Vestibular tilt-translation stimulation device

Abstract

The invention relates to the technical field of vestibular stimulation training, and provides a vestibular tilt-translation stimulation device which comprises an electric swivel chair module used for bearing a subject; the electric swivel chair module is movably arranged on the linear track module, and the linear track module is used for driving the electric swivel chair module to drive a subject to do reciprocating linear motion along a linear track so as to provide linear acceleration stimulation; the tilting module is connected between the electric swivel chair module and the linear track module and is used for driving the electric swivel chair module to drive the subject to perform rolling tilting motion and / or pitching tilting motion; and the control module is electrically connected with the linear track module and the inclination module and is configured to independently or cooperatively control the linear track module and the inclination module to operate. The vestibular tilt-translation stimulation device builds a professional vestibular sensing distinguishing stimulation and training platform for special military operation crowds and clinical patients, and assists the special military operation crowds and the clinical patients in improving vestibular function adaptation and sensing distinguishing ability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vestibular stimulation training, in particular to a vestibular tilt-translation stimulation device. BACKGROUND

[0002] The vestibular system plays a key role in human posture control, balance maintenance and spatial orientation. Accurate vestibular perception is essential for the central nervous system to integrate multi-sensory information and complete motor control tasks. Currently, the research and training of vestibular function usually rely on various motion stimulation devices to simulate different motion patterns, so as to evaluate or improve the perception ability of the vestibular system.

[0003] Existing vestibular stimulation devices are mainly divided into rotation type and translation type. The rotation type device is mainly represented by a rotating chair, which stimulates the horizontal semicircular canal by rotating around the vertical axis, but it is difficult to effectively stimulate the vertical semicircular canal and the otolith organ (ellipsoid sac, spherical sac). The translation type device provides linear acceleration stimulation through linear motion, mainly acting on the ellipsoid sac, but the motion mode is single and cannot simulate the change of tilt posture at the same time. Although some complex platforms (such as six-degree-of-freedom motion platforms and multi-axis simulators) can realize multi-dimensional motion, such devices usually have complex structure, high control system requirements, large floor space and high manufacturing cost, which are difficult to popularize and apply in ordinary laboratories or clinical environments.

[0004] In addition, most of the existing devices can only provide single mode stimulation, lack the ability to flexibly combine tilt motion and translation motion, and are difficult to simulate complex multi-mode motion scenarios in real environments, limiting the research and training effect of the comprehensive perception function of the vestibular system. Therefore, there is an urgent need for a device with relatively simple structure, flexible control, and the ability to independently or cooperatively provide tilt and translation stimulation to meet the multi-dimensional needs of vestibular function research and perception training. SUMMARY

[0005] In order to solve at least one of the above technical problems, the present application provides a vestibular tilt-translation stimulation device.

[0006] Therefore, the present application provides a vestibular tilt-translation stimulation device, which comprises: an electric rotating chair module for carrying a subject; a linear track module, the electric rotating chair module is movably arranged on the linear track module, the linear track module is used to drive the electric rotating chair module to drive the subject to perform reciprocating linear motion along the linear track to provide linear acceleration stimulation; a tilt module connected between the electric rotating chair module and the linear track module, used to drive the electric rotating chair module to drive the subject to perform roll tilt motion and / or pitch tilt motion; and a control module electrically connected with the linear track module and the tilt module respectively, the control module is configured to independently or cooperatively control the linear track module and the tilt module to operate.

[0007] In some feasible implementations, the electric swivel chair module includes: a seat for carrying the subject; a headrest support mechanism connected to the upper part of the seat for supporting the subject's head; adjustable armrests located on both sides of the seat for supporting the subject's arms; safety straps located on the seat for securing the subject to the seat; an adjustable backrest rotatably connected to the seat for adjusting the subject's backrest angle; and a footrest located under the seat for supporting the subject's feet.

[0008] In some feasible implementations, the vestibular tilt-translation stimulation device further includes: a fixation mechanism disposed below the seat for releasably fixing the seat to the tilt module or the linear track module; wherein the electric swivel chair module is configured to: rotate relative to the linear track module to change the orientation of the seat when the fixation mechanism is released; and fix the seat in the rotated position when the fixation mechanism is locked.

[0009] In some feasible implementations, the fixing mechanism includes: an upper fixing seat, fixedly connected to the bottom of the seat; a lower fixing seat, fixedly connected to the tilting module or linear track module, the lower fixing seat and the upper fixing seat being coaxially arranged and rotatably engaged; and a locking handle, rotatably disposed on the lower fixing seat or the upper fixing seat, the locking handle having a locking end and an operating end; wherein, when the locking handle is rotated to the locking position, the locking end presses against the mating surfaces of the upper fixing seat and the lower fixing seat, so that the upper fixing seat and the lower fixing seat are relatively fixed; when the locking handle is rotated to the releasing position, the locking end releases the upper fixing seat, allowing the upper fixing seat to rotate relative to the lower fixing seat.

[0010] In some feasible implementations, the linear track module includes: a base; a guide rail disposed on the base and extending along the length of the base; a linear motor disposed on the base and connected to the electric swivel chair module for driving the electric swivel chair module to move along the guide rail; a powertrain electrically connected to the linear motor for providing drive current and control commands for the operation of the linear motor; and a sensing system disposed on the base for monitoring the displacement, velocity, and acceleration of the electric swivel chair module.

[0011] In some feasible implementations, the linear track module also includes a limiting buffer mechanism, mounted on the base and located at both ends of the guide rail, for providing physical blocking and / or buffering limit when the electric swivel chair module moves to the end of its stroke.

[0012] In some feasible implementations, the limiting and buffering mechanism includes: a limiting block disposed on the base and located at the end of the guide rail; and a buffer disposed on the limiting block for providing cushioning when the electric swivel chair module contacts the limiting block.

[0013] In some feasible implementations, the tilting module includes: a mounting base disposed on the linear track module; a drive motor disposed on the mounting base; a reducer, the input end of which is connected to the output shaft of the drive motor, and the output end of which is connected to the bottom of the electric swivel chair module, for driving the electric swivel chair module to perform roll tilting motion and / or pitch tilting motion; a limiting mechanism disposed on the mounting base for limiting the tilt angle of the electric swivel chair module in the roll direction and / or pitch direction; and a sensing mechanism disposed on the electric swivel chair module for monitoring the tilt angle and angular velocity of the electric swivel chair module.

[0014] In some feasible implementations, the tilting module also includes a mechanical zero-position calibration mechanism disposed between the mounting base and the output end of the reducer; the mechanical zero-position calibration mechanism includes a calibration groove and a retractable calibration pin for inserting the calibration pin into the calibration groove when the electric swivel chair module is in the initial horizontal position to achieve mechanical zero-position locking and calibration.

[0015] In some feasible implementations, the control module includes: a computer for running control software, the computer having a human-machine interface; a control box for communicating with the computer via a network cable and for electrically connecting to the linear track module and the tilting module via cables respectively; a multi-axis motion control card, located inside the control box, for generating multi-axis motion control signals according to instructions from the computer to independently or collaboratively control the operation of the linear track module and the tilting module; and an emergency stop button located on the control box panel.

[0016] Compared with related technologies, this application has the following technical advantages: The vestibular tilt-translation stimulation device provided in this application can function as an independent stimulation source, acting separately on the anterior semicircular canals, posterior semicircular canals, and utricle of the vestibule to generate corresponding angular and linear velocities; it can also be combined to provide comprehensive stimulation to these vestibular structures, thereby generating angular and linear velocities. Specifically, it includes an electric swivel chair module, a linear track module, a tilting module, and a control module. The electric swivel chair module stably supports the subject, ensuring a fixed position throughout the stimulation process, reducing external interference factors, and improving the accuracy and reliability of experimental data.

[0017] This vestibular tilt-translation stimulation device overcomes the limitations of traditional single-mode stimulation. The control module can independently control the linear track module to generate linear acceleration, simulating translational motion in the forward / backward or left / right directions. At the same time, it can independently control the tilt module to move the subject in a rolling or pitching motion.

[0018] Furthermore, under the control of the control module, the linear track module and the tilting module can operate in tandem. When the seat of the electric swivel chair module is parallel to the track of the linear track module, the rolling tilting stimulation can be coupled with the linear stimulation that reciprocates along the linear track. When the seat is rotated 90° and perpendicular to the linear track, the pitching tilting stimulation can be coupled with the linear stimulation that reciprocates along the linear track.

[0019] In practical applications, the vestibular tilt-translation stimulation device provided in this application has a small footprint, an effective linear track stimulation stroke of less than 1.2 meters, and can generate pitch and roll angle and angular velocity stimulation with peak amplitudes up to 30°. It can achieve velocity stimulation along the x, y, and z axes of the human body with peak amplitudes up to 50 cm. It can achieve independent pitch rotation, tilt rotation, and linear stimulation along the x and y axes of the human body, and can couple pitch rotation with y-axis linear stimulation as well as tilt rotation with x-axis stimulation. It provides a vestibular perception discrimination stimulation and training platform for special military personnel and clinical patients.

[0020] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A schematic diagram of the vestibular tilt-translation stimulation device in one embodiment of this application is shown; Figure 2 A schematic diagram of the vestibular tilt-translation stimulation device in yet another embodiment of this application is shown; Figure 3 A schematic diagram of the headrest support mechanism in one embodiment of this application is shown; Figure 4 A schematic diagram of the control module in one embodiment of this application is shown.

[0022] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1 Electric swivel chair module, 2 Linear rail module, 3 Tilting module, 4 Control module, 5 Seat, 6 Headrest support mechanism, 7 Adjustable armrests, 8 Safety straps, 9 Adjustable backrest, 10 Footrest, 11 Fixing mechanism, 12 Limiting and buffering mechanism, 13 Base, 14 Linear motor, 15 Guide rail, 16 Powertrain, 17 Computer, 18 Control box, 19 Human-machine interface. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0025] The following reference Figures 1 to 4 This application describes a vestibular tilt-translation stimulation device according to some embodiments.

[0026] like Figure 1 , Figure 2 and Figure 4 As shown, this application provides a vestibular tilt-translation stimulation device, comprising: an electric swivel chair module 1 for carrying a subject; a linear track module 2, wherein the electric swivel chair module 1 is movably mounted on the linear track module 2, and the linear track module 2 is used to drive the electric swivel chair module 1 to move the subject in reciprocating linear motion along the linear track to provide linear acceleration stimulation; a tilt module 3 connected between the electric swivel chair module 1 and the linear track module 2, for driving the electric swivel chair module 1 to move the subject in rolling tilt motion and / or pitch tilt motion; and a control module 4 electrically connected to the linear track module 2 and the tilt module 3 respectively, and the control module 4 is configured to independently or collaboratively control the operation of the linear track module 2 and the tilt module 3.

[0027] The vestibular tilt-translation stimulation device provided in this application can function as an independent stimulation source, acting separately on the anterior semicircular canals, posterior semicircular canals, and utricle of the vestibule to generate corresponding angular and linear velocities; it can also be combined to provide comprehensive stimulation to the aforementioned vestibular structures, thereby generating angular and linear velocities. Specifically, it includes an electric swivel chair module 1, a linear track module 2, a tilt module 3, and a control module 4. The electric swivel chair module 1 stably supports the subject, ensuring a fixed position throughout the stimulation process, reducing external interference factors, and improving the accuracy and reliability of experimental data.

[0028] This vestibular tilt-translation stimulation device breaks through the limitations of traditional single-mode stimulation. The control module 4 can independently control the linear track module 2 to generate linear acceleration, simulating translational motion in the forward / backward or left / right directions. At the same time, it can independently control the tilt module 3 to move the subject in a rolling or pitching motion.

[0029] Furthermore, under the control of the control module 4, the linear track module 2 and the tilting module 3 can also operate in tandem. When the seat 5 of the electric swivel chair module 1 is parallel to the track of the linear track module 2, the coupling of rolling tilting stimulation and linear stimulation reciprocating along the linear track can be achieved. When the seat 5 rotates 90° and is perpendicular to the linear track, the coupling of pitching tilting stimulation and linear stimulation reciprocating along the linear track can be achieved.

[0030] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments provided in this application, the electric swivel chair module 1 includes: a seat 5 for carrying a subject; a headrest support mechanism 6 connected to the upper part of the seat 5 for supporting the subject's head; adjustable armrests 7 disposed on both sides of the seat 5 for supporting the subject's arms; a safety strap 8 disposed on the seat 5 for securing the subject to the seat 5; an adjustable backrest 9 rotatably connected to the seat 5 for adjusting the subject's backrest angle, which can recline up to 65°; and a footrest 10 disposed under the seat 5 for supporting the subject's feet.

[0031] In this embodiment, the electric swivel chair module 1 includes a seat 5, a headrest support mechanism 6, adjustable armrests 7, safety straps 8, an adjustable backrest 9, and a footrest 10. The headrest support mechanism 6 is connected to the upper part of the seat 5, providing stable support for the subject's head, reducing fatigue during prolonged experiments, and fixing the head to minimize stimulation from non-stimulation directions. The adjustable armrests 7 are located on both sides of the seat 5, facilitating arm placement for the subject and increasing comfort. The footrest 10 is located under the seat 5, supporting the subject's feet and ensuring appropriate pressure points for all parts of the body, guaranteeing a comfortable experience for the subject during the experiment.

[0032] The safety harness 8 is a four-point safety harness, which is set on the seat 5 to firmly fix the subject and prevent the subject from being dangerous due to body swaying during the reciprocating linear motion of the linear track module 2 and the rolling, pitching and tilting motion of the tilting module 3, thus ensuring the safe conduct of the experiment.

[0033] The adjustable backrest 9 is rotatably connected to the seat 5, allowing for flexible adjustment of the backrest angle according to the body shape of different subjects and experimental requirements. This meets the needs of diverse experimental scenarios, improves the versatility and practicality of the device, and provides better hardware support for vestibular tilt-translation stimulation experiments.

[0034] like Figure 2As shown, in some embodiments provided in this application, the vestibular tilt-translation stimulation device further includes: a fixing mechanism 11, disposed below the seat 5, for releasably fixing the seat 5 to the tilt module 3 or the linear track module 2; wherein, the electric swivel chair module 1 is configured to: when the fixing mechanism 11 is released, it can rotate relative to the linear track module 2 to change the orientation of the seat 5; when the fixing mechanism 11 is locked, it fixes the seat 5 in the rotated position.

[0035] In this embodiment, the vestibular tilt-translation stimulation device also includes a fixing mechanism 11. When the fixing mechanism 11 is released, the electric swivel chair module 1 can rotate relative to the linear track module 2, allowing the operator to easily change the orientation of the seat 5 according to experimental needs. This enables the device to simulate motion stimulation scenarios in more different directions, enriching the variables and possibilities of the experiment and providing strong support for a comprehensive study of the vestibular system's response to motion stimulation in different directions.

[0036] After adjusting the orientation of seat 5, locking the fixing mechanism 11 quickly and securely fixes seat 5 in its rotated position. This ensures that seat 5 will not accidentally shake or shift during the subsequent reciprocating linear motion of linear track module 2 and the rolling, pitching, and tilting motion of tilting module 3, guaranteeing the stability and accuracy of the experiment and reducing experimental errors caused by changes in the position of seat 5.

[0037] In some embodiments provided in this application, the fixing mechanism 11 includes: an upper fixing seat, fixedly connected to the bottom of the seat 5; a lower fixing seat, fixedly connected to the tilting module 3 or the linear track module 2, the lower fixing seat and the upper fixing seat being coaxially arranged and rotatably engaged; and a locking handle, rotatably disposed on the lower fixing seat or the upper fixing seat, the locking handle having a locking end and an operating end; wherein, when the locking handle is rotated to the locking position, the locking end presses against the mating surfaces of the upper fixing seat and the lower fixing seat, so that the upper fixing seat and the lower fixing seat are relatively fixed; when the locking handle is rotated to the releasing position, the locking end releases the upper fixing seat, so that the upper fixing seat can rotate relative to the lower fixing seat.

[0038] In this embodiment, the fixing mechanism 11 includes an upper fixing seat, a lower fixing seat, and a locking handle. Locking and releasing functions can be easily achieved by rotating the operating end of the locking handle. When it is necessary to adjust the orientation of the seat 5, the locking handle is turned to the loose position, allowing the upper fixing seat to rotate freely relative to the lower fixing seat, quickly changing the orientation of the seat 5. After adjustment, turning it to the locking position secures the seat. The operation is simple and intuitive, saving experimental preparation time and improving experimental efficiency.

[0039] When the locking handle is in the locked position, the locking end presses against the mating surfaces of the upper and lower fixed seats, using friction to make them tightly joined together. This effectively prevents the seat 5 from shaking or shifting during the reciprocating motion of the linear track module 2 and the tilting motion of the tilting module 3, ensuring the stability and accuracy of the experiment and providing a solid foundation for obtaining reliable experimental data.

[0040] like Figure 2 As shown, in some embodiments provided in this application, the linear track module 2 includes: a base 13; a guide rail 15, disposed on the base 13 and extending along the length direction of the base 13; a linear motor 14, disposed on the base 13 and connected to the electric swivel chair module 1 for driving the electric swivel chair module 1 to move along the guide rail 15; a power assembly 16, electrically connected to the linear motor 14 for providing drive current and control commands for the operation of the linear motor 14; and a sensing system, disposed on the base 13 for monitoring the displacement, speed, and acceleration of the electric swivel chair module 1.

[0041] In this embodiment, the linear track module 2 includes a base 13, a guide rail 15, a linear motor 14, a powertrain 16, and a sensing system. The linear motor 14 is mounted on the base 13 and is connected to the electric swivel chair module 1 via a transmission connection. It can directly convert electrical energy into mechanical energy for linear motion, driving the electric swivel chair module 1 to move along the guide rail 15. This driving method avoids intermediate links in traditional mechanical transmission, reduces energy loss and transmission errors, and makes the motion more precise and stable. It can accurately simulate various required linear acceleration stimuli, providing reliable motion input for vestibular system research.

[0042] The powertrain 16 is electrically connected to the linear motor 14, providing it with drive current and control commands. This allows the operating parameters of the linear motor 14, such as speed and acceleration, to be flexibly adjusted according to experimental needs, meeting the diverse requirements for linear motion in different experimental scenarios and enhancing the adaptability and flexibility of the device.

[0043] The sensing system, located on the base 13, monitors the displacement, velocity, and acceleration of the electric swivel chair module 1 in real time. This data is fed back to the control module 4, enabling precise control and real-time adjustment of the motion process, ensuring the accuracy and stability of the experiment, and providing detailed and accurate motion information for subsequent data analysis and research. The sensing system includes a rotary encoder, an optical / magnetic scale, a potentiometer, and an accelerometer.

[0044] like Figure 2 As shown, in some embodiments provided in this application, the linear track module 2 further includes: a limiting buffer mechanism 12, which is disposed on the base 13 and located at both ends of the guide rail 15, for providing physical blocking and / or buffering limiting when the electric swivel chair module 1 moves to the end of its stroke.

[0045] In this embodiment, the linear track module 2 also includes a limiting buffer mechanism 12. When the electric swivel chair module 1 moves to the end of its stroke along the guide rail 15, the limiting buffer mechanism 12 can provide timely physical obstruction to prevent the electric swivel chair module 1 from continuing to move forward due to inertia and detaching from the guide rail 15, thus avoiding dangerous situations such as collisions and tipping over. This effectively ensures the safety of the subjects during the experiment, protects the device itself from damage, and extends the service life of the device.

[0046] The limiting and buffering mechanism 12 not only has a blocking function, but also provides buffering and limiting. When the electric swivel chair module 1 reaches the end of its stroke, the buffering effect can effectively absorb and disperse its kinetic energy, reduce mechanical impact, reduce damage to various components of the device caused by violent collisions, reduce wear and fatigue of components, and ensure long-term stable operation of the device.

[0047] In some embodiments provided in this application, the limiting buffer mechanism 12 includes: a limiting block disposed on the base 13 and located at the end of the guide rail 15; and a buffer disposed on the limiting block for providing buffering when the electric swivel chair module 1 contacts the limiting block.

[0048] In this embodiment, the limiting and buffering mechanism 12 includes a limiting block and a buffer. The limiting block is disposed on the base 13 and located at the end of the guide rail 15, defining a clear movement boundary for the electric swivel chair module 1. When the electric swivel chair module 1 moves along the guide rail 15 to the end of its stroke, the limiting block can provide timely physical obstruction to prevent it from continuing forward and deviating from the track, effectively avoiding safety accidents such as collisions and tipping over that may be caused by overtravel, and effectively ensuring the personal safety of the subject and the integrity and stability of the device.

[0049] The buffer is installed on the limit block. At the moment the electric swivel chair module 1 comes into contact with the limit block, the buffer can quickly take effect. Through its own elastic deformation, it absorbs and disperses the kinetic energy of the electric swivel chair module 1, transforming the violent collision into a gentler buffering process, reducing mechanical impact, reducing damage to various components of the device, and extending the service life of the device.

[0050] like Figure 1 As shown, in some embodiments provided in this application, the tilting module 3 includes: a mounting base disposed on the linear track module 2; a drive motor disposed on the mounting base; a reducer, the input end of which is connected to the output shaft of the drive motor, and the output end of which is connected to the bottom of the electric swivel chair module 1, for driving the electric swivel chair module 1 to perform rolling tilting motion and / or pitch tilting motion; a limiting mechanism disposed on the mounting base, for limiting the tilt angle of the electric swivel chair module 1 in the rolling direction and / or pitch direction; and a sensing mechanism disposed on the electric swivel chair module 1, for monitoring the tilt angle and angular velocity of the electric swivel chair module 1.

[0051] In this embodiment, the tilting module 3 includes a mounting base, a drive motor, a reducer, a limiting mechanism, and a sensing mechanism. The drive motor is mounted on the mounting base and provides power for the tilting movement of the electric swivel chair module 1. The reducer connects the drive motor and the electric swivel chair module 1, with its input end connected to the output shaft of the drive motor and its output end connected to the bottom of the electric swivel chair module 1. This reducer not only converts the high-speed rotation of the drive motor into a suitable speed, increasing the output torque, but also achieves smooth speed regulation, ensuring that the electric swivel chair module 1 can accurately perform rolling tilting and / or pitch tilting movements according to preset requirements, meeting diverse experimental needs.

[0052] The limiting mechanism is set on the mounting base, which can effectively limit the tilt angle of the electric swivel chair module 1 in the roll direction and / or pitch direction, prevent it from causing danger due to excessive tilt, ensure the safety of the subjects during the experiment, and also protect the device from damage, thereby improving the stability and reliability of the device operation.

[0053] The sensing mechanism is installed on the electric swivel chair module 1, which can monitor its tilt angle and angular velocity in real time and feed this data back to the control module 4. This allows researchers to accurately grasp the motion state of the electric swivel chair module 1, adjust experimental parameters in a timely manner, ensure the accuracy and repeatability of the experiment, and provide high-quality data support for vestibular system research. The sensing mechanism includes a gyroscope and an accelerometer.

[0054] In some embodiments provided in this application, the tilting module 3 further includes: a mechanical zero-position calibration mechanism, disposed between the mounting base and the output end of the reducer; the mechanical zero-position calibration mechanism includes a calibration groove and a retractable calibration pin, used to insert the calibration pin into the calibration groove when the electric swivel chair module 1 is in the horizontal initial position, so as to realize mechanical zero-position locking and calibration.

[0055] In this embodiment, the tilting module 3 also includes a mechanical zero-position calibration mechanism. The cooperation between the calibration groove and the retractable calibration pin allows the calibration pin to be precisely inserted into the calibration groove when the electric swivel chair module 1 is in its initial horizontal position, achieving mechanical zero-position locking. This provides a precise reference point for the entire tilting motion, ensuring that the electric swivel chair module 1 is in a uniform and standard initial state at the start of each experiment, effectively avoiding experimental errors caused by initial position deviations and improving the accuracy and reliability of experimental data.

[0056] After prolonged use or exposure to external factors, the device may experience zero-position drift. In such cases, the mechanical zero-position calibration mechanism can easily and quickly recalibrate the electric swivel chair module 1, restoring its accurate initial position without the need for complex debugging processes. This reduces the difficulty and cost of device maintenance and ensures long-term stable operation of the device.

[0057] By mechanically locking the zero position, compared with pure electronic calibration, it has higher stability and anti-interference ability, and is less affected by electromagnetic interference, temperature changes and other factors, which further improves the working stability of tilt module 3 and the repeatability of experiments.

[0058] like Figure 1 and Figure 4 As shown, in some embodiments provided in this application, the control module 4 includes: a computer 17 for running control software, the computer 17 being configured with a human-machine interface 19; a control box 18, which is communicatively connected to the computer 17 via a network cable and electrically connected to the linear track module 2 and the tilting module 3 via cables respectively; a multi-axis motion control card, located inside the control box 18, for generating multi-axis motion control signals according to instructions from the computer 17, to independently or collaboratively control the operation of the linear track module 2 and the tilting module 3; and an emergency stop button, located on the panel of the control box 18.

[0059] In this embodiment, the control module 4 includes a computer 17, a control box 18, a multi-axis motion control card, and an emergency stop button. The computer 17 runs control software and is configured with a human-machine interface 19, allowing researchers to intuitively and conveniently input commands and set parameters, enabling flexible control of the entire device. The control box 18 communicates with the computer 17 via a network cable and is electrically connected to each module via cables, ensuring stable and efficient information transmission. The multi-axis motion control card, located within the control box 18, can accurately generate multi-axis motion control signals based on commands from the computer 17, independently or collaboratively controlling the linear track module 2 and the tilting module 3, meeting the precise control requirements for multi-dimensional motion in complex experimental scenarios.

[0060] The emergency stop button is located on the control box 18 panel. In case of an emergency during the experiment, the experimenter can quickly press the emergency stop button to immediately stop the operation of the linear track module 2 and the tilting module 3, avoiding possible injury to the subject and damage to the device, thus providing a reliable guarantee for experimental safety.

[0061] In practical applications, the headrest support mechanism 6 includes: a three-dimensional adjustment bracket fixed to the top of the backrest of the seat 5; and a headrest body connected to the front end of the three-dimensional adjustment bracket. The three-dimensional adjustment bracket is configured to independently adjust the height, horizontal fore-and-aft position, and the angle of the headrest relative to the subject's head, adapting to subjects with different head circumferences and ensuring the head remains relatively stationary with respect to the headrest during high-speed tilting or translational movements. By enabling independent adjustment of the headrest body's height, horizontal fore-and-aft position, and angle of the headrest through the three-dimensional adjustment bracket, it can precisely adapt to subjects with different head circumferences, ensuring the head remains relatively stationary with respect to the headrest during high-speed tilting or translational movements. This significantly improves the subject's comfort and safety, while effectively eliminating motion artifacts caused by micro-movements of the head, ensuring the accuracy and reliability of physiological signal acquisition in vestibular stimulation experiments.

[0062] The vestibular tilt-translation stimulation device also includes a visual occluder, detachably mounted on the motorized swivel chair module 1, used to completely block the subject's field of vision during the experiment. The visual occluder contains a breathing hole and an emergency communication device, which is connected to the voice system of the external monitoring room. The detachable visual occluder effectively eliminates visual interference by completely blocking the subject's field of vision, ensuring the purity and accuracy of the vestibular stimulation experiment. The internal breathing hole ensures the subject's normal breathing needs, while the emergency communication device enables real-time voice communication with the monitoring room. This structure significantly improves the safety and comfort of the subjects while meeting the requirements of diverse experimental paradigms.

[0063] The linear track module 2 also includes: a redundant safety brake rail, which is parallel to the length of the guide rail 15 and mounted on the base 13; and a normally closed electromagnetic brake, installed at the bottom of the electric swivel chair module 1 and working in conjunction with the redundant safety brake rail. When the linear track module 2 loses power or receives an emergency braking signal from the control module 4, the normally closed electromagnetic brake clamps the redundant safety brake rail using spring force, achieving mechanical emergency braking. By adding a redundant safety brake rail and a normally closed electromagnetic brake that are independent of the linear motor 14 control system, a fail-safe mechanical protection system is constructed. In the event of an unexpected power outage or emergency braking command, the brake instantly clamps the brake rail using its built-in spring force, enabling rapid and stable mechanical braking at any position on the guide rail 15. This solution effectively avoids the risks of motor brake failure or software malfunction, significantly improving the safety redundancy level of the manned experimental equipment in high-speed motion, ensuring that the subjects and the equipment itself are always under reliable protection.

[0064] The vestibular tilt-translation stimulation device also includes a multi-channel physiological signal acquisition interface, integrated into the armrests or backrest of the electric swivel chair module 1. This interface includes multiple shielded connectors for connecting EEG electrodes, EMG electrodes, and EMG electrodes, respectively, and connects to external physiological signal acquisition equipment via bundled cables. The armrests are equipped with cable management channels and flexible cable clips for securing the cables. By integrating shielded connectors and bundled cables, interference from electromagnetic noise generated by the motor during movement is effectively suppressed, ensuring the fidelity of data acquisition. The cable management channels and flexible cable clips on the armrests neatly organize the cables, preventing them from tangling with the subject or equipment during chair movement. This solution deeply integrates physiological signal acquisition with the vestibular stimulation device, ensuring the synchronization and accuracy of multimodal data while improving the safety of the experimental process and the comfort of the subject.

[0065] like Figures 1 to 4As shown in the specific embodiment, this application provides a vestibular tilt-translation stimulation device, including an electric swivel chair module 1, a linear track module 2, a tilt module 3, and a control module 4, with each module connected by cables. Specifically, the tilt module 3 is a pitch and roll tilt module 3.

[0066] The electric swivel chair module 1 consists of a seat 5, a headrest support mechanism 6, adjustable armrests 7, four-point safety straps, an adjustable backrest 9, and a footrest 10. It is primarily used to support the subject and enable specific movements at different directions and speeds. The electric swivel chair module 1 can support an adult weighing no more than 90 kg; with the seat 5 and additional equipment added, the weight capacity is no less than 150 kg. By precisely controlling speed, angle, and acceleration, it effectively stimulates the subject's vestibular system, helping to improve balance and spatial orientation. The swivel chair can be secured using the fixing mechanism 11 under the seat 5. Alternatively, the fixing mechanism 11 can be loosened, and the seat 5 can be rotated 90° according to the markings on the fixing mechanism 11 before being secured again, thus changing the direction of stimulation.

[0067] Linear track module 2 provides linear movement stimulation, generating a perception of linear acceleration and deceleration, with stopping limits at both ends. Linear track module 2 consists of a smoothly operating linear sliding module platform, including a base 13, a linear motor 14, a high-precision guide rail 15, a fixing device, a power assembly 16, and a sensing system. The stimulation linear track has an outer length of 1.43 meters, an inner length of 1.35 meters, an effective stroke of less than 1.2 meters, and can achieve a maximum amplitude of [value missing] at frequencies of 0.04Hz, 0.08Hz, 0.15Hz, and 0.3Hz. A sinusoidal oscillating stimulus of 50 cm is used, with amplitude settings at 1 cm intervals. The amplitude, velocity, and acceleration of the linear stimulus conform to the following formula: The single sinusoidal acceleration curve v(t) = Asin(ωt + v is the velocity value, A is the velocity amplitude, ƒ is the stimulation frequency, ω is the angular frequency, ω=2πƒ, and t is the stimulation time. The initial phase is set to 0; the acceleration is a, and the resulting acceleration is a(t) = A. The velocity is (2πƒ)cos(2πƒt); the distance moved is ΔP, and the magnitude is Δp(t) = -[A / (2πƒ)]cos(2πƒt). Therefore, the maximum velocity is A, the maximum distance moved is A / (2πƒ), and the maximum linear acceleration is A. (2πƒ). The maximum moving distance of the equipment is The maximum length is 50cm, the highest frequency is 0.3Hz, and the maximum linear acceleration is 1.77m / s². 2The maximum linear velocity is 0.942 m / s. By adjusting the seat 5 from a direction parallel to the linear track by 90° to a direction perpendicular to the linear track, or by adjusting the backrest of the seat 5 to lie flat in the direction parallel to the track, the subject can lie supine on the seat 5, thereby achieving linear acceleration and deceleration stimulation in the x, y, and z directions.

[0068] The pitch and roll tilt module is used to generate roll tilt, and can achieve forward and backward pitch rotation after the seat 5 rotates 90 degrees. It consists of a set of precision motors, reducers, limit mechanisms, and sensing mechanisms, and can achieve roll tilt and pitch rotation at frequencies of 0.04Hz, 0.08Hz, 0.15Hz, and 0.3Hz. A 30° oscillation, with an angular amplitude set at 1° intervals, provides stimulation to the anterior / posterior semicircular canals. During sinusoidal oscillation stimulation, the angular velocity Ω satisfies: Ω(t) = Asin(2πƒt + ... A is the maximum angular velocity of the swing. This is the initial phase, typically 0. The maximum roll and tilt angle of this equipment is... At 30°, with a maximum frequency of 0.3Hz, the maximum angular velocity is 56.5. / s, with a maximum angular acceleration of 106.5. / s 2 .

[0069] After rolling or tilting stimulation, the control system can automatically return seat 5 to the initial 0° position.

[0070] The linear track module 2 and the pitch and roll tilt module 3 of this application can work simultaneously. When the seat 5 is parallel to the linear track, it can achieve linear stimulation coupling by rolling and tilting stimulation while reciprocating along the linear track. When the seat 5 is rotated 90° to be perpendicular to the linear track, it can achieve linear stimulation coupling by pitch and tilting stimulation while reciprocating along the linear track.

[0071] Control module 4 is responsible for integrating and coordinating the operation of the above modules, setting the stimulation plan, and ensuring that each module operates according to the plan. It mainly includes computer 17, control box 18, control software, and a series of sensors for real-time control and monitoring of the equipment status. The control system can dynamically set stimulation plan parameters, such as manual or automatic control of stimulation time, linear speed oscillation stimulation / angle oscillation stimulation mode, stimulation frequency, and stimulation amplitude selection and input. It synchronously records stimulation data for subsequent stimulation effect evaluation and can meet the requirement of continuous stimulation for 15 minutes, with a stimulation time adjustment interval of 1 second. Control box 18 is one of the core components. The control box 18 panel is equipped with a power switch and emergency stop button, connects to the control computer 17 via a network cable, and connects to the equipment via a dedicated braided cable. It contains a dedicated multi-axis control card to control the electric swivel chair.

[0072] In summary, the vestibular tilt-translation stimulation device provided in this application can achieve linear reciprocating acceleration stimulation in three directions: x, y, and z axes, with a maximum linear acceleration of 1.77 m / s². 2 Maximum frequency 0.3Hz; maximum amplitude achievable With a roll or pitch range of 30°, a maximum angular velocity of 56.5° / s, and a maximum frequency of 0.3Hz, the device can couple roll / tilt with x-axis linear stimulation, as well as pitch / tilt with y-axis linear stimulation. The device features safety and emergency stop mechanisms, and offers precise control over the stimulation protocol. Specific Implementation Example 1: The rotating equipment seat 5 is perpendicular to the linear track. First, the swivel chair is reset. Then, the trainee sits on seat 5 with their buttocks and feet on the footrests. The restraint system is adjusted to secure the trainee firmly to seat 5. A blindfold is placed on the trainee, and the headrest is adjusted to ensure it rests stably under the trainee's headrest. During stimulation, the trainee holds the shoulder straps. The training mode is first selected as linear oscillating stimulation mode or manual control mode. Then, according to the training plan, the linear stimulation amplitude and frequency are selected. The trainee is informed of the stimulation method and is instructed to ensure their feet are on the footrests and that the back of their shoes do not rub against the base 13 during stimulation, ensuring they do not rely on proprioceptive information for identification. After the trainee confirms readiness, the equipment is started. The stimulation is ended manually by pressing the end button according to the set training time. The perception threshold test includes a standard detection mode and a discrimination task mode. In the standard testing mode, subjects compare a stationary seat with a seat moving along a certain line with acceleration at a specific frequency (e.g., 0.3 Hz) to determine if they perceive the motion. In the discrimination task mode, subjects compare the acceleration stimuli of two stimuli at a specific frequency to determine if there is a difference. The intensity of the next testing or discrimination stimulus is determined based on the correctness of the subject's results. If three consecutive tests are correct, the acceleration difference for the testing or discrimination task is reduced; if one test is incorrect, the acceleration difference for the testing or discrimination task is increased. This method can be used to test the subject's vestibular perception threshold or to conduct vestibular perception learning training. Specific Implementation Example 2: The rotating chair 5 is perpendicular to the linear track. First, the chair is reset. Then, the trainee sits on chair 5 with their buttocks and feet on the footrests. The restraint system is adjusted to secure the trainee firmly to chair 5. The trainee is then blindfolded, and the headrest is adjusted to ensure it rests stably under the trainee's headrest. During stimulation, the trainee holds the shoulder straps. The training mode is first selected as angular oscillation stimulation mode or manual control mode. Then, according to the training plan, the pitch angle stimulation amplitude and frequency are selected. The trainee is informed of the stimulation method and is instructed to ensure their feet are on the footrests and that the back of their shoes do not rub against the base 13 during stimulation, ensuring they do not rely on proprioceptive information for identification. After the trainee confirms readiness, the equipment is started. The stimulation is ended manually by pressing the end button according to the set training time. A standard detection mode is set, comparing a stationary chair with a pitching rotation at a certain frequency (e.g., 0.15Hz) to detect the presence of pitch rotation. A discrimination task mode is set, comparing the angular velocities of two pitch rotation stimuli at a certain frequency to check for differences. The magnitude of the difference in pitch and rotation angular velocity between two tests is determined based on the correctness of the subjects' results. If three consecutive tests are correct, the difference in pitch and rotation angular velocity between the two tests or discrimination tasks is reduced; if one test is incorrect, the difference in pitch and rotation angular velocity between the two tests or discrimination tasks is increased. This method can be used to test subjects' flip perception thresholds or to conduct flip perception learning training. Specific Implementation Example 3: First, reset the swivel chair. Then, the trainee sits on seat 5 with their buttocks and feet on the footrests. Adjust the length of the restraint system to securely fix the trainee on seat 5. Put on the blindfold and adjust the headrest position to ensure it stably supports the lower part of the trainee's headrest. During stimulation, the trainee holds the shoulder straps. First, select the training mode as the left-right tilt angle swing stimulation mode and the manual control mode. Then, select the angle stimulation amplitude and stimulation frequency according to the training plan. Inform the trainee of the stimulation form and require them to ensure that their feet are on the footrests and that the back of their shoes do not rub against the base 13 during stimulation, ensuring that they do not rely on proprioceptive information to help them distinguish. After the trainee confirms they are ready, start the equipment. According to the set training time, manually control the device to press the end button to end the stimulation. Set a standard detection mode, that is, at a certain frequency (e.g., 0.15Hz), compare the seat being stationary and the seat tilting left and right, and the subject perceives whether there is a left-right tilt rotation. Set a discrimination task mode, at a certain frequency, compare whether there is a difference in angular velocity between two left-right tilt rotation stimuli. The magnitude of the difference in left and right tilt rotation angular velocities between the two tests is determined based on the correctness of the subjects' results. If three consecutive tests are correct, the difference in left and right tilt rotation angular velocities between the two tests is reduced; if one test is incorrect, the difference in left and right tilt rotation angular velocities between the two tests is increased. This method can be used to test subjects' roll perception thresholds or to conduct roll perception learning training.

[0076] In this application, the term "multiple" refers to two or more unless otherwise expressly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0077] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vestibular tilt-translation stimulation device, characterized in that, include: The electric swivel chair module is used to carry the test subject; A linear track module, wherein the electric swivel chair module is movably mounted on the linear track module, and the linear track module is used to drive the electric swivel chair module to move the subject along the linear track in a reciprocating linear motion to provide linear acceleration stimulation; A tilting module, connected between the electric swivel chair module and the linear track module, is used to drive the electric swivel chair module to move the subject in a rolling tilting motion and / or a pitching tilting motion. The control module is electrically connected to the linear track module and the tilting module respectively, and the control module is configured to independently or collaboratively control the operation of the linear track module and the tilting module.

2. The vestibular tilt-translation stimulation device according to claim 1, characterized in that, The electric swivel chair module includes: A seat, used to support the subject; A headrest support mechanism, connected to the upper part of the seat, is used to support the subject's head; Adjustable armrests are located on both sides of the seat to support the subject's arms; Safety straps, provided on the seat, are used to secure the subject to the seat; An adjustable backrest, rotatably connected to the seat, is used to adjust the angle at which the subject's back rests. A footrest, located under the seat, is used to support the subject's feet.

3. The vestibular tilt-translation stimulation device according to claim 2, characterized in that, Also includes: A fixing mechanism, located below the seat, is used to releasably fix the seat to the tilting module or the linear track module; The electric swivel chair module is configured to: rotate relative to the linear track module when the fixing mechanism is released to change the orientation of the seat; and fix the seat in the rotated position when the fixing mechanism is locked.

4. The vestibular tilt-translation stimulation device according to claim 3, characterized in that, The fixing mechanism includes: The upper fixed seat is fixedly connected to the bottom of the seat; The lower fixed seat is fixedly connected to the tilting module or the linear track module, and the lower fixed seat is coaxially arranged with the upper fixed seat and rotatably engaged. A locking handle is rotatably mounted on the lower fixed base or the upper fixed base, and the locking handle has a locking end and an operating end; When the locking handle is rotated to the locking position, the locking end presses against the mating surfaces of the upper and lower fixed seats, fixing the upper and lower fixed seats relative to each other; when the locking handle is rotated to the releasing position, the locking end releases the upper fixed seat, allowing the upper fixed seat to rotate relative to the lower fixed seat.

5. The vestibular tilt-translation stimulation device according to claim 1, characterized in that, The linear track module includes: Base; A guide rail is disposed on the base and extends along the length of the base; A linear motor is mounted on the base and is connected to the electric swivel chair module for driving the electric swivel chair module to move along the guide rail. The powertrain is electrically connected to the linear motor and is used to provide drive current and control commands for the operation of the linear motor. A sensing system, located on the base, is used to monitor the displacement, velocity, and acceleration of the electric swivel chair module.

6. The vestibular tilt-translation stimulation device according to claim 5, characterized in that, The linear track module also includes: A limiting and buffering mechanism is disposed on the base and located at both ends of the guide rail, for providing physical blocking and / or buffering limit when the electric swivel chair module moves to the end of its stroke.

7. The vestibular tilt-translation stimulation device according to claim 6, characterized in that, The limiting buffer mechanism includes: A limiting block is disposed on the base and located at the end of the guide rail; A buffer, disposed on the limiting block, is used to provide cushioning when the electric swivel chair module contacts the limiting block.

8. The vestibular tilt-translation stimulation device according to claim 1, characterized in that, The tilting module includes: Mounting base, disposed on the linear track module; A drive motor is mounted on the mounting base; A speed reducer, the input end of which is connected to the output shaft of the drive motor, and the output end of which is connected to the bottom of the electric swivel chair module, for driving the electric swivel chair module to perform rolling tilting motion and / or pitch tilting motion; A limiting mechanism is provided on the mounting base to limit the tilt angle of the electric swivel chair module in the roll direction and / or pitch direction; A sensing mechanism is installed in the electric swivel chair module to monitor the tilt angle and angular velocity of the electric swivel chair module.

9. The vestibular tilt-translation stimulation device according to claim 8, characterized in that, The tilting module also includes: A mechanical zero-position calibration mechanism is disposed between the mounting base and the output end of the reducer; the mechanical zero-position calibration mechanism includes a calibration groove and a retractable calibration pin, which is used to insert the calibration pin into the calibration groove when the electric swivel chair module is in the initial horizontal position, so as to realize mechanical zero-position locking and calibration.

10. The vestibular tilt-translation stimulation device according to any one of claims 1 to 9, characterized in that, The control module includes: A computer for running control software, the computer being configured with a human-computer interaction interface; The control box is connected to the computer via a network cable and is electrically connected to the linear track module and the tilting module via cables respectively. A multi-axis motion control card, located inside the control box, is used to generate multi-axis motion control signals according to the instructions of the computer, so as to independently or collaboratively control the operation of the linear track module and the tilting module; The emergency stop button is located on the control box panel.

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