CN1969741A - Posture stability evaluating and training device having dynamic interference and physiological feedback - Google Patents
Posture stability evaluating and training device having dynamic interference and physiological feedback Download PDFInfo
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- CN1969741A CN1969741A CNA200510123759XA CN200510123759A CN1969741A CN 1969741 A CN1969741 A CN 1969741A CN A200510123759X A CNA200510123759X A CN A200510123759XA CN 200510123759 A CN200510123759 A CN 200510123759A CN 1969741 A CN1969741 A CN 1969741A
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Abstract
The invention discloses a gesture stability gauging and exercising device with dynamic interference and physiological feedback, which comprises the following parts: servo motor control mode controlled by computer, mechanism ode with connecting rod device, load gauging mode to gauge real-time gravity and plantar pressure distribution, programmed interface, motor controller box, position sensor, computer and other balance table hard rack, wherein the mechanism mode of balance table is composed of several groups of connecting rod, mobile boards, ball and socket shaped support bearings, air cushions and other racks; the load sensor is set on four ends of mobile boards, which meters real-time gravity coordinate; the position sensor is set in the ball and socket seat, which monitors the coordinate of real-time mobile board; the pressure aerating mode is set under the mobile board, which controls the stability of mobile board at starting time; when the detector stands on the center of mobile board, the gas cushion leaks not to influence the movement of board.
Description
Technical field
The present invention relates to a kind of posture stability evaluating amount and training devices, the posture stability evaluating amount and the training devices of particularly a kind of tool dynamic disturbance and physiology, biological feedback.
Background technology
Human balance control development starts from infancy stage, can find on one's body the baby, when posture is interfered, limbs just have reflexive reaction, only slowly sluggishness makes that muscle-triggered is delayed to the balanced capacity reflex mechanism that makes balance along with human senescence or organ injury, sensory capacity variation, susceptiveness reduce, and cause balanced capacity to reduce according to the different factors such as difference that produce of sex; For example cerebral palsy and paralytic are because brain cell comes to harm or the obstacle that pathological changes causes neural skeletal muscle motion function takes place, and therefore the anergy of fortune merit is controlled and felt in action, and neuronal damage causes the mistake of muscular strength to be opened or the unable balanced capacity that causes reduces.Therefore, dynamic and static equilibrium obstacle person because of nerve or skeletal musculature, can improve or improve its balanced capacity by the training of dynamic equilibrium interference and nervus motorius control, and this device can be assessed simultaneously it and bears external and disturb balanced capacity from soma, is for exciting this case inventor's invention motivation place.
Assessment and training major part about the ability of restoring balance also is to use clinical scale appraisal procedure at present, though these methods are easy to use, but user need pass through special training, and must possess the experience of certain degree, just can guarantee the credibility of assessment result.General hospital or rehabilitation center have certain operations simply, conveniently to record the balance assessment machine of data, but because be external import all, so cost an arm and a leg, and maintenance is difficult for adding that the machine of these external imports has been product many years ago, and some function can not satisfy some clinical research person's demand.Domestic research and development and the improvement that also has the scholar to be devoted to these class facility in recent years, hope can be made the practical assessment of low price again and the machine of training.Dynamic equilibrium assessment and the training system researched and developed all have identical feature.They all have a movable platform, and platform is that they can measure barycenter trajectory (CEntEr of PrEssurE, variation COP) by certain power source drive.
Here introduce the machine of three this type:
One, ChattEcx BaLancE SystEm makes or the research and development unit: ChattEcx BaLancESystEm; Chattanooga Group, Inc., TN, the USA feature:
1. the force transducer of measure CO P is movable, so can allow testee adjust to oneself to want or is fit to oneself stance.
2. the height of test platform low (about 20cm) makes that testee is convenient goes up lower platform, and can not allow testee have to fear high psychological application.
3. platform can be stablized rotation at a slow speed and move.
Shortcoming:
1. platform only provides the swing of fore-and-aft direction and moves.
2. the angle of platform swing and mobile amplitude are fixed.
3. have only the mode speed governing of a speed governing turn-knob with percentage ratio, more not accurate.
Two, the balancer of the instrument of Taiwan success university engineering in medicine institute research and development: Hong Yihong (1998) feature:
1. a head mounted display is arranged, increase the verity of testee at virtual scene.
2. use a monoblock force plate, can try to achieve COP more accurately.
3. platform can rotate (in ± 24 degree) at any angle.
Shortcoming:
1. platform has only the rotation of fore-and-aft direction.
2. there is not complete, safe suspention protection system.
Three, the balancer researched and developed of Taiwan Changgeng Univ. mechanical investigations: Li Mingyi, connect Yongchang (1997) feature:
1. platform can be done swing all around.
2. a crawler belt is still arranged on the platform, can do the assessment and the training of walking and inclination simultaneously.
3. pressure measxurement is to use the Wearable foot pressure sensor programmable COP of research and development voluntarily.
Shortcoming:
1. platform is too high, has been close to a people's height, can allow the people have and fear high psychology.
2. the Wearable plantar pressure sensor is too simple, can't present certain foot and press.
The instrument of having researched and developed according to above-mentioned scholar lacks, the present invention is for researching and developing a cover dynamic equilibrium assessment and a training system voluntarily, provide measurement parameter except COP such as bipod load-bearing than inquiring into the transfer of body wt, plantar pressure distribute and the Center of Pressure track to inquire into the cooperative ability and the equilibrium strategy of muscle and neural control.The present invention provide simultaneously the computer game shown in the display before the new ideas of [residence rehabilitation in amusement] allow user via board drive health from the body balance training.The present invention can allow the clinical assessment person can have more convenient, safe and assess instrument accurately.
Summary of the invention
The object of the present invention is to provide the posture stability evaluating amount and the training devices of a kind of tool dynamic disturbance and biofeedback.
Posture stability evaluating amount and training devices according to a kind of tool dynamic disturbance of the present invention and biofeedback, main device by the servo motor control module of computer procedures control, mechanism module that linkage constituted, measure load measurement module that real-time center of gravity and plantar pressure distribute, programmable interface, motor control chamber, computer, and other balancer hardware structure formed, the mechanism module of balancer is by array connecting rod, platform, ball and socket seat, and location aware device, up and down flat board, air cushion and other support constitute;
It is characterized in that: this treadmill below is provided with ball and socket seat, in pick off is set can detects the dull and stereotyped azimuthal coordinates of real-time activity, and be equipped with the centre of body weight that load sensor calculates moment at up and down dull and stereotyped interlayer four end points, be equipped with the pressure distribution of highdensity pressure transducer (plate) both feet when calculating body swing and the track that moves the Center of Pressure on the treadmill and on screen, show, the traverser below also is equipped with the air pressure module with control air cushion height and dull and stereotyped degree of stability, treat that testee stands in the treadmill center and stands firm the back when beginning to test, air cushion is exitted at once and is caused the motion that can not influence treadmill.Control motor and linkage via computer program and produce the multi-form external interference of rocking when testee stands on the activity balancing platform, be equipped with in tested the place ahead screen display with show via the measured real-time barycenter trajectory of load measurement module and highdensity pressure transducer measured with real-time sole pressure center, the pressure distribution calculated, Center of Pressure track; Via evaluate parameter and statistical analysis with the biological feedback control of physiology of exercise of assessment and training testee and the rehabilitation benefit of skeletal musculature.Balancer is provided with safety guard outward in addition and rocks and fall with the accident of protection testee.Another emphasis of the present invention is with the latch fitting removal between control link mechanism and treadmill.Move and keep dynamic equilibrium according to designed recreation on the screen or the motion picture of being shown in of computer software from the body balanced capacity by the testee mat.Reach simultaneously by the coordinative role of vision feedback, vestibular sensations, somesthetic sensibility and muscle nerve and train and promote the dynamic equilibrium ability.
The present invention has the following advantages:
1. tool limbs active of the present invention and passive dynamic equilibrium amount of commenting and training.Initiatively the amount of commenting and training are produced the front, rear, left and right swing or the comprehensive interference of different frequency and amplitude by the computer program-control balancer.Program control platform disturbance is the single degree of freedom, can guarantee that each platform disturbance is that unique pattern is to guarantee the accuracy of linkage control.The balance amount of commenting of passive type and the training then by testee according to designed picture or the game picture start limbs that are shown in the training signal on the screen of computer software.Tested standing on when treadmill moves according to program control or passive limbs initiatively produces when doing the front, rear, left and right swing, testee can know immediately that the load-bearing of centre of body weight position, plantar pressure changes, and does training and the assessment of real-time biofeedback to carry out nervous physiology and skeletal musculature.
2. assisted at present the effect that knee ligament wounded patient or apoplexy group take exercises, the physiology interference balancing is trained, assessment has rehabilitation.
Above-mentioned and additional features, advantage of the present invention can further be understood by the detailed description below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is the amount of commenting of the present invention and training devices's axonometric chart;
Fig. 1 a is the axonometric chart that the present invention contains the pressure transducer traverser;
Fig. 2 is a screen cursor action diagram of the present invention;
Fig. 3 is the amount of commenting of the present invention and training devices's front view;
Fig. 4 is treadmill of the present invention right side rocking action figure;
Fig. 5 is treadmill of the present invention left side rocking action figure;
Fig. 6 is the amount of commenting of the present invention and training devices's side-looking rocking action figure;
Fig. 7 is center of gravity motion track figure of the present invention;
Fig. 8 is the amount of commenting and the training devices's enforcement figure that the present invention contains safety supporting device.
Description of reference numerals: motor 1,1a; The amount of commenting and training devices 10; Screen 11; Vernier 12; Reductor 2,2a; Drive connecting rod 3,3a; Universal joint 4,4a, 5,5a; Passive connecting rod 41,4a1; Last treadmill 6; Following treadmill 6a; Plantar pressure sensor (plate) 61; Plantar pressure sensor (plate), message connecting line 62; Myoelectricity signal measuring electrode sheet 63; Myoelectricity signal processor 64; Load sensor 7; Ball and socket seat 8; Position sensor 82; Air cushion 81; Base for supporting 9; Stake body 91; Elastic plate body (as spring) 100; Seat belt 101; Fixedly circular hole 102; Seat belt adjustment ring 1021.
The specific embodiment
The present invention provides the posture stability evaluating amount and the training devices of a kind of tool dynamic disturbance and biofeedback, as Fig. 1, Fig. 1 a and Fig. 2 are to shown in Figure 6, be to stand on the health both feet to do translation on the treadmill 6 and wave, should go up between treadmill 6 and following treadmill 6a and be equipped with load sensor 7 in four ends, following treadmill 6a below is provided with the spherical mortar of hemispherical head and base for supporting 9, form a ball and socket seat (end is the combination of ball mortar for the bulb other end), be provided with position sensor 82 azimuthal coordinates of show events flat board in real time in the ball and socket seat 8, the electromechanics configuration of position sensor 82 duplicates in the roller-ball mouse of computer with assembly.In ball and socket seat 8 peripheral sheathed air cushions 81 to adjust treadmill 6,6a waves angle, before testee is set foot on treadmill 6, with air cushion 81 inflations, treat testee stand in treadmill 6 centers and stand firm after begin the test before, air cushion 81 is exitted at once to not influencing treadmill 6, the motion of 6a, the mortar body of aforementioned ball and socket seat 8 is seated the center (also can be bulb places base for supporting and the ball mortar is connected with following treadmill 6a) of base for supporting 9, base for supporting 9 connects stake body 91 for two DC servo motors 1,1a and reductors 2, and 2a settles.Stake body 91 connects to be gone up end support and screen 11 is set can shows when treadmill 6 and do the real-time position of centre of gravity of health (Fig. 7) that front, rear, left and right are calculated by four end load pick offs 7 when rocking or rotating.Last treadmill 6 is provided with highdensity pressure transducer (plate) 61 (as shown in Figure 1a), be connected with computer with information connecting line 62, the pressure distribution of both feet and the track that moves the Center of Pressure and show on screen 11 when calculating body swing are to make real-time biofeedback.When carrying out, will be connected in down the universal joint 5 at traverser 6a two ends earlier from the equilibrated training of body, assessment, 5a and passive connecting rod 41,4a1 gets loose, user according to the fixed point picture of computer program design or craps game (shown in Figure 2) moving or to rock body, so that the centre of body weight coordinate that shows combine with the image information cursor 12 of screen 11 and reaches biological feedback and assess and train with dynamic posture stability in real time from the body balance.
The posture stability evaluating amount and the training devices of tool dynamic disturbance and biofeedback are formed with following modules:
Mechanism module:
Mechanism module is by two DC servo motors 1,1a, two reductors 2,2a, two drive connecting rod 3,3a, four universal joints 4,4a, 5,5a, two velamens move connecting rod 41,4a1, one and go up treadmill 6, a following treadmill 6a, compositions such as one group of ball and socket seat 8 and base for supporting 9.
Whole motion is exactly respectively by two servo motors 1,1a according to computer procedures control produce the front and back of being interrupted disturb swing or be interrupted about disturb the motor pattern of swing or rotation disturbance continuously to do the rotation of synchronous or asynchronous different angles, via reductor 2,2a does suitable deceleration to reach suitable forcing frequency, again respectively via two drive connecting rod 3,3a drives the moving connecting rod 41 of two velamens, 41a, two velamens move connecting rod 41,4a1 drives two angles of treadmill 6a down more respectively, following treadmill 6a is because of being the strong point with ball and socket seat 8, so whole treadmill 6,6a is that any direction is done at the center with ball and socket seat 8, wave at any angle.
Mechanism of the present invention characteristic:
The characteristic of this mechanism is by two drive connecting rod 3,3a in plane motion, drive is done waving of any direction and angle by the following treadmill 6a that ball and socket seat 8 supports in the space, and by the micro-displacement error between passive connecting rod 41,4a1 revisal drive connecting rod 3,3a and the following treadmill 6a.
Equation of motion:
The purpose of this mechanism module is that platform can be waved at any angle and direction, must determine motor 1 earlier, the rotational angle of 1a, direction just can make platform wave at the angle and direction that requires, and therefore, must obtain the equation of motion between platform and connecting rod, the motor.
The result who mentions computer structure equation of motion at general textbook is known input value, then substitution equation and obtain output valve.But in this mechanism module, must obtain the angle that platform waves accurately, the mode that obtains exporting if also be to use known input so, may need be tried just to obtain leveling off to correct platform many times and wave angle.
Therefore, must be Converse solved.Use simple vector relations formula, and segmentation is found the solution.Because main purpose is to obtain the angle that platform waves, so, if be connected in down two universal necks 5 that connect of treadmill 6a, 5a represents with English alphabet C, E that respectively ball and socket seat 8 is represented with English alphabet D, then obtains the relation that dull and stereotyped 6a waves angle peace platform C, two points of E earlier, obtain two points of C, E and drive connecting rod 3 again, the relation of 3a, the swing by drive connecting rod goes out motor 1, the action of 1a again.
At first, the relation between definition angle and the coordinate.The angle that defines a certain vector sum Z axle is p, and be the Z axle zero point of angle; Define a certain vector projection on the XY plane component and the angle of X-axis be q, and be X-axis the zero point of angle.At this, two angles of p and q are controls, can describe in detail after a while.
After the relation of definition angle and coordinate axes, just can be applied on the platform.Zero is fixed on the D point, just can constitute the DE vector to the E point by the D point, same, can constitute the DC vector by the D point to the C point.Know that two vectors can represent a plane, so, if can know this two positions of vector in the space, just equaled to know the position of platform in the space.Therefore, must know the coordinate figure that E orders (X1, Y1, Z1) and the C coordinate figure of ordering (X2, Y2 Z2), like this, just have six unknown numbers, so must there be six equations to find the solution.
Because platform is a square,,, therefore can obtain first equation so the inner product of two vectors is zero so DE vector sum DC vector is vertical
x1×x2+y1×y2+z1×z2＝0 (1)
Then, can obtain the normal vector DF of a vertical plane by the apposition of two vectors, and the size of this normal vector is exactly the area of this platform, area is known, and, the variation that adds p, two angles of q just can be tried to achieve this normal vector of DF at X, Y, three axial components of Z, so, can obtain following three formulas
-y2×z1+y1×z2＝1800×SIn[p]×Cos[q] (2)
x2×z1-x1×z2＝1800×SIn[p]×SIn[q] (3)
-x2×y1+x1×y2＝1800×Cos[p] (4)
Because the size of DC vector sum DE vector also is known, so can obtain the 5th equation
(x1
2+y1
2+z1
2)
0.5＝43.4264 (5)
Though the size of two vectors all is known,, can not be with these two the known equations of classifying as simultaneously, because these two equations are interdependent.Therefore, also must find out another equation.
By above five listed equations, the angle between each vector, the complete description of size have been come out,, the surface that the above-mentioned resultant set of separating of five equations is a ball, therefore, also to find out an equation, from the surface of ball, try to achieve desired two points, and, satisfy six equations and separate six unknown numbers.
By vectorial CD and the formed plane of ED as can be known, treadmill is when original state, each vectorial position is known, in other words the coordinate figure of 2 of C and E is known, if treadmill has rotated some angles, these three vectors of that DF, DE and DC all can and then become, and the variation of these three vectors is interdependent, so position after can being moved by DC or DE and mobile preceding position are done inner product and are obtained the 6th equation
x1×30+y1×(-30)+z1×0＝1800×Cos[Cos[q+π/4]×p] (6)
Obtain six equations, can try to achieve separating of simultaneous equations with the program of using a computer.
Obtain separating of simultaneous equations, finding to separate all is the function of p and q, so, can be by the action of p and the convenient and accurate controlling platform of q.For example: when p was 0 ° for ± 10 ° and q, treadmill 6a can be a rotating shaft with the y axle, did ± 10 ° wave.When p was 90 ° for ± 5 ° and q, treadmill 6a can be a rotating shaft with the x axle, did ± 5 ° wave.When p was increased to 360 ° for ± 5 ° and q by 0 °, treadmill 6a rotated.
Obtain after the first prescription formula, can directly instead push away drive connecting rod 3, the amount of movement of 3a and motor 1, the amount of spin of 1a., after board manufacturing assembling, because the dull and stereotyped thickness own and the length of universal joint make the junction point of passive connecting rod and platform improve 5cm, so, must set up this error of prescription formula correction again.
((x3-x1)×x1+(y3-y1)×y1+(z3-z1)×z1)＝0 (7)
((x3-x1)
2+(y3-y1)
2+(z3-z1)
2)
0.5＝5 (8)
(x3-x1)×(-y2×z1+y1×z2)+(y3-y1)×(x2×z1-x1×z2)+(z3-z1)×(-x2×y1+x1×y2)＝9000 (9)
Behind the round-off error, the reuse following equation is obtained drive connecting rod 3, the position of 3a in the space,
((x1-(57-25×Cos[w]))
2+(y1-(-30))
2+(z1-(13+25×SIn[w]))
2)
0.5＝10 (10)
The value of trying to achieve can be calculated the angle of the required rotation of motor.
Positioning accuracy:
The positioning accuracy of this mechanism is by drive connecting rod 3, the amount of deflection of 3a and motor 1, the positioning accuracy decision that 1a rotates.When entire mechanism is not moved, suppose that drive connecting rod is an overhanging beam, substitute material mechanics amount of deflection elastic curve equation
v＝Px
2(x-3L)/6EI (11)
The revolution positioning accuracy is then tried to achieve by the motor characteristics table that manufacturer provides.For example the DC servo motor that uses of this mechanism turns around as 10000puLsEs, and then positioning accuracy is 0.036 degree/pEr puLsE.
The weight sensing module:
The purpose of weight sensing module is when platform motion, learns that human body position of centre of gravity on platform changes.
The weight sensor module comprises four load sensors 7, four groups of amplifiers, power supply unit, a slice A/D transition card.Load sensor 7 is placed in up and down platform 6, and four fixed ends of 6a calculate the position of centre of gravity that user stands on traverser with program through formula.
Pressure transducer (plate) 61:
The air pressure module:
The function of air pressure module is before testee will be set foot on treadmill 6, and the air cushion in this module 81 is full of gas, and when treating that testee is set foot on treadmill 6, it is dull and stereotyped 6 to take in sail, and 6a rocks, the moment of torsion of moment of flexure that also reduces connecting rod and born and motor 1,1a.Treat that testee stands in treadmill 6 centers and stands firm the back before beginning test, air cushion 81 is exitted at once to not influencing the active state of treadmill 6a.
The air pressure module by five mouthfuls of three-position valves, a pressure regulator valve, vacuum valve, a power supply unit, one group of control circuit formed, air cushion 81 and a tool air compressor formed.
This pneumatic circuit for air compressor for the pneumatic supply of Compressed Gas is provided, enter pressure regulator valve, at this, can enter the pressure of the Compressed Gas of five mouthfuls of three-position electromagnetic valves by the pressure regulator valve adjustment.After gas enters five mouthfuls of three-position electromagnetic valves, can give an order excitatory by program to a certain end of this electromagnetic valve.
The influence that excitatory method reaches air cushion 81 can divide following three kinds:
One, for example left end is excitatory, then knows from experience from the compressed gas of pneumatic supply to arrive air cushion 81, to air cushion 81 inflations.
If two right-hand members are excitatory, then know from experience by other pore to come out and arrive vacuum valve from the compressed gas of pneumatic supply, provide vacuum valve deflated power, then receive the attraction mouth of vacuum valve by air cushion 81 expellant gas, make the gas quick drain in the air cushion 81.
Three, if two ends are all not excitatory, then the Compressed Gas from pneumatic supply can't enter five mouthfuls of three-position electromagnetic valves; Compressed Gas in the air cushion 81 also can't be discharged, and so, can keep the gases in the air cushion 81 to remain under certain pressure, make testee that treadmill 6a be arranged on the time enough station and adjust its standing place.
Control circuit:
Be made up of four relays and four diodes, power supply is supplied by a power supply unit, and order then is excitatory to five mouthfuls of three-position valves through relay via three-axis moving control card end by program.
Programming:
The program of native system comprises control sequence, signal acquisition program and post processor.
Angle, direction, frequency and visual state that control sequence can allow user input testee related data, desire survey.During treadmill 6a motion, the picture in the picture lower left corner shows the track that center of gravity moves, to be tested finishing, and program can be automatically with the signal deposit that is captured.After waiting to deposit, use the post processor file opening, main window promptly can show x axle maximum displacement, y axle maximum displacement, the center of gravity total path is long and the balance mark, and other three windows show (as shown in Figure 7) center of gravity motion track, twin shaft center of gravity sequential chart respectively.
Security protection mechanism:
As Fig. 1, shown in 8, the security protection mechanism of this mechanism installing is provided with elastic plate body (as spring) 100 above the amount of commenting that testee is stood and training devices 10, these plate body 100 head ends are fixed in ceiling, in addition one circular hole that hangs upside down annulated column 102 is set at the ceiling appropriate location, with seat belt 101 far-ends is to be fixed in elastic plate body (as spring) 100 and to pass circular hole 102, is provided with belt length adjustable ring 1021 to adjust suitable length and prevent that testee from falling but also do not influence body swing when tested between circular hole 102 and 100 links.It is to be worn on one's body the testee, so that protective effect to be provided in the testee waist or to combine as the safe life-saving clothing that seat belt 101 other ends enclose.
Nervimuscular synergism when being subjected to disturb swing for understanding testee, can be at the testee back and the suitable muscle of lower limb position stick myoelectricity signal measuring electrode sheet 63, write down and analyze the start of muscle through myoelectricity signal processor 64 and shrink situation, which kind of equilibrium strategy to reach balance with to understand testee.
Be to be understood that, the above illustrative and nonrestrictive just for the purpose of the present invention of explanation in conjunction with the embodiments, without departing from the spirit and scope of the present invention, can make many changes and modification to the present invention, it all will drop in the scope of the invention defined by the claims.
Claims (11)
1. the posture stability evaluating amount and the training devices of tool dynamic disturbance and biofeedback, main device by the servo motor control module of computer procedures control, mechanism module that linkage constituted, measure load measurement module that real-time center of gravity and plantar pressure distribute, programmable interface, motor control chamber, computer, and other balancer hardware structure formed, the mechanism module of balancer is by array connecting rod, platform, ball and socket seat, and location aware device, up and down flat board, air cushion and other support constitute;
It is characterized in that: this treadmill below is provided with ball and socket seat, in the dull and stereotyped azimuthal coordinates of sensor detecting real-time activity is set, and be equipped with the centre of body weight that load sensor calculates moment at up and down dull and stereotyped interlayer four end points, be equipped with the pressure distribution of highdensity pressure transducer (plate) both feet when calculating body swing and the track that moves the Center of Pressure on the treadmill and on screen, show, the traverser below also is equipped with the air pressure module with control air cushion height and dull and stereotyped degree of stability, treat that testee stands in the treadmill center and stands firm the back when beginning to test, air cushion is exitted at once and is caused the motion that can not influence treadmill.Control motor and linkage via computer program and produce the multi-form external interference of rocking when testee stands on the activity balancing platform, be equipped with in tested the place ahead screen display with show via the measured real-time barycenter trajectory of load measurement module and highdensity pressure transducer measured with real-time sole pressure center, the pressure distribution calculated, Center of Pressure track; Via evaluate parameter and statistical analysis with the biological feedback control of physiology of exercise of assessment and training testee and the rehabilitation benefit of skeletal musculature.
2. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, this treadmill below is provided with a ball and socket seat, controls the motion of quadric chain by the movable trap of computer program-control with motor through deceleration device.Junction point by linkage on ball and socket seat center, the treadmill can reach four required link motions of angle in any direction via the mathematical formulae computing platform, and then anti-motor required start direction and the rotating speed asked.Be provided with in the ball and socket seat as the location aware device of computer roller-ball mouse with the azimuthal coordinates of perception treadmill and with the computing of linkage doing mathematics, the error when moving with the movement angle minimizing linkage of accurate Calculation treadmill.
3. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, with the connecting rod universal joint and the treadmill removal of the balancer start of computer program-control, balancer then is one from body balance training and evaluating system.By computer program information being shown in screen display with real-time centre of body weight cursor instructs testee to finish specific activity or software game in the body-sway motion mode, being user drives swing that balancer does front, rear, left and right to finish required movement according to the shown fixed point picture of screen or game picture with health, again the ability of controlling from body balance and the biological feedback of physiology of exercise according to aforesaid evaluate parameter and statistical analysis assessment testee.Screen shows the plantar pressure of vola when balance exercise simultaneously, and user is done instant biological feedback whereby.
4. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, this motor and drive connecting rod are to do binding in the mode of pin joint, and the axle center of drive connecting rod and the axle center of motor are orthogonal, drive connecting rod and passive connecting rod are to do binding with a universal joint, and passive connecting rod is a certain angle that is attached at treadmill with a universal joint, and the treadmill central lower is that a ball and socket seat is connected with the bottom bearing.
5. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, this motor is done the rotation of different directions and different angles, drive the moving connecting rod of two velamens via two drive connecting rod respectively, the moving connecting rod of two velamens drives two angles of treadmill respectively, and treadmill is the strong point with the ball and socket seat just, allows treadmill do any direction, to wave at any angle.
6. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, this drive connecting rod drives the treadmill that is supported by ball and socket seat and do waving of any direction and angle in the space, and by the micro-displacement error between passive connecting rod, treadmill coordinate message revisal drive connecting rod and the treadmill.
7. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, this ball and socket seat below is provided with the bottom bearing and connects support body for two DC servo motors arrangements, the function service routine of its mechanism module gives an order to two DC servo motors, two DC servo motors rotate and drive four connecting rods, and four connecting rods drive treadmill again and do oscillating motion.
8. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, be provided with inflatable packer in the ball and socket seat periphery between traverser and bottom bearing, via gas tube accessory, actuator, control circuit, aerating device to control the degree of stability of this treadmill.
9. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, traverser four ends are provided with load sensor, be provided with high-density pressure pick off (plate) above in order to measure the movement locus of real-time centre of body weight, plantar pressure variation, sole pressure center, via screen display, user can be done instant physiology, nervimuscular synergism is understood in biological feedback reaction.
10. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback is characterized in that, the setting of security protection, and safety device is made up of elastic plate body, length adjustment ring, seat belt etc.
11. the posture stability evaluating amount and the training devices of tool dynamic disturbance as claimed in claim 1 and biofeedback, it is characterized in that, myoelectricity signal measuring device be applied to dorsal muscles and lower limb muscle group, in order to analyze the multiple Kang Xiaoyi that practices with the synergism of understanding user nerve, muscle and assessment news.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200510123759XA CN100459929C (en) | 2005-11-22 | 2005-11-22 | Posture stability evaluating and training device having dynamic interference and physiological feedback |
Applications Claiming Priority (1)
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