WO2022255965A1

WO2022255965A1 - A robotic platform for balance control rehabilitation and reaction time measurement of neurological/neuromuscular patients

Info

Publication number: WO2022255965A1
Application number: PCT/TR2021/051570
Authority: WO
Inventors: Elif HOCAOĞLU CETINSOY; Tuğçe ERSOY
Original assignee: Istanbul Medipol Universitesi
Priority date: 2021-05-29
Filing date: 2021-12-29
Publication date: 2022-12-08

Abstract

The invention covers the design of a platform that is easy to use and supports stable treatment process and the application of virtual reality compatible with the platform in order to increase the patient's balanced vertical standing time, to reduce the reaction time against the reactions and to provide measurable objective information to the doctor and physiotherapist about the patient's balance state (disease level).

Description

A ROBOTIC PLATFORM FOR BALANCE CONTROL REHABILITATION AND REACTION TIME MEASUREMENT OF NEUROLOGICAL/NEUROMUSCULAR

PATIENTS

DESCRIPTION

Technical Field of the Invention

The invention covers a design of platform that is easy to use and supports stable treatment process and the application of virtual reality compatible with the platform in order to increase the patient's balanced vertical standing time, to reduce the reaction time against the reactions and to provide measurable objective information to the doctor and physiotherapist about the patient's balance state and disease level.

State of the Art (Prior Art)

Dramatic results occur for the person, their family and their immediate environment since both body functions and mental functions can be affected in neurological diseases. Disability and diseases that will cause limitation, such as stroke or multiple sclerosis (MS), directly affect the daily activities, functional status, work life, income, social relations and quality of life of the person [1] [2]

It has been observed that these patients walk more slowly than their healthy peers and require longer time to reach a stable gait model and have a history of falling [3] Patients who have a history of falling and the resultant fear of falling report activity limits, which can encourage sedentary lifestyles, decrease community and social involvement, and lower the patient's quality of life. Furthermore, sedentary lifestyles may contribute to additional health issues such as obesity, diabetes, and heart disease. Therefore, it is recommended that patients exercise regularly [4] [5]

The stability of the vertical posture is affected by the high position of the center of mass, the small support area and the multiple joints between the feet and the center of mass [6] In addition, while responding with body deviations, the central nervous system utilizes two main types of adjustment in the activity of the trunk and leg muscles to maintain postural stability. The anticipatory postural adjustment, the first of these, the anticipatory postural adjustments, maintains the position of the body's center of mass by engaging the body and leg muscles prior to advanced body disturbance. This reduces the possibility of losing balance. Secondly, sensory feedback signals trigger compensatory postural adjustments, which serve as a mechanism for the renewal of the mass center position when a distortion occurs [7] ]. Compensatory postural adjustment an also be observed in unpredictable situations while predicted postural corrections appear only in predictable situations. Weak balance control that MS patients encounter in their daily lives is associated with impaired predicted postural corrections, and it has been shown that inadequately predicted postural corrections may cause accidental falls and delay in providing the required reaction time [8] [9] [10] Anticipatory postural adjustments are produced prior to an intentional motor movement and the preparation of an external predictable perturbation, and these control strategies are mostly acquired through learning. Based on previous experience with postural disorder, anticipatory postural adjustment can improve response and reduce reaction time [4][11][7] The reaction time is the time from the start time of the stimulus until the time interval during which the response begins [12] The reaction time can be physiologically divided into 5 parts. These are respectively, seeing the stimulus at the receptor level, transmitting the stimulus to the central nervous system, transmitting the stimulus through the nerves, creating the effector signal, transmitting the signal through the central nervous system to the muscles, and stimulating the muscle for mechanical work [13] Reaction Time is often used to evaluate the intellectual functions and sensory motor dysfunctions of patients with central nervous disorder [12] [14] Virtual reality can be used to improve these motor skills because players are constantly provided with feedback, which increases attention and motivation along with the desire for reward and success. Results from studies using virtual reality in rehabilitation have shown that patients' sensory information processing, compensatory postural adjustment, balance, and walking skills shorten recovery and response time [15][16]

Diseases with neurological disorders are recommended to receive regular rehabilitation treatment. It is very important to observe the effect of the treatment method in the follow-up of the disease. Because untreated patients have to use a cane within 20 years of the onset of symptoms and a wheelchair within 30 years, or they lose their mobility altogether [17] Physical therapy is necessary for patients to adapt more easily to daily life, but the number of patients requiring physical therapy and the number of physiotherapists cannot match each other [18] In addition, the effectiveness of rehabilitation depends on the therapist's personal knowledge and experience. With the robotic platform design, it is feasible to help this procedure, which will significantly contribute to the healing process and patient status monitoring [19] . The load platforms designed so far are immobile and do not calculate the response time, Center of pressure and mass points of the patient against imbalances from different directions [20] [21] [22] [23] In addition, there is no medical robotic study that enables the determination of the reaction times of patients against various reactions and targets strength and balance training together.

Diseases with neurological disorders occur when the person's nervous system is damaged. Therefore, the commands transmitted along the nerve slow down and as a result, imbalances and the possibility of falling occur. For example, MS (Multiple Sclerosis) disease affects 3 million people in the world and 35 thousand people in Turkey [24] It has been observed that patients walk more slowly than their healthy peers and it is more difficult to reach a stable gait model [3] However, the poor balance control that patients encounter in their daily lives can be associated with Impaired anticipatory postural adjustment. The stability of the patient's vertical posture can be improved and their slow reaction time against reactions can be accelerated since these corrections can be improved through learning [4][15][25] Therefore, physical therapy is necessary for patients to adapt more easily to daily life. However, equal resources cannot be provided to all patients, the development of treatment depends on subjective considerations, and patients with a history of falls do not want to participate in physical therapy due to the high number of patients in need of physical therapy and the low number of physical therapy specialists [17] Robot-based therapy, which is based on objective evaluation and can provide continuous service as a solution to such constraints and negative effects, has been on the agenda for many years [18] Results from clinical interventions through rehabilitation robots show that these robots are effective in improving patients' functions and can accelerate recovery. The motor recovery level of the patients can be measured by defining different rehabilitation exercises for the robot so that objective, effective, and powerful physical therapy programs can be prepared [26] [27] [28] However, robotic devices are generally produced for the rehabilitation of upper extremity muscle groups such as hands and wrists for the physical treatment of neurological diseases such as MS [29][30][31]

It is recommended that mild to moderate MS patients receive rehabilitation support four times a week [6] However, the effectiveness of rehabilitation on the patient depends on the therapist's personal knowledge and experience. Moreover, the therapist's determination of the patient's condition is purely subjective, in other words, the patient's condition is characterized by the therapist's personal views.

The design of medical robotic devices for lower extremity strength and balance training is uncommon. A study examined the imbalance between MS patients who fell and those who did not fall in the control group. The electrical activity of the leg muscles and the center of the pressure points were calculated, and smaller electrical activity was obtained in MS patient with a history of falling with more time than necessary to achieve balance anticipatory ompensatory postural adjustments. This means that the reaction time and muscle disorder of a patient with a history of falls are higher than in healthy people, so they experience more falls [4] In another study, they developed special treatment to see the effect of anticipatory postural adjustment on balance center of pressure and mass, 3 dimensional body kinematics and electrical activity on the force platform were recorded while the patient was trying to catch the ball thrown at a random time. It was understood upon the completion of the study that when a smaller deviation was obtained in the center of mass even after a session, the postural adjustments predicted developed because they could improve throughout the learning [9] In another study, a 6-week rehabilitation process was created using a commercially available force platform and virtual reality, and it was observed that the amount of deviation in Center of pressure of the patients decreased at the end of the study [23] The most frequently investigated process for the lower extremity is wearable robotic devices for the task [32][28] The devices expect that the daily practices will have a more regular effect on the skills of the patients. Since these are seen from the outside, they are not wanted to be used by patients in daily life. There is no medical robotic device aimed at calculating the reaction time, center mass and foot pressure of patients against instability in different aspects while the studies conducted so far have provided the development of postural corrections for patients. In addition, marketed platforms are not suitable for the patient's capacity to move, as they are subject to different degrees of freedom, and can cause the patient's condition to deteriorate when used. Therefore, there is a need for a robotic device to be used for the lower extremity in accordance with anthropometric data.

Rehabilitation therapy for patients with neurological disorders typically involves cardiovascular, strength, and balance training, and numerous clinical studies have demonstrated the benefits of these exercise interventions [33] Common problems seen in patients include dizziness, imbalance and poor balance [34] There is no medical robotic device that enables the determination of the reaction times of patients against reactions and targets lower extremity-oriented strength and balance training in studies conducted so far. In addition, the optimal duration and type of treatment in their patients have not been determined due to the scarcity of studies and the small number of physical therapy specialists [18][19]

Research in the field of robotic rehabilitation worldwide has increased significantly in recent years. Many studies have been put forward both as industrial products and research projects in this field. It was emphasized that robotic devices have a positive effect on the precise measurement of kinematic and dynamic parameters for the patient and provide objective evaluations that complement the current clinical environment treatments. Meanwhile, it has been criticized that existing robot devices occupy a lot of space in clinical environments, have high cost and limited access, and work with the same difficulty in all patients [19]

Objects and Brief Description of the Invention

The present invention relates to a system comprising a robotic platform and virtual reality game environment for balance control rehabilitation and reaction time measurement of neurological/neuromuscular patients developed to bring new advantages to the related technical field in order to eliminate the above-mentioned disadvantages.

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The platform is a robotic system that enables patients with neurological/neuromuscular disorders to improve their loss of balance, and to shorten the reaction time of patients against unexpected disruptive effects as a result of the stimuli provided by the virtual reality environment, in which the patients work physically and in harmony with the platform. . In particular, it is ensured that the reaction time, Center of mass and pressure of the patient are determined and the patient's postural corrections are developed and monitored while performing disruptive movements from different angles. Thus, it is aimed to help the patient to improve their damage in the neural region, to perform their activities in a more balanced way in daily life and to perform fewer fall actions. In addition, the virtual reality game, designed to encourage the patient's continuity to robotic therapy and also to help reduce the duration of their reaction to reactions, is presented as a complement to the robotic system.

The invention is used in hospitals, clinics, rehabilitation and research centers. The invention is a robotic system that supports the easy to use and regular treatment process to increase the stability of the patient's vertical posture and to reduce the reaction time against disorders. The proposed robotic system is based on two basic studies: Platform design with 3 degrees of freedom of orientation and task-based virtual reality games design. Eight load cells are used in different areas on the upper platform, with which the forces applied to different areas of the foot can be perceived independently of each other and provide information about both the calculation of the reaction time and the stability of the patient. There are three load cells on the lower platform to form an equilateral triangle and these are used to determine the position of the center of mass in the x-y plane. Each load cell transmits data to the microprocessor in real time after being connected to an amplifier with an analogue to digital converter. The configuration of the platform in space is performed with three linear motors to be placed under the platform. Linear rulers (linear potentiometers) are used to detect and control the position of linear motors. The control, kinematic analysis and dynamic simulation of the platform were performed with MATLAB /SIMIJLINK and its design was verified. The system is controlled through a microcontroller integrated in the robotic system during the product phase. In addition, a virtual reality game design is presented within the platform limits specified in the study area to increase the rehabilitation efficiency in the robotic therapy process.

The invention covers the design of a platform that is easy to use and supports stable treatment process and the application of virtual reality compatible with the platform in order to increase the patient's balanced vertical standing time and to reduce the reaction time against the reactions.

The invention is used in hospitals, clinics, rehabilitation and research centers. The invention includes a medical device that is affordable, easy to use and increases treatment commitment for the rehabilitation of the body balance of the patients and the calculation of the reaction time against the reactions. In particular, the reaction time of the patient, the amount of force applied against the disruptive effect of the platform, Center of mass and pressure will be determined and the development and follow-up of the patient's postural adjustment will be observed while the patient performs the desired tasks. Thus, it is aimed to perform the activities of the patient in a more balanced way and to perform fewer fall actions. In addition, treatment-based, task-oriented virtual reality games, which are necessary to increase the patient's interest in treatment, to ensure continuity in treatment and to reduce the reaction time, also serve in the service of the patient together with the robotic system in the complementary task. The patient's performance during the therapy is evaluated automatically by the robotic platform, and the difficulty level of the robotic platform and the virtual reality game is updated according to the patient's performance.

The invention

• Can objectively evaluate patient performance and present the healing and follow-up process with quantitative data.

• The freedom of movement of the platform in three-dimensional space encourages the muscle groups in the back, waist and lower extremity to exercise all body muscles intensely in order to ensure the balance of the patient.

• It allows examination by associating the reaction time of the patient with the anticipatory postural adjustment.

• It provides solutions to balance problems in patients and improves the quality of activities performed in daily life.

• It allows the tasks assigned to motivate the treatment process and increase the neurological efficiency of the treatment to be integrated with the virtual reality environment and the movements to be carried out simultaneously in the game environment.

• It has the potential of a medical product that is affordable, easy to use and increases treatment commitment for the rehabilitation of the body and the calculation of the reaction time.

It is suitable for use in the physical therapy and follow-up of neurological and neuromuscular patients in hospitals, clinics and physiotherapy and rehabilitation centers. It can be applied in the medical device industry.

Description of the Figures of the Invention

Figures were used to better explain the platform developed by the invention. The description of the figures is provided below.

Figure 1: Drawing of the platform design Figure 2: Drawing of (a) upper platform, (b) lower platform of the designed robotic platform Figure 3: Drawing of the patient's foot placement in the system Figure 4: Example of (a) front, (b) side, (c) rear posture of the patient on the platform

Figure 5: Side view drawing of the platform design

Part/element reference numbers The elements and the reference numbers of the elements are listed below for a better understanding of the invention.

1 Upper Platform 2 Load Cell

3 Rail System

4 Lower Platform

5 Ball and Socket Joint

6 Middle Support 7 Linear Ruler

8 Linear Motor

9 Base 10 Connecting element

11 Ball Joint

Detailed Description of the Invention

In this detailed description, the innovation of the invention is explained with examples that do not have any limiting effect only for a better understanding of the subject.

The present invention relates to a robotic platform for balance control rehabilitation and reaction time measurement of neurological/neuromuscular patients.

The system of the invention covers the virtual reality environment including a 3 -freedom robotic platform used to increase the vertical posture balance of the patient and to reduce the reaction time and virtual reality game applications designed in harmony with the working freedom of the robotic platform. The degree of freedom is the number of parameters required to determine the the mechanism positions n space regarding freedom of operation. There are a total of 6 degrees of freedom that define every possible movement of an object: 3 of them represent the change of position in the x, y and z axes, and the remaining 3 represent the change of angle in these axes. The angle of the upper and lower platform of the manipulator designed in this invention in 3 separate axes in space can be changed. For this reason, its freedom in space constantly varies according to the value taken by these 3 different angles. Each of the three linear motors (8) under the platform will provide different stroke lengths and enable the platform to move at different angles in three-dimensional space; thus, it is aimed to operate different lower extremity muscle groups of the patient and to improve the postural improvements. The maximum height of the linear motors (8) allows the patient to be determined according to the disease level, thus allowing the patient to undergo therapy under safe conditions. The load cells on the platform are used to read the force from the foot base of the patient and ensure that the pressure and mass center are found. These two purposes have not been used together before. Thus, it allows the patient to comment on the relationship between the pressure differences in the feet base and the anticipatory postural adjustment while trying to balance in dynamic situations. The proposed robotic device is based on two separate basic studies: electromechanical device design and task-based virtual reality games design.

1. Electromechanical Device Design

The electromechanical design shown in Figure 1 consists of the platform movement and the load cell layout used to obtain information from the foot base. Four load cells are used for each foot to receive data independently of the different regions at the feet base in the upper part of the device shown in Figure 2a. The layouts of the load cell points were determined as the areas where the pressure data were the most intense in the foot base [35] However, the coordinates of these points vary since the length of the feet varies from person to person, the heel part of the foot was considered as a fixed point and a rail system was placed under the other load cells in order to overcome this problem. The most appropriate data is read with this customization. In addition, the movement capacity of rail systems was decided by using the average anthropometric data of people [36] Each load cell transmits data to a microprocessor in real time after being connected to amplifiers with an analogue to digital converter. The sudden force change in the foot base applied by the patient to the changes during the virtual reality game is used to determine the reaction time. The three load cells on the lower platform shown in Figure 2b are arranged to form a triangle and the pressure and mass center of the person can be calculated by mathematical manipulations.

The rise and fall of the platform at different angles is provided by 3 linear motors (8) underneath, this placement is shown in Figure 3. The placement of the linear motors (8) on the base was made with the connecting elements shown in Figure 1. Linear motor (8) and joint choices were selected by taking into account the human ankle anthropometric data, 0-20° dorsiflexion, 0-50° plantar flexion 0-10° adduction, 0-5° abduction, 0-20° eversion and 0-35° inversion values [37] [38] Thus, the maximum angle changes of the platform are limited to prevent patient injury. The stroke length of the linear motor (8) was selected as 20 cm and the motor was placed on the base with 70°. However, these values may vary according to the requirement of the activity. The angle of the linear motor (8) with the base is between 40 and 70 degrees. In addition, the system must bear the average human weight and the weight of the moving platform, for which the force of each motor has been selected as minimum 900 N, but this value is not limiting. When the amount of load applied to the platform reaches a value above the average human weight, it can be preferred to a stronger motor when necessary. The linear motors (8) are placed on the base with 70°; however, when the height of the system in three-dimensional space needs to be changed, for example, if the torque applied at this angle is not sufficient, it can be placed more steeply. Other condition is that if the platform height is higher than it should be for the patient, it can be placed at a lower angle. For this reason, the maximum angle limit of the motors is limited to 90°. The power of the linear motor (8) is at least 900 N, and this value can be selected as a stronger motor, taking into account the weight of the patients, if necessary. It is also an important parameter for the length of the shaft in addition to the positioning of the linear motor (8). This value should also be selected to provide sufficient flexibility for the working freedom of ball and socket joints. The stroke (maximum elongation) value of the motors is maximum 20 cm and minimum 0 cm with respect to angle between motor and base.

. When placed at a certain angle (70°) on the base, it can rise 11 cm in the z axis. The linear motors (8) are placed at equal distances under the platform. The same amount of disruptive effect can be applied to the patient in every aspect due to the nature of the design. It is also an important parameter for the length of the shaft in addition to the positioning of the linear motor (8).

The positional change of the linear motors (8) is measured with the linear potentiometer shown in figure 1 and the closed loop control is carried out in a healthy way. The platform can take over the control load at the level of the patient's need or leave the control to the patient depending on the improvement or decline in the patient's condition. Applicable control architecture is called the "Assist-as-Needed (AAN)" strategy in the literature. The upper and lower platform should be capable of correcting the angular change in 3 axes by supporting the human wrist when necessary. For example, the patient should be able to achieve the angular change of the upper platform within the limits of the wrist joint when all authority is given to the patient when the assist as needed control architecture is applied. The angular limits of the commercially available ball and socket joints that provide the connection of the upper platform (1) to the linear motors (8) in the range of 0-18°.

The necessary kinematic and dynamic analysis of the platform system with 3 degrees of freedom was performed and simulated in MATLAB/SIMULINK. Angular equations and correlations were found for parameters such as position, velocity and acceleration of the mechanism as a result of the kinematic analysis. In addition, the middle support shown in Figure 1 was placed to support the system in a way that does not affect the orientation change. Thus, the safety of the person on the platform and the robustness of the device were increased. 2. Design of task-based virtual reality games

The virtual reality game of the system is used to increase the effectiveness of the treatment and to make the rehabilitation process enjoyable. It is important to associate the game with the movement of the robot in order for the patient to follow a highly motivated and stable path during the treatment process. For example, the game will create an imbalance at different angles for each imbalance change data at the base of the patient's foot, and at the end the total reaction time and pressure is calculated. It is aimed to provide learning in postural adjustment oreseen with different imbalances to maintain the vertical posture of the patient. The patient can react more consistently to subsequent imbalances and the response time can be reduced in this way, because these control strategies are mostly achieved through learning and can improve their response based on the previous disorder experience. To summarize the innovative aspects of the invention:

1. There are parallel manipulators with 3 degrees of freedom in the literature and in the market. This platform is specifically used in the rehabilitation process and in the follow-up of neurological or neuromuscular patients.

2. The linear motors on this platform are not only responsible for the angular change of the upper platform in 3 axes (x, y and z axis). Meanwhile, it is responsible for carrying the person and the rail system and lower platform placed on the linear motors against gravity and changing the roll, pitch, and yaw angles of the upper platform on which the patient stands. This change is ensured in a controlled manner.

3. The degree of freedom of the platform is matched with the freedom given in a virtual game design. The goals defined for the patient are achieved with the stability (balance) movements that the patient tries to provide on the platform.

4. The difficulty level of the game is automatically detected and adjusted by the platform depending on the patient's degree of illness. The platform can support the patient to be successful or if the patient's health condition is improving, the patient is expected to reach the target with their own effort depending on the type of game. Both situations can be realized by the platform. 5. Another important feature that does not exist in the market but is mentioned in the invention is the load cells on the upper platform on which the patient steps. Placement of the load cell on the sole of foot is adjustable according to patient feet size. It is used to measure applied force and this data will be compared with healthy data.

6. 3 load cells in the second half of the upper part of the robot, which we call the lower platform, help to determine how the patient's entire body changes the center of gravity on two axes (one plane).

7. Another innovative aspect of the invention is that it allows us to measure the patient's response, reaction time and Anticipatory Postural Adjustment (APA) value against the disruptive effects given by the platform or as a result of the visual stimulus provided by the game. Measurements are provided by devices that measure physical changes on the platform. These devices include various length and number of force sensors that allow us to determine the weight distribution transmitted to both feet of the patient and the change of center of gravity in 2-dimensional space (i.e. on the platform plane); as well as linear potentiometers hat measure the change of position of linear motors. It can be aimed to deliberately disrupt the patient's balance by producing sudden reactions by the motors, so that the patient is expected to react in order to maintain their balance. Another condition is that the measurement of the reaction time as a result of the presentation of a different task that requires a sudden change of balance to the patient performing a task in the virtual reality environment is determined through the linear potentiometers and force sensors mentioned at the beginning.

The system has been designed in the MATLAB/SIMULINK environment. However, it can also be performed with another program, not limited to the mentioned programs.

The angular position changes of the upper and lower platforms that are mechanically connected to each other and the changes due to speed and acceleration are determined by various kinematic analyzes and transmitted to the computer (workstation) through the data collection card. The workstation is also informed of the distribution of the patient's center of mass and pressure on the platform via a separate data card.

Referring to the detailed explanations above, the invention is a system that enables to increase the vertical posture balance of the patient and to reduce the reaction time, characterized in that it comprises robotic platform comprising the following elements and a virtual reality game environment working in integration with the robotic platform;

• The upper platform (1) on which the patient stands, comprising at least eight load cells that allow the forces applied to different areas of the foot to be taken independently of each other, used in the calculation of the reaction time and also help to monitor the postural posture and healing process of the patient,

• Load cell (2) that is placed on the upper platform (1), at least four for each foot, adjusting to the size of the feet, to measure how much healthy pressure the patient exerts on the platform and to obtain data independently of the different regions at the foot base, that is located in at least three pieces to help determine how the patient's entire body changes the center of mass on two axes on the lower platform (4), which is the second half of the upper platform (1), that enables data to be transmitted in real time to a microprocessor after connecting to an amplifier with an analog-to-digital converter, that is used to determine the reaction time of sudden force change in the foot base applied by the patient in the changes occurring during the virtual reality game and also to read the force coming from the foot base to find the pressure and mass center,

• The rail system (3), which enables the robotic platform to be moved and placed under the load cells (2) to adapt to the coordinates of different foot lengths for reading the data,

• Lower platform (4) including at least three load cells (2) positioned to form an equilateral triangle used to determine the position of the center of gravity in the x-y plane,

• At least three ball and socket joints (5) that provide the connection of each linear motor to the lower platform (4), provide the freedom to rotate in three axes to the upper platform (3) and the lower platform (4) connected to each other,

• The middle support (6), which allows the safety of the person on the platform and the robustness of the device to be increased, allows the platform to rotate in 3 axes but prevents the translation, and is connected to the lower platform with the ball joint (11) (Even though linear motors (8) provide the angular change of the platform in 3 axes, possible millimeters of openings in the ball joints (11) can cause the platform to move. This is accomplished thanks to a steel bar called the middle support, which allows the platform to rotate on 3 axes but prevents it from shifting. The middle support is connected to the lower platform by the ball joint (11), thus allowing the platform to move at three degrees of freedom. Linear motors are selected to produce the thrust that can carry both the upper and lower platform and an adult human. Nevertheless, despite a possible technical problem, the bar placed in the center of the platform can also provide support for balance.),

• The linear potentiometer 7), which detects and controls the position of the linear motors (8), the change of position,

• At least three linear motors (8) placed under the lower platform (4), each of which provides different stroke lengths, allows the robotic platform to move at different angles in three-dimensional space and to rise and fall at different angles, is responsible for changing the rolling, slope and deviation angles of the upper platform (1) on which the patient stands, and also carries the patient, the rail system (3) placed on it and the lower platform (4) against gravity, the maximum length of which is determined according to the disease level of the patient, the stroke length and the angle of placement on the base can vary according to the needs of the activity, has the power to carry the load of the robotic platform and average human weight,

• Base (9), which enables the linear motors, linear rulers and middle support to be fixed to a portable area in order to carry the system components without deterioration and to stabilize the system,

• Connecting element (10) for the insertion of the linear motor (8) into the base (9),

• At least one ball joint (11) at the center of the lower platform, which is used to connect the middle support (6) to the platform and not to affect the degree of freedom of the system,

• At least one microcontroller which provides the control of the system, enables the robotic platform to work in coordination with the virtual reality game, in which the angular position changes, speed, acceleration-related change information of the upper platform (1) and the lower platform (4) mechanically connected to each other and also the patient's center of mass and pressure information on the platform are integrated into the robotic platform and at least one data collection card providing the transmission of this information determined by kinematic analyzes to the workstation.

Another embodiment of the invention is that the stroke length of the linear motor (8) is between 0 and 20 cm and is placed on the base (9) between 40 and 90 degrees. However, the length of the stroke length and the angle of placement on the base are not limited to the numbers mentioned but can also be realized with different values.

Another embodiment of the invention is that the power of the linear motor (10) is at least 900 N.

Another embodiment of the invention is that it comprises a linear motor (8) whose stroke length is between 0 and 20 cm and is placed on the base (9) between 40 and 90 degrees, can rise by 11 cm on the z axis and has a power of at least 900 N.

Another embodiment of the invention is that said linear motors (8) are positioned at an equal distance from each other under the lower platform (4).

Another embodiment of the invention is that the middle support (6) element is a steel bar. The element of the middle support (6) is not limited to steel but can also be of a different material.

Another embodiment of the invention is that the workstation is a computer:

Another embodiment of the invention is that the linear ruler (7) is a linear potentiometer.

Another embodiment of the invention is that the load cell (2) is a force sensor.

Another embodiment of the invention is that it comprises a linear motor (8) that can be rise by 11 cm in the z axis when placed at an angle of 70 degrees to the base.

Another embodiment of the invention is that it comprises a linear motor (8) whose stroke length is between 0 and 20 cm and is placed on the base (9) between 40 and 90 degrees, preferably can rise by 11 cm on the z axis when placed on the base at an angle of 70 degrees and has a power of at least 900 N.

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Claims

1. Robotic platform for balance control and reaction time measurement, characterized in that it comprises robotic platform comprising the following elements and a virtual reality game environment working in integration with the robotic platform;

• Upper platform (1), which includes at least eight load cells (2) allowing the forces applied to different areas of the foot to be taken independently of each other,

• Lower platform (4) including at least three load cells positioned to form an equilateral triangle used to determine the position of the center of mass in the x-y plane,

• Load cell (2) that is placed on the upper platform (1), at least four for each foot, by adjusting to the size of the feet, to measure how much healthy pressure the patient exerts on the platform and to obtain data independently of the different regions at the foot base, that is located in at least three pieces to help determine how the patient's entire body changes the center of mass on two axes on the lower platform (4), which is the second half of the upper platform (1), that enables data to be transmitted in real time to a microprocessor after connecting to an amplifier with an analog-to-digital converter, that is used to determine the reaction time of sudden force change occurred in the foot base applied by the patient in the changes occurring during the virtual reality game and also to read the force coming from the foot base to find the center of mass and pressure,

• The rail system (3), is placed under the load cells (2) which enables the positions of the load cells to adapt to the coordinates of different foot lengths for reading the data,

• At least three linear motors (8) placed under the lower platform (4), each of which provides different stroke lengths, allows the robotic platform to move at different angles in three-dimensional space and to rise and fall at different angles, is responsible for changing the Roll, pitch, and yaw angles of the upper platform (1) on which the patient stands, and also used for carrying the patient, the rail system, and the lower platform (4) against gravity, the maximum length of which is determined according to the disease level of the patient, in which the stroke length and the angle of placement on the base can vary according to the needs of the activity, has the power to carry the load of the robotic platform and average human weight,

• At least three ball-headed joints (5) that provide the connection of each linear motor (8) to the lower platform (4), provide the freedom to rotate in three axes to the upper platform (3) and the lower platform (4) connected to each other,

• Middle support (6) connected to the lower platform (4) with the ball joint (11),

• The linear potentiometer (7), which detects and controls the position of the linear motors (8), the change of position,

• Base (9), which enables the linear motors, linear potentiometer and middle support to be fixed to a portable area in order to carry the system components without deterioration and to stabilize the system,

• At least one microcontroller which provides the control of the system, enables the robotic platform to work in coordination with the virtual reality game, in which the angular position changes, speed, acceleration-related change information of the upper platform (1) and the lower platform (4) mechanically connected to each other and also the patient's center of gravity distribution and center of gravity information on the platform are integrated into the robotic platform and at least one data collection card providing the transmission of this information determined by kinematic analyzes to the workstation.

2. A system according to claim 1, characterized in that the stroke length of the said linear motor (8) is between 0 and 20 cm and is placed on the base (9) between 40 and 90 degrees.

3. A system according to claim 1, characterized in that it comprises a linear motor (8) that can rise by 11 cm in the z axis.

4. A system according to claim 1, characterized in that it comprises a linear motor (8) that can rise by 11 cm in the z axis when placed at an angle of 70 degrees to the base.

5. A system according to claim 1, characterized in that the power of the said linear motor (10) is at least 900 N.

6. A system according to claim 1, characterized in that it comprises a linear motor (8) whose stroke length is between 0 and 20 cm and is placed on the base (9) between 40 and 90 degrees, can rise by 11 cm on the z axis and has a power of at least 900 N.

7. A system according to claim 1, characterized in that the said linear motors (8) are positioned at an equal distance from each other under the lower platform (4).

8. A system according to claim 1, characterized in that the middle support (6) element is a steel bar.

9. A system according to claim 1, characterized in that the said workstation is a computer.

10. A system according to claim 1, characterized in that the said linear potentiometer (7) is a linear potentiometer.

11. A system according to claim 1, characterized in that the said load cell (2) is a force sensor.