WO2009128710A1

WO2009128710A1 - Balancing device and system

Info

Publication number: WO2009128710A1
Application number: PCT/NL2009/050187
Authority: WO
Inventors: Stefan Dimar Tijsen; Paul Arie Emile Garderen Van
Original assignee: Momentum Interaction V.O.F.
Priority date: 2008-04-15
Filing date: 2009-04-09
Publication date: 2009-10-22
Also published as: NL1035297C2

Abstract

The invention relates to a balancing device on which a user can balance, comprising a balancing member on which the user can take up position, optionally with his/her full weight, a base member for placing the balancing device on a surface, a rod-like support member disposed between the base member and the balancing member, and a hinge coupling disposed between the base member and the balancing member. The balancing member is coupled via the hinge coupling and the support member to the base member such that the balancing member is supported at a central position and can tilt relative to the base member. The device further comprises a sleeve disposed round the support member, wherein a position of the sleeve is adjustable in a longitudinal direction of the support member, and a number of resilient elements, each pivotally mounted at a first outer end thereof on the base member or on the balancing member, and mounted at a second outer end on the sleeve.

Description

BALANCING DEVICE AND SYSTEM

The invention relates to a balancing device and system on which a user can balance. Such a device is known from patent publication US

5,613,690. The device described therein comprises an upper plate on which a person can stand. The upper plate can tilt relative to a lower plate in that the upper plate is supported by a spherical support comprising bearings. The device comprises four resilient elements for the purpose of creating resistance.

The invention has for its object to provide an improved balancing device, wherein the resistance which a user encounters during tilting can be set more precisely than in the known devices.

This object is achieved with a balancing device on which a user can balance, comprising:

- a balancing member on which the user can take up position, optionally with his/her full weight; - a base member for placing the balancing device on a surface;

- a rod-like support member disposed between the base member and the balancing member;

- a hinge coupling disposed between the base member and the balancing member, wherein the balancing member is coupled via the hinge coupling and the support member to the base member such that the balancing member is supported at a central position and can tilt relative to the base member, the device further comprising:

- a sleeve disposed round the support member, wherein a position of the sleeve is adjustable in a longitudinal direction of the support member;

- a number of resilient elements, each pivotally mounted at a first outer end thereof on the base member or on the balancing member, and pivotally mounted at a second outer end on the sleeve. The lever action of the support member changes with the adjustment of the position of the sleeve. The resilience which the user encounters can hereby be set by adjusting a position of only a single component of the device .

In an embodiment the hinge coupling comprises a cardan joint. The upper plate can hereby tilt on two axes lying transversely of each other.

In an embodiment the balancing device comprises four resilient elements. The springs are preferably placed diagonally so that during the most frequently used exercises the forces are distributed simultaneously over two resilient elements. This increases the lifespan of the resilient elements. In an embodiment the resilient elements are linear springs. When the springs have a linear spring characteristic, they can be readily adjusted and a better and more consistent measurement can be made. It is hereby also easy to review previous measurements, thereby gaining a better insight into the progress of a treatment process.

In an embodiment the sleeve can be displaced in the longitudinal direction of the support member by means of a screw thread.

In a further embodiment the support member is coupled fixedly to the balancing member and the resilient elements are mounted pivotal Iy on the base member.

In another embodiment the support member is coupled fixedly to the base member and the resilient elements are mounted pivotally on the balancing member. In an embodiment the base member comprises a plate- like construction. The plate ensures that the device stands in stable position and is easy to place on smooth as well as other surfaces.

In an embodiment the balancing member is tiltable relative to the base member over one or two axes with a maximum angle of tilt of between 15° and 25°. A larger angle of tilt could cause injuries, and a smaller angle of tilt would give the user too little exercise.

In an embodiment the balancing member comprises a round upper plate which is large and strong enough to be able to support a person when he/she stands with their full weight on the upper plate.

In an embodiment the balancing device comprises a sensor for measuring the tilt of the balancing member relative to the horizontal plane. In an embodiment the sensor comprises an accelerometer for measuring an angular acceleration of the tilting of the balancing member. An accelerometer can be placed at a random position under/in the upper plate.

The invention also relates to a balancing system comprising a balancing device as described above, wherein the balancing system further comprises:

- a computer adapted to receive a signal from the sensor and to load a program which uses the signal for the purpose of performing a number of specific actions; - a screen for displaying data to the user.

The invention is based on the principle of the teeter board/balance board. Feedback via a computer is not possible here. By adding a sensor which records the angle of tilt of the balance board more data can be retrieved from the apparatus and used for storing training data and real-time visual feedback. The degree of difficulty of a teeter board cannot be adjusted and it has no suspension. By adding spring elements which are adjustable and provide a higher or lower resilience as desired, the entry-level is lowered and the difficulty becomes adjustable. It is hereby possible to train more effectively.

Further advantages, features and details of the present invention will be further elucidated on the basis of a description of several embodiments with reference to the accompanying figures, in which:

Fig. 1 shows a balancing system according to an embodiment of the invention; Fig. 2 shows an embodiment of a balancing device such as can be used in the balancing system of Figure 1;

Fig. 3 shows schematically how the upper plate can be coupled to the lower plate; Fig. 4 shows a flow diagram with processing steps performed for calibration purposes in accordance with an embodiment;

Fig. 5 is a flow diagram showing a procedure for retrieving measured values with the electronic circuit. Figure 1 shows a balancing system 1 according to an embodiment of the invention. Balancing system 1 consists in this embodiment of a balancing device with an upper plate 2 and a lower plate 3 between which are situated four resilient elements 4, only two of which are partially visible in Figure 1. Balancing system 1 further consists of a safety rail 5_f a computer 6 and a display screen 7. Screen 7 is supported by a post 8. Attached to the underside of upper plate 2 is a sensor (not visible in Figure 1) which can exchange data with computer 6 via a communication cable 10. The sensor is for instance a gyroscope measuring an angle of tilt of upper plate 2.

Upper plate 2 is supported pivotally at a central location by a support (not shown) , whereby upper plate 2 is unstable and can tilt relative to lower plate 3. A person who stands on upper plate 2 can hereby do exercises on upper plate 2 by means of displacing their centre of gravity. The person can thus balance on upper plate 2. For this reason upper plate 2 is also referred to as being a balancing member 2. Present in order to assist the person when stepping onto and/or balancing on upper plate 2 is safety rail 5, which in this example comprises a round bar which a person can grasp.

Computer 6 can be provided with different software applications subject to the application of balancing system 1. A possible application is to aid the rehabilitation of the person by having the person do exercises on the balancing device. The person can here receive feedback from the computer via sounds and/or data shown on the screen. The software can possibly comprise a game program with which the person can play a game, wherein the game receives input from the sensor. Balancing system 1 can thus be used for both rehabilitation purposes and for gaming, as well as for a combination of the two.

Figure 2 shows an embodiment of a balancing device 18 such as can be used in balancing system 1 of Figure 1. Balancing device 18 comprises the upper plate 2, the lower plate 3 and four resilient elements 4. Lower plate 3, also referred to as base member 3, ensures that balancing device 18 can stand in stable manner on a surface and is easy to place on smooth as well as other surfaces. Instead of being a round platform as in Figure 2, base member 3 can also be another type of construction, such as for instance a cross or legs.

Balancing device 18 of Figure 2 further comprises four hinges 19 adapted for the purpose of pivotal mounting of resilient elements 4 on lower plate 3. Further present is a sleeve 20 disposed round a support member 21. Sleeve 20 is adjustable in longitudinal direction of support member 21. In other words, the distance between sleeve 20 and upper plate 2 can be varied. Support member 21 is connected via a hinged coupling 22 to lower plate 3. In this embodiment the hinged coupling 22 consists of a cardan shaft coupling with tilting over two axes. Instead of a cardan shaft coupling a hinged coupling can also be used which pivots over only one axis, or a ball joint which can pivot at random. Figure 2 further shows a sensor 23. Sensor 23 is for instance an accelerometer for the purpose of enabling measurement of the angular acceleration of the tilting of upper plate 2 relative to lower plate 3. In an embodiment the output values from sensor 23 are converted in an electronic circuit into a digital signal for further processing in computer 6.

In the embodiment of Figure 2 the resilient elements 4 are attached to lower plate 3 and sleeve 20. Resilient elements 4 here run inward from the outer side of lower plate 3. Sleeve 20 can be displaced upward and downward by means of a screw thread, thereby changing the lever action of support member 21. If sleeve 20 is moved upward, the lever arm becomes larger, and therefore also the resilience experienced by the person. If sleeve 20 is moved downward, the lever arm becomes smaller.

In an embodiment of the invention the resilient elements 4 comprise linear push-pull springs 4. The advantage of linear springs is that they have a linear spring characteristic and can be readily adjusted (this in contrast to other spring options) . A better and more consistent measurement can hereby be made. It is hereby also possible to easily review previous measurements, thereby gaining a better insight into the progress of the treatment process.

Upper plate 2 is preferably manufactured such that it is large and strong enough to be able to support a person standing with their full weight on upper plate 2. The upper plate can for instance be made of metal, although any other suitable material known to the skilled person could be used, such as plastic, wood, ceramic, glass and so on.

Data cable 10 is for instance a USB cable which fits easily into a standard PC for data communication of the sensor with computer 6. It is noted that wireless communication of sensor 23 with a computer is also possible. In the case of application for rehabilitation purposes it is possible to envisage the data being sent to a remote computer via the internet for analysis and/or further processing.

As already discussed briefly above, balancing device 18 can consist of two (horizontally placed) plates in parallel position, wherein upper plate 2 is horizontal in its neutral position (or parallel to lower plate 3) .

Between base plate 3 and upper plate 2 there is a tilting point preferably lying as close as possible to lower plate 3 and having a maximum angle of tilt of 20 on both the x- axis and y-axis, and all positions therebetween. In a non- loaded situation the unstable upper plate 2 is held in the neutral position by the four springs 4. In this embodiment springs 4 are rotated 90° relative to each other in the horizontal plane and run diagonally from the outer side of lower plate 3 to the centre of upper plate 2. Springs 4 are here guided by a guide bush, not visible in the figures, placed in each spring. Springs 4 can be adjusted by means of downward rotation of the sleeve 20 to which they are attached, so that the spring pressure is variable.

Shown schematically in Figure 3 is how upper plate 2 can be coupled to lower plate 3, this latter being omitted in Figure 3. Figure 3 shows upper plate 2 to which support member 21 is fixed using a number of screws 31 and an intermediate plate 32. Support member 21 consists of a cylindrical component, in which a through-opening 33 is present, and a disc-like component which receives screws 31. Sleeve 20 consists of a substantially cube-shaped main body and smaller, substantially cube-shaped anchoring bodies 35 positioned at four corner points thereof. Sleeve 20 comprises a round upper opening at the top into which the cylindrical part of support member 21 can be inserted. When support member 21 is inserted through the round upper opening, a cylinder 36 can be inserted through a side opening of sleeve 20 and here also passes through opening 33 of support member 21. A rod 37 provided with screw thread can then be fastened through support member 21 into an opening in cylinder 36. Shown at the bottom of Figure 3 is a hinge coupling 38 which is secured to a mounting plate 39. Mounting plate 39 can in turn be fixed to lower plate 3 (not shown) using a number of bolts 40 and nuts and washers 42. Before upper plate 2 is attached to support member 21, the support member is coupled to hinge coupling 38. Fastening can take place by means of a pin with screw thread or the like. Between anchoring bodies 35 of sleeve 20 there is space intended for the outer ends of springs 4. Springs 4 comprise at both outer ends a coupling member in which there is a hole. The coupling member of a spring 4 is now placed between anchoring bodies 35, after which a pin 44 is placed through anchoring bodies 35 and the coupling member of spring 4. The opening in the coupling member of spring 4 is preferably slightly larger than the diameter of pin 44. This results in clearance which is necessary to take up the lateral movement occurring due to the tilting.

In an embodiment the pin 44 is dimensioned such that it is possible to place therearound a bearing ring 46 which, during use, comes into contact with an inner side of the opening of the coupling member of springs 4. This prevents wear occurring too rapidly. It is here also the case that a periphery of bearing ring 46 is slightly smaller than the opening in the coupling member of spring 4. Figure 3 further shows an opening 47 in upper plate 2. Opening 47 enables access to an upper part of rod 37. Rod 37 here preferably comprises a recessed head into which an Allen key can be inserted in order to rotate rod 37 for the purpose of adjusting sleeve 20 to the correct position.

In an embodiment the balancing device 1 is embodied with an automatically adjustable spring construction, wherein rod 37 is rotated by means of for instance an electric motor, via an optional transmission, whereby sleeve 20 is displaced relative to support member 21. The electric motor is for instance controlled here via a separate control unit and/or computer 6.

In order to calibrate balancing system 1 a number of measurements can be performed using the above mentioned sensor 23. Figure 4 shows a flow diagram with processing steps performed for the purpose of calibration according to an embodiment. The steps can be performed manually or fully automatically by computer 6, wherein use is made of the above mentioned motor which is controlled by the computer .

Following startup 401 an angle measurement is performed, see step 402, by reading a measured value from sensor 23. In step 403 is then tested whether the measured value lies within specified levels. If this is not the case, a person is then probably standing on balancing device 18 and he/she is warned to dismount, see 404. If the measured value does lie between the specified levels, the suspension is checked and an upper and lower position of sleeve 20 is determined. For this purpose sleeve 20 (also referred to as adjusting core 20) is first rotated downward, see step 405, wherein is tested whether the lowest position has been reached, see test 406. The lowest position can for instance be detected by a pressure switch arranged on the underside of sleeve 20 such that, when it reaches the lowest position, it comes up against a fixed component, such as hinge coupling 38 or optionally plate 39 (see Figure 3) . Once the lowest position has been reached, there follows a step 407 in which the level reached is calibrated as being level 0.0. The same actions are then performed in steps 408, 409, 410, but then by rotating sleeve 20 upward and calibrating an uppermost position. Once the lowermost and uppermost positions have been calibrated, sensor 23 is calibrated. For this purpose an angle measurement is performed with sensor 23 in a step 411. A test 412 tests whether a determined number of desired measurements has been reached. If this is not the case, a further measurement is then performed. If the desired number of measurements have been performed, there then follows a step 413 in which an average measurement value is used for setting as calibration value. This calibration value represents the horizontal position of upper plate 2. The procedure is ended in step 414.

Figure 5 is a flow diagram which shows a procedure for retrieving measured values with the electronic circuit which receives analog values from sensor 23. The procedure begins at a startup step 501, after which a step 502 follows in which a message is received from computer 6. In a step 503 computer 6 is then queried as to whether one measured value must be determined or whether multiple measurement values must be determined. In the former case follows a step 504 wherein only a single measured value is sent to computer 6, see step 504. In the latter case multiple values are sent, see step 505. In a step 506 data is then retrieved from sensor 23 and the measured value is sampled in a step 507. The sampled value is then filtered, see step 508. In a test step 509 a check is made as to whether any more samples are necessary. Should this be the case, step 507 is then repeated. If sufficient samples have been collected, there follows step 510 in which the samples are sent to computer 6. If the measured values must be sent automatically to computer β, there then follows step 512 which tests whether a stop signal has been received from computer 6. If this is not the case, step 506 then follows. If this is the case however, step 513 then follows and the procedure is ended.

The present invention is described in the foregoing on the basis of several preferred embodiments. Other embodiments can be envisaged. The angle of tilt can for instance thus be recorded by another type of sensor, such as for instance a gyroscopic sensor, inclinometer, potentiometer, joystick or rotary encoder. Hinge coupling 22 can also be embodied with a convex or concave coupling, single or optionally a flexible pivot point, and can also be made adjustable to enable setting of the difficulty of the tilting movement. Springs 4 can take a single or dual form at the same position or optionally a different position between lower plate 3 or upper plate 2 and the adjustable sleeve 20. The adjustable sleeve 20 can be automatically calibrated using several sensors, so that the correct spring pressure is always guaranteed. If desired, the tilt axes can be fixed in order to limit the movement of the upper plate to one axis. The maximum tilt of upper plate 2 can further be limited by placing height-adjustable pins against the upper plate, by limiting the movement of the springs or by (partially) fixing the tilt axes at the pivot point. Other types of spring can also be used, such as for instance pneumatic cylinders, gas springs, hydraulic cylinders, push or pull springs. The data connection can also be effected via a different protocol or wirelessly.

Computer 6 can be placed separately, in a column or embedded in balancing device 18. Screen 7 can be additionally embodied with a pressure-sensitive layer or as a touchscreen. Additional foot position and foot pressure measurements can be made by placing a pressure mat on upper plate 2.

Different aspects of different embodiments are deemed to be described in combination thereof, wherein all combinations which can be made by a skilled person on the basis of this document must be included. These preferred embodiments are not limitative for the scope of protection of the invention. The rights sought are defined by the appended claims.

List of reference numerals

Figure 4

401 = start 402 = perform angle measurement

403 = values within specified levels

404 = inform user

405 = rotate adjusting core downward

406 = reached? 407 = set 0.0 as level

408 = rotate adjusting core upward

409 = reached?

410 = set 1.0 as level

411 = perform angle measurement 412 = repeated x times?

413 = set as calibration value

414 = end

Figure 5 501 = start

502 = receive system message

503 = requests one value or automatic transmission

504 = send single value

505 = send values automatically 506 = retrieve data

507 = sample value

508 = filter value

509 = more samples required?

510 = send value to system 511 = automatic or one value?

512 = stop signal?

513 = end

Claims

1. Balancing device on which a user can balance, comprising: - a balancing member on which the user can take up position, optionally with his/her full weight;

- a base member for placing the balancing device on a surface;

- a number of resilient elements, each pivotally mounted at a first outer end thereof on the base member or on the balancing member, and pivotally mounted at a second outer end on the sleeve.

2. Balancing device as claimed in claim 1, and wherein the hinge coupling comprises a cardan joint.

3. Balancing device as claimed in one or more of the foregoing claims, wherein the balancing device comprises four resilient elements.

4. Balancing device as claimed in one or more of the foregoing claims , wherein the resilient elements are linear springs.

5. Balancing device as claimed in one or more of the foregoing claims, wherein the sleeve can be displaced in the longitudinal direction of the support member by means of a screw thread.

6. Balancing device as claimed in one or more of the foregoing claims, wherein the support member is coupled fixedly to the balancing member and the resilient elements are mounted pivotally on the base member.

7. Balancing device as claimed in one or more of the claims 1-5, wherein the support member is coupled fixedly to the base member and the resilient elements are mounted pivotally on the balancing member.

8. Balancing device as claimed in one or more of the foregoing claims, wherein the base member comprises a plate-like construction.

9. Balancing device as claimed in one or more of the foregoing claims, wherein the balancing member is tiltable relative to the base member over one or two axes with a maximum angle of tilt of between 15° and 25°.

10. Balancing device as claimed in one or more of the foregoing claims, wherein the balancing member comprises a round upper plate which is large and strong enough to be able to support a person when he/she stands with their full weight on the upper plate.

11. Balancing device as claimed in one or more of the foregoing claims, wherein the balancing device comprises a sensor for measuring the tilt of the balancing member relative to the horizontal plane,

12. Balancing device as claimed in claim 11, wherein the sensor comprises an accelerometer for measuring an angular acceleration of the tilting of the balancing member .

13. Balancing system comprising a balancing device as claimed in one or more of the foregoing claims, wherein the balancing system further comprises :