U.S. patent number 3,589,193 [Application Number 04/844,417] was granted by the patent office on 1971-06-29 for ergometer.
Invention is credited to William E. Thornton.
United States Patent |
3,589,193 |
Thornton |
June 29, 1971 |
ERGOMETER
Abstract
An electrical ergometer capable of imposing measurable work
loads on the user's muscles for medical and/or physical therapy
purposes. The ergometer includes a torque motor with a plurality of
controllable feedback loops for causing the motor to develop
different types of easily adjustable forces as it is driven by the
user.
Inventors: |
Thornton; William E. (San
Antonio, TX) |
Family
ID: |
25292669 |
Appl.
No.: |
04/844,417 |
Filed: |
July 24, 1969 |
Current U.S.
Class: |
482/2; 482/57;
73/862.18; 73/379.07 |
Current CPC
Class: |
A61B
5/221 (20130101) |
Current International
Class: |
A61B
5/22 (20060101); G01l 005/02 () |
Field of
Search: |
;73/133,379
;272/73,79 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Ruehl; Charles A.
Claims
What I claim is:
1. An electric ergometer for imposing measurable work loads on the
muscles of a user, including: an electric motor having a drive
shaft; circuit means for energizing said motor so as to cause said
drive shaft to tend to rotate in a particular direction; manually
operable means mechanically coupled to said drive shaft for
rotating said drive shaft in the opposite direction; electric
generating means coupled to said motor for generating an electric
signal having a value related to the angular velocity of said drive
shaft in said opposite direction; and electric feedback circuit
means connected to said generating means and to said energizing
circuit means for creating a force in said motor opposing such
rotation in said opposite direction and which is a function of said
angular velocity.
2. The electric ergometer defined in claim 1, and in which said
electric feedback circuit means includes a network for
differentiating the signal from said electric generating means so
as to create an additional force in said motor opposing such
rotation in said opposite direction and which is a function of the
angular acceleration of the drive shaft in said opposite
direction.
3. The electric ergometer defined in claim 1 and which includes a
network for introducing a constant signal to said energizing
circuit means for creating a constant additional force in said
motor opposing such rotation in said opposite direction.
4. The electric ergometer defined in claim 3 and which includes
adjustable potentiometers in said last-named network and in said
feedback circuit means for setting the aforesaid forces created in
said motor to predetermined values.
5. The electric ergometer defined in claim 1 in which said manually
operable means includes a rotatable pedal assembly.
6. The electric ergometer defined in claim 1 in which said manually
operable means includes a linearly movable assembly.
7. The electric ergometer defined in claim 1 in which said manually
operable means includes means developing an electric signal
representative of the force exerted on said manually operable
means; and circuitry coupled to said last-named means for
developing an electric instrumentation signal indicative of said
force.
8. The combination defined in claim 7 in which said circuitry
includes a network coupled to said electric generating means for
developing further instrumentation signals indicative of the work
performed by the user.
9. The electric ergometer defined in claim 1 and which includes
circuitry coupled to said electric generating means for developing
instrumentation signals representative of the angular velocity of
said drive shaft.
10. The combination defined in claim 9 in which said last-named
circuitry further develops an instrumentation signal representative
of the angular acceleration of said drive shaft.
Description
BACKGROUND OF THE INVENTION
There is a wide variety of different types of such ergometers known
to the art, the most common type being the externally powered tread
mill, as well as units incorporating various types of weights, and
the bicycle or pedal type of ergometer.
The usual prior art ergometer exhibits certain deficiencies. The
most serious shortcoming is the fact that the forces presented to
the muscles are not properly defined. It is known, for example,
that the "efficiency" of a muscle is directly related to the nature
of the load imposed on it. For example, a large pure resistance
force rapidly tires the muscle.
Since a frequent present day medical use of the ergometer is to
achieve high physiological workloads for prolonged periods, it is
essential that the ergometer be a type which may be operated for
such prolonged period without excessively tiring the patient. A
feature of the ergometer of the present invention is that it can be
used without excessive tiring for prolonged periods, so as to
improve the efficiency of the cardio-vascular system, a procedure
known to the medical art as cardio-vascular conditioning.
It has been found that in order to maintain a relatively large
workload on the patient for a prolonged period, as required, the
muscles must be coupled to a load which will not tire them rapidly.
The types and magnitudes of the forces applied to the muscles then
become critical. It has also been found, in a manner analogous to
mechanical engines, that the muscles require an inertial flywheel
effect in some minimum ratio to other forces in order for them to
function efficiently.
Specifically, the electrical ergometer of the present invention is
particularly advantageous in that the various forces may be applied
separately to the muscles in any desired magnitude in order to
study muscle action. In addition, improved controls and
instrumentation may easily be provided in conjunction with the
electrical ergometer of the present invention to create, sense,
display and record, rapid changes in forces, powers and work, as
will be described.
The type of forces that may be applied to the muscles of the user
by the improved ergometer of the invention may include the
following:
F.sub.1 =K(X 0) (1)
Where:
F.sub.1 is a first type of force
X is the displacement
K is a constant.
The first type of force F.sub.1 is exemplified by gravitational
force or weight. In this case, X will be the vertical displacement
of the weight above its resting position. It should be noted that
the force F.sub.1 is always mixed with inertia in nature.
F.sub.2 =M.times.A (2)
Where:
F.sub.2 is a second type of force
M is a mass
A is acceleration.
The second type of force is inertial force and is rarely
encountered in pure form, except in freely falling bodies.
F.sub.3 =R.times.V.sup. r (3)
Where:
F.sub.3 is a third type of force
R is resistance
V is velocity
n is a power depending on the source.
The third force may be considered a family of forces depending upon
the value of n. The value of n may typically vary from n=2 in
viscous drag type of devices; through n=1 in some types of
eddy-current brakes, to n=0 X in sliding friction after a starting
transient.
F.sub.4 =K.sub.2 .times.X (4)
Where:
F.sub.4 is a further type of force
K.sub.2 is a constant
X is a constant.
This latter force F.sub.4 is a spring force and is rarely
encountered in nature.
As mentioned previously herein, the improved ergometer of the
invention is constructed so that a variety of different forces,
such as those described above, may be exerted on the muscles of the
user, each in a controlled manner, so that any desired force
balance may be achieved. The actual mechanisms embodying the
invention may be of the linear type, or may be of the pedal type,
as mentioned above.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1, 2, 3, 4A and 4B are schematic representations of
instrumentalities by which the various types of forces described
above may be exerted on the muscles of the user;
FIG. 5 is an electrical diagram, in conjunction with certain
elements, and illustrating appropriate feedback loops for a torque
motor so as to achieve the different types of forces developed in
the electrical ergometer of the present invention; and
FIG. 6 is a circuit by which the various analogs of force,
velocity, displacement, power and work, for example, are produced
for recording purposes.
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENT
As mentioned above, FIGS. 1--3, 4A and 4B are schematic
representations of elementary means for achieving the forces
described above. For example, with respect to equation (1), i.e.,
F.sub.1 =K, this force may be achieved by constant force springs,
such as the illustrated Negator spring assembly 10 in FIG. 1.
An elastic flat and set spring 11 is wound on a reel 12, and the
end of the spring is coupled to a second reel 14. The second reel
is mounted on a shaft 16 with a pulley 18. Then, as a force F.sub.1
is applied to a belt 20, for example, wrapped around the pulley 18,
the resulting rotation of the pulley causes the shaft 16 to rotate
which, in turn, rotates the reel 14. When the reel 14 is rotated,
it is resisted by the elastic set of the spring 11. The magnitude
of the constant force F.sub.1 may be controlled by the spring size,
or by varying the radii of the reels 12 and 14, and of the pulley
18.
The second force, as represented by F.sub.2 =M.times.A in equation
(2), is represented in FIG. 2 by a flywheel 30 which is mounted for
rotation on a shaft 32, and which includes a pulley 34 on the
shaft. Then, when the force F.sub.2 is applied to a belt 36 around
the pulley, the rotation of the pulley causes the flywheel to
rotate so as to obtain a torque which is equal to the moment of
inertia of the flywheel I multiplied by its angular acceleration
.omega..
A simple mass supported on a low friction support could be used to
achieve the force of equation (2), but it is simpler to use
rotating masses, which may be mounted on ball or other low friction
bearings, and subsequently translating the resulting torques into
linear forces through a pulley and belt assembly, such as described
above. The magnitude of the force F.sub.2 may be controlled by
selecting the mass and configuration of the flywheel 30, by varying
its mass distribution or by selecting different radii for the
pulley 34, or even by using a gear arrangement.
The force F.sub.3 of equation (3) may be produced by the
eddy-current brake 40 illustrated in FIG. 3. This particular
eddy-current brake is a Faraday disc arrangement, and it comprises
a highly electrically conductive disc 42 which is composed for
example, of an appropriate nonmagnetic material, such as copper,
aluminum or the like, and which is mounted for rotation within a
U-shaped permanent magnet 44. The resulting force F.sub.3
=R.times.V.sup.n which, in this case is F.sub.3 =R.times.V.sup.1,
may be conveniently developed b the assembly shown in FIG. 3.
As before, a pulley 46 is mounted on a shaft 48 with the disc 42,
so that the torque may be converted to the linear force F.sub.3 by
means of an appropriate strap 50 which is wrapped around the
pulley.
The magnitude of the force F.sub.3 may be adjusted by selecting the
strength of the U-shaped permanent magnet 44, or by relative
positioning of the poles, or by varying the gap between its poles.
Also, the magnitude of the force is a function of the speed of the
disc 42 and of its configuration.
The force F.sub.4 =K.sub.2 .times.X set forth in equation (4) may
be generated by a simple linear spring 52 such as shown in FIG. 4A,
or by a coiled spring 54, such as shown in FIG. 4B. In the latter
instance, the coil spring 54 exerts an angular force on a shaft 56,
and a pulley 58 is mounted on the shaft. A belt 60 is wrapped
around the pulley, so that the force F.sub.4 is developed as the
belt is pulled so as to rotate the pulley 58 and the shaft 56.
Magnitude of this latter force F.sub.4 may be determined by the
spring constants, or by the pulley ratio in FIG. 4B.
Although, as mentioned above, the mechanical ergometers described
in the prior art are simple and reliable, and although they are
self-contained units, they do not possess any high degree of
flexibility insofar as the setting and adjustment of the various
types of forces are concerned. For research purposes, for example,
the electrical ergometer of the present invention, an embodiment of
which is shown in FIGS. 5 and 6, has certain advantages.
For example, torque motors are rotary devices which have an output
torque directly proportional to input current, with a sine wave
response which is flat to 8--10.sup..sup.-3 seconds or less.
Furthermore, torque motors have an appreciable torque at reasonable
size and currents, and are capable of providing useful loads for
ergometer purposes without the requirement for large gear
ratios.
For that reason, the torque motor is used as a component of the
embodiment of the electrical ergometer shown in FIG. 5. By means of
appropriate feedback loops, as will be described, in a closed servo
system, the various forces described above may be simulated. Also,
the magnitude of the individual forces may be readily controlled
electrically.
The electrical ergometer shown in FIG. 5, for example, includes a
torque motor 10 which, for example, has a pulley 12 mounted on its
drive shaft 14, the pulley being driven by a pedal assembly 16
which comprises a further pulley 18 coupled to the pulley 12 by
means of a belt 20. The pulley 18 is rotated by pedals 22, the
assembly 16 being mounted in an appropriate frame, as is the torque
motor 10 and its pulley 12. The pulleys 12 and 18 may be toothed,
and the belt 20 may be toothed for a more positive drive.
A linear tachometer generator 30 is mechanically coupled to the
torque motor 10, and the tachometer develops a signal E' which may
be considered to be equal to the angular velocity of the torque
motor .omega.. The torque motor 10 is energized by a constant
current generator 32 which provides a constant current through the
torque motor 10 for a given feedback load, regardless of speed. The
current generator 32 energizes the torque motor and causes it to
tend to turn in one direction. When the user operates the pedals
20, he turns the torque motor in the opposite direction, causing
the linear tachometer generator 30 to generate the signal E'.
A voltage E.sub.0 is applied to the the current generator 32, and
this voltage is the sum of three separate voltages E.sub.1, E.sub.2
and E.sub.3, the latter voltages being intended to represent the
various forces described above. For example, the voltage E.sub.1 is
developed at the output of an operational amplifier 34, whose input
is connected to a constant voltage source E.sub.k.
The operational amplifier 34 is shunted by a potentiometer R.sub.1,
and this potentiometer may be adjusted, so that the voltage E.sub.1
has any desired constant value, with the operational amplifier 34
providing a low impedance source for the constant voltage. Also,
the constant voltage E.sub.1 may be set to any desired value, by an
appropriate adjustment of the potentiometer R.sub.1. The voltage
E.sub.1 is the electrical analog of the force F.sub.1 of equation
(1) which is a constant force. Also, this force may have any
desired value, as determined by the setting of the potentiometer
R.sub.1.
The system of FIG. 5 also includes a multiple channel feedback
loop. A first channel in the feedback loop includes an operational
amplifier 36 which is shunted by a potentiometer R.sub.2, and which
is connected directly to the output of the linear tachometer
generator 30. The operational amplifier 36 produces the voltage
E.sub.2 which is the electrical analog of the force F.sub.3 of
equation (3). That is, the voltage E.sub.2 varies with the velocity
.omega. as represented by E' applied to the input of the
operational amplifier 36. Therefore, the electrical analog of the
force F.sub.3 is also applied to the input of the current generator
32.
The feedback loop includes a second channel incorporating a first
operational amplifier 38 having its input coupled to the output of
the generator 30 through a capacitor 40, and shunted by a resistor
42. The operational amplifier 38 produces a voltage E" at its
output which, due to the differentiating action of the circuit
element 40 and 42 is equal to d.omega./dt which equals .omega..
This latter voltage is translated by a second operational amplifier
44, the latter amplifier being shunted by a potentiometer R.sub.3.
The operational amplifier 44 develops a voltage E.sub.3 at its
output, which is the electrical analog of the force F.sub.2 of
equation (2). That is, the voltage E.sub.3 is proportional to the
acceleration .omega. of the torque motor 10.
The constant current generator 32 is activated by the voltage
E.sub.0, which is the sum of the voltages E.sub.1, E.sub.2 and
E.sub.3. This latter generator, therefore, causes the torque motor
to exhibit forces when the pedals 20 are operated, and which are of
different types, as represented by the equations (2), (3) and (4)
set forth previously herein. Also, merely by adjusting the
potentiometers R.sub.1, R.sub.2 and R.sub.3, the different types of
forces may have any desired magnitude.
Specifically, the rate of rotation of the torque motor 10 is
converted to an analog voltage E' which is proportional to the
angular velocity of the torque motor, and which becomes the signal
which drives the inertia and resistance legs of the force
generator. Specifically, the output torque T of the torque motor 10
is converted into a force F.sub.S which is related as follows:
F.sub.S .alpha.T.alpha.I.alpha.E'=E.sub.0 =E.sub.1 +E.sub.2
+E.sub.3 (5)
=k.sub.1 +r.omega.+m.omega. (6)
the foregoing is analogous to:
F.sub.S =F.sub.1 +F.sub.2 +F.sub.3
=k.sub.1 +rv.sup.1 +ma (7)
the spring force of FIGS. 4A and 4B is not included in the
electrical ergometer of FIG. 5 because that force is seldom used.
However, it could be added if so desired. Also, the resistance
force could be changed to a viscous resistance RV.sup.2, for
example, by adding a multiplier for the voltage E.sub.0. Since the
potentiometers R.sub.1, R.sub.2 and R.sub.3 may be easily adjusted
to any selected value, the magnitudes of the various voltages
E.sub.1, E.sub.2 and E.sub.3 may be readily controlled and
varied.
To make full use of the electrical ergometer of FIG. 5, for
example, a record should be made of the instantaneous forces,
displacements, power and work performed by the user. In mechanical
devices, such as those described in the prior art, these records
may be obtained, for example, from a strain gauge, and if the
forces are converted to linear motion, they may be obtained by a
velocity pickup. In the electrical ergometer of FIG. 5, for
example, the desired records may be obtained in a simplified
manner, and by a simple network, such as shown in FIG. 6.
In the circuit of FIG. 6, only the elementary analog computation is
required to yield the needed analogs of force, velocity,
displacement, power and work, for recording purposes. The
simplified versions for the pedal ergometer, such as shown in FIG.
5, for example, can use much simpler instruments since only
averages are important. For example, a simple tachometer, and a
Veeder Root counter may be used with a gauge to indicate the
various loadings.
As shown in FIG. 6, for example, the pedal drive for the torque
motor 10 may be replaced by a drum 100 and a handle 102 which is
coupled to the drum by a line 104 reeled about the drum. The motor
then is driven by the user drawing the handle, with an appropriate
ratchet arrangement being provided (not shown) so that reciprocally
pulling the handle 102 causes the motor 10 to achieve a certain
speed with a particular loading, as established by setting the
potentiometers R.sub.1, R.sub.2 and R.sub.3 in the circuit of FIG.
5. A strain gauge 106 is provided in the line 104, so that a
voltage may be developed which is proportional to the force
exerted. It will be appreciated, of course, that a similar
arrangement may be provided in conjunction with the pedal assembly
of FIG. 5, so that a similar voltage may be generated which is
proportional to the voltage developed by the pedal assembly. The
resulting voltage E.sub.1 from the strain gauge 106 is amplified in
an amplifier 108, so that a voltage E.sub.1 is developed which is
proportional to force. It will be appreciated, therefore, that a
suitably calibrated instrument may be connected to the output
terminal 110, and the instrument may designate force directly.
In addition, the output E' from the tachometer generator 30, which
is proportional to velocity .omega. may be applied to an output
terminal 112, and an appropriately calibrated instrument, connected
to the output terminal would provide a direct indication of
velocity.
The voltage E' which is proportional to velocity .omega. may be
integrated in a network including an operational amplifier 114, and
an integrating network made up of a capacitor 116 at its input, and
a shunting resistor 118, to provide an output voltage E.sup.V. The
latter voltage may be applied to an output terminal 120, and a
suitable voltmeter, or recorder, connected to the output terminal
120 may be calibrated to provide a direct indication of
acceleration.
Likewise, the voltage E' may be applied to an operational amplifier
122 and associated differentiating network including a resistor 124
at the input to the differential amplifier, and a shunting
capacitor 126, so that a voltage E.sup.IV is produced. The latter
voltage may be applied to an output terminal 128, so that an
appropriately calibrated meter connected to the output terminal may
provide a direct reading of displacement.
A multiplier circuit 130 of any known type may be connected into
the circuit to receive the voltages E' and E.sub.1, so as to
produce a voltage E" representative of force multiplied by velocity
which equals power. The latter voltage may be applied to an output
terminal 132, so that the power developed may be directly indicated
by an appropriate meter, or recorder, connected to that output
terminal.
The voltage E" may be applied through a resistor 134 to an
operational amplifier 136, the operational amplifier being shunted
by a capacitor 138 to form an integrating network, so that a
voltage E'" applied to an output terminal 140 is a direct
indication of the work done, and this value may be directly
indicated by a suitably calibrated voltmeter, or recorder,
connected to the output terminal 140.
The electrical ergometer of the present invention, therefore, is
most advantageous in that the desired forces may be simulated with
any desired magnitude by a simple potentiometer adjustment.
Moreover, the resulting voltages developed within the system itself
may be used to provide appropriate instrumentation voltages, so
that simple meters may be used to display on a direct basis, and by
suitable calibrations, the various parameters described in FIG.
6.
* * * * *