WO2007045804A2 - Robotised three-dimensional vestibular stimulator - Google Patents

Robotised three-dimensional vestibular stimulator Download PDF

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Publication number
WO2007045804A2
WO2007045804A2 PCT/FR2006/051073 FR2006051073W WO2007045804A2 WO 2007045804 A2 WO2007045804 A2 WO 2007045804A2 FR 2006051073 W FR2006051073 W FR 2006051073W WO 2007045804 A2 WO2007045804 A2 WO 2007045804A2
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WO
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Patent type
Prior art keywords
lever arm
roll
end
tray
linear actuator
Prior art date
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PCT/FR2006/051073
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French (fr)
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WO2007045804A3 (en )
Inventor
Pierre-Paul Vidal
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Universite Rene Descartes - Paris 5
Centre National De La Recherche Scientifique
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01KANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K63/00Receptacles for live fish, e.g. aquaria; Terraria
    • A01K63/04Arrangements for treating water specially adapted to receptacles for live fish
    • A01K63/045Filters for aquaria
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/001Apparatus for applying movements to the whole body
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B26/00Exercising apparatus not covered by groups A63B1/00 - A63B25/00
    • A63B26/003Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00Additional characteristics concerning the patient
    • A61H2203/03Additional characteristics concerning the patient especially adapted for animals
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00Characteristics or parameters related to the user or player
    • A63B2208/14Characteristics or parameters related to the user or player specially adapted for animals

Abstract

The invention relates to a robotised three-dimensional vestibular stimulator (1) comprising a platform for a subject to be stimulated. According to the invention, the platform (2) can be rotated on a platform support (4) which is essentially parallel to the platform and which is fixed to a first end of an essentially-perpendicular first rigid lever arm (5), the second end thereof being fixed to a vertical carriage (7) by means of a first ball joint (6). A second lever arm (8), which is perpendicular to the first arm, is rigidly connected to the second end of the first arm. The free end of the second lever arm (8) is fixed by means of a second ball joint (10) to a first end of a first linear rolling actuator (11) which is disposed laterally in relation to the platform support, the second end of said actuator being connected by means of a third ball joint (12) to a first reference point. In this way, the first (5) and second (8) lever arms take the form of an L such as to enable the ball joint (6) to perform at least one rotational movement and the platform support (3) to perform at least one swinging movement essentially in the plane of the first linear rolling actuator (11). The vertical carriage (7) is actuated by a linear vertical translation actuator (13) which is fixed to a horizontal carriage (14) such as to enable the second ball joint (10) to perform at least one rotational movement and the platform support to perform at least one swinging movement in the plane of the linear vertical actuator as well as a horizontal translation movement.

Description

robotic three-dimensional facial stimulator

The invention relates to an automated three-dimensional facial stimulator. It has applications in the field of research, testing and studies, including the vestibular function in study subjects.

Are already known automated positioning devices in three ways such devices in the AC3350 series of ACUTRONIC society that allow any angular positioning yaw ( "yaw"), pitch ( "Pitch") and roll ( "roll" ). These devices, however, are relatively bulky, expensive and for testing measuring devices such as gyroscopes. The present invention proposes the implementation of means leading to cost reduction while allowing for good performance in the possible positions. It can be broken down in various ways including as regards luggage capacity on the tray holder subject.

The invention therefore relates to a robotic three-dimensional vestibular simulator comprising a tray for a subject to stimulate, said tray being moved by the actuators according to the kinetic changes in a three dimensional space over time and compared to a fixed reference .

Preferably developments are controlled by computer means.

According to the invention, the plate is mobile in rotation (of yaw), a tray actuator, fixed on a plate substantially parallel to said tray support, can rotate in one direction or the other around said tray an axis of rotation perpendicular to the plate, the plate support is fixed (at the periphery) to a first rigid lever arm substantially perpendicular to the tray support by one end of said first lever arm, the second end of said first arm lever being fixed by a first ball joint to a vertical carriage, a second lever arm perpendicular to the first lever arm being rigidly attached to the second end of the first lever arm, the free end of the second lever arm being fixed by a second ball at a first end of a first linear roll actuator disposed laterally relative to the tray support and the second end is connected by a third ball joint at a first point of reference, the first lever arm and the second lever arm thus having an L-shape (in the same plane, with a free end of the second optionally folded lever arm 90 ° forward), the first roll actuator for its movement during at least one rotation of the first ball joint and at least one swing motion (roll) of the tray support substantially in the plane of the first linear actuator roll the vertical carriage is actuated by a linear actuator of vertical movement (pitching and / or vertical) of substantially vertical general direction itself rigidly secured to a horizontal carriage in order to allow during movements of the vertical carriage at least one rotation of the second ball (and the fourth ball joint in the case where a second linear actuator roll is used) and at least one motion swing (pitching) of the tray support in the plane of the vertical linear actuator, the horizontal carriage being actuated by a linear actuator of horizontal translation generally horizontally rigidly fixed in at least a third point of reference to allow during movement of the horizontal carriage a horizontal translational movement of the linear actuator of vertical movement (pitching and / or vertical). In various embodiments of the invention, the following means can be used alone or according to all technically possible combinations are used: - the free end of the second lever arm is bent to 90 ° (forward ) in the general plane of said second lever arm so that the second ball joint is substantially in a plane perpendicular to the plate containing the axis of rotation of said plate and parallel to the first lever arm, - a third lever arm perpendicular to the first arm lever is fixed rigidly to the second end of the first lever arm on the opposite side and in the extension of the second lever arm, the free end of the third lever arm being fixed by a fourth ball at a first end of a second actuator linear laterally arranged roll and opposite the first linear actuator roll relative to the plate support and whose dry wave end is connected by a fifth ball joint to a second point of reference, the first lever arm, the second lever and the third lever arm and having a T-shape, the first linear roll actuator and the second linear actuator roll working complementarily to each other, - the free end of the third lever arm is bent to 90 ° (forward) in the general plane of said third lever arm so that the fourth hinge joint is substantially in a plane perpendicular to the plate containing the axis of rotation of said plate and parallel to the first lever arm, - preferably the two free ends of the second and the third lever arms are bent to 90 ° (forward), - the free ends of the second and third lever arms are bent at 90 ° in the general plane of said second and third lever arm so that the second and fourth joints are substantially in a plane perpendicular to the plate, including the axis of rotation of said plate and parallel to the first lever arm,

- the tray support, the first, second and third lever arms form a basket open at least on the front and top, two reinforcements being arranged between the curved free ends of the second and third lever arm and the tray support ,

- the actuators are disengaged,

- the actuators are lockable in a predetermined position, - the second ball and the possible fourth ball joint are removable in order to detach the first linear actuator roll and the possible second linear actuator roll the free ends of their corresponding lever arm , - kinetic changes may be chosen from the yaw movements, roll, pitch, vertical translation and a horizontal translation optionally in combination,

- at least one rotating electrical connection is implemented between the tray and the tray support,

- the tray actuator is omitted, the plate being directly fixed rigidly to the plate carrier,

- the linear actuators comprise a rotary motor in parallel on rack in parallel with a gas cylinder, - the subject surface of the holder subject tray is oriented upwards, towards the first lever arm,

- the subject surface of the holder subject tray is oriented downwardly away from the first lever arm (the subject can be placed upside down) - the holder plate is about to be removably installed to that the subject surface of the holder subject tray is oriented upwards, towards the first lever arm, or so that the subject surface of the subject holder plate is oriented downwardly away from the first arm lever (the subject can be placed upside down) - the carrier plate about is interchangeable,

- at least one of the points of reference for fixing the second end of the first and / or the possible second linear actuator roll is movable (corresponds to the third ball and / or ball fifth)

- the subject is an experimental animal with a maximum weight of about 35kg,

- the maximum horizontal displacement of the horizontal actuator is about 400mm, - the maximum vertical translation of the vertical actuator is about 400mm,

- rotation is unlimited,

- the roll is limited to about +/- 20 ° relative to the vertical, - the pitch is limited between approximately + 80 ° forward and 20 ° rearwardly relative to the vertical,

- the actuators further comprise position encoders.

The present invention will now be exemplified without being limited thereto with the following description in conjunction with the following figures: Figure 1 represents a front view from the front to an exemplary embodiment of the vestibular stimulator according to the invention with two linear actuators roll, Figure 2 which shows the side view the same embodiment of the vestibular stimulator according to the invention with two linear actuators roll, Figure 3 which shows schematically a linear actuator, Figures 4-6 which provide curves response of the stimulator, Figures 7 to 12 which provide geometric representations pacemaker organs positions for capacity analysis and disposition of organs pacemaker. The stimulator of the invention allows a subject to move in practice an animal placed on a testing board to make vestibular stimulation or other. Elementary movements permit the tray which supports the subject of the experiment are: a yaw motion, a movement according to the vertical movement according to the horizontal, a rolling motion about a fixed axis and a pitching movement around a virtual axis. Certain combinations of these basic movements are possible.

In the following description of possible elementary movements of an exemplary embodiment of the invention, the term axis is used to name the actions of each of the actuators. Thus, the pacemaker here presented in conjunction with FIGS having five actuators, we speak five axes, a rotation axis for the tray and four actuator axis translation in various orientations depending on the possible combinations for linear actuators. Thus, a mode of operation using the five axes is possible with a combined horizontal movement along three axes, a combined vertical movement along three axes, a combined rolling motion along two axes, a combined pitching motion along three axes and a movement pure combined in four yaw axes. Potentially functionally effective actuators are then: Set the actuator (speed: yaw), the first linear actuator roll, the second roll linear actuator, the linear actuator of vertical translation and the linear actuator of horizontal translation.

An operating mode using three axes is also possible with a pure horizontal movement, a pure vertical movement and a horizontal pure yaw. In this mode three axes, the first and second linear actuators roll arranged laterally relative to the plate are disengaged and preferably are disconnected from the free ends of the second and third lever arm at the second and fourth joints, it then remains potentially functionally effective than the tray actuator (rotation: yaw), the linear actuator of vertical translation and the linear actuator of horizontal translation.

In Figure 1, front view, and Figure 2, lateral view, the pacemaker 1 implements two linear actuators roll, a first 1 1 and a second 19, connected at their first ends in a removable manner by second 10 and fourth 18 ball to the upper part of a cage having at its lower part a shelf support 4, a rotation actuator 3 of a subject holder plate 2. the cage is formed of a first lever arm 5 and two other lever arm perpendicular to the first or a second 8 and third 16 with free ends bent forwardly 9, 17 for attachment to the ball joints 10, 18, this assembly having a generally T-shaped front view . Parallel side supports to the first lever arm complement and reinforce the cage. A first ball joint 6 connecting the upper end of the first lever arm 5 to a trolley 7 with a vertical linear actuator 13, the latter being itself secured to a carriage 14 horizontal linear actuator 15. The second ends of the first 1 1 and the second roll 19 of actuators are connected to points of reference by a third 12 and fifth ball joint 20 ball joint.

For examples of dynamic characteristic values ​​of the pacemaker which are given thereafter it was considered a pacemaker having approximately a lateral impasto width of 1, 20m, depth 1, 30m in height and 1, 10m as shown in figures 1 (front view) and 2 (side view) and linear actuators stroke 400mm. 1, the dimension B, the distance between the second ball joint 10 (to the first end of the first linear actuator roll) and the fourth ball joint 18 (to the first end of the second linear actuator roll) is about 40cm. Figure 2, dimension A, the distance between the first ball joint 6 and the axis joining the second 10 ball fourth ball joint 18, is about 20cm.

2, the dimension C, distance between the carrier plate and about the axis joining the second ball 10 the fourth 18 ball (is substantially the length of the first lever arm minus the distance between the plate carrier and the carrier plate subject) is about 20cm.

In terms of pure yaw corresponding to rotation of the plate relative to the plate support by the tray actuator, rotation is infinite (> 360 °) and preferably an angular encoder is implemented to know the angular position (modulo 360 °) of the plate relative to the plate support. The tray and the tray support are substantially parallel to each other and the axis of rotation perpendicular to the plate plane. The maximum speed of rotation of the plate is about 1636 ° / sec but depends on the actuator implemented (and optionally the encoder in case a reverse rotation control is implemented). Both directions of rotation are possible. Preferably the plate is of aluminum or plastics for maximum relief. The tray may comprise points or anchor lines (holding groove) for attaching the subject and measuring equipment. Preferably, a rotary joint 18 to electrical circuitry is integrated with the plate with a connector for connection of the measuring circuits (insertion resistance 10mΩ @ 6volts - 5OmA and a maximum capacity of 2A to 6.10 per circuit 6 operations). Alternatively, the implementation of a radio transmission apparatus and autonomous power supply or by induction (a transmitter coil in the tray support and a receiving coil in the tray) allows to dispense with the rotary joint.

In terms of pure rolling motion which consists in that the plate has a lateral swing motion (from right to left) substantially in the plane passing by the first 1 1 and second 19 linear roll actuators arranged laterally with respect to the tea can implement a combination of two axes with rotation around the first ball joint 6 to a fixed vertical point. May also implement a combination of three axes with rotation around the first swivel 6 into any one of a vertical or horizontal line item, depending on whether the linear actuator of vertical translation 13 or the linear actuator of horizontal movement 15 is used. Finally, we can implement a combination of four axes with rotation around the first swivel 6 at any point of a front-rear vertical plane (perpendicular to the plane through the first and second linear actuators roll) using the once the linear actuator of vertical translation and the linear actuator of horizontal translation. In this example, the swing is limited to about +/- 20 ° relative to the vertical.

In terms of pure pitching motion that involves that the plate has a front-rear swing movement (anteroposterior) is the linear actuator of vertical translation 13, which allows this movement, the curved free ends 9 , 17 of the second and third lever arms 16 being rotated at the second 8 and fourth 18 ball joints. Again, one can implement multiple combination of axes according to is allowed to act or not the linear actuator of horizontal movement 15 and / or additionally the first and second linear actuators roll to move the point of rotation of the second 10 and fourth 18 ball joints other vertical positions (also moving parallel the mean position of the point of the linear actuator of vertical translation in the case where the axis joining the second and fourth joints remains fixed, and alternatively it can also oscillate). In this example, the swing is limited to about + 50 ° forward and 20 ° rearwardly relative to the vertical.

In terms of pure translational movement several possibilities exist depending on the number of axes used: the linear actuator of vertical translation only for vertically moving the plate (vertical translation movement), the linear actuator of horizontal translation only for horizontally moving the tray (horizontal translational movement) or, alternatively, the linear actuator of vertical translation and the linear actuator of horizontal translation assemblies for moving the tray in an anteroposterior vertical plane. If it is desired to such a movement of pure translation, it is possible either to disengage the first and second linear actuators roll arranged laterally relative to the plate, or, preferably, to disconnect the free ends of the second and third lever arm at the second and fourth heads.

The maximum speed axis (linear actuators) is about 1 m / s to an accuracy of 1 / 10mm. A linear actuator is shown in Figure 3 and has two ends which may be remote or close linearly. At each end is secured a ball joint 20 for transmitting the linear movement and rotational movement. The linear actuator comprises a housing 26 wherein a slide 21 guided rack bearing 23 and driven by the pinion 22 of an electric motor. A gas cylinder 25 in parallel to the rack allows the damping and balancing mechanical and payloads. A retaining stop 24 is attached to one end of the rack 21. Means for measuring the race (not shown) type incremental encoder (in this example, 1024 points to be an accuracy of 1 / 10mm to 400mm stroke) is used to find the one end position relative to the 'other. For the actuator for rotating the tray holder subject, an angular encoder is implemented.

It is understood that the values ​​given for rocking angles are related to the physical characteristics of the apparatus and in particular the length of the lever arm and the length of the linear actuators. On the other hand, the dynamic characteristics, in particular maximum frequency rotation and linear, depend especially on the capability of the actuators and of the payload on the carrier plate about. Response curves giving the highest frequency of certain movements (pitch, roll, yaw / rotation, translation), depending on the payload can be determined. exemplary is given in Figure 4 the maximum frequency in rotation in degrees / s depending on the load (triangle) embedded in Kg for a tray holder about 180mm diameter pitching motion (tile), roll ( squares) and yaw (X) at different frequencies in Hz. Figure 5 pending from the previous one, concerns the case of a carrier plate about 380mm. These three movements correspond to rotations about a halfway point between the fasteners points. Figure 6 relates to linear actuators generally and gives the maximum amplitude of the displacement in m (stroke) according to the oscillation frequency in Hz.

The pacemaker is under the control of a microcomputer having a graphical user interface for programming and / or record the desired types of movement (roll, pitch, yaw, and combinations translations), their characteristics (in particular amplitudes, frequencies) and changes over time. With returns given by the linear encoders and rotating the pacemaker and computer system can operate in a closed loop. In addition, during the scheduling, the program can, in a measurement or data entry phase determine inconsistencies or impossibilities movements or movement characteristics (e.g. excessive pitching amplitude rearwardly risking bringing the tray holder about rearwardly against the vertical linear actuator). Through the GUI input, the user can select the singly or in combination / movement: rotation of the carrier plate about the left roll, right roll, the vertical movement, the horizontal translation. It can also choose the speed along the axes and rotation as well as the combined changes or not: sine, ramp, square, triangle or other (an evolutionary programming AUTOMATION module is available that can create, save and retrieve scenarios / motion of developments scripts) and their characteristics (amplitudes in mm or degrees depending on the case, frequency, duration ...). For example, it is possible to create an automation to raise the 10cm tray for 3s and then launch a rolling 3 Hz amplitude +/- 4 °.

For safety reasons, also evaluations or controls seizure avoiding impossibilities or incompatibilities, emergency stop means are available both in the GUI as a clean control panel with the stimulator in particular a button push emergency stop. The desk, in an extended version also allows performing simple functions such as the execution of the program before the microcomputer. Thus, the movements can be controlled individually or several together by buttons on the control panel.

In turn, during the execution of movements, it is possible to follow the actual developments actuators through encoders and can record and / or display these changes on the computer screen.

Further programming options described above, the system can also be operated manually depending on the position of a position sensor actuated by a user. This sensor, in a simplified version is the mouse of the computer, and in more advanced versions can be a lever "joystick" type or a three-dimensional sensor. In manual mode, the changes are the pacemaker either directly by the actions of the user or the registered shares and returned later. Preferably, the manual mode detects inconsistencies and impossibilities of movement of the pacemaker. We will now describe the possibilities of dynamic development of the pacemaker described for example by considering a reference xyz, with y anteroposterior axis (front-back), x axis right-left, vertical axis z, and through geometric representations for calculation. As regards the positioning of the first roll and second linear actuators (cylinders Left and Right), due to the presence of said roll actuators and in vertical translation, there is a locking cone. In Figure 7, we consider the case where one wants to have a roll and pitch of +/- 20 ° (pitch up to 80 °) vertically with, in addition, possible horizontal displacements 40cm and 35cm vertically. Dmin is the minimum displacement of 59,8cm. To determine this positioning considering the tray in the worst case (at -20 ° in the plane (Ox 1 Oz) at -20 ° in the plane (Oy 1 Oz), moving Horizontal = 0, Vertical displacement = 92.5cm minimum) and the first and second linear actuators roll can thus see that must be inclined at an angle of 20 ° in the plane (Ox, Oz) and so that the second ends of said roll actuators are approximately 19cm of either side of the z-axis on the x axis. The diagram corresponding to this case is given in Figure 7 where it is seen that the low points of attachment of the left and right cylinders (third and fifth ball joints) must be set at about 19cm (19,08cm Ox) on sides of Oz. To enable the translational movements there are two possibilities: (a) may fall further points lower fastener (second ends) of the cylinders G and D of about 21 cm (20,92cm) relative to the previous position or (b) may authorize the movement from the horizontal position only between 21 cm and 40cm when G and D cylinders are attached at their one ends (upper ends) in the tray platform. For against, G and D cylinders must be detached for racing H = O to 21 cm.

With regard to the horizontal and vertical displacement in the absence of roll and pitch and with the lower attachment points G and D cylinders (third and fifth ball joints) attached to 19cm (Ox), the axis joining the second ball joint to the fourth ball joint, ie the upper ends of cylinders L and R (first ends of the two roll actuators) can move back and forward 21 cm 19cm and 35cm mount without obstacle (if maintained tray holder about horizontally, it does not reach the limit of the locking cone although it decreased by 21 cm). For against depending on whether the cylinders L and R are attached at their one ends (upper ends) to the nacelle of the tray or not (the cylinders can then be discarded and no longer be a limitation) one can obtain different maximum amplitudes. Indeed, we can see that if the left cylinders and rights are attached to the nacelle by their upper ends, the L and R jacks to track the movement must move more of 107.93 to 70.25 = 37 68cm whereas the maximum displacement limit is 35 or 34.5 cm in this example. the vertical stroke thus should be limited to 3 cm favoring either the top of the stroke or the bottom of the stroke, or provide callouts between 73cm to 108cm. As a result, the vertical can be a shift from 95.5 to 92 5 + 35 = 127, 5 cm (32 cm amplitude). These cases are shown in Figure 8 and 9.

Regarding the pitch of -20 ° to + 80 °, the case shown in Figure 10, it is feasible only if the virtual point (center of rotation) is almost in the middle of the tray Thus the hanging point (blocking ) vertical tray t will pass it to advance -15cm and 13cm while the lengths of L and R pass cylinders 85, 12 (-20 °) 1 17,59cm (80 °) a clearance G and D 32.5 cm. To achieve this movement, the hook of the plate should vary from 85 cm to 1 1 G 17,6cm on cylinders and D. Since the clearance can vary from 34.5 cm, the tray can be hung 83cm to go to 83 + 34.6 = 1 17.6cm. If we add the horizontal and vertical displacement, can be a possible horizontal movement between 83cm height (slightly less in practice) + 23cm (height shelf) = 92.5cm and 106cm (minimum height) + 35cm (height clearance) = 127,5cm. This is a vertical clearance of 127.5 to 106 = 21, 5cm. The potential horizontal displacement is always 40cm. For movement pitching -20 ° to + 80 °, it can go either down (minimum vertical grip) or up (hooks up cylinders) or left (risk of reaching the blocking cone) or to the right (increase the maximum length of cylinders).

With regard to a roll-pitch motion of +/- 20 ° case shown Figure 1 1 (grip on the vertical is at + 20cm), it should be noted that to achieve +/- 20 ° angles both in the roll that pitch, the position of the virtual point should roughly be the center of the tray on the axis of the roll. As a result, the position along the x axis (left-right) can move during low frequency 19cm and along the axis Oz (vertical) 9cm from 92 5 + 20 = 1 12, 5cm.

One can also consider the deltas (changes) to a maximum 2 Hz frequency in the case of traveling speeds that are up to 1 m / s. If correspondent was shown Figure 12 (required lift 16cm with respect to the minimum height). Let F the frequency in Hz and t the time in seconds. For movement on Ox (right, left), the delta DX is given by solving P = DX.cos (t.2.PI.F) and Vmax = DX.2.PI.F or with F = 2Hz and Vmax = 1 m / s, DX = 1 /(2.PI.F)=8cm (Deflection 16cm). Likewise for the rolling or pitching, we know that +/- 20 ° +/- 17.5cm causes. In the best cases, a 2 Hz frequency implies a +/- 20.8 / 17.5 = 9 °. Since it is desired to combine these speeds, there is a DX 5cm Max and D Max ° 5 ° to 2Hz. The clearance H is 19cm. The clearance V is 19cm from 92 5 + 16 = 108, 5cm.

In conclusion, the movements on the Left and Right jacks will be permitted only if the Horizontal varies from 21cm to 40cm. The 40cm horizontal stroke is only possible if the L and R jacks are free (disengaged or rather disconnected) and do not produce movement. The maximum pitch (-20 ° to 80 °) will be carried out without rolling, at a fixed position H = 21 cm, V = 107.5 with the virtual point (15.0). Pitching with roll of 20 ° can be performed between horizontal positions 21 cm to 40cm (19cm amplitude) and vertical 1 from 12.5 to 121, 5 cm (amplitude 9cm). The movements beyond 2 Hz can vary by more than +/- 5cm. and +/- 5 °. Positions H and V may vary within a range of 19cm, H 21 to 40cm and V of from 108.5 to 127.5. The length of the cylinders L and R will vary from 83 cm to 17.6 cm 1.

It is understood that the invention can be broken down in various ways without going beyond the general framework defined by the claims. For example, instead of the / linear actuators lateral roll are disposed to the arm, that is to say that the plate is between the roll actuators, said actuators can be disposed upwards (e.g. attachment the third and fifth ball joints to the experimental room ceiling instead of the floor, or on a frame mounted in height), which gives greater deflection roll. Similarly using other lever arm would allow the actuator implementation (s) of substantially horizontal roll. For example by extending the first lever arm upwardly beyond the first ball.

Claims

1. Stimulator (1) three-dimensional robot comprising a tray vestibular to a subject to stimulate, said tray being moved by the actuators according to the kinetic changes in a three dimensional space over time and compared to a fixed reference, characterized in that:
- the tray (2) is rotatable, a board actuator (3), fixed on a support (4) substantially parallel to said tray plate, which can rotate in one direction or the other said tray about a axis of rotation perpendicular to the plate,
- the tray support (4) is fixed to a first lever arm (5) rigid substantially perpendicular to the tray support by one end of said first lever arm (5), the second end of said first lever arm (5) being fixed by a first ball joint (6) to a vertical carriage (7), a second lever arm (8) perpendicular to the first lever arm (5) being rigidly attached to the second end of the first lever arm, the end free of the second lever arm (8) being fixed by a second ball joint (10) at a first end of a first linear actuator roll (1 1) laterally disposed relative to the tray support and whose second end is connected by a third ball joint (12) at a first point of reference, the first lever arm (5) and the second lever arm (8) and having an L-shape, the first roll actuator (1 1) for at its movements at least one r otation of the first ball joint (6) and at least one swing movement of the tray carrier (3) substantially in the plane of the first linear actuator roll (1 1),
- the vertical carriage (7) is actuated by a linear actuator of vertical movement (13) of substantially generally vertical direction, itself rigidly secured to a horizontal carriage (14) to allow during movements of the vertical carriage at least one rotation the second ball joint (10) and at least one swing movement of the tray support in the plane of the vertical linear actuator, - the horizontal carriage (14) is actuated by a linear actuator of horizontal translation (15) of the general direction substantially horizontal fixed rigidly in at least a third point of reference to allow during the horizontal slide movements (14) a horizontal translational movement of the linear actuator of vertical translation (13).
2. A pacemaker according to Claim 1, characterized in that a third lever arm (16) perpendicular to the first lever arm (5) is fixed rigidly to the second end of the first lever arm on the opposite side and in the extension of second lever arm (8), the free end of the third lever arm being fixed by a fourth ball joint (18) at a first end of a second linear actuator roll (19) arranged laterally and opposite to the first linear roll actuator (1 1) relative to the plate support (4) and whose second end is connected by a fifth ball joint (20) to a second point of reference, the first lever arm, the second lever arm and the third lever arm and having a T-shape, the first linear actuator roll and the second roll linear actuator operated complementarily to each other.
3. A stimulator according to claim 2, characterized in that the free ends of the second (8) and third (16) lever arms are bent (9) (17) 90 ° in the general plane of said second and third lever arm so that the second (10) and fourth (18) joints are substantially in a plane perpendicular to the plate, comprising the axis of rotation of said plate and parallel to the first lever arm.
4. A stimulator according to claim 3, characterized in that the tray support (4), the first (5), second (8) and third (16) lever arms form a basket open at least on the front and above, two reinforcing elements being arranged between the curved free ends of the second and third lever arm and the tray support.
5. A stimulator according to any one of the preceding claims, characterized in that the actuators are disengaged.
6. A pacemaker as claimed in any one of claims 1 to 4, characterized in that the actuators are lockable in a predetermined position.
7. A pacemaker according to any one of the preceding claims, characterized in that the kinetic changes may be chosen from the yaw movements, roll, pitch, vertical translation and a horizontal translation optionally in combination.
8. A pacemaker according to any one of the preceding claims, characterized in that at least one rotating electrical connection is implemented between the tray and the tray support.
9. A pacemaker according to any preceding claim characterized in that at least one of the points of reference for fixing the second end of the first and / or the possible second linear actuator is displaceable roll.
10. A pacemaker according to any one of the preceding claims, characterized in that the second ball (10) and the possible fourth ball joint (18) are removable in order to detach the first linear actuator roll (1 1) and possible second roll linear actuator (19) the free ends of their lever arms (8) (16) corresponding.
PCT/FR2006/051073 2005-10-21 2006-10-20 Robotised three-dimensional vestibular stimulator WO2007045804A3 (en)

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FR0510786 2005-10-21
FR0510786A FR2892293B1 (en) 2005-10-21 2005-10-21 three-dimensional facial stimulator robotized

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WO2007045804A3 true WO2007045804A3 (en) 2007-06-07

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2982483B1 (en) * 2011-11-15 2013-12-27 Collin Device and method of stimulation otolithic

Citations (6)

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EP0872179A2 (en) * 1997-04-17 1998-10-21 Bioanalytical Systems, Inc Movement-responsive system for conducting tests on freely-moving animals
US6102832A (en) * 1996-08-08 2000-08-15 Tani Shiraito Virtual reality simulation apparatus
US6558304B1 (en) * 1997-10-14 2003-05-06 Alain Bardon Apparatus for restoring the balance of the human body
US6774885B1 (en) * 1999-01-20 2004-08-10 Motek B.V. System for dynamic registration, evaluation, and correction of functional human behavior
US20050115353A1 (en) * 2002-06-06 2005-06-02 Dietmar Schmidtbleicher Device having an opeating and functional unit
US20050119592A1 (en) * 2001-10-01 2005-06-02 Zuzana Frank Device for analyzing the support reaction of the lower extremities for diagnosis of the state of the human spinal column

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US6102832A (en) * 1996-08-08 2000-08-15 Tani Shiraito Virtual reality simulation apparatus
EP0872179A2 (en) * 1997-04-17 1998-10-21 Bioanalytical Systems, Inc Movement-responsive system for conducting tests on freely-moving animals
US6558304B1 (en) * 1997-10-14 2003-05-06 Alain Bardon Apparatus for restoring the balance of the human body
US6774885B1 (en) * 1999-01-20 2004-08-10 Motek B.V. System for dynamic registration, evaluation, and correction of functional human behavior
US20050119592A1 (en) * 2001-10-01 2005-06-02 Zuzana Frank Device for analyzing the support reaction of the lower extremities for diagnosis of the state of the human spinal column
US20050115353A1 (en) * 2002-06-06 2005-06-02 Dietmar Schmidtbleicher Device having an opeating and functional unit

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Publication number Publication date Type
FR2892293B1 (en) 2007-12-21 grant
FR2892293A1 (en) 2007-04-27 application
WO2007045804A3 (en) 2007-06-07 application

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