WO2006061501A1 - Device for indicating movements in a body - Google Patents

Device for indicating movements in a body Download PDF

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Publication number
WO2006061501A1
WO2006061501A1 PCT/FR2005/003042 FR2005003042W WO2006061501A1 WO 2006061501 A1 WO2006061501 A1 WO 2006061501A1 FR 2005003042 W FR2005003042 W FR 2005003042W WO 2006061501 A1 WO2006061501 A1 WO 2006061501A1
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WO
WIPO (PCT)
Prior art keywords
movements
freedom
elongation
bending
indicator element
Prior art date
Application number
PCT/FR2005/003042
Other languages
French (fr)
Inventor
Daniel Martin
Original Assignee
Daniel Martin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daniel Martin filed Critical Daniel Martin
Priority to EP05824629A priority Critical patent/EP1865841A1/en
Publication of WO2006061501A1 publication Critical patent/WO2006061501A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/10—Athletes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints

Definitions

  • the present invention is in the field of practical indication of bending and / or twisting movements of a body by means of wires.
  • the invention relates to bodies provided with a skeleton such as the human or animal body, or provided with a neutral fiber such as a ship's mast.
  • US Pat. No. 5,086,785 discloses wired sensors for measuring bending of a body and applicable to human fingers.
  • No. 5,143,088 discloses a system located on a vertebral column of a human body to measure its flexion in two planes by means of wire elongation and to measure the torsion thereof by means of the torsion of a wire.
  • the movements of the bodies are generally a mixture of flexions and / or torsion and the skeleton or the neutral fiber of a body is generally not accessible from the surface of the body.
  • the invention relates to the choice of a measurable privileged quantity with threads on a body and the choice of a criterion for positioning the threads on the surface of the body to optimize the indication of movements.
  • the present invention thus relates to a device for the practical indication of movements of a body.
  • the indication of possible movements for a body can be obtained by the indication of degrees of freedom at the ends of elements of constant length, generally internal to the body: neutral fiber for a beam, skeleton for an articulated body.
  • the degrees of freedom are, generally, six in number: three in rotation about perpendicular axes between them and three in translation of the point along these axes.
  • the point is fixed, only three degrees of freedom in rotation remain and are sufficient to characterize the movements of the body at this point: one is designated by torsion and the other two by flexion. The presence of matter in the body, however, disturbs the mechanical approach.
  • elongation gauges are used to indicate the elongations of a body.
  • the presence of matter is also responsible for the variation, positive for an increase or negative for a decrease, of the distance between at least two fixed points of the body, called elongation.
  • the elongations are present in all the bodies during movements but being representative of variations in distance between at least two fixed points of the body, they are not easily usable for the indication of movements of a body neither by the mechanics nor by the theory of elasticity.
  • a skeletal and non-punctual body such as a ship's mast, the practical indication of movement is a difficult problem.
  • the movements are precisely defined by those of its skeleton, all its elements essentially indeformable or bones, connected together at junction points or joints.
  • the skeleton is completed with deformable materials with movements or flesh, which define the volume of the body and prevent, from the outside, direct access to the skeleton.
  • movements or flesh which define the volume of the body and prevent, from the outside, direct access to the skeleton.
  • certain flesh indispensable to the movements of the body, the muscles, undergo significant elongations which make imprecise the indication of the movements of the skeleton from external observations.
  • edges are also practically possible to define, for a body having a skeleton or a neutral fiber, that is to say elements essentially inextensible in the reversible movements of the body, curves in contact with the surface of the body, substantially parallel to said skeleton or to said neutral fiber, hereinafter referred to as edges.
  • the section of a body by a plane containing its skeleton or its neutral fiber can for example define two edges, located on either side of the skeleton or the neutral fiber, in the plane.
  • the invention is an indicator device for movements of flexion and / or torsion of a body, characterized in that it comprises at least one element indicating an elongation of the edge of said body.
  • the invention may comprise: a single indicator element for indicating a degree of freedom of the body two distinct indicator elements for the indication of two degrees of freedom of the body; indication of three degrees of freedom of the body - a number of distinct indicator elements, at least equal to the number of degrees of freedom of the body.
  • the indicator element may be: adapted to indicate the variation of position of an end of an inextensible wire, representative of an elongation of the body and more particularly said variation of position may be indicated by: the variation of resistance of a multi-turn potentiometer, provided with an axis, around which is wound up said end of the inextensible wire, the variation in length of a spring load connected to said end of the inextensible wire.
  • said indicator element is substantially rectilinear. According to the invention, said indicator element is directly applied to said body.
  • said device comprises at least one measurement indicator element and at least one reference indicator element, said reference indicator element being inclined with respect to said measurement indicator element.
  • the indicator element is included in a garment close to the body.
  • FIG. 1 represents, in a sectional plane, an articulation at rest.
  • Figure 2 shows in a sectional plane, a joint subjected to bending.
  • Figure 3 shows in a sectional plane, a joint subjected to torsion.
  • FIG. 4 is a perspective view of a body provided with a measurement indicator element and a reference indicator element.
  • FIG. 1 DESCRIPTION OF THE INVENTION
  • the invention is described (FIG. 1) for a single body or articulation constituted by a fixed non-deformable axis (1) and a movable non-deformable axis (2), connected to a point where there is at most three rotational degrees of freedom for the body or patellar connection (3), one end of each axis remaining free (5) (6); the axes (1) (2) are surrounded by a substantially revolution volume filled with material (4) subject to elongations.
  • the perimeter of the intersection (ABCDEFGH) of the body with a plane passing through the axes (1) (2) can be decomposed into two edges (ABCD) (EFGH) essentially parallel to the axes (1) (2) and into two segments end (DE) (HA) substantially perpendicular to the axes (1) (2), passing through the free ends of the axes (5) (6) and joining the edges (ABCD) (EFGH).
  • the movements with two degrees of freedom in rotation for such a body are summarized in the composition of a plane bending movement in a fixed bending plane and a torsion movement.
  • EFGH undergo positive (BC) or negative (FG) elongations in the vicinity of the junction (3).
  • the two edges (ABCD) (EFGH) of equal lengths for a zero bending angle between the axes (1) (2), are distinguished in bending by a positive elongation for one of the so-called outer edges (ABCD) and an elongation negative or narrowing for the other so-called inner edge
  • any edge (AD) wraps around the body while lying positively.
  • the type of simple body chosen makes it possible to give the invention its full range thanks to the following consideration: it is possible to associate in sequence two joints by joining the free end of the movable axis of the first articulation and the free end of the fixed axis of the second joint and by securing the directions of these axes. The movements of the association of the two joints then results from the composition of the movements of the two articulations.
  • the invention is a device for indicating movements of flexion and / or torsion of a body, characterized in that it comprises at least one element indicating an elongation of said body.
  • the outer edge of the joint extends flexibly in the vicinity of the junction (BC). This effect is visualized on a human joint such as the elbow or the knee: by pinching the skin on the outside of the joint with zero flexion, we see that the skin escapes by flexing the joint, to satisfy the mentioned lengthening of the outer edge of the joint.
  • the indicator elements are substantially rectilinear, excluding the spiral element.
  • the flexion and torsion are in this case performed only with rectilinear elements, which greatly simplifies the realization of the device of the invention.
  • the indicator elements are directly applied to the body, unlike known devices that use indicator elements disposed on substrates or intermediate supports themselves applied to the body. These supports, of limited size for practical aspects such as weight, reduce the sensitivity of the measurement.
  • the choice of the indicator element as the elongation of the outer edge (ABCD) of the joint is therefore an indicator of the bending movement.
  • the choice of the indicator element as being the length of the outer edge (ABCD) of the joint, is also an indicator of the torsion movement as the edge wraps around the joint while lengthening (AD) during a twisting motion.
  • edge elongations grow with the distance from the edge to the skeleton or the neutral fiber.
  • the measurement of such elongations thus simplifies the use of the measuring devices by allowing them to be delocalised on the surface of the body, preferably as far as possible from the skeleton or the neutral fiber.
  • This is a significant difference with the aforementioned prior art which either gives no indication of location, or teaches to locate the measuring system as close to the skeleton in exceptional cases where this is possible as in the case of a column. vertebral body, even though the sensitivity is the weakest. This defect is revealed, especially in torsion, by the need to use spiral son that complicate the measurement significantly.
  • the invention teaches the delocalization of the measurement leads, further from the skeleton or the neutral fiber to increase the measurement sensitivity without winding the spiral wire around the body.
  • the device according to the invention comprises a measurement indicator element (IJ) and at least one reference indicator element (IK), said reference indicator element (IK) being inclined with respect to said indicator element of measurement (IJ).
  • the elongation of an inclined edge thus makes it possible to indicate the absolute value and the sign of an unambiguous twist between a limit negative twist and the maximum allowable positive torsion without breaking the body material.
  • the sensitivity of the elongation to the movement is not related primarily to the angle of inclination but to the distance to the skeleton or the neutral fiber, which distinguishes the invention from the prior art.
  • the choice according to the invention of at least one elongation indicator on the surface of the joint therefore makes it possible to produce a device indicating the movements of the body.
  • the elongation indicator may also be selected from within the body's interior volume with a reduction in the intensity of the effect. For example, on a neutral fiber or a skeleton, the elongation is zero.
  • an indicator of surface elongation tends to disappear when the distance from this edge to the skeleton or the neutral fiber tends to zero, so we will avoid such a choice of edge, yet recommended by the prior art.
  • An edge will be selected for the invention whose distance to the skeleton is important, or even maximum. Depending on the particular shape of the body, particular edge lengths for a small number of edges may need to be calculated.
  • the elongation of an indicator also decreases in intensity at a constant bending angle between the fixed axis (1) and the movable axis (2) when its orthogonal projection in the bending plane approaches a neutral fiber or the skeleton of the body.
  • the elongation is zero in flexion.
  • the indicator considered can then be used as an insensitive indicator for bending in this plane and therefore as an indicator sensitive only to torsion.
  • the inclination of an edge relative to a fixed bending plane also limits the elongation of this edge for bending in this plane, by moving away its orthogonal projection on this bending plane, the neutral fiber or the skeleton. It is therefore possible to differentiate between twisting and flexing movements by selecting the position of the indicator or combining, for example linearly, several elongation indicators for the same purposes.
  • the indication of movements of a body is therefore possible through the use of at least one indicator of an elongation of said body.
  • the indicator according to the invention is unique, it allows to indicate movements corresponding to a single degree of freedom in rotation: a bending in a fixed plane or a torsion.
  • the elongation indicator is essentially an indicator of the composition, that is to say of the sequential realization, of a twisting and two bending in perpendicular planes, without discernment of the respective parts in the movement of the torsion and bending, that is to say without decomposition according to the elements of the composition.
  • a degree of freedom will be, within the meaning of the invention, a degree of freedom in rotation or a composition of several degrees of freedom in rotation. It is thus possible to say that a single elongation indicator makes it possible to indicate movements of the body corresponding to a single degree of freedom of the body.
  • two separate indicators may be used to account for torsion and flexion motions in a plane, independently.
  • flexion indicator the difference in the elongations of the edges of the joint.
  • This indicator is essentially insensitive to torsion.
  • torsion indicator the sum of the elongations of the edges of the joint. This indicator is essentially insensitive to flexion.
  • the indication of the torsion and the composition of two flexions can also be envisaged with two indicators. This case can be applied to distinguish a torsion movement and a bending motion in any plane, obtained by composing two bends in perpendicular planes, for example for a torsion alone or bending only alarm.
  • the indication of a composition of the torsion with a first bending and another composition of the torsion with a second bending in a plane perpendicular to the first bending is also conceivable.
  • two distinct elongation indicators make it possible to indicate movements of a body corresponding to two degrees of freedom of the body.
  • three separate indicators can be used to account for twisting and flexing movements in two perpendicular bending planes.
  • the elongations of three of the four edges defined in these two planes can be chosen as indicators.
  • three distinct elongation indicators make it possible to indicate movements of a body corresponding to three degrees of freedom of the body.
  • the elongation of two edges in a first bending plane and the elongation of two edges in a second bending plane perpendicular to the first to select as torsion indicator essentially insensitive to bending, the sum of the elongations of the four selected edges and to choose for the two other indicators: the difference of the edges in the first plane, essentially sensitive to the bending in the foreground and the difference of the edges in the second plane, essentially sensitive to bending in the background.
  • Indicator elements distinct in number at least equal to the number of degrees of freedom for all the joints of a complex body such as the human or animal body may be chosen to obtain a device indicating movements of said body.
  • the complex body is divided into articulations with one, two, or three degrees of freedom and the indicators of elongations chosen for each articulation, in number at least equal to the number of degrees of freedom for each articulation, are gathered in a list to account for body movements.
  • the number of distinct indicator elements, for an articulated body is chosen at least equal to the total number of degrees of freedom of all its joints, that is to say, also of the body.
  • the number of distinct elongation indicators can be chosen at least equal to the number of degrees of freedom of segments dividing the body and reporting its continuous deformations to a desired degree of approximation. We thus reduce our to an articulated body.
  • the number of distinct indicator elements is chosen at least equal to the number of degrees of freedom of the body. More particularly:
  • the elongation indicating element may be able to indicate the variation of position of an end of an inextensible thread, representative of a lengthening of the body. For example, if the outer edge (ABCD) of a joint is materialized in the form of a tube integral with the surface of the joint and containing an inextensible wire attached to one end of the edge (A), then in bending, the position of the other free end of the wire on the edge varies with the elongation of the edge (ABCD).
  • the variation of position of the end of the inextensible wire can correspond by winding on the axis of a multi-turn potentiometer, to a variation of resistance.
  • a multi-turn potentiometer There are such potentiometers called “multi-turns" and provided with an axis, for example under the reference C274 200 OHMS manufactured by BOURNS.
  • Such a variation of resistance is easily measurable electrically by a Wheatstone bridge type circuit.
  • such a potentiometer is automatic return to keep the inextensible wire powered.
  • the variation of position of the end of the inextensible wire may correspond by connecting this end to a spring scale, to an indication of the lengthening of the scale.
  • the load cell provides electrical signals of its lengthening.
  • the device according to the invention can be applied to the relative, precise and instantaneous knowledge of movements: of parts of the body between them, with or without incitation to the instantaneous or reflex correction, of said movements, in sports, rehabilitation or robotics ; continuous deformation of the body, especially of the mast, wing or nets type.
  • the indicator element is ideally included in a close-fitting clothing, including a garment.
  • a garment close to the body, in which the indicator element is included provides a precise and instantaneous indication of said movements using elongations indicated closer to the surface of the body, so representative at best body movements.
  • the invention can be used to compare the movements of an athlete to a model, for the purpose of informing him of changes to be made to his movements. It is in particular possible to associate the invention with voice recommendations to allow conscious modifications or a jerk returned by existing or additional indicator elements, to allow reflex changes, of said movements.
  • the invention is susceptible of industrial application in the field of sport.
  • the invention which uses edge elongations is distinguished in a remarkable manner from the prior art mentioned at the beginning of the application, in the case of a measurement of bending and / or twisting of a human spine.
  • the devices of the prior art locate the measuring elements at a minimum distance from the spine, which results in positioning the measuring element in the back of the patient on his column.
  • the teaching of the invention recommending to choose an edge elongation, allows a skilled person to consider a measuring element positioned on the patient's belly with great sensitivity and to eliminate an edge located in the back, on the column, of low sensitivity, the selected edge being very close to the skeleton and therefore less sensitive in flexion and / or torsion

Abstract

The invention relates to a device for indicating movements in a body. More specifically, the invention relates to a body comprising a fixed deformation-resistant shaft (1) and a mobile deformation-resistant shaft (2) which are linked by means of a ball-and-socket joint (3) and which are surrounded by material (4) that is subject to stretching, in which one end of each shaft is free (5 and 6). According to the invention, edges (ABCD, EFGH) are defined by the points at which the body intersects with the plane of the shafts (1, 2) such as to limit same in a direction that is essentially orthogonal to said shafts (1, 2). The bending of the body, corresponding to an angle between the fixed (1) and mobile (2) shafts, is indicated by the difference between the elongation movements experienced by the edges (ABCD, EFGH), while the twisting of the body around the mobile shaft (2) is indicated by the sum of the elongation movements experienced by the edges (ABCD, EFGH). The invention is suitable for use in the field of sports.

Description

DISPOSITIF INDICATEUR DE MOUVEMENTS D'UN CORPS DEVICE INDICATING MOVEMENTS OF A BODY
La présente invention se situe dans le domaine de l'indication pratique de mouvements de flexions et/ou de torsion d'un corps au moyen de fils.The present invention is in the field of practical indication of bending and / or twisting movements of a body by means of wires.
Plus particulièrement, l'invention a trait aux corps munis d'un squelette comme le corps humain ou animal, ou munis d'une fibre neutre comme un mât de navire.More particularly, the invention relates to bodies provided with a skeleton such as the human or animal body, or provided with a neutral fiber such as a ship's mast.
On connaît du brevet US 5 086 785, des capteurs filaires, pour mesurer la flexion d'un corps et applicables aux doigts humains.US Pat. No. 5,086,785 discloses wired sensors for measuring bending of a body and applicable to human fingers.
On connaît du brevet US 5 143 088, un système localisé sur une colonne vertébrale de corps humain pour en mesurer la flexion dans deux plans à l'aide d'allongement de fils et en mesurer la torsion à l'aide de la torsion d'un fil.No. 5,143,088 discloses a system located on a vertebral column of a human body to measure its flexion in two planes by means of wire elongation and to measure the torsion thereof by means of the torsion of a wire.
On connaît du brevet US 6 428 490, un système applicable aux différentes articulations d'un corps humain et utilisant des goniomètres ou des capteurs angulaires pour en mesurer la position. On connaît du brevet US 3 991 745, un système localisé sur la colonne vertébrale humaine, comportant un membre allongé, muni de fils disposés selon la longueur du membre pour en mesurer la flexion et de fils disposés en spirale autour du membre pour en mesurer la torsion.No. 6,428,490, a system applicable to the various joints of a human body and using goniometers or angular sensors to measure their position. US Pat. No. 3,991,745 discloses a system located on the human spine, comprising an elongate limb, provided with wires arranged along the length of the limb to measure flexion, and wires arranged spirally around the limb to measure its length. torsion.
Cependant, aucun de ces documents ne donne une indication pratique sur la façon de mesurer un mouvement combiné de flexions et/ou de torsion d'un corps au moyen de fils; ni, plus particulièrement, sur la possibilité de choisir une grandeur unique pour la mesure, ni sur la disposition des fils à la surface du corps à choisir pour optimiser la sensibilité de la mesure.However, none of these documents provides a practical indication of how to measure a combined movement of bending and / or twisting of a body by means of wires; nor, more particularly, on the possibility of choosing a single size for the measurement, or on the arrangement of the wires on the surface of the body to be chosen to optimize the sensitivity of the measurement.
C'est un objet de l'invention que d'apporter une solution unifiée à ce problème. C'est-à-dire une solution adaptable à tous les types de mouvements d'un corps et aisément applicable à tous les types de corps.It is an object of the invention to provide a unified solution to this problem. That is to say a solution that is adaptable to all types of movements of a body and easily applicable to all types of body.
En effet, les mouvements des corps sont généralement un mélange de flexions et/ou de torsion et le squelette ou la fibre neutre d'un corps ne sont généralement pas accessibles depuis la surface du corps. Plus particulièrement, l'invention concerne le choix d'une grandeur privilégiée mesurable avec des fils sur un corps et le choix d'un critère pour positionner les fils à la surface du corps pour en optimiser l'indication des mouvements. La présente invention concerne ainsi un dispositif, pour l'indication pratique de mouvements d'un corps.Indeed, the movements of the bodies are generally a mixture of flexions and / or torsion and the skeleton or the neutral fiber of a body is generally not accessible from the surface of the body. More particularly, the invention relates to the choice of a measurable privileged quantity with threads on a body and the choice of a criterion for positioning the threads on the surface of the body to optimize the indication of movements. The present invention thus relates to a device for the practical indication of movements of a body.
Dans le domaine mécanique, l'indication pratique de mouvements d'un volume matériel ou corps, est un problème central. Du point de vue de la mécanique, l'indication de mouvements possibles pour un corps peut être obtenue par l'indication de degrés de liberté aux extrémités d'éléments de longueur constante, généralement intérieurs au corps: fibre neutre pour une poutre, squelette pour un corps articulé. En un point quelconque d'un corps, les degrés de libertés sont, généralement, au nombre de six : trois en rotation autour d'axes perpendiculaires entre eux et trois en translation du point selon ces axes. Lorsque le point est fixe, trois degrés de liberté en rotation seulement subsistent et suffisent à caractériser les mouvements du corps en ce point : l'un est désigné par torsion et les deux autres par flexions. La présence de matière dans le corps vient toutefois troubler l'approche mécanique. En effet, du point de vue de la théorie de l'élasticité, la matière d'un corps subit lors de mouvements, une variation, augmentation ou diminution, de volume autour d'un point, appelée élongation. Des élongations trop importantes lors de mouvements étant responsables de l'apparition de ruptures ponctuelles de la matière, des jauges d'élongation sont utilisés pour indiquer les élongations d'un corps.In the mechanical field, the practical indication of movements of a material or body volume is a central problem. From the point of view of mechanics, the indication of possible movements for a body can be obtained by the indication of degrees of freedom at the ends of elements of constant length, generally internal to the body: neutral fiber for a beam, skeleton for an articulated body. At any point of a body, the degrees of freedom are, generally, six in number: three in rotation about perpendicular axes between them and three in translation of the point along these axes. When the point is fixed, only three degrees of freedom in rotation remain and are sufficient to characterize the movements of the body at this point: one is designated by torsion and the other two by flexion. The presence of matter in the body, however, disturbs the mechanical approach. Indeed, from the point of view of the theory of elasticity, the matter of a body undergoes during movements, a variation, increase or decrease, of volume around a point, called elongation. Excessive elongations during movements being responsible for the occurrence of point breaks in the material, elongation gauges are used to indicate the elongations of a body.
Toutefois, en pratique, la présence de matière est aussi responsable de la variation, positive pour une augmentation ou négative pour une diminution, de la distance entre au moins deux points fixes du corps, appelée allongement. Les allongements, sont présents dans tous les corps lors de mouvements mais étant représentatifs de variations de distance entre au moins deux points fixes du corps, il ne sont pas facilement utilisables pour l'indication de mouvements d'un corps ni par la mécanique ni par la théorie de l'élasticité. Ainsi, pour un corps sans squelette et non ponctuel, comme un mât de navire, l'indication pratique de mouvements est un problème difficile.However, in practice, the presence of matter is also responsible for the variation, positive for an increase or negative for a decrease, of the distance between at least two fixed points of the body, called elongation. The elongations, are present in all the bodies during movements but being representative of variations in distance between at least two fixed points of the body, they are not easily usable for the indication of movements of a body neither by the mechanics nor by the theory of elasticity. Thus, for a skeletal and non-punctual body, such as a ship's mast, the practical indication of movement is a difficult problem.
De même, pour le corps humain ou animal, les mouvements sont définis précisément par ceux de son squelette, ensemble de ses éléments essentiellement indéformables ou os, reliés entre eux en des points de jonction ou articulations. Mais, le squelette est complété de matières déformables avec les mouvements ou chairs, qui définissent le volume du corps et empêchent, de l'extérieur, l'accès direct au squelette. Particulièrement, certaines chairs, indispensables aux mouvements du corps, les muscles, subissent des allongements notables qui rendent imprécise l'indication des mouvements du squelette à partir d'observations extérieures.Similarly, for the human or animal body, the movements are precisely defined by those of its skeleton, all its elements essentially indeformable or bones, connected together at junction points or joints. But, the skeleton is completed with deformable materials with movements or flesh, which define the volume of the body and prevent, from the outside, direct access to the skeleton. Particularly, certain flesh, indispensable to the movements of the body, the muscles, undergo significant elongations which make imprecise the indication of the movements of the skeleton from external observations.
L'indication pratique de mouvements d'un corps est donc un problème difficile. On peut aussi définir pratiquement, pour un corps possédant un squelette ou une fibre neutre, c'est-à-dire des éléments essentiellement inextensibles dans les mouvements réversibles du corps, des courbes en contact avec la surface du corps, essentiellement parallèles audit squelette ou à ladite fibre neutre, ci-après dénommées arêtes. La section d'un corps par un plan contenant son squelette ou sa fibre neutre peut par exemple définir deux arêtes, situées de part et d'autre du squelette ou de la fibre neutre, dans le plan.The practical indication of movements of a body is therefore a difficult problem. It is also practically possible to define, for a body having a skeleton or a neutral fiber, that is to say elements essentially inextensible in the reversible movements of the body, curves in contact with the surface of the body, substantially parallel to said skeleton or to said neutral fiber, hereinafter referred to as edges. The section of a body by a plane containing its skeleton or its neutral fiber can for example define two edges, located on either side of the skeleton or the neutral fiber, in the plane.
Dans ce contexte, l'invention est un dispositif indicateur de mouvements de flexions et/ou de torsion d'un corps, caractérisé en ce qu'il comprend au moins un élément indicateur d'un allongement d'arête dudit corpsIn this context, the invention is an indicator device for movements of flexion and / or torsion of a body, characterized in that it comprises at least one element indicating an elongation of the edge of said body.
Selon des modes particuliers de réalisation, l'invention peut comprendre : un unique élément indicateur pour l'indication d'un degré de liberté du corps deux éléments indicateurs distincts pour l'indication de deux degrés de liberté du corps trois éléments indicateurs distincts pour l'indication de trois degrés de liberté du corps - un nombre d'éléments indicateurs distincts, au moins égal au nombre des degrés de liberté du corps.According to particular embodiments, the invention may comprise: a single indicator element for indicating a degree of freedom of the body two distinct indicator elements for the indication of two degrees of freedom of the body; indication of three degrees of freedom of the body - a number of distinct indicator elements, at least equal to the number of degrees of freedom of the body.
Selon des modes de réalisation supplémentaires, l'élément indicateur peut être : apte à indiquer la variation de position d'une extrémité d'un fil inextensible, représentative d'un allongement du corps et plus particulièrement ladite variation de position peut être indiquée par: - la variation de résistance d'un potentiomètre à tours multiples, muni d'un axe, autour duquel est enroulé ladite extrémité du fil inextensible, la variation de longueur d'un peson à ressort lié à ladite extrémité du fil inextensible.According to additional embodiments, the indicator element may be: adapted to indicate the variation of position of an end of an inextensible wire, representative of an elongation of the body and more particularly said variation of position may be indicated by: the variation of resistance of a multi-turn potentiometer, provided with an axis, around which is wound up said end of the inextensible wire, the variation in length of a spring load connected to said end of the inextensible wire.
Selon l'invention, ledit élément indicateur est sensiblement rectiligne. Selon l'invention, ledit élément indicateur est directement appliqué sur ledit corps.According to the invention, said indicator element is substantially rectilinear. According to the invention, said indicator element is directly applied to said body.
Selon l'invention, ledit dispositif comprend au moins un élément indicateur de mesure et au moins un élément indicateur de référence, ledit élément indicateur de référence étant incliné par rapport audit élément indicateur de mesure.According to the invention, said device comprises at least one measurement indicator element and at least one reference indicator element, said reference indicator element being inclined with respect to said measurement indicator element.
Dans une application particulière du dispositif de l'invention, l'élément indicateur est inclus dans un vêtement près du corps.In a particular application of the device of the invention, the indicator element is included in a garment close to the body.
Description des figures : La figure 1 (Fig.1) représente dans un plan de coupe, une articulation au repos.DESCRIPTION OF THE FIGURES FIG. 1 (FIG. 1) represents, in a sectional plane, an articulation at rest.
La figure 2 (Fig.2) représente dans un plan de coupe, une articulation soumise à une flexion.Figure 2 (Fig.2) shows in a sectional plane, a joint subjected to bending.
La figure 3 (Fig.3) représente dans un plan de coupe, une articulation soumise à une torsion.Figure 3 (Fig.3) shows in a sectional plane, a joint subjected to torsion.
La figure 4 (Fig.4) est une vue en perspective d'un corps muni d'un élément indicateur de mesure et d'un élément indicateur de référence.FIG. 4 (FIG. 4) is a perspective view of a body provided with a measurement indicator element and a reference indicator element.
Description de l'invention : L'invention est décrite (Fig.1) pour un corps simple ou articulation constitué par un axe indéformable fixe (1) et un axe indéformable mobile (2), liés en un point où existent, au maximum, trois degrés de liberté en rotation pour le corps ou liaison rotulienne (3), une extrémité de chaque axe restant libre (5)(6); les axes (1)(2) sont entourés d'un volume essentiellement de révolution rempli de matière (4) sujette à des élongations.DESCRIPTION OF THE INVENTION The invention is described (FIG. 1) for a single body or articulation constituted by a fixed non-deformable axis (1) and a movable non-deformable axis (2), connected to a point where there is at most three rotational degrees of freedom for the body or patellar connection (3), one end of each axis remaining free (5) (6); the axes (1) (2) are surrounded by a substantially revolution volume filled with material (4) subject to elongations.
Le périmètre de l'intersection (ABCDEFGH) du corps avec un plan passant par les axes (1)(2) peut être décomposé en deux arêtes (ABCD) (EFGH) essentiellement parallèles aux axes (1)(2) et en deux segments d'extrémité (DE) (HA) essentiellement perpendiculaires aux axes (1)(2), passant par les extrémités libres des axes (5)(6) et joignant les arêtes (ABCD) (EFGH).The perimeter of the intersection (ABCDEFGH) of the body with a plane passing through the axes (1) (2) can be decomposed into two edges (ABCD) (EFGH) essentially parallel to the axes (1) (2) and into two segments end (DE) (HA) substantially perpendicular to the axes (1) (2), passing through the free ends of the axes (5) (6) and joining the edges (ABCD) (EFGH).
Les mouvements à un degré de liberté en rotation pour un tel corps se résument à un mouvement de flexion plane (Fig.2) dans lequel l'axe mobile (2) peut subir une rotation dans un plan, dit de flexion, contenant l'axe fixe (1) ou à un mouvement de torsion (Fig.3) dans lequel l'axe mobile (2) peut subir une rotation autour de lui-même.The movements with a degree of freedom in rotation for such a body are summarized in a plane bending movement (FIG. 2) in which the movable axis (2) can be rotated in a plane, called bending plane, containing the fixed axis (1) or a torsion movement (Fig.3) in which the movable axis (2) can rotate around itself.
Les mouvements à deux degrés de liberté en rotation pour un tel corps se résument à la composition d'un mouvement de flexion plane dans un plan de flexion fixe et d'un mouvement de torsion.The movements with two degrees of freedom in rotation for such a body are summarized in the composition of a plane bending movement in a fixed bending plane and a torsion movement.
Les mouvements à trois degrés de liberté en rotation pour un tel corps se résument à Ia composition de deux mouvements de flexion plane dans des plans de flexion perpendiculaires entre eux et à un mouvement de torsion. Dans un mouvement de flexion plane (Fig.2), les arêtes (ABCD)The movements with three degrees of freedom in rotation for such a body boils down to the composition of two plane bending movements in bending planes perpendicular to each other and to a torsion movement. In plane bending motion (Fig.2), the ridges (ABCD)
(EFGH) subissent des allongements positif (BC) ou négatif (FG) dans le voisinage de la jonction (3). Les deux arêtes (ABCD) (EFGH) de longueurs égales pour un angle de flexion nul entre les axes (1)(2), se distinguent en flexion par un allongement positif pour l'une des arêtes dite extérieure (ABCD) et un allongement négatif ou rétrécissement pour l'autre arête dite intérieure(EFGH) undergo positive (BC) or negative (FG) elongations in the vicinity of the junction (3). The two edges (ABCD) (EFGH) of equal lengths for a zero bending angle between the axes (1) (2), are distinguished in bending by a positive elongation for one of the so-called outer edges (ABCD) and an elongation negative or narrowing for the other so-called inner edge
(EFGH).(E F G H).
Dans un mouvement de torsion (Fig.3), une arête quelconque (AD) s'enroule autour du corps en s'allongeant positivement.In a twisting motion (Fig. 3), any edge (AD) wraps around the body while lying positively.
Le type de corps simple choisi permet de donner à l'invention toute sa portée grâce à la considération suivante : il est possible, d'associer en séquence deux articulations en joignant l'extrémité libre de l'axe mobile de la première articulation et l'extrémité libre de l'axe fixe de la deuxième articulation et en solidarisant les directions de ces axes. Les mouvements de l'association des deux articulations résultent alors de la composition des mouvements des deux articulations.The type of simple body chosen makes it possible to give the invention its full range thanks to the following consideration: it is possible to associate in sequence two joints by joining the free end of the movable axis of the first articulation and the free end of the fixed axis of the second joint and by securing the directions of these axes. The movements of the association of the two joints then results from the composition of the movements of the two articulations.
Il est aussi possible d'ajouter au bout d'une articulation plusieurs articulations supplémentaires en donnant à l'extrémité libre de l'axe mobile de l'articulation la forme d'un tronc à plusieurs branches pouvant accueillir sur chacune de ses branches l'extrémité libre de l'axe fixe d'une articulation supplémentaire. Il est ainsi possible de définir de proche en proche un corps complexe apte à reproduire les mouvements du corps humain ou animal avec précision. Pour cela, on choisira au moins autant d'articulations que dans le corps à approcher.It is also possible to add at the end of a joint several additional joints by giving the free end of the movable axis of the articulation in the form of a trunk with several branches that can accommodate on each of its branches. free end of the fixed axis of an additional joint. It is thus possible to define, step by step, a complex body able to reproduce the movements of the human or animal body with precision. For this, we will choose at least as many joints as in the body to approach.
Il est aussi possible d'approcher les mouvements d'un corps sans squelette et à déformations continues, comme un mât de navire, en représentant le corps par plusieurs segments constitués chacun d'une articulation. Le nombre de degrés de liberté en rotation de chaque articulation étant égal au nombre de degrés de liberté en rotation de chaque segment, dans la représentation du corps choisie pour approcher ses déformations continues ou encore utiliser la fibre neutre du corps pour définir des arêtes.It is also possible to approach the movements of a body without skeleton and continuous deformations, like a ship's mast, representing the body by several segments each consisting of a joint. The number of rotational degrees of freedom of each articulation being equal to the number of degrees of freedom in rotation of each segment, in the representation of the body chosen to approach its continuous deformations or to use the neutral fiber of the body to define edges.
Finalement, l'application de l'invention à une articulation du type décrit a pour vocation de faciliter l'exposé de l'invention, sans restreindre la généralité de l'invention dans son application à un corps complexe comme le corps humain ou animal et plus généralement à tout corps, en tant que volume matériel.Finally, the application of the invention to a joint of the type described is intended to facilitate the disclosure of the invention, without restricting the generality of the invention in its application to a complex body such as the human or animal body and more generally to any body, as a material volume.
En référence aux figures, l'invention est un dispositif indicateur de mouvements de flexions et/ou de torsion d'un corps caractérisé en ce qu'il comprend au moins un élément indicateur d'un allongement dudit corps. En effet, l'arête extérieure de l'articulation (ABCD) s'allonge en flexion dans le voisinage de la jonction (BC). Cet effet est visualisé sur une articulation humaine comme le coude ou le genou : en pinçant la peau sur l'extérieur de l'articulation à flexion nulle, on constate que la peau s'échappe en fléchissant l'articulation, pour satisfaire à l'allongement mentionné de l'arête extérieure de l'articulation.With reference to the figures, the invention is a device for indicating movements of flexion and / or torsion of a body, characterized in that it comprises at least one element indicating an elongation of said body. Indeed, the outer edge of the joint (ABCD) extends flexibly in the vicinity of the junction (BC). This effect is visualized on a human joint such as the elbow or the knee: by pinching the skin on the outside of the joint with zero flexion, we see that the skin escapes by flexing the joint, to satisfy the mentioned lengthening of the outer edge of the joint.
Avantageusement, les éléments indicateurs sont sensiblement rectilignes, à l'exclusion d'élément en spirale. Les mesures de flexion et de torsion sont dans ce cas effectuées uniquement avec des éléments rectilignes, ce qui simplifie considérablement la réalisation du dispositif de l'invention.Advantageously, the indicator elements are substantially rectilinear, excluding the spiral element. The flexion and torsion are in this case performed only with rectilinear elements, which greatly simplifies the realization of the device of the invention.
Par ailleurs, les éléments indicateurs sont directement appliqués sur le corps, contrairement aux dispositifs connus qui utilisent des éléments indicateurs disposés sur des substrats ou des supports intermédiaires eux- mêmes appliqués sur le corps. Ces supports, de dimension limitée pour des aspects pratiques comme le poids, réduisent la sensibilité de la mesure.Moreover, the indicator elements are directly applied to the body, unlike known devices that use indicator elements disposed on substrates or intermediate supports themselves applied to the body. These supports, of limited size for practical aspects such as weight, reduce the sensitivity of the measurement.
Le choix de l'élément indicateur comme étant l'allongement de l'arête extérieure (ABCD) de l'articulation, constitue donc bien un indicateur du mouvement de flexion.The choice of the indicator element as the elongation of the outer edge (ABCD) of the joint is therefore an indicator of the bending movement.
Le choix de l'élément indicateur comme étant la longueur l'arête extérieure (ABCD) de l'articulation, constitue aussi un indicateur du mouvement de torsion car l'arête s'enroule autour de l'articulation en s'allongeant (AD), lors d'un mouvement de torsion.The choice of the indicator element as being the length of the outer edge (ABCD) of the joint, is also an indicator of the torsion movement as the edge wraps around the joint while lengthening (AD) during a twisting motion.
Une caractéristique importante des allongements d'arêtes est qu'ils croissent avec la distance de l'arête au squelette ou à la fibre neutre. La mesure de tels allongements simplifie donc l'utilisation des dispositifs de mesure en permettant de les délocaliser à la surface du corps, de préférence le plus loin possible du squelette ou de la fibre neutre. Ceci constitue une différence notable avec l'art antérieur mentionné qui, soit ne donne aucune indication de localisation, soit enseigne de localiser le système de mesure au plus près du squelette dans les cas exceptionnels où cela est possible comme dans le cas d'une colonne vertébrale de corps humain, alors même que la sensibilité y est la plus faible. Ce défaut est révélé, notamment en torsion, par la nécessité d'utiliser des fils spirales qui compliquent notablement la mesure.An important feature of edge elongations is that they grow with the distance from the edge to the skeleton or the neutral fiber. The measurement of such elongations thus simplifies the use of the measuring devices by allowing them to be delocalised on the surface of the body, preferably as far as possible from the skeleton or the neutral fiber. This is a significant difference with the aforementioned prior art which either gives no indication of location, or teaches to locate the measuring system as close to the skeleton in exceptional cases where this is possible as in the case of a column. vertebral body, even though the sensitivity is the weakest. This defect is revealed, especially in torsion, by the need to use spiral son that complicate the measurement significantly.
Par contraste, l'invention enseigne la délocalisation des fils de mesure, au plus loin du squelette ou de la fibre neutre pour augmenter la sensibilité de mesure sans enrouler le fil en spirale autour du corps.In contrast, the invention teaches the delocalization of the measurement leads, further from the skeleton or the neutral fiber to increase the measurement sensitivity without winding the spiral wire around the body.
Dans l'art antérieur, il est ainsi inenvisageable de révéler un mouvement de flexions et/ou de torsion avec un seul fil. Avec l'invention, pour un mouvement de torsion, il est possible d'incliner une arête choisie, d'un angle constant, sur la surface de l'articulation, avec les arêtes définies par rotation du plan de flexion autour de l'axe mobile (2). Dans ce cas, la longueur de l'arête inclinée diminue pour un sens de torsion dit négatif et augmente pour l'autre sens dit positif ; par rapport à une arête de référence, l'allongement de l'arête inclinée change donc corrélativement de signe en fonction du sens de torsion. Il est donc possible de distinguer une torsion positive d'une torsion négative, sans ambiguïté par l'indication d'un allongement positif ou négatif. Toutefois, il existe aussi, un minimum pour les allongements négatifs: il correspond à une torsion négative, dite limite, qui ramène l'arête inclinée dans le plan de flexion. Pour des valeurs de torsion plus négatives, l'allongement augmente. Les valeurs de torsion en-deça de la torsion limite ne peuvent être distinguées des valeurs au-delà de celle-ci. Comme le montre la figure 4, le dispositif conforme à l'invention comprend un élément indicateur de mesure (IJ) et au moins un élément indicateur de référence (IK), ledit élément indicateur de référence(IK) étant incliné par rapport audit élément indicateur de mesure (IJ).In the prior art, it is thus inconceivable to reveal a movement of bending and / or twisting with a single wire. With the invention, for a torsion movement, it is possible to incline a selected edge of a constant angle on the surface of the joint, with the edges defined by rotation of the plane of bending about the axis mobile (2). In this case, the length of the inclined edge decreases for a direction of torsion said negative and increases for the other direction said positive; relative to a reference edge, the elongation of the inclined edge therefore changes correlatively sign according to the direction of torsion. It is therefore possible to distinguish a positive twist from a negative twist, unambiguously by the indication of a positive or negative elongation. However, there is also a minimum for negative elongations: it corresponds to a negative torsion, called limit, which brings back the inclined edge in the plane of bending. For more negative torsion values, elongation increases. Torsional values below the limit torsion can not be distinguished from values beyond this limit. As shown in FIG. 4, the device according to the invention comprises a measurement indicator element (IJ) and at least one reference indicator element (IK), said reference indicator element (IK) being inclined with respect to said indicator element of measurement (IJ).
L'allongement d'une arête inclinée permet donc d'indiquer la valeur absolue et le signe d'une torsion sans ambiguïté entre une torsion négative limite et la torsion positive maximale admissible sans rupture de la matière du corps. Cependant, la sensibilité de l'allongement au mouvement n'est pas liée principalement à l'angle d'inclinaison mais à la distance au squelette ou à la fibre neutre, ce qui distingue l'invention de l'art antérieur. Le choix selon l'invention d'au moins un indicateur d'allongement à la surface de l'articulation permet donc bien de réaliser un dispositif indicateur de mouvements du corps. L'indicateur d'allongement peut aussi être choisi dans le volume intérieur du corps avec une réduction de l'intensité de l'effet. Par exemple, sur une fibre neutre ou un squelette, l'allongement est nul. Les allongements à la surface étant, ordinairement, les plus notables, le choix d'un indicateur d'allongement en surface apparaît généralement le meilleur. L'allongement d'une arête tendant à disparaître lorsque la distance de cette arête au squelette ou à la fibre neutre tend vers zéro, on évitera donc un tel choix d'arête, pourtant recommandé par l'art antérieur. On sélectionnera pour l'invention une arête dont la distance au squelette est importante, voire maximale. En fonction de la forme particulière du corps les allongements particuliers d'arêtes pour un petit nombre d'entre elles pourront être à calculer. L'allongement d'un indicateur diminue aussi en intensité à angle de flexion constant entre l'axe fixe (1) et l'axe mobile (2) quand sa projection orthogonale dans le plan de flexion se rapproche d'une fibre neutre ou du squelette du corps. En particulier, si l'indicateur se projette exactement sur la fibre neutre ou le squelette, l'allongement est nul en flexion. L'indicateur considéré peut alors servir d'indicateur insensible à la flexion dans ce plan et donc d'indicateur sensible uniquement à la torsion. L'inclinaison d'une arête par rapport à un plan de flexion fixe limite aussi l'allongement de cette arête pour une flexion dans ce plan, en éloignant sa projection orthogonale sur ce plan de flexion, de la fibre neutre ou du squelette. Il est donc possible de différencier des mouvements de torsion et de flexions par sélection de la position de l'indicateur ou de combiner, par exemple linéairement, plusieurs indicateurs d'allongements, aux mêmes fins.The elongation of an inclined edge thus makes it possible to indicate the absolute value and the sign of an unambiguous twist between a limit negative twist and the maximum allowable positive torsion without breaking the body material. However, the sensitivity of the elongation to the movement is not related primarily to the angle of inclination but to the distance to the skeleton or the neutral fiber, which distinguishes the invention from the prior art. The choice according to the invention of at least one elongation indicator on the surface of the joint therefore makes it possible to produce a device indicating the movements of the body. The elongation indicator may also be selected from within the body's interior volume with a reduction in the intensity of the effect. For example, on a neutral fiber or a skeleton, the elongation is zero. Since elongations at the surface are usually the most notable, the choice of an indicator of surface elongation generally appears the best. The elongation of an edge tends to disappear when the distance from this edge to the skeleton or the neutral fiber tends to zero, so we will avoid such a choice of edge, yet recommended by the prior art. An edge will be selected for the invention whose distance to the skeleton is important, or even maximum. Depending on the particular shape of the body, particular edge lengths for a small number of edges may need to be calculated. The elongation of an indicator also decreases in intensity at a constant bending angle between the fixed axis (1) and the movable axis (2) when its orthogonal projection in the bending plane approaches a neutral fiber or the skeleton of the body. In particular, if the indicator projects exactly on the neutral fiber or the skeleton, the elongation is zero in flexion. The indicator considered can then be used as an insensitive indicator for bending in this plane and therefore as an indicator sensitive only to torsion. The inclination of an edge relative to a fixed bending plane also limits the elongation of this edge for bending in this plane, by moving away its orthogonal projection on this bending plane, the neutral fiber or the skeleton. It is therefore possible to differentiate between twisting and flexing movements by selecting the position of the indicator or combining, for example linearly, several elongation indicators for the same purposes.
L'indication de mouvements d'un corps est donc possible grâce à l'utilisation d'au moins un indicateur d'un allongement dudit corps. Lorsque l'indicateur selon l'invention est unique, il permet d'indiquer des mouvements correspondant à un seul degré de liberté en rotation: une flexion dans un plan fixe ou une torsion.The indication of movements of a body is therefore possible through the use of at least one indicator of an elongation of said body. When the indicator according to the invention is unique, it allows to indicate movements corresponding to a single degree of freedom in rotation: a bending in a fixed plane or a torsion.
Ce cas peut aussi trouver application, par exemple, pour une alarme de torsion ou de flexion sur une articulation devant rester immobile. Dans ce cas l'indicateur d'allongement est essentiellement un indicateur de la composition, c'est-à-dire de la réalisation en séquence, d'une torsion et de deux flexions dans des plans perpendiculaires, sans discernement des parts respectives dans le mouvement de la torsion et des flexions, c'est-à-dire sans décomposition selon les éléments de la composition. Un degré de liberté sera, au sens de l'invention, soit un degré de liberté en rotation soit une composition de plusieurs degrés de liberté en rotation. II est ainsi possible de dire qu'un indicateur d'allongement unique permet de d'indiquer des mouvements du corps correspondant à un seul degré de liberté du corps.This case can also find application, for example, for a torsion or bending alarm on a joint to remain stationary. In this case, the elongation indicator is essentially an indicator of the composition, that is to say of the sequential realization, of a twisting and two bending in perpendicular planes, without discernment of the respective parts in the movement of the torsion and bending, that is to say without decomposition according to the elements of the composition. A degree of freedom will be, within the meaning of the invention, a degree of freedom in rotation or a composition of several degrees of freedom in rotation. It is thus possible to say that a single elongation indicator makes it possible to indicate movements of the body corresponding to a single degree of freedom of the body.
Pour un mouvement à deux degrés de liberté en rotation, correspondant pour un corps humain à un coude ou un genou, deux indicateurs distincts peuvent être utilisés pour rendre compte des mouvements de torsion et de flexion dans un plan, indépendamment. Dans ce cas, il est possible de choisir avantageusement comme indicateur de flexion la différence des allongements des arêtes de l'articulation. Cet indicateur étant essentiellement insensible à la torsion. Il est aussi possible de choisir avantageusement comme indicateur de torsion la somme des allongements des arêtes de l'articulation. Cet indicateur étant essentiellement insensible à la flexion.For a two-degree rotational freedom movement, corresponding for a human body to an elbow or knee, two separate indicators may be used to account for torsion and flexion motions in a plane, independently. In this case, it is possible to advantageously choose as flexion indicator the difference in the elongations of the edges of the joint. This indicator is essentially insensitive to torsion. It is also possible to advantageously choose as a torsion indicator the sum of the elongations of the edges of the joint. This indicator is essentially insensitive to flexion.
L'indication de la torsion et de la composition de deux flexions est aussi envisageable avec deux indicateurs. Ce cas peut trouver application pour distinguer un mouvement de torsion et un mouvement de flexion dans un plan quelconque, obtenu par composition de deux flexions dans des plans perpendiculaires, par exemple pour une alarme de torsion seule ou de flexion seule. L'indication d'une composition de la torsion avec une première flexion et d'une autre composition de la torsion avec une seconde flexion dans un plan perpendiculaire à la première flexion est aussi envisageable.The indication of the torsion and the composition of two flexions can also be envisaged with two indicators. This case can be applied to distinguish a torsion movement and a bending motion in any plane, obtained by composing two bends in perpendicular planes, for example for a torsion alone or bending only alarm. The indication of a composition of the torsion with a first bending and another composition of the torsion with a second bending in a plane perpendicular to the first bending is also conceivable.
Il est ainsi possible de dire que deux indicateurs d'allongement distincts permettent d'indiquer des mouvements d'un corps correspondant à deux degrés de liberté du corps. Pour un mouvement à trois degrés de liberté en rotation, correspondant pour un corps humain à une épaule, un poignet, une cheville ou le haut de la cuisse, trois indicateurs distincts peuvent être utilisés pour rendre compte des mouvements de torsion et de flexion dans deux plans de flexion perpendiculaires. On peut choisir comme indicateurs les allongements de trois arêtes parmi les quatre définies dans ces deux plans. On peut choisir de remplacer les allongements des deux arêtes choisies dans le même plan par leur différence et leur somme pour découpler les indications de torsion et flexion dans le plan de flexion desdites deux arêtes. Finalement, trois indicateurs d'allongement distincts permettent d'indiquer des mouvements d'un corps correspondant à trois degrés de liberté du corps.It is thus possible to say that two distinct elongation indicators make it possible to indicate movements of a body corresponding to two degrees of freedom of the body. For a three-degree rotational freedom movement, corresponding for a human body to a shoulder, wrist, ankle or upper thigh, three separate indicators can be used to account for twisting and flexing movements in two perpendicular bending planes. The elongations of three of the four edges defined in these two planes can be chosen as indicators. We can choose to replace the elongations of the two edges chosen in the same plane by their difference and sum to decouple the indications of torsion and bending in the plane of bending of said two edges. Finally, three distinct elongation indicators make it possible to indicate movements of a body corresponding to three degrees of freedom of the body.
Pour un mouvement à trois degrés de liberté, il est aussi possible d'utiliser comme indicateurs, l'allongement de deux arêtes dans un premier plan de flexion et l'allongement de deux arêtes dans un second plan de flexion perpendiculaire au premier, de sélectionner comme indicateur de torsion essentiellement insensible aux flexions, la somme des allongements des quatre arêtes sélectionnées et de choisir pour les deux autres indicateurs : la différence des arêtes dans le premier plan, essentiellement sensible à la flexion dans le premier plan et la différence des arêtes dans le second plan, essentiellement sensible à la flexion dans le second plan.For a movement with three degrees of freedom, it is also possible to use as indicators, the elongation of two edges in a first bending plane and the elongation of two edges in a second bending plane perpendicular to the first, to select as torsion indicator essentially insensitive to bending, the sum of the elongations of the four selected edges and to choose for the two other indicators: the difference of the edges in the first plane, essentially sensitive to the bending in the foreground and the difference of the edges in the second plane, essentially sensitive to bending in the background.
Des éléments indicateurs distincts en nombre au moins égal au nombre de degrés de liberté pour l'ensemble des articulations d'un corps complexe comme le corps humain ou animal peuvent être choisis pour obtenir un dispositif indicateur des mouvements dudit corps. A cette fin, le corps complexe est divisé en articulations à un, deux, ou trois degrés de liberté et les indicateurs d'allongements choisis pour chaque articulation, en nombre au moins égal au nombre de degrés de liberté pour chaque articulation, sont rassemblés dans une liste permettant de rendre compte de mouvements du corps. Le nombre d'éléments indicateurs distincts, pour un corps articulé, est choisi au moins égal au nombre total de degrés de liberté de l'ensemble de ses articulations, c'est-à-dire aussi du corps.Indicator elements distinct in number at least equal to the number of degrees of freedom for all the joints of a complex body such as the human or animal body may be chosen to obtain a device indicating movements of said body. For this purpose, the complex body is divided into articulations with one, two, or three degrees of freedom and the indicators of elongations chosen for each articulation, in number at least equal to the number of degrees of freedom for each articulation, are gathered in a list to account for body movements. The number of distinct indicator elements, for an articulated body, is chosen at least equal to the total number of degrees of freedom of all its joints, that is to say, also of the body.
Pour les mouvements d'un corps complexe capable de déformations continues, comme un mât de navire, le nombre d'indicateurs d'allongements distincts peut être choisi au moins égal au nombre des degrés de liberté de segments divisant le corps et rendant compte de ses déformations continues à un degré d'approximation souhaité. On se ramène ainsi à un corps articulé.For the movements of a complex body capable of continuous deformations, such as a ship's mast, the number of distinct elongation indicators can be chosen at least equal to the number of degrees of freedom of segments dividing the body and reporting its continuous deformations to a desired degree of approximation. We thus reduce ourselves to an articulated body.
Finalement, pour un corps complexe, le nombre d'éléments indicateurs distincts, est choisi au moins égal au nombre des degrés de liberté du corps. Plus particulièrement :Finally, for a complex body, the number of distinct indicator elements is chosen at least equal to the number of degrees of freedom of the body. More particularly:
L'élément indicateur d'allongement peut être apte à indiquer la variation de position d'une extrémité d'un fil inextensible, représentative d'un allongement du corps. Par exemple, si l'arête extérieure (ABCD) d'une articulation est matérialisée sous la forme d'un tube solidaire de la surface de l'articulation et contenant un fil inextensible fixé à une extrémité de l'arête (A), alors en flexion, la position de l'autre extrémité libre du fil sur l'arête varie avec l'allongement de l'arête (ABCD).The elongation indicating element may be able to indicate the variation of position of an end of an inextensible thread, representative of a lengthening of the body. For example, if the outer edge (ABCD) of a joint is materialized in the form of a tube integral with the surface of the joint and containing an inextensible wire attached to one end of the edge (A), then in bending, the position of the other free end of the wire on the edge varies with the elongation of the edge (ABCD).
La variation de position de l'extrémité du fil inextensible peut correspondre par enroulement sur l'axe d'un potentiomètre à tours multiples, à une variation de résistance. Il existe de tels potentiomètres dits « multi-tours » et munis d'un axe, par exemple sous la référence C274 200 OHMS fabriqués par BOURNS. Une telle variation de résistance, est aisément mesurable électriquement par un montage de type Pont de Wheatstone. Idéalement, un tel potentiomètre est à retour automatique pour garder le fil inextensible sous tension.The variation of position of the end of the inextensible wire can correspond by winding on the axis of a multi-turn potentiometer, to a variation of resistance. There are such potentiometers called "multi-turns" and provided with an axis, for example under the reference C274 200 OHMS manufactured by BOURNS. Such a variation of resistance is easily measurable electrically by a Wheatstone bridge type circuit. Ideally, such a potentiometer is automatic return to keep the inextensible wire powered.
La variation de position de l'extrémité du fil inextensible peut correspondre par liaison de cette extrémité à un peson à ressort, à une indication de l'allongement du peson. Un exemple d'un tel peson existe chezThe variation of position of the end of the inextensible wire may correspond by connecting this end to a spring scale, to an indication of the lengthening of the scale. An example of such a peson exists in
PESOLA AG sous la référence 330/4. Idéalement, le peson fournit des signaux électriques de son allongement.PESOLA AG under the reference 330/4. Ideally, the load cell provides electrical signals of its lengthening.
Le dispositif selon l'invention peut être appliqué à la connaissance relative, précise et instantanée de mouvements : de parties du corps entre elles, avec ou sans incitation à la correction instantanée ou réflexe, desdits mouvements, dans les sports, la rééducation ou la robotique ; de déformation continue du corps, notamment de type mâture, voilure ou filets.The device according to the invention can be applied to the relative, precise and instantaneous knowledge of movements: of parts of the body between them, with or without incitation to the instantaneous or reflex correction, of said movements, in sports, rehabilitation or robotics ; continuous deformation of the body, especially of the mast, wing or nets type.
À ces fins, l'élément indicateur est idéalement inclus dans un habillage près du corps, notamment un vêtement. En effet, un vêtement près du corps, dans lequel l'élément indicateur est inclus, permet d'obtenir une indication précise et instantanée desdits mouvements à l'aide d'allongements indiqués au plus près de la surface du corps, donc représentatifs au mieux des mouvements du corps.For these purposes, the indicator element is ideally included in a close-fitting clothing, including a garment. Indeed, a garment close to the body, in which the indicator element is included, provides a precise and instantaneous indication of said movements using elongations indicated closer to the surface of the body, so representative at best body movements.
Dans Ie domaine du sport, l'invention peut être utilisée pour comparer les mouvements d'un sportif à un modèle, aux fins de l'informer de modifications à apporter à ses mouvements. Il est notamment possible d'associer l'invention à des recommandations vocales pour permettre des modifications conscientes ou à une secousse renvoyée par des éléments indicateurs existants ou supplémentaires, pour permettre des modifications réflexes, desdits mouvements.In the field of sport, the invention can be used to compare the movements of an athlete to a model, for the purpose of informing him of changes to be made to his movements. It is in particular possible to associate the invention with voice recommendations to allow conscious modifications or a jerk returned by existing or additional indicator elements, to allow reflex changes, of said movements.
L'invention est susceptible d'application industrielle dans le domaine du sport.The invention is susceptible of industrial application in the field of sport.
Il est à noter que l'invention qui utilise des allongements d'arête se distingue de façon remarquable de l'art antérieur, cité au début de la demande, dans le cas d'une mesure de flexions et/ou de torsion d'une colonne vertébrale humaine. En effet, les dispositifs de l'art antérieur situent les éléments de mesure à une distance minimale de la colonne vertébrale, ce qui aboutit à positionner l'élément de mesure dans le dos du patient sur sa colonne. Or, l'enseignement de l'invention, préconisant de choisir un allongement d'arête, permet à un homme du métier d'envisager un élément de mesure positionné sur le ventre du patient avec une grande sensibilité et d'éliminer une arête située dans le dos, sur la colonne, de faible sensibilité, l'arête choisie étant très proche du squelette donc moins sensible en flexions et/ou en torsion It should be noted that the invention which uses edge elongations is distinguished in a remarkable manner from the prior art mentioned at the beginning of the application, in the case of a measurement of bending and / or twisting of a human spine. Indeed, the devices of the prior art locate the measuring elements at a minimum distance from the spine, which results in positioning the measuring element in the back of the patient on his column. However, the teaching of the invention, recommending to choose an edge elongation, allows a skilled person to consider a measuring element positioned on the patient's belly with great sensitivity and to eliminate an edge located in the back, on the column, of low sensitivity, the selected edge being very close to the skeleton and therefore less sensitive in flexion and / or torsion

Claims

REVENDICATIONS
1) Dispositif indicateur de mouvements d'un corps, caractérisé en ce qu'il comprend au moins un élément indicateur d'un allongement d'arête dudit corps.1) Apparatus for indicating movements of a body, characterized in that it comprises at least one element indicating an edge elongation of said body.
2) Dispositif selon la revendication 1, caractérisé en ce qu'il comprend un unique élément indicateur pour l'indication d'un degré de liberté dudit corps.2) Device according to claim 1, characterized in that it comprises a single indicator element for indicating a degree of freedom of said body.
3) Dispositif selon la revendication 1, caractérisé en ce qu'il comprend deux éléments indicateurs distincts pour l'indication de deux degrés de liberté dudit corps. 4) Dispositif selon la revendication 1 , caractérisé en ce qu'il comprend trois éléments indicateurs distincts pour l'indication de trois degrés de liberté dudit corps.3) Device according to claim 1, characterized in that it comprises two separate indicating elements for the indication of two degrees of freedom of said body. 4) Device according to claim 1, characterized in that it comprises three distinct indicating elements for the indication of three degrees of freedom of said body.
5) Dispositif selon la revendication 1 à 4, caractérisé en ce qu'il comprend un nombre d'éléments indicateurs distincts, au moins égal au nombre des degrés de liberté dudit corps.5) Device according to claim 1 to 4, characterized in that it comprises a number of distinct indicating elements, at least equal to the number of degrees of freedom of said body.
6) Dispositif selon l'une quelconque des revendications 1 à 5, caractérisé en ce que l'élément indicateur est apte à indiquer la variation de position d'une extrémité d'un fil inextensible, représentative d'un allongement dudit corps. 7) Dispositif selon la revendication 6, caractérisé en ce que ladite variation de position est indiquée par la variation de résistance d'un potentiomètre à tours multiples, muni d'un axe autour duquel est enroulée ladite extrémité du fil inextensible.6) Device according to any one of claims 1 to 5, characterized in that the indicating element is able to indicate the position variation of an end of an inextensible wire, representative of an elongation of said body. 7) Device according to claim 6, characterized in that said position variation is indicated by the variation of resistance of a multi-turn potentiometer provided with an axis about which is wound said end of the inextensible wire.
8) Dispositif selon la revendication 6, caractérisé en ce que ladite variation de position est indiquée par la variation de longueur d'un peson à ressort, lié à ladite extrémité du fil inextensible. 9) Dispositif selon l'une quelconque des revendications 1 à 8, caractérisé en ce que ledit élément indicateur est sensiblement rectiligne.8) Device according to claim 6, characterized in that said position variation is indicated by the variation in length of a spring load, connected to said end of the inextensible wire. 9) Device according to any one of claims 1 to 8, characterized in that said indicator element is substantially rectilinear.
10) Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce que ledit élément indicateur est directement appliqué sur ledit corps.10) Device according to any one of claims 1 to 9, characterized in that said indicator element is directly applied to said body.
11) Dispositif selon l'une quelconque des revendications 1 à 10, caractérisé en ce que ledit dispositif comprend au moins un élément indicateur de mesure et au moins un élément indicateur de référence, ledit élément indicateur de référence étant incliné par rapport audit élément indicateur de mesure.11) Device according to any one of claims 1 to 10, characterized in that said device comprises at least one measuring indicator element and at least one reference indicator element, said reference indicator element being inclined with respect to said indicator element of measured.
12) Application du dispositif selon l'une quelconque des revendications 1 à 8, à la connaissance relative, précise et instantanée de mouvements: de parties dudit corps entre elles, dans les sports, la rééducation ou la robotique, de déformation continue dudit corps dans les mâtures, voilures ou filets, caractérisée en ce que l'élément indicateur est inclus dans un habillage près dudit corps. 12) Application of the device according to any one of claims 1 to 8, to the relative knowledge, precise and instantaneous movements: parts of said body together, in sports, rehabilitation or robotics, of continuous deformation of said body in the masts, sails or nets, characterized in that the indicator element is included in a dressing near said body.
PCT/FR2005/003042 2004-12-06 2005-12-06 Device for indicating movements in a body WO2006061501A1 (en)

Priority Applications (1)

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EP05824629A EP1865841A1 (en) 2004-12-06 2005-12-06 Device for indicating movements in a body

Applications Claiming Priority (2)

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FR0412943A FR2878961B1 (en) 2004-12-06 2004-12-06 DEVICE INDICATING MOVEMENTS OF A BODY
FR0412943 2004-12-06

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Citations (6)

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US3991745A (en) 1973-08-29 1976-11-16 Wilmark Electronic Co., Inc. Curvature measurement device
US4897927A (en) * 1984-09-01 1990-02-06 University Of Strathclyde Electrical angular displacement sensor
US5086785A (en) 1989-08-10 1992-02-11 Abrams/Gentille Entertainment Inc. Angular displacement sensors
US5143088A (en) 1989-04-12 1992-09-01 William S. Marras Apparatus for monitoring the motion components of the spine
US6428490B1 (en) 1997-04-21 2002-08-06 Virtual Technologies, Inc. Goniometer-based body-tracking device and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1544029A (en) * 1966-08-05 1968-10-31 Courtaulds Ltd Stress measurement comparison device
US3991745A (en) 1973-08-29 1976-11-16 Wilmark Electronic Co., Inc. Curvature measurement device
US4897927A (en) * 1984-09-01 1990-02-06 University Of Strathclyde Electrical angular displacement sensor
US5143088A (en) 1989-04-12 1992-09-01 William S. Marras Apparatus for monitoring the motion components of the spine
US5086785A (en) 1989-08-10 1992-02-11 Abrams/Gentille Entertainment Inc. Angular displacement sensors
US6428490B1 (en) 1997-04-21 2002-08-06 Virtual Technologies, Inc. Goniometer-based body-tracking device and method

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EP1865841A1 (en) 2007-12-19
FR2878961A1 (en) 2006-06-09
FR2878961B1 (en) 2008-03-07

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