Ageing-adaptive balance ability exercising device

Abstract

The invention belongs to the technical field of balance exercise equipment, particularly relates to an aging-adaptive balance ability exercise device, and provides the following scheme aiming at the problems of how to realize switching exercise of a global stable support mode and a local fine disturbance mode and how to simulate a complex real road surface condition: the aging-adaptive balance ability exercise device comprises a base assembly and a plate body assembly, the plate body assembly is connected with the base through a telescopic supporting rod assembly at the bottom. The telescopic supporting rod assembly integrates an elastic locking unit achieved through magnetorheological fluid and a hydraulic height adjusting unit controlled by an independent electromagnetic valve. And the other set of magneto-rheological shaping unit and the triple clamping unit are arranged in the net rope unit. And a global static exercise mode and a local dynamic exercise mode which can be switched are arranged. In the global static mode, the magnetorheological fluid is solidified, so that the whole platform is rigid; in the local dynamic mode, the real three-dimensional road surface can be cooperatively simulated and produced by independently controlling the hydraulic lifting of each supporting point and the local rigidity of the net rope.

Description

Technical Field

[0001] This invention relates to an exercise device, specifically an age-appropriate balance training device, belonging to the technical field of balance training equipment. Background Technology

[0002] With the accelerating aging of the global population, the decline in balance and fall risk caused by physiological functional decline in the elderly has become a serious public health problem. Scientific training of balance is a key element in preventing falls and maintaining the elderly's autonomy and quality of life. Currently, while devices and technologies for balance training in the elderly have made some progress, they still have significant limitations and cannot meet the needs for safe, efficient, personalized, functional, and engaging rehabilitation.

[0003] In existing technologies, such as the balance training device disclosed in CN220459858U, a motor-driven mechanism controls the overall tilt angle or translation of a rigid pedal, challenging the user's balance ability by causing the standing plane to move along a preset trajectory. This type of solution represents the mainstream technical path of current active balance training, namely, using a program-controlled platform to perform overall, continuous movements, such as tilting, swaying, or sliding. However, this paradigm based on "overall rigid movement" has inherent limitations. First, its training logic is fundamentally different from the imbalance challenges encountered by the human body in real-world environments. The road conditions that lead to falls in daily life, such as stepping on pebbles, walking on soft, uneven ground, or localized ground subsidence, are essentially discrete, localized, and instantaneous changes in mechanical properties, rather than continuous, regular tilts of the entire ground. The overall movement platform trains the body's "compensatory balance" against disturbances in known directions, but it is difficult to effectively train the "adaptive stability" and fine proprioception required for the ankle joint to cope with localized ground changes. Secondly, these devices typically lack a quick and seamless switching mechanism between "dynamic training" and "static safety" modes. For beginners with very weak balance, what they need first is an absolutely stable flat surface to build confidence and basic posture control. However, the overall motion platform is difficult to switch instantaneously between the two states of "stable plane" and "motion platform," resulting in a high safety threshold. Furthermore, a weightlifting fitness device disclosed in CN201752552U discloses a magnetorheological fluid damper installed between the pivot and the support, which controls the fitness load by adjusting the damping force by changing the current; a controllable magnetic hysteresis damping joint rehabilitation tool disclosed in CN108992838B discloses a controllable magnetic hysteresis damping joint rehabilitation tool that fills a closed space with magnetorheological fluid and generates controllable resistance through the interaction between the damping encoder and the magnetorheological fluid for joint rehabilitation training. The above-mentioned prior art demonstrates the excellent characteristics of magnetorheological fluid in achieving rapid and continuous adjustment of damping or resistance based on magnetic field changes, but its application scenarios are strictly limited to linear or rotational kinematic pairs that "provide controllable rotational damping". Its technical purpose is focused on applying programmable resistance to joint movements or machine movements in a single direction, rather than building an interactive platform that can simulate complex ground mechanics characteristics for whole-body balance training.

[0004] In summary, the core contradiction facing existing technologies lies in the following: on the one hand, simple and low-cost passive devices cannot provide effective, active, and function-oriented training; on the other hand, high-end and professional active training devices are difficult to popularize due to limitations in cost, complexity, and training modes, and generally lack the ability to accurately simulate the key balance element of ground contact. Existing balance training devices generally cannot seamlessly switch between the two extreme and necessary training modes of global stable support and local fine disturbance on the same device, resulting in a single training scenario that is disconnected from the real environment, making it difficult to stimulate the interest of the elderly in continuous training, and also failing to achieve progressive and personalized rehabilitation from basic static stability to advanced dynamic adaptation. Summary of the Invention

[0005] This invention provides an age-appropriate balance training device to address the problem of how to achieve switching between global stable support and local fine disturbance modes, and to simulate complex real road conditions.

[0006] The present invention achieves the above objectives through the following technical solution: an age-appropriate balance ability training device, comprising a base assembly and a plate assembly, wherein the base assembly is arranged in a ring shape, the plate assembly is laid on the base assembly, and the plate assembly is provided with two modes: global static balance training and local dynamic balance training. The base assembly includes an annular concave base, and the plate assembly includes several individual base plates. Several telescopic strut assemblies are arranged between the individual base plates and the concave bottom surface of the annular concave base. The individual base plates are embedded with longitudinally and transversely arranged net rope units, and the node parts of the net rope units are located directly above the telescopic strut assemblies. The telescopic strut assembly includes an elastic telescopic inner rod, a hydraulic telescopic inner rod, and a telescopic outer rod. The elastic telescopic inner rod and the hydraulic telescopic inner rod are connected by an elastic limiting connection, and a magnetorheological elastic adjustment unit is provided at the connection point between the elastic telescopic inner rod and the hydraulic telescopic inner rod. The hydraulic telescopic inner rod and the telescopic outer rod are connected by a hydraulic limiting connection. The elastic telescopic inner rod, the hydraulic telescopic inner rod, and the telescopic outer rod are connected in series, integrating two different limiting and adjustment mechanisms. The elastic telescopic inner rod and the hydraulic telescopic inner rod are connected by an elastic limiting connection, and a magnetorheological elastic adjustment unit is provided at the connection point. The hydraulic telescopic inner rod and the telescopic outer rod are connected by a hydraulic limiting connection. The net rope unit consists of several individual net ropes. Each individual net rope includes an outer elastic tube and an inner elastic rod connected within the tube. The outer elastic tube houses a magnetorheological shaping unit and a triple-locking unit. The shape of the individual net rope is taut and fixed through the locking action of the magnetorheological shaping unit and the triple-locking unit. In the global static balance training mode, the magnetorheological shaping unit, in conjunction with the locking action of the triple-locking unit, maintains the taut and fixed shape of the individual net rope. At this time, the surface of the individual base plate with the embedded net rope tends to be flat and hard, providing... A unified sense of support; in the local dynamic balance training mode, the solidification effect of the magnetorheological shaping unit can be partially or completely released, so that when the individual net rope is subjected to force, it can exhibit different deformation characteristics according to the different states of the telescopic support component below, through the deformation of the outer elastic tube, the bending of the inner elastic rod, and the relative sliding of the triple locking unit. It can transmit and transform the discrete changes of the lower lattice support into continuous and complex surface changes and soft and hard changes that can be perceived by the feet, thereby improving the realism of simulating real unstable ground and the effectiveness of training.

[0007] As a further embodiment of the present invention: a U-shaped handrail is movably connected to the base assembly, and an annular groove is provided on the side of the annular concave base, with the bottom ends of the two sides of the U-shaped handrail respectively limited and locked in the annular groove.

[0008] As a further embodiment of the present invention: ball bearings are embedded in the bottom ends of the two sides of the U-shaped handrail, and the ball bearings abut against the bottom surface of the annular groove. Side stops are fixedly connected to the two sides of the U-shaped handrail respectively. Limiting rings are fixedly connected to the two sides of the U-shaped handrail located in the annular groove, and the limiting rings are movably locked in the annular groove.

[0009] As a further embodiment of the present invention: the single base plate is provided with an arc-shaped fan-shaped plate body and a square-shaped plate body. The single base plate with the arc-shaped fan-shaped plate body is located in the arc-shaped area at both ends of the annular concave base, and the single base plate with the square-shaped plate body is located in the straight area in the middle of the annular concave base. Several single base plates are connected in a sequential splicing manner. The single base plate includes an outer frame and an anti-slip pad. The anti-slip pad is fixedly connected to the frame inside the outer frame. The two sides of the outer frame are fixedly connected to the two side groove walls of the annular concave base.

[0010] As a further embodiment of the present invention: the bottom end of the elastic telescopic inner rod is movably inserted into the inner cavity of the hydraulic telescopic inner rod, and the top end of the elastic telescopic inner rod is fixedly connected to a docking seat. The side wall of the docking seat is provided with multiple docking grooves, and the end of the individual net rope is fixedly connected in the docking groove. The individual net ropes connected to the docking seat through the docking groove are distributed in a cross shape.

[0011] As a further aspect of the present invention: the inner wall of the hydraulic telescopic inner rod is provided with an annular inner groove, the rod body of the elastic telescopic inner rod is fixedly connected to a limit stop ring, and the limit stop ring is located in the annular inner groove. The inner wall of the hydraulic telescopic inner rod located on the upper side of the annular inner groove is embedded with a first sealing ring. The inner cavity of the hydraulic telescopic inner rod is also provided with a spring, the two ends of the spring abutting between the bottom end of the elastic telescopic inner rod and the bottom surface of the inner cavity of the hydraulic telescopic inner rod. The magnetorheological elastic adjustment unit includes a first coil and a first magnetorheological fluid. The first coil is fixedly connected to the inner wall of the annular inner groove, and the groove of the annular inner groove is filled with the first magnetorheological fluid. The first coil is electrically connected to the external power supply when the plate assembly is set to the global static balance training mode.

[0012] As a further embodiment of the present invention: the bottom end of the elastic telescopic inner rod is movably inserted into the inner cavity of the hydraulic telescopic inner rod, a second sealing ring is embedded in the inner wall of the inner cavity of the hydraulic telescopic inner rod, the inner cavity of the hydraulic telescopic inner rod located below the elastic telescopic inner rod is filled with hydraulic oil, a connecting pipe connected to the inner cavity is connected to the outer side of the bottom side wall of the hydraulic telescopic inner rod, multiple connecting pipes are connected to the same liquid guiding branch pipe, multiple liquid guiding branch pipes are connected to the same liquid guiding main pipe, the inlet end of the liquid guiding main pipe is connected to the external hydraulic pipeline, and each connecting pipe is connected to a solenoid valve that is connected to the signal of the external control terminal.

[0013] As a further embodiment of the present invention: the magnetorheological shaping unit disposed inside the outer elastic tube includes a second coil and a second magnetorheological fluid. The second coil is wound around the body of the inner elastic rod, and the second magnetorheological fluid is wrapped around the outside of the body of the inner elastic rod. The second coil is electrically connected to the external power supply when the plate assembly is set to the global static balance training mode.

[0014] As a further embodiment of the present invention: the triple locking unit provided inside the outer elastic tube includes an outer locking piece, an inner locking ring, and locking grooves. Multiple sets of outer locking pieces are arranged in a ring at equal intervals, and each set of outer locking pieces is fixedly connected to the inner wall of the outer elastic tube. Reinforcing ribs are embedded between the outer locking pieces and the outer elastic tube. The inner locking ring is fixedly sleeved on the body of the inner elastic rod. Several locking grooves are also provided on the inner wall of the outer elastic tube, and the opening positions of the locking grooves and the connection positions of the outer locking pieces are arranged sequentially at intervals. The connection positions of the inner locking ring and the outer locking pieces are staggered.

[0015] As a further embodiment of the present invention: a foot pedal with an inclined surface is provided on one side of the base assembly, and protective texture is formed on the inclined surface of the foot pedal.

[0016] The beneficial effects of this invention are: 1. This invention comprises a base assembly and a plate assembly. The base assembly is arranged in a ring shape, and the plate assembly is laid on the base assembly. The plate assembly has two modes: global static balance training and local dynamic balance training. By setting up the base assembly and the plate assembly laid on it, the controllable switching of modes is realized. This solves the problem that existing balance training devices are single-function, either only providing static standing training with a fixed support surface or only providing dynamic disturbance training with overall tilt, making it difficult to achieve progressive training from easy to difficult and from static adaptation to dynamic response. This allows the same device to serve elderly people with different balance ability levels and also meets the needs of the same elderly person at different rehabilitation stages, thus improving the applicability of the device. 2. The base assembly of this invention includes an annular concave base, and the plate assembly includes several individual base plates. Several telescopic support rod assemblies are arranged between the individual base plates and the concave bottom surface of the annular concave base. The individual base plates are embedded with longitudinally and transversely arranged net rope units, and the node parts of the net rope units are located directly above the telescopic support rod assemblies. The telescopic support rod assemblies support the node parts of the net rope units, forming a point-matrix independent suspension of the net rope units. Each telescopic support rod assembly constitutes an independent and controllable support point, and the node of the net rope unit on it becomes the key point for force transmission. This allows the device to achieve mechanical control of a local area of ​​the training panel based on the traditional mode of only being able to tilt as a whole, so as to simulate complex road surfaces or create specific unbalanced road conditions for balance training of the elderly. 3. The telescopic support assembly of this invention includes an elastic telescopic inner rod, a hydraulic telescopic inner rod, and a telescopic outer rod. The elastic telescopic inner rod and the hydraulic telescopic inner rod are elastically limited together, and a magnetorheological elastic adjustment unit is provided at the connection point between the elastic telescopic inner rod and the hydraulic telescopic inner rod. The hydraulic telescopic inner rod and the telescopic outer rod are hydraulically limited together. By connecting the elastic telescopic inner rod, the hydraulic telescopic inner rod, and the telescopic outer rod in series, two different limiting and adjustment mechanisms are integrated. The elastic telescopic inner rod and the hydraulic telescopic inner rod are elastically limited together, and a magnetorheological elastic adjustment unit is provided at the connection point. The hydraulic telescopic inner rod and the telescopic outer rod are hydraulically limited together. In the global static balance training mode, the elastic movement between the elastic telescopic inner rod and the hydraulic telescopic inner rod can be suppressed or even locked by controlling the magnetorheological elastic adjustment unit. At the same time, the hydraulic limiting connection provides stable support. At this time, the entire plate assembly is like a stable plane, which is suitable for beginners to perform static standing adaptation training. In the local dynamic balance training mode, the magnetorheological locking can be released, allowing the elastic telescopic inner rod to move elastically within a certain range. The hydraulic connection part can be controlled by an external hydraulic system to control its overall extension and contraction, thereby independently controlling the height and hardness of each support point. This creates an uneven support matrix under the plate assembly, simulating complex road conditions such as ruggedness and softness, allowing for more precise balance training for the elderly. 4. The net rope unit of this invention is composed of several individual net ropes. Each individual net rope includes an outer elastic tube and an inner elastic rod connected inside the tube. The outer elastic tube contains a magnetorheological shaping unit and a triple-locking unit. The shape of the individual net rope is taut and fixed through the locking action of the magnetorheological shaping unit and the triple-locking unit. In the global static balance training mode, the magnetorheological shaping unit, in conjunction with the locking action of the triple-locking unit, keeps the shape of the individual net rope taut and fixed. At this time, the surface of the individual base plate with the embedded net rope tends to be flat and firm. The firmness provides a consistent sense of support; in the local dynamic balance training mode, the solidification effect of the magnetorheological shaping unit can be partially or completely released, allowing the individual net rope to exhibit different deformation characteristics according to the different states of the lower telescopic support component, through the deformation of the outer elastic tube, the bending of the inner elastic rod, and the relative sliding of the triple locking unit. This can transmit and transform the discrete changes of the lower lattice support into continuous and complex surface changes and softness and hardness changes that can be perceived by the feet, improving the realism of simulating real unstable ground and the effectiveness of training. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the base assembly and the single-unit base plate of the present invention; Figure 3 This is a schematic cross-sectional view of the connection between the annular concave base and the U-shaped handrail of the present invention. Figure 4 This is a schematic diagram of the disassembled structure of the base plate of the present invention; Figure 5 This is a schematic diagram of the connection structure between the rope unit and the telescopic support rod assembly of the present invention; Figure 6 This is a schematic diagram of the telescopic strut assembly structure of the present invention; Figure 7 This is a schematic cross-sectional view of the telescopic strut assembly of the present invention; Figure 8 This is a schematic diagram of the elastic telescopic inner rod structure of the present invention; Figure 9 This is a schematic diagram of the cross-sectional structure of the hydraulic telescopic inner rod of the present invention; Figure 10 This is a schematic diagram of the cross-sectional structure of the telescopic outer rod of the present invention; Figure 11 This is a schematic diagram of the cross-sectional structure of the single net rope of the present invention; Figure 12 This is a schematic diagram of a partial cross-sectional structure of the single net rope of the present invention; Figure 13 This is a schematic diagram of the cross-sectional structure of the outer card slot of the present invention.

[0018] In the diagram: 1. Base assembly; 11. Annular concave base; 12. Annular slide groove; 2. Single base plate; 21. Outer frame; 22. Anti-slip pad; 3. U-shaped handrail; 31. Side stop bar; 32. Ball bearing; 33. Limiting ring; 4. Telescopic support assembly; 41. Connecting seat; 42. Elastic telescopic inner rod; 43. Hydraulic telescopic inner rod; 44. Telescopic outer rod; 45. Liquid guide branch pipe; 46. Liquid guide main pipe; 47. Connecting pipe; 48. Connecting groove; 49. Elastic 410. Spring; 411. Limiting ring; 412. Annular inner groove; 413. First magnetorheological fluid; 414. First coil; 415. Second sealing ring; 416. Solenoid valve; 5. Individual mesh rope; 51. Outer elastic tube; 52. Inner elastic rod; 53. Outer locking piece; 54. Inner locking ring; 55. Locking groove; 56. Second coil; 57. Second magnetorheological fluid; 58. Reinforcing rib; 6. Foot pedal; 61. Protective texture. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1 like Figures 1 to 13 As shown, an age-appropriate balance training device includes a base assembly 1 and a plate assembly. The base assembly 1 is arranged in a ring shape, and the plate assembly is laid on the base assembly 1. The plate assembly has two modes: global static balance training and local dynamic balance training. The controllable switching of modes is achieved by setting the base assembly 1 and the plate assembly laid on it. This solves the problem that existing balance training devices are single-function, either only providing static standing training with a fixed support surface or only providing dynamic disturbance training with overall tilt, making it difficult to achieve progressive training from easy to difficult and from static adaptation to dynamic response. This allows the same device to serve elderly people with different balance ability levels and also meets the needs of the same elderly person at different rehabilitation stages, thus improving the applicability of the device. The base assembly 1 includes an annular concave base 11, and the plate assembly includes several individual base plates 2. Several telescopic support rod assemblies 4 are arranged between the individual base plates 2 and the concave bottom surface of the annular concave base 11. The individual base plates 2 are embedded with longitudinally and transversely arranged net rope units, and the node parts of the net rope units are located directly above the telescopic support rod assemblies 4. The telescopic support rod assemblies 4 support the node parts of the net rope units, forming a point-matrix independent suspension of the net rope units. Each telescopic support rod assembly 4 constitutes an independent and controllable support point, and the node of the net rope unit on it becomes the key point for force transmission. This allows the device to achieve mechanical control of a local area of ​​the training panel based on the traditional mode of only being able to tilt as a whole, so as to simulate complex road surfaces or create specific unbalanced road conditions for balance training of the elderly. The telescopic support assembly 4 includes an elastic telescopic inner rod 42, a hydraulic telescopic inner rod 43, and a telescopic outer rod 44. The elastic telescopic inner rod 42 and the hydraulic telescopic inner rod 43 are elastically limited, and a magnetorheological elastic adjustment unit is provided at the connection between the elastic telescopic inner rod 42 and the hydraulic telescopic inner rod 43. The hydraulic telescopic inner rod 43 and the telescopic outer rod 44 are hydraulically limited. The elastic telescopic inner rod 42, the hydraulic telescopic inner rod 43, and the telescopic outer rod 44 are connected in series, integrating two different limiting and adjustment mechanisms. The elastic telescopic inner rod 42 and the hydraulic telescopic inner rod 43 are elastically limited, and a magnetorheological elastic adjustment unit is provided at the connection. The hydraulic telescopic inner rod 43 and the telescopic outer rod 44 are hydraulically limited. In the global static balance training mode, the elastic movement between the elastic telescopic inner rod 42 and the hydraulic telescopic inner rod 43 can be suppressed or even locked by controlling the magnetorheological elastic adjustment unit. At the same time, the hydraulic limit connection provides stable support. At this time, the entire plate assembly is like a stable plane, which is suitable for beginners to carry out static standing adaptation training. In the local dynamic balance training mode, the magnetorheological locking can be released, allowing the elastic telescopic inner rod 42 to move elastically within a certain range. The hydraulic connection part can be controlled by an external hydraulic system to control its overall extension and contraction, thereby independently controlling the height and hardness of each support point. An uneven support matrix is ​​created under the plate assembly to simulate complex road conditions such as ruggedness and softness, allowing for more precise balance training for the elderly. The net rope unit consists of several individual net ropes 5. Each individual net rope 5 includes an outer elastic tube 51 and an inner elastic rod 52 connected inside the tube. The outer elastic tube 51 contains a magnetorheological shaping unit and a triple locking unit. The shape of the individual net rope 5 is taut and fixed through the locking action of the magnetorheological shaping unit and the triple locking unit. In the global static balance training mode, through the action of the magnetorheological shaping unit and the locking action of the triple locking unit, the shape of the individual net rope 5 can be kept taut and fixed. At this time, the surface of the individual base plate 2 with the embedded net rope tends to be flat and hard. It provides a unified sense of support; in the local dynamic balance training mode, the solidification effect of the magnetorheological shaping unit can be partially or completely released, so that the individual net rope 5 can exhibit different deformation characteristics according to the different states of the lower telescopic support rod assembly 4, through the deformation of the outer elastic tube 51, the bending of the inner elastic rod 52 and the relative sliding of the triple locking unit. It can transmit and transform the discrete changes of the lower lattice support into continuous and complex surface changes and soft and hard changes that can be perceived by the feet, thereby improving the realism of simulating real unstable ground and the effectiveness of training.

[0021] Example 2 Improvements based on Example 1: like Figure 1 , Figure 2 and Figure 3 As shown, a U-shaped handrail 3 is movably connected to the base assembly 1. An annular groove 12 is provided on the side of the annular concave base 11. The bottom ends of the two sides of the U-shaped handrail 3 are respectively limited and locked in the annular groove 12. The U-shaped handrail 3 provides stable support for elderly people with weak balance. In particular, the U-shaped handrail 3 is movably connected to the base assembly 1 and is limited and locked in the annular groove 12, so that when the elderly stand on the board assembly, they can push the U-shaped handrail 3 in real time to slide in a circle along the annular groove 12 according to their personal habits, training needs, or center of gravity adjustment. The U-shaped handrail 3 can move with the elderly's body, avoiding the problem that a fixed handrail may restrict the elderly's range of motion or cause awkward posture, making the training process more natural and better able to train the elderly's ability to use auxiliary support in dynamic situations.

[0022] Furthermore, ball bearings 32 are embedded in the bottom ends of the two sides of the U-shaped handrail 3, and the ball bearings 32 abut against the bottom surface of the annular groove 12. Side stops 31 are fixedly connected to the two sides of the U-shaped handrail 3, and limit rings 33 are fixedly connected to the two sides of the U-shaped handrail 3 located in the annular groove 12. The limit rings 33 are movably locked in the annular groove 12. The embedded ball bearings 32 convert sliding friction into rolling friction, so that the elderly need less force to push the U-shaped handrail 3, ensuring that the elderly can easily and promptly move the handrail to their side when they need support. The side stop bar 31 provides lateral obstruction, and the limiting ring 33 constrains the U-shaped handrail 3 within the annular groove 12, ensuring that no matter whether the elderly apply upward pulling, downward pressing, or lateral swaying force to the U-shaped handrail 3, the U-shaped handrail 3 will not disengage from the annular groove 12. Furthermore, the cooperation between the limiting ring 33 and the groove ensures longitudinal locking safety while still allowing the U-shaped handrail 3 to slide freely along the annular trajectory.

[0023] Furthermore, the single base plate 2 is provided with an arc-shaped fan-shaped plate body and a square-shaped plate body. The arc-shaped fan-shaped plate body of the single base plate 2 is located in the arc-shaped areas at both ends of the annular concave base 11, and the square-shaped plate body of the single base plate 2 is located in the straight area in the middle of the annular concave base 11. Several single base plates 2 are connected in a sequential splicing manner. The single base plate 2 includes an outer frame 21 and an anti-slip pad 22. The anti-slip pad 22 is fixedly connected to the frame of the outer frame 21. The two sides of the outer frame 21 are connected to the annular concave base 11. The two side walls are fixedly connected, and two types of single base plates 2 are used to match the geometric shapes of different sections of the annular concave base 11. The ends are arc-shaped and the middle is long and straight, so as to achieve seamless laying between the plate assembly and the base assembly 1. The anti-slip pad 22 is the surface that directly contacts the elderly's feet. Its high coefficient of friction prevents accidents caused by slipping during training. The outer frame 21 provides protection for the internal net rope unit and effectively transfers the load to the annular concave base 11 and the telescopic support rod assembly 4.

[0024] like Figures 4 to 10As shown, the bottom end of the elastic telescopic inner rod 42 is movably inserted into the inner cavity of the hydraulic telescopic inner rod 43. The top end of the elastic telescopic inner rod 42 is fixedly connected to the docking seat 41. The side wall of the docking seat 41 has multiple docking grooves 48. The ends of the individual net ropes 5 are fixedly connected to the docking grooves 48. The individual net ropes 5 connected to the docking seat 41 through the docking grooves 48 are distributed in a cross shape, fixing the ends of the individual net ropes 5 in the docking grooves 48, providing a firm anchoring, and ensuring that the load from the plate assembly and the weight of the elderly can be effectively transferred to the docking seat 41 through the net rope unit during training, and then transferred downward through the elastic telescopic inner rod 42. That is, the individual net ropes 5 radiating from each docking seat 41 extend along the longitudinal and transverse directions respectively and connect with the adjacent docking seats 41, thereby forming a regular and uniform grid-like force structure inside the plate assembly, ensuring that the load can be evenly distributed and transferred in both longitudinal and transverse directions, and avoiding stress concentration.

[0025] Furthermore, the inner wall of the hydraulic telescopic inner rod 43 is provided with an annular inner groove 411. The rod body of the elastic telescopic inner rod 42 is fixedly connected to a limit stop ring 410, and the limit stop ring 410 is located in the annular inner groove 411. The inner wall of the hydraulic telescopic inner rod 43 located on the upper side of the annular inner groove 411 is embedded with a first sealing ring 414. The inner cavity of the hydraulic telescopic inner rod 43 is also provided with a spring 49. The two ends of the spring 49 abut against the bottom end of the elastic telescopic inner rod 42 and the bottom surface of the inner cavity of the hydraulic telescopic inner rod 43. The magnetorheological elastic adjustment unit includes a first coil 413 and a first magnetorheological fluid 412. The first coil 413 is fixedly connected to the inner wall of the annular inner groove 411, and the groove of the annular inner groove 411 is filled with the first magnetorheological fluid 412. When the plate assembly is set to the global static balance training mode, it is electrically connected to the external power supply. In the local dynamic balance training mode, the first coil 413 is not energized, the first magnetorheological fluid 412 is in a free-flowing liquid state, and the limiting ring 410 can move relative to the annular inner groove 411, compressing or releasing the spring 49, thereby allowing the elastic telescopic inner rod 42 to elastically extend and retract relative to the hydraulic telescopic inner rod 43, providing local flexibility to the plate. When switching to the global static mode, the first coil 413 is energized, generating a magnetic field, causing the first magnetorheological fluid 412 surrounding the limiting ring 410 to instantly transform into a near-solid state. The huge shear yield stress generated by this instantly fixes the limiting ring 410 firmly in its current position, thereby locking the elastic travel of the elastic telescopic inner rod 42. At this time, this section of the support rod behaves as a rigid pillar. The first sealing ring 414 ensures the sealing of the upper part of the inner cavity, and the locking method based on the magnetorheological effect is used to achieve rapid switching between the two training modes.

[0026] Furthermore, the bottom end of the elastic telescopic inner rod 42 is movably inserted into the inner cavity of the hydraulic telescopic inner rod 43. A second sealing ring 415 is embedded in the inner wall of the inner cavity of the hydraulic telescopic inner rod 43. The inner cavity of the hydraulic telescopic inner rod 43 located below the elastic telescopic inner rod 42 is filled with hydraulic oil. A connecting pipe 47 connected to the inner cavity is connected to the outer side of the bottom side wall of the hydraulic telescopic inner rod 43. Multiple connecting pipes 47 are connected to the same liquid guiding branch pipe 45. Multiple liquid guiding branch pipes 45 are connected to the same liquid guiding main pipe 46. The inlet end of the liquid guiding main pipe 46 is connected to the external hydraulic pipeline. Each connecting pipe 47 is connected to a solenoid valve 416 that is connected to the signal of the external control terminal. Oil is supplied or returned to the system through the external hydraulic pump station via the liquid guiding main pipe 46 and the liquid guiding branch pipe 45. The control terminal independently controls the opening and closing of each solenoid valve 416, which can precisely control the volume of hydraulic oil flowing into or out of the lower cavity of a specific hydraulic telescopic inner rod 43. Injecting hydraulic oil pushes the hydraulic telescopic inner rod 43, along with its internal elastic telescopic inner rod 42, to extend relative to the fixed telescopic outer rod 44, thereby lifting a local area of ​​the plate above it. Conversely, releasing the hydraulic oil lowers that area, allowing the device to dynamically adjust the height of multiple support points based on a preset program or real-time sensor feedback. This enables the creation of arbitrary three-dimensional terrain surfaces beneath the plate assembly, simulating complex situations such as wavy ground, step edges, or collapsed road surfaces, providing the elderly with an extremely realistic and varied dynamic balance challenge.

[0027] like Figure 4 , Figure 5 , Figures 11 to 13 As shown, the magnetorheological shaping unit inside the outer elastic tube 51 includes a second coil 56 and a second magnetorheological fluid 57. The second coil 56 is wound around the inner elastic rod 52, and the second magnetorheological fluid 57 is wrapped around the outside of the inner elastic rod 52. When the plate assembly is set to the global static balance training mode, the second coil 56 is electrically connected to the external power supply. The second magnetorheological fluid 57 is in a liquid state when the second coil 56 is not energized, resulting in less damping of the bending motion of the inner elastic rod 52. At this time, the net rope as a whole exhibits flexibility mainly based on the bending stiffness of the inner elastic rod 52 and the deformation of the outer elastic tube 51. When the device switches to the global static balance training mode, the second coil 56 is energized, generating a magnetic field that penetrates the second magnetorheological fluid 57, causing it to instantly transform into a near-solid state. This solidified magnetorheological fluid integrates the inner elastic rod 52 and the inner wall of the surrounding outer elastic tube 51 into a composite material beam, making it difficult for it to bend and deform. This makes the entire net rope unit taut and rigid, transforming the single base plate 2 laid on it into a flat standing platform.

[0028] Furthermore, the triple locking unit inside the outer elastic tube 51 includes an outer locking piece 53, an inner locking ring 54, and a locking groove 55. Multiple sets of outer locking pieces 53 are arranged in a ring at equal intervals, and each set of outer locking pieces 53 is fixedly connected to the inner wall of the outer elastic tube 51. A reinforcing rib 58 is embedded between the outer locking piece 53 and the outer elastic tube 51. The inner locking ring 54 is fixedly sleeved on the body of the inner elastic rod 52. The inner wall of the outer elastic tube 51 also has... Several locking slots 55 are arranged sequentially and alternately with the connection positions of the outer locking pieces 53. The connection positions of the inner locking ring 54 and the outer locking pieces 53 are staggered. The triple locking unit provides a multi-level deformation constraint mechanism for the single mesh rope 5 in dynamic mode when the second magnetorheological fluid 57 is not cured. When the single mesh rope 5 bends due to the movement of the lower support point or the pressure of the foot, the inner elastic rod 52 will displace or deflect relative to the outer elastic tube 51. Since the circumferential positions of the inner locking ring 54 and the outer locking pieces 53 are staggered, they can slide past each other in the early stage of deformation. However, when the deformation reaches a certain angle or displacement, the edge of the inner locking ring 54 will abut against the outer locking piece 53 or slide into the opposite locking slot 55. This contact or locking action creates a noticeable force abrupt change, requiring greater force to disengage it from its current position and continue deforming, similar to stepping on a small bump or stepping over a small obstacle. The reinforcing ribs 58 ensure that the outer locking piece 53 has sufficient strength to withstand these locking forces. By designing locking structures with different spacing, shapes, and strengths, complex tactile feedback can be simulated, such as the granular feel of a gravel road or the undulating feel of a cobblestone road. In the static mode during the curing of the second magnetorheological fluid 57, the strong adhesive force provided by the second magnetorheological fluid 57 rigidifies the entire rope unit.

[0029] like Figure 1 As shown, a foot pedal 6 with an inclined surface is provided on one side of the base assembly 1. The inclined surface of the foot pedal 6 is provided with protective grooves 61. The inclined structure of the foot pedal 6 reduces the stride and leg height required to climb onto the platform, allowing the elderly to steadily step onto the platform body. Similarly, when descending from the platform, the inclined foot pedal 6 also provides a safer route, avoiding the impact on joints or falls caused by instability when jumping directly down. The protective grooves 61 are engraved on the inclined surface, and the dense grooves can significantly increase the coefficient of friction, ensuring that the soles of the feet can firmly grip the ground in any position.

[0030] It should be noted that the U-shaped handrail 3 provides the first layer of self-stabilization in case of falls or other dangerous situations for the elderly. Since the base component 1 of this device is ring-shaped, medical personnel can stand inside the ring during balance training to monitor the elderly's progress, providing the second layer of human protection. To ensure absolute safety for the elderly during use of the device, this invention integrates a third layer of safety monitoring and protection mechanism within the external control terminal, including status monitoring and fault response, control mode safety grading, and power failure mechanical protection. The condition monitoring and fault-tolerant response mechanism includes distributed pressure sensors, displacement sensors, current / voltage monitoring circuits, and a communication and interface module. Pressure and displacement sensors monitor the load and height information of each support point in real time. The current / voltage monitoring circuit monitors the operating status of each solenoid valve and coil in real time, collecting load, height, and electrical health status data for each support point, forming the data basis for fault diagnosis. The communication and interface module enables communication between the internal sensor network and the external host, achieving high-speed data exchange between subsystems and receiving commands such as mode switching and program selection from the external control terminal. When the peripheral control terminal detects an abnormal change in pressure data at any support point or a loss of current signal from any solenoid valve or coil, it determines it as a single-point fault and will initiate a global locking command within milliseconds. Specifically, this includes: immediately outputting the maximum locking current to all first coils 413 and second coils 56 that are still connected, so that the magnetorheological fluid in most areas of the platform is solidified, aiming to freeze the overall shape of the platform instantly and prevent deformation from expanding; at the same time, closing all solenoid valves 416, cutting off the connection between the fluid guide branch pipe 45 and the fluid guide main pipe 46, and using the self-locking characteristic of the hydraulic circuit to maintain the current oil pressure and prevent the support point from becoming unstable and falling.

[0031] The control mode safety grading mechanism is activated under the local dynamic equilibrium training mode. To reduce control complexity and real-time response risks, the control mode safety grading mechanism provides two optional training control strategies: Preset Terrain Sequence Mode (Priority Safety Mode): The external control terminal pre-stores multiple sets of mechanically verified "3D terrain" data sequences, such as simulating slow waves, gentle slopes, and regular uneven surfaces. During training, the platform smoothly, slowly, and predictably transitions between these terrain sequences according to a preset program, with time units measured in seconds. This mode avoids the delays and misjudgments that may arise from high-frequency feedback control based on real-time plantar pressure, significantly improving the safety and controllability of the training process, and is especially suitable for the initial adaptation phase for users. Adaptive Interactive Mode (Advanced Mode): Based on thorough training in the priority safety mode, this mode can be selectively activated to dynamically respond according to real-time collected plantar pressure distribution data. Even in this mode, the control algorithm undergoes rigorous filtering and smoothing to ensure that the platform response is gentle, gradual, and in line with the physiological laws of human balance, preventing sudden and violent shocks.

[0032] The status monitoring and fault safety response mechanism and the control mode safety grading mechanism can adopt the approach described in the railway safety control system and method based on a single CPU and satisfying the two-out-of-two requirement, disclosed in CN117762005A. This involves the control board running two mutually identical safety programs in each cycle to process two safety inputs respectively, and then performing a safety comparison of the results of the two twin programs to form a safety output. This prevents safety failures caused by single-point failures of external inputs, thus completing the two-out-of-two function for controlling external devices. The two twin programs, by employing heterogeneous key variable values, different code and memory allocations, and comparison of calculation results, can prevent operational failures caused by single-point hardware failures of the control board. This efficiently realizes the system's software heterogeneity and meets the system's safety requirements.

[0033] The power failure mechanical protection mechanism includes a normally closed electromagnetic mechanical lock integrated at key relative movement positions of the telescopic outer rod 44 and the hydraulic telescopic inner rod 43 in each telescopic strut assembly 4, or on the mounting base of the annular concave base 11. This normally closed electromagnetic mechanical lock can be the normally closed electromagnetic lock involved in the elevator door system disclosed in announcement number CN208327076U. The normally closed electromagnetic mechanical lock serves as the ultimate safety guarantee after the failure of the magnetorheological fluid locking, solving the core safety hazard of the aging-friendly equipment. When the mechanical lock is energized, the locking tongue retracts, allowing the hydraulic rod to extend and retract freely. When the system is powered off or receives an emergency locking command, the electromagnet is de-energized, and the locking tongue automatically ejects under the action of the internal spring and physically engages in the corresponding lock hole or ratchet, achieving absolute mechanical rigid locking. For example, when the global static balance training mode is activated, while the magnetorheological elastic adjustment unit and the magnetorheological shaping unit are energized and solidified, the power supply to the electromagnetic mechanical lock is simultaneously cut off, causing it to enter a mechanically locked state. This creates a dual, parallel safety barrier consisting of an electrically fixed lock and a mechanically disabled lock. Even in the extreme case of a complete power outage, the magnetorheological fluid returns to a liquid state, and the mechanical lock is reliably locked, ensuring that the platform maintains a rigid support state and does not suddenly soften, fundamentally eliminating the risk of falls caused by power outages.

[0034] Working principle: The elderly climb onto the device platform via the inclined foot pedal 6 with protective texture 61. The elderly can choose to stand or walk on the surface of the non-slip rubber mat 22. The device has two modes: global static balance exercise and local dynamic balance exercise. When the global static balance training mode is selected, the magnetorheological elastic adjustment unit in all telescopic support rod assemblies 4 is first energized, and the first coil 413 is powered to cause the first magnetorheological fluid 412 in the annular inner groove 411 around it to instantly solidify into a near-solid state under the action of the magnetic field. This firmly locks the limiting ring 410 at the bottom of the elastic telescopic inner rod 42, preventing it from compressing the internal spring 49, so that there is no relative elastic displacement between the elastic telescopic inner rod 42 and the hydraulic telescopic inner rod 43. At the same time, the magnetorheological shaping unit in all individual net ropes 5 is energized, that is, the second coil 56 wound on the inner elastic rod 52 is powered to solidify the second magnetorheological fluid 57 wrapped around it. This combines the inner elastic rod 52, the solidified second magnetorheological fluid 57 and the inner wall of the outer elastic tube 51 into a rigid whole. Then, with the mechanical engagement of the outer locking piece 53, the inner locking ring 54 and the locking groove 55 in the triple locking unit, the entire net rope unit is tightened and shaped. Under this dual effect, all telescopic strut components 4 become rigid pillars, all net rope units become rigid trusses, and the entire plate assembly thus forms a stable, flat and hard standing plane, suitable for elderly people with extremely weak balance to carry out preliminary static adaptive training. When switching to the local dynamic balance training mode, all first coils 413 and second coils 56 are de-energized, and the first magnetorheological fluid 412 and second magnetorheological fluid 57 return to a liquid state. At this time, the elastic telescopic inner rod 42 can move elastically in the inner cavity of the hydraulic telescopic inner rod 43, and the individual net rope 5 can also bend and deform within a certain range. According to the preset program, the volume of hydraulic oil flowing into or out of the bottom cavity of each hydraulic telescopic inner rod 43 through the main guide pipe 46 and the branch guide pipe 45 is adjusted by the solenoid valve 416 connected to the connecting pipe 47 of each telescopic support rod assembly 4, thereby driving the hydraulic telescopic inner rod 43 together with the elastic telescopic inner rod 42 inside it to extend or retract as a whole, realizing independent programmed control of the height of each support point. The upper docking seat 41 of these independently moving parts will push or pull the ends of the peripheral individual net ropes 5 that are fixedly connected to it in a cross shape, forcing these net ropes to bend. Since the magnetorheological fluid inside the net rope is in a liquid state at this time, the inner elastic rod 52 and the outer elastic tube 51 can undergo relative displacement, forming a dynamically changing three-dimensional terrain map on the lower surface of the plate assembly. This map is transmitted to the elderly through the upper single base plate 2, providing a highly realistic simulation of complex road surfaces that can be perceived by the elderly's feet, such as rugged, inclined, soft, or undulating conditions. This allows for high-intensity and highly targeted training of the elderly's dynamic balance, ankle stability, and proprioception. Throughout the training process, the elderly can grasp the U-shaped handrail 3 that is connected to the annular groove 12 of the base component 1, providing movable auxiliary support. The side bar 31 prevents the hand from slipping, maximizing the freedom and effectiveness of the training while ensuring safety.

[0035] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0036] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An age-appropriate balance training device, comprising a base assembly (1) and a plate assembly, characterized in that: The base assembly (1) is arranged in a ring shape, and the plate assembly is laid on the base assembly (1). The plate assembly is provided with two modes: global static balance training and local dynamic balance training. The base assembly (1) includes an annular concave base (11), the plate assembly includes several individual base plates (2), and several telescopic support rod assemblies (4) are provided between the individual base plates (2) and the concave bottom surface of the annular concave base (11). The individual base plates (2) are embedded with longitudinally and transversely arranged net rope units, and the node of the net rope unit is located directly above the telescopic support rod assembly (4). The telescopic strut assembly (4) includes an elastic telescopic inner rod (42), a hydraulic telescopic inner rod (43), and a telescopic outer rod (44). The elastic telescopic inner rod (42) and the hydraulic telescopic inner rod (43) are elastically limited and connected. A magnetorheological elastic adjustment unit is provided at the connection between the elastic telescopic inner rod (42) and the hydraulic telescopic inner rod (43). The hydraulic telescopic inner rod (43) and the telescopic outer rod (44) are hydraulically limited and connected. The net rope unit is composed of several individual net ropes (5). Each individual net rope (5) includes an outer elastic tube (51) and an inner elastic rod (52) connected inside the tube. The outer elastic tube (51) is provided with a magnetorheological shaping unit and a triple locking unit. The shape of the individual net rope (5) is taut and shaped by the locking cooperation between the magnetorheological shaping unit and the triple locking unit.

2. The age-appropriate balance training device according to claim 1, characterized in that: The base assembly (1) is movably connected to a U-shaped handrail (3), and an annular groove (12) is provided on the side of the annular concave base (11). The bottom ends of the two sides of the U-shaped handrail (3) are respectively limited and locked in the annular groove (12).

3. The age-appropriate balance training device according to claim 2, characterized in that: The bottom ends of the two sides of the U-shaped handrail (3) are embedded with ball bearings (32), and the ball bearings (32) abut against the bottom surface of the annular groove (12). The two sides of the U-shaped handrail (3) are respectively fixedly connected with side stops (31). The two sides of the U-shaped handrail (3) located in the annular groove (12) are fixedly connected with limit rings (33), and the limit rings (33) are movably locked in the annular groove (12).

4. The age-appropriate balance training device according to claim 1, characterized in that: The single base plate (2) is provided with an arc-shaped fan-shaped plate body and a square-shaped plate body. The single base plate (2) with the arc-shaped fan-shaped plate body is located in the arc-shaped area at both ends of the annular concave base (11), and the single base plate (2) with the square-shaped plate body is located in the straight area in the middle of the annular concave base (11). Several single base plates (2) are connected in a sequential splicing manner. The single base plate (2) includes an outer frame (21) and an anti-slip pad (22). The anti-slip pad (22) is fixedly connected inside the frame of the outer frame (21). The two sides of the outer frame (21) are fixedly connected to the two side groove walls of the annular concave base (11).

5. The age-appropriate balance training device according to claim 1, characterized in that: The bottom end of the elastic telescopic inner rod (42) is movably inserted into the inner cavity of the hydraulic telescopic inner rod (43). The top end of the elastic telescopic inner rod (42) is fixedly connected to a docking seat (41). The side wall of the docking seat (41) is provided with multiple docking grooves (48). The end of the single net rope (5) is fixedly connected in the docking groove (48), and the single net ropes (5) connected to the docking seat (41) through the docking groove (48) are distributed in a cross shape.

6. The age-appropriate balance training device according to claim 5, characterized in that: The inner wall of the hydraulic telescopic inner rod (43) is provided with an annular inner groove (411). The rod body of the elastic telescopic inner rod (42) is fixedly connected to a limiting ring (410), and the limiting ring (410) is located in the annular inner groove (411). The inner wall of the hydraulic telescopic inner rod (43) located on the upper side of the annular inner groove (411) is embedded with a first sealing ring (414). The inner cavity of the hydraulic telescopic inner rod (43) is also provided with a spring (49). The two ends of the spring (49) are... The magnetorheological elastic adjustment unit is positioned between the bottom end of the elastic telescopic inner rod (42) and the bottom surface of the inner cavity of the hydraulic telescopic inner rod (43). The magnetorheological elastic adjustment unit includes a first coil (413) and a first magnetorheological fluid (412). The first coil (413) is fixedly connected to the inner wall of the annular inner groove (411), and the groove of the annular inner groove (411) is filled with the first magnetorheological fluid (412). The first coil (413) is electrically connected to the external power supply when the plate assembly is set to the global static balance exercise mode.

7. The age-appropriate balance training device according to claim 6, characterized in that: The bottom end of the elastic telescopic inner rod (42) is movably inserted into the inner cavity of the hydraulic telescopic inner rod (43). The inner wall of the hydraulic telescopic inner rod (43) is embedded with a second sealing ring (415). The inner cavity of the hydraulic telescopic inner rod (43) located below the elastic telescopic inner rod (42) is filled with hydraulic oil. The outer side of the bottom side wall of the hydraulic telescopic inner rod (43) is connected to a connecting pipe (47) that communicates with its inner cavity. Multiple connecting pipes (47) are connected to the same liquid guiding branch pipe (45). Multiple liquid guiding branch pipes (45) are connected to the same liquid guiding main pipe (46). The liquid inlet end of the liquid guiding main pipe (46) is connected to an external hydraulic pipeline. The body of each connecting pipe (47) is connected to a solenoid valve (416) that is connected to an external control terminal signal.

8. The age-appropriate balance training device according to claim 1, characterized in that: The magnetorheological shaping unit inside the outer elastic tube (51) includes a second coil (56) and a second magnetorheological fluid (57). The second coil (56) is wound around the body of the inner elastic rod (52), and the second magnetorheological fluid (57) is wrapped around the outside of the body of the inner elastic rod (52). The second coil (56) is electrically connected to the external power supply when the plate assembly is set to the global static balance training mode.

9. The age-appropriate balance training device according to claim 1, characterized in that: The triple locking unit inside the outer elastic tube (51) includes an outer locking piece (53), an inner locking ring (54), and a locking groove (55). The outer locking pieces (53) are arranged in multiple sets in a ring shape with equal spacing. Each set of the outer locking pieces (53) is fixedly connected to the inner wall of the outer elastic tube (51). A reinforcing rib (58) is embedded between the outer locking piece (53) and the outer elastic tube (51). The inner locking ring (54) is fixedly sleeved on the rod body of the inner elastic rod (52). The inner wall of the outer elastic tube (51) is also provided with several locking grooves (55). The opening position of the locking groove (55) and the connection position of the outer locking piece (53) are arranged alternately. The connection position of the inner locking ring (54) and the outer locking piece (53) is staggered.

10. The age-appropriate balance training device according to claim 1, characterized in that: The base assembly (1) is provided with a foot pedal (6) on one side, and protective texture (61) is provided on the inclined surface of the foot pedal (6).

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