG. 23, there is shown a perspective view of the body
part sensing and tactile stimulation apparatus 18 having a hand
band 20, wrist band 22, a forearm band 24 and an arm band 26 as
shown in prior figures mounted to a person. As best shown in this
view, the arm band 26 and the forearm band 24 are connected by a
single link in which the yaw or pitch sensing and resistance module
28C permits pivoting and can apply tactile sensations.
[0105] As shown in this view, the parts are integrally connected
together, easy to ship and to put on by a player.
[0106] In FIG. 24, there is shown another view of the body part
sensing and tactile stimulation apparatus 18 with the yaw or pitch
sensing and resistance module 28C open illustrating the seating for
friction disks and sensing apparatus for generating a code
indicating the position of body parts about a limb.
[0107] In FIG. 25, there is shown an exploded perspective view of
the twist sensing and tactile stimulation apparatus. In the
preferred embodiment, this apparatus is not utilized to provide
tactile stimulation and only senses the twisting motion of the arm
about the elbow. For this purpose it includes and analog sensing
strip that senses position and circuitry for coding that analog
signal to a position indicating code.
[0108] In FIG. 26, there is shown another simplified perspective
view of the twist sensing and resistance module 30 showing the
inner surface of the stationary module 72 against which the
membrane potentiometer rests with the rotary portion 74 fitting
still further inside of it so as to move with respect to a twisting
forearm and generate a signal relating to the amount of twist.
[0109] In FIG. 27, there is shown an exploded view of the twist
sensing and resistance module 30 being the rotary portion 74 and
72. the rotary portion 74 includes the hinge 126 and the two side
gripping members 128A and 128B (128B not being shown in FIG. 27).
The grouping members 128A and 128B each have a corresponding one of
the slots 130A and 130B (130B not being shown in FIG. 27). These
slots receive a fabric belt for aiding in the gripping of a
forearm. Attached to the hinge 126 is an enlarged outer member for
fitting over the stationary portion 72 of the twist sensing and
resistance module 30. The stationary portion 72 includes an inner
member 134, a potentiometer membrane 136 and an outer member 138.
The sensing membrane 136 fits over a first portion 140 of the inner
member 134.
[0110] In FIG. 28, there is shown another perspective view of the
twist sensing and resistance module 30 showing the battery
compartment mounted to the rotary portion so as to fit over the
inner ring 140 of the stationary portion 72 to form the complete
battery compartment. An opening 144 permits entry to and is
overlied by the battery compartment.
[0111] In FIG. 29, there is shown a fragmentary perspective view of
the wrist band and a portion of the forearm band. The wrist band
the rotary portion of the forearm band rotate as described above
within the stationary portion 74. In the embodiment of 29,
programmed resistance is provided by a motor driven friction
element 144 as described hereinafter. In response to an electrical
signal the element 144 exerts pressure against the rotary portion
when it moves with respect to the stationary portion 72 thus
creating realistic resistance to twisting such as might be
appropriate when bowling to train the bowler for the proper amount
of twist when releasing the bowling ball.
[0112] In FIG. 30, there is shown an exploded perspective view of a
yaw or pitch sensing and resistance module 28A-28C. In FIG. 30, the
module 28A is shown specifically but the other yaw or pitch sensing
and resistance modules are of similar construction.
[0113] As shown in FIG. 30, the yaw sensing and resistance module
28A includes a position member assembly 176, a motion resistance
assembly 178, a position housing assembly 180 and an adjustment and
housing assembly 182.
[0114] The position member assembly 170 includes the hand band 20,
a polyethylene washer 146 and a hand-wrist linkage 144. The
polyethylene washer 146 is positioned between the hand-wrist
linkage 144 and the hand band 20 that yaw movement of the hand
changes the angle between the hand-wrist linkage 144 and the hand
band 20. The motion resistance assembly resists motion with a force
adjusted and dependent upon the angle between the hand band 20 and
the hand-wrist linkage 144. For this purpose, it includes the
spring disk 164, the baring disk 162, a steel washer 160, a steel
washer 158, a friction disk 156, a steel washer 154, a friction
disk 152, a steel washer 150. With this arrangement, the pressure
between the washers controls the friction exerted by the friction
disks and thus, the resistance to motion.
[0115] To sense the position between the hand band 20 and the
hand-wrist linkage 144, the position sensing assembly 180 includes
a potentiometer seat 166 and a sensing membrane 168 positioned
within the housing 166 and having a pressure member 184 that
changes the pressure in accordance with position. The member 184
may exert pressure by testing the pressure sensitive membrane or, a
membrane may be utilized which is sensitive to a magnetic field and
the member 184 may be a permanent magnet.
[0116] The adjustment and housing assembly 182 includes a tactile
threaded adjustment 172, a force resistance threaded adjustment 174
and a housing 170. The tactile threaded adjustment 172 may be
threaded inwardly to control the position between the resistance
control member 184 and the pressure sensitive or magnetic sensitive
membrane and the force resistance threaded adjustment adjusts the
pressure between the friction disks and the steel washers in a
perpendicular direction.
[0117] While a specific potentiometer and resistance creating
device have been disclosed, there are many other types of
potentiometers which may be used. Moreover, while a constant
adjustable pressure has been used, the pressure could change with
the angular position between the hand band 20 and the hand-wrist
linkage 144 rather than being constant. Similarly, the
potentiometer may be linear or non-linear or programmed for
different values.
[0118] Another embodiment of yaw or pitch sensing and resistance
module 186 comprises a cylindrical potentiometer housing 188 and a
resistance housing 190. The resistance housing includes within it
programmable friction disks as described in greater detail in U.S.
Pat. No. 5,980,435. In this module, an upper portion 192 and a
lower portion 194 includes programs for varying the resistance with
either an enlarged angle between the first and second levers or a
narrowed angle. The upper lever 196 mounts the potentiometer
housing 188 which has a shaft extending through it and the lower
lever 198. A gear connected to the shaft from the potentiometer 188
indicated at 200 engages a similar pinion portion 202 connected for
rotation with the lower housing of the resistance module 190. With
this arrangement, as pitch or yaw of two limbs occurs with respect
to each other, an analog signal is generated by the pot 188 and
appropriate programmed resistance is supplied by the resistance
module 190.
[0119] In FIG. 31, there is shown a simplified fragmentary
elevational view of a person 12 wearing two arm body part sensing
and tactile stimulation apparatuses 18 and 18C, two shoulder body
part sensing and tactile stimulation apparatuses 18D and 18F and a
abdomen body sensing and tactile stimulation apparatus 18F. The
person 12 also includes a virtual imaging mask which displays the
image similar to a television monitor 2004, as more fully described
in the aforementioned U.S. Pat. No. 5,980,435.
[0120] In FIG. 32, there is shown a block diagram of a simulated
recreational training and exercise system 10 having the body part
sensing and tactile stimulation apparatus used by one user to
characterize his or her role in the activity (hereinafter referred
to as personalized apparatus) and interface 208, a display 14. The
interface communicates with each of the plurality of personalized
apparatuses 206A-206B being shown in FIG. 32 and more specifically
with the body part sensing and tactile stimulation apparatuses 18A,
18C being shown in FIG. 32. While samples of the body part sensing
and tactile stimulation apparatus 18A, 18C and personalized
apparatus 200A and 200B are shown in FIG. 32, any required number
of personalized apparatus and body part sensing and tactile
stimulation apparatuses may be part of the simulated recreational
training and exercise system 10 depending on the number of players
and the number of sensing apparatuses necessary to characterize the
motions used in the activity.
[0121] As shown in the simulated recreational training and exercise
system 10, each body part sensing and tactile stimulation apparatus
such as the one shown at 18A in detail includes a resistance to
motion generator 212, an interface 210, control circuitry 16,
position sensing apparatus 214 and program selection section 216.
In the preferred embodiment, the interface includes a transceiver
permitting signals to be sent from the control circuitry 16 to the
system interface 208 for the display 14. The position sensing
apparatus sends such signals to the control circuitry 16 and to the
resistance to motion generators 212 as described above to control
the resistance to motion in accordance with the program that is
part of the position sensing apparatus 214 as described above. The
program selection section 216 selects the program that is energized
by the position sensing apparatus 214 at selected positions of the
limbs about a joint.
[0122] In FIG. 33, there is shown a block diagram of the position
sensing apparatus 214 having a potentiometer 230 and an
analog-to-digital converter 232. The potentiometer 230 is a sensing
membrane type of potentiometer having a wiper or tap 228 which is
electrically connected to the analog-to-digital converter 232 to
apply a digital signal to the conductors 226 indicating the twist
position or from the twist sensing and resistance module or the yaw
or pitch sensing and resistance modules. The analog-to-digital
converter 232 receives power from the battery 222A.
[0123] In FIG. 34, there is shown a block diagram of the interface
210 and battery control mother board and transceiver 16 connected
together in the manner shown in FIG. 32 as a portion of the body
part sensing and tactile stimulation apparatus 18A. As shown in
this view, the interface 210 includes a transceiver 238 and a
signal processor 246. The signal processor 246 receives signals
indicating the position of the body part sensing and tactile
stimulation apparatuses 16 on conductors 218, shapes the pulses and
transfers them to the transceiver 238 which transmits them to the
interface 208 (FIG. 32) for the personal computer with a viewing
screen 14 (FIG. 1). The battery controlled mother board and
transceiver 16 includes as its principle parts a digital-to-analog
converter 242, a microprocessor 244, a power supply 246 which in
the preferred embodiment is a battery or a power supply directly
connected to the plug for the main supply to convert ordinary 120
ac to low voltage dc for operation of the body part sensing and
tactile stimulation apparatus 16. The power supply 246 supplies
power to the microprocessor 244, the digital-to-analog converter
242 through conductors 222. The digital-to-analog converter
receives a digital signal from the microprocessor 244 indicating
the position of the body parts and supplying them to the resistance
to motion generators 212 for programmable control of resistance to
motion.
[0124] In FIG. 35, there is shown a flow diagram of the subprocess
38 of setting up the body part sensing and tactile stimulation
apparatus 18 comprising the step 248 of attaching and energizing
the body part sensing and tactile stimulation apparatus on a user,
the step 250 of attaching and energizing the computer transceiver
to establish communication between the computer and body part
sensing and tactile stimulation apparatus and the step 252 of
coordinating the body part sensing and tactile stimulation
apparatus with the simulated recreational, training and exercise
system software. While the setup process described specifically
here refers to a computer as maintaining the visual image and the
containing the software, other devices such as commercial gaming
devices sold under trademarks such as XBOX (XBOX is a registered
trademark of Microsoft Corporation). Moreover, instead of using a
transceiver to transmit from the body part sensing and tactile
stimulation apparatus to an additional transceiver or receiver in a
computer 14, hard wiring circuits can be used.
[0125] In FIG. 36, there is shown a flow diagram 252 of
coordinating the body part sensing and tactile stimulation
apparatus 18 with the simulated recreational, training and exercise
system software comprising the step 254 of selecting the default
profile or the individual profile from a list of recorded profiles
or using the profile program to develop a new user profile and the
step 256 of using the default tactile stimulation program or
selecting a pre-recorded tactile stimulation program or setting a
new tactile stimulation program. These steps are used to enable the
software within the computer to develop and display a image that is
performing the same activity as the user and to also advance the
software for background such as train or the like in the case of a
support that is coordinated with the motion of the user. It can
also be used to establish different levels of skill in the case of
a training or game playing activity so that the user may start with
a beginning activity which is relatively easy such as skiing on a
beginners down slope and advance to more advanced activities
requiring greater skill such as skiing on an advanced slope
entailing faster speed and turning on steep slopes. It also permits
the selection of stimuli appropriate for the game and causing the
resistance to movement to be adaptable to the individual. In the
case of exercises, the amount of resistance may be set in
accordance with a user to begin with and increased as the user's
strength increases.
[0126] There is a program 40 for setting up the simulated activity.
This is software developed in connection with a stimulated
activity. For example, a commercial game may be installed in
accordance with the instructions with the game for use of playing
the game in a computer.
[0127] The process 40 includes the step 256 of selecting the
activity and installing the software for the activity in the
computer or other display device and the step 258 of navigating
through the start-up menu of the selected activity. For example, in
the case of a commercial game, the navigation system is provided in
the software for the game and the computer or a transceiver
connected to the computer activated by the body part sensing and
tactile stimulation apparatus 18 may be used to set up of the game
in accordance with the program for the game.
[0128] The process includes the step 42 of performing the simulated
activity (see FIG. 4) comprising the substep 262 of performing the
motions appropriate for the activity, the substep 264 of
transmitting signals indicating the user's position and/or speed of
movement and/or button push information and/or other senses data
from the body part sensing and tactile stimulation apparatus to the
personal computer with view screen or monitoring device 14, the
step 266 of stepping through the program following subroutines
indicated by signals from the body part sensing and tactile
stimulation apparatus and the step 268 of displaying images to the
user as determined by the program for the activity being used at
that time. With this arrangement, the user may use commercial games
or tailored activities such as physical therapy activities or
exercise routines or the like. Where a skill is being developed,
the skill may be developed with a realistic feel for the activity
such as in the case of dart throwing, the motion of the arm plus
the force needed to obtain the desired target with the dart.
Moreover, the difficulty of the game may be changed in accordance
with selection.
[0129] A process 270 for obtaining a profile for a new user
comprises the step 272 of displaying a menu for profiling body part
sensing and tactile stimulation apparatus, the step 280 of
selecting new user profile and the step 274 of moving body part
sensing and tactile stimulation apparatus into a series of
different yaw and pitch positions and twist positions for each
joint and transmitting position code to software for the system
within the computer to establish a table of positions and
corresponding codes within the software. Once encoded, when the
profile of the new user is selected or the initial use, codes are
transmitted for each position to the software which may control
subroutines based on the body part position.
[0130] From the above description of the invention, it can be
understood that the simulated recreational, training and exercise
method and apparatus of this invention has several advantages, such
as: (1) it enables recreational, exercise and training programs to
be coupled to images or other sensed events so that the user can
correlate muscle activity with sensed events; (2) it provides a
program coordinated with images to for maintaining proper joint
alignment during activities. (3) it provides recreational, training
and exercise devices and techniques that permit tailored programs
for a wide variety of purposes, such as to strengthen principally
the fast twitch muscle or the slow twitch muscle or to strengthen
only certain portions of an injured muscle; (4) it provides
equipment and methods that use virtual reality techniques to
provide recreation. exercise and training using coordinated images
and resistance to movement; (5) it provides a technique and
equipment for combining resistance to movement that is related in a
precontrolled manner to the position of the part being moved with
electrical muscle stimulation to aid movement or prevent undesired
movement coordinated with images and sounds; (6) it provides an
apparatus and method for reducing arthrokinetic joint movement
dysfunction during training using visual displays; and (7) it
provides an exercise, training and recreational device and
technique that provides resistance to movement related in a
pre-programmed manner to the position of the part of the users body
performing the activity.
[0131] While a preferred embodiment has been described in
considerable detail, many modifications and variations in the
preferred embodiment are possible. Therefore, it is to be
understood that within the scope of the appended claims, the
invention may be practiced other than as specifically
described.
* * * * *