Spherical omnidirectional motion training device and method

Abstract

The present application relates to the technical field of animal experiment device, and discloses a spherical full-dimension movement training device and method, which comprises a spherical rolling ring system, a light-proof sleeve and an operation control system.The spherical rolling ring system comprises a space orthogonally distributed outer ring, a middle ring and an inner ring, the outer ring is sleeved outside the middle ring, the middle ring is sleeved outside the inner ring, the rings are connected through bearings with support seats, and each ring is provided with a limiting baffle.The light-proof sleeve is fixed on the inner ring and is used for accommodating experimental animals.The operation control system is electrically connected with the spherical rolling ring system and is used for sending movement instructions and collecting movement data.Through multi-axial rotation to simulate three-dimensional space movement, combined with adjustable rotating speed and visual shielding retention, the vestibular-hippocampus pathway can be targeted stimulated, and an acoustic intervention module is integrated to support multi-modal intervention.The present application can solve the problems of limited activation range and unquantifiable space parameters of existing two-dimensional stimulation devices, and is suitable for spatial cognitive ability evaluation, rehabilitation training and spatial cognitive ability protection of three-dimensional working environment of laboratory animal models.

Description

Technical Field

[0001] This invention relates to the field of animal experimental device technology, specifically to a spherical full-dimensional motion training device and method. Background Technology

[0002] Spatial cognition, especially orientation ability, is a core element in ensuring flight safety, space operation efficiency, and the quality of life for patients with neurodegenerative diseases. With the rise of the low-altitude economy, the deployment of high-performance aircraft (high G-forces, high growth rates, high angular acceleration, and high cognitive load), and the increasing aging of my country's population, the number of people exposed to complex three-dimensional working environments and patients with neurodegenerative diseases is constantly increasing. Current drug interventions have limitations in maintaining spatial cognitive function, and there is an urgent need to activate endogenous neuroplasticity repair mechanisms through non-pharmacological means.

[0003] The vestibular system, as a key sensory organ for sensing gravitational acceleration and spatial motion, directly impacts spatial cognitive abilities through its functional stability. Anatomical studies confirm that the vestibular nuclei establish functional coupling with the hippocampus through a dual pathway. On one hand, the vestibular nuclei connect with the hippocampus via the pontine nucleus-mammary nucleus of the hypothalamus-medial septal nucleus; on the other hand, they also connect via the dorsal tegmental nucleus-lateral mammary body nucleus-anterior dorsal thalamus-posterior hypothalamus. This pathway forms the neurobiological basis for spatial information encoding and integration. Targeted stimulation of this pathway can enhance spatial cognitive abilities, regulate the hypothalamic-pituitary-adrenal axis, and thus alleviate cognitive stress associated with spatial tasks.

[0004] Therefore, in the field of aviation medicine, although vestibular function training for flight personnel has been incorporated into aviation physiological training, traditional training equipment can only stimulate vestibular receptors in a single plane and cannot simulate combined pitch / roll / yaw maneuvers, resulting in a significant gap between training effectiveness and the needs of flight practice. In fact, targeted stimulation of the vestibular-hippocampal pathway can simultaneously improve spatial orientation ability and regulate the neuroendocrine network, which is of great value for flight personnel training, special occupational protection, and cognitive impairment rehabilitation.

[0005] Currently, research on the assessment of spatial cognitive abilities and the mechanisms of damage in the vestibular-hippocampal pathway is difficult to conduct and characterize in a real three-dimensional environment. This is mainly due to two issues: First, insufficient stimulation dimensions. Mainstream devices are limited to linear or planar rotation, lacking comprehensive three-dimensional stimulation of the vestibular organs, making it difficult to induce adaptive remodeling of the vestibular system. Second, parameter control deficiencies. Existing three-dimensional devices lack sufficient precision in quantifying rotation angle, intensity, duration, and interval, making it impossible to achieve controllable vestibular stimulation and a stable evaluation scheme for its effects. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention proposes a spherical full-dimensional motion training device and method to solve the aforementioned technical problems.

[0007] Firstly, a spherical, full-dimensional motion training device is provided, including: A spherical rolling ring system includes an outer ring, a middle ring, and an inner ring orthogonally distributed in space. The outer ring is fitted outside the middle ring, and the middle ring is fitted outside the inner ring. The rings are connected by bearings with support seats, and each ring is provided with a limiting baffle. A light-shielding sleeve, fixed to the inner ring, is used to contain laboratory animals; The operation and control system is electrically connected to the spherical rolling ring system and is used to send motion commands and collect motion data.

[0008] Furthermore, the spherical rolling ring system includes: Three drive motors are connected to the outer ring, middle ring and inner ring respectively, and are used to control the angular velocity, angular acceleration and rotational position of each ring; The sensing unit includes an optical encoder mounted on the output shaft of each drive motor, a gyroscope located inside each support base, and a Hall effect sensor located in the housing corresponding to each limit stop.

[0009] Furthermore, the light-shielding sleeve includes: The cylinder has a movable light-shielding baffle at the top, a first air hole on the movable light-shielding baffle, and a second air hole at the bottom of the cylinder. The cylinder is fixed within the inner ring frame by a bracket, and the side wall of the frame is provided with ventilation holes.

[0010] Furthermore, the operation control system includes: The motion information instrument display module is used to display the angular velocity, angular acceleration, rotational position, and resultant acceleration of each ring in real time. The motion information setting module is used to preset the target angular velocity, angular acceleration, initial position, and motion program that changes according to a time sequence. The motion control module is used to perform operations such as starting training, slowing down the roller, and ending training. The timer setting and display module is used to set and count down to display the total duration or segment duration of the experiment.

[0011] Furthermore, the operation control system also includes a music playback submodule for automatically playing audio, switching tracks, and adjusting volume.

[0012] Furthermore, the control of the drive motor employs a three-axis composite motion algorithm, including: An attitude trajectory planning model is established based on ZYX Euler angles, and angular velocity commands for each motor are generated through inverse kinematics solution. A feedforward-feedback composite control law is adopted to monitor angular acceleration in real time and trigger dynamic constraint protection. Design a decoupling compensator based on the load inertia matrix to suppress coupling disturbances.

[0013] Secondly, a spherical full-dimensional motion training method is provided, based on the spherical full-dimensional motion training device described in any of the preceding items, including: The experimental animals were secured inside a light-proof sleeve; By setting multi-axis rotation parameters through the operation and control system, the spherical rolling ring system is driven to perform compound three-dimensional motion. The music playback submodule is activated synchronously for acoustic intervention. Behavioral tests were conducted after the training was completed.

[0014] Furthermore, the behavioral tests include the T-maze test, the eight-armed maze test, and the new object recognition test.

[0015] Furthermore, in the T-maze experiment, the exploration sequence of the animals entering each arm was recorded; In the eight-armed maze experiment, the number of errors in working memory and the number of errors in reference memory were recorded. In the new object recognition experiment, the discrimination index and recognition index of the animals for new and old objects were calculated.

[0016] Furthermore, the execution of the composite three-dimensional motion includes: The motion trajectory of each ring is calculated in real time using a three-axis composite motion algorithm; When the inner ring elevation angle is detected to be close to the critical value, the quaternion interpolation algorithm is automatically switched to smooth the trajectory. The decoupling compensation parameters are dynamically adjusted based on the load inertia to suppress inter-axis coupling disturbances.

[0017] The invention employing the above technical solution has the following advantages: This invention simulates three-dimensional spatial motion through multi-axial rotation, combined with adjustable rotation speed and visual shielding to achieve targeted stimulation of the vestibular-hippocampal pathway. It also integrates an acoustic intervention module to support multimodal intervention. This invention addresses the limitations of existing two-dimensional stimulation devices, such as limited activation range and unquantifiable spatial parameters. It is suitable for assessing spatial cognitive abilities in laboratory animal models, rehabilitation training, and protecting spatial cognitive abilities in three-dimensional work environments. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0019] Figure 1 This is a schematic diagram of the spherical full-dimensional motion training device and method of the present invention; Figure 2This is a flowchart of the operation control system in the spherical full-dimensional motion training device of the present invention; Figure 3 This is a comparison chart of the T-maze behavioral test results in the spherical full-dimensional motion training device and method of the present invention.

[0020] Figure 4 This is a comparison diagram of the behavioral test results of the eight-arm maze in the spherical full-dimensional motion training device and method of the present invention.

[0021] Figure 5 This is a comparison chart of the new object recognition behavior test results in the spherical full-dimensional motion training device and method of the present invention.

[0022] Figure label: Outer ring 1, Middle ring 2, Inner ring 3, Bearing 4, Limiting plate 5, Operation control system 6. Drive motor 101, cylinder 201, movable light-shielding baffle 202. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0025] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0026] like Figures 1-5 As shown, the spherical full-dimensional motion training device of the present invention includes: The spherical rolling ring system includes an outer ring 1, a middle ring 2 and an inner ring 3 that are orthogonally distributed in space. The outer ring 1 is fitted outside the middle ring 2, and the middle ring 2 is fitted outside the inner ring 3. The rings are connected by a bearing 4 with a support seat, and each ring is provided with a limiting baffle 5. A light-shielding sleeve, fixed to the inner ring 3, is used to contain experimental animals; The operation and control system 6 is electrically connected to the spherical rolling ring system and is used to send motion commands and collect motion data.

[0027] In some embodiments, the spherical rolling ring system includes: Three drive motors 101 are connected to the outer ring 1, the middle ring 2 and the inner ring 3 respectively, and are used to control the angular velocity, angular acceleration and rotational position of each ring; The sensing unit includes an optical encoder (not shown in the figure) installed on the output shaft end of each drive motor 101, a gyroscope located inside each support base, and a Hall effect sensor (not shown in the figure) located in the corresponding housing of each limit stop 5.

[0028] Specifically, the spherical rolling ring system consists of three mutually perpendicular and rotatable rolling rings of basically the same size: outer ring 1, middle ring 2, and inner ring 3. They are orthogonally distributed in space (similar to the X, Y, and Z axes of a Cartesian coordinate system). The rings are connected by bearings 4 and other connecting structures to achieve relative free rotation, and the range of motion is 360° continuous rotation.

[0029] The three drive motors 101 correspond to the outer ring 1, the middle ring 2, and the inner ring 3 respectively, and are used to precisely control the rotational angular velocity, angular acceleration, and position of each ring.

[0030] Sensors collect motion status information (angular velocity, position, etc.) of each ring and feed it back to the control system for display. These include photoelectric encoders, installed on the output shafts of the outer ring 1, middle ring 2, and inner ring 3 motors, to measure rotation angle and angular velocity; MEMS gyroscopes installed inside the support seats of each ring bearing 4 to measure angular acceleration; and Hall effect sensors installed in the corresponding housings of each ring limit baffle 5 to measure the 360° travel limit signal.

[0031] In some embodiments, the light-shielding sleeve includes: The cylinder 201 has a movable light-blocking baffle 202 at the top, a first air hole on the movable light-blocking baffle 202, and a second air hole at the bottom of the cylinder 201. The cylinder 201 is fixed within the frame of the inner ring 3 by a bracket, and ventilation holes are provided on the side wall of the frame.

[0032] Specifically, a light-shielding sleeve is fixed on the inner ring 3 support. Experimental animals (such as rats) are placed inside the light-shielding sleeve to ensure a stable and light-shielded environment and avoid the influence of visual stimulation on the vestibular-hippocampus.

[0033] Specifically, a cubic metal frame with ventilation holes is fixed in the center of the inner ring 3. A metal bracket for fixing a light-shielding sleeve is placed in the central area of ​​the inner cavity of the frame. The light-shielding sleeve is made of non-transparent polymethyl methacrylate with a spray-painted finish. Experimental animals (such as rats) are placed in the sleeve in an unrestrained extended position. The top of the sleeve is shielded by a movable light-shielding baffle of the same material with ventilation holes, and the bottom is funnel-shaped with air holes.

[0034] In some embodiments, the operation control system 6 includes: The motion information instrument display module is used to display the angular velocity, angular acceleration, rotational position, and resultant acceleration of each ring in real time. The motion information setting module is used to preset the target angular velocity, angular acceleration, initial position, and motion program that changes according to a time sequence. The motion control module is used to perform operations such as starting training, slowing down the roller, and ending training. The timer setting and display module is used to set and count down to display the total duration or segment duration of the experiment.

[0035] In some embodiments, the control of the drive motor 101 employs a three-axis composite motion algorithm, including: An attitude trajectory planning model is established based on ZYX Euler angles, and angular velocity commands for each motor are generated through inverse kinematics solution. A feedforward-feedback composite control law is adopted to monitor angular acceleration in real time and trigger dynamic constraint protection. Design a decoupling compensator based on the load inertia matrix to suppress coupling disturbances.

[0036] Specifically, the sports information instrument display module: On the control terminal interface, the current angular velocity, angular acceleration, and rotational position of the outer ring 1, middle ring 2, and inner ring 3, as well as the real-time motion status of the experimental rat (such as the resultant acceleration generated by the rolling ring motion) are displayed in real time in the form of numbers and curves.

[0037] Multiple instrument styles can be designed to monitor different physical quantities and present data intuitively.

[0038] Sports information setting module: It provides input boxes / adjustment knobs, allowing users to set the target angular velocity, angular acceleration, and initial position of the outer ring 1, middle ring 2, and inner ring 3 respectively. Users can also preset motion programs (such as rotation parameters that change according to a time sequence) to achieve complex motion modes.

[0039] It supports "independent single-axis setting" and "multi-axis linkage setting" to meet the needs of different experimental scenarios.

[0040] Control algorithm for three-axis composite motion: Coordinate system definition: Base coordinate system {O}: fixed to the device base Outer ring 1 coordinate system {O1}: Rotation about the Z-axis (yaw axis) In the middle ring 2 coordinate system {O2}: rotation about the Y-axis (pitch axis) Inner ring 3-coordinate system {O3}: Rotation about the X-axis (roll axis) Attitude description: The animal carrier attitude is represented by ZYX Euler angles (yaw ψ, pitch θ, roll ϕ): R(ψ,θ,ϕ)=Rz(ψ)Ry(θ)Rx(ϕ) Attitude trajectory planning algorithm: Input target, desired attitude angle sequence Ψd(t)=[ψd(t),θd(t),ϕd(t)] T Angular velocity constraint Ψ·max = 30 rpm = 3.14 rad / s; Inverse kinematics and motor control: Mapping relationship of three-ring angular velocities. Where: [ωx, ωy, ωz] T These are the motor angular velocity commands for the inner, middle, and outer rings.

[0041] Motor control law: uk(t)=Kpek(t) + Ki∫ek(t)dt + Kd·dt / dek + Kf·Ψd(t) Where: k∈{x,y,z} corresponds to a three-ring motor, ek(t)=Ψd,k(t)−Ψm,k(t) (attitude error), and the feedforward term Ψd enhances the dynamic response.

[0042] This algorithm achieves adaptive trajectory smoothing: when |θ| ≈ 90°, it automatically switches to quaternion interpolation. (s = t / T, Ω = arccos(q0·q1) This algorithm implements dynamic constraint protection: it monitors the acceleration of each ring angle in real time, and if Ψ>2πrad / s 2 This triggers the replanning of the S-shaped velocity curve.

[0043] This algorithm achieves coupling disturbance compensation: a decoupling compensator is designed based on the load inertia matrix J. Motion control operation module: It includes function buttons such as "Start Training" (executes the set exercise program and starts the rolling ring movement), "Roller Slow Stop" (after triggering, each ring stops smoothly at a preset deceleration to protect the experimental animal), and "End Training" (emergency / normal termination of exercise, recording the final state), with one-click operation and clear logic.

[0044] Timed setting display module: The total duration of the experiment can be set, and a countdown timer displays the remaining time; it can also set segment durations for different exercise stages to precisely control the exercise cycle.

[0045] In some embodiments, the operation control system 6 further includes a music playback submodule for automatically playing audio, switching tracks, and adjusting volume.

[0046] Specifically, the operation and control system 6 includes a music playback submodule, which can be associated with the movement program (such as automatic playback when movement starts, and switching tracks according to movement stages), supports importing audio files, and adjusting the volume, creating an environment with musical stimulation for experimental animals during the rotation of the rolling ring.

[0047] By simulating three-dimensional spatial motion through multi-axial rotation, combined with adjustable rotation speed and visual shielding, targeted stimulation of the vestibular-hippocampal pathway is achieved. An acoustic intervention module is also integrated to support multimodal intervention. This addresses the limitations of existing two-dimensional stimulation devices in terms of activation range and the inability to quantify spatial parameters. It is suitable for assessing spatial cognitive abilities in laboratory animal models, rehabilitation training, and protecting spatial cognitive abilities in three-dimensional work environments.

[0048] The core of this invention lies in the fact that this integrated three-dimensional spherical rotating platform can provide precise and controllable spatial motion stimulation. It is an irreplaceable individualized assessment device in experimental research and is suitable for experimental research on the maintenance of spatial cognitive ability in space flight operation environments; and experimental research on rehabilitation treatment of spatial orientation impairment (such as hippocampal function impairment in Alzheimer's disease models, spatial cognitive function impairment in traumatic brain injury models, spatial cognitive function impairment in hypoxic brain injury models, and spatial cognitive function impairment in stroke models). It has broad military and civilian application prospects.

[0049] Secondly, a spherical full-dimensional motion training method is provided, based on any of the aforementioned spherical full-dimensional motion training devices, including: The experimental animals were secured inside a light-proof sleeve; The multi-axis rotation parameters are set by the operation control system 6, which drives the spherical rolling ring system to perform compound three-dimensional motion. The music playback submodule is activated synchronously for acoustic intervention. Behavioral tests were conducted after the training was completed.

[0050] In some embodiments, behavioral tests include the T-maze test, the eight-armed maze test, and the new object recognition test.

[0051] In some embodiments, in the T-maze experiment, the animal's exploration sequence into each arm is recorded; In the eight-armed maze experiment, the number of errors in working memory and the number of errors in reference memory were recorded. In the new object recognition experiment, the discrimination index and recognition index of the animals for new and old objects were calculated.

[0052] In some embodiments, the execution of composite three-dimensional motion includes: The motion trajectory of each ring is calculated in real time using a three-axis composite motion algorithm; When the inner ring elevation angle is detected to be close to the critical value, the quaternion interpolation algorithm is automatically switched to smooth the trajectory. The decoupling compensation parameters are dynamically adjusted based on the load inertia to suppress inter-axis coupling disturbances.

[0053] Specifically, a mathematical model is established to describe the relationship between the rotation angle, velocity (angular velocity), and acceleration (angular acceleration) of each axis. It explains how to convert the motor control parameters (such as speed and direction) into the actual motion of the platform.

[0054] The device includes a three-dimensional roller system and an operation control system. The software has four modules: roller system motion information instrument display, motion information setting, motion control operation, and timing setting display.

[0055] In rotational motion, the rotation angle (θ), angular velocity (ω), and angular acceleration (α) are functions of time and satisfy the following differential relationships: Angular velocity (ω) is the first derivative of the rotation angle (θ) with respect to time (t): ω(t) = dθ(t) / dt Angular acceleration (α) is the first derivative of angular velocity (ω) with respect to time (t), or the second derivative of rotation angle (θ) with respect to time. α(t) = dω(t) / dt = d 2 θ(t) / dt 2 By integration, the inverse relation can be obtained (initial conditions required): Given an initial angular velocity ω(t0) and an angular acceleration function α(t), the angular velocity is: ω(t) = ω(t0) + ∫t0ᵗ α(τ)dτ Given an initial angular velocity θ(t0) and an angular acceleration function ω(t), the angular velocity is: θ(t) = θ(t0) + ∫t0ᵗ ω(τ)dτ Mathematical models for each axis: Because the three axes have similar structures and are controlled independently, each axis has its own motion variables. The following symbols are defined: The subscript 'o' represents the outer ring (1), 'm' represents the middle ring (2), and 'i' represents the inner ring (3).

[0056] θk(t): The rotation angle of axis k at time t (in degrees), where k∈{o,m,i}.

[0057] ωk(t): angular velocity of axis k at time t (unit: degrees / second), range 0~180 / s, accuracy 1 / s.

[0058] αk(t): Angular acceleration of axis k at time t (unit: degrees / second), range 0~60 / s 2 Accuracy 1 / s 2 .

[0059] Initial conditions: At t = t0, an initial angle θk(t0) and an initial angular velocity ωk(t0) must be given (for example, in the "three-axis zeroing" mode, θk(t0) = 0, ωk(t0) = 0).

[0060] The kinematic equations for each axis are as follows: Outer ring 1 (k = o) ωo(t) = dθo(t) / dt; αo(t) = dωo(t) / dt=d 2 θo(t) / dt 2 ; Central Ring 2 (k = m) ωm(t) = dθm(t) / dt; αm(t) = dωm(t) / dt=d 2 θm(t) / dt 2 ; Inner ring 3 (k = i) ωi(t) = dθi(t) / dt; αi(t) = dωi(t) / dt = d 2 θi(t) / dt 2 ; Specifically: Assuming that in the "Start Training" mode, the inner loop starts from a stationary state at t0 = 0 (θi(0) = 0, ωi(0) = 0) with a constant angular acceleration αi(t) = 30 / s. 2 Accelerate, then: Angular velocity: ωi(t) = 30t; Angle: θi(t) = 15t 2 ; When ωi(t) reaches the target value (e.g., 90 / s), the time t = 3 seconds, and at this time θi(3) = 135.

[0061] Specific implementation examples of behavioral tests: The T maze test assesses spatial memory and exploratory behavior in mice.

[0062] Each group of mice was placed in the laboratory to acclimatize to the environment for at least one day to reduce environmental stress. Then, after periodic spherical exercise, the mice were placed in the central area of ​​the T-maze device (where the three arms meet), facing one of the arms, and allowed to freely explore the maze for 5-10 minutes. The number of times each group of mice entered each arm and the sequence of entering different arms were recorded.

[0063] The Radial arm test assesses spatial memory and exploratory behavior in mice.

[0064] After one week of acclimatization to the experimental environment, the animals were weighed and fasted for 24 hours. Thereafter, they were given a restricted diet (16-20 g for rats, 2-3 g for mice) after each day's training to maintain their body weight at 80%-85% of that of rats with normal feeding levels. On the second day, food pellets (4-5 pellets per animal, approximately 3-4 mm in diameter) were scattered in each arm and the central area of ​​the maze. Then, four animals were simultaneously placed in the center of the maze (with the doors leading to each arm open). They were allowed to eat and explore freely for 10 minutes. On the third day, the training was repeated from the second day. This process allowed the animals to become familiar with the maze environment without significant stress. Starting on the fourth day, train the animals individually: place one food pellet near the outer end of the food container on each arm, allowing the animal to eat freely. Remove the pellet from the animal after it has finished eating or after 10 minutes. On the fifth day, place the food in the food box and repeat the training from the previous day, twice a day. After the sixth day, four arms were randomly selected, and one food pellet was placed in each arm. The arms were closed, and the animal was placed in the center of the maze. After 30 seconds, the arms were opened, allowing the animal to move freely within the maze and consume the food pellets until all four arms had been eaten. If the food pellets were not consumed within 10 minutes, the experiment was terminated. Training was conducted twice daily, with an interval of at least one hour between sessions. The following four metrics are recorded: working memory errors (when the animal re-enters the arm where it has already eaten a grain during the same training session); reference memory errors (when the animal enters the arm where it has not yet released a grain); total number of arm entries; and test time (the time it takes for the animal to eat all the grains). In addition, the computer can record the animal's activities within the radial arms and the central area, including movement distance and time.

[0065] The Novel Object Recognition Test (NORT) assesses the non-spatial learning and memory abilities of mice: Before the experiment, mice in each group were petted daily to reduce their unfamiliarity and avoid stimulating them during the procedure. Then, after spherical stimulation, the experiment was conducted in the following three stages: The first stage is the adaptation period: each mouse is placed in the new object recognition experimental device (without objects) and allowed to move freely for 10 minutes; The second stage is the familiarization period: Two identical objects (A and B, ensuring that the objects are odorless and fixed and cannot be moved) are placed in the new object recognition experimental device. The objects are about 10 cm away from the two side walls (to give the experimental animals space to explore). The mouse is placed in the device from an equal distance with its back to the object. The exploration time of the mouse on each object is recorded by the camera equipment and software (the exploration of the object is defined as the mouse's mouth or nose touching the object and getting close to the object within about 2-3 cm). The number of times, time and distance of the mouse exploring each object are measured and recorded within 5 minutes. The third stage is the testing period: 1 hour after the completion of the second stage is selected as the time interval for testing memory. One of the two identical objects is replaced with a different object and placed in the device (AC or BC). Similarly, the mouse is placed in the device with its back to the object from an equal distance from the object for 5 minutes and the mouse's memory ability is recorded. To quantify memory ability, the discrimination index is calculated as follows: (exploration time of old object - exploration time of new object / [exploration time of old object]) × 100%; the recognition index is calculated as follows: (exploration time of new object / [exploration time of new object + exploration time of old object]) × 100%. Three objects were used in the experiment: A and B were identical, C was significantly different from A and B, and the diameter of the object in the mouse experiment was 3 cm.

[0066] Normal group: No abnormalities were found in the T-maze, eight-armed maze, and new object recognition experiments; In the spherical movement group, the T-maze and new object recognition test indicators were significantly improved, showing improved spontaneous exploration ability of mice; spatial memory ability and non-spatial memory ability were improved, showing increased discrimination index and recognition index compared with normal mice.

[0067] As proven by use, the spherical full-dimensional motion stimulation device for enhancing spatial cognition in the vestibular-hippocampal pathway helps improve the spatial and non-spatial learning and cognitive abilities of research animals. It also provides important equipment support for the maintenance of spatial cognitive abilities, the improvement of functional impairments, and the device has the advantages of being easy to use, small in size, low in cost, and powerful in function. It is undoubtedly an ideal choice for conducting vestibular-hippocampal function regulation and assessment and has good development prospects.

[0068] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0069] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0073] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0074] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0075] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A spherical full-dimensional motion training device, characterized in that, include: A spherical rolling ring system includes an outer ring, a middle ring, and an inner ring orthogonally distributed in space. The outer ring is fitted outside the middle ring, and the middle ring is fitted outside the inner ring. The rings are connected by bearings with support seats, and each ring is provided with a limiting baffle. A light-shielding sleeve, fixed to the inner ring, is used to contain laboratory animals; The operation and control system is electrically connected to the spherical rolling ring system and is used to send motion commands and collect motion data; The spherical rolling ring system includes: Three drive motors are connected to the outer ring, middle ring and inner ring respectively, and are used to control the angular velocity, angular acceleration and rotational position of each ring; The sensing unit includes an optical encoder mounted on the output shaft of each drive motor, a gyroscope located inside each support base, and a Hall effect sensor located in the housing corresponding to each limit stop. The light-shielding sleeve includes: The cylinder has a movable light-shielding baffle at the top, a first air hole on the movable light-shielding baffle, and a second air hole at the bottom of the cylinder. The cylinder is fixed to the inner ring frame by a bracket, and the side wall of the frame is provided with ventilation holes; The drive motor is controlled using a three-axis composite motion algorithm, including: An attitude trajectory planning model is established based on ZYX Euler angles, and angular velocity commands for each motor are generated through inverse kinematics solution. A feedforward-feedback composite control law is adopted to monitor angular acceleration in real time and trigger dynamic constraint protection. Design a decoupling compensator based on the load inertia matrix to suppress coupling disturbances.

2. The spherical full-dimensional motion training device according to claim 1, characterized in that, The operation control system includes: The motion information instrument display module is used to display the angular velocity, angular acceleration, rotational position, and resultant acceleration of each ring in real time. The motion information setting module is used to preset the target angular velocity, angular acceleration, initial position, and motion program that changes according to a time sequence. The motion control module is used to perform operations such as starting training, slowing down the roller, and ending training. The timer setting and display module is used to set and count down to display the total duration or segment duration of the experiment.

3. The spherical full-dimensional motion training device according to claim 2, characterized in that, The operation control system also includes a music playback submodule, which is used to automatically play audio, switch tracks, and adjust the volume.

4. A spherical full-dimensional motion training method, characterized in that, The spherical full-dimensional motion training device according to any one of claims 1 to 3 includes: The experimental animals were secured inside a light-proof sleeve; By setting multi-axis rotation parameters through the operation and control system, the spherical rolling ring system is driven to perform compound three-dimensional motion. The music playback submodule is activated synchronously for acoustic intervention. Behavioral tests were conducted after the training concluded. The behavioral tests include the T-maze test, the eight-armed maze test, and the new object recognition test. In the T-maze experiment, the exploration sequence of the animal entering each arm was recorded; In the eight-armed maze experiment, the number of errors in working memory and the number of errors in reference memory were recorded. In the new object recognition experiment, the discrimination index and recognition index of the animal for new and old objects were calculated; The execution of the composite three-dimensional motion includes: The motion trajectory of each ring is calculated in real time using a three-axis composite motion algorithm; When the inner ring elevation angle is detected to be close to the critical value, the quaternion interpolation algorithm is automatically switched to smooth the trajectory; the decoupling compensation parameters are dynamically adjusted according to the load inertia to suppress inter-axis coupling disturbances.

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