Systems and methods for mobilizing a subject's lower back

Abstract

A system for mobilizing a subject's lower back, the system comprising: a seating platform; and an actuation system, wherein the seating platform comprises a seat having a seating surface for supporting the subject's buttocks, the seating surface having a first central axis extending in a first horizontal direction; the seating platform configured to seat the subject with their legs positioned forward on the seat when viewed from a second horizontal direction (perpendicular to the first horizontal direction); and the actuation system configured to move the seating platform with multiple degrees of freedom, one of which is rotation about a horizontal axis of rotation extending parallel to the first horizontal direction, the horizontal axis of rotation being offset from the first central axis when viewed from the second horizontal direction.

Description

[Technical Field]

[0001] The present invention relates to the field of systems and methods for mobilizing a subject's lower back. [Background technology]

[0002] Lower back mobilization is used, for example, to treat lower back pain, which is one of the most common causes of disability worldwide. It has a significant impact on the patient as well as economic consequences for social security and businesses. The number of patients is expected to increase in the coming decades.

[0003] There are various known problems related to the lower back (muscles). For example, in some cases of lower back injury, lower back pain occurs due to some kind of mechanical overload without identifying a specific anatomical source of pain. This is called nonspecific low back pain (NS-LBP) and accounts for 90% of so-called lower back pain disorders. This NS-LBP can become chronic.

[0004] A variety of programs have been proposed for the treatment of low back injuries. It is generally believed that physical therapy, which keeps patients active through exercise programs, is recommended. However, there remains significant inconsistency in the types of exercise programs employed (yoga, stretching, hydrotherapy, tai chi, back pain schools) and delivery methods (group exercise, individual programs, supervised home exercise). Even the same type of exercise may be treated differently by different practitioners. The effectiveness of these treatments also varies greatly from patient to patient. This makes low back pain a complex condition that is difficult to treat, and there is no established gold standard for physical therapy.

[0005] Each existing training program has its own advantages and disadvantages. However, one thing they all have in common is that they require the patient's active participation in the exercise. If the patient fears that the exercise will cause them pain, the exercise may not be performed properly and the desired effect may not be achieved.

[0006] Several devices have been proposed to stimulate the back muscles, including applying pressure or exercise with an external device, such as a massage chair or similar device, but these devices are inadequate for the long-term treatment of low back pain. Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention can be applied to the treatment of lower back pain, but can also be used for other purposes that involve mobilizing the lower back, such as lower back training, prevention of lower back injuries, trunk mobilization, and rehabilitation for nerve injuries.

[0008] It is an object of the present invention to overcome the shortcomings of the prior art or at least to provide an alternative to the prior art, and in particular to provide a solution for mobilizing the lower back of a subject. [Means for solving the problem]

[0009] At least one of the objects of the present invention is achieved by a system for mobilizing the lower back of a subject, the system comprising: a seating platform; an actuation system; The seating system includes a seat having a seating surface that supports the buttocks of the subject, the seating surface having a first central axis extending in a first horizontal direction; Preferably, the seating platform is configured to seat the subject such that the subject's legs are positioned in front of the seat when viewed from a second horizontal direction (perpendicular to the first horizontal direction); The actuation system is configured to move the seating platform in multiple degrees of freedom, preferably one of the degrees of freedom being rotation about a horizontal axis of rotation extending parallel to the first horizontal direction, preferably offset from the first central axis when viewed from the second horizontal direction.

[0010] Accordingly, the present invention relates to a system for mobilizing a subject. The system can be used, for example, to treat a subject. The subject may be, for example, a patient. The subject may have an injury or disorder in the lower back. The subject may have, for example, non-specific low back pain (NS-LBP), which may be chronic. However, it is envisioned that the present invention can also be used to mobilize subjects without (significant) injury to prevent such injury. In such cases, mobilization of the lower back involves, for example, training of the lower back muscles. The system can be configured, for example, to improve a subject's pathology. It can also be used to mobilize subjects with mild or no pathology, for example, for post-exercise recovery or core stability training. Furthermore, the system can be applied to treat subjects with specific lower back pain, for example, post-surgery.

[0011] It is also contemplated that the present invention may be used in stroke rehabilitation and neurological (injury) rehabilitation, and further contemplated that the present invention may be used in combination with and / or as an adjunct to other therapies, such as any of the conventional therapies described above.

[0012] In particular, the lower back of a subject may be treated. The lower back region is also referred to as the lumbar region. The lumbar region is comprised of various muscles and tissues. The system may be used, for example, to mobilize at least some muscles and / or tendons and / or joints of the lower back region. The system may be used, for example, to mobilize the lumbosacral joint. Mobilization of the lower back may include, for example, inducing movement of the lower back; and / or improving muscle recruitment patterns; and / or inducing muscle contraction and relaxation; and / or improving mobility of the lower back.

[0013] The system includes a seating platform and an actuation system. A subject can sit on the seating platform. The actuation system is configured to move the seating platform along with the subject while seated. This allows the subject, particularly the lower back, to be mobilized by the system. This is a passive and / or reactive movement, as the subject does not initiate the movement themselves. This is a first advantage of the system.

[0014] Some people have a psychological barrier to moving their lower back due to the fear of hurting themselves. These people cannot effectively apply traditional training programs. The present system forces the lower back to move in a passive and / or reactive manner, which may help overcome this psychological barrier.

[0015] The seating platform includes at least one seat having a seating surface that supports the subject's buttocks. The seating platform is thus configured to seat the subject on the seating surface. The seat may be made of any suitable material for seating, such as, for example, a foam interior and leather or synthetic exterior. The seat may, for example, have a substantially cubic shape. The seat may, for example, have a substantially rectangular shape. The seat may, for example, have a height (e.g., extending vertically), a width, and a length (e.g., extending horizontally perpendicularly), where the width and the smaller length are both greater than the height, for example, at least two times greater, for example, at least three times greater, for example, at least five times greater.

[0016] The seating platform has a first central axis extending in a first horizontal direction. As described below, the first direction may extend between the left and right hand sides of the subject when seated on the seating surface. Optionally, a second central axis may extend in a direction perpendicular to the first central axis, e.g., in a second horizontal direction. Optionally, a third central axis extends in a direction perpendicular to the first central axis and optionally also to the second central axis, e.g., in a vertical direction. These orientations may relate to a rest or starting position of the system, i.e., before the actuation system moves the seating platform. This is also the position at which the subject can move on, get on, or off the seating platform.

[0017] Preferably, the seating platform is configured to seat the subject with their legs positioned forward of the seat. "Forward" is understood in a second horizontal direction perpendicular to the first direction. Thus, the second horizontal direction extends between the rear (behind the subject) and front (in front of the subject) of the subject when seated in the seat. "Forward" refers to the direction in which the subject's face and chest surface face when seated. Thus, the subject's legs are positioned forward of their upper body, although the legs may be positioned at a lower vertical position. Rather than being positioned opposite each other on either side of the seat, both legs are positioned forward of the seat. In some embodiments, the thighs are (at least partially) supported by the seat, and the lower legs and feet are positioned forward of the upper body.

[0018] A seating position with the legs positioned at the front of the seat has been found to be advantageous for efficiently inducing (passive and / or reactive) movement of the lower back when the seating platform is moved. In practice, this can be implemented in several ways. For example, a footrest can be positioned at the front of the seat. This may make it intuitive for the subject to place their feet on the footrest (i.e., in front of the seat surface). For example, additionally or alternatively, the seat surface (and / or components positioned under the seat surface) may be expanded in the second direction to a width that prevents the subject from placing their legs on either the left or right side of the seat. This makes the seat surface wide enough that the subject is forced to place their legs only at the front of the seat.

[0019] The actuation platform is configured to move the seating platform with multiple degrees of freedom. Each degree of freedom may relate to, for example, translation or rotation. For example, multiple may include two, three, four, five, or six degrees of freedom. The actuation platform may, for example, include multiple actuators for moving the seating platform, for example, one actuator for each degree of freedom. The actuation system may be any suitable actuation system capable of achieving the desired number of degrees of freedom. The actuation platform may, for example, include a parallel manipulator configured to move an end effector, where the seat is connected to the end effector. The actuation platform may, for example, include a Stewart platform. The actuators may, for example, be electric, hydraulic, magnetic, or pneumatic actuators / motors. The actuation platform may, for example, include a control unit configured to control the actuators.

[0020] Preferably, one of the degrees of freedom is rotation about a horizontal axis of rotation extending parallel to the first horizontal direction. Thus, the horizontal axis of rotation can extend between the subject's left and right hand sides when the subject is seated in the seat. Rotation about this axis is configured to tilt the subject forward or backward. This rotation has been found to be advantageous for mobilizing the subject's lower back (e.g., including the lumbar muscles, and / or lumbosacral joints, and / or lumbar intervertebral discs). This is theorized to be because the subject is displaced from their natural equilibrium state, and mobilization of the lower back is required as a natural response to restore balance (return to the equilibrium position). This mobilizes muscles, tendons, and the lumbosacral joints.

[0021] In one embodiment, the horizontal axis of rotation is offset from the first central axis when viewed from a second horizontal direction. Therefore, the horizontal axis of rotation is not located at the center of the seat. Although counterintuitive given the mechanical design of the system, offsetting the horizontal axis of rotation from the central axis has been found to improve lumbar mobilization. In this configuration, rotation more easily destabilizes the subject, forcing them to use their lumbar muscles to regain balance.

[0022] Note that in some embodiments, another degree of freedom is rotation about a second horizontal axis of rotation. The second horizontal axis of rotation extends perpendicular to the horizontal axis of rotation and thus to the first horizontal direction. A center of rotation can be defined at the intersection of the horizontal axis of rotation and the second horizontal axis of rotation. This center of rotation may be offset from the first central axis when viewed from the second horizontal direction.

[0023] In some embodiments, the horizontal axis of rotation is positioned rearward of the second central axis when viewed from the first horizontal direction. Rearward is opposite to forward. Thus, the horizontal axis of rotation is configured to be positioned closer to the subject's back than to the subject's feet. Motion transfer from the seating platform to the lower back is improved, for example, by forcing the subject to use their lower back more when regaining balance, thereby further improving lower back mobility.

[0024] In some embodiments, the seating surface is configured to seat the subject with the back positioned substantially above the horizontal axis of rotation. This forces the subject to use the lower back more when regaining balance, promoting increased lumbar mobility. The system (e.g., the seating platform and / or foot rests, if present) can be designed to encourage the subject to sit in a predetermined position, e.g., with the back substantially above the horizontal axis of rotation. For example, the seating surface can be sized accordingly, or the relative position of the foot rests, if present, and the seat can be configured accordingly.

[0025] In some embodiments, the seating platform is configured to support the subject without a backrest, at least during use. Thus, during use, the subject is not leaning against the backrest. The seating platform (during use) does not include a backrest. The seating platform (during use) is backless. During use, this refers to the state when the actuation system is moving the platform. It has been found that when not leaning against the backrest, subjects use their lower back more forcefully to regain balance. Thus, these embodiments enhance lower back mobility.

[0026] It should be noted that even in embodiments of the seating platform configured to support a subject without a backrest during use, the system may include a back protector. The back protector may be implemented, for example, as a backrest spaced apart from the seat surface. For example, the back protector may be spaced apart from the seat surface when viewed from the second horizontal direction. The back protector is configured to prevent the subject from falling backward off the seat, but is not configured to contact the subject during use.

[0027] However, it should be noted that embodiments are possible in which the seating platform is provided with a backrest, which may be useful, for example, for subjects with sitting difficulties or balance disorders.

[0028] In some embodiments, the seating platform is configured to support the subject without armrests, at least during use. Thus, during use, the subject's arms and hands are not resting on the armrests. During use, this refers to when the actuation system is moving the platform. It has been found that without the support of the armrests to regain balance, subjects are forced to use their lower back more forcefully to regain balance. Therefore, these embodiments enhance lower back mobility.

[0029] It should be noted that even in embodiments configured to support a subject without armrests during use, the seating platform may optionally include side guards. The side guards may be configured, for example, to prevent the subject from falling off the sides of the seating platform. Optionally, the side guards may be provided as arm rails, for example, spaced apart from the seat surface, so that the subject can find support for their arms or hands in the event of a risk of falling.

[0030] In some embodiments, the seating platform includes a footrest for supporting the subject's feet. In some embodiments, where the seating platform is configured to seat the subject with their legs facing forward in the seat, the footrest may be located in front of the seat when viewed from the second horizontal direction. The footrest may comprise a single support surface for both feet, or a support surface for the left foot and a support surface for the right foot.

[0031] The footrest is part of the seating platform. The actuation system moves the seating platform, which is configured to move the footrest as well. Thus, the subject is fully moved. The feet do not remain fixed. This has proven advantageous for improving hip mobility. The footrest may be rigidly connected to the seat, for example via the platform frame. This connection ensures that the seat and footrest move as one unit.

[0032] In some embodiments, the footrest includes a size adjustment mechanism for adjusting the relative position of the footrest and the seat. For example, the footrest is rigidly connected to the seat via a connecting bar, and the size adjustment mechanism is configured to allow adjustment. These embodiments allow the footrest to be adapted to the patient's (leg) length. Optionally, the size adjustment mechanism is manually adjustable.

[0033] In some embodiments, the footrest comprises a footrest surface that extends at an acute angle to the horizontal when viewed from the second horizontal direction. Optionally, the footrest surface may extend partially upward when viewed from the forward direction. The forward direction extends forward, i.e., generally away from the seat (and thus the person's body when seated), when viewed from the second horizontal direction. This positions the subject's feet at an angle on the footrest surface. This arrangement has been found to reduce the subject's need to use their feet to regain balance during movement of the seating platform, resulting in the subject using their lower back more.

[0034] The footrest surfaces may be configured, for example, to have a single footrest surface for both feet, with the single footrest surface extending at an acute angle, or to have a left footrest surface for the left foot and a right footrest surface for the right foot, with both the left and right footrest surfaces extending at an acute angle.

[0035] In embodiments, the seat, e.g., the seating surface, further supports at least a portion of the thigh, and optionally substantially the entire thigh. For example, the seat may be configured to position the thigh horizontally when the seating platform is in the rest or start position. For example, the seating surface may be large enough to support both the buttocks and upper thighs. This is particularly advantageously combined with seating the subject with the legs positioned forward on the seat.

[0036] In embodiments, the system (particularly the seating platform) is configured (e.g., during use) to support the subject in a manner that allows free movement above the waist. In embodiments, the system (particularly the seating platform) is configured (e.g., during use) to support the subject by contacting only body parts below the waist. In embodiments, the system (particularly the seating platform) is configured (e.g., during use) to support the subject by only the buttocks and / or legs and / or feet. In embodiments, the system (particularly the seating platform) does not include any support elements for supporting body parts above the waist of the user. In embodiments, all support parts of the system (particularly the seating platform) that are configured to contact the human body during use are configured to contact body parts below the waist.

[0037] These embodiments can be applied in any combination with each other or individually to ensure that the human body retains freedom of movement of the spine muscles. Because movement of the seating platform throws the subject off balance (e.g., due to an unsupported back), the subject naturally uses their lower back muscles to regain balance, thereby mobilizing the lower back. Note that these embodiments can be implemented with features that support the subject without a backrest and / or armrests, for example, as described herein.

[0038] In some embodiments, the system is configured to support the subject in a manner that allows the subject to move relative to the system. For example, the system is configured to support the subject without straps or belts (without straps or belts). Thus, the subject is not constrained to the seating platform. For example, the back, arms, and head are movable relative to the system (particularly relative to the seating platform). Optionally, the legs and feet are also movable relative to the system (particularly the seating platform, particularly the footrest).

[0039] In some embodiments, the system is configured to induce the subject into an off-balance state (e.g., by moving the seating platform with an actuation system) and force the subject to mobilize their lower back muscles to regain balance. These embodiments may be achieved, for example, using one or more of the features described herein, such as a system or seating platform without a backrest, without armrests, allowing the subject to move freely above the waist, supporting the subject only below the waist (e.g., buttocks, and / or legs, and / or feet), having no support elements above the waist, etc.

[0040] The above examples illustrate several advantageous aspects of the system in various embodiments, for example, relating to the manner in which a subject is seated on and / or supported by the system. These examples have several advantages, as detailed herein. Further advantageous examples are described below, for example, relating to the manner in which the movement of the seating platform (by the control unit) is controlled. All of the examples described herein can be advantageously combined to achieve synergistic effects, such as combining a patient seating / support method with a seating platform movement method. However, these examples are not limited to such examples. That is, any of the examples described below relating to seating platform movement can also be implemented in systems with different types of seating platforms (supporting and / or seating a subject in a different manner than the examples described above). Similarly, a system with a seating platform according to any of the above examples can be moved in a different manner (e.g., with a different actuation system, a different trajectory, or different rotations / accelerations / limits) than the examples described below.

[0041] In an embodiment, the system further comprises a control unit configured to control the actuation system, and the control unit may optionally be configured to limit the acceleration of the seating platform to a predetermined acceleration limit. For example, the acceleration limit may include a translational acceleration limit, e.g., 4 m / s 2 Below, for example, 2.5 m / s2 , e.g. 1.5 m / s 2 For example, the acceleration limits may include a rotational acceleration limit, which may be, for example, 70° / s 2 For example, 58° / s 2 , e.g., 45° / s 2 The acceleration limit may relate, for example, to the acceleration at the center of rotation of the actuation system or the center of the seat or seating surface.

[0042] Limiting acceleration has been found to be beneficial in mobilizing the subject's lower back without excessive stress on the lower back (e.g., lumbar muscles and lumbosacral joints). Rapid acceleration of the seating platform can be painful for subjects with lower back injuries and can also result in excessive shear forces on the back, which can be painful.

[0043] Acceleration limiting is particularly advantageous in embodiments where the subject is supported without a back support during use. Without back support, it becomes more difficult for the subject to maintain balance. If the acceleration becomes too great, there may be a risk of the subject falling off the seat. In particular, in these embodiments, the acceleration limit is set to 2.5 m / s 2 Linear acceleration limit of 58° / s 2 It has been found to be advantageous to use a rotational acceleration limit of

[0044] The control unit can be any suitable type of control unit, such as embodied in a computer, a PLC, a Raspberry Pi, etc. The control unit can optionally be configured to control additional parts of the system (e.g., information lights for communicating information to the practitioner or subject, input buttons / panels allowing the practitioner or subject to set preferences such as intensity input, etc.), or to communicate with additional control units for controlling such additional parts. The control unit can, for example, directly control the various actuators or indirectly control them via an actuator system control unit that controls the actuators and communicates with the control unit. The control unit can, for example, include one or more input terminals, output terminals, or communication terminals for communicating with other components. The communication can be wired or wireless, according to any suitable communication method or protocol, such as using Bluetooth or a Wi-Fi network. The control unit can be configured to communicate with, for example, a cloud-based platform. The control unit can, for example, include a processing unit. The control unit can, for example, include a memory for storing computer-readable instructions. Note that in some embodiments, the control unit can exist without being configured to limit the acceleration of the seating platform to a predetermined acceleration limit.

[0045] In an embodiment, the control unit is configured to control the actuation system based on a desired next position of the seating platform. For example, the desired position is determined at predetermined times (e.g., every 10-25 ms, e.g., about every 15 ms, e.g., every 16 ms). The control unit can then be configured to control the actuation system to the desired next position, and further to each desired next position, and so on. The control unit can include, for example, a processing unit for determining one or more control signals for the actuation system based on the desired next position.

[0046] For example, in some embodiments, the control unit may be configured to determine the desired next position based on a predetermined equation. In this case, the control unit may receive an intensity input and select or adapt the predetermined equation based on the intensity input. The intensity input may be set, for example, by the subject or the practitioner, for example, using an intensity input module on the system. The control unit may, for example, comprise an input terminal for receiving the intensity input. The control unit may, for example, comprise a memory for storing the predetermined equation.

[0047] For example, in some embodiments, the controller may be configured to receive the desired subsequent position. The controller may include, for example, an input terminal for receiving the desired subsequent position. The controller may be configured to receive the desired subsequent position, for example, from an external control unit. The controller may be configured to communicate with the external control unit, for example, via a cloud-based platform, for example, via Internet Protocol communication technology.

[0048] In some embodiments, the control unit may be configured to determine a required acceleration (e.g., rotational acceleration and translational acceleration) to move the seating platform from a first position to a desired subsequent second position. The control unit may be further configured to compare the required acceleration to an acceleration limit (e.g., rotational acceleration limit and translational acceleration limit). If the required acceleration exceeds the acceleration limit, the control unit may be configured to determine an alternative second position where the required acceleration is below the acceleration limit. The control unit may also be configured to determine an alternative speed for moving the seating platform from the first position to the subsequent second position and / or the alternative second position. The control unit may then be configured to control the actuation system according to the alternative second position and / or the alternative speed, e.g., to move from the first position to the alternative second position or to move from the first position to the second position at the alternative speed.

[0049] Thus, in these embodiments, the conditions required to move to the desired subsequent position are first determined, including determining the acceleration and possibly the velocity. If the acceleration exceeds the acceleration limit, then steps are taken to correct this. This may include changing the subsequent second position to an alternate second position. The alternate second position may, for example, be closer to the first position, thereby reducing the required acceleration. Another solution is to reduce the velocity, slowing the rate of movement to the subsequent second position. Because the velocity is lower, the acceleration required to reach that velocity is also reduced.

[0050] In an embodiment, the system further comprises an assistance system for assisting the subject in maintaining an upright posture on the seat. Upright posture in this context refers to a state in which the subject's back, particularly the upper back, and shoulders are substantially in a straight line. It has been observed that when a subject sits in an upright position, the range of motion of the lower back is increased or improved. However, in practice, many people have difficulty maintaining an upright posture. This is even more problematic for people with (lower back) injuries.

[0051] The assistive system may be configured to provide assistance without contacting the subject. For example, the assistive system may be a mirror positioned in front of the seating platform. It has been found that when subjects see their own posture in the mirror, they tend to realize that their posture is not upright and correct it whenever possible. The non-contact nature of the assistive system provides an advantageous effect without providing the subject with additional physical support that may reduce lumbar mobility.

[0052] In some embodiments, the actuation system is configured to move the seating platform with six degrees of freedom. The six degrees of freedom may include, for example, three translational degrees of freedom and three rotational degrees of freedom. The three translational degrees of freedom may include translation in three orthogonal translational directions (e.g., two horizontal and one vertical, commonly designated x-, y-, and z-axes). The three rotational degrees of freedom may include rotation about three different rotational axes, each extending parallel to one of the translational directions. The three rotational degrees of freedom may correspond to, for example, rotations commonly designated as pitch, roll, and yaw.

[0053] Optionally, the actuation system is a Stewart platform. A Stewart platform is a type of parallel manipulator having six actuators, e.g., prismatic actuators such as hydraulic jacks or electric linear actuators. The six actuators are configured to move six bars, e.g., disposed between a base plate and a top plate. The bars may be part of the actuators. The bars may be attached in pairs, e.g., at three points on the base plate, and connected to three attachment points on the top plate. The top plate may be part of or configured to support a seating platform, e.g., a seating platform.

[0054] In some embodiments, the control unit is configured to move the seating platform at a low frequency, for example, less than 50 Hz, for example, less than 10 Hz, for example, less than 5 Hz, for example, less than 2 Hz. It has been found that such low frequency motion optimally mobilizes the lower back in a passive / reactive manner. At higher frequencies, the seating platform movement becomes oscillatory and is less effective at mobilizing the lower back.

[0055] In an embodiment, the control unit is configured to filter the movement of the seating platform at a cut-off frequency, which may for example be 10 Hz or less, such as 5 Hz or less, for example about 4 Hz.

[0056] In some embodiments, the control unit is configured to control the movement of the seating platform in a way that makes it unpredictable for the subject. When the movement becomes predictable, the subject can prepare for the next movement. This reduces the range of motion in the lower back, as subjects with lower back injuries tend to prepare for the movement by adjusting their posture to use their lower back (e.g., the muscles that cause pain) as little as possible. The control unit can achieve these embodiments by providing sufficient variability in the movement, which can be achieved, for example, by combining multiple periodic movements (for each degree of freedom). In some embodiments, the movement can be randomized using a random number generator.

[0057] In an embodiment, the control unit is configured to reproducibly control the motion of the seating platform. Reproducible motion may be desirable in (clinical) trials, so that a given reproducible motion can be demonstrated to achieve a clinical effect, or at least be safe for the subject. This can be achieved, for example, by combining multiple periodic motions for each degree of freedom that are predetermined, known, and therefore reproducible.

[0058] Unpredictable yet reproducible combinations of motions can be achieved, for example, by combining multiple periodic motions in each degree of freedom.

[0059] In an embodiment, the control unit is configured to determine a desired next position in each degree of freedom according to a predetermined equation for each degree of freedom, where each predetermined equation is a combination of multiple periodic functions having different periods and possibly different amplitudes, thereby, for example, achieving advantageous unpredictable yet reproducible motion. The control unit may further be configured to convert the desired next position into one or more control signals for an actuator system of the actuation system, for example, a control signal for each actuator of the actuation system.

[0060] In an embodiment, the predetermined equation for each degree of freedom may include three or more periodic functions, such as four periodic functions, for example more than four periodic functions.

[0061] In an embodiment, the minimum and maximum periods of the periodic functions in a given equation for the translational degrees of freedom may be in a ratio of 1:2.

[0062] In an embodiment, the minimum and maximum periods of the periodic functions in a given equation for a rotational degree of freedom may be within a ratio of 1:5.

[0063] In embodiments, the period of each periodic function of the predetermined equation for each translational degree of freedom may be less than 2 seconds, such as less than 1.5 seconds, for example about 1 second. In embodiments, the period of each periodic function of the predetermined equation for each translational degree of freedom may be greater than 0.5 seconds.

[0064] In some embodiments, the period of each periodic function in the predetermined equation for each rotational degree of freedom may be less than 2 seconds, e.g., less than 1.5 seconds, e.g., about 1 second. In some embodiments, the period of each periodic function in the predetermined equation for each translational degree of freedom may be greater than 0.5 seconds. In some embodiments, one or more of the periodic functions in the predetermined equation for each degree of freedom are delayed relative to one or more other periodic functions in the same predetermined equation. For example, the periodic functions are delayed by half a period, e.g., implemented as cosine functions when the other periodic functions are implemented as sine functions.

[0065] In an embodiment, the periodic function may be a sine function.

[0066] In an embodiment, the control unit may be configured to control the intensity of the movement by adapting a predetermined function, for example, based on an intensity input. For example, the control unit may be configured to scale the amplitude and / or period (or frequency) of each periodic function. For example, for rotational degrees of freedom, the amplitude of each periodic function may be scaled between 0 and 1.35. For example, for translational degrees of freedom, the amplitude of each periodic function may be scaled between 0 and 0.75. For example, for rotational degrees of freedom, the period (or frequency) of each periodic function may be scaled between 0 and 1.5. For example, for translational degrees of freedom, the period (or frequency) of each periodic function may be scaled between 0 and 1.5.

[0067] In an embodiment, the control unit is configured to limit movement of the seating platform to a predetermined movement limit, for example the movement limit may be no more than 15 cm, such as 12 cm, for example 10 cm.

[0068] For example, in one embodiment, the control unit is configured to control the actuation system based on a desired next position of the seating platform. Specifically, the control unit determines a required movement of the seating platform at the desired next position, compares the required movement to a movement limit, and if the required movement exceeds the movement limit, determines an alternative second position where the alternative required movement is below the movement limit. The control unit then controls the actuation system according to the alternative second position.

[0069] In an embodiment, the control unit is configured to limit rotation of the seating platform to a predetermined rotation limit, for example the rotation limit may be no more than 15°, such as 10°, for example 8°.

[0070] For example, in an embodiment, the control unit is configured to control the actuation system based on a desired next position of the seating platform: determine a required amount of rotation of the seating platform at the desired next position; compare the required amount of rotation to a rotation limit; if the required amount of rotation exceeds the rotation limit, determine an alternative second position where the alternative required amount of rotation is below the rotation limit; and control the actuation system according to the alternative second position.

[0071] Limiting translation and / or rotation to their respective limits has the advantage that the subject can be comfortable on the seating platform without fear or risk of falling. Additionally, it may be beneficial to stay within acceleration limits.

[0072] The present invention further relates to a method for mobilizing the lower back of a subject, which method can be performed using the system of the present invention, although neither the system nor the method is so limited.

[0073] Features described herein with respect to a system have the same meaning with respect to a method, unless expressly defined otherwise. Features described with respect to a system can be applied mutatis mutandis to a method to achieve similar advantages, and vice versa.

[0074] At least one of the objects of the present invention may be achieved by a method for mobilizing a lower back of a subject, the method comprising the steps of placing the subject on a seating platform of a system according to any embodiment described herein, and moving the seating platform while the subject is seated.

[0075] At least one of the objects of the present invention may be achieved by a method for mobilizing the lower back of a subject, the method comprising: placing the subject on a seating platform, the subject's buttocks being supported by a seating surface of the seat of the seating platform, with a first central axis of the seating surface extending in a first horizontal direction; Preferably, the subject's legs are positioned in front of the seat when viewed from a second horizontal direction (a direction perpendicular to the first horizontal direction); Moving the seating platform in multiple degrees of freedom, preferably one of the degrees of freedom being rotation about a horizontal axis of rotation extending parallel to the first horizontal direction, preferably offset from the first central axis when viewed from the second horizontal direction.

[0076] The method can be, for example, a non-medical method. The method can be, for example, a non-therapeutic method. The subject can be, for example, a healthy subject. The method can be, for example, a method of training (muscles, and / or joints, and / or joint movements, and / or tendons) of the lower back.

[0077] The human subject is, for example, a patient.

[0078] In an embodiment, the horizontal rotation axis is located rearward of the second central axis when viewed from the first horizontal direction.

[0079] In one embodiment, the subject is positioned on a seating platform with their back approximately above the horizontal axis of rotation.

[0080] In some embodiments, the subject is supported without a back support, at least during use.

[0081] In some embodiments, the subject's feet are positioned on a footrest. The footrest may be positioned, for example, in front of the seat when viewed from the second horizontal direction. The footrest may, for example, comprise a footrest surface that extends at an acute angle to the horizontal when viewed from the second horizontal direction. Optionally, the footrest surface may extend partially upward when viewed from the forward direction.

[0082] In embodiments, at least a portion of the upper end of the subject's thigh, optionally substantially the entire thigh, is supported by a seat, e.g., a seating surface. Optionally, the thigh is positioned horizontally when the seating platform is in a rest or start position.

[0083] In an embodiment, the acceleration of the seating platform is limited to a predetermined acceleration limit. For example, the acceleration limit may include a translational acceleration limit, which may be, for example, 4 m / s 2 Below, for example, 2.5 m / s 2 , e.g. 1.5 m / s 2 For example, the acceleration limits may include a rotational acceleration limit, which may be, for example, 70° / s 2 For example, 58° / s 2 , e.g., 45° / s 2 Limiting the acceleration to a limit value may be achieved in any way described herein, for example with reference to a control unit.

[0084] In an embodiment, the method includes assisting the subject in maintaining an upright sitting position on a seating surface, such as with an assist system.

[0085] In an embodiment, the method includes moving the seating platform in six degrees of freedom.

[0086] In an embodiment, the method comprises moving the seating platform at a low frequency, for example less than 50 Hz, such as less than 10 Hz, for example less than 5 Hz, such as less than 2 Hz.

[0087] In some embodiments, the method includes moving the seating platform in a manner that is unpredictable to the subject, which can be accomplished by any of the methods described herein.

[0088] In some embodiments, the method includes moving the seating platform in a repeatable motion, which can be achieved by any of the methods described herein.

[0089] In an embodiment, the method includes controlling the intensity of the movement, for example based on an intensity input.

[0090] In an embodiment, the method includes limiting translational movement of the seating platform to a predetermined translation limit.

[0091] In an embodiment, the method includes limiting rotational movement of the seating platform to a predetermined rotational limit.

[0092] In an embodiment, the method includes subjecting the subject to an unstable state (eg, by moving a seating platform with an actuation system) and mobilizing the lower back muscles to force the subject to regain balance.

[0093] The present invention further relates to a method for positioning a subject on a seating platform, wherein the subject's buttocks are positioned on a seating surface of the seating platform, a first central axis of the seating surface extending in a first horizontal direction, and the subject's legs are positioned forward of the seat when viewed from a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction. The actuation system is configured to move the seating platform in multiple degrees of freedom, preferably one of which is rotation about a horizontal axis of rotation extending parallel to the first horizontal direction, preferably offset from the first central axis when viewed from the second horizontal direction. The method can further include, for example, the step of seating the subject so that their back is positioned approximately directly above the horizontal axis of rotation. Furthermore, any of the features or steps described herein with respect to the system or method for mobilizing the subject's lower back can be added to the method for positioning a subject on a seating platform to achieve similar advantages.

[0094] The present invention further relates to non-transitory computer-readable instructions that, when executed, are configured to cause a control unit of a system for mobilizing a subject's lower back to control an actuation system to move a seating platform. For example, the system may be a system according to any of the embodiments described herein. For example, the control unit may control the actuation system to move the seating platform according to any of the operations described herein. [Brief explanation of the drawings]

[0095] The drawings are used to illustrate embodiments of the present invention. It should be understood that these drawings are illustrative of embodiments of the present invention and are not intended to limit the scope of the invention or the claims in any way. Like features are designated with like reference numerals throughout the drawings.

[0096] [Figure 1a] FIG. 1a shows a schematic front view of a system for mobilizing the lower back of a subject in a first embodiment. [Figure 1b] FIG. 1b shows a schematic side view of the same system. [Figure 1c] FIG. 1c shows a schematic top view of the same system. [Figure 1d] FIG. 1d shows the cross section AA shown in FIG. 1a. [Figure 2a] FIG. 2a shows a schematic front view of a second embodiment of a system for mobilizing the lower back of a subject. [Figure 2b] FIG. 2b shows a schematic representation of the cross section AA shown in FIG. 2a. [Figure 3] FIG. 3 shows a schematic side view of a system for mobilizing the lower back of a subject in a third embodiment. [Figure 4] FIG. 4 shows a schematic of a Stewart platform that can be used for the actuation system. [Figure 5] FIG. 5 shows a schematic representation of a control unit for controlling the actuation system. DETAILED DESCRIPTION OF THE INVENTION

[0097] 1a to 1d show a system 1 for mobilizing the lower back of a subject in a first embodiment, in which Fig. 1a is a front view, Fig. 1b is a side view, Fig. 1c is a top view, and Fig. 1d is a cross-sectional view.

[0098] System 1 includes a seating platform 10 having a seat 11. Seat 11 has a seating surface 12 on which a subject can sit. As described below, seat 11 is moved to mobilize the subject's lower back. In particular, this movement can cause the subject to lose balance and force them to use their lower back to regain balance.

[0099] In the figure, three directions x, y, and z are shown schematically using a coordinate system. The first direction x is the first horizontal direction x. The first horizontal direction x extends parallel to the direction connecting the left hand side and the right hand side of the subject when seated on the seating platform. The second direction y is the second horizontal direction y. The second horizontal direction y extends parallel to the direction between the back and front of the subject when seated on the seating platform. In this specification, "back" means back, and "front" means front. The third direction z is the vertical direction.

[0100] As shown most clearly in FIG. 1c, seat surface 12 has a substantially rectangular shape in top view. Furthermore, seat surface 12 is relatively large; that is, length 14 and width 15 are relatively large, particularly compared to height 16 (FIG. 1b). This relatively long length 14 provides support for both the buttocks and thighs of a subject when seated. Furthermore, due to the shape of seat surface 12, it is natural for a subject to sit with their thighs positioned horizontally and supported by seat surface 12. The relatively large width 15 makes it impractical for a subject to position their legs or feet to the side of seat 11; instead, the subject positions them forward of seat 12.

[0101] In the illustrated embodiment, the seating platform 10 includes a footrest 20 in front of the seat 11. When the subject is seated, the feet are supported by the footrest 20, specifically by footrest surface 23. While a single footrest surface 23 is provided for both feet in this embodiment, in other embodiments the footrest could consist of a left footrest surface for the left foot and a right footrest surface for the right foot.

[0102] The footrest 20 is connected to the seat 11 via a connecting bar 21. Furthermore, a size adjustment mechanism 22 is provided to manually adjust the longitudinal direction of the connecting bar 21 to suit the physique of the subject. This ensures that the subject's feet are held in an appropriate position regardless of the subject's height. However, when in use, the footrest 20 is firmly connected to the seat 11 via the connecting bar 21. Therefore, the footrest 20 moves together with the seat 11 during use. This has been confirmed to improve mobility of the lower back.

[0103] This is because the subject must rely more on their lower back than their legs to regain balance as the seat 11 moves.

[0104] Figure 1c further shows that the footrest surface 23 is provided with an anti-slip surface 24, e.g., a grating, which prevents the feet from slipping during movement of the seat 11, making it difficult for the subject to even move their feet voluntarily, thereby further improving lumbar mobility.

[0105] System 1 includes legs 45 and adjustable feet 44. Foot 44 is adjustable to horizontally position system 1. System 1 further includes a deployable support 46 for supporting system 1 against the ground surface.

[0106] 1a-1d further illustrate the case where the seating platform 10 includes a back protector 31 and side protectors 32, 33. The back protector 31 prevents the subject from falling backward from the seat 11 during use. The side protectors 32, 33 prevent the subject from falling sideways from the seat 11. In this example, the side protectors 32, 33 are embodied as a left arm rail 32 and a right rail 33, allowing the subject to grasp the side protectors 32, 33 with their hands if necessary.

[0107] The back protector 31 and the side protectors 32, 33 are provided to ensure the safety of the subject but are not intended to support the subject during normal use. As can be seen from FIGS. 1a-1b, they are positioned relatively far from the seat 11. The back protector 31 is positioned at a distance from the seat surface 12 in the second horizontal direction y, and the side protectors 32, 33 are positioned at a distance in the first horizontal direction x. This makes it impractical for the subject to rest their back or arms on the protectors 31, 32, 33 during use. Therefore, during use, the seating platform 10 is configured to support the subject without a back or armrests. The system 1 supports the subject only below the waist during use. The system 1 supports only the buttocks, legs, and feet. The system 1 does not include support elements that support body parts above the waist during use. In fact, all support parts of the system 1 that are configured to come into contact with the subject during use (particularly the seat surface 12 and footrest surface 23) contact body parts below the waist.

[0108] During use, the subject is supported with freedom of movement above the waist. System 1 throws the subject off balance by moving the seating platform, and because the subject is not supported above the waist, it forces the subject to mobilize their lower back muscles to regain balance. The subject is forced to use their lower back to regain balance, rather than relying on the backrest or armrests for support, for example. This promotes lower back mobilization.

[0109] Figures 2a-2b show a schematic representation of another embodiment of a system 2 for mobilizing a subject's lower back, which has some similarities to the embodiment shown in Figures 1a-1d. Accordingly, like features are designated with the same reference numerals. It should be noted, however, that the mere absence of a reference numeral in Figures 2a-2b does not necessarily mean that the feature is not or could not be present in the embodiment shown in Figures 2a-2b.

[0110] The main difference between the embodiment shown in Figures 2a-2b and the embodiment shown in Figures 1a-1d is the omission of back protection 30 and side protection 31, 32. These features are used solely as a safety measure and do not impair functionality during normal use.

[0111] The system 2 may further be configured to move the seating platform 10 within acceleration limits (described below) to prevent the risk of the subject falling.

[0112] Figure 3 illustrates another embodiment of a system 2 for mobilizing a subject's lower back, which has several similarities to the embodiments illustrated in Figures 1a-1d and 2a-2b. Accordingly, similar features are designated with the same reference numerals. However, it should be noted that the mere absence of a reference numeral in Figure 3 does not necessarily mean that the feature is not or could not be present in the embodiment illustrated in Figure 3.

[0113] The embodiment shown in Figure 3 differs from the embodiments shown in the preceding figures in the footrest 20a. As shown in Figure 3, the footrest surface 23a extends at an acute angle 24 with respect to the horizontal. In particular, when viewed from the forward direction y, the footrest surface 23a extends partially upward. This forces the subject to use more of their lower back to regain balance during seat movement.

[0114] 3 further shows schematically an assistive system 91, which in this case is a mirror 92. The mirror 92 is positioned in front of the seating platform 10 so that the subject can see themselves in the mirror when seated on the seating platform 10. This encourages the subject to maintain an upright sitting position, which has been found to enhance the effectiveness of System 3.

[0115] The illustrated systems 1, 2, and 3 each include an actuation system 50 for moving the seating platform 10. The actuation system 50 is not clearly visible behind the bellows 42 and is therefore most clearly shown in the cross-sectional view of FIG. 1d. The actuation system 50 is comprised of multiple actuators 56, 57, in this case electric motors 56, 57, which move intermediate bars 51, 52, and 53. The intermediate bars 51, 52, and 53 are connected to the seating platform 10. The motors 56, 57 move the intermediate bars 51, 52, and 53, thereby moving the seating platform 10. Note that not all motors 56, 57 and intermediate bars 51, 52, and 53 are visible in this view. In this embodiment, the actuation system 50 is configured to move the seating platform 10 in six degrees of freedom, and to this end, six motors 56, 57 and six intermediate bars 51, 52, and 53 are provided.

[0116] FIG. 4 shows a schematic diagram of an example of an actuation system implemented to achieve six degrees of freedom. In this example, the actuation system includes a Stewart platform 500. The Stewart platform 500 includes a base plate 501 and a top plate 502. Six bars 511, 512, 513, 514, 515, and 516 are provided between the base plate 501 and the top plate 502. In this case, each of the bars 511-516 constitutes a part of an actuator. The length of each of the bars 511-516 can be adjusted by the corresponding actuator. This allows the top plate 502 to move relative to the base plate 501. The six bars 511-516 allow the top plate 502 to move with six degrees of freedom, including three translational degrees of freedom and three rotational degrees of freedom. The seating platform of the system shown in the figure can be disposed on the top plate 502, for example, or the top plate 502 itself can be part of the seating platform. This allows the seating platform to also move with six degrees of freedom.

[0117] While the actuation system can be embodied in multiple ways and with different degrees of freedom, in some embodiments it includes at least one rotational degree of freedom about a horizontal rotational axis 61, as shown in Figure 1c. As can be seen, the horizontal rotational axis 61 extends substantially horizontally relative to a first horizontal direction x. However, it will be appreciated that in use, the horizontal rotational axis 61 may be slightly displaced in both translation and rotation as the seating platform 10 moves in other degrees of freedom.

[0118] Thus, actuation system 50 can rotate seating platform 10 about horizontal rotation axis 61. When a subject is seated on seating platform 10, this rotation causes the subject to lean forward or backward. The subject loses balance and naturally tries to regain balance. This action causes the subject to mobilize their lower back. This mobilization contributes to the treatment of lower back injuries (e.g., lumbar muscles, lumbosacral joints, and / or lumbar discs).

[0119] However, it will be understood that the actuation system 50 with a Stewart platform shown in these figures is merely an example, and different actuation systems are possible.

[0120] 1c also shows the central axis 13 of the seat 11 and seating surface 12, which also extends in the first direction x. It will be appreciated that in use, movement of the seating platform 10 may cause the central axis 61 to shift slightly, but generally the central axis 13 extends parallel to the horizontal axis of rotation 61.

[0121] 1c shows that the central axis 13 is offset from the horizontal rotation axis 61 in the second direction y. In particular, the horizontal rotation axis 61 is located behind the central axis 13. This allows the seat 10 to be configured so that the subject sits with their back approximately above the horizontal rotation axis 61. In practice, it has been found that subjects intuitively sit with their back higher than the horizontal rotation axis 61. This has been found to be advantageous because it forces the subject to use more of their lower back to regain balance as the seating platform 10 moves.

[0122] 1a-3 further show a control box 43. The control box 43 may comprise electronic components including, for example, a control unit configured to control the actuation system 50. An embodiment of a control unit 60 is shown schematically in FIG.

[0123] The control unit 60 includes a memory 601, a processing unit 602, and a communication unit 603. The communication unit 603 may be configured for wired and / or wireless communication, for example, via one or more communication terminals of the control unit 60. The memory 601 may store computer-readable instructions, predetermined equations, acceleration limits, rotation limits, translation limits, etc. The processing unit 601 is configured to perform processing functions, for example, based on the computer-readable instructions stored in the memory 601.

[0124] The control unit 60 can generate and send control signals 60a to the actuation system 50. The actuation system 50 moves actuators based on the control signals 60a, thereby moving the seating platform through various degrees of freedom. In the illustrated example, the actuation system 50 includes an actuation system control unit 551. The actuation system control unit 551 converts the control signals 60a into control signals for individual actuators. In other embodiments, the control unit 60 can send control signals for individual actuators, for example, within the control signals 60a.

[0125] The control unit 60 is configured to move the seating platform 10 at a low frequency (eg, less than 50 Hz, less than 10 Hz, less than 5 Hz, less than 2 Hz).

[0126] This allows the subject to be immune to vibrations, as the lower back has been found to be optimally mobilized in a passive / reactive manner during movement at this low frequency.

[0127] The control unit 60 is configured to limit the acceleration of the seating platform 10 to a predetermined acceleration limit, which in this example is 2.5 m / s 2 The acceleration limit is also set to 58° / s 2 Includes a rotational acceleration limit value that is set to

[0128] The control unit 60 is configured to limit the linear movement of the seating platform 10 to a predetermined linear movement limit of 12 cm. The control unit 60 is configured to limit the rotation of the seating platform 10 to a predetermined rotation limit of 10°.

[0129] The control unit 60 is configured to control the movement of the seating platform 10 in a manner that is unpredictable to the subject. Once the movement becomes predictable, the subject can prepare for the next movement. Furthermore, the control unit 60 is configured to control the movement of the seating platform 10 in a manner that is repeatable.

[0130] The combination of unpredictable yet reproducible movements can be achieved, for example, as follows: The control unit 60 is configured to determine a desired subsequent position for each degree of freedom according to a predetermined equation for each degree of freedom, where each predetermined equation is a combination of multiple periodic functions having different periods and different amplitudes. The predetermined equation for each degree of freedom may include four periodic functions. The periodic functions may be sinusoidal functions. The minimum and maximum periods of the multiple periodic functions in the predetermined equation for the translational degree of freedom are within a ratio of 1:2. The minimum and maximum periods of the multiple periodic functions in the predetermined equation for the rotational degree of freedom are within a ratio of 1:5.

[0131] For example, a translation in a first direction X (e.g., a first horizontal direction) can be defined by the following equation: X 並進移動 =0.01 * Sin(2π * dt)+0.04 * Cos(21π * 0.05 * dt)+0.015 * Sin(2π * 0.9 * dt)+0.01 * Sin(2π * 0.8 * dt).

[0132] For example, a translation in a second direction Y (e.g., a second horizontal direction) can be defined by the following equation: Y 並進移動 =0.02 * Sin(2π * dt)+0.04 * Sin(21π * 0.05 * dt)+0.015 * Sin(2π * 0.9 * dt)+0.01 * Sin(2π * 1.4 * dt).

[0133] For example, translation in a third direction Z (e.g., vertical) can be defined by the following equation: Z 並進移動 =0.0075 * Cos(2π * 1.1 * dt)+0.035 * Cos(21π * 0.05 * dt)+0.02 * Sin(2π * 0.9 * dt)+0.005 * Cos(2π * 1.4 * dt).

[0134] For example, rotation about an axis of rotation extending in a first direction X can be defined by the following equation: X 回転 =0.7 * Sin(dt)+0.9 * Sin(0.7 * dt)+2 * Sin(0.2 * dt).

[0135] For example, rotation about an axis of rotation extending in the second direction Y can be defined by the following equation: Y 回転 =0.7 * Cos(dt)-0.9 * Cos(0.7 * dt)+2 * Sin(0.2 * dt).

[0136] For example, rotation about an axis of rotation extending in the third direction Z can be defined by the following equation: Z 回転 =0.7 * Sin(dt)-0.9 * Sin(0.7 * dt)+2 * Sin(0.2 * dt).

[0137] In addition to these predetermined formulas, the control unit 60 can check for each subsequent position to see if any of the acceleration limits, travel limits, or rotation limits will be exceeded when moving the seating platform 10 to the subsequent position. If so, the control unit 60 can determine an alternate subsequent position or move the seating platform to the subsequent position at a slower rate.

[0138] FIG. 5 further shows an intensity controller 61. The intensity controller 61 is, for example, a button or rotary knob that the practitioner or subject can use to change the intensity of the movement. An intensity signal 61a is transmitted to the control unit 60. The control unit 60 controls the movement intensity by adapting a predetermined function based on the input intensity. The control unit 60 can scale the amplitude and / or period of each periodic function. For rotational degrees of freedom, the amplitude of each periodic function can be scaled between 0 and 1.35. For translational degrees of freedom, the amplitude of each periodic function can be scaled between 0 and 0.75. For rotational degrees of freedom, the period of each periodic function can be scaled between 0 and 1.5. For translational degrees of freedom, the period of each periodic function can be scaled between 0 and 1.5.

[0139] 5 further shows an external control unit 62, which may be part of, for example, a cloud-based platform, allowing the practitioner or subject to access historical data, transmit preferences, etc. Control unit 60 and external control unit 62a may communicate via communication signals 62a, which may utilize internet protocol communications, optionally wireless, e.g., Wi-Fi, 4G, or 5G.

[0140] The illustrated system and method can be used to seat a subject on the seating platform 10 and then move the seating platform 10. This movement results in mobilization of the subject's lower back. Several strategies are described for improving this mobilization. These strategies can be used alone or in combination as shown. The system and method can be used in a variety of applications. For example, lower back mobilization can be used to help a subject recover from a lower back injury. In such cases, the subject would be considered, for example, a patient. The system and method can also be used to train the lower back, for example, in healthy subjects. Thus, the system and method can be used in non-medical and / or non-therapeutic applications.

[0141] Detailed embodiments of the present invention will be described below as necessary. However, it should be understood that the disclosed embodiments are merely examples, and that the present invention can be embodied in various forms. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but are provided merely as a basis for the claims and as a representative basis for those skilled in the art to implement the present invention in various ways in substantially any suitable detailed structure. It is not necessary for all of the described objectives to be achieved in a particular embodiment.

[0142] Furthermore, the terms and expressions used in this specification are not intended to limit the invention, but are intended to facilitate understanding and explanation of the invention. As used in this specification, the words "a," "one," or "one" mean one or more, unless otherwise specified. The words "plurality," "plurality," or "several" mean two or more. The words "comprise," "include," "contain," "have," and "comprise" have an open meaning and do not exclude the presence of additional elements. Reference numbers in the claims should not be construed as limiting the invention. The mere fact that certain technical features are recited in different dependent claims does not exclude the possibility that a combination of these technical measures can be used advantageously.

[0143] A single processor or other unit may perform the functions of the various components, e.g., processing unit or control unit, described in the specification and claims. Alternatively, the functionality of a single processing unit or control unit described herein may actually be distributed among several components (which may be physically separate from one another). Communication between components may be by wire or wireless in known manner.

[0144] The operations performed by the control unit may be implemented as a program, e.g., a computer program, software application. The program is implemented using computer-readable instructions. The program may include subroutines, functions, procedures, object methods, object implementations, executable applications, source code, object code, shared / dynamic load libraries, and / or other sets of instructions designed to run on a computer system.

[0145] The computer program or computer readable instructions may be stored and / or distributed on a suitable medium, such as an optical storage medium or a solid-state medium, attached to or provided as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

Claims

1. 1. A system for mobilizing a lower back of a subject, comprising: a seating platform; an actuation system; The seating platform is a seat having a seat surface that supports the buttocks of a subject, the seat surface having a first central axis that extends in a first horizontal direction; the seating platform is configured to seat the subject with their legs positioned forward of the seat when viewed from a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; the actuation system is configured to move the seating platform in multiple degrees of freedom, one of the degrees of freedom being rotation about a horizontal axis of rotation extending parallel to the first horizontal direction, the horizontal axis of rotation being offset from the first central axis when viewed from the second horizontal direction.

2. 10. The system of claim 1, wherein the system is configured to support the subject by engaging only the body parts below the waist.

3. 3. The system of claim 1 or claim 2, wherein all supports of the system configured to engage the subject during use are configured to engage body parts below the waist.

4. 3. The system of claim 1 or claim 2, wherein the system is configured to support the subject in a manner that allows the subject to move freely above the waist.

5. the seating platform is configured to support the subject without a back support, at least during use; the system does not include a backrest, and / or The system according to any one of claims 1 to 4, further comprising a back protection section, the back protection section being implemented as a backrest at a distance from the seat surface when viewed from the second horizontal direction.

6. The system of any one of claims 1 to 5, wherein the seating surface is configured to seat the subject with the subject's back positioned above the horizontal axis of rotation.

7. The system of any one of claims 1 to 6, wherein the system is configured to move the seating platform using the actuation system to throw the subject off balance and to have the subject mobilize their lower back muscles to regain balance.

8. the seating platform includes a footrest for supporting both feet of the subject, the footrest being positioned in front of the seat when viewed from the second horizontal direction; The system of any preceding claim, wherein the footrest comprises a footrest surface, the footrest surface extending at an acute angle to the horizontal plane when viewed in the second horizontal direction.

9. an assist system for assisting the subject in maintaining an upright posture on the seat; 9. A system according to any preceding claim, wherein optionally, said auxiliary system is a mirror positioned in front of said seating platform.

10. The system according to any one of claims 1 to 9, wherein the seating surface further supports at least a portion of the upper part of the thigh.

11. The system of any preceding claim, wherein the actuation system is configured to move the seating platform in six degrees of freedom, and optionally the actuation system is a Stewart platform.

12. A system according to any preceding claim, wherein the control unit is configured to move the seating platform at a low frequency, for example below 5 Hz, for example below 2 Hz.

13. The control unit controls the movement of the seating platform by: is unpredictable to the subject; and A system according to any preceding claim, configured to reproducibly control.

14. 14. The system of claim 1, wherein the control unit is configured to determine the desired next position in each degree of freedom according to a predetermined equation, each of the predetermined equations being a combination of periodic functions with different periods and, optionally, different amplitudes.

15. 15. The system of any of claims 1 to 14, wherein the control unit is configured to limit translational movement of the seating platform to predetermined translation limits and limit rotational movement of the seating platform to predetermined rotation limits.

16. 1. A method of mobilizing a lower back of a subject, comprising: placing the subject on the seating platform of the system of any one of claims 1 to 15; moving the seating platform while the subject is seated; A method comprising:

17. 1. A method of mobilizing a lower back of a subject, comprising: placing the subject on a seating platform, the subject's buttocks being supported by a seating surface of the seat of the seating platform, a first central axis of the seating surface extending in a first horizontal direction; moving the seating platform in multiple degrees of freedom; Including, a method in which the subject's legs are positioned in front of the seat when viewed from a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction, one of the degrees of freedom being rotation about a horizontal rotation axis extending parallel to the first horizontal direction, the horizontal rotation axis being offset from the first central axis when viewed from the second horizontal direction.

18. 16. Non-transitory computer readable instructions that, when executed, cause a control unit of a system for mobilizing a subject's lower back as described in any one of claims 1 to 15 to control an actuation system to move a seating platform.

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