A multi-degree-of-freedom dynamic balance training and evaluation platform with adjustable acceleration
By designing a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration, integrating a vertical acceleration mechanism and a comprehensive evaluation module, the problems of single training modes and disconnected evaluation in existing equipment are solved. This enables simulation of complex scenarios and quantitative feedback, improving training effectiveness and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 王斌哲
- Filing Date
- 2026-04-28
- Publication Date
- 2026-06-12
AI Technical Summary
Existing balance training equipment has a single training mode, lacks precise acceleration adjustment, cannot simulate complex scenarios, has a lagging weight loss system response, and is disconnected from training and assessment, lacking quantitative feedback.
Design a multi-degree-of-freedom dynamic balance training and evaluation platform with adjustable acceleration, integrating a vertical acceleration mechanism, an acceleration control module, a follow-up weight reduction module, and a comprehensive evaluation module. The platform collects data through sensors for real-time analysis and feedback, enabling multi-directional disturbance and real-time weight reduction support.
It simulates complex daily scenarios, dynamically adjusts training intensity, provides precise acceleration control and real-time weight reduction support, enables quantitative assessment and feedback, and improves training efficiency and safety.
Smart Images
Figure CN122183113A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical devices and rehabilitation engineering technology, and in particular to a multi-degree-of-freedom dynamic balance training and assessment platform with adjustable acceleration. Background Technology
[0002] Balance is a fundamental functional requirement for daily human activities. Many diseases, such as stroke, cervical spondylosis, and Parkinson's disease, can impair balance and increase the risk of falls. With the aging population, the elderly are more prone to falls due to osteoporosis and soft tissue degeneration, leading to secondary injuries.
[0003] Existing balance training equipment has obvious limitations: First, the training mode is monotonous and it is difficult to simulate complex scenarios in daily life such as weightlessness, overweight, or slipping in elevators; second, most equipment lacks a precise acceleration adjustment mechanism and cannot dynamically adjust the training intensity according to the user's functional level; third, the weight reduction system has a lag in response and cannot keep up with changes in the body's center of gravity in a timely manner; and fourth, training and assessment are disconnected and lack a quantitative feedback mechanism.
[0004] Therefore, proposing a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration to solve the difficulties of existing technologies is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0005] In view of this, the present invention provides a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration, which can simulate complex daily imbalance scenarios, integrate multiple functions of training and evaluation, and has broad applicability and good prospects for promotion and application.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration includes: Support frame, support platform, vertical acceleration mechanism, acceleration control module, follow-up weight reduction module, and comprehensive evaluation module; The support frame, including a support base and support columns, is used to support the entire training and evaluation platform; A support platform, set above the support frame, is used by users to perform balance training while standing on the support platform; The vertical acceleration mechanism is connected to the support frame at the bottom and to the support platform at the top, and is used to provide vertical acceleration to the support platform. An acceleration control module, mounted on the support frame, is used to control input acceleration and static load, generating multi-directional disturbances to achieve precise control of the stiffness and damping of the support platform. The follow-up weight reduction module is fixed to the support frame by the support column and is used to provide real-time weight reduction support for users; The comprehensive assessment module is located below the support platform. It collects the platform's posture data, motion parameters, plantar pressure distribution data, and electromyographic signals of the user's lower limbs through various sensors. All data is wirelessly transmitted to a computer for processing and analysis.
[0007] Optionally, the support platform of the aforementioned platform can be a rotating platform, and the vertical acceleration mechanism can be two telescopic columns parallel to the support columns. The combination of a rotating platform and a vertical acceleration mechanism enables the platform to swing left and right, swing forward and backward, rotate horizontally, move up and down, and combine and superimpose multiple of these movements.
[0008] The aforementioned platform, optionally, includes an acceleration control module comprising: an adjustment capsule structure and a perturbation training device based on a Mecanum wheel; The perturbation training device based on the Mecanum wheel generates multi-directional perturbations by controlling the input acceleration of 1-3 m / s² and the static load of 20-40 kg. It adopts a limited-amplitude random motion planning algorithm to generate multi-directional perturbations that simulate environmental disturbances based on the user's upper limit of balance ability. The regulating chambers are connected by pipelines, and regulating valves are installed on the pipelines to control the flow of the medium. By introducing the medium into the regulating chambers and regulating the flow of the medium between the chambers, the stiffness and damping of the support platform can be precisely controlled.
[0009] The aforementioned platform may optionally include a follow-up weight reduction module, comprising: a suspension frame, a pulley system, a pull rope, an adjustable weight reduction pack, and binding straps. The suspension frame is fixedly connected to the top of the supporting column; The pulley block is mounted on the suspension frame; One end of the pull rope is connected to the binding strap, which passes around the pulley block in sequence, and the other end is connected to the adjustable weight pack; Real-time weight reduction adaptation is achieved through a mechanical, non-intelligent control method, providing users with real-time weight reduction support.
[0010] The aforementioned platform, optionally, includes a comprehensive evaluation module that uses a six-axis angle sensor to collect pose data of the support platform; uses an inertial sensor to measure motion parameters of the support platform; uses a surface electromyography (EMG) signal acquisition device to record the electromyographic activity of the user's lower limbs; and uses a cantilever pressure sensor to measure plantar pressure distribution. All sensor data is transmitted wirelessly to a computer for processing and analysis.
[0011] As can be seen from the above technical solution, compared with the prior art, the present invention provides a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration, which has the following beneficial effects: This invention simulates weightlessness and hypergravity in the human body through a vertical acceleration mechanism, enabling vertical lifting and lowering movements of the body while swaying left and right and standing at an angle. Combined with the damping control mechanism of the regulating sac, it achieves dynamic adaptation of training difficulty and acceleration characteristics. A mechanical follow-up weight reduction module, through a non-intelligent control method, achieves real-time tracking of the trainee's posture and provides corresponding weight reduction at low cost, effectively reducing training risks, and is particularly suitable for patients with weak lower limb muscles. It integrates multimodal sensors to synchronously collect platform motion parameters (angle, angular velocity, angular acceleration) and surface electromyography signals, quantitatively assessing balance function. Based on a limited-amplitude random motion planning algorithm, it dynamically adjusts the platform's motion amplitude and acceleration according to the user's balance ability, ensuring that training is always conducted at an appropriate intensity. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0013] Figure 1 This invention provides a structural diagram of a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration. Explanation of reference numerals in the attached figures: 1 is the proppant; 2 is the support platform; 3 is the vertical acceleration mechanism; 4 is the acceleration control module; 5 is the follow-up weight reduction module; 6 is the comprehensive evaluation module. Detailed Implementation
[0014] 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.
[0015] Reference Figure 1 As shown, this invention discloses a multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration, comprising: Support frame 1, support platform 2, vertical acceleration mechanism 3, acceleration control module 4, follow-up weight reduction module 5, and comprehensive evaluation module 6; Support frame 1, including support base and support column, is used to support the entire training and evaluation platform; Support platform 2 is set above support frame 1 and is used by users to stand on support platform 2 for balance training; The vertical acceleration mechanism 3 is connected to the support frame 1 at its bottom end and to the support platform 2 at its top end, and is used to provide vertical acceleration for the support platform 2. Acceleration control module 4, mounted on support frame 1, is used to control input acceleration and static load, generating multi-directional disturbances to achieve precise control of stiffness and damping of support platform 2; The follow-up weight reduction module 5 is fixed on the support frame 1 by the support column and is used to provide real-time weight reduction support for users; The comprehensive evaluation module 6 is located below the support platform 2. It collects the posture data, motion parameters, plantar pressure distribution data and electromyographic signals of the user's lower limbs through various sensors. All data is transmitted wirelessly to a computer for processing and analysis.
[0016] Furthermore, the support platform 2 is a rotating platform, and the vertical acceleration mechanism 3 consists of two telescopic columns parallel to the support column; when the support platform is a rotating platform, the two telescopic columns accelerate, decelerate, or extend and retract at different speeds in the vertical direction at different times. The rotating platform and the vertical acceleration mechanism 3 are combined to realize the platform's left and right swing, forward and backward swing, horizontal rotation, upward and downward motion, and the superposition of multiple motions. Furthermore, the support platform 2 can also be selected as a moving platform as needed. When the support platform is a moving platform, the moving platform and the vertical acceleration mechanism combine to realize left and right swinging, back and forth swinging, rocking motion and rising and falling motion. When the support platform is a moving platform, the two telescopic columns accelerate synchronously, decelerate synchronously or extend and retract synchronously at a constant speed in the vertical direction.
[0017] Furthermore, the acceleration control module 4 includes: an adjustment capsule structure and a perturbation training device based on a Mecanum wheel; The perturbation training device based on the Mecanum wheel generates multi-directional perturbations by controlling the input acceleration of 1-3 m / s² and the static load of 20-40 kg. It adopts a limited-amplitude random motion planning algorithm to generate multi-directional perturbations that simulate environmental disturbances based on the user's upper limit of balance ability. The regulating chambers are connected by pipelines. The chambers are filled with gas or liquid. Regulating valves are installed on the pipelines to control the flow rate of the medium. By introducing the medium into the regulating chambers and regulating the flow rate of the medium between the chambers, the stiffness and damping of the support platform 2 can be precisely controlled.
[0018] Furthermore, the follow-up weight reduction module 5 includes: a suspension frame, a pulley system, a pull rope, an adjustable weight reduction bag, and binding straps; The suspension frame is fixedly connected to the top of the supporting column; The pulley block is mounted on the suspension frame; One end of the pull rope is connected to the binding strap, which passes around the pulley block in sequence, and the other end is connected to the adjustable weight pack; Real-time weight reduction adaptation is achieved through a mechanical, non-intelligent control method, providing users with real-time weight reduction support.
[0019] Furthermore, the comprehensive evaluation module 6 acquires the pose data of the support platform 2 through a six-axis angle sensor; measures the motion parameters of the support platform 2 through an inertial sensor; records the electromyographic activity of the user's lower limbs through a surface electromyography signal acquisition device; and measures the plantar pressure distribution through a cantilever pressure sensor. All sensor data is wirelessly transmitted to a computer for processing and analysis. The platform uses dedicated training software and a gamified interface. The interface, developed using LabVIEW, displays the real-time shift of the center of gravity. The computer processes the sensor data and feeds the results back to the display in a gamified manner, enhancing the fun of training.
[0020] In one specific embodiment, the comprehensive evaluation module 6 integrates a six-axis angle sensor, an ADXL345 accelerometer, a surface electromyography signal acquisition device, and a cantilever pressure sensor. The platform motion data and physiological signals are transmitted to a computer wirelessly and processed and analyzed by dedicated software. The software system is developed based on LabVIEW and displays a real-time offset interface of the center of gravity position. Through a gamified training module, balance training is transformed into a fun task, and the training effect is fed back in real time, which enhances patients' training motivation and compliance. The platform supports multiple training modes: Adaptive training: Based on the user's initial balance ability assessment results, set initial training parameters and gradually increase the difficulty; Targeted training: Simulate specific imbalance scenarios (such as elevator weightlessness, slippery ground); Reactive training: Randomly applying perturbations to train the user's rapid balance and reaction abilities; During training, the comprehensive evaluation module 6 monitors the motion parameters of the support platform 2 and the user's electromyographic signals in real time. Through algorithm analysis of balance strategies and muscle coordination patterns, it dynamically adjusts the training plan to ensure training efficiency and safety. Studies have shown that short-term training can significantly improve the stability of unstable equilibrium points. The platform can accelerate this training process by precisely controlling acceleration parameters and multimodal feedback. Experiments have shown that users with better symmetry between their dominant and non-dominant legs exhibit higher training efficiency.
[0021] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.
[0022] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A multi-degree-of-freedom dynamic equilibrium training and evaluation platform with adjustable acceleration, characterized in that, include: Support frame (1), support platform (2), vertical acceleration mechanism (3), acceleration control module (4), follow-up weight reduction module (5) and comprehensive evaluation module (6); The support frame (1) includes a support base and a support column for supporting the entire training and evaluation platform; A support platform (2) is set above the support frame (1) for users to stand on the support platform (2) for balance training; The vertical acceleration mechanism (3) is connected at its bottom end to the support frame (1) and at its top end to the support platform (2), and is used to provide vertical acceleration for the support platform (2); An acceleration control module (4) is installed on the support frame (1) to control the input acceleration and static load, generate multi-directional disturbances, and achieve precise control of the stiffness and damping of the support platform (2). The follow-up weight reduction module (5) is fixed on the support frame (1) by the support column and is used to provide real-time weight reduction support for users; The comprehensive evaluation module (6) is located below the support platform (2). It collects the positional data, motion parameters, plantar pressure distribution data and electromyographic signals of the user's lower limbs through various sensors. All data are wirelessly transmitted to the computer for processing and analysis.
2. The adjustable acceleration multi-degree-of-freedom dynamic equilibrium training and evaluation platform according to claim 1, characterized in that, The support platform (2) is a rotating platform, and the vertical acceleration mechanism (3) consists of two telescopic columns parallel to the support column; The rotating platform is combined with the vertical acceleration mechanism (3) to realize the platform's left and right swing, forward and backward swing, horizontal rotation, upward and downward motion and the superposition of the above multiple motions.
3. The adjustable acceleration multi-degree-of-freedom dynamic equilibrium training and evaluation platform according to claim 1, characterized in that, The acceleration control module (4) includes: an adjustment capsule structure and a perturbation training device based on a Mecanum wheel; The perturbation training device based on the Mecanum wheel generates multi-directional perturbations by controlling the input acceleration of 1-3 m / s² and the static load of 20-40 kg. It adopts a limited-amplitude random motion planning algorithm to generate multi-directional perturbations that simulate environmental disturbances based on the user's upper limit of balance ability. The regulating bladders are connected by pipelines, and regulating valves are installed on the pipelines to control the flow of the medium. By introducing the medium into the regulating bladders and regulating the flow of the medium between the bladders, the stiffness and damping of the support platform (2) can be precisely controlled.
4. The adjustable acceleration multi-degree-of-freedom dynamic equilibrium training and evaluation platform according to claim 1, characterized in that, The follow-up weight reduction module (5) includes: a suspension frame, a pulley block, a pull rope, an adjustable weight reduction bag, and binding straps; The suspension frame is fixedly connected to the top of the support column; The pulley block is mounted on the suspension frame; One end of the pull rope is connected to the binding strap, which passes around the pulley block in sequence, and the other end is connected to the adjustable weight pack; Real-time weight reduction adaptation is achieved through a mechanical, non-intelligent control method, providing users with real-time weight reduction support.
5. The adjustable acceleration multi-degree-of-freedom dynamic equilibrium training and evaluation platform according to claim 1, characterized in that, The comprehensive evaluation module (6) collects the pose data of the support platform (2) through a six-axis angle sensor; and measures the motion parameters of the support platform (2) through an inertial sensor. The user's lower limb electromyography activity was recorded using a surface electromyography signal acquisition device; the plantar pressure distribution was measured using a cantilever pressure sensor. All sensor data is transmitted wirelessly to a computer for processing and analysis.